feat(api): add a reload-labware command #14963
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The ReloadLabware command reloads the non-position details of a labware that has already been loaded. Its most common use case is to update the labware offset applied to the labware by rerunning the offset binding logic with presumably-updated stored offsets.
| labwareId: str = Field( | ||
| ..., description="The already-loaded labware instance to update." | ||
| ) | ||
| loadName: str = Field( | ||
| ..., | ||
| description="Name used to reference a labware definition.", | ||
| ) | ||
| namespace: str = Field( | ||
| ..., | ||
| description="The namespace the labware definition belongs to.", | ||
| ) | ||
| version: int = Field( | ||
| ..., | ||
| description="The labware definition version.", | ||
| ) | ||
| displayName: Optional[str] = Field( | ||
| None, | ||
| description="An optional user-specified display name " | ||
| "or label for this labware.", | ||
| ) |
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I would have expected this to only take an id. What do loadName/namespace/version do if they're different from the original? Replace the labware with a different one, but keep the ID?
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Correct! Honestly I don't know why someone would want to do this, but it does work, and it leads to better symmetry with the load command
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Gotcha. Changing the loadName/namespace/version makes me nervous. No concrete reason, but it feels pretty good to me that a labware ID immutably points to a single thing. How do you feel about leaving this out until we have a use case for it?
I think loadLabware does let you do this, but it's always kind of been by accident.
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I agree with @SyntaxColoring. maybe we should leave this out for now?
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Hmm. Okay, though I think it's going to do so little at that point that it'll look weird. I'm not so nervous about the changing-the-definition thing, I think this part of the code is really well tested and generally capable.
| class ReloadLabwareParams(BaseModel): | ||
| """Payload required to load a labware into a slot.""" | ||
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| labwareId: str = Field( |
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| class ReloadLabware(BaseCommand[ReloadLabwareParams, ReloadLabwareResult]): | ||
| """Load labware command resource model.""" |
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| class ReloadLabwareCreate(BaseCommandCreate[ReloadLabwareParams]): | ||
| """Load labware command creation request.""" |
Adds a new command ReloadLabware, which allows dispatchers to change all the details of a loaded labware except for the location. This is primarily intended to allow getting a new labware offset that was not added to the engine by the time this labware was loaded (though it can technically do more, for symmetry). This doesn't really change a whole lot of behavior and is well-supported with testing. It's a prerequisite for #14940 Closes RSQ-29
Adds a new command ReloadLabware, which allows dispatchers to change all the details of a loaded labware except for the location. This is primarily intended to allow getting a new labware offset that was not added to the engine by the time this labware was loaded (though it can technically do more, for symmetry).
Testing
This doesn't really change a whole lot of behavior and is well-supported with testing. It's a prerequisite for #14940
Closes RSQ-29