feat(highres): add TundraStore/SteriStore plate store driver#1090
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rickwierenga wants to merge 6 commits into
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feat(highres): add TundraStore/SteriStore plate store driver#1090rickwierenga wants to merge 6 commits into
rickwierenga wants to merge 6 commits into
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Add a PyLabRobot driver for the HighRes Biosolutions TundraStore (branded "SteriStore") refrigerated automated plate store, which speaks a line-based text protocol over TCP port 1000. - TundraStoreBackend: pylabrobot.io.socket.Socket transport with ACK / data / completion (OK!/ABORTED!/ERROR!) framing and error-stack parsing. Implements AutomatedRetrieval, TemperatureController and (read-only) HumidityController capabilities, plus low-level home/pick/place/door/ barcode commands and status queries (version, doors, nests, spatula, environment, stacker dimensions). - TundraStoreChatterboxBackend for device-free use. - TundraStore frontend (Resource + Device) modeled on Cytomat. - Tests driven by real captured firmware-3.0.0.119 responses. Note: the device has two transfer nests; mapping the single-loading-tray AutomatedRetrieval model onto both is left as a follow-up — the capability currently uses a configurable single nest (default 1). Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
…'s two nests Add an optional 0-based `tray` argument to AutomatedRetrieval.fetch_plate_to_ loading_tray / store_plate (and the backend abstract methods). `tray=None` selects the device default, so all existing callers are unaffected. - Single-tray devices (Cytomat, Heraeus, Liconic) validate via the new ensure_single_tray() helper (accept None/0, reject others). - TundraStore maps tray i -> device nest i+1; the frontend now models both nests as TundraStore.nests[0|1] with per-tray plate tracking (fetch_plate_to_nest / take_in_plate take a `tray`). Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
rickwierenga
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June 15, 2026 22:55
- TundraStoreSettings: client-side dataclass over the device's ~545-key
settings file, with typed accessors and named properties (height-detect,
beam-break, stacker bases, nest heights/inputs, plate defaults). Loadable
from the device (backend.request_settings()) or JSON.
- pick() now classifies failures without performing hidden motion:
- PlateNotFoundError when a slot is empty ("No plate detected") and the
store retracted cleanly (the normal empty-slot outcome at any non-top slot).
- TundraStoreFault when the machine was left unsafe (spatula extended /
unhomed) — e.g. an empty TOP slot, where the firmware can't complete its
safe-travel retract. homedstatus reports homed even while stuck, so the
firmware's "unsafe for rotation" signal is used, not just is_homed().
- recover(): explicit retract-spatula + re-home, for use after a fault.
Hardware-validated: empty middle-slot pick -> graceful "No plate detected";
empty top-slot pick -> fault + recover() restores a homed state.
Replace raw status-command calls with typed methods: - spatula_request_is_holding() -> bool - nest_request_is_holding(nest) -> bool (occupied nest reports UNKNOWN) - probe_presence(stacker, slot, to_nest=1) -> bool — sense a stacker slot by attempting a pick (graceful empty at non-top slots); a found plate is moved to to_nest as a side effect.
recover() short-circuited on is_homed(), but homedstatus reports homed even while the spatula is stuck extended in a stacker after a faulted top-slot pick — so recover() returned True without retracting (left the machine stuck). - Add is_parked(): homed AND the slide (Y) axis retracted near home (a stuck spatula sits at the ~256mm slide-in depth). This is the real "safe to move" check; is_homed() alone is not. - recover() now ALWAYS issues enable -> spatulaout -> home and confirms via is_parked(), retrying a few times. Never trusts homedstatus. Hardware-validated: empty-pick fault -> is_homed()=True but is_parked()=False; recover() retracts Y 256->0 and re-homes. Also found the empty-pick fault affects the top *few* slots (23 faults too), not only slot 24.
The store re-seals its doors during every transfer (the firmware exposes no way to skip that — a 4th `place` arg errors on 3.0.0.119), so close_door controls the END state: close_door=False re-opens the doors after the move, leaving the carousel accessible for back-to-back ops. Defaults to True (sealed). One firmware-agnostic implementation (place/pick + conditional openalldoors).
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Summary
Adds a PyLabRobot driver for the HighRes Biosolutions TundraStore (branded "SteriStore") refrigerated automated plate store. The device exposes a line-based text protocol over TCP port 1000 (
ACK!echo → optional data →OK!/ABORTED!/ERROR!completion).New package
pylabrobot/highres/tundrastore/, modeled on the v1b1 Cytomat driver:TundraStoreBackend— transport overpylabrobot.io.socket.Socket, with command framing + error-stack parsing. Mixes in theAutomatedRetrieval,TemperatureController, and (read-only)HumidityControllercapability backends +Driver. Exposes low-levelhome/pick(stacker, slot, nest)/place/ door / barcode commands and status queries (version, doors, nests, spatula, environment, stacker dimensions).TundraStoreChatterboxBackend— device-free backend for offline testing.TundraStore—Resource + Devicefrontend (racks → stackers, capability registration), mirroring the Cytomat frontend.backend_tests.py— 13 tests driven by real responses captured from hardware (firmware 3.0.0.119, serial HRB-2209-35148), including the realERROR! home … Unable to close all doorsstack.Validation
ruff format/ruff checkandmypyclean.Open question / follow-up
The TundraStore has two transfer nests, but the
AutomatedRetrievalcapability is single-loading-tray. For now the capability uses a configurableloading_tray_nest(default 1);pick/placecan address either nest directly. A proper two-nest mapping is left as a follow-up.The temperature/humidity setter paths (
environmentset TEMP …,environment TEMP off) are constructed from the manual's command grammar but not yet hardware-verified (couldn't safely run state changes during testing). Read paths are verified.🤖 Generated with Claude Code