opentrons 8.1.0__py2.py3-none-any.whl → 8.2.0__py2.py3-none-any.whl

opentrons/protocol_api/protocol_context.py

@@ -14,10 +14,15 @@ from typing import (
 
 from opentrons_shared_data.labware.types import LabwareDefinition
 from opentrons_shared_data.pipette.types import PipetteNameType
+from opentrons_shared_data.robot.types import RobotTypeEnum
 
 from opentrons.types import Mount, Location, DeckLocation, DeckSlotName, StagingSlotName
+from opentrons.config import feature_flags
 from opentrons.legacy_broker import LegacyBroker
-from opentrons.hardware_control.modules.types import MagneticBlockModel
+from opentrons.hardware_control.modules.types import (
+    MagneticBlockModel,
+    AbsorbanceReaderModel,
+)
 from opentrons.legacy_commands import protocol_commands as cmds, types as cmd_types
 from opentrons.legacy_commands.helpers import stringify_labware_movement_command
 from opentrons.legacy_commands.publisher import (
@@ -39,6 +44,8 @@ from opentrons.protocols.api_support.util import (
     RobotTypeError,
     UnsupportedAPIError,
 )
+from opentrons_shared_data.errors.exceptions import CommandPreconditionViolated
+from opentrons.protocol_engine.errors import LabwareMovementNotAllowedError
 
 from ._types import OffDeckType
 from .core.common import ModuleCore, LabwareCore, ProtocolCore
@@ -57,7 +64,7 @@ from .core.engine import ENGINE_CORE_API_VERSION
 from .core.legacy.legacy_protocol_core import LegacyProtocolCore
 
 from . import validation
-from ._liquid import Liquid
+from ._liquid import Liquid, LiquidClass
 from .disposal_locations import TrashBin, WasteChute
 from .deck import Deck
 from .instrument_context import InstrumentContext
@@ -205,8 +212,12 @@ class ProtocolContext(CommandPublisher):
         return self._api_version
 
     @property
-    @requires_version(2, 20)
+    @requires_version(2, 21)
     def robot(self) -> RobotContext:
+        """The :py:class:`.RobotContext` for the protocol.
+
+        :meta private:
+        """
         return self._robot
 
     @property
@@ -653,13 +664,12 @@ class ProtocolContext(CommandPublisher):
             if slot is not None
         }
 
-    # TODO (spp, 2022-12-14): https://opentrons.atlassian.net/browse/RLAB-237
     @requires_version(2, 15)
     def move_labware(
         self,
         labware: Labware,
         new_location: Union[
-            DeckLocation, Labware, ModuleTypes, OffDeckType, WasteChute
+            DeckLocation, Labware, ModuleTypes, OffDeckType, WasteChute, TrashBin
         ],
         use_gripper: bool = False,
         pick_up_offset: Optional[Mapping[str, float]] = None,
@@ -704,6 +714,14 @@ class ProtocolContext(CommandPublisher):
                 f"Expected labware of type 'Labware' but got {type(labware)}."
             )
 
+        # Ensure that when moving to an absorbance reader that the lid is open
+        # todo(mm, 2024-11-08): Unify this with opentrons.protocol_api.core.engine.deck_conflict.
+        if isinstance(new_location, AbsorbanceReaderContext):
+            if new_location.is_lid_on():
+                raise CommandPreconditionViolated(
+                    f"Cannot move {labware.name} onto the Absorbance Reader Module when its lid is closed."
+                )
+
         location: Union[
             ModuleCore,
             LabwareCore,
@@ -711,11 +729,19 @@ class ProtocolContext(CommandPublisher):
             OffDeckType,
             DeckSlotName,
             StagingSlotName,
+            TrashBin,
         ]
         if isinstance(new_location, (Labware, ModuleContext)):
             location = new_location._core
         elif isinstance(new_location, (OffDeckType, WasteChute)):
             location = new_location
+        elif isinstance(new_location, TrashBin):
+            if labware._core.is_lid():
+                location = new_location
+            else:
+                raise LabwareMovementNotAllowedError(
+                    "Can only dispose of tips and Lid-type labware in a Trash Bin. Did you mean to use a Waste Chute?"
+                )
         else:
             location = validation.ensure_and_convert_deck_slot(
                 new_location, self._api_version, self._core.robot_type
@@ -827,6 +853,12 @@ class ProtocolContext(CommandPublisher):
                 until_version="2.15",
                 current_version=f"{self._api_version}",
             )
+        if isinstance(
+            requested_model, AbsorbanceReaderModel
+        ) and self._api_version < APIVersion(2, 21):
+            raise APIVersionError(
+                f"Module of type {module_name} is only available in versions 2.21 and above."
+            )
 
         deck_slot = (
             None
@@ -1264,6 +1296,18 @@ class ProtocolContext(CommandPublisher):
             display_color=display_color,
         )
 
+    def define_liquid_class(
+        self,
+        name: str,
+    ) -> LiquidClass:
+        """Define a liquid class for use in the protocol."""
+        if feature_flags.allow_liquid_classes(
+            robot_type=RobotTypeEnum.robot_literal_to_enum(self._core.robot_type)
+        ):
+            return self._core.define_liquid_class(name=name)
+        else:
+            raise NotImplementedError("This method is not implemented.")
+
     @property
     @requires_version(2, 5)
     def rail_lights_on(self) -> bool:

opentrons/protocol_api/validation.py

@@ -18,7 +18,7 @@ from opentrons_shared_data.labware.labware_definition import LabwareRole
 from opentrons_shared_data.pipette.types import PipetteNameType
 from opentrons_shared_data.robot.types import RobotType
 
-from opentrons.protocols.api_support.types import APIVersion
+from opentrons.protocols.api_support.types import APIVersion, ThermocyclerStep
 from opentrons.protocols.api_support.util import APIVersionError
 from opentrons.protocols.models import LabwareDefinition
 from opentrons.types import Mount, DeckSlotName, StagingSlotName, Location
@@ -30,7 +30,6 @@ from opentrons.hardware_control.modules.types import (
     HeaterShakerModuleModel,
     MagneticBlockModel,
     AbsorbanceReaderModel,
-    ThermocyclerStep,
 )
 
 from .disposal_locations import TrashBin, WasteChute
@@ -436,10 +435,13 @@ class LocationTypeError(TypeError):
     """Error representing that the location supplied is of different expected type."""
 
 
+ValidTarget = Union[WellTarget, PointTarget, TrashBin, WasteChute]
+
+
 def validate_location(
     location: Union[Location, Well, TrashBin, WasteChute, None],
     last_location: Optional[Location],
-) -> Union[WellTarget, PointTarget, TrashBin, WasteChute]:
+) -> ValidTarget:
     """Validate a given location for a liquid handling command.
 
     Args:

opentrons/protocol_engine/__init__.py

@@ -18,15 +18,10 @@ from .commands import (
     CommandType,
     CommandIntent,
 )
-from .state import (
-    State,
-    StateView,
-    StateSummary,
-    CommandSlice,
-    CommandPointer,
-    Config,
-    CommandErrorSlice,
-)
+from .state.state import State, StateView
+from .state.state_summary import StateSummary
+from .state.commands import CommandSlice, CommandErrorSlice, CommandPointer
+from .state.config import Config
 from .plugins import AbstractPlugin
 
 from .types import (
@@ -52,9 +47,12 @@ from .types import (
     LoadedPipette,
     MotorAxis,
     WellLocation,
+    LiquidHandlingWellLocation,
+    PickUpTipWellLocation,
     DropTipWellLocation,
     WellOrigin,
     DropTipWellOrigin,
+    PickUpTipWellOrigin,
     WellOffset,
     ModuleModel,
     ModuleDefinition,
@@ -114,9 +112,12 @@ __all__ = [
     "LoadedPipette",
     "MotorAxis",
     "WellLocation",
+    "LiquidHandlingWellLocation",
+    "PickUpTipWellLocation",
     "DropTipWellLocation",
     "WellOrigin",
     "DropTipWellOrigin",
+    "PickUpTipWellOrigin",
     "WellOffset",
     "ModuleModel",
     "ModuleDefinition",

opentrons/protocol_engine/actions/__init__.py

@@ -29,6 +29,7 @@ from .actions import (
     ResetTipsAction,
     SetPipetteMovementSpeedAction,
 )
+from .get_state_update import get_state_updates
 
 __all__ = [
     # action pipeline interface
@@ -59,4 +60,6 @@ __all__ = [
     # action payload values
     "PauseSource",
     "FinishErrorDetails",
+    # helper functions
+    "get_state_updates",
 ]

opentrons/protocol_engine/actions/actions.py

@@ -3,7 +3,7 @@
 Actions can be passed to the ActionDispatcher, where they will trigger
 reactions in objects that subscribe to the pipeline, like the StateStore.
 """
-from dataclasses import dataclass
+import dataclasses
 from datetime import datetime
 from enum import Enum
 from typing import List, Optional, Union
@@ -18,10 +18,10 @@ from ..commands import (
     Command,
     CommandCreate,
     CommandDefinedErrorData,
-    CommandPrivateResult,
 )
 from ..error_recovery_policy import ErrorRecoveryPolicy, ErrorRecoveryType
 from ..notes.notes import CommandNote
+from ..state.update_types import StateUpdate
 from ..types import (
     LabwareOffsetCreate,
     ModuleDefinition,
@@ -31,7 +31,7 @@ from ..types import (
 )
 
 
-@dataclass(frozen=True)
+@dataclasses.dataclass(frozen=True)
 class PlayAction:
     """Start or resume processing commands in the engine."""
 
@@ -50,28 +50,28 @@ class PauseSource(str, Enum):
     PROTOCOL = "protocol"
 
 
-@dataclass(frozen=True)
+@dataclasses.dataclass(frozen=True)
 class PauseAction:
     """Pause processing commands in the engine."""
 
     source: PauseSource
 
 
-@dataclass(frozen=True)
+@dataclasses.dataclass(frozen=True)
 class StopAction:
     """Request engine execution to stop soon."""
 
     from_estop: bool = False
 
 
-@dataclass(frozen=True)
+@dataclasses.dataclass(frozen=True)
 class ResumeFromRecoveryAction:
     """See `ProtocolEngine.resume_from_recovery()`."""
 
-    pass
+    state_update: StateUpdate
 
 
-@dataclass(frozen=True)
+@dataclasses.dataclass(frozen=True)
 class FinishErrorDetails:
     """Error details for the payload of a FinishAction or HardwareStoppedAction."""
 
@@ -80,7 +80,7 @@ class FinishErrorDetails:
     created_at: datetime
 
 
-@dataclass(frozen=True)
+@dataclasses.dataclass(frozen=True)
 class FinishAction:
     """Gracefully stop processing commands in the engine."""
 
@@ -95,7 +95,7 @@ class FinishAction:
     """The fatal error that caused the run to fail."""
 
 
-@dataclass(frozen=True)
+@dataclasses.dataclass(frozen=True)
 class HardwareStoppedAction:
     """An action dispatched after hardware has been stopped for good, for this engine instance."""
 
@@ -105,14 +105,14 @@ class HardwareStoppedAction:
     """The error that happened while doing post-run finish steps (homing and dropping tips)."""
 
 
-@dataclass(frozen=True)
+@dataclasses.dataclass(frozen=True)
 class DoorChangeAction:
     """Handle events coming in from hardware control."""
 
     door_state: DoorState
 
 
-@dataclass(frozen=True)
+@dataclasses.dataclass(frozen=True)
 class QueueCommandAction:
     """Add a command request to the queue."""
 
@@ -123,7 +123,7 @@ class QueueCommandAction:
     failed_command_id: Optional[str] = None
 
 
-@dataclass(frozen=True)
+@dataclasses.dataclass(frozen=True)
 class RunCommandAction:
     """Mark a given command as running.
 
@@ -135,7 +135,7 @@ class RunCommandAction:
     started_at: datetime
 
 
-@dataclass(frozen=True)
+@dataclasses.dataclass(frozen=True)
 class SucceedCommandAction:
     """Mark a given command as succeeded.
 
@@ -145,10 +145,15 @@ class SucceedCommandAction:
     command: Command
     """The command in its new succeeded state."""
 
-    private_result: CommandPrivateResult
+    state_update: StateUpdate = dataclasses.field(
+        # todo(mm, 2024-08-26): This has a default only to make it easier to transition
+        # old tests while https://opentrons.atlassian.net/browse/EXEC-639 is in
+        # progress. Make this mandatory when that's completed.
+        default_factory=StateUpdate
+    )
 
 
-@dataclass(frozen=True)
+@dataclasses.dataclass(frozen=True)
 class FailCommandAction:
     """Mark a given command as failed.
 
@@ -196,7 +201,7 @@ class FailCommandAction:
     """The command to fail, in its prior `running` state."""
 
 
-@dataclass(frozen=True)
+@dataclasses.dataclass(frozen=True)
 class AddLabwareOffsetAction:
     """Add a labware offset, to apply to subsequent `LoadLabwareCommand`s."""
 
@@ -205,28 +210,28 @@ class AddLabwareOffsetAction:
     request: LabwareOffsetCreate
 
 
-@dataclass(frozen=True)
+@dataclasses.dataclass(frozen=True)
 class AddLabwareDefinitionAction:
     """Add a labware definition, to apply to subsequent `LoadLabwareCommand`s."""
 
     definition: LabwareDefinition
 
 
-@dataclass(frozen=True)
+@dataclasses.dataclass(frozen=True)
 class AddLiquidAction:
     """Add a liquid, to apply to subsequent `LoadLiquid`s."""
 
     liquid: Liquid
 
 
-@dataclass(frozen=True)
+@dataclasses.dataclass(frozen=True)
 class SetDeckConfigurationAction:
     """See `ProtocolEngine.set_deck_configuration()`."""
 
     deck_configuration: Optional[DeckConfigurationType]
 
 
-@dataclass(frozen=True)
+@dataclasses.dataclass(frozen=True)
 class AddAddressableAreaAction:
     """Add a single addressable area to state.
 
@@ -238,7 +243,7 @@ class AddAddressableAreaAction:
     addressable_area: AddressableAreaLocation
 
 
-@dataclass(frozen=True)
+@dataclasses.dataclass(frozen=True)
 class AddModuleAction:
     """Add an attached module directly to state without a location."""
 
@@ -248,14 +253,14 @@ class AddModuleAction:
     module_live_data: LiveData
 
 
-@dataclass(frozen=True)
+@dataclasses.dataclass(frozen=True)
 class ResetTipsAction:
     """Reset the tip tracking state of a given tip rack."""
 
     labware_id: str
 
 
-@dataclass(frozen=True)
+@dataclasses.dataclass(frozen=True)
 class SetPipetteMovementSpeedAction:
     """Set the speed of a pipette's X/Y/Z movements. Does not affect plunger speed.
 
@@ -266,7 +271,7 @@ class SetPipetteMovementSpeedAction:
     speed: Optional[float]
 
 
-@dataclass(frozen=True)
+@dataclasses.dataclass(frozen=True)
 class SetErrorRecoveryPolicyAction:
     """See `ProtocolEngine.set_error_recovery_policy()`."""
 

opentrons/protocol_engine/actions/get_state_update.py

@@ -0,0 +1,38 @@
+# noqa: D100
+from __future__ import annotations
+from typing import TYPE_CHECKING
+
+from .actions import (
+    Action,
+    ResumeFromRecoveryAction,
+    SucceedCommandAction,
+    FailCommandAction,
+)
+from ..commands.command import DefinedErrorData
+from ..error_recovery_policy import ErrorRecoveryType
+
+if TYPE_CHECKING:
+    from ..state.update_types import StateUpdate
+
+
+def get_state_updates(action: Action) -> list[StateUpdate]:
+    """Extract all the StateUpdates that the StateStores should apply when they apply an action."""
+    if isinstance(action, SucceedCommandAction):
+        return [action.state_update]
+
+    elif isinstance(action, FailCommandAction) and isinstance(
+        action.error, DefinedErrorData
+    ):
+        if action.type == ErrorRecoveryType.ASSUME_FALSE_POSITIVE_AND_CONTINUE:
+            return [
+                action.error.state_update,
+                action.error.state_update_if_false_positive,
+            ]
+        else:
+            return [action.error.state_update]
+
+    elif isinstance(action, ResumeFromRecoveryAction):
+        return [action.state_update]
+
+    else:
+        return []

opentrons/protocol_engine/clients/sync_client.py

@@ -7,7 +7,7 @@ from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 
 from .. import commands
 from ..commands.command_unions import CREATE_TYPES_BY_PARAMS_TYPE
-from ..state import StateView
+from ..state.state import StateView
 from ..types import (
     Liquid,
     LabwareOffsetCreate,

opentrons/protocol_engine/clients/transports.py

@@ -10,7 +10,7 @@ from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 from ..protocol_engine import ProtocolEngine
 from ..errors import ProtocolCommandFailedError
 from ..error_recovery_policy import ErrorRecoveryType
-from ..state import StateView
+from ..state.state import StateView
 from ..commands import Command, CommandCreate, CommandResult, CommandStatus
 
 

opentrons/protocol_engine/commands/__init__.py

@@ -38,7 +38,6 @@ from .command_unions import (
     CommandCreate,
     CommandResult,
     CommandType,
-    CommandPrivateResult,
     CommandDefinedErrorData,
 )
 
@@ -153,7 +152,6 @@ from .load_pipette import (
     LoadPipetteCreate,
     LoadPipetteResult,
     LoadPipetteCommandType,
-    LoadPipettePrivateResult,
 )
 
 from .move_labware import (
@@ -306,7 +304,6 @@ from .configure_nozzle_layout import (
     ConfigureNozzleLayoutCreate,
     ConfigureNozzleLayoutParams,
     ConfigureNozzleLayoutResult,
-    ConfigureNozzleLayoutPrivateResult,
     ConfigureNozzleLayoutCommandType,
 )
 
@@ -569,7 +566,6 @@ __all__ = [
     "ConfigureNozzleLayoutParams",
     "ConfigureNozzleLayoutResult",
     "ConfigureNozzleLayoutCommandType",
-    "ConfigureNozzleLayoutPrivateResult",
     # get pipette tip presence bundle
     "GetTipPresence",
     "GetTipPresenceCreate",

opentrons/protocol_engine/commands/absorbance_reader/__init__.py

@@ -1,4 +1,19 @@
 """Command models for Absorbance Reader commands."""
+from .close_lid import (
+    CloseLidCommandType,
+    CloseLidParams,
+    CloseLidResult,
+    CloseLid,
+    CloseLidCreate,
+)
+
+from .open_lid import (
+    OpenLidCommandType,
+    OpenLidParams,
+    OpenLidResult,
+    OpenLid,
+    OpenLidCreate,
+)
 
 from .initialize import (
     InitializeCommandType,
@@ -8,15 +23,29 @@ from .initialize import (
     InitializeCreate,
 )
 
-from .measure import (
-    MeasureAbsorbanceCommandType,
-    MeasureAbsorbanceParams,
-    MeasureAbsorbanceResult,
-    MeasureAbsorbance,
-    MeasureAbsorbanceCreate,
+from .read import (
+    ReadAbsorbanceCommandType,
+    ReadAbsorbanceParams,
+    ReadAbsorbanceResult,
+    ReadAbsorbance,
+    ReadAbsorbanceCreate,
 )
 
+
 __all__ = [
+    "MoveLidResult",
+    # absorbanace_reader/closeLid
+    "CloseLidCommandType",
+    "CloseLidParams",
+    "CloseLidResult",
+    "CloseLid",
+    "CloseLidCreate",
+    # absorbanace_reader/openLid
+    "OpenLidCommandType",
+    "OpenLidParams",
+    "OpenLidResult",
+    "OpenLid",
+    "OpenLidCreate",
     # absorbanace_reader/initialize
     "InitializeCommandType",
     "InitializeParams",
@@ -24,9 +53,10 @@ __all__ = [
     "Initialize",
     "InitializeCreate",
     # absorbanace_reader/measure
-    "MeasureAbsorbanceCommandType",
-    "MeasureAbsorbanceParams",
-    "MeasureAbsorbanceResult",
-    "MeasureAbsorbance",
-    "MeasureAbsorbanceCreate",
+    "ReadAbsorbanceCommandType",
+    "ReadAbsorbanceParams",
+    "ReadAbsorbanceResult",
+    "ReadAbsorbance",
+    "ReadAbsorbanceCreate",
+    # union type
 ]