opentrons 8.2.0a4__py2.py3-none-any.whl → 8.3.0a1__py2.py3-none-any.whl

opentrons/protocol_engine/commands/calibration/calibrate_gripper.py

@@ -1,10 +1,11 @@
 """Models and implementation for the calibrateGripper command."""
 
 from enum import Enum
-from typing import Optional, Type
+from typing import Optional, Type, Any
 from typing_extensions import Literal
 
 from pydantic import BaseModel, Field
+from pydantic.json_schema import SkipJsonSchema
 
 from opentrons.types import Point
 from opentrons.hardware_control import HardwareControlAPI
@@ -22,6 +23,10 @@ from opentrons.protocol_engine.resources import ensure_ot3_hardware
 CalibrateGripperCommandType = Literal["calibration/calibrateGripper"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class CalibrateGripperParamsJaw(Enum):  # noqa: D101
     FRONT = "front"
     REAR = "rear"
@@ -39,7 +44,7 @@ class CalibrateGripperParams(BaseModel):
         ),
     )
 
-    otherJawOffset: Optional[Vec3f] = Field(
+    otherJawOffset: Vec3f | SkipJsonSchema[None] = Field(
         None,
         description=(
             "If an offset for the other probe is already found, then specifying it here"
@@ -48,6 +53,7 @@ class CalibrateGripperParams(BaseModel):
             " If this param is not specified then the command will only find and return"
             " the offset for the specified probe."
         ),
+        json_schema_extra=_remove_default,
     )
 
 
@@ -62,11 +68,12 @@ class CalibrateGripperResult(BaseModel):
         ),
     )
 
-    savedCalibration: Optional[GripperCalibrationOffset] = Field(
+    savedCalibration: GripperCalibrationOffset | SkipJsonSchema[None] = Field(
         None,
         description=(
             "Gripper calibration result data, when `otherJawOffset` is provided."
         ),
+        json_schema_extra=_remove_default,
     )
 
 
@@ -118,8 +125,8 @@ class CalibrateGripperImplementation(
             calibration_data = result
 
         return SuccessData(
-            public=CalibrateGripperResult.construct(
-                jawOffset=Vec3f.construct(
+            public=CalibrateGripperResult.model_construct(
+                jawOffset=Vec3f.model_construct(
                     x=probe_offset.x, y=probe_offset.y, z=probe_offset.z
                 ),
                 savedCalibration=calibration_data,
@@ -143,7 +150,7 @@ class CalibrateGripper(
 
     commandType: CalibrateGripperCommandType = "calibration/calibrateGripper"
     params: CalibrateGripperParams
-    result: Optional[CalibrateGripperResult]
+    result: Optional[CalibrateGripperResult] = None
 
     _ImplementationCls: Type[
         CalibrateGripperImplementation

opentrons/protocol_engine/commands/calibration/calibrate_module.py

@@ -101,7 +101,7 @@ class CalibrateModule(
 
     commandType: CalibrateModuleCommandType = "calibration/calibrateModule"
     params: CalibrateModuleParams
-    result: Optional[CalibrateModuleResult]
+    result: Optional[CalibrateModuleResult] = None
 
     _ImplementationCls: Type[
         CalibrateModuleImplementation

opentrons/protocol_engine/commands/calibration/calibrate_pipette.py

@@ -65,8 +65,8 @@ class CalibratePipetteImplementation(
         await ot3_api.save_instrument_offset(mount=ot3_mount, delta=pipette_offset)
 
         return SuccessData(
-            public=CalibratePipetteResult.construct(
-                pipetteOffset=InstrumentOffsetVector.construct(
+            public=CalibratePipetteResult.model_construct(
+                pipetteOffset=InstrumentOffsetVector.model_construct(
                     x=pipette_offset.x, y=pipette_offset.y, z=pipette_offset.z
                 )
             ),
@@ -80,7 +80,7 @@ class CalibratePipette(
 
     commandType: CalibratePipetteCommandType = "calibration/calibratePipette"
     params: CalibratePipetteParams
-    result: Optional[CalibratePipetteResult]
+    result: Optional[CalibratePipetteResult] = None
 
     _ImplementationCls: Type[
         CalibratePipetteImplementation

opentrons/protocol_engine/commands/calibration/move_to_maintenance_position.py

@@ -136,7 +136,7 @@ class MoveToMaintenancePosition(
         "calibration/moveToMaintenancePosition"
     )
     params: MoveToMaintenancePositionParams
-    result: Optional[MoveToMaintenancePositionResult]
+    result: Optional[MoveToMaintenancePositionResult] = None
 
     _ImplementationCls: Type[
         MoveToMaintenancePositionImplementation

opentrons/protocol_engine/commands/command.py

@@ -1,12 +1,11 @@
 """Base command data model and type definitions."""
 
-
 from __future__ import annotations
 
 import dataclasses
 from abc import ABC, abstractmethod
 from datetime import datetime
-from enum import Enum
+import enum
 from typing import (
     TYPE_CHECKING,
     Generic,
@@ -15,10 +14,12 @@ from typing import (
     List,
     Type,
     Union,
+    Any,
+    Dict,
 )
 
 from pydantic import BaseModel, Field
-from pydantic.generics import GenericModel
+from pydantic.json_schema import SkipJsonSchema
 
 from opentrons.hardware_control import HardwareControlAPI
 from opentrons.protocol_engine.state.update_types import StateUpdate
@@ -41,7 +42,7 @@ _ErrorT = TypeVar("_ErrorT", bound=ErrorOccurrence)
 _ErrorT_co = TypeVar("_ErrorT_co", bound=ErrorOccurrence, covariant=True)
 
 
-class CommandStatus(str, Enum):
+class CommandStatus(str, enum.Enum):
     """Command execution status."""
 
     QUEUED = "queued"
@@ -50,7 +51,7 @@ class CommandStatus(str, Enum):
     FAILED = "failed"
 
 
-class CommandIntent(str, Enum):
+class CommandIntent(str, enum.Enum):
     """Run intent for a given command.
 
     Props:
@@ -63,8 +64,12 @@ class CommandIntent(str, Enum):
     FIXIT = "fixit"
 
 
+def _pop_default(s: Dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class BaseCommandCreate(
-    GenericModel,
+    BaseModel,
     # These type parameters need to be invariant because our fields are mutable.
     Generic[_ParamsT],
 ):
@@ -82,7 +87,7 @@ class BaseCommandCreate(
         ),
     )
     params: _ParamsT = Field(..., description="Command execution data payload")
-    intent: Optional[CommandIntent] = Field(
+    intent: CommandIntent | SkipJsonSchema[None] = Field(
         None,
         description=(
             "The reason the command was added. If not specified or `protocol`,"
@@ -95,14 +100,16 @@ class BaseCommandCreate(
             "Use setup commands for activities like pre-run calibration checks"
             " and module setup, like pre-heating."
         ),
+        json_schema_extra=_pop_default,
     )
-    key: Optional[str] = Field(
+    key: str | SkipJsonSchema[None] = Field(
         None,
         description=(
             "A key value, unique in this run, that can be used to track"
             " the same logical command across multiple runs of the same protocol."
             " If a value is not provided, one will be generated."
         ),
+        json_schema_extra=_pop_default,
     )
 
 
@@ -144,8 +151,65 @@ class DefinedErrorData(Generic[_ErrorT_co]):
     )
 
 
+_ExecuteReturnT_co = TypeVar(
+    "_ExecuteReturnT_co",
+    bound=Union[
+        SuccessData[BaseModel],
+        DefinedErrorData[ErrorOccurrence],
+    ],
+    covariant=True,
+)
+
+
+class AbstractCommandImpl(
+    ABC,
+    Generic[_ParamsT_contra, _ExecuteReturnT_co],
+):
+    """Abstract command creation and execution implementation.
+
+    A given command request should map to a specific command implementation,
+    which defines how to execute the command and map data from execution into the
+    result model.
+    """
+
+    def __init__(
+        self,
+        state_view: StateView,
+        hardware_api: HardwareControlAPI,
+        equipment: execution.EquipmentHandler,
+        file_provider: execution.FileProvider,
+        movement: execution.MovementHandler,
+        gantry_mover: execution.GantryMover,
+        labware_movement: execution.LabwareMovementHandler,
+        pipetting: execution.PipettingHandler,
+        tip_handler: execution.TipHandler,
+        run_control: execution.RunControlHandler,
+        rail_lights: execution.RailLightsHandler,
+        model_utils: ModelUtils,
+        status_bar: execution.StatusBarHandler,
+        command_note_adder: CommandNoteAdder,
+    ) -> None:
+        """Initialize the command implementation with execution handlers."""
+        pass
+
+    @abstractmethod
+    async def execute(self, params: _ParamsT_contra) -> _ExecuteReturnT_co:
+        """Execute the command, mapping data from execution into a response model.
+
+        This should either:
+
+        - Return a `SuccessData`, if the command completed normally.
+        - Return a `DefinedErrorData`, if the command failed with a "defined error."
+          Defined errors are errors that are documented as part of the robot's public
+          API.
+        - Raise an exception, if the command failed with any other error
+          (in other words, an undefined error).
+        """
+        ...
+
+
 class BaseCommand(
-    GenericModel,
+    BaseModel,
     # These type parameters need to be invariant because our fields are mutable.
     Generic[_ParamsT, _ResultT, _ErrorT],
 ):
@@ -242,60 +306,3 @@ class BaseCommand(
             ],
         ]
     ]
-
-
-_ExecuteReturnT_co = TypeVar(
-    "_ExecuteReturnT_co",
-    bound=Union[
-        SuccessData[BaseModel],
-        DefinedErrorData[ErrorOccurrence],
-    ],
-    covariant=True,
-)
-
-
-class AbstractCommandImpl(
-    ABC,
-    Generic[_ParamsT_contra, _ExecuteReturnT_co],
-):
-    """Abstract command creation and execution implementation.
-
-    A given command request should map to a specific command implementation,
-    which defines how to execute the command and map data from execution into the
-    result model.
-    """
-
-    def __init__(
-        self,
-        state_view: StateView,
-        hardware_api: HardwareControlAPI,
-        equipment: execution.EquipmentHandler,
-        file_provider: execution.FileProvider,
-        movement: execution.MovementHandler,
-        gantry_mover: execution.GantryMover,
-        labware_movement: execution.LabwareMovementHandler,
-        pipetting: execution.PipettingHandler,
-        tip_handler: execution.TipHandler,
-        run_control: execution.RunControlHandler,
-        rail_lights: execution.RailLightsHandler,
-        model_utils: ModelUtils,
-        status_bar: execution.StatusBarHandler,
-        command_note_adder: CommandNoteAdder,
-    ) -> None:
-        """Initialize the command implementation with execution handlers."""
-        pass
-
-    @abstractmethod
-    async def execute(self, params: _ParamsT_contra) -> _ExecuteReturnT_co:
-        """Execute the command, mapping data from execution into a response model.
-
-        This should either:
-
-        - Return a `SuccessData`, if the command completed normally.
-        - Return a `DefinedErrorData`, if the command failed with a "defined error."
-          Defined errors are errors that are documented as part of the robot's public
-          API.
-        - Raise an exception, if the command failed with any other error
-          (in other words, an undefined error).
-        """
-        ...

opentrons/protocol_engine/commands/command_unions.py

@@ -3,7 +3,7 @@
 from collections.abc import Collection
 from typing import Annotated, Type, Union, get_type_hints
 
-from pydantic import Field
+from pydantic import Field, TypeAdapter
 
 from opentrons.util.get_union_elements import get_union_elements
 
@@ -13,6 +13,7 @@ from .pipetting_common import (
     LiquidNotFoundError,
     TipPhysicallyAttachedError,
 )
+from .movement_common import StallOrCollisionError
 
 from . import absorbance_reader
 from . import heater_shaker
@@ -22,6 +23,7 @@ from . import thermocycler
 
 from . import calibration
 from . import unsafe
+from . import robot
 
 from .set_rail_lights import (
     SetRailLights,
@@ -31,6 +33,14 @@ from .set_rail_lights import (
     SetRailLightsResult,
 )
 
+from .air_gap_in_place import (
+    AirGapInPlace,
+    AirGapInPlaceParams,
+    AirGapInPlaceCreate,
+    AirGapInPlaceResult,
+    AirGapInPlaceCommandType,
+)
+
 from .aspirate import (
     Aspirate,
     AspirateParams,
@@ -127,6 +137,14 @@ from .load_liquid import (
     LoadLiquidCommandType,
 )
 
+from .load_liquid_class import (
+    LoadLiquidClass,
+    LoadLiquidClassParams,
+    LoadLiquidClassCreate,
+    LoadLiquidClassResult,
+    LoadLiquidClassCommandType,
+)
+
 from .load_module import (
     LoadModule,
     LoadModuleParams,
@@ -143,6 +161,22 @@ from .load_pipette import (
     LoadPipetteCommandType,
 )
 
+from .load_lid_stack import (
+    LoadLidStack,
+    LoadLidStackParams,
+    LoadLidStackCreate,
+    LoadLidStackResult,
+    LoadLidStackCommandType,
+)
+
+from .load_lid import (
+    LoadLid,
+    LoadLidParams,
+    LoadLidCreate,
+    LoadLidResult,
+    LoadLidCommandType,
+)
+
 from .move_labware import (
     GripperMovementError,
     MoveLabware,
@@ -305,6 +339,14 @@ from .get_tip_presence import (
     GetTipPresenceCommandType,
 )
 
+from .get_next_tip import (
+    GetNextTip,
+    GetNextTipCreate,
+    GetNextTipParams,
+    GetNextTipResult,
+    GetNextTipCommandType,
+)
+
 from .liquid_probe import (
     LiquidProbe,
     LiquidProbeParams,
@@ -320,6 +362,7 @@ from .liquid_probe import (
 
 Command = Annotated[
     Union[
+        AirGapInPlace,
         Aspirate,
         AspirateInPlace,
         Comment,
@@ -337,8 +380,11 @@ Command = Annotated[
         LoadLabware,
         ReloadLabware,
         LoadLiquid,
+        LoadLiquidClass,
         LoadModule,
         LoadPipette,
+        LoadLidStack,
+        LoadLid,
         MoveLabware,
         MoveRelative,
         MoveToCoordinates,
@@ -355,6 +401,7 @@ Command = Annotated[
         SetStatusBar,
         VerifyTipPresence,
         GetTipPresence,
+        GetNextTip,
         LiquidProbe,
         TryLiquidProbe,
         heater_shaker.WaitForTemperature,
@@ -393,11 +440,17 @@ Command = Annotated[
         unsafe.UnsafeEngageAxes,
         unsafe.UnsafeUngripLabware,
         unsafe.UnsafePlaceLabware,
+        robot.MoveTo,
+        robot.MoveAxesRelative,
+        robot.MoveAxesTo,
+        robot.openGripperJaw,
+        robot.closeGripperJaw,
     ],
     Field(discriminator="commandType"),
 ]
 
 CommandParams = Union[
+    AirGapInPlaceParams,
     AspirateParams,
     AspirateInPlaceParams,
     CommentParams,
@@ -413,8 +466,11 @@ CommandParams = Union[
     HomeParams,
     RetractAxisParams,
     LoadLabwareParams,
+    LoadLidStackParams,
+    LoadLidParams,
     ReloadLabwareParams,
     LoadLiquidParams,
+    LoadLiquidClassParams,
     LoadModuleParams,
     LoadPipetteParams,
     MoveLabwareParams,
@@ -433,6 +489,7 @@ CommandParams = Union[
     SetStatusBarParams,
     VerifyTipPresenceParams,
     GetTipPresenceParams,
+    GetNextTipParams,
     LiquidProbeParams,
     TryLiquidProbeParams,
     heater_shaker.WaitForTemperatureParams,
@@ -471,9 +528,15 @@ CommandParams = Union[
     unsafe.UnsafeEngageAxesParams,
     unsafe.UnsafeUngripLabwareParams,
     unsafe.UnsafePlaceLabwareParams,
+    robot.MoveAxesRelativeParams,
+    robot.MoveAxesToParams,
+    robot.MoveToParams,
+    robot.openGripperJawParams,
+    robot.closeGripperJawParams,
 ]
 
 CommandType = Union[
+    AirGapInPlaceCommandType,
     AspirateCommandType,
     AspirateInPlaceCommandType,
     CommentCommandType,
@@ -491,8 +554,11 @@ CommandType = Union[
     LoadLabwareCommandType,
     ReloadLabwareCommandType,
     LoadLiquidCommandType,
+    LoadLiquidClassCommandType,
     LoadModuleCommandType,
     LoadPipetteCommandType,
+    LoadLidStackCommandType,
+    LoadLidCommandType,
     MoveLabwareCommandType,
     MoveRelativeCommandType,
     MoveToCoordinatesCommandType,
@@ -509,6 +575,7 @@ CommandType = Union[
     SetStatusBarCommandType,
     VerifyTipPresenceCommandType,
     GetTipPresenceCommandType,
+    GetNextTipCommandType,
     LiquidProbeCommandType,
     TryLiquidProbeCommandType,
     heater_shaker.WaitForTemperatureCommandType,
@@ -547,10 +614,16 @@ CommandType = Union[
     unsafe.UnsafeEngageAxesCommandType,
     unsafe.UnsafeUngripLabwareCommandType,
     unsafe.UnsafePlaceLabwareCommandType,
+    robot.MoveAxesRelativeCommandType,
+    robot.MoveAxesToCommandType,
+    robot.MoveToCommandType,
+    robot.openGripperJawCommandType,
+    robot.closeGripperJawCommandType,
 ]
 
 CommandCreate = Annotated[
     Union[
+        AirGapInPlaceCreate,
         AspirateCreate,
         AspirateInPlaceCreate,
         CommentCreate,
@@ -568,8 +641,11 @@ CommandCreate = Annotated[
         LoadLabwareCreate,
         ReloadLabwareCreate,
         LoadLiquidCreate,
+        LoadLiquidClassCreate,
         LoadModuleCreate,
         LoadPipetteCreate,
+        LoadLidStackCreate,
+        LoadLidCreate,
         MoveLabwareCreate,
         MoveRelativeCreate,
         MoveToCoordinatesCreate,
@@ -586,6 +662,7 @@ CommandCreate = Annotated[
         SetStatusBarCreate,
         VerifyTipPresenceCreate,
         GetTipPresenceCreate,
+        GetNextTipCreate,
         LiquidProbeCreate,
         TryLiquidProbeCreate,
         heater_shaker.WaitForTemperatureCreate,
@@ -624,11 +701,24 @@ CommandCreate = Annotated[
         unsafe.UnsafeEngageAxesCreate,
         unsafe.UnsafeUngripLabwareCreate,
         unsafe.UnsafePlaceLabwareCreate,
+        robot.MoveAxesRelativeCreate,
+        robot.MoveAxesToCreate,
+        robot.MoveToCreate,
+        robot.openGripperJawCreate,
+        robot.closeGripperJawCreate,
     ],
     Field(discriminator="commandType"),
 ]
 
+# Each time a TypeAdapter is instantiated, it will construct a new validator and
+# serializer. To improve performance, TypeAdapters are instantiated once.
+# See https://docs.pydantic.dev/latest/concepts/performance/#typeadapter-instantiated-once
+CommandCreateAdapter: TypeAdapter[CommandCreate] = TypeAdapter(CommandCreate)
+
+CommandAdapter: TypeAdapter[Command] = TypeAdapter(Command)
+
 CommandResult = Union[
+    AirGapInPlaceResult,
     AspirateResult,
     AspirateInPlaceResult,
     CommentResult,
@@ -646,8 +736,11 @@ CommandResult = Union[
     LoadLabwareResult,
     ReloadLabwareResult,
     LoadLiquidResult,
+    LoadLiquidClassResult,
     LoadModuleResult,
     LoadPipetteResult,
+    LoadLidStackResult,
+    LoadLidResult,
     MoveLabwareResult,
     MoveRelativeResult,
     MoveToCoordinatesResult,
@@ -664,6 +757,7 @@ CommandResult = Union[
     SetStatusBarResult,
     VerifyTipPresenceResult,
     GetTipPresenceResult,
+    GetNextTipResult,
     LiquidProbeResult,
     TryLiquidProbeResult,
     heater_shaker.WaitForTemperatureResult,
@@ -702,6 +796,11 @@ CommandResult = Union[
     unsafe.UnsafeEngageAxesResult,
     unsafe.UnsafeUngripLabwareResult,
     unsafe.UnsafePlaceLabwareResult,
+    robot.MoveAxesRelativeResult,
+    robot.MoveAxesToResult,
+    robot.MoveToResult,
+    robot.openGripperJawResult,
+    robot.closeGripperJawResult,
 ]
 
 
@@ -712,6 +811,7 @@ CommandDefinedErrorData = Union[
     DefinedErrorData[OverpressureError],
     DefinedErrorData[LiquidNotFoundError],
     DefinedErrorData[GripperMovementError],
+    DefinedErrorData[StallOrCollisionError],
 ]
 
 

opentrons/protocol_engine/commands/comment.py

@@ -43,7 +43,7 @@ class Comment(BaseCommand[CommentParams, CommentResult, ErrorOccurrence]):
 
     commandType: CommentCommandType = "comment"
     params: CommentParams
-    result: Optional[CommentResult]
+    result: Optional[CommentResult] = None
 
     _ImplementationCls: Type[CommentImplementation] = CommentImplementation
 

opentrons/protocol_engine/commands/configure_for_volume.py

@@ -1,7 +1,9 @@
 """Configure for volume command request, result, and implementation models."""
 from __future__ import annotations
+from typing import TYPE_CHECKING, Optional, Type, Any
+
 from pydantic import BaseModel, Field
-from typing import TYPE_CHECKING, Optional, Type
+from pydantic.json_schema import SkipJsonSchema
 from typing_extensions import Literal
 
 from .pipetting_common import PipetteIdMixin
@@ -16,6 +18,10 @@ if TYPE_CHECKING:
 ConfigureForVolumeCommandType = Literal["configureForVolume"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class ConfigureForVolumeParams(PipetteIdMixin):
     """Parameters required to configure volume for a specific pipette."""
 
@@ -25,12 +31,13 @@ class ConfigureForVolumeParams(PipetteIdMixin):
         "than a pipette-specific maximum volume.",
         ge=0,
     )
-    tipOverlapNotAfterVersion: Optional[str] = Field(
+    tipOverlapNotAfterVersion: str | SkipJsonSchema[None] = Field(
         None,
         description="A version of tip overlap data to not exceed. The highest-versioned "
         "tip overlap data that does not exceed this version will be used. Versions are "
         "expressed as vN where N is an integer, counting up from v0. If None, the current "
         "highest version will be used.",
+        json_schema_extra=_remove_default,
     )
 
 
@@ -81,7 +88,7 @@ class ConfigureForVolume(
 
     commandType: ConfigureForVolumeCommandType = "configureForVolume"
     params: ConfigureForVolumeParams
-    result: Optional[ConfigureForVolumeResult]
+    result: Optional[ConfigureForVolumeResult] = None
 
     _ImplementationCls: Type[
         ConfigureForVolumeImplementation

opentrons/protocol_engine/commands/configure_nozzle_layout.py

@@ -61,9 +61,11 @@ class ConfigureNozzleLayoutImplementation(
         self, params: ConfigureNozzleLayoutParams
     ) -> SuccessData[ConfigureNozzleLayoutResult]:
         """Check that requested pipette can support the requested nozzle layout."""
-        primary_nozzle = params.configurationParams.dict().get("primaryNozzle")
-        front_right_nozzle = params.configurationParams.dict().get("frontRightNozzle")
-        back_left_nozzle = params.configurationParams.dict().get("backLeftNozzle")
+        primary_nozzle = params.configurationParams.model_dump().get("primaryNozzle")
+        front_right_nozzle = params.configurationParams.model_dump().get(
+            "frontRightNozzle"
+        )
+        back_left_nozzle = params.configurationParams.model_dump().get("backLeftNozzle")
         nozzle_params = await self._tip_handler.available_for_nozzle_layout(
             pipette_id=params.pipetteId,
             style=params.configurationParams.style,
@@ -97,7 +99,7 @@ class ConfigureNozzleLayout(
 
     commandType: ConfigureNozzleLayoutCommandType = "configureNozzleLayout"
     params: ConfigureNozzleLayoutParams
-    result: Optional[ConfigureNozzleLayoutResult]
+    result: Optional[ConfigureNozzleLayoutResult] = None
 
     _ImplementationCls: Type[
         ConfigureNozzleLayoutImplementation