Pumps

CENTRIS syringe pump driver-level control.

RESTPython

All endpoints are under the /pumps/ prefix.

The openculture SDK is a typed REST client — it calls the same endpoints as the REST tab.

Namespace: h.pumps — 19 endpoints.

from openculture import HabitatClient
from openculture.client.habitat.models.pumps import InitRequest, PlungerMoveRequest

with HabitatClient("http://mistyforest.local:8000") as h:
    # List all pumps
    pumps = h.pumps.list()

    # Get a single pump by address
    pump = h.pumps.get(0)
    print(pump.addr, pump.name, pump.ready)

    # Initialize (homes plunger and valve)
    result = h.pumps.initialize_pump(0, request=InitRequest())
    assert result.success

    # Driver-level dispense and aspirate
    # (for workflow-level operations use h.atomics / h.routines instead)
    h.pumps.dispense(0, request=PlungerMoveRequest(...))
    h.pumps.aspirate(0, request=PlungerMoveRequest(...))

All request and response shapes are in openculture.client.habitat.models.

Endpoint reference

Habitat API — centris 0.1.0

REST API for the Habitat tissue-culture automation platform by Open Culture Science. All endpoints accept and return JSON.

centris

GET /pumps/

List all pumps

Description

Get status for all configured pumps.

Served from the driver's in-memory cache (get_cached_status) so this polled endpoint stays off the shared serial lock. The 1 Hz telemetry source keeps the cache fresh; a single live read happens only at cold start. The single-pump GET /pumps/{addr} remains a live read.

Responses

200 OK

application/json

⚠️ This example href="#__codelineno-1-1">[ { "addr": 0, "name": "string", "ready": true, "initialized": true, "error_code": 0, "error_message": "string", "plunger_position_increments": 0, "plunger_position_ul": null, "valve_position": 0, "valve_type": "string", "syringe_volume_ul": 0, "top_speed_inc_per_s": 10.12, "start_speed_inc_per_s": 0, "cutoff_speed_inc_per_s": 0, "temperature_f": null, "voltage": null, "operating_time_min": null, "firmware": null } ] has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "items": {
        "$ref": "#/components/schemas/PumpStatus"
    },
    "type": "array",
    "title": "Response List Pumps Pumps  Get"
}

GET /pumps/{addr}

Pump status

Description

Get detailed status for a single pump.

Input parameters

Parameter	In	Type	Default	Nullable	Description
`addr`	path	integer		No

Responses

200 OK422 Unprocessable Entity

application/json

{
    "addr": 0,
    "name": "string",
    "ready": true,
    "initialized": true,
    "error_code": 0,
    "error_message": "string",
    "plunger_position_increments": 0,
    "plunger_position_ul": null,
    "valve_position": 0,
    "valve_type": "string",
    "syringe_volume_ul": 0,
    "top_speed_inc_per_s": 10.12,
    "start_speed_inc_per_s": 0,
    "cutoff_speed_inc_per_s": 0,
    "temperature_f": null,
    "voltage": null,
    "operating_time_min": null,
    "firmware": null
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "addr": {
            "type": "integer",
            "title": "Addr"
        },
        "name": {
            "type": "string",
            "title": "Name",
            "default": ""
        },
        "ready": {
            "type": "boolean",
            "title": "Ready"
        },
        "initialized": {
            "type": "boolean",
            "title": "Initialized"
        },
        "error_code": {
            "type": "integer",
            "title": "Error Code"
        },
        "error_message": {
            "type": "string",
            "title": "Error Message"
        },
        "plunger_position_increments": {
            "type": "integer",
            "title": "Plunger Position Increments"
        },
        "plunger_position_ul": {
            "anyOf": [
                {
                    "type": "number"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Plunger Position Ul"
        },
        "valve_position": {
            "type": "integer",
            "title": "Valve Position"
        },
        "valve_type": {
            "type": "string",
            "title": "Valve Type"
        },
        "syringe_volume_ul": {
            "type": "integer",
            "title": "Syringe Volume Ul"
        },
        "top_speed_inc_per_s": {
            "type": "number",
            "title": "Top Speed Inc Per S",
            "default": 0
        },
        "start_speed_inc_per_s": {
            "type": "integer",
            "title": "Start Speed Inc Per S",
            "default": 0
        },
        "cutoff_speed_inc_per_s": {
            "type": "integer",
            "title": "Cutoff Speed Inc Per S",
            "default": 0
        },
        "temperature_f": {
            "anyOf": [
                {
                    "type": "number"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Temperature F"
        },
        "voltage": {
            "anyOf": [
                {
                    "type": "number"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Voltage"
        },
        "operating_time_min": {
            "anyOf": [
                {
                    "type": "integer"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Operating Time Min"
        },
        "firmware": {
            "anyOf": [
                {
                    "type": "string"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Firmware"
        }
    },
    "type": "object",
    "required": [
        "addr",
        "ready",
        "initialized",
        "error_code",
        "error_message",
        "plunger_position_increments",
        "valve_position",
        "valve_type",
        "syringe_volume_ul"
    ],
    "title": "PumpStatus",
    "description": "Full pump status returned to API consumers."
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

GET /pumps/{addr}/ready

Check pump ready state

Description

Quick check if pump is ready (not busy).

Input parameters

Parameter	In	Type	Default	Nullable	Description
`addr`	path	integer		No

Responses

200 OK422 Unprocessable Entity

application/json

Schema of the response body

{
    "type": "object",
    "additionalProperties": true,
    "title": "Response Check Ready Pumps  Addr  Ready Get"
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

POST /pumps/{addr}/initialize

Initialize pump

Description

Initialize a pump (home plunger and valve).

When input_port / init_port is 0 or omitted, the driver picks a port from the pump YAML port_map: first waste role, then first unmapped port, then 1.

When init_gap_increments is provided, set_init_gap is invoked BEFORE the Z homing command for this initialization run. This path enforces the same SAFE_FLOOR rule as POST /pumps/{addr}/init-gap but does not offer an override — values below the floor are rejected with HTTP 400. To persist a sub-floor value, call the dedicated /init-gap endpoint with override_safety_floor=true first, then call this endpoint without init_gap_increments.

Input parameters

Parameter	In	Type	Default	Nullable	Description
`addr`	path	integer		No

Request body

application/json

{
    "direction": "cw",
    "speed": 0,
    "input_port": 0,
    "output_port": 0,
    "init_gap_increments": null
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the request body

{
    "properties": {
        "direction": {
            "$ref": "#/components/schemas/habitat__models__centris__InitDirection",
            "default": "cw"
        },
        "speed": {
            "type": "integer",
            "maximum": 25.0,
            "minimum": 4.0,
            "title": "Speed",
            "description": "Init speed code",
            "default": 10
        },
        "input_port": {
            "type": "integer",
            "minimum": 0.0,
            "title": "Input Port",
            "description": "Distribution-valve input port for homing. Use ``0`` (or omit) for auto-selection from the pump YAML ``port_map``: first waste role, else first port not listed in the map, else port 1. JSON may use the field name ``init_port`` as an alias.",
            "default": 0
        },
        "output_port": {
            "type": "integer",
            "minimum": 0.0,
            "title": "Output Port",
            "description": "Init output port (0=default)",
            "default": 0
        },
        "init_gap_increments": {
            "anyOf": [
                {
                    "type": "integer",
                    "minimum": 0.0
                },
                {
                    "type": "null"
                }
            ],
            "title": "Init Gap Increments",
            "description": "Optional one-shot post-init plunger gap in increments. If provided, ``set_init_gap`` is called BEFORE the Z command on this initialization only. ``None`` means use the previously-configured gap (firmware default ~1600 if never set). DANGER: see ``POST /pumps/{addr}/init-gap`` for hazard details. This path requires ``gap_increments >= 100`` (the safety floor) — there is no override field on this endpoint. Use the dedicated ``/init-gap`` endpoint with ``override_safety_floor=true`` if you must persist a sub-floor value before initialization."
        }
    },
    "type": "object",
    "title": "InitRequest",
    "description": "Request body for pump initialization."
}

Responses

200 OK422 Unprocessable Entity

application/json

{
    "success": true,
    "addr": 0,
    "message": "string",
    "data": null,
    "error_code": 0,
    "error_message": "string"
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "success": {
            "type": "boolean",
            "title": "Success"
        },
        "addr": {
            "type": "integer",
            "title": "Addr"
        },
        "message": {
            "type": "string",
            "title": "Message",
            "default": ""
        },
        "data": {
            "anyOf": [
                {
                    "type": "string"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Data"
        },
        "error_code": {
            "type": "integer",
            "title": "Error Code",
            "default": 0
        },
        "error_message": {
            "type": "string",
            "title": "Error Message",
            "default": ""
        }
    },
    "type": "object",
    "required": [
        "success",
        "addr"
    ],
    "title": "CommandResponse",
    "description": "Generic response from a pump command."
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

POST /pumps/initialize-all

Initialize all pumps

Description

Initialize all configured pumps sequentially.

Responses

200 OK

application/json

[
    {
        "success": true,
        "addr": 0,
        "message": "string",
        "data": null,
        "error_code": 0,
        "error_message": "string"
    }
]

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "items": {
        "$ref": "#/components/schemas/habitat__models__centris__CommandResponse"
    },
    "type": "array",
    "title": "Response Initialize All Pumps Initialize All Post"
}

GET /pumps/{addr}/init-gap

Read configured post-init plunger gap

Description

Return the configured post-init plunger gap (driver-side cached state).

The gap is the increment offset where the plunger lands after the next Z (home) command. None indicates no gap has been configured on this driver session — the firmware default (~1600 increments) applies.

This endpoint is read-only and performs no hardware I/O. It is the canonical way to inspect the current gap before issuing POST /pumps/{addr}/init-gap.

Input parameters

Parameter	In	Type	Default	Nullable	Description
`addr`	path	integer		No

Responses

200 OK422 Unprocessable Entity

application/json

Schema of the response body

{
    "type": "object",
    "additionalProperties": true,
    "title": "Response Get Init Gap Pumps  Addr  Init Gap Get"
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

POST /pumps/{addr}/valve

Rotate the distribution valve to a port

Description

Rotates the pump's rotary distribution valve to the requested port. The pump must be initialised (POST /pumps/{addr}/initialize) first. Blocks until the firmware reports the rotation complete (typically ~300 ms). The direction parameter (cw default, ccw alt) picks shortest-path rotation; the firmware will pick the natural direction when not specified.

Cross-contamination hazard: rotating a valve while there is fluid in the line can carry trace volume into the new port. Compose with a dispense-to-waste between dissimilar reagents.

Returns CommandResponse{success, message, error_code}. Successful response carries the new port in data.

Input parameters

Parameter	In	Type	Default	Nullable	Description
`addr`	path	integer		No

Request body

application/json

{
    "port": 0,
    "direction": "string"
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the request body

{
    "properties": {
        "port": {
            "type": "integer",
            "maximum": 12.0,
            "minimum": 1.0,
            "title": "Port",
            "description": "Target port number"
        },
        "direction": {
            "type": "string",
            "title": "Direction",
            "description": "Rotation direction: 'cw' (I command) or 'ccw' (O command)",
            "default": "cw"
        }
    },
    "type": "object",
    "required": [
        "port"
    ],
    "title": "ValveMoveRequest",
    "description": "Request body for valve movement."
}

Responses

200 OK422 Unprocessable Entity

application/json

{
    "success": true,
    "addr": 0,
    "message": "string",
    "data": null,
    "error_code": 0,
    "error_message": "string"
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "success": {
            "type": "boolean",
            "title": "Success"
        },
        "addr": {
            "type": "integer",
            "title": "Addr"
        },
        "message": {
            "type": "string",
            "title": "Message",
            "default": ""
        },
        "data": {
            "anyOf": [
                {
                    "type": "string"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Data"
        },
        "error_code": {
            "type": "integer",
            "title": "Error Code",
            "default": 0
        },
        "error_message": {
            "type": "string",
            "title": "Error Message",
            "default": ""
        }
    },
    "type": "object",
    "required": [
        "success",
        "addr"
    ],
    "title": "CommandResponse",
    "description": "Generic response from a pump command."
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

GET /pumps/{addr}/valve

Query valve position

Description

Query the current valve port position.

Input parameters

Parameter	In	Type	Default	Nullable	Description
`addr`	path	integer		No

Responses

200 OK422 Unprocessable Entity

application/json

Schema of the response body

{
    "type": "object",
    "additionalProperties": true,
    "title": "Response Get Valve Pumps  Addr  Valve Get"
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

POST /pumps/{addr}/aspirate

Aspirate fluid into the syringe

Description

Aspirates (draws in) a fluid volume into the syringe. Body accepts either volume_ul (preferred) or increments; supplying both is an error. The driver converts µL → increments using OUR config's syringe volume (never the NVRAM value — see ADR 002), so the move is always sized for the physically installed syringe.

Preconditions: * Pump initialised. * Valve already rotated to the source port (POST /pumps/{addr}/valve). * Requested volume + current plunger position ≤ syringe capacity.

Returns 200 with success=true on a successful firmware ack. On firmware error the response carries success=false and error_code / error_message set.

Input parameters

Parameter	In	Type	Default	Nullable	Description
`addr`	path	integer		No

Request body

application/json

{
    "volume_ul": null,
    "increments": null
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the request body

{
    "properties": {
        "volume_ul": {
            "anyOf": [
                {
                    "type": "number",
                    "exclusiveMinimum": 0.0
                },
                {
                    "type": "null"
                }
            ],
            "title": "Volume Ul",
            "description": "Volume in microliters"
        },
        "increments": {
            "anyOf": [
                {
                    "type": "integer",
                    "exclusiveMinimum": 0.0
                },
                {
                    "type": "null"
                }
            ],
            "title": "Increments",
            "description": "Position in increments"
        }
    },
    "type": "object",
    "title": "PlungerMoveRequest",
    "description": "Request body for aspirate, dispense, or absolute move.\n\nProvide exactly one of volume_ul or increments."
}

Responses

200 OK422 Unprocessable Entity

application/json

{
    "success": true,
    "addr": 0,
    "message": "string",
    "data": null,
    "error_code": 0,
    "error_message": "string"
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "success": {
            "type": "boolean",
            "title": "Success"
        },
        "addr": {
            "type": "integer",
            "title": "Addr"
        },
        "message": {
            "type": "string",
            "title": "Message",
            "default": ""
        },
        "data": {
            "anyOf": [
                {
                    "type": "string"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Data"
        },
        "error_code": {
            "type": "integer",
            "title": "Error Code",
            "default": 0
        },
        "error_message": {
            "type": "string",
            "title": "Error Message",
            "default": ""
        }
    },
    "type": "object",
    "required": [
        "success",
        "addr"
    ],
    "title": "CommandResponse",
    "description": "Generic response from a pump command."
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

POST /pumps/{addr}/dispense

Dispense fluid from the syringe

Description

Dispenses (pushes out) a fluid volume from the syringe. Mirror of aspirate, but pushes the plunger toward 0 instead of toward syringe capacity. Body accepts either volume_ul (preferred) or increments; supplying both is an error.

Preconditions: * Pump initialised. * Valve already rotated to the destination port. * Requested volume ≤ current plunger position (no negative position).

Returns 200 with success=true on a successful firmware ack.

Input parameters

Parameter	In	Type	Default	Nullable	Description
`addr`	path	integer		No

Request body

application/json

{
    "volume_ul": null,
    "increments": null
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the request body

{
    "properties": {
        "volume_ul": {
            "anyOf": [
                {
                    "type": "number",
                    "exclusiveMinimum": 0.0
                },
                {
                    "type": "null"
                }
            ],
            "title": "Volume Ul",
            "description": "Volume in microliters"
        },
        "increments": {
            "anyOf": [
                {
                    "type": "integer",
                    "exclusiveMinimum": 0.0
                },
                {
                    "type": "null"
                }
            ],
            "title": "Increments",
            "description": "Position in increments"
        }
    },
    "type": "object",
    "title": "PlungerMoveRequest",
    "description": "Request body for aspirate, dispense, or absolute move.\n\nProvide exactly one of volume_ul or increments."
}

Responses

200 OK422 Unprocessable Entity

application/json

{
    "success": true,
    "addr": 0,
    "message": "string",
    "data": null,
    "error_code": 0,
    "error_message": "string"
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "success": {
            "type": "boolean",
            "title": "Success"
        },
        "addr": {
            "type": "integer",
            "title": "Addr"
        },
        "message": {
            "type": "string",
            "title": "Message",
            "default": ""
        },
        "data": {
            "anyOf": [
                {
                    "type": "string"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Data"
        },
        "error_code": {
            "type": "integer",
            "title": "Error Code",
            "default": 0
        },
        "error_message": {
            "type": "string",
            "title": "Error Message",
            "default": ""
        }
    },
    "type": "object",
    "required": [
        "success",
        "addr"
    ],
    "title": "CommandResponse",
    "description": "Generic response from a pump command."
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

POST /pumps/{addr}/move-absolute

Move plunger to an absolute position

Description

Drives the plunger to an absolute position (in µL or increments). Combines a speed-set + move-absolute in one atomic call: when top_speed_ul_per_s is supplied, the driver applies it via set_speed (snapped to the nearest S-code) immediately before the move so the slider value the GUI shows and the rate the move executes at are guaranteed consistent.

Preconditions: * Pump initialised. * Target position in [0, syringe_volume_ul].

If the speed-set fails the move still proceeds with the previously-set speed — the speed-set failure is logged but doesn't block the motion. The response reflects the move result only.

Input parameters

Parameter	In	Type	Default	Nullable	Description
`addr`	path	integer		No

Request body

application/json

{
    "position_ul": null,
    "position_increments": null,
    "top_speed_ul_per_s": null
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the request body

{
    "properties": {
        "position_ul": {
            "anyOf": [
                {
                    "type": "number",
                    "minimum": 0.0
                },
                {
                    "type": "null"
                }
            ],
            "title": "Position Ul",
            "description": "Absolute position in microliters"
        },
        "position_increments": {
            "anyOf": [
                {
                    "type": "integer",
                    "minimum": 0.0
                },
                {
                    "type": "null"
                }
            ],
            "title": "Position Increments",
            "description": "Absolute position in increments"
        },
        "top_speed_ul_per_s": {
            "anyOf": [
                {
                    "type": "number",
                    "exclusiveMinimum": 0.0
                },
                {
                    "type": "null"
                }
            ],
            "title": "Top Speed Ul Per S",
            "description": "Optional top plunger speed in µL/s to apply before the move. When omitted, the firmware's previously-set speed is used."
        }
    },
    "type": "object",
    "title": "AbsoluteMoveRequest",
    "description": "Request body for absolute plunger positioning.\n\nProvide exactly one of position_ul or position_increments.\n\nThe optional ``top_speed_ul_per_s`` lets a caller pin the speed\nthat will govern the move in a single round-trip. When set, the\nendpoint calls ``set_speed`` with that value immediately before\nissuing the absolute-position command. Behaviourally this is\nequivalent to ``POST /pumps/{addr}/speed`` followed by\n``POST /pumps/{addr}/move-absolute`` but atomic — the operator's\nGUI slider value can travel with the drag instead of relying on\na separate poll cycle to converge."
}

Responses

200 OK422 Unprocessable Entity

application/json

{
    "success": true,
    "addr": 0,
    "message": "string",
    "data": null,
    "error_code": 0,
    "error_message": "string"
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "success": {
            "type": "boolean",
            "title": "Success"
        },
        "addr": {
            "type": "integer",
            "title": "Addr"
        },
        "message": {
            "type": "string",
            "title": "Message",
            "default": ""
        },
        "data": {
            "anyOf": [
                {
                    "type": "string"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Data"
        },
        "error_code": {
            "type": "integer",
            "title": "Error Code",
            "default": 0
        },
        "error_message": {
            "type": "string",
            "title": "Error Message",
            "default": ""
        }
    },
    "type": "object",
    "required": [
        "success",
        "addr"
    ],
    "title": "CommandResponse",
    "description": "Generic response from a pump command."
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

GET /pumps/{addr}/position

Query plunger position

Description

Query the current plunger position.

Input parameters

Parameter	In	Type	Default	Nullable	Description
`addr`	path	integer		No

Responses

200 OK422 Unprocessable Entity

application/json

Schema of the response body

{
    "type": "object",
    "additionalProperties": true,
    "title": "Response Get Position Pumps  Addr  Position Get"
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

POST /pumps/{addr}/speed

Set speed profile

Description

Set the plunger top-speed profile. Body accepts one of three ways to express the target speed:

speed_code (int, 0–50): the firmware-native discrete S code. 0 is fastest (200,000 inc/s), 50 is slowest (1 inc/s). Used as-is.
top_speed_inc_per_s (float): arbitrary inc/s sent via the firmware V<n>R command. Not snapped — accepts any value the firmware allows.
top_speed_ul_per_s (float): the operator-friendly form. The driver converts µL/s → inc/s using the config's syringe volume (never the NVRAM value — see ADR 002) and then snaps to the nearest discrete speed code before issuing S<n>R. The response's data field carries the applied speed_code and top_speed_inc_per_s so the caller can verify the snapped result.

Returns success: true whenever the firmware accepts the speed write (the snap-to-code path is guaranteed to succeed for any code 0–50).

Input parameters

Parameter	In	Type	Default	Nullable	Description
`addr`	path	integer		No

Request body

application/json

{
    "speed_code": null,
    "top_speed_inc_per_s": null,
    "top_speed_ul_per_s": null,
    "start_speed_inc_per_s": null,
    "cutoff_speed_inc_per_s": null,
    "slope_up": null,
    "slope_down": null
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the request body

{
    "properties": {
        "speed_code": {
            "anyOf": [
                {
                    "type": "integer",
                    "maximum": 50.0,
                    "minimum": 0.0
                },
                {
                    "type": "null"
                }
            ],
            "title": "Speed Code",
            "description": "Predefined speed code (0-50)"
        },
        "top_speed_inc_per_s": {
            "anyOf": [
                {
                    "type": "number",
                    "maximum": 200000.0,
                    "minimum": 1.0
                },
                {
                    "type": "null"
                }
            ],
            "title": "Top Speed Inc Per S",
            "description": "Top speed in increments/second"
        },
        "top_speed_ul_per_s": {
            "anyOf": [
                {
                    "type": "number",
                    "exclusiveMinimum": 0.0
                },
                {
                    "type": "null"
                }
            ],
            "title": "Top Speed Ul Per S",
            "description": "Top speed in microliters/second"
        },
        "start_speed_inc_per_s": {
            "anyOf": [
                {
                    "type": "integer",
                    "maximum": 32000.0,
                    "minimum": 800.0
                },
                {
                    "type": "null"
                }
            ],
            "title": "Start Speed Inc Per S",
            "description": "Start speed in inc/s"
        },
        "cutoff_speed_inc_per_s": {
            "anyOf": [
                {
                    "type": "integer",
                    "maximum": 64000.0,
                    "minimum": 800.0
                },
                {
                    "type": "null"
                }
            ],
            "title": "Cutoff Speed Inc Per S",
            "description": "Cutoff speed in inc/s"
        },
        "slope_up": {
            "anyOf": [
                {
                    "type": "integer",
                    "maximum": 40.0,
                    "minimum": 1.0
                },
                {
                    "type": "null"
                }
            ],
            "title": "Slope Up",
            "description": "Ramp-up slope code"
        },
        "slope_down": {
            "anyOf": [
                {
                    "type": "integer",
                    "maximum": 40.0,
                    "minimum": 1.0
                },
                {
                    "type": "null"
                }
            ],
            "title": "Slope Down",
            "description": "Ramp-down slope code"
        }
    },
    "type": "object",
    "title": "SpeedRequest",
    "description": "Request body for setting plunger speed."
}

Responses

200 OK422 Unprocessable Entity

application/json

{
    "success": true,
    "addr": 0,
    "message": "string",
    "data": null,
    "error_code": 0,
    "error_message": "string"
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "success": {
            "type": "boolean",
            "title": "Success"
        },
        "addr": {
            "type": "integer",
            "title": "Addr"
        },
        "message": {
            "type": "string",
            "title": "Message",
            "default": ""
        },
        "data": {
            "anyOf": [
                {
                    "type": "string"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Data"
        },
        "error_code": {
            "type": "integer",
            "title": "Error Code",
            "default": 0
        },
        "error_message": {
            "type": "string",
            "title": "Error Message",
            "default": ""
        }
    },
    "type": "object",
    "required": [
        "success",
        "addr"
    ],
    "title": "CommandResponse",
    "description": "Generic response from a pump command."
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

GET /pumps/{addr}/speed

Query speed settings

Description

Query the current speed settings (from cached state).

Input parameters

Parameter	In	Type	Default	Nullable	Description
`addr`	path	integer		No

Responses

200 OK422 Unprocessable Entity

application/json

Schema of the response body

{
    "type": "object",
    "additionalProperties": true,
    "title": "Response Get Speed Pumps  Addr  Speed Get"
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

POST /pumps/{addr}/terminate

Graceful stop

Description

Graceful stop (T command).

Input parameters

Parameter	In	Type	Default	Nullable	Description
`addr`	path	integer		No

Responses

200 OK422 Unprocessable Entity

application/json

{
    "success": true,
    "addr": 0,
    "message": "string",
    "data": null,
    "error_code": 0,
    "error_message": "string"
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "success": {
            "type": "boolean",
            "title": "Success"
        },
        "addr": {
            "type": "integer",
            "title": "Addr"
        },
        "message": {
            "type": "string",
            "title": "Message",
            "default": ""
        },
        "data": {
            "anyOf": [
                {
                    "type": "string"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Data"
        },
        "error_code": {
            "type": "integer",
            "title": "Error Code",
            "default": 0
        },
        "error_message": {
            "type": "string",
            "title": "Error Message",
            "default": ""
        }
    },
    "type": "object",
    "required": [
        "success",
        "addr"
    ],
    "title": "CommandResponse",
    "description": "Generic response from a pump command."
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

POST /pumps/{addr}/reset

Software reset

Description

Software reset (! command). Pump will need re-initialization.

Input parameters

Parameter	In	Type	Default	Nullable	Description
`addr`	path	integer		No

Responses

200 OK422 Unprocessable Entity

application/json

{
    "success": true,
    "addr": 0,
    "message": "string",
    "data": null,
    "error_code": 0,
    "error_message": "string"
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "success": {
            "type": "boolean",
            "title": "Success"
        },
        "addr": {
            "type": "integer",
            "title": "Addr"
        },
        "message": {
            "type": "string",
            "title": "Message",
            "default": ""
        },
        "data": {
            "anyOf": [
                {
                    "type": "string"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Data"
        },
        "error_code": {
            "type": "integer",
            "title": "Error Code",
            "default": 0
        },
        "error_message": {
            "type": "string",
            "title": "Error Message",
            "default": ""
        }
    },
    "type": "object",
    "required": [
        "success",
        "addr"
    ],
    "title": "CommandResponse",
    "description": "Generic response from a pump command."
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

POST /pumps/terminate-all

Emergency stop all pumps

Description

Emergency stop all configured pumps.

Responses

200 OK

application/json

[
    {
        "success": true,
        "addr": 0,
        "message": "string",
        "data": null,
        "error_code": 0,
        "error_message": "string"
    }
]

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "items": {
        "$ref": "#/components/schemas/habitat__models__centris__CommandResponse"
    },
    "type": "array",
    "title": "Response Terminate All Pumps Terminate All Post"
}

GET /pumps/{addr}/diagnostics

Pump diagnostics

Description

Get diagnostic information: temperature, voltage, operating time, firmware.

Input parameters

Parameter	In	Type	Default	Nullable	Description
`addr`	path	integer		No

Responses

200 OK422 Unprocessable Entity

application/json

Schema of the response body

{
    "type": "object",
    "additionalProperties": true,
    "title": "Response Get Diagnostics Pumps  Addr  Diagnostics Get"
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

GET /pumps/{addr}/configuration

Hardware configuration

Description

Query hardware configuration register (?76).

Input parameters

Parameter	In	Type	Default	Nullable	Description
`addr`	path	integer		No

Responses

200 OK422 Unprocessable Entity

application/json

{
    "addr": 0,
    "register": null,
    "raw_value": "string",
    "parsed_value": null
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "addr": {
            "type": "integer",
            "title": "Addr"
        },
        "register": {
            "anyOf": [
                {
                    "type": "integer"
                },
                {
                    "type": "string"
                }
            ],
            "title": "Register",
            "description": "Register identifier"
        },
        "raw_value": {
            "type": "string",
            "title": "Raw Value"
        },
        "parsed_value": {
            "anyOf": [
                {
                    "type": "number"
                },
                {
                    "type": "integer"
                },
                {
                    "type": "string"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Parsed Value"
        }
    },
    "type": "object",
    "required": [
        "addr",
        "register",
        "raw_value"
    ],
    "title": "QueryResponse",
    "description": "Response for report/query commands.\n\nThe wire-level field is ``register`` (preserved via the alias) but the\nPython attribute is ``register_number`` to avoid Pydantic's \"field\nshadows BaseModel attribute\" warning for the bare ``register`` name."
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

Schemas

AbsoluteMoveRequest

Name	Type	Description
`position_increments`		Absolute position in increments
`position_ul`		Absolute position in microliters
`top_speed_ul_per_s`		Optional top plunger speed in µL/s to apply before the move. When omitted, the firmware's previously-set speed is used.

AtomicCallRequest

Name	Type	Description
`params`		Atomic parameters keyed by the names declared in the manifest.

AtomicManifest

Name	Type	Description
`authored_by`	string
`belongs_to_routines`	Array<string>
`blocking`
`description`	string
`device_kind`	string
`emits_metrics`	Array<string>	Advisory list of metric names this atomic is expected to emit. Not populated by any atomic today and not enforced or cross-checked against the telemetry layer -- agent-read-only metadata, not a live emission guarantee.
`estimated_fluid_volume_ul`
`estimated_wear`	string	Advisory relative wear estimate. Not derived from any measurement and not read by the runtime -- agent-read-only metadata for planning, not a calibrated cost model.
`expected_duration_ms`
`failure_modes`	Array<FailureMode>
`hazards`	Array<Hazard>
`idempotent`	boolean
`interrupted_state`	string
`kind`	string
`last_calibrated`
`mutates`	Array<string>
`name`	string
`params`	Array<ParamSpec>
`postconditions`	Array<Postcondition>
`preconditions`	Array<Precondition>
`requires_human_confirmation`	boolean
`requires_state`
`reverse_atomic`		Advisory pointer to the atomic that would undo this one. Not populated by any atomic today and not enforced or invoked by the runtime -- agent-read-only metadata, not a guarantee a reverse operation exists or is registered.
`reversible`	boolean
`side_effects`	Array<string>
`summary`	string
`tier`	string
`typical_predecessors`	Array<string>
`typical_successors`	Array<string>
`validated_on_hardware`	Array<string>
`version`	string

CreateEventRequest

Name	Type	Description
`action`	string	Action type (e.g. 'feed', 'wash')
`color`	string
`duration_min`	number
`notes`	string
`parameters`
`sample_id`	string	Target sample ID
`series_id`
`start_time`	string	Scheduled start (ISO 8601)

CurrentLimitRequest

Name	Type	Description
`current_limit_ma`	integer	Current limit in mA (Tic 36v4 max: 4000)

DeviceRef

Name	Type	Description
`id`	string
`kind`	string

DoseRequest

Name	Type	Description
`block`	boolean	Wait for motion to complete before returning
`direction`	FlowDirection	Flow direction
`volume_ml`	number	Volume to pump in mL

ExecuteRoutineRequest

Name	Type	Description
`params`		Routine parameters keyed by the names declared in the manifest.

FailureMode

Name	Type	Description
`error_class`	string
`recommended_recovery`	Array<RecoveryStep>
`when`	string

FlowDirection

Type: string

ForeachBlock-Input

Name	Type	Description
`as_var`	string	Loop variable name. Body placeholders ``{}`` are replaced with the current element on each iteration.
`list_param`	string	Placeholder name (without braces) for the list parameter, e.g. 'samples' resolves to the value of bound_params['samples'].
`steps`	Array<RoutineStep-Input>	Step body executed once per list element.

ForeachBlock-Output

Name	Type	Description
`as_var`	string	Loop variable name. Body placeholders ``{}`` are replaced with the current element on each iteration.
`list_param`	string	Placeholder name (without braces) for the list parameter, e.g. 'samples' resolves to the value of bound_params['samples'].
`steps`	Array<RoutineStep-Output>	Step body executed once per list element.

habitatmodelscentris__CommandResponse

Name	Type	Description
`addr`	integer
`data`
`error_code`	integer
`error_message`	string
`message`	string
`success`	boolean

habitatmodelscentris__InitDirection

Type: string

habitatmodelscentris__InitRequest

Name	Type	Description
`direction`	habitat__models__centris__InitDirection
`init_gap_increments`		Optional one-shot post-init plunger gap in increments. If provided, ``set_init_gap`` is called BEFORE the Z command on this initialization only. ``None`` means use the previously-configured gap (firmware default ~1600 if never set). DANGER: see ``POST /pumps/{addr}/init-gap`` for hazard details. This path requires ``gap_increments >= 100`` (the safety floor) — there is no override field on this endpoint. Use the dedicated ``/init-gap`` endpoint with ``override_safety_floor=true`` if you must persist a sub-floor value before initialization.
`input_port`	integer	Distribution-valve input port for homing. Use ``0`` (or omit) for auto-selection from the pump YAML ``port_map``: first waste role, else first port not listed in the map, else port 1. JSON may use the field name ``init_port`` as an alias.
`output_port`	integer	Init output port (0=default)
`speed`	integer	Init speed code

habitatmodelsperistaltic__CommandResponse

Name	Type	Description
`error`
`message`	string
`pump_name`	string
`success`	boolean

habitatmodelssmartvalve__CommandResponse

Name	Type	Description
`addr`	integer
`data`
`error_code`	integer
`error_message`	string
`message`	string
`success`	boolean

habitatmodelssmartvalve__InitDirection

Type: string

habitatmodelssmartvalve__InitRequest

Name	Type	Description
`direction`	habitat__models__smartvalve__InitDirection
`input_port`	integer	Init input port (0=default)
`output_port`	integer	Init output port (0=default)
`speed`	integer	Init speed code

Hazard

Name	Type	Description
`agent_guidance`	string
`condition`	string
`id`	string
`severity`	string

HTTPValidationError

Name	Type	Description
`detail`	Array<ValidationError>

Job

Name	Type	Description
`cancel_requested`	boolean
`created_at`	string(date-time)
`created_by`
`error`
`finished_at`
`id`	string
`idempotency_key`
`params`
`parent_id`
`progress`
`request_id`	string
`result`
`started_at`
`status`	JobStatus
`targets`	Array<DeviceRef>
`type`	string

JobProgress

Name	Type	Description
`current_step`	string
`note`
`step_index`
`total_steps`

JobStatus

Type: string

JobSubmissionBody

Name	Type	Description
`params`		Runnable-specific request body
`targets`		Optional list of device references the job acts on. If omitted, the runnable receives an empty target list.
`type`	string	Registered runnable name (e.g. 'actions.wash')

LoopBlock-Input

Name	Type	Description
`count`		Iteration count. Integer literal or ``{}`` resolved against the routine scope at run time.
`steps`	Array<RoutineStep-Input>	Step body executed once per iteration.

LoopBlock-Output

Name	Type	Description
`count`		Iteration count. Integer literal or ``{}`` resolved against the routine scope at run time.
`steps`	Array<RoutineStep-Output>	Step body executed once per iteration.

MoveRequest

Name	Type	Description
`block`	boolean	Wait for motion to complete before returning
`relative`	boolean	If True, move relative to current position. If False, absolute.
`steps`	integer	Number of microsteps (positive = forward, negative = reverse)

ParallelBlock-Input

Name	Type	Description
`steps`	Array<RoutineStep-Input>	Steps executed concurrently.

ParallelBlock-Output

Name	Type	Description
`steps`	Array<RoutineStep-Output>	Steps executed concurrently.

ParamSpec

Name	Type	Description
`default`
`name`	string
`range`
`required`	boolean
`semantic_role`	string
`type`	string
`unit`

PeristalticStatus

Name	Type	Description
`current_limit_ma`
`current_position`	integer
`current_velocity`	integer
`energized`	boolean
`errors`	string
`flow_rate_ul_min`	number
`max_speed`
`name`	string
`operation_state`	string
`planning_mode`	string
`ready`	boolean
`serial_number`
`step_mode`	integer
`target_position`	integer
`vin_voltage`

PlungerMoveRequest

Name	Type	Description
`increments`		Position in increments
`volume_ul`		Volume in microliters

Postcondition

Name	Type	Description
`description`	string
`state`

Precondition

Name	Type	Description
`check_id`	string
`description`	string
`on_fail_atomic`

PrimeRequest

Name	Type	Description
`seconds`	number	Duration to run in seconds (max 5 minutes)
`velocity`	integer	Velocity in microsteps per 10,000 seconds

ProblemDetails

Name	Type	Description
`detail`
`instance`
`request_id`
`status`	integer	HTTP status code
`title`	string	Short human-readable summary
`type`	string	Problem type URI

ProtocolDefaults

Name	Type	Description
`chip_id`
`pump_name`
`sample_id`
`speed_code`
`timeout_s`

ProtocolManifest

Name	Type	Description
`author`	string
`color`
`composes_atomics`	Array<string>
`composes_routines`	Array<string>
`created_at`
`defaults`	ProtocolDefaults
`description`	string
`device_kinds`	Array<string>
`device_name`
`emits_metrics`	Array<string>
`estimated_duration_ms`
`estimated_wear`	string
`failure_modes`	Array<FailureMode>
`file_path`
`hazards`	Array<Hazard>
`icon`
`last_calibrated`
`library`	string
`name`	string
`params`	Array<ParamSpec>
`postconditions`	Array<Postcondition>
`preconditions`	Array<Precondition>
`requires_human_confirmation`	boolean
`requires_state`
`schedule_items`	Array<ProtocolScheduleItem>
`scope`	string
`side_effects`	Array<string>
`status`	string
`summary`	string
`tags`	Array<string>
`tier`	string
`updated_at`
`validated_on_hardware`	Array<string>
`version`	string

ProtocolPlan

Name	Type	Description
`anchor_time`	string
`bound_params`
`ended_at`
`protocol_name`	string
`protocol_version`	string
`run_id`	string
`started_at`	string(date-time)
`status`	string
`step_results`	Array<ScheduleSubmission>
`submissions`	Array<ScheduleSubmission>

ProtocolScheduleItem

Name	Type	Description
`atomic`
`item_id`	string
`label`	string
`params`
`routine`
`sample_id`
`schedule`	ScheduleSpec

PumpStatus

Name	Type	Description
`addr`	integer
`cutoff_speed_inc_per_s`	integer
`error_code`	integer
`error_message`	string
`firmware`
`initialized`	boolean
`name`	string
`operating_time_min`
`plunger_position_increments`	integer
`plunger_position_ul`
`ready`	boolean
`start_speed_inc_per_s`	integer
`syringe_volume_ul`	integer
`temperature_f`
`top_speed_inc_per_s`	number
`valve_position`	integer
`valve_type`	string
`voltage`

QueryResponse

Name	Type	Description
`addr`	integer
`parsed_value`
`raw_value`	string
`register`		Register identifier

RecoveryStep

Name	Type	Description
`atomic_name`	string
`delay_ms_between_attempts`	integer
`expected_postcondition`
`max_attempts`	integer
`params`
`rationale`	string
`verify_with`

RoutineManifest-Input

Name	Type	Description
`authored_by`	string
`blocking`	boolean
`chip_aware`	boolean
`composes`	Array<string>
`created_at`
`description`	string
`device_kinds`	Array<string>
`device_name`
`emits_metrics`	Array<string>
`estimated_fluid_volume_ul`
`estimated_wear`	string
`expected_duration_ms`
`failure_modes`	Array<FailureMode>
`file_path`
`hazards`	Array<Hazard>
`idempotent`	boolean
`interrupted_state`	string
`last_calibrated`
`library`	string
`mutates`	Array<string>
`name`	string
`params`	Array<ParamSpec>
`postconditions`	Array<Postcondition>
`preconditions`	Array<Precondition>
`requires_human_confirmation`	boolean
`requires_state`
`reversible`	boolean
`side_effects`	Array<string>
`steps`	Array<RoutineStep-Input>
`summary`	string
`tier`	string
`typical_predecessors`	Array<string>
`typical_successors`	Array<string>
`updated_at`
`validated_on_hardware`	Array<string>
`version`	string

RoutineManifest-Output

Name	Type	Description
`authored_by`	string
`blocking`	boolean
`chip_aware`	boolean
`composes`	Array<string>
`created_at`
`description`	string
`device_kinds`	Array<string>
`device_name`
`emits_metrics`	Array<string>
`estimated_fluid_volume_ul`
`estimated_wear`	string
`expected_duration_ms`
`failure_modes`	Array<FailureMode>
`file_path`
`hazards`	Array<Hazard>
`idempotent`	boolean
`interrupted_state`	string
`last_calibrated`
`library`	string
`mutates`	Array<string>
`name`	string
`params`	Array<ParamSpec>
`postconditions`	Array<Postcondition>
`preconditions`	Array<Precondition>
`requires_human_confirmation`	boolean
`requires_state`
`reversible`	boolean
`side_effects`	Array<string>
`steps`	Array<RoutineStep-Output>
`summary`	string
`tier`	string
`typical_predecessors`	Array<string>
`typical_successors`	Array<string>
`updated_at`
`validated_on_hardware`	Array<string>
`version`	string

RoutineStep-Input

Name	Type	Description
`atomic`
`delay_after_ms`	integer
`foreach`
`label`	string
`loop`
`max_retries`	integer
`on_error`	string
`parallel`
`params`
`routine`

RoutineStep-Output

Name	Type	Description
`atomic`
`delay_after_ms`	integer
`foreach`
`label`	string
`loop`
`max_retries`	integer
`on_error`	string
`parallel`
`params`
`routine`

RoutineValidationReport

Name	Type	Description
`is_valid`	boolean
`issues`	Array<ValidationIssue>
`manifest`

RunProtocolRequest

Name	Type	Description
`bound_params`		Bindings for the protocol's declared params.

ScheduleSpec

Name	Type	Description
`duration_min`
`event_duration_min`
`interval_min`
`kind`	string
`offset_min`

ScheduleSubmission

Name	Type	Description
`atomic`
`duration_ms`	integer
`error`
`event_id`	string
`fire_at`	string
`job_id`
`label`	string
`params`
`routine`
`status`	string
`step_id`	string
`step_index`	integer
`target_kind`	string
`target_name`	string

SensorListEntry

Name	Type	Description
`connected`	boolean
`driver_mode`	string
`id`	string
`label`	string

SensorListResponse

Name	Type	Description
`sensors`	Array<SensorListEntry>

SensorReading

Name	Type	Description
`co2_pct`
`humidity_pct`
`sample_count`	integer
`sample_rate_hz`	number
`temperature_c`
`timestamp`
`warming_up`	boolean

SensorStatus

Name	Type	Description
`connected`	boolean
`csv_path`
`driver_mode`	string
`id`	string
`label`	string
`last_reading_at`
`malformed_frame_count`	integer
`port`
`sample_count`	integer
`sample_rate_hz`	number
`warming_up`	boolean

SpeedConfigRequest

Name	Type	Description
`max_accel`		Maximum acceleration in microsteps/s per 100 s
`max_decel`		Maximum deceleration in microsteps/s per 100 s
`max_speed`		Maximum speed in microsteps per 10,000 seconds
`starting_speed`		Starting speed in microsteps per 10,000 seconds

SpeedRequest

Name	Type	Description
`cutoff_speed_inc_per_s`		Cutoff speed in inc/s
`slope_down`		Ramp-down slope code
`slope_up`		Ramp-up slope code
`speed_code`		Predefined speed code (0-50)
`start_speed_inc_per_s`		Start speed in inc/s
`top_speed_inc_per_s`		Top speed in increments/second
`top_speed_ul_per_s`		Top speed in microliters/second

SpinRequest

Name	Type	Description
`velocity`	integer	Velocity in microsteps per 10,000 seconds (negative = reverse)

StepMode

Type: integer

StepModeRequest

Name	Type	Description
`step_mode`	StepMode	Microstepping divisor

StopRequest

Name	Type	Description
`hold`	boolean	If True, hold position (energized). If False, de-energize (freewheel).

TestRunRoutineRequest

Name	Type	Description
`params`		Routine parameters. Merged on top of the routine's manifest defaults before the executor walks the steps.

ValidateProtocolRequest

Name	Type	Description
`yaml_text`	string	Raw YAML text of the protocol manifest to validate.

ValidateRoutineRequest

Name	Type	Description
`yaml_text`	string	Raw YAML text of the routine manifest to validate.

ValidationError

Name	Type	Description
`ctx`
`input`
`loc`	Array<>
`msg`	string
`type`	string

ValidationIssue

Name	Type	Description
`code`	string
`location`	string
`message`	string
`severity`	string
`suggested_fix`

ValidationReport

Name	Type	Description
`is_valid`	boolean
`issues`	Array<ValidationIssue>
`manifest`

ValveMoveRequest

Name	Type	Description
`direction`	string	Rotation direction: 'cw' (I command) or 'ccw' (O command)
`port`	integer	Target port number

ValveStatus

Name	Type	Description
`addr`	integer
`error_code`	integer
`error_message`	string
`firmware`
`initialized`	boolean
`name`	string
`operating_time_min`
`ready`	boolean
`temperature_f`
`valve_position`	integer
`valve_type`	string
`voltage`

Pumps

Endpoint reference

Habitat API — centris 0.1.0

centris

GET /pumps/

GET /pumps/{addr}

GET /pumps/{addr}/ready

POST /pumps/{addr}/initialize

POST /pumps/initialize-all

GET /pumps/{addr}/init-gap

POST /pumps/{addr}/valve

GET /pumps/{addr}/valve

POST /pumps/{addr}/aspirate

POST /pumps/{addr}/dispense

POST /pumps/{addr}/move-absolute

GET /pumps/{addr}/position

POST /pumps/{addr}/speed

GET /pumps/{addr}/speed

POST /pumps/{addr}/terminate

POST /pumps/{addr}/reset

POST /pumps/terminate-all

GET /pumps/{addr}/diagnostics

GET /pumps/{addr}/configuration

Schemas

AbsoluteMoveRequest

AtomicCallRequest

AtomicManifest

CreateEventRequest

CurrentLimitRequest

DeviceRef

DoseRequest

ExecuteRoutineRequest

FailureMode

FlowDirection

ForeachBlock-Input

ForeachBlock-Output

habitat__models__centris__CommandResponse

habitat__models__centris__InitDirection

habitat__models__centris__InitRequest

habitat__models__peristaltic__CommandResponse

habitat__models__smartvalve__CommandResponse

habitat__models__smartvalve__InitDirection

habitat__models__smartvalve__InitRequest

Hazard

HTTPValidationError

Job

JobProgress

JobStatus

JobSubmissionBody

LoopBlock-Input

LoopBlock-Output

MoveRequest

ParallelBlock-Input

ParallelBlock-Output

ParamSpec

PeristalticStatus

PlungerMoveRequest

Postcondition

Precondition

PrimeRequest

ProblemDetails

ProtocolDefaults

ProtocolManifest

ProtocolPlan

ProtocolScheduleItem

PumpStatus

QueryResponse

RecoveryStep

RoutineManifest-Input

RoutineManifest-Output

RoutineStep-Input

RoutineStep-Output

RoutineValidationReport

RunProtocolRequest

ScheduleSpec

ScheduleSubmission

SensorListEntry

SensorListResponse

SensorReading

SensorStatus

habitatmodelscentris__CommandResponse

habitatmodelscentris__InitDirection

habitatmodelscentris__InitRequest

habitatmodelsperistaltic__CommandResponse

habitatmodelssmartvalve__CommandResponse

habitatmodelssmartvalve__InitDirection

habitatmodelssmartvalve__InitRequest