v1 CLARIOstar: refuse a read, z-scan or grid scan with the drawer out

pylabrobot/bmg_labtech/clariostar/driver/features/absorbance_tests.py

@@ -27,6 +27,8 @@
   ShakeSettings,
 )
 from pylabrobot.bmg_labtech.clariostar.driver.master_tests import (
+  STATUS_BUSY,
+  STATUS_DRAWER_OPEN,
   STATUS_IDLE,
   STATUS_QUERY_FRAME,
   FakeFTDI,
@@ -1160,5 +1162,23 @@ async def test_simulated_data_must_match_the_measurement(self):
         await measure_with(self.absorbance, wavelengths, simulated_data=simulated_data)
 
 
+class DrawerOpenTests(unittest.IsolatedAsyncioTestCase):
+  async def test_a_read_with_the_drawer_out_is_refused_before_the_run(self):
+    io = FakeFTDI()
+    io.replies = [STATUS_DRAWER_OPEN]
+    with self.assertRaisesRegex(RuntimeError, "the drawer is open"):
+      await make_absorbance(io, ground_truth_96_well_plate()).measure(wavelengths=[600])
+    self.assertEqual(io.written, [STATUS_QUERY_FRAME])
+
+  async def test_the_drawer_is_read_from_the_idle_status_the_run_waits_for(self):
+    io = FakeFTDI()
+    io.replies = [STATUS_BUSY, STATUS_DRAWER_OPEN]
+    absorbance = make_absorbance(io, ground_truth_96_well_plate())
+    absorbance._driver.default_poll_interval = 0
+    with self.assertRaisesRegex(RuntimeError, "the drawer is open"):
+      await absorbance.measure(wavelengths=[600])
+    self.assertEqual(io.written, [STATUS_QUERY_FRAME, STATUS_QUERY_FRAME])
+
+
 if __name__ == "__main__":
   unittest.main()

pylabrobot/bmg_labtech/clariostar/driver/features/fluorescence.py

@@ -1252,10 +1252,14 @@ async def _run_z_profile(self, parameters: bytes, timeout: float) -> bytes:
 
     Raises:
       TimeoutError: if the z-scan takes longer than `timeout` seconds.
-      RuntimeError: if it ends without reporting its result ready.
+      RuntimeError: if the drawer is open (nothing is sent), or the z-scan ends without reporting
+        its result ready.
     """
     driver = self._driver
-    await driver.send_command(driver.CommandFamily.FOCUS_WELL, parameters=parameters)
+    await self._wait_until_idle_with_drawer_in()
+    await driver.send_command(
+      driver.CommandFamily.FOCUS_WELL, parameters=parameters, when_idle=False
+    )
     start = time.monotonic()
     stage: Optional[int] = None
     try:
@@ -1495,9 +1499,13 @@ async def _run_grid(
 
     Raises:
       TimeoutError: if the scan takes longer than `timeout` seconds.
+      RuntimeError: if the drawer is open; nothing is sent.
     """
     driver = self._driver
-    await driver.send_command(driver.CommandFamily.PLATE_MAP_SCAN, parameters=parameters)
+    await self._wait_until_idle_with_drawer_in()
+    await driver.send_command(
+      driver.CommandFamily.PLATE_MAP_SCAN, parameters=parameters, when_idle=False
+    )
     start = time.monotonic()
     grids: List[bytes] = []
     try:

pylabrobot/bmg_labtech/clariostar/driver/features/fluorescence_tests.py

@@ -40,6 +40,7 @@
 )
 from pylabrobot.bmg_labtech.clariostar.driver.framing import FTDI_HEADER
 from pylabrobot.bmg_labtech.clariostar.driver.master_tests import (
+  STATUS_DRAWER_OPEN,
   STATUS_IDLE,
   STATUS_QUERY_FRAME,
   FakeFTDI,
@@ -1912,5 +1913,25 @@ async def test_invalid_arguments_send_nothing(self):
     self.assertEqual(io.written, [])
 
 
+class DrawerOpenTests(unittest.IsolatedAsyncioTestCase):
+  async def test_a_read_a_z_scan_and_a_grid_scan_with_the_drawer_out_are_refused(self):
+    plate, grid = fluorescence_plate(), grid_plate()
+    calls = {
+      "read": lambda feature: feature.measure(BASELINE, focal_height=10.0, gain=1000),
+      "z-scan": lambda feature: feature.measure_z_profile(BASELINE, well=plate.get_well("A1")),
+      "grid scan": lambda feature: feature.measure_well_centers(
+        GRID_CHANNEL, focal_height=15.0, gain=2239
+      ),
+    }
+    for name, call in calls.items():
+      with self.subTest(name):
+        io = FakeFTDI()
+        io.replies = [STATUS_DRAWER_OPEN]
+        feature = make_fluorescence(io, grid if name == "grid scan" else plate)
+        with self.assertRaisesRegex(RuntimeError, "the drawer is open"):
+          await call(feature)
+        self.assertEqual(io.written, [STATUS_QUERY_FRAME])
+
+
 if __name__ == "__main__":
   unittest.main()

pylabrobot/bmg_labtech/clariostar/driver/features/measurement.py

@@ -19,7 +19,7 @@
 from ..errors import CommandRefusedError
 
 if TYPE_CHECKING:
-  from ..master import CLARIOstarDriver
+  from ..master import CLARIOstarDriver, CLARIOstarStatus
 
 logger = logging.getLogger(__name__)
 
@@ -607,9 +607,35 @@ def _compute_run_end(self, flashes: int) -> bytes:
   # clears it (every cycle of a kinetic read too).
   _DATA_READY = 0x01
 
+  async def _wait_until_idle_with_drawer_in(self) -> None:
+    """Poll status until the reader is idle, as `send_command` does before a command, and raise if
+    that status shows the drawer out: a run, a z-scan and a grid scan move the plate under the
+    optics. The command then goes without a second wait (`when_idle=False`).
+
+    Raises:
+      RuntimeError: if the drawer is open; nothing is sent after the status.
+    """
+    statuses: List["CLARIOstarStatus"] = []
+
+    def idle(status: "CLARIOstarStatus") -> bool:
+      statuses.append(status)
+      return not status.busy
+
+    await self._driver._wait_until_ready(
+      timeout=self._driver.default_read_timeout,
+      poll_interval=self._driver.default_poll_interval,
+      until=idle,
+    )
+    if statuses[-1].drawer_open:
+      raise RuntimeError("the drawer is open; close it first")
+
   async def _unchecked_fw_run(self, parameters: bytes) -> None:
-    """Send RUN with `parameters`, the bytes after the family byte."""
-    await self._driver.send_command(self._driver.CommandFamily.RUN, parameters=parameters)
+    """Send RUN with `parameters`, the bytes after the family byte, once the reader is idle with
+    the drawer in (`_wait_until_idle_with_drawer_in`)."""
+    await self._wait_until_idle_with_drawer_in()
+    await self._driver.send_command(
+      self._driver.CommandFamily.RUN, parameters=parameters, when_idle=False
+    )
 
   async def _request_page(self, retries: int) -> bytes:
     """Request one data page (`05 02 00 00 00 00 00`) while the reader may still be busy.
@@ -697,7 +723,8 @@ async def _run_measurement(
 
     Raises:
       TimeoutError: if the run takes longer than `timeout` seconds.
-      RuntimeError: if the run ends without reporting its data ready, or before all its pages.
+      RuntimeError: if the drawer is open (nothing is sent), or the run ends without reporting its
+        data ready, or before all its pages.
       ValueError: if a data page holds no values.
     """
     await self._unchecked_fw_run(parameters)