opentrons 8.2.0a1__py2.py3-none-any.whl → 8.2.0a2__py2.py3-none-any.whl

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]
 
-        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)
+        axes = [ax for ax in axes if self._backend.axis_is_present(ax)]
+
+        await self._backend.update_motor_estimation(axes)
 
     # Global actions API
     def pause(self, pause_type: PauseType) -> None:

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 poition from the encoders, as would be
+        a position estimation (unless there is no tracked position from the encoders, as would be
         true immediately after boot).
 
         Axis encoders have less precision than their position estimators. Calling this function will
@@ -19,6 +19,8 @@ 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/protocol_engine/commands/absorbance_reader/initialize.py

@@ -10,6 +10,7 @@ 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
@@ -69,30 +70,41 @@ 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 ValueError(f"Unsupported wavelengths: {unsupported_wavelengths}")
+                raise InvalidWavelengthError(
+                    f"Unsupported wavelengths: {unsupported_wl_str}. "
+                    f" Use one of {supported_wl_str} instead."
+                )
 
             if params.measureMode == "single":
                 if sample_wavelengths_len != 1:
                     raise ValueError(
-                        f"single requires one sample wavelength, provided {sample_wavelengths}"
+                        f"Measure mode `single` requires one sample wavelength,"
+                        f" {sample_wl_str} provided instead."
                     )
                 if (
                     reference_wavelength is not None
                     and reference_wavelength not in supported_wavelengths
                 ):
-                    raise ValueError(
-                        f"Reference wavelength {reference_wavelength} not supported {supported_wavelengths}"
+                    raise InvalidWavelengthError(
+                        f"Reference wavelength {reference_wavelength}nm is not supported."
+                        f" Use one of {supported_wl_str} instead."
                     )
 
             if params.measureMode == "multi":
                 if sample_wavelengths_len < 1 or sample_wavelengths_len > 6:
                     raise ValueError(
-                        f"multi requires 1-6 sample wavelengths, provided {sample_wavelengths}"
+                        f"Measure mode `multi` requires 1-6 sample wavelengths,"
+                        f" {sample_wl_str} provided instead."
                     )
                 if reference_wavelength is not None:
-                    raise RuntimeError(
-                        "Reference wavelength cannot be used with multi mode."
+                    raise ValueError(
+                        "Reference wavelength cannot be used with Measure mode `multi`."
                     )
 
             await abs_reader.set_sample_wavelength(

opentrons/protocol_engine/commands/unsafe/unsafe_place_labware.py

@@ -129,9 +129,14 @@ class UnsafePlaceLabwareImplementation(
                     module.id
                 )
 
-        # 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])
+        # 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])
 
         # Place the labware down
         await self._start_movement(ot3api, definition, location, drop_offset)

opentrons/protocol_engine/commands/unsafe/update_position_estimators.py

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

opentrons/protocol_engine/errors/__init__.py

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

opentrons/protocol_engine/errors/exceptions.py

@@ -773,6 +773,19 @@ 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-8.2.0a1.dist-info → opentrons-8.2.0a2.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: opentrons
-Version: 8.2.0a1
+Version: 8.2.0a2
 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 ==8.2.0a1
+Requires-Dist: opentrons-shared-data ==8.2.0a2
 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: packaging >=21.0
 Requires-Dist: importlib-metadata >=1.0 ; python_version < "3.8"
 Provides-Extra: flex-hardware
-Requires-Dist: opentrons-hardware[flex] ==8.2.0a1 ; extra == 'flex-hardware'
+Requires-Dist: opentrons-hardware[flex] ==8.2.0a2 ; extra == 'flex-hardware'
 Provides-Extra: ot2-hardware
-Requires-Dist: opentrons-hardware ==8.2.0a1 ; extra == 'ot2-hardware'
+Requires-Dist: opentrons-hardware ==8.2.0a2 ; extra == 'ot2-hardware'
 
 .. _Full API Documentation: http://docs.opentrons.com
 

{opentrons-8.2.0a1.dist-info → opentrons-8.2.0a2.dist-info}/RECORD

@@ -100,7 +100,7 @@ opentrons/hardware_control/module_control.py,sha256=u0RpbOgr5pV5exgKg3qvNQdwdVuy
 opentrons/hardware_control/motion_utilities.py,sha256=LuOZBcnNJmTPra6-mYX5wN3jh8PA2l81dy5amCyYpcQ,7164
 opentrons/hardware_control/nozzle_manager.py,sha256=XNEyNdh00QdZ7VECb--JUO_BI-96EwoAPuQ7bdGXSGs,16788
 opentrons/hardware_control/ot3_calibration.py,sha256=ExWZDLDHpi8HUzdYvBzhOyAXXwT3z7BnxPH-2EpOerM,44717
-opentrons/hardware_control/ot3api.py,sha256=QCTBbJ2-KLFk43qCkEJctxSmk9ZwMV8Tj6QN89KFjXo,118083
+opentrons/hardware_control/ot3api.py,sha256=CMtyrIDYzw-H-FQuUlnjVpGEOA9YNWETFy7jDxT8zYk,118073
 opentrons/hardware_control/pause_manager.py,sha256=wmNmraimE2yZQVqCxX_rtQHUWRzpzyQEaym9fLMgyww,888
 opentrons/hardware_control/poller.py,sha256=rx6Q-UxbUIj3ek69IlYenFh7BFuasszRO-GzzhRPuHQ,3885
 opentrons/hardware_control/robot_calibration.py,sha256=HiCQNmdp59SbkzXpDGtPsN8rSfUj-ZU4v63vcSw4AbI,7149
@@ -189,7 +189,7 @@ opentrons/hardware_control/protocols/instrument_configurer.py,sha256=5zUCAchtoJ6
 opentrons/hardware_control/protocols/liquid_handler.py,sha256=UusmQYUncMqAwxuKTIcIIrlF93XpLPctu5SJuotsTws,7731
 opentrons/hardware_control/protocols/module_provider.py,sha256=QDKCWqrW-6IeI91IICBTJClK0C__mgq3A0-M3Wa9ee8,487
 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/position_estimator.py,sha256=BrqK5AJn9747c4LX0ZWBJWgWHjyX977CHBI7WVvO-9Q,1922
 opentrons/hardware_control/protocols/simulatable.py,sha256=ED3VHoO8q1h9FhBDv31g5N7YdTKB5hj7lp7BZcCaL7o,247
 opentrons/hardware_control/protocols/stoppable.py,sha256=ukI1WrJzXwsJm5ty2trhMqGJr0sT13ttlv914YMAUt8,226
 opentrons/hardware_control/protocols/types.py,sha256=UlejXW-ZHjuZWizKamphyGG4Iv7-liOuCfvQR29f0Do,613
@@ -323,7 +323,7 @@ opentrons/protocol_engine/commands/wait_for_duration.py,sha256=DIATqpdBStGQWnLAb
 opentrons/protocol_engine/commands/wait_for_resume.py,sha256=yFNpYDJO5mgAhIpMb1i7Epo7ZhO15Ot9RsSUdW8AjUg,2178
 opentrons/protocol_engine/commands/absorbance_reader/__init__.py,sha256=umS98LlkBEAToRCvxLpr4k43tRPPTfkYu-81-bLy5DU,1251
 opentrons/protocol_engine/commands/absorbance_reader/close_lid.py,sha256=i6kggql8hJgTxpUbc5dmdMdHDsYWiczfMvZNA72FmvI,5540
-opentrons/protocol_engine/commands/absorbance_reader/initialize.py,sha256=HKsgwCfv6LR4SJ06721eq9_NhKcxtVR5lYIdaZPL-_4,4760
+opentrons/protocol_engine/commands/absorbance_reader/initialize.py,sha256=bbs7FwfpGVNAa5UT_rMV7ImrRnmREN9kRhmG8xJsAaU,5373
 opentrons/protocol_engine/commands/absorbance_reader/open_lid.py,sha256=Ef5coWs4GGOzmZbrAFZXTKq8hZCC7rJc2DVCOU2PFJg,5531
 opentrons/protocol_engine/commands/absorbance_reader/read.py,sha256=xu5KijW_sSEtjdhNIEctYkQBZC8Baj650W6s8nXfTKw,8187
 opentrons/protocol_engine/commands/calibration/__init__.py,sha256=JjNnULLBM3j8VtpfHOvH51em9jVLR_ezyrUJUWqxuYI,1611
@@ -362,12 +362,12 @@ opentrons/protocol_engine/commands/unsafe/__init__.py,sha256=lx3TFW_78XK0bdtLFuG
 opentrons/protocol_engine/commands/unsafe/unsafe_blow_out_in_place.py,sha256=K1idiUT1RW_mWa_SIe3JOUaeuSsUbv12toWgAB1KSvM,3065
 opentrons/protocol_engine/commands/unsafe/unsafe_drop_tip_in_place.py,sha256=v5h1sLxx_NMAhVCLbmECd7sD0PsecB4Dj-oaBEe0YBs,3635
 opentrons/protocol_engine/commands/unsafe/unsafe_engage_axes.py,sha256=hCRqFeBInC9Mxz9LqUgIrjTTAjuMEq5MJxCqqXwi3N4,2552
-opentrons/protocol_engine/commands/unsafe/unsafe_place_labware.py,sha256=HnYnFViUtPx2p3UXntdMa5LyBLE2AYLjskvnIIWYZ24,7576
+opentrons/protocol_engine/commands/unsafe/unsafe_place_labware.py,sha256=etNdLxj0TtmBA5fTLR-OSfbnRNbXKDzE__aKRAkvWMM,7866
 opentrons/protocol_engine/commands/unsafe/unsafe_ungrip_labware.py,sha256=MSYftVeLHqnIyX0n9IJLq6XOb7P835EQg7KR3n3PU6c,2397
-opentrons/protocol_engine/commands/unsafe/update_position_estimators.py,sha256=pXew4UsDB4Kh7z9r2l7-S3D8bICNmdDr8lNkNEnByYE,2938
-opentrons/protocol_engine/errors/__init__.py,sha256=rwpfKoEIZUN7c5kf0T9b0MHCJdDxZiUTCvQs64jPtVI,5174
+opentrons/protocol_engine/commands/unsafe/update_position_estimators.py,sha256=Jgds_cwEHBiiDyJVK6wL34VTWZikrSVYJSRUohnsod8,3044
+opentrons/protocol_engine/errors/__init__.py,sha256=4CEG_WmrdSmESVkSkwfLlbNwW_r8TlMbD_fEXzcn5qg,5232
 opentrons/protocol_engine/errors/error_occurrence.py,sha256=PM_bxIxLYKtsRl_cGMiCtXVVMEb88hkLFEWcafwqLf8,7542
-opentrons/protocol_engine/errors/exceptions.py,sha256=bLZ5ZYUgUH-CjGtflbDBbmWCqUPr6MGcpE1Yiip3ll4,40153
+opentrons/protocol_engine/errors/exceptions.py,sha256=yHLqtkKQbJev80zZYvZz8gjw8luXxWRrcJe3TEcIj88,40604
 opentrons/protocol_engine/execution/__init__.py,sha256=X8qTYYOc1v84JIDM1xYpIo3VG_BPnsrfl2jm9UUQGwQ,1384
 opentrons/protocol_engine/execution/command_executor.py,sha256=F1V7H_Y7mqc4hJMfs79aNZ7qG0NFh-xj2BHt4fSUK-4,8202
 opentrons/protocol_engine/execution/create_queue_worker.py,sha256=6hMuOqbqwfMn63idsrAgro0NJZoyX4VVH7AV3le2EWM,3372
@@ -512,9 +512,9 @@ opentrons/util/helpers.py,sha256=3hr801bWGbxEcOFAS7f-iOhmnUhoK5qahbB8SIvaCfY,165
 opentrons/util/linal.py,sha256=IlKAP9HkNBBgULeSf4YVwSKHdx9jnCjSr7nvDvlRALg,5753
 opentrons/util/logging_config.py,sha256=t3xRxQ5zfXQsU8S4gl6yvrtqx6dxOGyBwIM43CGRyjE,6887
 opentrons/util/performance_helpers.py,sha256=ew7H8XD20iS6-2TJAzbQeyzStZkkE6PzHt_Adx3wbZQ,5172
-opentrons-8.2.0a1.dist-info/LICENSE,sha256=z8d0m5b2O9McPEK1xHG_dWgUBT6EfBDz6wA0F7xSPTA,11358
-opentrons-8.2.0a1.dist-info/METADATA,sha256=1X3bpJiJdC2f93wQJUlj-jC0LTujfDRA2Rdrk4895lw,5019
-opentrons-8.2.0a1.dist-info/WHEEL,sha256=_4XEmVmaBFWtekSGrbfOGNjC2I5lUr0lZSRblBllIFA,109
-opentrons-8.2.0a1.dist-info/entry_points.txt,sha256=fTa6eGCYkvOtv0ov-KVE8LLGetgb35LQLF9x85OWPVw,106
-opentrons-8.2.0a1.dist-info/top_level.txt,sha256=wk6whpbMZdBQpcK0Fg0YVfUGrAgVOFON7oQAhOMGMW8,10
-opentrons-8.2.0a1.dist-info/RECORD,,
+opentrons-8.2.0a2.dist-info/LICENSE,sha256=z8d0m5b2O9McPEK1xHG_dWgUBT6EfBDz6wA0F7xSPTA,11358
+opentrons-8.2.0a2.dist-info/METADATA,sha256=bvd0sP2Rm1bKi07Fc_-G1cXPrnnrdfybMiiHbJRcWI4,5019
+opentrons-8.2.0a2.dist-info/WHEEL,sha256=_4XEmVmaBFWtekSGrbfOGNjC2I5lUr0lZSRblBllIFA,109
+opentrons-8.2.0a2.dist-info/entry_points.txt,sha256=fTa6eGCYkvOtv0ov-KVE8LLGetgb35LQLF9x85OWPVw,106
+opentrons-8.2.0a2.dist-info/top_level.txt,sha256=wk6whpbMZdBQpcK0Fg0YVfUGrAgVOFON7oQAhOMGMW8,10
+opentrons-8.2.0a2.dist-info/RECORD,,