genericroboticarm.sila_server.generated.labwaretransfermanipulatorcontroller package

Submodules

Module contents

class genericroboticarm.sila_server.generated.labwaretransfermanipulatorcontroller.GetLabware_Responses[source]

Bases: NamedTuple

_asdict()

Return a new dict which maps field names to their values.

_field_defaults = {}
_fields = ()
classmethod _make(iterable)

Make a new GetLabware_Responses object from a sequence or iterable

_replace(**kwds)

Return a new GetLabware_Responses object replacing specified fields with new values

genericroboticarm.sila_server.generated.labwaretransfermanipulatorcontroller.HandoverPosition

alias of Any

exception genericroboticarm.sila_server.generated.labwaretransfermanipulatorcontroller.InvalidCommandSequence(message: str | None = None)[source]

Bases: DefinedExecutionError

_abc_impl = <_abc._abc_data object>
exception genericroboticarm.sila_server.generated.labwaretransfermanipulatorcontroller.LabwareNotPicked(message: str | None = None)[source]

Bases: DefinedExecutionError

_abc_impl = <_abc._abc_data object>
exception genericroboticarm.sila_server.generated.labwaretransfermanipulatorcontroller.LabwareNotPlaced(message: str | None = None)[source]

Bases: DefinedExecutionError

_abc_impl = <_abc._abc_data object>
class genericroboticarm.sila_server.generated.labwaretransfermanipulatorcontroller.LabwareTransferManipulatorControllerBase(parent_server: Server)[source]

Bases: FeatureImplementationBase, ABC

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

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

GetLabware_default_lifetime_of_execution: timedelta | None
abstractmethod PrepareForInput(HandoverPosition: Any, InternalPosition: int, LabwareType: str, LabwareUniqueID: str, *, metadata: MetadataDict, instance: ObservableCommandInstance) → PrepareForInput_Responses[source]

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

PrepareForInput_default_lifetime_of_execution: timedelta | None
abstractmethod PrepareForOutput(HandoverPosition: Any, InternalPosition: int, *, metadata: MetadataDict, instance: ObservableCommandInstance) → PrepareForOutput_Responses[source]

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

PrepareForOutput_default_lifetime_of_execution: timedelta | None
abstractmethod PutLabware(HandoverPosition: Any, IntermediateActions: List[str], *, metadata: MetadataDict, instance: ObservableCommandInstance) → PutLabware_Responses[source]

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

PutLabware_default_lifetime_of_execution: timedelta | None
_abc_impl = <_abc._abc_data object>
abstractmethod get_AvailableHandoverPositions(*, metadata: MetadataDict) → List[Any][source]

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.

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

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.

abstractmethod get_NumberOfInternalPositions(*, metadata: MetadataDict) → int[source]

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.

parent_server: Server

SiLA Server serving this feature implementation

class genericroboticarm.sila_server.generated.labwaretransfermanipulatorcontroller.LabwareTransferManipulatorControllerClient[source]

Bases: object

This feature (together with the “Labware Transfer Site Controller” feature) provides commands to trigger the sub-tasks of handing over a labware item, e.g. a microtiter plate or a tube, from one device to another in a standardized and generic way.

For each labware transfer a defined sequence of commands has to be called on both involved devices to ensure the proper synchronization of all necessary transfer actions without unwanted physical interferences and to optimize the transfer performance regarding the execution time. Using the generic commands, labware transfers between any arbitrary labware handling devices can be controlled (a robot device has not necessarily to be involved).

Generally, a labware transfer is executed between a source and a destination device, where one of them is the active device (executing the handover actions) and the other one is the passive device.

The “Labware Transfer Manipulator Controller” feature is used to control the labware transfer on the side of the active device to hand over labware to or take over labware from a passive device, which provides the “Labware Transfer Site Controller” feature.

If a device is capable to act either as the active or as the passive device of a labware transfer it must provide both features.

The complete sequence of issued transfer commands on both devices is as follows:

  1. Prior to the actual labware transfer a “Prepare For Output” command is sent to the source device to execute all necessary actions to be ready to release a labware item (e.g. open a tray) and simultaneously a “Prepare For Input” command is sent to the destination device to execute all necessary actions to be ready to receive a labware item (e.g. position the robotic arm near the tray of the source device).

  2. When both devices have successfully finished their “Prepare For …” command execution, the next commands are issued.

3a If the source device is the active device it will receive a “Put Labware” command to execute all necessary

actions to put the labware item into the destination device. After the transfer has been finished successfully, the destination device receives a “Labware Delivered” command, that triggers all actions to be done after the labware item has been transferred (e.g. close the opened tray).

3b If the destination device is the active device it will receive a “Get Labware” command to execute all necessary

actions to get the labware from the source device (e.g. gripping the labware item). After that command has been finished successfully, the source device receives a “Labware Removed” command, that triggers all actions to be done after the labware item has been transferred (e.g. close the opened tray).

The command sequences for an active source or destination device have always to be as follows: - for an active source device: PrepareForOutput - PutLabware. - for an active destination device: PrepareForInput - GetLabware.

If the commands issued by the client differ from the respective command sequences an “Invalid Command Sequence” error will be raised.

To address the location, where a labware item can be handed over to or from other devices, every device must provide one or more uniquely named positions (handover positions) via the “Available Handover Positions” property. A robot (active device) should have at least one handover position for each device that it interacts with, whereas most passive devices will only have one handover position. In the case of a position array (e.g. a rack), the position within the array is specified via the sub-position of the handover position, passed as an index number.

To address the positions within a device where the transferred labware item has to be stored at or is to be taken from (e.g. the storage positions inside an incubator), the internal position is specified. Each device must provide the number of available internal positions via the “Number Of Internal Positions” property. In the case of no multiple internal positions, this property as well as the “Internal Position” parameter value must be 1.

With the “Prepare For Input” command there is also information about the labware transferred, like labware type or a unique labware identifier (e.g. a barcode).

The “Intermediate Actions” parameter of the “Put Labware” and “Get Labware” commands can be used to specify commands that have to be executed while a labware item is transferred to avoid unnecessary movements, e.g. if a robot has to get a plate from a just opened tray and a lid has to be put on the plate before it will be gripped, the lid handling actions have to be included in the “Get Labware” actions. The intermediate actions have to be executed in the same order they have been specified by the “Intermediate Actions” parameter. The property “Available Intermediate Actions” returns a list of commands that can be included in a “Put Labware” or “Get Labware” command.

AvailableHandoverPositions: ClientUnobservableProperty[List[HandoverPosition]]

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

AvailableIntermediateActions: ClientUnobservableProperty[List[str]]

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

GetLabware(HandoverPosition: HandoverPosition, IntermediateActions: List[str], *, metadata: Iterable[ClientMetadataInstance] | None = None) → ClientObservableCommandInstance[GetLabware_Responses][source]

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

NumberOfInternalPositions: ClientUnobservableProperty[int]

The number of addressable internal positions of the device.

PrepareForInput(HandoverPosition: HandoverPosition, InternalPosition: PositionIndex, LabwareType: str, LabwareUniqueID: str, *, metadata: Iterable[ClientMetadataInstance] | None = None) → ClientObservableCommandInstance[PrepareForInput_Responses][source]

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

PrepareForOutput(HandoverPosition: HandoverPosition, InternalPosition: PositionIndex, *, metadata: Iterable[ClientMetadataInstance] | None = None) → ClientObservableCommandInstance[PrepareForOutput_Responses][source]

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

PutLabware(HandoverPosition: HandoverPosition, IntermediateActions: List[str], *, metadata: Iterable[ClientMetadataInstance] | None = None) → ClientObservableCommandInstance[PutLabware_Responses][source]

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

genericroboticarm.sila_server.generated.labwaretransfermanipulatorcontroller.PositionIndex

alias of int

class genericroboticarm.sila_server.generated.labwaretransfermanipulatorcontroller.PrepareForInput_Responses[source]

Bases: NamedTuple

_asdict()

Return a new dict which maps field names to their values.

_field_defaults = {}
_fields = ()
classmethod _make(iterable)

Make a new PrepareForInput_Responses object from a sequence or iterable

_replace(**kwds)

Return a new PrepareForInput_Responses object replacing specified fields with new values

class genericroboticarm.sila_server.generated.labwaretransfermanipulatorcontroller.PrepareForOutput_Responses[source]

Bases: NamedTuple

_asdict()

Return a new dict which maps field names to their values.

_field_defaults = {}
_fields = ()
classmethod _make(iterable)

Make a new PrepareForOutput_Responses object from a sequence or iterable

_replace(**kwds)

Return a new PrepareForOutput_Responses object replacing specified fields with new values

class genericroboticarm.sila_server.generated.labwaretransfermanipulatorcontroller.PutLabware_Responses[source]

Bases: NamedTuple

_asdict()

Return a new dict which maps field names to their values.

_field_defaults = {}
_fields = ()
classmethod _make(iterable)

Make a new PutLabware_Responses object from a sequence or iterable

_replace(**kwds)

Return a new PutLabware_Responses object replacing specified fields with new values