API work to enable calibration experience

api/opentrons/commands/commands.py

@@ -25,14 +25,16 @@ def home(axis):
     )
 
 
-def aspirate(volume, location, rate):
+def aspirate(volume, location, rate, self):
+    instrument = self
     location = drop_coodrinates(location)
     text = 'Aspirating {volume} uL from {location} at {rate} speed'.format(
         volume=volume, location=location, rate=rate
     )
     return make_command(
         name=types.ASPIRATE,
         payload={
+            'instrument': instrument,
             'volume': volume,
             'location': location,
             'rate': rate,
@@ -41,7 +43,8 @@ def aspirate(volume, location, rate):
     )
 
 
-def dispense(volume, location, rate):
+def dispense(volume, location, rate, self):
+    instrument = self
     location = drop_coodrinates(location)
     text = 'Dispensing {volume} uL into {location}'.format(
         volume=volume, location=location, rate=rate
@@ -50,6 +53,7 @@ def dispense(volume, location, rate):
     return make_command(
         name=types.DISPENSE,
         payload={
+            'instrument': instrument,
             'volume': volume,
             'location': location,
             'rate': rate,
@@ -58,7 +62,8 @@ def dispense(volume, location, rate):
     )
 
 
-def consolidate(volume, source, dest):
+def consolidate(volume, source, dest, self):
+    instrument = self
     text = 'Consolidating {volume} from {source} to {dest}'.format(
         volume=volume,
         source=source,
@@ -67,6 +72,8 @@ def consolidate(volume, source, dest):
     return make_command(
         name=types.CONSOLIDATE,
         payload={
+            'instrument': instrument,
+            'locations': [source, dest],
             'volume': volume,
             'source': source,
             'dest': dest,
@@ -75,7 +82,8 @@ def consolidate(volume, source, dest):
     )
 
 
-def distribute(volume, source, dest):
+def distribute(volume, source, dest, self):
+    instrument = self
     text = 'Distributing {volume} from {source} to {dest}'.format(
         volume=volume,
         source=source,
@@ -84,6 +92,8 @@ def distribute(volume, source, dest):
     return make_command(
         name=types.DISTRIBUTE,
         payload={
+            'instrument': instrument,
+            'locations': [source, dest],
             'volume': volume,
             'source': source,
             'dest': dest,
@@ -92,7 +102,8 @@ def distribute(volume, source, dest):
     )
 
 
-def transfer(volume, source, dest):
+def transfer(volume, source, dest, self):
+    instrument = self
     text = 'Transferring {volume} from {source} to {dest}'.format(
         volume=volume,
         source=source,
@@ -101,6 +112,8 @@ def transfer(volume, source, dest):
     return make_command(
         name=types.TRANSFER,
         payload={
+            'instrument': instrument,
+            'locations': [source, dest],
             'volume': volume,
             'source': source,
             'dest': dest,
@@ -119,21 +132,25 @@ def comment(msg):
     )
 
 
-def mix(repetitions, volume):
+def mix(repetitions, volume, location, self):
+    instrument = self
     text = 'Mixing {repetitions} times with a volume of {volume}ul'.format(
         repetitions=repetitions, volume=volume
     )
     return make_command(
         name=types.MIX,
         payload={
+            'instrument': instrument,
+            'location': location,
             'volume': volume,
             'repetitions': repetitions,
             'text': text
         }
     )
 
 
-def blow_out(location):
+def blow_out(location, self):
+    instrument = self
     location = drop_coodrinates(location)
     text = 'Blowing out'
 
@@ -143,17 +160,20 @@ def blow_out(location):
     return make_command(
         name=types.BLOW_OUT,
         payload={
+            'instrument': instrument,
             'location': location,
             'text': text
         }
     )
 
 
-def touch_tip():
+def touch_tip(self):
+    instrument = self
     text = 'Touching tip'
     return make_command(
         name=types.TOUCH_TIP,
         payload={
+            'instrument': instrument,
             'text': text
         }
     )
@@ -179,23 +199,28 @@ def return_tip():
     )
 
 
-def pick_up_tip(location):
+def pick_up_tip(location, self):
+    instrument = self
     location = drop_coodrinates(location)
     text = 'Picking up tip {location}'.format(location=location)
     return make_command(
         name=types.PICK_UP_TIP,
         payload={
+            'instrument': instrument,
+            'location': location,
             'text': text
         }
     )
 
 
-def drop_tip(location):
+def drop_tip(location, self):
+    instrument = self
     location = drop_coodrinates(location)
     text = 'Dropping tip {location}'.format(location=location)
     return make_command(
         name=types.DROP_TIP,
         payload={
+            'instrument': instrument,
             'location': location,
             'text': text
         }

api/opentrons/containers/__init__.py

@@ -9,7 +9,8 @@
     Container,
     Well,
     WellSeries,
-    unpack_location
+    unpack_location,
+    get_container
 )
 from opentrons.containers.calibrator import apply_calibration
 from opentrons.util import environment
@@ -21,7 +22,8 @@
     Well,
     WellSeries,
     unpack_location,
-    apply_calibration]
+    apply_calibration,
+    get_container]
 
 
 def load(robot, container_name, slot, label=None, share=False):

api/opentrons/containers/placeable.py

@@ -28,6 +28,14 @@ def unpack_location(location):
     return (placeable, Vector(coordinates))
 
 
+def get_container(location):
+    obj, _ = unpack_location(location)
+    if isinstance(obj, Container):
+        return obj
+    if isinstance(obj.parent, Container):
+        return obj.parent
+
+
 def humanize_location(location):
     well, _ = unpack_location(location)
     return repr(well)

api/opentrons/instruments/pipette.py

@@ -748,7 +748,7 @@ def pick_up_tip(self, location=None, presses=3):
         presses = (1 if not helpers.is_number(presses) else presses)
 
         @commands.publish.both(command=commands.pick_up_tip)
-        def _pick_up_tip(location):
+        def _pick_up_tip(location, self=self):
             self.motor.move(self._get_plunger_position('bottom'))
             self.current_volume = 0
 
@@ -813,7 +813,7 @@ def drop_tip(self, location=None, home_after=True):
             location = location.bottom(self._drop_tip_offset)
 
         @commands.publish.both(command=commands.drop_tip)
-        def _drop_tip(location):
+        def _drop_tip(location, self=self):
             if location:
                 self.move_to(location, strategy='arc')
 

api/opentrons/server/main.py

@@ -4,9 +4,10 @@
 import sys
 import logging
 from opentrons.server.rpc import Server
-from opentrons.session import SessionManager
+from opentrons.session import Shell
 from logging.config import dictConfig
 
+
 log = logging.getLogger(__name__)
 
 
@@ -77,7 +78,7 @@ def log_init():
     # TODO(artyom, 20170828): consider moving class name definition into
     # command line arguments, so one could us as a shell starting various
     # RPC servers with different root objects from a command line
-    server = Server(SessionManager())
+    server = Server(Shell())
     print(
         'Started Opentrons API Server listening at ws://{host}:{port}/'
         .format(host=host, port=port))

api/opentrons/session/__init__.py

@@ -1,6 +1,10 @@
 from .session import Session, SessionManager
+from .shell import Shell
+from .calibration import CalibrationManager
 
 __all__ = [
     Session,
-    SessionManager
+    SessionManager,
+    Shell,
+    CalibrationManager
 ]

api/opentrons/session/calibration.py

@@ -0,0 +1,25 @@
+PIPETTE_CHANGE_POSITION = (50, 50, 50)
+
+
+class CalibrationManager:
+    def __init__(self, robot, loop=None):
+        self._loop = loop
+        self._robot = robot
+
+    def tip_probe(self, instrument):
+        raise NotImplemented()
+
+    def move_to_front(self, instrument):
+        # instrument.move_to(PIPETTE_CHANGE_POSITION)
+        raise NotImplemented()
+
+    def move_to(self, instrument, obj):
+        # instrument.move_to(obj[0])
+        raise NotImplemented()
+
+    def jog(self, instrument, coordinates):
+        # instrument.jog(coordinates)
+        raise NotImplemented()
+
+    def update_container_offset(self):
+        raise NotImplemented()