[BioCam]

The Problem

Closing the v1 CLARIOstar's drawer carries whatever stands on the plate holder into the CLARIOstar, however tall it is. The plate holder accepts any plate while the drawer is out, so a deep-well plate (about 43.5 mm) or a plate with a tall lid is closed into the CLARIOstar as readily as a standard 14.35 mm wellplate, and nothing stops it before the drawer moves. The CLARIOstar's own wellplate sensor reads the plate only once it is already travelling in. And when the CLARIOstar refuses a command over its wellplate sensor (quit codes 242 and 243), the error names no reason.

PR Content

• Drawer.close() checks the plate on the plate holder, its lid included, against Drawer._maximum_plate_size_z (20 mm) before anything is sent, and raises ValueError naming the plate and both heights if it is taller. With no plate on the holder it closes as before.
• Placing a plate is not checked: a tall plate or a deep-well plate can stand on the open drawer; only closing over it is refused.
• stop() raises the same error instead of closing the drawer over the plate; the drawer and the connection stay open.
• 20 mm lets every standard wellplate through, with its lid (15.5 mm) and PCR plates (about 16 mm), and refuses deep-well plates. It is a cautious limit until the CLARIOstar's clearance is measured.
• Quit codes 242 and 243 are named: "the wellplate sensor failed or could not be read" and "no wellplate is inserted, or the focal height is too low for the one detected".

from pylabrobot.bmg_labtech.clariostar import CLARIOstarPlus
from pylabrobot.resources import cor_96_wellplate_2mL_Vb

clariostar = CLARIOstarPlus()
await clariostar.setup()

clariostar.drawer._maximum_plate_size_z
# 20.0: the tallest plate, lid included, the drawer closes with, in mm

await clariostar.drawer.open()
clariostar.plate_holder.assign_child_resource(cor_96_wellplate_2mL_Vb("deep_well"))
await clariostar.drawer.close()
# ValueError: cannot close the drawer: deep_well is 43.5 mm high; the drawer takes at most 20 mm

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