[BioCam]

The Problem

#1612 connects to a Mantis, clamps the plate and reads the chip tags, but nothing else the device knows can be read: where each motor is, whether it is in fault, what the pressure lines read, whether the pump runs. Every later step (bringing the arm up, moving, priming, dispensing) has to check those first. The v4 also has an LED bar on the front that PyLabRobot cannot show anything on.

PR Content/Solution

• Motor reads on the driver, for each motor: request_motor_status, request_motor_position (the demand position, not a measurement), request_encoder_position, request_following_error_configuration, request_motor_currents, request_motor_configuration.
• Arm encoders: request_absolute_encoder_position reads board 11 again until the reading is valid (each motor's first read is not).
• mantis.pump, built when the pressure board answers: measure_pressure, request_controller_status, request_controller_enabled, request_pump_on, request_feedback_sensor_parameters, for the "bottle", "chip" and "vacuum" lines. Setup reads the sensors' calibration from the device. None of these reads changes the device.
• mantis.led_bar (v4 only; None on a v3, like plate_clamp): set_color (one colour, or one per LED), start_animation, stop_animation, turn_off. While show_actions is on (the default) the bar shows what the device is doing: blue during setup, green when done, then the idle wave; off at stop. Each colour is an attribute checked on assignment (setup_color, setup_done_color, error_color, dispense_progress_color; later PRs add their actions'). show_progress(done=..., total=...) turns the bar into a progress bar, sending a frame only when the number of lit LEDs changes (each frame holds the link ~62 ms). An LED fault only warns; it never fails the action. The LED count is a unit value, saved like the clamp levels.
• Older saved files load: a unit value a file saved before this PR lacks comes from the configuration folder, else the recording, with one warning naming it.
• The pressure sensors' calibration is read at every setup, never saved: on the device its offsets change between sessions, so a saved value would go stale.
• Simulation answers every new read, and simulates the LED bar.

Usage

1. What state is the device in?

await mantis.driver.request_motor_status(motor=2)  # 0: no fault
await mantis.driver.request_absolute_encoder_position(motor=0)  # 153.99
await mantis.pump.request_pump_on()  # False
await mantis.pump.measure_pressure(controller="bottle")  # ~1.0 psi, vented

2. The LED bar

await mantis.led_bar.set_color(color="green")
await mantis.led_bar.set_color(color=["red", "green"] * 10)  # one per LED
await mantis.led_bar.start_animation(effect="wave")
await mantis.led_bar.turn_off()

mantis.led_bar.setup_color = "magenta"  # checked here
await mantis.led_bar.show_progress(done=3, total=8)  # 8 of 20 LEDs

mantis = Mantis(name="mantis", declared_configuration_json="my_mantis.json", show_actions=False)

On the device

A Mantis v4 on Windows (D2XX):

	result
setup	v4, firmware confirmed; the pressure board read only for its firmware and the three sensor calibrations
18 motor reads, encoders (also after a power cycle)	every reply's layout, length and status equal to the recorded ones (160 compared)
pressure board	pump off, controllers off; the sensor offsets read differently between sessions, which is why they are read at every setup
LED bar	blue, green, then the wave at setup; every colour and the animation as sent; one colour per LED, left to right; frames in the recorded shape; bad colours and effects refused with nothing sent
show_actions=False	only the idle wave at setup, straight to off at stop
a file saved before the LED bar	loads, with one warning naming where the LED count came from
USB pulled at idle, then setup in the same process	the next call raises at once; one log line, nothing sent over the dead link; reconnects with the same writes
stop	the bar goes straight off
colour attributes, show_progress	a changed setup colour shown at setup; the bar fills 2, 8, 12, 20 LEDs, a repeat and a bad value send nothing

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