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

opentrons/hardware_control/instruments/ot2/pipette_handler.py

@@ -13,7 +13,6 @@ from typing import (
     Sequence,
     Iterator,
     TypeVar,
-    overload,
 )
 import numpy
 
@@ -415,7 +414,7 @@ class PipetteHandlerProvider(Generic[MountType]):
         if instr:
             instr.reset_nozzle_configuration()
 
-    async def add_tip(self, mount: MountType, tip_length: float) -> None:
+    def add_tip(self, mount: MountType, tip_length: float) -> None:
         instr = self._attached_instruments[mount]
         attached = self.attached_instruments
         instr_dict = attached[mount]
@@ -430,7 +429,15 @@ class PipetteHandlerProvider(Generic[MountType]):
                 f"attach tip called while tip already attached to {instr}"
             )
 
-    async def remove_tip(self, mount: MountType) -> None:
+    def cache_tip(self, mount: MountType, tip_length: float) -> None:
+        instrument = self.get_pipette(mount)
+        if instrument.has_tip:
+            # instrument.add_tip() would raise an AssertionError if we tried to overwrite an existing tip.
+            instrument.remove_tip()
+        instrument.add_tip(tip_length=tip_length)
+        instrument.set_current_volume(0)
+
+    def remove_tip(self, mount: MountType) -> None:
         instr = self._attached_instruments[mount]
         attached = self.attached_instruments
         instr_dict = attached[mount]
@@ -495,25 +502,12 @@ class PipetteHandlerProvider(Generic[MountType]):
         ul_per_s = mm_per_s * instr.ul_per_mm(instr.liquid_class.max_volume, action)
         return round(ul_per_s, 6)
 
-    @overload
     def plan_check_aspirate(
-        self, mount: top_types.Mount, volume: Optional[float], rate: float
-    ) -> Optional[LiquidActionSpec]:
-        ...
-
-    @overload
-    def plan_check_aspirate(
-        self, mount: OT3Mount, volume: Optional[float], rate: float
-    ) -> Optional[LiquidActionSpec]:
-        ...
-
-    # note on this type ignore: see motion_utilities
-    def plan_check_aspirate(  # type: ignore[no-untyped-def]
         self,
-        mount,
-        volume,
-        rate,
-    ):
+        mount: MountType,
+        volume: Optional[float],
+        rate: float,
+    ) -> Optional[LiquidActionSpec]:
         """Check preconditions for aspirate, parse args, and calculate positions.
 
         While the mechanics of issuing an aspirate move itself are left to child
@@ -572,28 +566,12 @@ class PipetteHandlerProvider(Generic[MountType]):
                 current=instrument.plunger_motor_current.run,
             )
 
-    @overload
     def plan_check_dispense(
         self,
-        mount: top_types.Mount,
-        volume: Optional[float],
-        rate: float,
-        push_out: Optional[float],
-    ) -> Optional[LiquidActionSpec]:
-        ...
-
-    @overload
-    def plan_check_dispense(
-        self,
-        mount: OT3Mount,
+        mount: MountType,
         volume: Optional[float],
         rate: float,
         push_out: Optional[float],
-    ) -> Optional[LiquidActionSpec]:
-        ...
-
-    def plan_check_dispense(  # type: ignore[no-untyped-def]
-        self, mount, volume, rate, push_out
     ) -> Optional[LiquidActionSpec]:
         """Check preconditions for dispense, parse args, and calculate positions.
 
@@ -687,15 +665,7 @@ class PipetteHandlerProvider(Generic[MountType]):
                 current=instrument.plunger_motor_current.run,
             )
 
-    @overload
-    def plan_check_blow_out(self, mount: top_types.Mount) -> LiquidActionSpec:
-        ...
-
-    @overload
-    def plan_check_blow_out(self, mount: OT3Mount) -> LiquidActionSpec:
-        ...
-
-    def plan_check_blow_out(self, mount):  # type: ignore[no-untyped-def]
+    def plan_check_blow_out(self, mount: MountType) -> LiquidActionSpec:
         """Check preconditions and calculate values for blowout."""
         instrument = self.get_pipette(mount)
         speed = self.plunger_speed(
@@ -743,33 +713,13 @@ class PipetteHandlerProvider(Generic[MountType]):
         else:
             return []
 
-    @overload
     def plan_check_pick_up_tip(
         self,
-        mount: top_types.Mount,
-        presses: Optional[int],
-        increment: Optional[float],
-        tip_length: float = 0,
-    ) -> Tuple[PickUpTipSpec, Callable[[], None]]:
-        ...
-
-    @overload
-    def plan_check_pick_up_tip(
-        self,
-        mount: OT3Mount,
+        mount: MountType,
         presses: Optional[int],
         increment: Optional[float],
         tip_length: float = 0,
     ) -> Tuple[PickUpTipSpec, Callable[[], None]]:
-        ...
-
-    def plan_check_pick_up_tip(  # type: ignore[no-untyped-def]
-        self,
-        mount,
-        presses,
-        increment,
-        tip_length=0,
-    ):
         # Prechecks: ready for pickup tip and press/increment are valid
         instrument = self.get_pipette(mount)
         if instrument.has_tip:
@@ -917,23 +867,13 @@ class PipetteHandlerProvider(Generic[MountType]):
 
         return build
 
-    @overload
-    def plan_check_drop_tip(
-        self, mount: top_types.Mount, home_after: bool
-    ) -> Tuple[DropTipSpec, Callable[[], None]]:
-        ...
-
-    @overload
+    # todo(mm, 2024-10-17): The returned _remove_tips() callable is not used by anything
+    # anymore. Delete it.
     def plan_check_drop_tip(
-        self, mount: OT3Mount, home_after: bool
-    ) -> Tuple[DropTipSpec, Callable[[], None]]:
-        ...
-
-    def plan_check_drop_tip(  # type: ignore[no-untyped-def]
         self,
-        mount,
-        home_after,
-    ):
+        mount: MountType,
+        home_after: bool,
+    ) -> Tuple[DropTipSpec, Callable[[], None]]:
         instrument = self.get_pipette(mount)
 
         if not instrument.drop_configurations.plunger_eject:

opentrons/hardware_control/instruments/ot3/pipette_handler.py

@@ -425,7 +425,7 @@ class OT3PipetteHandler:
         if instr:
             instr.reset_nozzle_configuration()
 
-    async def add_tip(self, mount: OT3Mount, tip_length: float) -> None:
+    def add_tip(self, mount: OT3Mount, tip_length: float) -> None:
         instr = self._attached_instruments[mount]
         attached = self.attached_instruments
         instr_dict = attached[mount]
@@ -440,7 +440,15 @@ class OT3PipetteHandler:
                 "attach tip called while tip already attached to {instr}"
             )
 
-    async def remove_tip(self, mount: OT3Mount) -> None:
+    def cache_tip(self, mount: OT3Mount, tip_length: float) -> None:
+        instrument = self.get_pipette(mount)
+        if instrument.has_tip:
+            # instrument.add_tip() would raise an AssertionError if we tried to overwrite an existing tip.
+            instrument.remove_tip()
+        instrument.add_tip(tip_length=tip_length)
+        instrument.set_current_volume(0)
+
+    def remove_tip(self, mount: OT3Mount) -> None:
         instr = self._attached_instruments[mount]
         attached = self.attached_instruments
         instr_dict = attached[mount]

opentrons/hardware_control/module_control.py

@@ -1,4 +1,5 @@
 from __future__ import annotations
+import asyncio
 import logging
 import re
 from typing import TYPE_CHECKING, List, Optional, Union
@@ -9,12 +10,13 @@ from opentrons.drivers.rpi_drivers import types, interfaces, usb, usb_simulator
 from opentrons.hardware_control.emulation.module_server.helpers import (
     listen_module_connection,
 )
+from opentrons.hardware_control.modules.absorbance_reader import AbsorbanceReader
 from opentrons.hardware_control.modules.module_calibration import (
     ModuleCalibrationOffset,
     load_module_calibration_offset,
     save_module_calibration_offset,
 )
-from opentrons.hardware_control.modules.types import ModuleType
+from opentrons.hardware_control.modules.types import ModuleAtPort, ModuleType
 from opentrons.hardware_control.modules import SimulatingModuleAtPort
 
 from opentrons.types import Point
@@ -99,6 +101,15 @@ class AttachedModulesControl:
             execution_manager=self._api._execution_manager,
             sim_model=sim_model,
             sim_serial_number=sim_serial_number,
+            disconnected_callback=self._disconnected_callback,
+        )
+
+    def _disconnected_callback(self, port: str, serial: Optional[str]) -> None:
+        """Used by the module to indicate that it was disconnected and should be deleted."""
+        mod = ModuleAtPort(port=port, serial=serial, name="")
+        asyncio.run_coroutine_threadsafe(
+            self.unregister_modules([mod]),
+            self._api.loop,
         )
 
     async def unregister_modules(
@@ -115,8 +126,12 @@ class AttachedModulesControl:
         removed_modules = []
         for mod in mods_at_ports:
             for attached_mod in self.available_modules:
-                if attached_mod.port == mod.port:
+                if (
+                    attached_mod.serial_number == mod.serial
+                    or attached_mod.port == mod.port
+                ):
                     removed_modules.append(attached_mod)
+
         for removed_mod in removed_modules:
             try:
                 self._available_modules.remove(removed_mod)
@@ -231,9 +246,35 @@ class AttachedModulesControl:
         removed_modules = None
         if maybe_module_at_port is not None:
             if hasattr(event.flags, "DELETE") or hasattr(event.flags, "MOVED_FROM"):
+                # NOTE: The absorbance reader is a hidraw device, when we first
+                # plug it into the Flex, udev rules create a
+                # /dev/ot_module_absorbancereader(n) symlink which aionotify
+                # detects as a CREATE event and registers an absorbance module.
+                # When we create this Absorbance module and connect to it,
+                # the Byonoy library opens the device via hidapi which removes
+                # the symlink and triggers a DELETE action from aionoify.
+                # When the device is deleted, we disconnect from it causing
+                # the /dev/ot_module_absorbance(n) symlink to get created, repeating
+                # the cycle.
+
+                # This DELETE action would normally delete the device, but in this case
+                # Lets ignore these events for the absorbance reader and handle
+                # cleanup when the poller attempts to read data and fails.
+                if maybe_module_at_port.name == "absorbancereader":
+                    return
                 removed_modules = [maybe_module_at_port]
                 log.info(f"Module Removed: {maybe_module_at_port}")
             elif hasattr(event.flags, "CREATE") or hasattr(event.flags, "MOVED_TO"):
+                # NOTE: Absorbance reader gets disonnected when updating, so
+                # if the device is updating, dont create a new instance.
+                for module in self._available_modules:
+                    if (
+                        maybe_module_at_port.name == "absorbancereader"
+                        and isinstance(module, AbsorbanceReader)
+                        and module.updating
+                    ):
+                        return
+
                 new_modules = [maybe_module_at_port]
                 log.info(f"Module Added: {maybe_module_at_port}")
             try:

opentrons/hardware_control/modules/__init__.py

@@ -10,7 +10,6 @@ from .types import (
     ThermocyclerStep,
     UploadFunction,
     BundledFirmware,
-    UpdateError,
     ModuleAtPort,
     SimulatingModuleAtPort,
     SimulatingModule,
@@ -23,6 +22,11 @@ from .types import (
     SpeedStatus,
     LiveData,
 )
+from .errors import (
+    UpdateError,
+    AbsorbanceReaderDisconnectedError,
+)
+
 
 __all__ = [
     "MODULE_TYPE_BY_NAME",
@@ -49,4 +53,6 @@ __all__ = [
     "LiveData",
     "AbsorbanceReader",
     "AbsorbanceReaderStatus",
+    "AbsorbanceReaderDisconnectedError",
+    "ModuleDisconnectedCallback",
 ]