{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Temperature controllers (heaters and coolers)\n",
    "\n",
    "PyLabRobot supports the following temperature controllers:\n",
    "\n",
    "- Opentrons Temperature Module V2\n",
    "\n",
    "Temperature controllers are controlled by the {class}`~pylabrobot.temperature_controlling.temperature_controller.TemperatureController` class. This class takes a backend as an argument. The backend is responsible for communicating with the scale and is specific to the hardware being used.\n",
    "\n",
    "The {class}`~pylabrobot.temperature_controlling.opentrons.OpentronsTemperatureModuleV2` is a TemperatureController subclass initialized with a tube rack."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "from pylabrobot.temperature_controlling import TemperatureController\n",
    "from pylabrobot.temperature_controlling.opentrons import OpentronsTemperatureModuleV2\n",
    "from pylabrobot.temperature_controlling.opentrons_backend import (\n",
    "  OpentronsTemperatureModuleBackend,\n",
    ")"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Using the Opentrons temperature controller currently requires an Opentrons robot. The robot must be connected to the host computer and to the temperature module."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "from pylabrobot.liquid_handling import LiquidHandler\n",
    "from pylabrobot.liquid_handling.backends.opentrons_backend import OpentronsBackend\n",
    "from pylabrobot.resources.opentrons import OTDeck\n",
    "\n",
    "ot = OpentronsBackend(host=\"169.254.184.185\", port=31950)  # Get the ip from the Opentrons app\n",
    "lh = LiquidHandler(backend=ot, deck=OTDeck())\n",
    "await lh.setup()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "After setting up the robot, use the `OpentronsBackend.list_connected_modules()` to list the connected temperature modules. You are looking for the `'id'` of the module you want to use."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[{'id': 'fc409cc91770129af8eb0a01724c56cb052b306a',\n",
       "  'serialNumber': 'TDV21P20201224B13',\n",
       "  'firmwareVersion': 'v2.1.0',\n",
       "  'hardwareRevision': 'temp_deck_v21',\n",
       "  'hasAvailableUpdate': False,\n",
       "  'moduleType': 'temperatureModuleType',\n",
       "  'moduleModel': 'temperatureModuleV2',\n",
       "  'data': {'status': 'idle', 'currentTemperature': 34.0},\n",
       "  'usbPort': {'port': 1,\n",
       "   'portGroup': 'main',\n",
       "   'hub': False,\n",
       "   'path': '1.0/tty/ttyACM0/dev'}}]"
      ]
     },
     "execution_count": 3,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "await ot.list_connected_modules()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Initialize the OpentronsTemperatureModuleV2 with the `id` of the module you want to use."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [],
   "source": [
    "t = OpentronsTemperatureModuleV2(name=\"t\", opentrons_id=\"fc409cc91770129af8eb0a01724c56cb052b306a\")\n",
    "await t.setup()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "The `OpentronsTemperatureModuleV2` is a subclass of {class}`~pylabrobot.temperature_controlling.temperature_controller.TemperatureController`."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "True"
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "isinstance(t, TemperatureController)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Be sure to assign the temperature controller to the robot deck before you use it. This is done with the usual {func}`~pylabrobot.resources.opentrons.deck.assign_child_at_slot` function."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [],
   "source": [
    "lh.deck.assign_child_at_slot(t, slot=3)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "You can set the temperature in Celsius using {func}`~pylabrobot.temperature_controlling.temperature_controller.TemperatureController.set_temperature`."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [],
   "source": [
    "await t.set_temperature(37)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Use {func}`~pylabrobot.temperature_controlling.temperature_controller.TemperatureController.wait_for_temperature` to wait for the temperature to stabilize at the target temperature."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [],
   "source": [
    "await t.wait_for_temperature()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "The temperature can be read using {func}`~pylabrobot.temperature_controlling.temperature_controller.TemperatureController.get_temperature`."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "37.0"
      ]
     },
     "execution_count": 9,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "await t.get_temperature()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "If you are done with the temperature controller, you can use {func}`~pylabrobot.temperature_controlling.temperature_controller.TemperatureController.deactivate` to turn it off. The temperature controller will return to ambient temperature."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [],
   "source": [
    "await t.deactivate()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Pipetting from the OT-2 temperature module"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Assign some tips to the deck and pick one up so that we can aspirate:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {},
   "outputs": [],
   "source": [
    "from pylabrobot.resources.opentrons import opentrons_96_tiprack_300ul\n",
    "\n",
    "tips300 = opentrons_96_tiprack_300ul(name=\"tips\")\n",
    "lh.deck.assign_child_at_slot(tips300, slot=11)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "metadata": {},
   "outputs": [],
   "source": [
    "await lh.pick_up_tips(tips300[\"A5\"])"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Access the temperature controller's tube rack with the `tube_rack` attribute."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "metadata": {},
   "outputs": [],
   "source": [
    "await lh.aspirate(t.tube_rack[\"A1\"], vols=[20])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "metadata": {},
   "outputs": [],
   "source": [
    "await lh.aspirate(t.tube_rack[\"A6\"], vols=[20])"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Return the tips to the tip rack when you are done."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "metadata": {},
   "outputs": [],
   "source": [
    "await lh.return_tips()"
   ]
  }
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