Refactor shaker API and move BioShake to shaking module#905
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rickwierenga merged 3 commits intoPyLabRobot:mainfrom Feb 24, 2026
Merged
Refactor shaker API and move BioShake to shaking module#905rickwierenga merged 3 commits intoPyLabRobot:mainfrom
rickwierenga merged 3 commits intoPyLabRobot:mainfrom
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| from pylabrobot.heating_shaking.backend import HeaterShakerBackend | ||
| from pylabrobot.heating_shaking.bioshake_backend import BioShake | ||
| from pylabrobot.heating_shaking.chatterbox import HeaterShakerChatterboxBackend |
pylabrobot/shaking/backend.py
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| async def shake(self, speed: float): | ||
| """Deprecated alias for ``start_shaking``. | ||
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| Backends should implement ``start_shaking``. This method exists for backwards compatibility. | ||
| """ | ||
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| warnings.warn( | ||
| "ShakerBackend.shake() is deprecated. Use start_shaking() instead.", | ||
| DeprecationWarning, | ||
| stacklevel=2, | ||
| ) | ||
| await self.start_shaking(speed=speed) | ||
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this is not needed since this method is just abstract and never called
| print("Stopping shaker") | ||
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| async def shake(self, speed: float): | ||
| async def start_shaking(self, speed: float): |
pylabrobot/shaking/shaker.py
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| async def start_shaking(self, speed: float, **backend_kwargs): | ||
| """Start shaking indefinitely at the given speed.""" | ||
| if self.backend.supports_locking: | ||
| await self.backend.lock_plate() | ||
| await self.backend.start_shaking(speed=speed, **backend_kwargs) | ||
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what is the point of this method when we already have shake? shake has duration, but also supports start_shaking. this makes the api ambiguous: which method should be used?
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My bad, removed start_shaking from the frontend. "shake" with duration None is the correct way to shake indefinitely.
rickwierenga
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Feb 24, 2026
This reverts commit 8adab4d.
rickwierenga
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Summary
This PR does two related refactors:
heating_shakingtoshaking, since BioShake is shaker-only.start_shaking(...)at the backend layer, while keeping frontendshake(..., duration=...)as the orchestration method.Motivation
ShakerBackend.shake()was semantically “start shaking”, which was easy-to-confuse with frontendShaker.shake(..., duration=...)behavior.start_shaking/stop_shakingis clearer and consistent.pylabrobot.shaking.Changes
BioShake module placement
pylabrobot/shaking/bioshake_backend.pypylabrobot/shaking/__init__.pypylabrobot/heating_shaking/bioshake_backend.pyShaker backend API rename
ShakerBackendnow defines abstract:start_shaking(speed: float)ShakerBackend.shake(...)forwards tostart_shaking(...)with warningFrontend updates
Shaker.shake(..., duration=...)now callsbackend.start_shaking(...)Backend implementations updated
pylabrobot/shaking/chatterbox.py: implementsstart_shaking(...), keeps deprecatedshake(...)pylabrobot/shaking/bioshake_backend.py: implementsstart_shaking(...), keeps deprecatedshake(...)pylabrobot/heating_shaking/hamilton_backend.py: implementsstart_shaking(...), keeps deprecatedshake(...)pylabrobot/heating_shaking/inheco/thermoshake_backend.py: implementsstart_shaking(...), keeps deprecatedshake(...)Backward compatibility
.shake(...)still work for now via deprecation aliases.heating_shakingstill works via shim.from pylabrobot.shaking import BioShakestart_shaking(...)/stop_shaking(...)Testing / validation
Follow-up (optional)
Shaker.shake(..., duration=...)usesstart_shaking(...)thenstop_shaking(...).shake(...)aliases and theheating_shakingBioShake shim.