A collection of ROS2 packages which work in tandem to operate the Opentrons OT2-based liquid handling operations of Argonne National Laboratory's Rapid Prototyping Lab (ANL RPL).
Bring in the new update armtalker version featuring:
migrated transfer handler to the manager
Switch from a transfer service to a load transfer adding the transfer request to a run queue to be run on a later date
Created a queue remover / run transfer function in the amrTransferHandler which will poll the run_queue in the manager to find new work, this allows the master to stop execution upon an error by simply emptying out the transfer queue until the state of the arm is okay
Upgraded / updated the algorithm / logic to determine the transfers in which queue and which transfers are ready to be processed to work with a new queue completed queue
Fixed a bug in the previous algorithm where duplicate transfer requests could be made, this was done by the change to the algorithm and creating 2 new handlers a state updater and a completed queue subscriber to add things to the completed queue and let OT2 or master know that the transfer is done
Added in debug statements to help provide information on the process (commented out unless needed)
Added in the basic files for the OT2 queue remover (protocol_manager.py):
Currently it can support state updates with all those functions created and ready
Bring in the new update armtalker version featuring:
Added in the basic files for the OT2 queue remover (protocol_manager.py):
Minor changes: