configure trash on decks (#347)

Author: rickwierenga

CHANGELOG.md

@@ -59,6 +59,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.1.0/).
   - put_direction -> drop_direction
 - `location` parameter of `assign_child_resource` is not optional (https://github.com/PyLabRobot/pylabrobot/pull/336)
 - `Resource.get_absolute_location` raises `NoLocationError` instead of `AssertionError` when absolute location is not defined (https://github.com/PyLabRobot/pylabrobot/pull/338)
+- `no_trash` and `no_teaching_rack` were renamed to `with_trash` and `with_teaching_rack` to avoid double negatives (https://github.com/PyLabRobot/pylabrobot/pull/347)
 
 ### Added
 
@@ -143,6 +144,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.1.0/).
     - `hotel_high_speed=False`
     - `use_unsafe_hotel: bool = False`
     - `iswap_collision_control_level: int = 0`
+- `with_trash96` on `HamiltonSTARDeck` so there is more fine grained control (https://github.com/PyLabRobot/pylabrobot/pull/347)
 
 ### Deprecated
 

pylabrobot/resources/hamilton/hamilton_decks.py

@@ -67,7 +67,8 @@ def serialize(self) -> dict:
     return {
       **super().serialize(),
       "num_rails": self.num_rails,
-      "no_trash": True,  # data encoded as child. (not very pretty to have this key though...)
+      "with_trash": False,  # data encoded as child. (not very pretty to have this key though...)
+      "with_trash96": False,
     }
 
   def _check_safe_z_height(self, resource: Resource):
@@ -356,8 +357,11 @@ def __init__(
     name="deck",
     category: str = "deck",
     origin: Coordinate = Coordinate.zero(),
-    no_trash: bool = False,
-    no_teaching_rack: bool = False,
+    with_trash: bool = True,
+    with_trash96: bool = True,
+    with_teaching_rack: bool = True,
+    no_trash: Optional[bool] = None,
+    no_teaching_rack: Optional[bool] = None,
   ) -> None:
     """Create a new STAR(let) deck of the given size."""
 
@@ -371,8 +375,15 @@ def __init__(
       origin=origin,
     )
 
+    if no_trash is not None:
+      raise NotImplementedError("no_trash is deprecated. Use with_trash=False instead.")
+    if no_teaching_rack is not None:
+      raise NotImplementedError(
+        "no_teaching_rack is deprecated. Use with_teaching_rack=False instead."
+      )
+
     # assign trash area
-    if not no_trash:
+    if with_trash:
       trash_x = (
         size_x - 560
       )  # only tested on STARLet, assume STAR is same distance from right max..
@@ -382,14 +393,16 @@ def __init__(
         location=Coordinate(x=trash_x, y=190.6, z=137.1),
       )  # z I am not sure about
 
+    self._trash96: Optional[Trash] = None
+    if with_trash96:
       # got this location from a .lay file, but will probably need to be adjusted by the user.
       self._trash96 = Trash("trash_core96", size_x=82.6, size_y=122.4, size_z=0)  # size of tiprack
       self.assign_child_resource(
         resource=self._trash96,
         location=Coordinate(x=-232.1, y=110.3, z=189.0),
       )  # 165.0 -> 189.0
 
-    if not no_teaching_rack:
+    if with_teaching_rack:
       teaching_carrier = Resource(name="teaching_carrier", size_x=30, size_y=445.2, size_z=100)
       tip_spots = [
         TipSpot(
@@ -423,19 +436,26 @@ def __init__(
   def serialize(self) -> dict:
     return {
       **super().serialize(),
-      "no_teaching_rack": True,  # data encoded as child. (not very pretty to have this key though...)
+      "with_teaching_rack": False,  # data encoded as child. (not very pretty to have this key though...)
     }
 
   def rails_to_location(self, rails: int) -> Coordinate:
     x = 100.0 + (rails - 1) * _RAILS_WIDTH
     return Coordinate(x=x, y=63, z=100)
 
   def get_trash_area96(self) -> Trash:
+    if self._trash96 is None:
+      raise RuntimeError(
+        "Trash area for 96-well plates was not created. Initialize with `with_trash96=True`."
+      )
     return self._trash96
 
 
 def STARLetDeck(
   origin: Coordinate = Coordinate.zero(),
+  with_trash: bool = True,
+  with_trash96: bool = True,
+  with_teaching_rack: bool = True,
 ) -> HamiltonSTARDeck:
   """Create a new STARLet deck.
 
@@ -448,11 +468,17 @@ def STARLetDeck(
     size_y=STARLET_SIZE_Y,
     size_z=STARLET_SIZE_Z,
     origin=origin,
+    with_trash=with_trash,
+    with_trash96=with_trash96,
+    with_teaching_rack=with_teaching_rack,
   )
 
 
 def STARDeck(
   origin: Coordinate = Coordinate.zero(),
+  with_trash: bool = True,
+  with_trash96: bool = True,
+  with_teaching_rack: bool = True,
 ) -> HamiltonSTARDeck:
   """Create a new STAR deck.
 
@@ -465,4 +491,7 @@ def STARDeck(
     size_y=STAR_SIZE_Y,
     size_z=STAR_SIZE_Z,
     origin=origin,
+    with_trash=with_trash,
+    with_trash96=with_trash96,
+    with_teaching_rack=with_teaching_rack,
   )

pylabrobot/resources/hamilton/vantage_decks.py

@@ -15,7 +15,7 @@ def __init__(
     name="deck",
     category: str = "deck",
     origin: Coordinate = Coordinate.zero(),
-    no_trash: bool = False,
+    with_trash: bool = True,
   ) -> None:
     """Create a new Vantage deck of the given size.
 
@@ -41,7 +41,7 @@ def __init__(
       )
       self.size = 1.3
 
-      if not no_trash:
+      if with_trash:
         trash_x = size_x - 480  # works with vantage 1.3 (480) (used to be 460)
 
         # an experimentally informed guess.

pylabrobot/resources/opentrons/deck.py

@@ -16,7 +16,7 @@ def __init__(
     size_y: float = 565.2,
     size_z: float = 900,
     origin: Coordinate = Coordinate(0, 0, 0),
-    no_trash: bool = False,
+    with_trash: bool = True,
     name: str = "deck",
   ):
     # size_z is probably wrong
@@ -40,7 +40,7 @@ def __init__(
       Coordinate(x=265.0, y=271.5, z=0.0),
     ]
 
-    if not no_trash:
+    if with_trash:
       self._assign_trash()
 
   def _assign_trash(self):

pylabrobot/visualizer/lib.js

@@ -469,7 +469,8 @@ class HamiltonSTARDeck extends Deck {
       ...super.serialize(),
       ...{
         num_rails: this.num_rails,
-        no_trash: true,
+        with_trash: false,
+        with_trash96: false,
       },
     };
   }
@@ -547,7 +548,7 @@ class OTDeck extends Deck {
     return {
       ...super.serialize(),
       ...{
-        no_trash: true,
+        with_trash: false,
       },
     };
   }