basic qc script (#599)

Author: rickwierenga

tools/qc/hamilton/star.py

@@ -0,0 +1,87 @@
+import asyncio
+import argparse
+from pylabrobot.liquid_handling import LiquidHandler, STARBackend
+from pylabrobot.liquid_handling.standard import GripDirection
+from pylabrobot.resources import CellVis_96_wellplate_350uL_Fb, PLT_CAR_L5AC_A00, STARLetDeck, STARDeck, Plate, PlateCarrier
+
+
+async def qc_iswap(lh: LiquidHandler, backend: STARBackend, plate: Plate, plate_carrier: PlateCarrier):
+  async def move_plate(pickup_direction: GripDirection, drop_direction: GripDirection, destination):
+    await lh.pick_up_resource(
+      plate,
+      direction=pickup_direction,
+      pickup_distance_from_top=6,
+      iswap_fold_up_sequence_at_the_end_of_process=False,
+    )
+    await lh.drop_resource(
+      destination,
+      direction=drop_direction,
+    )
+
+  async def in_place_tests(spot):
+    print(f"performing in-place tests on spot {spot}")
+
+    # move in place left and right
+    print("  testing iswap left and right movement...")
+    await move_plate(GripDirection.LEFT, GripDirection.LEFT, plate_carrier[spot])
+
+    await move_plate(GripDirection.RIGHT, GripDirection.RIGHT, plate_carrier[spot])
+    print("  [pass] iswap left and right movement successful")
+
+    # move and rotate 180
+    print("  testing iswap left and right movement with 180 degree rotation...")
+    await move_plate(GripDirection.RIGHT, GripDirection.LEFT, plate_carrier[spot])
+    await move_plate(GripDirection.LEFT, GripDirection.RIGHT, plate_carrier[spot])
+    print("  [pass] iswap left and right movement with 180 degree rotation successful")
+
+    print(f"[pass] in-place tests on spot {spot} successful")
+
+  await in_place_tests(0)  # test on the first spot
+  print("moving plate to fifth spot...")
+
+  await move_plate(GripDirection.LEFT, GripDirection.LEFT, plate_carrier[4])  # move to the fifth spot
+  await in_place_tests(4)  # test on the fifth spot
+  await move_plate(GripDirection.LEFT, GripDirection.LEFT, plate_carrier[0])  # move back to the first spot
+
+  print("parking iswap...")
+  await backend.park_iswap()
+
+
+async def main(lh: LiquidHandler, backend: STARBackend, plate: Plate, plate_carrier: PlateCarrier):
+  print("Starting QC for Hamilton STAR(let)")
+
+  await lh.setup()
+  print("[pass] setup successful")
+
+  validate_iswap = True
+  if validate_iswap:
+    try:
+      if not backend.iswap_installed:
+        raise RuntimeError("iswap is not installed on the backend, cannot run iswap QC test.")
+      await qc_iswap(lh, backend, plate, plate_carrier)
+      print("[pass] iswap QC test completed successfully")
+    except Exception as e:
+      print(f"[fail] iswap QC test failed: {e}")
+      # move robot to safe position
+      await backend.park_iswap()
+      raise
+  
+  await lh.stop()
+  print("All QC tests completed successfully")
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="QC Hamilton STAR(let)")
+  parser.add_argument("--model", choices=["STAR", "STARlet"], default="STAR", help="Model to use")
+  parser.add_argument("--plate-carrier-rails", type=int, default=6, help="Rails where the plate carrier is placed")
+  args = parser.parse_args()
+
+  assert args.plate_carrier_rails >= 6, "will crash into robot frame"
+
+  backend = STARBackend()
+  lh = LiquidHandler(backend=backend, deck=STARDeck() if args.model == "STAR" else STARLetDeck())
+  plate_carrier = PLT_CAR_L5AC_A00(name="plate_carrier")
+  plate_carrier[0] = plate = CellVis_96_wellplate_350uL_Fb(name="plate")
+  lh.deck.assign_child_resource(plate_carrier, rails=args.plate_carrier_rails)
+
+  asyncio.run(main(lh, backend, plate, plate_carrier))