Source code for genericroboticarm.robo_APIs.interactive_transfer

"""
An interface for robotic arm that implement the necessary utility to use the SiLA feature
LabTransferManipulatorController.
"""
from abc import ABC, abstractmethod
from typing import List, Tuple




class InteractiveTransfer(ABC):
    @property
    def available_intermediate_actions(self) -> List[str]:
        """
        List of functionalities the arm can do together with put/get labware commands,
         like (un-)lidding, shaking reading barcode, etc.
        :return:
        """
        return []

    @property
    def available_handover_positions(self) -> List[Tuple[str, int]]:
        """

        :return:
        """
        return []

    @property
    @abstractmethod
    def number_internal_positions(self) -> int:
        """

        :return:
        """



    @abstractmethod
    def put_labware(self, intermediate_actions: List[str], device: str, position: int):
        """
        :param position:
        :param device:
        :param intermediate_actions:
        :return:
        """




    @abstractmethod
    def get_labware(self, intermediate_actions: List[str], device: str, position: int):
        """
        :param position:
        :param device:
        :param intermediate_actions:
        :return:
        """




    @abstractmethod
    def prepare_for_output(self, internal_pos: int, device: str, position: int) -> bool:
        """

        :param position:
        :param device:
        :param internal_pos:
        :return:
        """




    @abstractmethod
    def prepare_for_input(self, internal_pos: int, device: str, position: int, plate_type: str) -> bool:
        """

        :param plate_type:
        :param plate_type:
        :param position:
        :param device:
        :param internal_pos:
        :return:
        """




    @abstractmethod
    def cancel_transfer(self):
        """

        :return:
        """