opentrons 8.0.0a4__tar.gz → 8.0.0a5__tar.gz

{opentrons-8.0.0a4 → opentrons-8.0.0a5}/PKG-INFO

@@ -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: importlib-metadata>=1.0; python_version < "3.8"
 Requires-Dist: packaging>=21.0
 Provides-Extra: ot2-hardware
-Requires-Dist: opentrons-hardware==8.0.0a4; extra == "ot2-hardware"
+Requires-Dist: opentrons-hardware==8.0.0a5; extra == "ot2-hardware"
 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"
 
 .. _Full API Documentation: http://docs.opentrons.com
 

{opentrons-8.0.0a4 → opentrons-8.0.0a5}/src/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-8.0.0a4 → opentrons-8.0.0a5}/src/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-8.0.0a4 → opentrons-8.0.0a5}/src/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-8.0.0a4 → opentrons-8.0.0a5}/src/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-8.0.0a5/src/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-8.0.0a4 → opentrons-8.0.0a5}/src/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 → opentrons-8.0.0a5}/src/opentrons.egg-info/PKG-INFO

@@ -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: importlib-metadata>=1.0; python_version < "3.8"
 Requires-Dist: packaging>=21.0
 Provides-Extra: ot2-hardware
-Requires-Dist: opentrons-hardware==8.0.0a4; extra == "ot2-hardware"
+Requires-Dist: opentrons-hardware==8.0.0a5; extra == "ot2-hardware"
 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"
 
 .. _Full API Documentation: http://docs.opentrons.com
 

{opentrons-8.0.0a4 → opentrons-8.0.0a5}/src/opentrons.egg-info/SOURCES.txt

@@ -368,6 +368,7 @@ src/opentrons/protocol_engine/commands/thermocycler/wait_for_lid_temperature.py
 src/opentrons/protocol_engine/commands/unsafe/__init__.py
 src/opentrons/protocol_engine/commands/unsafe/unsafe_blow_out_in_place.py
 src/opentrons/protocol_engine/commands/unsafe/unsafe_drop_tip_in_place.py
+src/opentrons/protocol_engine/commands/unsafe/unsafe_engage_axes.py
 src/opentrons/protocol_engine/commands/unsafe/update_position_estimators.py
 src/opentrons/protocol_engine/errors/__init__.py
 src/opentrons/protocol_engine/errors/error_occurrence.py

{opentrons-8.0.0a4 → opentrons-8.0.0a5}/src/opentrons.egg-info/requires.txt

@@ -1,4 +1,4 @@
-opentrons-shared-data==8.0.0a4
+opentrons-shared-data==8.0.0a5
 aionotify==0.3.1
 anyio<4.0.0,>=3.6.1
 jsonschema<4.18.0,>=3.0.1
@@ -13,7 +13,7 @@ packaging>=21.0
 importlib-metadata>=1.0
 
 [flex-hardware]
-opentrons-hardware[FLEX]==8.0.0a4
+opentrons-hardware[FLEX]==8.0.0a5
 
 [ot2-hardware]
-opentrons-hardware==8.0.0a4
+opentrons-hardware==8.0.0a5