add a4s sealer

docs/user_guide/sealer.ipynb

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+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Sealers"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## A4S"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "%load_ext autoreload\n",
+    "%autoreload 2"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from pylabrobot.sealing import Sealer, A4S\n",
+    "sealer = Sealer(backend=A4S(port=\"/dev/tty.usbserial-0001\"))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "await sealer.setup()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "await sealer.open_shuttle()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "await sealer.close_shuttle()"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "env",
+   "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": "3.9.19"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}

pylabrobot/sealing/__init__.py

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+from .sealer import Sealer
+from .a4s import A4S

pylabrobot/sealing/a4s.py

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+import asyncio
+import serial
+import time
+from typing import Optional
+from pylabrobot.sealing.backend import SealerBackend
+
+
+class A4S(SealerBackend):
+  def __init__(self, port: str, timeout = 10) -> None:
+    self.port = port
+    self.dev: Optional[serial.Serial] = None
+    self.timeout = timeout
+
+  async def setup(self):
+    self.dev = serial.Serial(
+      port=self.port,
+      baudrate=19200,
+      bytesize=serial.EIGHTBITS,
+      parity=serial.PARITY_NONE,
+      stopbits=serial.STOPBITS_ONE,
+      xonxoff=False,
+      rtscts=False,
+      dsrdtr=False,
+    )
+    await self.system_reset()
+
+  async def stop(self):
+    self.dev.close()
+
+  async def send_command(self, command: str):
+    self.dev.write(command.encode())
+    await asyncio.sleep(0.1)
+
+    start = time.time()
+    r, x = b"", b""
+    # TODO: just reads a bunch of bytes??
+    # while x != b"" or (len(r) == 0 and x == b""):
+    #   r += x
+    #   x = self.dev.read()
+    #   print("  read char", x)
+    #   if time.time() - start > self.timeout:
+    #     raise TimeoutError("Timeout while waiting for response")
+
+    return r
+
+  async def seal(self, temperature: int, duration: float):
+    await self.set_temperature(temperature)
+    await self.set_time(duration)
+    return await self.send_command("*00GS=zz!")  # Command to conduct seal action
+
+  async def set_temperature(self, degree: int):
+    if not (0 <= degree <= 999):
+      raise ValueError("Temperature out of range. Please enter a value between 0 and 999.")
+    command = f"*00DH={degree:03d}zz!"
+    return await self.send_command(command)
+
+  async def set_time(self, seconds: float):
+    deciseconds = seconds * 10
+    if not (0 <= deciseconds <= 9999):
+      raise ValueError("Time out of range. Please enter a value between 0 and 9999.")
+    command = f"*00DT={deciseconds:04d}zz!"
+    return await self.send_command(command)
+
+  async def open_shuttle(self):
+    return await self.send_command("*00MO=zz!")
+
+  async def close_shuttle(self):
+    return await self.send_command("*00MC=zz!")
+
+  async def system_reset(self):
+    return await self.send_command("*00SR=zz!")

pylabrobot/sealing/backend.py

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+from abc import ABCMeta, abstractmethod
+from pylabrobot.machines.backends import MachineBackend
+
+
+class SealerBackend(MachineBackend, metaclass=ABCMeta):
+  """Backend for a sealer machine"""
+
+  @abstractmethod
+  async def seal(self, temperature: int, duration: float):
+    ...
+
+  @abstractmethod
+  async def open_shuttle(self):
+    ...
+
+  @abstractmethod
+  async def close_shuttle(self):
+    ...

pylabrobot/sealing/sealer.py

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+from typing import Optional
+
+from pylabrobot.machines import Machine
+
+from .backend import SealerBackend
+
+
+class Sealer(Machine):
+  """A microplate sealer"""
+
+  def __init__(self, backend: SealerBackend):
+    super().__init__(backend=backend)
+    self.backend: SealerBackend = backend  # fix type
+
+  async def seal(self, temperature: int, duration: float):
+    await self.backend.seal(temperature=temperature, duration=duration)
+
+  async def open_shuttle(self):
+    await self.backend.open_shuttle()
+
+  async def close_shuttle(self):
+    await self.backend.close_shuttle()