opentrons 8.2.0__tar.gz → 8.2.0a1__tar.gz

{opentrons-8.2.0 → opentrons-8.2.0a1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: opentrons
-Version: 8.2.0
+Version: 8.2.0a1
 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==8.2.0
+Requires-Dist: opentrons-shared-data==8.2.0a1
 Requires-Dist: aionotify==0.3.1
 Requires-Dist: anyio<4.0.0,>=3.6.1
 Requires-Dist: jsonschema<4.18.0,>=3.0.1
@@ -34,9 +34,9 @@ Requires-Dist: pyusb==1.2.1
 Requires-Dist: importlib-metadata>=1.0; python_version < "3.8"
 Requires-Dist: packaging>=21.0
 Provides-Extra: ot2-hardware
-Requires-Dist: opentrons-hardware==8.2.0; extra == "ot2-hardware"
+Requires-Dist: opentrons-hardware==8.2.0a1; extra == "ot2-hardware"
 Provides-Extra: flex-hardware
-Requires-Dist: opentrons-hardware[FLEX]==8.2.0; extra == "flex-hardware"
+Requires-Dist: opentrons-hardware[FLEX]==8.2.0a1; extra == "flex-hardware"
 
 .. _Full API Documentation: http://docs.opentrons.com
 

{opentrons-8.2.0 → opentrons-8.2.0a1}/src/opentrons/drivers/absorbance_reader/async_byonoy.py

@@ -23,8 +23,7 @@ from opentrons.hardware_control.modules.errors import AbsorbanceReaderDisconnect
 
 
 SN_PARSER = re.compile(r'ATTRS{serial}=="(?P<serial>.+?)"')
-# match semver V0.0.0 (old format) or one integer (latest format)
-VERSION_PARSER = re.compile(r"(?P<version>(V\d+\.\d+\.\d+|^\d+$))")
+VERSION_PARSER = re.compile(r"Absorbance (?P<version>V\d+\.\d+\.\d+)")
 SERIAL_PARSER = re.compile(r"(?P<serial>(OPT|BYO)[A-Z]{3}[0-9]+)")
 
 
@@ -157,10 +156,10 @@ class AsyncByonoy:
             func=partial(self._interface.get_device_information, handle),
         )
         self._raise_if_error(err.name, f"Error getting device information: {err}")
-        serial_match = SERIAL_PARSER.match(device_info.sn)
-        version_match = VERSION_PARSER.search(device_info.version)
+        serial_match = SERIAL_PARSER.fullmatch(device_info.sn)
+        version_match = VERSION_PARSER.match(device_info.version)
         serial = serial_match["serial"].strip() if serial_match else "OPTMAA00000"
-        version = version_match["version"].lower() if version_match else "v0"
+        version = version_match["version"].lower() if version_match else "v0.0.0"
         info = {
             "serial": serial,
             "version": version,

{opentrons-8.2.0 → opentrons-8.2.0a1}/src/opentrons/hardware_control/backends/ot3utils.py

@@ -652,7 +652,6 @@ _gripper_jaw_state_lookup: Dict[FirmwareGripperjawState, GripperJawState] = {
     FirmwareGripperjawState.force_controlling_home: GripperJawState.HOMED_READY,
     FirmwareGripperjawState.force_controlling: GripperJawState.GRIPPING,
     FirmwareGripperjawState.position_controlling: GripperJawState.HOLDING,
-    FirmwareGripperjawState.stopped: GripperJawState.STOPPED,
 }
 
 

{opentrons-8.2.0 → opentrons-8.2.0a1}/src/opentrons/hardware_control/modules/absorbance_reader.py

@@ -312,8 +312,6 @@ class AbsorbanceReader(mod_abc.AbstractModule):
         log.debug(f"Updating {self.name}: {self.port} with {firmware_file_path}")
         self._updating = True
         success, res = await self._driver.update_firmware(firmware_file_path)
-        # it takes time for the plate reader to re-init after an update.
-        await asyncio.sleep(10)
         self._device_info = await self._driver.get_device_info()
         await self._poller.start()
         self._updating = False

{opentrons-8.2.0 → opentrons-8.2.0a1}/src/opentrons/hardware_control/ot3api.py

@@ -775,12 +775,12 @@ class OT3API(
         """
         Function to update motor estimation for a set of axes
         """
-        if axes is None:
-            axes = [ax for ax in Axis]
 
-        axes = [ax for ax in axes if self._backend.axis_is_present(ax)]
-
-        await self._backend.update_motor_estimation(axes)
+        if axes:
+            checked_axes = [ax for ax in axes if ax in Axis]
+        else:
+            checked_axes = [ax for ax in Axis]
+        await self._backend.update_motor_estimation(checked_axes)
 
     # Global actions API
     def pause(self, pause_type: PauseType) -> None:

{opentrons-8.2.0 → opentrons-8.2.0a1}/src/opentrons/hardware_control/protocols/position_estimator.py

@@ -10,7 +10,7 @@ class PositionEstimator(Protocol):
         """Update the specified axes' position estimators from their encoders.
 
         This will allow these axes to make a non-home move even if they do not currently have
-        a position estimation (unless there is no tracked position from the encoders, as would be
+        a position estimation (unless there is no tracked poition from the encoders, as would be
         true immediately after boot).
 
         Axis encoders have less precision than their position estimators. Calling this function will
@@ -19,8 +19,6 @@ class PositionEstimator(Protocol):
 
         This function updates only the requested axes. If other axes have bad position estimation,
         moves that require those axes or attempts to get the position of those axes will still fail.
-        Axes that are not currently available (like a plunger for a pipette that is not connected)
-        will be ignored.
         """
         ...
 

{opentrons-8.2.0 → opentrons-8.2.0a1}/src/opentrons/hardware_control/types.py

@@ -625,8 +625,6 @@ class GripperJawState(enum.Enum):
     #: the gripper is actively force-control gripping something
     HOLDING = enum.auto()
     #: the gripper is in position-control mode
-    STOPPED = enum.auto()
-    #: the gripper has been homed before but is stopped now
 
 
 class InstrumentProbeType(enum.Enum):

{opentrons-8.2.0 → opentrons-8.2.0a1}/src/opentrons/protocol_api/module_contexts.py

@@ -581,7 +581,7 @@ class ThermocyclerContext(ModuleContext):
                                  individual well of the loaded labware, in µL.
                                  If not specified, the default is 25 µL.
 
-        .. note::
+        .. note:
 
             If ``hold_time_minutes`` and ``hold_time_seconds`` are not
             specified, the Thermocycler will proceed to the next command
@@ -605,7 +605,7 @@ class ThermocyclerContext(ModuleContext):
         :param temperature: A value between 37 and 110, representing the target
                             temperature in °C.
 
-        .. note::
+        .. note:
 
             The Thermocycler will proceed to the next command immediately after
             ``temperature`` has been reached.
@@ -635,13 +635,13 @@ class ThermocyclerContext(ModuleContext):
                                  individual well of the loaded labware, in µL.
                                  If not specified, the default is 25 µL.
 
-        .. note::
+        .. note:
 
             Unlike with :py:meth:`set_block_temperature`, either or both of
             ``hold_time_minutes`` and ``hold_time_seconds`` must be defined
             and for each step.
 
-        .. note::
+        .. note:
 
             Before API Version 2.21, Thermocycler profiles run with this command
             would be listed in the app as having a number of repetitions equal to
@@ -991,7 +991,7 @@ class MagneticBlockContext(ModuleContext):
 
 
 class AbsorbanceReaderContext(ModuleContext):
-    """An object representing a connected Absorbance Plate Reader Module.
+    """An object representing a connected Absorbance Reader Module.
 
     It should not be instantiated directly; instead, it should be
     created through :py:meth:`.ProtocolContext.load_module`.
@@ -1009,21 +1009,17 @@ class AbsorbanceReaderContext(ModuleContext):
 
     @requires_version(2, 21)
     def close_lid(self) -> None:
-        """Use the Flex Gripper to close the lid of the Absorbance Plate Reader.
-
-        You must call this method before initializing the reader, even if the reader was
-        in the closed position at the start of the protocol.
-        """
+        """Close the lid of the Absorbance Reader."""
         self._core.close_lid()
 
     @requires_version(2, 21)
     def open_lid(self) -> None:
-        """Use the Flex Gripper to open the lid of the Absorbance Plate Reader."""
+        """Open the lid of the Absorbance Reader."""
         self._core.open_lid()
 
     @requires_version(2, 21)
     def is_lid_on(self) -> bool:
-        """Return ``True`` if the Absorbance Plate Reader's lid is currently closed."""
+        """Return ``True`` if the Absorbance Reader's lid is currently closed."""
         return self._core.is_lid_on()
 
     @requires_version(2, 21)
@@ -1033,28 +1029,19 @@ class AbsorbanceReaderContext(ModuleContext):
         wavelengths: List[int],
         reference_wavelength: Optional[int] = None,
     ) -> None:
-        """Prepare the Absorbance Plate Reader to read a plate.
-
-        See :ref:`absorbance-initialization` for examples.
+        """Take a zero reading on the Absorbance Plate Reader Module.
 
         :param mode: Either ``"single"`` or ``"multi"``.
 
-            - In single measurement mode, :py:meth:`.AbsorbanceReaderContext.read` uses
-              one sample wavelength and an optional reference wavelength.
-            - In multiple measurement mode, :py:meth:`.AbsorbanceReaderContext.read` uses
-              a list of up to six sample wavelengths.
-        :param wavelengths: A list of wavelengths, in nm, to measure.
-
-            - In the default hardware configuration, each wavelength must be one of
-              ``450`` (blue), ``562`` (green), ``600`` (orange), or ``650`` (red). In
-              custom hardware configurations, the module may accept other integers
-              between 350 and 1000.
-            - The list must contain only one item when initializing a single measurement.
-            - The list can contain one to six items when initializing a multiple measurement.
-        :param reference_wavelength: An optional reference wavelength, in nm. If provided,
-            :py:meth:`.AbsorbanceReaderContext.read` will read at the reference
-            wavelength and then subtract the reference wavelength values from the
-            measurement wavelength values. Can only be used with single measurements.
+             - In single measurement mode, :py:meth:`.AbsorbanceReaderContext.read` uses
+               one sample wavelength and an optional reference wavelength.
+             - In multiple measurement mode, :py:meth:`.AbsorbanceReaderContext.read` uses
+               a list of up to six sample wavelengths.
+        :param wavelengths: A list of wavelengths, in mm, to measure.
+             - Must contain only one item when initializing a single measurement.
+             - Must contain one to six items when initializing a multiple measurement.
+        :param reference_wavelength: An optional reference wavelength, in mm. Cannot be
+             used with multiple measurements.
         """
         self._core.initialize(
             mode, wavelengths, reference_wavelength=reference_wavelength
@@ -1064,33 +1051,16 @@ class AbsorbanceReaderContext(ModuleContext):
     def read(
         self, export_filename: Optional[str] = None
     ) -> Dict[int, Dict[str, float]]:
-        """Read a plate on the Absorbance Plate Reader.
-
-        This method always returns a dictionary of measurement data. It optionally will
-        save a CSV file of the results to the Flex filesystem, which you can access from
-        the Recent Protocol Runs screen in the Opentrons App. These files are `only` saved
-        if you specify ``export_filename``.
-
-        In simulation, the values for each well key in the dictionary are set to zero, and
-        no files are written.
-
-        .. note::
-
-            Avoid divide-by-zero errors when simulating and using the results of this
-            method later in the protocol. If you divide by any of the measurement
-            values, use :py:meth:`.ProtocolContext.is_simulating` to use alternate dummy
-            data or skip the division step.
+        """Initiate read on the Absorbance Reader.
 
-        :param export_filename: An optional file basename. If provided, this method
-            will write a CSV file for each measurement in the read operation. File
-            names will use the value of this parameter, the measurement wavelength
-            supplied in :py:meth:`~.AbsorbanceReaderContext.initialize`, and a
-            ``.csv`` extension. For example, when reading at wavelengths 450 and 562
-            with ``export_filename="my_data"``, there will be two output files:
-            ``my_data_450.csv`` and ``my_data_562.csv``.
+        Returns a dictionary of wavelengths to dictionary of values ordered by well name.
 
-            See :ref:`absorbance-csv` for information on working with these CSV files.
+        :param export_filename: Optional, if a filename is provided a CSV file will be saved
+             as a result of the read action containing measurement data. The filename will
+             be modified to include the wavelength used during measurement. If multiple
+             measurements are taken, then a file will be generated for each wavelength provided.
 
-        :returns: A dictionary of wavelengths to dictionary of values ordered by well name.
+        Example: If `export_filename="my_data"` and wavelengths 450 and 531 are used during
+        measurement, the output files will be "my_data_450.csv" and "my_data_531.csv".
         """
         return self._core.read(filename=export_filename)

{opentrons-8.2.0 → opentrons-8.2.0a1}/src/opentrons/protocol_engine/commands/absorbance_reader/initialize.py

@@ -10,7 +10,6 @@ from opentrons.protocol_engine.types import ABSMeasureMode
 
 from ..command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
 from ...errors.error_occurrence import ErrorOccurrence
-from ...errors import InvalidWavelengthError
 
 if TYPE_CHECKING:
     from opentrons.protocol_engine.state.state import StateView
@@ -70,41 +69,30 @@ class InitializeImpl(
             unsupported_wavelengths = sample_wavelengths.difference(
                 supported_wavelengths
             )
-            sample_wl_str = ", ".join([str(w) + "nm" for w in sample_wavelengths])
-            supported_wl_str = ", ".join([str(w) + "nm" for w in supported_wavelengths])
-            unsupported_wl_str = ", ".join(
-                [str(w) + "nm" for w in unsupported_wavelengths]
-            )
             if unsupported_wavelengths:
-                raise InvalidWavelengthError(
-                    f"Unsupported wavelengths: {unsupported_wl_str}. "
-                    f" Use one of {supported_wl_str} instead."
-                )
+                raise ValueError(f"Unsupported wavelengths: {unsupported_wavelengths}")
 
             if params.measureMode == "single":
                 if sample_wavelengths_len != 1:
                     raise ValueError(
-                        f"Measure mode `single` requires one sample wavelength,"
-                        f" {sample_wl_str} provided instead."
+                        f"single requires one sample wavelength, provided {sample_wavelengths}"
                     )
                 if (
                     reference_wavelength is not None
                     and reference_wavelength not in supported_wavelengths
                 ):
-                    raise InvalidWavelengthError(
-                        f"Reference wavelength {reference_wavelength}nm is not supported."
-                        f" Use one of {supported_wl_str} instead."
+                    raise ValueError(
+                        f"Reference wavelength {reference_wavelength} not supported {supported_wavelengths}"
                     )
 
             if params.measureMode == "multi":
                 if sample_wavelengths_len < 1 or sample_wavelengths_len > 6:
                     raise ValueError(
-                        f"Measure mode `multi` requires 1-6 sample wavelengths,"
-                        f" {sample_wl_str} provided instead."
+                        f"multi requires 1-6 sample wavelengths, provided {sample_wavelengths}"
                     )
                 if reference_wavelength is not None:
-                    raise ValueError(
-                        "Reference wavelength cannot be used with Measure mode `multi`."
+                    raise RuntimeError(
+                        "Reference wavelength cannot be used with multi mode."
                     )
 
             await abs_reader.set_sample_wavelength(

{opentrons-8.2.0 → opentrons-8.2.0a1}/src/opentrons/protocol_engine/commands/absorbance_reader/read.py

@@ -80,10 +80,6 @@ class ReadAbsorbanceImpl(
             raise CannotPerformModuleAction(
                 "Cannot perform Read action on Absorbance Reader without calling `.initialize(...)` first."
             )
-        if abs_reader_substate.is_lid_on is False:
-            raise CannotPerformModuleAction(
-                "Absorbance Plate Reader can't read a plate with the lid open. Call `close_lid()` first."
-            )
 
         # TODO: we need to return a file ID and increase the file count even when a moduel is not attached
         if (

{opentrons-8.2.0 → opentrons-8.2.0a1}/src/opentrons/protocol_engine/commands/aspirate_in_place.py

@@ -83,11 +83,10 @@ class AspirateInPlaceImplementation(
             TipNotAttachedError: if no tip is attached to the pipette.
             PipetteNotReadyToAspirateError: pipette plunger is not ready.
         """
-        state_update = StateUpdate()
-
         ready_to_aspirate = self._pipetting.get_is_ready_to_aspirate(
             pipette_id=params.pipetteId,
         )
+
         if not ready_to_aspirate:
             raise PipetteNotReadyToAspirateError(
                 "Pipette cannot aspirate in place because of a previous blow out."
@@ -95,10 +94,11 @@ class AspirateInPlaceImplementation(
                 " so the plunger can be reset in a known safe position."
             )
 
+        state_update = StateUpdate()
         current_location = self._state_view.pipettes.get_current_location()
-        current_position = await self._gantry_mover.get_position(params.pipetteId)
 
         try:
+            current_position = await self._gantry_mover.get_position(params.pipetteId)
             volume = await self._pipetting.aspirate_in_place(
                 pipette_id=params.pipetteId,
                 volume=params.volume,

{opentrons-8.2.0 → opentrons-8.2.0a1}/src/opentrons/protocol_engine/commands/command.py

@@ -185,9 +185,7 @@ class BaseCommand(
     )
     error: Union[
         _ErrorT,
-        # ErrorOccurrence here is a catch-all for undefined errors not captured by
-        # _ErrorT, or defined errors that don't parse into _ErrorT because, for example,
-        # they are from an older software version that was missing some fields.
+        # ErrorOccurrence here is for undefined errors not captured by _ErrorT.
         ErrorOccurrence,
         None,
     ] = Field(

{opentrons-8.2.0 → opentrons-8.2.0a1}/src/opentrons/protocol_engine/commands/dispense_in_place.py

@@ -76,8 +76,8 @@ class DispenseInPlaceImplementation(
         """Dispense without moving the pipette."""
         state_update = StateUpdate()
         current_location = self._state_view.pipettes.get_current_location()
-        current_position = await self._gantry_mover.get_position(params.pipetteId)
         try:
+            current_position = await self._gantry_mover.get_position(params.pipetteId)
             volume = await self._pipetting.dispense_in_place(
                 pipette_id=params.pipetteId,
                 volume=params.volume,

{opentrons-8.2.0 → opentrons-8.2.0a1}/src/opentrons/protocol_engine/commands/drop_tip.py

@@ -145,7 +145,6 @@ class DropTipImplementation(AbstractCommandImpl[DropTipParams, _ExecuteReturn]):
                         error=exception,
                     )
                 ],
-                errorInfo={"retryLocation": position},
             )
             state_update_if_false_positive = update_types.StateUpdate()
             state_update_if_false_positive.update_pipette_tip_state(
@@ -166,7 +165,7 @@ class DropTipImplementation(AbstractCommandImpl[DropTipParams, _ExecuteReturn]):
             )
 
 
-class DropTip(BaseCommand[DropTipParams, DropTipResult, TipPhysicallyAttachedError]):
+class DropTip(BaseCommand[DropTipParams, DropTipResult, ErrorOccurrence]):
     """Drop tip command model."""
 
     commandType: DropTipCommandType = "dropTip"

{opentrons-8.2.0 → opentrons-8.2.0a1}/src/opentrons/protocol_engine/commands/drop_tip_in_place.py

@@ -18,7 +18,7 @@ from ..resources.model_utils import ModelUtils
 from ..state import update_types
 
 if TYPE_CHECKING:
-    from ..execution import TipHandler, GantryMover
+    from ..execution import TipHandler
 
 
 DropTipInPlaceCommandType = Literal["dropTipInPlace"]
@@ -57,19 +57,15 @@ class DropTipInPlaceImplementation(
         self,
         tip_handler: TipHandler,
         model_utils: ModelUtils,
-        gantry_mover: GantryMover,
         **kwargs: object,
     ) -> None:
         self._tip_handler = tip_handler
         self._model_utils = model_utils
-        self._gantry_mover = gantry_mover
 
     async def execute(self, params: DropTipInPlaceParams) -> _ExecuteReturn:
         """Drop a tip using the requested pipette."""
         state_update = update_types.StateUpdate()
 
-        retry_location = await self._gantry_mover.get_position(params.pipetteId)
-
         try:
             await self._tip_handler.drop_tip(
                 pipette_id=params.pipetteId, home_after=params.homeAfter
@@ -89,7 +85,6 @@ class DropTipInPlaceImplementation(
                         error=exception,
                     )
                 ],
-                errorInfo={"retryLocation": retry_location},
             )
             return DefinedErrorData(
                 public=error,
@@ -104,7 +99,7 @@ class DropTipInPlaceImplementation(
 
 
 class DropTipInPlace(
-    BaseCommand[DropTipInPlaceParams, DropTipInPlaceResult, TipPhysicallyAttachedError]
+    BaseCommand[DropTipInPlaceParams, DropTipInPlaceResult, ErrorOccurrence]
 ):
     """Drop tip in place command model."""
 

{opentrons-8.2.0 → opentrons-8.2.0a1}/src/opentrons/protocol_engine/commands/pick_up_tip.py

@@ -82,7 +82,7 @@ class TipPhysicallyMissingError(ErrorOccurrence):
     isDefined: bool = True
     errorType: Literal["tipPhysicallyMissing"] = "tipPhysicallyMissing"
     errorCode: str = ErrorCodes.TIP_PICKUP_FAILED.value.code
-    detail: str = "No Tip Detected"
+    detail: str = "No tip detected."
 
 
 _ExecuteReturn = Union[

{opentrons-8.2.0 → opentrons-8.2.0a1}/src/opentrons/protocol_engine/commands/pipetting_common.py

@@ -148,12 +148,7 @@ class DestinationPositionResult(BaseModel):
 
 
 class ErrorLocationInfo(TypedDict):
-    """Holds a retry location for in-place error recovery.
-
-    This is appropriate to pass to a `moveToCoordinates` command,
-    assuming the pipette has not been configured with a different nozzle layout
-    in the meantime.
-    """
+    """Holds a retry location for in-place error recovery."""
 
     retryLocation: Tuple[float, float, float]
 
@@ -206,5 +201,3 @@ class TipPhysicallyAttachedError(ErrorOccurrence):
 
     errorCode: str = ErrorCodes.TIP_DROP_FAILED.value.code
     detail: str = ErrorCodes.TIP_DROP_FAILED.value.detail
-
-    errorInfo: ErrorLocationInfo

{opentrons-8.2.0 → opentrons-8.2.0a1}/src/opentrons/protocol_engine/commands/unsafe/unsafe_place_labware.py

@@ -129,14 +129,9 @@ class UnsafePlaceLabwareImplementation(
                     module.id
                 )
 
-        # NOTE: When the estop is pressed, the gantry loses position, lets use
-        # the encoders to sync position.
-        # Ideally, we'd do a full home, but this command is used when
-        # the gripper is holding the plate reader, and a full home would
-        # bang it into the right window.
-        await ot3api.home(axes=[Axis.Z_L, Axis.Z_R, Axis.Z_G])
-        await ot3api.engage_axes([Axis.X, Axis.Y])
-        await ot3api.update_axis_position_estimations([Axis.X, Axis.Y])
+        # NOTE: When the estop is pressed, the gantry loses position,
+        # so the robot needs to home x, y to sync.
+        await ot3api.home(axes=[Axis.Z_L, Axis.Z_R, Axis.Z_G, Axis.X, Axis.Y])
 
         # Place the labware down
         await self._start_movement(ot3api, definition, location, drop_offset)

{opentrons-8.2.0 → opentrons-8.2.0a1}/src/opentrons/protocol_engine/commands/unsafe/unsafe_ungrip_labware.py

@@ -1,8 +1,6 @@
 """Ungrip labware payload, result, and implementaiton."""
 
 from __future__ import annotations
-
-from opentrons.hardware_control.types import Axis
 from opentrons.protocol_engine.errors.exceptions import GripperNotAttachedError
 from pydantic import BaseModel
 from typing import Optional, Type
@@ -48,7 +46,7 @@ class UnsafeUngripLabwareImplementation(
         ot3_hardware_api = ensure_ot3_hardware(self._hardware_api)
         if not ot3_hardware_api.has_gripper():
             raise GripperNotAttachedError("No gripper found to perform ungrip.")
-        await ot3_hardware_api.home([Axis.G])
+        await ot3_hardware_api.ungrip()
         return SuccessData(
             public=UnsafeUngripLabwareResult(),
         )

{opentrons-8.2.0 → opentrons-8.2.0a1}/src/opentrons/protocol_engine/commands/unsafe/update_position_estimators.py

@@ -23,11 +23,7 @@ class UpdatePositionEstimatorsParams(BaseModel):
     """Payload required for an UpdatePositionEstimators command."""
 
     axes: List[MotorAxis] = Field(
-        ...,
-        description=(
-            "The axes for which to update the position estimators."
-            " Any axes that are not physically present will be ignored."
-        ),
+        ..., description="The axes for which to update the position estimators."
     )
 
 

{opentrons-8.2.0 → opentrons-8.2.0a1}/src/opentrons/protocol_engine/errors/__init__.py

@@ -55,7 +55,6 @@ from .exceptions import (
     InvalidTargetTemperatureError,
     InvalidBlockVolumeError,
     InvalidHoldTimeError,
-    InvalidWavelengthError,
     CannotPerformModuleAction,
     PauseNotAllowedError,
     ResumeFromRecoveryNotAllowedError,
@@ -138,7 +137,6 @@ __all__ = [
     "InvalidTargetSpeedError",
     "InvalidBlockVolumeError",
     "InvalidHoldTimeError",
-    "InvalidWavelengthError",
     "CannotPerformModuleAction",
     "ResumeFromRecoveryNotAllowedError",
     "PauseNotAllowedError",

{opentrons-8.2.0 → opentrons-8.2.0a1}/src/opentrons/protocol_engine/errors/error_occurrence.py

@@ -12,6 +12,8 @@ from opentrons_shared_data.errors.exceptions import EnumeratedError
 log = getLogger(__name__)
 
 
+# TODO(mc, 2021-11-12): flesh this model out with structured error data
+# for each error type so client may produce better error messages
 class ErrorOccurrence(BaseModel):
     """An occurrence of a specific error during protocol execution."""
 
@@ -42,15 +44,8 @@ class ErrorOccurrence(BaseModel):
     id: str = Field(..., description="Unique identifier of this error occurrence.")
     createdAt: datetime = Field(..., description="When the error occurred.")
 
-    # Our Python should probably always set this to False--if we want it to be True,
-    # we should probably be using a more specific subclass of ErrorOccurrence anyway.
-    # However, we can't make this Literal[False], because we want this class to be able
-    # to act as a catch-all for parsing defined errors that might be missing some
-    # `errorInfo` fields because they were serialized by older software.
     isDefined: bool = Field(
-        # default=False for database backwards compatibility, so we can parse objects
-        # serialized before isDefined existed.
-        default=False,
+        default=False,  # default=False for database backwards compatibility.
         description=dedent(
             """\
             Whether this error is *defined.*

{opentrons-8.2.0 → opentrons-8.2.0a1}/src/opentrons/protocol_engine/errors/exceptions.py

@@ -773,19 +773,6 @@ class InvalidBlockVolumeError(ProtocolEngineError):
         super().__init__(ErrorCodes.GENERAL_ERROR, message, details, wrapping)
 
 
-class InvalidWavelengthError(ProtocolEngineError):
-    """Raised when attempting to set an invalid absorbance wavelength."""
-
-    def __init__(
-        self,
-        message: Optional[str] = None,
-        details: Optional[Dict[str, Any]] = None,
-        wrapping: Optional[Sequence[EnumeratedError]] = None,
-    ) -> None:
-        """Build a InvalidWavelengthError."""
-        super().__init__(ErrorCodes.GENERAL_ERROR, message, details, wrapping)
-
-
 class InvalidHoldTimeError(ProtocolEngineError):
     """An error raised when attempting to set an invalid temperature hold time."""
 

{opentrons-8.2.0 → opentrons-8.2.0a1}/src/opentrons/protocol_engine/state/modules.py

@@ -1268,10 +1268,7 @@ class ModuleView(HasState[ModuleState]):
                 row = chr(ord("A") + i // 12)  # Convert index to row (A-H)
                 col = (i % 12) + 1  # Convert index to column (1-12)
                 well_key = f"{row}{col}"
-                truncated_value = float(
-                    "{:.5}".format(str(value))
-                )  # Truncate the returned value to the third decimal place
-                well_map[well_key] = truncated_value
+                well_map[well_key] = value
             return well_map
         else:
             raise ValueError(

{opentrons-8.2.0 → opentrons-8.2.0a1}/src/opentrons/protocol_runner/run_orchestrator.py

@@ -418,21 +418,6 @@ class RunOrchestrator:
         """Get current nozzle maps keyed by pipette id."""
         return self._protocol_engine.state_view.tips.get_pipette_nozzle_maps()
 
-    def get_tip_attached(self) -> Dict[str, bool]:
-        """Get current tip state keyed by pipette id."""
-
-        def has_tip_attached(pipette_id: str) -> bool:
-            return (
-                self._protocol_engine.state_view.pipettes.get_attached_tip(pipette_id)
-                is not None
-            )
-
-        pipette_ids = (
-            pipette.id
-            for pipette in self._protocol_engine.state_view.pipettes.get_all()
-        )
-        return {pipette_id: has_tip_attached(pipette_id) for pipette_id in pipette_ids}
-
     def set_error_recovery_policy(self, policy: ErrorRecoveryPolicy) -> None:
         """Create error recovery policy for the run."""
         self._protocol_engine.set_error_recovery_policy(policy)