opentrons 8.0.0a4__py2.py3-none-any.whl → 8.0.0a5__py2.py3-none-any.whl

opentrons/hardware_control/protocols/motion_controller.py

@@ -204,6 +204,10 @@ class MotionController(Protocol[MountArgType]):
         """Disengage some axes."""
         ...
 
+    async def engage_axes(self, which: List[Axis]) -> None:
+        """Engage some axes."""
+        ...
+
     async def retract(self, mount: MountArgType, margin: float = 10) -> None:
         """Pull the specified mount up to its home position.
 

opentrons/protocol_engine/commands/calibration/move_to_maintenance_position.py

@@ -108,10 +108,15 @@ class MoveToMaintenancePositionImplementation(
                 await ot3_api.move_axes(
                     {
                         Axis.Z_L: max_motion_range + _LEFT_MOUNT_Z_MARGIN,
+                    }
+                )
+                await ot3_api.disengage_axes([Axis.Z_L])
+                await ot3_api.move_axes(
+                    {
                         Axis.Z_R: max_motion_range + _RIGHT_MOUNT_Z_MARGIN,
                     }
                 )
-                await ot3_api.disengage_axes([Axis.Z_L, Axis.Z_R])
+                await ot3_api.disengage_axes([Axis.Z_R])
 
         return SuccessData(public=MoveToMaintenancePositionResult(), private=None)
 

opentrons/protocol_engine/commands/command_unions.py

@@ -391,6 +391,7 @@ Command = Annotated[
         unsafe.UnsafeBlowOutInPlace,
         unsafe.UnsafeDropTipInPlace,
         unsafe.UpdatePositionEstimators,
+        unsafe.UnsafeEngageAxes,
     ],
     Field(discriminator="commandType"),
 ]
@@ -463,6 +464,7 @@ CommandParams = Union[
     unsafe.UnsafeBlowOutInPlaceParams,
     unsafe.UnsafeDropTipInPlaceParams,
     unsafe.UpdatePositionEstimatorsParams,
+    unsafe.UnsafeEngageAxesParams,
 ]
 
 CommandType = Union[
@@ -533,6 +535,7 @@ CommandType = Union[
     unsafe.UnsafeBlowOutInPlaceCommandType,
     unsafe.UnsafeDropTipInPlaceCommandType,
     unsafe.UpdatePositionEstimatorsCommandType,
+    unsafe.UnsafeEngageAxesCommandType,
 ]
 
 CommandCreate = Annotated[
@@ -604,6 +607,7 @@ CommandCreate = Annotated[
         unsafe.UnsafeBlowOutInPlaceCreate,
         unsafe.UnsafeDropTipInPlaceCreate,
         unsafe.UpdatePositionEstimatorsCreate,
+        unsafe.UnsafeEngageAxesCreate,
     ],
     Field(discriminator="commandType"),
 ]
@@ -676,6 +680,7 @@ CommandResult = Union[
     unsafe.UnsafeBlowOutInPlaceResult,
     unsafe.UnsafeDropTipInPlaceResult,
     unsafe.UpdatePositionEstimatorsResult,
+    unsafe.UnsafeEngageAxesResult,
 ]
 
 # todo(mm, 2024-06-12): Ideally, command return types would have specific

opentrons/protocol_engine/commands/unsafe/__init__.py

@@ -23,6 +23,14 @@ from .update_position_estimators import (
     UpdatePositionEstimatorsCreate,
 )
 
+from .unsafe_engage_axes import (
+    UnsafeEngageAxesCommandType,
+    UnsafeEngageAxesParams,
+    UnsafeEngageAxesResult,
+    UnsafeEngageAxes,
+    UnsafeEngageAxesCreate,
+)
+
 __all__ = [
     # Unsafe blow-out-in-place command models
     "UnsafeBlowOutInPlaceCommandType",
@@ -42,4 +50,10 @@ __all__ = [
     "UpdatePositionEstimatorsResult",
     "UpdatePositionEstimators",
     "UpdatePositionEstimatorsCreate",
+    # Unsafe engage axes
+    "UnsafeEngageAxesCommandType",
+    "UnsafeEngageAxesParams",
+    "UnsafeEngageAxesResult",
+    "UnsafeEngageAxes",
+    "UnsafeEngageAxesCreate",
 ]

opentrons/protocol_engine/commands/unsafe/unsafe_engage_axes.py

@@ -0,0 +1,83 @@
+"""Update position estimators payload, result, and implementaiton."""
+
+from __future__ import annotations
+from pydantic import BaseModel, Field
+from typing import TYPE_CHECKING, Optional, List, Type
+from typing_extensions import Literal
+
+from ...types import MotorAxis
+from ..command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
+from ...errors.error_occurrence import ErrorOccurrence
+from ...resources import ensure_ot3_hardware
+
+from opentrons.hardware_control import HardwareControlAPI
+
+if TYPE_CHECKING:
+    from ...execution import GantryMover
+
+
+UnsafeEngageAxesCommandType = Literal["unsafe/engageAxes"]
+
+
+class UnsafeEngageAxesParams(BaseModel):
+    """Payload required for an UnsafeEngageAxes command."""
+
+    axes: List[MotorAxis] = Field(..., description="The axes for which to enable.")
+
+
+class UnsafeEngageAxesResult(BaseModel):
+    """Result data from the execution of an UnsafeEngageAxes command."""
+
+
+class UnsafeEngageAxesImplementation(
+    AbstractCommandImpl[
+        UnsafeEngageAxesParams,
+        SuccessData[UnsafeEngageAxesResult, None],
+    ]
+):
+    """Enable axes command implementation."""
+
+    def __init__(
+        self,
+        hardware_api: HardwareControlAPI,
+        gantry_mover: GantryMover,
+        **kwargs: object,
+    ) -> None:
+        self._hardware_api = hardware_api
+        self._gantry_mover = gantry_mover
+
+    async def execute(
+        self, params: UnsafeEngageAxesParams
+    ) -> SuccessData[UnsafeEngageAxesResult, None]:
+        """Enable exes."""
+        ot3_hardware_api = ensure_ot3_hardware(self._hardware_api)
+        await ot3_hardware_api.engage_axes(
+            [
+                self._gantry_mover.motor_axis_to_hardware_axis(axis)
+                for axis in params.axes
+            ]
+        )
+        return SuccessData(public=UnsafeEngageAxesResult(), private=None)
+
+
+class UnsafeEngageAxes(
+    BaseCommand[UnsafeEngageAxesParams, UnsafeEngageAxesResult, ErrorOccurrence]
+):
+    """UnsafeEngageAxes command model."""
+
+    commandType: UnsafeEngageAxesCommandType = "unsafe/engageAxes"
+    params: UnsafeEngageAxesParams
+    result: Optional[UnsafeEngageAxesResult]
+
+    _ImplementationCls: Type[
+        UnsafeEngageAxesImplementation
+    ] = UnsafeEngageAxesImplementation
+
+
+class UnsafeEngageAxesCreate(BaseCommandCreate[UnsafeEngageAxesParams]):
+    """UnsafeEngageAxes command request model."""
+
+    commandType: UnsafeEngageAxesCommandType = "unsafe/engageAxes"
+    params: UnsafeEngageAxesParams
+
+    _CommandCls: Type[UnsafeEngageAxes] = UnsafeEngageAxes

opentrons/protocols/parameters/csv_parameter_interface.py

@@ -84,4 +84,11 @@ class CSVParameter:
                 rows.append(row)
         except (UnicodeDecodeError, csv.Error):
             raise ParameterValueError("Cannot parse provided CSV contents.")
+        return self._remove_trailing_empty_rows(rows)
+
+    @staticmethod
+    def _remove_trailing_empty_rows(rows: List[List[str]]) -> List[List[str]]:
+        """Removes any trailing empty rows."""
+        while rows and rows[-1] == []:
+            rows.pop()
         return rows

{opentrons-8.0.0a4.dist-info → opentrons-8.0.0a5.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: opentrons
-Version: 8.0.0a4
+Version: 8.0.0a5
 Summary: The Opentrons API is a simple framework designed to make writing automated biology lab protocols easy.
 Author: Opentrons
 Author-email: engineering@opentrons.com
@@ -21,7 +21,7 @@ Classifier: Programming Language :: Python :: 3.10
 Classifier: Topic :: Scientific/Engineering
 Requires-Python: >=3.10
 License-File: ../LICENSE
-Requires-Dist: opentrons-shared-data ==8.0.0a4
+Requires-Dist: opentrons-shared-data ==8.0.0a5
 Requires-Dist: aionotify ==0.3.1
 Requires-Dist: anyio <4.0.0,>=3.6.1
 Requires-Dist: jsonschema <4.18.0,>=3.0.1
@@ -33,9 +33,9 @@ Requires-Dist: click <9,>=8.0.0
 Requires-Dist: packaging >=21.0
 Requires-Dist: importlib-metadata >=1.0 ; python_version < "3.8"
 Provides-Extra: flex-hardware
-Requires-Dist: opentrons-hardware[flex] ==8.0.0a4 ; extra == 'flex-hardware'
+Requires-Dist: opentrons-hardware[flex] ==8.0.0a5 ; extra == 'flex-hardware'
 Provides-Extra: ot2-hardware
-Requires-Dist: opentrons-hardware ==8.0.0a4 ; extra == 'ot2-hardware'
+Requires-Dist: opentrons-hardware ==8.0.0a5 ; extra == 'ot2-hardware'
 
 .. _Full API Documentation: http://docs.opentrons.com
 

{opentrons-8.0.0a4.dist-info → opentrons-8.0.0a5.dist-info}/RECORD

@@ -187,7 +187,7 @@ opentrons/hardware_control/protocols/identifiable.py,sha256=YmhScb4Tr4mxVObL1i7p
 opentrons/hardware_control/protocols/instrument_configurer.py,sha256=ap60TN0lhR5Sr3vcqMamU6NfJClDTUr3K4APeSg0snw,7271
 opentrons/hardware_control/protocols/liquid_handler.py,sha256=qKyFnHnoDQDXGehPrbt8r-4J5CMxMG3LcGvtYRGYmNk,7614
 opentrons/hardware_control/protocols/module_provider.py,sha256=QDKCWqrW-6IeI91IICBTJClK0C__mgq3A0-M3Wa9ee8,487
-opentrons/hardware_control/protocols/motion_controller.py,sha256=CyBMn7iUbvJG2e8I1F4pBhcG9SmnE2p6aJoURYeu4oM,9415
+opentrons/hardware_control/protocols/motion_controller.py,sha256=2sv-fc0uvmuFj-wA1h4VrEjLLTMTvswLCkisjEXwxXQ,9520
 opentrons/hardware_control/protocols/position_estimator.py,sha256=bEYQiNZYsh5k9r_J2XCDQg6FixrQmxr-7KTD9gfVmYc,1797
 opentrons/hardware_control/protocols/simulatable.py,sha256=ED3VHoO8q1h9FhBDv31g5N7YdTKB5hj7lp7BZcCaL7o,247
 opentrons/hardware_control/protocols/stoppable.py,sha256=ukI1WrJzXwsJm5ty2trhMqGJr0sT13ttlv914YMAUt8,226
@@ -282,7 +282,7 @@ opentrons/protocol_engine/commands/aspirate_in_place.py,sha256=DpDDkyJ7m2vyeFRXd
 opentrons/protocol_engine/commands/blow_out.py,sha256=pQnQ_MjpWWBBHWjwTWR3BrduA90QwbYBqhbbw6wuJak,2629
 opentrons/protocol_engine/commands/blow_out_in_place.py,sha256=QFtJoUII8E_INbAnh2I2_xoJNWWdv-YrO_mdYsEdwOY,2402
 opentrons/protocol_engine/commands/command.py,sha256=QQqZN8VHKJXMPV9XycyeGeIvPnWY43HXZe606IyynVA,9290
-opentrons/protocol_engine/commands/command_unions.py,sha256=XLs68vF_rqDx9IffkWm-2Y8--tyf6oPRIMZohdVxr6I,19833
+opentrons/protocol_engine/commands/command_unions.py,sha256=BAmTHBqrx2Pl84GomRprwlD7C7aRyiTTd4648KcbxAs,20015
 opentrons/protocol_engine/commands/comment.py,sha256=V9ryXPE8JzR4NYTZPsFfgYBLh4mfMNSorkfynPYL5bs,1634
 opentrons/protocol_engine/commands/configure_for_volume.py,sha256=YavcUpy0QSNR0uRiDIDYGRzysesUglz54Ki8Kev3iQg,3464
 opentrons/protocol_engine/commands/configure_nozzle_layout.py,sha256=a-Nq9n01SBXCH2yRkChd-XhcHqgWvDXEhLjgP4vfTzM,3979
@@ -326,7 +326,7 @@ opentrons/protocol_engine/commands/calibration/__init__.py,sha256=JjNnULLBM3j8Vt
 opentrons/protocol_engine/commands/calibration/calibrate_gripper.py,sha256=vgiQ7vkm16btXJfKdSn21oydo4Ut0ai2fDiobFPJuZE,5622
 opentrons/protocol_engine/commands/calibration/calibrate_module.py,sha256=rfzW6IUhQft1zuJhSX2qdhUHzWHV13OuiyKOZNmATmg,4204
 opentrons/protocol_engine/commands/calibration/calibrate_pipette.py,sha256=xtYulhb3BfKhL1GU3wqWhm2bi7hUBAIbCbBM9xOe-oQ,3311
-opentrons/protocol_engine/commands/calibration/move_to_maintenance_position.py,sha256=Zr4o-KBgftaOyEFoKZ9HH247B_s0HLBUGRYaLF5nGXs,5151
+opentrons/protocol_engine/commands/calibration/move_to_maintenance_position.py,sha256=QYMe7vEzQ8fNDuUpuUzhN4sk1mpPVG9Hz1_znvldfek,5301
 opentrons/protocol_engine/commands/heater_shaker/__init__.py,sha256=ImAPrYSUvP8tI7obvoHmrJbjwLldgGNTnFYRgfXj8hI,2757
 opentrons/protocol_engine/commands/heater_shaker/close_labware_latch.py,sha256=tCQy35R8O-UgY3Z-JsTfQ1_CB8cpkLV9wcCid1Viros,2851
 opentrons/protocol_engine/commands/heater_shaker/deactivate_heater.py,sha256=rLduURAqRQzTFrJA4NRQRuGFeKkv0Pf-aZ4p1yFmLW4,2759
@@ -353,9 +353,10 @@ opentrons/protocol_engine/commands/thermocycler/set_target_block_temperature.py,
 opentrons/protocol_engine/commands/thermocycler/set_target_lid_temperature.py,sha256=25FJ41F4PJI9jvf5eW-w0Xvfd_CxNSndKuKi2k7aVkM,3409
 opentrons/protocol_engine/commands/thermocycler/wait_for_block_temperature.py,sha256=xzHO58ay9sT2O5-TXQEub4j9gr03UMY_p8PmdLHCX_U,3091
 opentrons/protocol_engine/commands/thermocycler/wait_for_lid_temperature.py,sha256=oi-OYs0wuOyeFeI6aGTmdo50hNXIfYqnovTqr4_Wmno,2961
-opentrons/protocol_engine/commands/unsafe/__init__.py,sha256=SIT8c86bw4qniMmD8Lc_TElM-n93d8eUg0pnf35Nhzo,1387
+opentrons/protocol_engine/commands/unsafe/__init__.py,sha256=PDYTbdjpFjWFjHmmaua0Q0A81ozdcjQmDqMHsG37Rkk,1737
 opentrons/protocol_engine/commands/unsafe/unsafe_blow_out_in_place.py,sha256=khVS17_svWxlzzK12L1pdwAIUjF-hinh6qJLmNjPdwo,3062
 opentrons/protocol_engine/commands/unsafe/unsafe_drop_tip_in_place.py,sha256=kO2Eq5rY_PwGhtAhaKHis6dcS5MxQ0_K5jPqK7SDRbA,3383
+opentrons/protocol_engine/commands/unsafe/unsafe_engage_axes.py,sha256=ekU036vznKljyH0Jx41xTp7r9S-iAACruuzj8tzvrXo,2555
 opentrons/protocol_engine/commands/unsafe/update_position_estimators.py,sha256=HfbTP4_T4WieVKxalf_C10PTJv2nr8md28NvITfo_F0,2941
 opentrons/protocol_engine/errors/__init__.py,sha256=LVf5EerQWvztgJSiCsUWsA0enK1Yn8yCy2QAiPPWBG0,4560
 opentrons/protocol_engine/errors/error_occurrence.py,sha256=PM_bxIxLYKtsRl_cGMiCtXVVMEb88hkLFEWcafwqLf8,7542
@@ -472,7 +473,7 @@ opentrons/protocols/models/__init__.py,sha256=KePRAkkKzFoc0lAz8y89cWnxru8ofe3mow
 opentrons/protocols/models/json_protocol.py,sha256=lteWlIBXgRM86k-wO1dKsx02G2_4kustSDeSoyc5N5U,20128
 opentrons/protocols/parameters/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 opentrons/protocols/parameters/csv_parameter_definition.py,sha256=xZhGtdfH2vXSWFK-aGET07_L0LODvHWkfNxf7pQoOmo,2762
-opentrons/protocols/parameters/csv_parameter_interface.py,sha256=XxQCcNgrtpvZR451nbnlCaQnlgZj_uNkwGIxnK9rk9Q,3684
+opentrons/protocols/parameters/csv_parameter_interface.py,sha256=S7fdY39TxXqXO-jnaTZFLFI62n0HGc_XjYScWGB44VY,3945
 opentrons/protocols/parameters/exceptions.py,sha256=vQUeyy8Yk_fzP4bvT0r_zu3s7Aty3LM7PzTV6k2iXu0,1092
 opentrons/protocols/parameters/parameter_definition.py,sha256=OMtUCPKyFx5ZH3Jfcw05aF8pptWQ7XYzYttGMuSPu9k,9529
 opentrons/protocols/parameters/types.py,sha256=h7vaNmKbDHc1q_FzbZoIgoSVo0mvS64FeiLZDnv7xnQ,489
@@ -499,9 +500,9 @@ opentrons/util/helpers.py,sha256=3hr801bWGbxEcOFAS7f-iOhmnUhoK5qahbB8SIvaCfY,165
 opentrons/util/linal.py,sha256=IlKAP9HkNBBgULeSf4YVwSKHdx9jnCjSr7nvDvlRALg,5753
 opentrons/util/logging_config.py,sha256=g3TdzDKa1pL_N3eKhRYCdqPaZYe_hpLV-e8llObTcT4,5657
 opentrons/util/performance_helpers.py,sha256=ew7H8XD20iS6-2TJAzbQeyzStZkkE6PzHt_Adx3wbZQ,5172
-opentrons-8.0.0a4.dist-info/LICENSE,sha256=z8d0m5b2O9McPEK1xHG_dWgUBT6EfBDz6wA0F7xSPTA,11358
-opentrons-8.0.0a4.dist-info/METADATA,sha256=gYJjRVCWBigp6_HZem-YgMle4g8vSdMAwswF53rXvUk,4990
-opentrons-8.0.0a4.dist-info/WHEEL,sha256=_4XEmVmaBFWtekSGrbfOGNjC2I5lUr0lZSRblBllIFA,109
-opentrons-8.0.0a4.dist-info/entry_points.txt,sha256=fTa6eGCYkvOtv0ov-KVE8LLGetgb35LQLF9x85OWPVw,106
-opentrons-8.0.0a4.dist-info/top_level.txt,sha256=wk6whpbMZdBQpcK0Fg0YVfUGrAgVOFON7oQAhOMGMW8,10
-opentrons-8.0.0a4.dist-info/RECORD,,
+opentrons-8.0.0a5.dist-info/LICENSE,sha256=z8d0m5b2O9McPEK1xHG_dWgUBT6EfBDz6wA0F7xSPTA,11358
+opentrons-8.0.0a5.dist-info/METADATA,sha256=8bfifhIOeDmfyGhYLVdDykKvLIB4R6h6t-3WaKHeNRk,4990
+opentrons-8.0.0a5.dist-info/WHEEL,sha256=_4XEmVmaBFWtekSGrbfOGNjC2I5lUr0lZSRblBllIFA,109
+opentrons-8.0.0a5.dist-info/entry_points.txt,sha256=fTa6eGCYkvOtv0ov-KVE8LLGetgb35LQLF9x85OWPVw,106
+opentrons-8.0.0a5.dist-info/top_level.txt,sha256=wk6whpbMZdBQpcK0Fg0YVfUGrAgVOFON7oQAhOMGMW8,10
+opentrons-8.0.0a5.dist-info/RECORD,,