add byonoy luminescence and absorbance plate readers

docs/user_guide/02_analytical/plate-reading/byonoy.ipynb

@@ -0,0 +1,230 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "id": "6aa99372",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from byonoy import byonoy_absorbance_adapter, byonoy_absorbance96_base_and_reader\n",
+    "a = byonoy_absorbance_adapter(name='a')\n",
+    "b, r = byonoy_absorbance96_base_and_reader(name='b', assign=True)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "id": "84949548",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "a.assign_child_resource(b)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "id": "b2e6e986",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "(ResourceHolder(name=a, location=None, size_x=127.76, size_y=85.59, size_z=14.07, category=resource_holder),\n",
+       " ByonoyBase(name=b_base, location=Coordinate(-05.120, -05.055, 011.620), size_x=138, size_y=95.7, size_z=27.7, category=None),\n",
+       " PlateReader(name=b_reader, location=Coordinate(000.000, 000.000, 010.660), size_x=138, size_y=95.7, size_z=0, category=None))"
+      ]
+     },
+     "execution_count": 3,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "a, b, r"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "id": "1fd4d917",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerChatterboxBackend\n",
+    "from pylabrobot.resources import STARDeck\n",
+    "\n",
+    "lh = LiquidHandler(deck=STARDeck(), backend=LiquidHandlerChatterboxBackend())"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "id": "abde0e65",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Setting up the liquid handler.\n",
+      "Resource deck was assigned to the liquid handler.\n",
+      "Resource trash was assigned to the liquid handler.\n",
+      "Resource trash_core96 was assigned to the liquid handler.\n",
+      "Resource waste_block was assigned to the liquid handler.\n"
+     ]
+    }
+   ],
+   "source": [
+    "await lh.setup()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 6,
+   "id": "5be9a197",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Resource plate was assigned to the liquid handler.\n"
+     ]
+    }
+   ],
+   "source": [
+    "from pylabrobot.resources.coordinate import Coordinate\n",
+    "from pylabrobot.resources.cellvis.plates import CellVis_96_wellplate_350uL_Fb\n",
+    "\n",
+    "\n",
+    "plate = CellVis_96_wellplate_350uL_Fb(name='plate')\n",
+    "lh.deck.assign_child_resource(plate, location=Coordinate(0, 0, 0))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 7,
+   "id": "219becbc",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Picking up resource: ResourcePickup(resource=PlateReader(name=b_reader, location=Coordinate(000.000, 000.000, 010.660), size_x=138, size_y=95.7, size_z=0, category=None), offset=Coordinate(x=0, y=0, z=0), pickup_distance_from_top=0, direction=<GripDirection.FRONT: 1>)\n",
+      "Dropping resource: ResourceDrop(resource=PlateReader(name=b_reader, location=Coordinate(000.000, 000.000, 010.660), size_x=138, size_y=95.7, size_z=0, category=None), destination=Coordinate(x=200, y=0, z=0), destination_absolute_rotation=Rotation(x=0, y=0, z=0), offset=Coordinate(x=0, y=0, z=0), pickup_distance_from_top=0, pickup_direction=<GripDirection.FRONT: 1>, drop_direction=<GripDirection.FRONT: 1>, rotation=0)\n",
+      "Resource b_reader was assigned to the liquid handler.\n"
+     ]
+    }
+   ],
+   "source": [
+    "# move the reader off the base\n",
+    "await lh.move_resource(r, Coordinate(200, 0, 0))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 8,
+   "id": "c7f821fd",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Resource a was assigned to the liquid handler.\n"
+     ]
+    }
+   ],
+   "source": [
+    "lh.deck.assign_child_resource(a, location=Coordinate(400, 0, 0))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 9,
+   "id": "134cd064",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Picking up resource: ResourcePickup(resource=Plate(name=plate, size_x=127.6, size_y=85.75, size_z=13.83, location=Coordinate(000.000, 000.000, 000.000)), offset=Coordinate(x=0, y=0, z=0), pickup_distance_from_top=0, direction=<GripDirection.FRONT: 1>)\n",
+      "Dropping resource: ResourceDrop(resource=Plate(name=plate, size_x=127.6, size_y=85.75, size_z=13.83, location=Coordinate(000.000, 000.000, 000.000)), destination=Coordinate(x=400.0, y=0.0, z=39.32), destination_absolute_rotation=Rotation(x=0, y=0, z=0), offset=Coordinate(x=0, y=0, z=0), pickup_distance_from_top=0, pickup_direction=<GripDirection.FRONT: 1>, drop_direction=<GripDirection.FRONT: 1>, rotation=0)\n",
+      "Resource plate was unassigned from the liquid handler.\n",
+      "Resource plate was assigned to the liquid handler.\n"
+     ]
+    }
+   ],
+   "source": [
+    "await lh.move_resource(plate, b.plate_holder)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 10,
+   "id": "867ec7d8",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Picking up resource: ResourcePickup(resource=PlateReader(name=b_reader, location=Coordinate(200.000, 000.000, 000.000), size_x=138, size_y=95.7, size_z=0, category=None), offset=Coordinate(x=0, y=0, z=0), pickup_distance_from_top=0, direction=<GripDirection.FRONT: 1>)\n",
+      "Dropping resource: ResourceDrop(resource=PlateReader(name=b_reader, location=Coordinate(200.000, 000.000, 000.000), size_x=138, size_y=95.7, size_z=0, category=None), destination=Coordinate(x=394.88, y=-5.055, z=22.28), destination_absolute_rotation=Rotation(x=0, y=0, z=0), offset=Coordinate(x=0, y=0, z=0), pickup_distance_from_top=0, pickup_direction=<GripDirection.FRONT: 1>, drop_direction=<GripDirection.FRONT: 1>, rotation=0)\n",
+      "Resource b_reader was unassigned from the liquid handler.\n",
+      "Resource b_reader was assigned to the liquid handler.\n"
+     ]
+    }
+   ],
+   "source": [
+    "await lh.move_resource(r, b.reader_holder)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 11,
+   "id": "439663bd",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "ResourceHolder(name=b_base_reader_holder, location=Coordinate(000.000, 000.000, 000.000), size_x=138, size_y=95.7, size_z=0, category=resource_holder)"
+      ]
+     },
+     "execution_count": 11,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "r.parent"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "env (3.10.15)",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.15"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}

docs/user_guide/02_analytical/plate-reading/plate-reading.rst

@@ -3,13 +3,10 @@ Plate Readers
 
 PyLabRobot supports the following plate readers:
 
-- :ref:`BMG Clariostar <clariostar>`
-
-
-
 .. toctree::
    :maxdepth: 1
    :hidden:
 
    bmg-clariostar
    cytation5
+   byonoy

pylabrobot/liquid_handling/liquid_handler.py

@@ -1943,6 +1943,9 @@ async def drop_resource(
       raise RuntimeError("No resource picked up")
     resource = self._resource_pickup.resource
 
+    if isinstance(destination, Resource):
+      destination.check_can_drop_resource_here(resource)
+
     # compute rotation based on the pickup_direction and drop_direction
     if self._resource_pickup.direction == direction:
       rotation_applied_by_move = 0
@@ -2292,7 +2295,7 @@ async def move_plate(
       **backend_kwargs,
     )
 
-  def serialize(self):
+  def serialize(self) -> dict:
     return {**Resource.serialize(self), **Machine.serialize(self)}
 
   @classmethod

pylabrobot/plate_reading/__init__.py

@@ -1,4 +1,5 @@
 from .biotek_backend import Cytation5Backend, Cytation5ImagingConfig
+from .byonoy_backend import ByonoyAbsorbance96AutomateBackend, ByonoyFluorescence96AutomateBackend
 from .clario_star_backend import CLARIOStarBackend
 from .image_reader import ImageReader
 from .imager import Imager