genericroboticarm.sila_server.feature_implementations.labwaretransfermanipulatorcontroller_impl module

class genericroboticarm.sila_server.feature_implementations.labwaretransfermanipulatorcontroller_impl.LabwareTransferManipulatorControllerImpl(parent_server: Server)

Bases: LabwareTransferManipulatorControllerBase

GetLabware(HandoverPosition: Any, IntermediateActions: List[str], *, metadata: MetadataDict, instance: ObservableCommandInstance) → GetLabware_Responses

Retrieve a labware item from the specified handover position (sent to the active destination device after a “Prepare For Input” command).

Parameters:

• HandoverPosition – Indicates the position where the labware will be retrieved from.

• IntermediateActions – Specifies one or more commands that have to be executed within the command sequence (e.g. removing a lid).

The order of execution is specified by order within the given list. Each entry must be one of the commands returned by the AvailableIntermediateCommandExecutions property.

Parameters:

• metadata – The SiLA Client Metadata attached to the call

• instance – The command instance, enabling sending status updates to subscribed clients

PrepareForInput(HandoverPosition: Any, InternalPosition: int, LabwareType: str, LabwareUniqueID: str, *, metadata: MetadataDict, instance: ObservableCommandInstance) → PrepareForInput_Responses

Put the device into a state in which it is ready to accept new labware at the specified handover position.

Parameters:

• HandoverPosition – Indicates the position where the labware will be handed over.

• InternalPosition – Indicates the position which the labware will be stored at within the device, e.g. internal storage positions of an incubator.

• LabwareType – Specifies the type of labware that will be handed over to transfer information about the labware that the device might need to handle it correctly.

• LabwareUniqueID – Represents the unique identification of a labware in the controlling system. It is assigned by the system and must remain unchanged during the whole process.

• metadata – The SiLA Client Metadata attached to the call

• instance – The command instance, enabling sending status updates to subscribed clients

PrepareForOutput(HandoverPosition: Any, InternalPosition: int, *, metadata: MetadataDict, instance: ObservableCommandInstance) → PrepareForOutput_Responses

Put the device into a state in which it is ready to release the labware at the specified handover position.

Parameters:

• HandoverPosition – Indicates the position where the labware will be handed over.

• InternalPosition – Indicates the position which the labware will be retrieved from within the device, e.g. internal storage positions of an incubator.

• metadata – The SiLA Client Metadata attached to the call

• instance – The command instance, enabling sending status updates to subscribed clients

PutLabware(HandoverPosition: Any, IntermediateActions: List[str], *, metadata: MetadataDict, instance: ObservableCommandInstance) → PutLabware_Responses

Place the currently processed labware item at the specified handover position (sent to the active source device after a “Prepare For Output” command).

Parameters:

• HandoverPosition – Indicates the position the labware item will be moved to.

• IntermediateActions – Specifies one or more commands that have to be executed within the command sequence (e.g. removing a lid).

The order of execution is specified by order within the given list. Each entry must be one of the commands returned by the AvailableIntermediateCommandExecutions property.

Parameters:

• metadata – The SiLA Client Metadata attached to the call

• instance – The command instance, enabling sending status updates to subscribed clients

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get_AvailableHandoverPositions(*, metadata: MetadataDict) → List[Any]

All handover positions of the device including the number of sub-positions.

Parameters:

metadata – The SiLA Client Metadata attached to the call

Returns:

All handover positions of the device including the number of sub-positions.

get_AvailableIntermediateActions(*, metadata: MetadataDict) → List[str]

Returns all commands that can be executed within a “Put Labware” or “Get Labware” command execution.

Parameters:

metadata – The SiLA Client Metadata attached to the call

Returns:

Returns all commands that can be executed within a “Put Labware” or “Get Labware” command execution.

get_NumberOfInternalPositions(*, metadata: MetadataDict) → int

The number of addressable internal positions of the device.

Parameters:

metadata – The SiLA Client Metadata attached to the call

Returns:

The number of addressable internal positions of the device.

robot: InteractiveTransfer