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

opentrons/hardware_control/backends/ot3simulator.py

@@ -45,6 +45,7 @@ from opentrons.hardware_control.types import (
     EstopPhysicalStatus,
     HardwareEventHandler,
     HardwareEventUnsubscriber,
+    PipetteSensorResponseQueue,
 )
 
 from opentrons_shared_data.pipette.types import PipetteName, PipetteModel
@@ -62,9 +63,9 @@ from opentrons.hardware_control.dev_types import (
 )
 from opentrons.util.async_helpers import ensure_yield
 from .types import HWStopCondition
-from .flex_protocol import FlexBackend
-from opentrons_hardware.firmware_bindings.constants import SensorId
-from opentrons_hardware.sensors.types import SensorDataType
+from .flex_protocol import (
+    FlexBackend,
+)
 
 log = logging.getLogger(__name__)
 
@@ -235,7 +236,11 @@ class OT3Simulator(FlexBackend):
         self._sim_gantry_load = gantry_load
 
     def update_constraints_for_plunger_acceleration(
-        self, mount: OT3Mount, acceleration: float, gantry_load: GantryLoad
+        self,
+        mount: OT3Mount,
+        acceleration: float,
+        gantry_load: GantryLoad,
+        high_speed_pipette: bool = False,
     ) -> None:
         self._sim_gantry_load = gantry_load
 
@@ -348,11 +353,10 @@ class OT3Simulator(FlexBackend):
         threshold_pascals: float,
         plunger_impulse_time: float,
         num_baseline_reads: int,
+        z_offset_for_plunger_prep: float,
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,
         force_both_sensors: bool = False,
-        response_queue: Optional[
-            asyncio.Queue[Dict[SensorId, List[SensorDataType]]]
-        ] = None,
+        response_queue: Optional[PipetteSensorResponseQueue] = None,
     ) -> float:
         z_axis = Axis.by_mount(mount)
         pos = self._position
@@ -439,10 +443,12 @@ class OT3Simulator(FlexBackend):
         return self._sim_jaw_state
 
     async def tip_action(
-        self, origin: Dict[Axis, float], targets: List[Tuple[Dict[Axis, float], float]]
+        self, origin: float, targets: List[Tuple[float, float]]
     ) -> None:
         self._gear_motor_position.update(
-            coalesce_move_segments(origin, [target[0] for target in targets])
+            coalesce_move_segments(
+                {Axis.Q: origin}, [{Axis.Q: target[0]} for target in targets]
+            )
         )
         await asyncio.sleep(0)
 
@@ -505,6 +511,7 @@ class OT3Simulator(FlexBackend):
                         converted_name.pipette_type,
                         converted_name.pipette_channels,
                         converted_name.pipette_version,
+                        converted_name.oem_type,
                     ),
                     "id": None,
                 }
@@ -527,6 +534,7 @@ class OT3Simulator(FlexBackend):
                     converted_name.pipette_type,
                     converted_name.pipette_channels,
                     converted_name.pipette_version,
+                    converted_name.oem_type,
                 ),
                 "id": init_instr["id"],
             }
@@ -538,6 +546,7 @@ class OT3Simulator(FlexBackend):
                     converted_name.pipette_type,
                     converted_name.pipette_channels,
                     converted_name.pipette_version,
+                    converted_name.oem_type,
                 ),
                 "id": None,
             }

opentrons/hardware_control/backends/ot3utils.py

@@ -2,7 +2,10 @@
 from typing import Dict, Iterable, List, Set, Tuple, TypeVar, cast, Sequence, Optional
 from typing_extensions import Literal
 from logging import getLogger
-from opentrons.config.defaults_ot3 import DEFAULT_CALIBRATION_AXIS_MAX_SPEED
+from opentrons.config.defaults_ot3 import (
+    DEFAULT_CALIBRATION_AXIS_MAX_SPEED,
+    DEFAULT_EMULSIFYING_PIPETTE_AXIS_MAX_SPEED,
+)
 from opentrons.config.types import OT3MotionSettings, OT3CurrentSettings, GantryLoad
 from opentrons.hardware_control.types import (
     Axis,
@@ -281,12 +284,22 @@ def get_system_constraints_for_plunger_acceleration(
     gantry_load: GantryLoad,
     mount: OT3Mount,
     acceleration: float,
+    high_speed_pipette: bool = False,
 ) -> "SystemConstraints[Axis]":
     old_constraints = config.by_gantry_load(gantry_load)
     new_constraints = {}
     axis_kinds = set([k for _, v in old_constraints.items() for k in v.keys()])
+
+    def _get_axis_max_speed(ax: Axis) -> float:
+        if ax == Axis.of_main_tool_actuator(mount) and high_speed_pipette:
+            _max_speed = float(DEFAULT_EMULSIFYING_PIPETTE_AXIS_MAX_SPEED)
+        else:
+            _max_speed = old_constraints["default_max_speed"][axis_kind]
+        return _max_speed
+
     for axis_kind in axis_kinds:
         for axis in Axis.of_kind(axis_kind):
+            _default_max_speed = _get_axis_max_speed(axis)
             if axis == Axis.of_main_tool_actuator(mount):
                 _accel = acceleration
             else:
@@ -295,7 +308,32 @@ def get_system_constraints_for_plunger_acceleration(
                 _accel,
                 old_constraints["max_speed_discontinuity"][axis_kind],
                 old_constraints["direction_change_speed_discontinuity"][axis_kind],
-                old_constraints["default_max_speed"][axis_kind],
+                _default_max_speed,
+            )
+    return new_constraints
+
+
+def get_system_constraints_for_emulsifying_pipette(
+    config: OT3MotionSettings,
+    gantry_load: GantryLoad,
+    mount: OT3Mount,
+) -> "SystemConstraints[Axis]":
+    old_constraints = config.by_gantry_load(gantry_load)
+    new_constraints = {}
+    axis_kinds = set([k for _, v in old_constraints.items() for k in v.keys()])
+    for axis_kind in axis_kinds:
+        for axis in Axis.of_kind(axis_kind):
+            if axis == Axis.of_main_tool_actuator(mount):
+                _max_speed = float(DEFAULT_EMULSIFYING_PIPETTE_AXIS_MAX_SPEED)
+            else:
+                _max_speed = old_constraints["default_max_speed"][axis_kind]
+            new_constraints[axis] = AxisConstraints.build(
+                max_acceleration=old_constraints["acceleration"][axis_kind],
+                max_speed_discont=old_constraints["max_speed_discontinuity"][axis_kind],
+                max_direction_change_speed_discont=old_constraints[
+                    "direction_change_speed_discontinuity"
+                ][axis_kind],
+                max_speed=_max_speed,
             )
     return new_constraints
 
@@ -498,10 +536,10 @@ def create_gripper_jaw_hold_group(encoder_position_um: int) -> MoveGroup:
     return move_group
 
 
-def moving_pipettes_in_move_group(group: MoveGroup) -> List[NodeId]:
+def moving_pipettes_in_move_group(
+    all_nodes: Set[NodeId], moving_nodes: Set[NodeId]
+) -> List[NodeId]:
     """Utility function to get which pipette nodes are moving either in z or their plunger."""
-    all_nodes = [node for step in group for node, _ in step.items()]
-    moving_nodes = moving_axes_in_move_group(group)
     pipettes_moving: List[NodeId] = [
         k for k in moving_nodes if k in [NodeId.pipette_left, NodeId.pipette_right]
     ]
@@ -512,16 +550,6 @@ def moving_pipettes_in_move_group(group: MoveGroup) -> List[NodeId]:
     return pipettes_moving
 
 
-def moving_axes_in_move_group(group: MoveGroup) -> Set[NodeId]:
-    """Utility function to get only the moving nodes in a move group."""
-    ret: Set[NodeId] = set()
-    for step in group:
-        for node, node_step in step.items():
-            if node_step.is_moving_step():
-                ret.add(node)
-    return ret
-
-
 AxisMapPayload = TypeVar("AxisMapPayload")
 
 

opentrons/hardware_control/dev_types.py

@@ -20,6 +20,7 @@ from opentrons_shared_data.pipette.pipette_definition import (
     PipetteConfigurations,
     SupportedTipsDefinition,
     PipetteBoundingBoxOffsetDefinition,
+    AvailableSensorDefinition,
 )
 from opentrons_shared_data.gripper import (
     GripperModel,
@@ -100,6 +101,9 @@ class PipetteDict(InstrumentDict):
     pipette_bounding_box_offsets: PipetteBoundingBoxOffsetDefinition
     current_nozzle_map: NozzleMap
     lld_settings: Optional[Dict[str, Dict[str, float]]]
+    plunger_positions: Dict[str, float]
+    shaft_ul_per_mm: float
+    available_sensors: AvailableSensorDefinition
 
 
 class PipetteStateDict(TypedDict):

opentrons/hardware_control/emulation/heater_shaker.py

@@ -45,6 +45,7 @@ class HeaterShakerEmulator(AbstractEmulator):
             GCODE.HOME.value: self._home,
             GCODE.ENTER_BOOTLOADER.value: self._enter_bootloader,
             GCODE.GET_VERSION.value: self._get_version,
+            GCODE.GET_RESET_REASON.value: self._get_reset_reason,
             GCODE.OPEN_LABWARE_LATCH.value: self._open_labware_latch,
             GCODE.CLOSE_LABWARE_LATCH.value: self._close_labware_latch,
             GCODE.GET_LABWARE_LATCH_STATE.value: self._get_labware_latch_state,
@@ -126,6 +127,9 @@ class HeaterShakerEmulator(AbstractEmulator):
             f"SerialNo:{self._settings.serial_number}"
         )
 
+    def _get_reset_reason(self, command: Command) -> str:
+        return "M114 Last Reset Reason: 01"
+
     def _open_labware_latch(self, command: Command) -> str:
         self._latch_status = HeaterShakerLabwareLatchStatus.IDLE_OPEN
         return "M242"

opentrons/hardware_control/emulation/module_server/client.py

@@ -66,7 +66,7 @@ class ModuleStatusClient:
         """Read a message from the module server."""
         try:
             b = await self._reader.readuntil(MessageDelimiter)
-            m: Message = Message.parse_raw(b)
+            m: Message = Message.model_validate_json(b)
             return m
         except LimitOverrunError as e:
             raise ModuleServerClientError(str(e))

opentrons/hardware_control/emulation/module_server/server.py

@@ -53,7 +53,9 @@ class ModuleStatusServer(ProxyListener):
         self._connections[identifier] = connection
         for c in self._clients:
             c.write(
-                Message(status="connected", connections=[connection]).json().encode()
+                Message(status="connected", connections=[connection])
+                .model_dump_json()
+                .encode()
             )
             c.write(b"\n")
 
@@ -72,7 +74,7 @@ class ModuleStatusServer(ProxyListener):
             for c in self._clients:
                 c.write(
                     Message(status="disconnected", connections=[connection])
-                    .json()
+                    .model_dump_json()
                     .encode()
                 )
                 c.write(MessageDelimiter)
@@ -95,7 +97,7 @@ class ModuleStatusServer(ProxyListener):
         # A client connected. Send a dump of all connected modules.
         m = Message(status="dump", connections=list(self._connections.values()))
 
-        writer.write(m.json().encode())
+        writer.write(m.model_dump_json().encode())
         writer.write(MessageDelimiter)
 
         self._clients.add(writer)

opentrons/hardware_control/emulation/settings.py

@@ -1,7 +1,8 @@
 from typing import List
 from opentrons.hardware_control.emulation.types import ModuleType
 from opentrons.hardware_control.emulation.util import TEMPERATURE_ROOM
-from pydantic import BaseSettings, BaseModel
+from pydantic import BaseModel
+from pydantic_settings import BaseSettings, SettingsConfigDict
 
 
 class PipetteSettings(BaseModel):
@@ -113,8 +114,6 @@ class Settings(BaseSettings):
         emulator_port=9003, driver_port=9998
     )
     magdeck_proxy: ProxySettings = ProxySettings(emulator_port=9004, driver_port=9999)
-
-    class Config:
-        env_prefix = "OT_EMULATOR_"
+    model_config = SettingsConfigDict(env_prefix="OT_EMULATOR_")
 
     module_server: ModuleServerSettings = ModuleServerSettings()

opentrons/hardware_control/instruments/ot2/instrument_calibration.py

@@ -123,7 +123,8 @@ def load_tip_length_for_pipette(
 ) -> TipLengthCalibration:
     if isinstance(tiprack, LabwareDefinition):
         tiprack = typing.cast(
-            "TypeDictLabwareDef", tiprack.dict(exclude_none=True, exclude_unset=True)
+            "TypeDictLabwareDef",
+            tiprack.model_dump(exclude_none=True, exclude_unset=True),
         )
 
     tip_length_data = calibration_storage.load_tip_length_calibration(

opentrons/hardware_control/instruments/ot2/pipette.py

@@ -28,7 +28,7 @@ from opentrons_shared_data.errors.exceptions import (
     CommandPreconditionViolated,
 )
 from opentrons_shared_data.pipette.ul_per_mm import (
-    piecewise_volume_conversion,
+    calculate_ul_per_mm,
     PIPETTING_FUNCTION_FALLBACK_VERSION,
     PIPETTING_FUNCTION_LATEST_VERSION,
 )
@@ -56,6 +56,7 @@ from opentrons_shared_data.pipette.types import (
     UlPerMmAction,
     PipetteName,
     PipetteModel,
+    PipetteOEMType,
 )
 from opentrons.hardware_control.dev_types import InstrumentHardwareConfigs
 
@@ -96,7 +97,7 @@ class Pipette(AbstractInstrument[PipetteConfigurations]):
         use_old_aspiration_functions: bool = False,
     ) -> None:
         self._config = config
-        self._config_as_dict = config.dict()
+        self._config_as_dict = config.model_dump()
         self._pipette_offset = pipette_offset_cal
         self._pipette_type = self._config.pipette_type
         self._pipette_version = self._config.version
@@ -112,17 +113,20 @@ class Pipette(AbstractInstrument[PipetteConfigurations]):
             pipette_type=config.pipette_type,
             pipette_channels=config.channels,
             pipette_generation=config.display_category,
+            oem_type=PipetteOEMType.OT,
         )
         self._acting_as = self._pipette_name
         self._pipette_model = PipetteModelVersionType(
             pipette_type=config.pipette_type,
             pipette_channels=config.channels,
             pipette_version=config.version,
+            oem_type=PipetteOEMType.OT,
         )
         self._valid_nozzle_maps = load_pipette_data.load_valid_nozzle_maps(
             self._pipette_model.pipette_type,
             self._pipette_model.pipette_channels,
             self._pipette_model.pipette_version,
+            PipetteOEMType.OT,
         )
         self._nozzle_offset = self._config.nozzle_offset
         self._nozzle_manager = (
@@ -189,7 +193,7 @@ class Pipette(AbstractInstrument[PipetteConfigurations]):
         ], f"{self.name} is not back-compatible with {name}"
 
         liquid_model = load_pipette_data.load_liquid_model(
-            name.pipette_type, name.pipette_channels, name.get_version()
+            name.pipette_type, name.pipette_channels, name.get_version(), name.oem_type
         )
         # TODO need to grab name config here to deal with act as test
         self._liquid_class.max_volume = liquid_model["default"].max_volume
@@ -273,15 +277,16 @@ class Pipette(AbstractInstrument[PipetteConfigurations]):
             self._config, elements, liquid_class
         )
         # Update the cached dict representation
-        self._config_as_dict = self._config.dict()
+        self._config_as_dict = self._config.model_dump()
 
     def reload_configurations(self) -> None:
         self._config = load_pipette_data.load_definition(
             self._pipette_model.pipette_type,
             self._pipette_model.pipette_channels,
             self._pipette_model.pipette_version,
+            self._pipette_model.oem_type,
         )
-        self._config_as_dict = self._config.dict()
+        self._config_as_dict = self._config.model_dump()
 
     def reset_state(self) -> None:
         self._current_volume = 0.0
@@ -584,21 +589,9 @@ class Pipette(AbstractInstrument[PipetteConfigurations]):
     # want this to unbounded.
     @functools.lru_cache(maxsize=100)
     def ul_per_mm(self, ul: float, action: UlPerMmAction) -> float:
-        if action == "aspirate":
-            fallback = self._active_tip_settings.aspirate.default[
-                PIPETTING_FUNCTION_FALLBACK_VERSION
-            ]
-            sequence = self._active_tip_settings.aspirate.default.get(
-                self._pipetting_function_version, fallback
-            )
-        else:
-            fallback = self._active_tip_settings.dispense.default[
-                PIPETTING_FUNCTION_FALLBACK_VERSION
-            ]
-            sequence = self._active_tip_settings.dispense.default.get(
-                self._pipetting_function_version, fallback
-            )
-        return piecewise_volume_conversion(ul, sequence)
+        return calculate_ul_per_mm(
+            ul, action, self._active_tip_settings, self._pipetting_function_version
+        )
 
     def __str__(self) -> str:
         return "{} current volume {}ul critical point: {} at {}".format(
@@ -668,8 +661,8 @@ def _reload_and_check_skip(
         # Same config, good enough
         return attached_instr, True
     else:
-        newdict = new_config.dict()
-        olddict = attached_instr.config.dict()
+        newdict = new_config.model_dump()
+        olddict = attached_instr.config.model_dump()
         changed: Set[str] = set()
         for k in newdict.keys():
             if newdict[k] != olddict[k]:

opentrons/hardware_control/instruments/ot2/pipette_handler.py

@@ -230,7 +230,7 @@ class PipetteHandlerProvider(Generic[MountType]):
             result["current_nozzle_map"] = instr.nozzle_manager.current_configuration
             result["min_volume"] = instr.liquid_class.min_volume
             result["max_volume"] = instr.liquid_class.max_volume
-            result["channels"] = instr.channels
+            result["channels"] = instr._max_channels.value
             result["has_tip"] = instr.has_tip
             result["tip_length"] = instr.current_tip_length
             result["aspirate_speed"] = self.plunger_speed(
@@ -260,6 +260,13 @@ class PipetteHandlerProvider(Generic[MountType]):
                 "pipette_bounding_box_offsets"
             ] = instr.config.pipette_bounding_box_offsets
             result["lld_settings"] = instr.config.lld_settings
+            result["plunger_positions"] = {
+                "top": instr.plunger_positions.top,
+                "bottom": instr.plunger_positions.bottom,
+                "blow_out": instr.plunger_positions.blow_out,
+                "drop_tip": instr.plunger_positions.drop_tip,
+            }
+            result["shaft_ul_per_mm"] = instr.config.shaft_ul_per_mm
         return cast(PipetteDict, result)
 
     @property

opentrons/hardware_control/instruments/ot3/gripper.py

@@ -318,8 +318,8 @@ def _reload_gripper(
         # Same config, good enough
         return attached_instr, True
     else:
-        newdict = new_config.dict()
-        olddict = attached_instr.config.dict()
+        newdict = new_config.model_dump()
+        olddict = attached_instr.config.model_dump()
         changed: Set[str] = set()
         for k in newdict.keys():
             if newdict[k] != olddict[k]:

opentrons/hardware_control/instruments/ot3/pipette.py

@@ -27,7 +27,7 @@ from opentrons_shared_data.errors.exceptions import (
     InvalidInstrumentData,
 )
 from opentrons_shared_data.pipette.ul_per_mm import (
-    piecewise_volume_conversion,
+    calculate_ul_per_mm,
     PIPETTING_FUNCTION_FALLBACK_VERSION,
     PIPETTING_FUNCTION_LATEST_VERSION,
 )
@@ -41,6 +41,8 @@ from opentrons_shared_data.pipette.types import (
     UlPerMmAction,
     PipetteName,
     PipetteModel,
+    Quirks,
+    PipetteOEMType,
 )
 from opentrons_shared_data.pipette import (
     load_data as load_pipette_data,
@@ -78,7 +80,7 @@ class Pipette(AbstractInstrument[PipetteConfigurations]):
         use_old_aspiration_functions: bool = False,
     ) -> None:
         self._config = config
-        self._config_as_dict = config.dict()
+        self._config_as_dict = config.model_dump()
         self._plunger_motor_current = config.plunger_motor_configurations
         self._pick_up_configurations = config.pick_up_tip_configurations
         self._plunger_homing_configurations = config.plunger_homing_configurations
@@ -92,22 +94,26 @@ class Pipette(AbstractInstrument[PipetteConfigurations]):
         self._liquid_class_name = pip_types.LiquidClasses.default
         self._liquid_class = self._config.liquid_properties[self._liquid_class_name]
 
+        oem = PipetteOEMType.get_oem_from_quirks(config.quirks)
         # TODO (lc 12-05-2022) figure out how we can safely deprecate "name" and "model"
         self._pipette_name = PipetteNameType(
             pipette_type=config.pipette_type,
             pipette_channels=config.channels,
             pipette_generation=config.display_category,
+            oem_type=oem,
         )
         self._acting_as = self._pipette_name
         self._pipette_model = PipetteModelVersionType(
             pipette_type=config.pipette_type,
             pipette_channels=config.channels,
             pipette_version=config.version,
+            oem_type=oem,
         )
         self._valid_nozzle_maps = load_pipette_data.load_valid_nozzle_maps(
             self._pipette_model.pipette_type,
             self._pipette_model.pipette_channels,
             self._pipette_model.pipette_version,
+            self._pipette_model.oem_type,
         )
         self._nozzle_offset = self._config.nozzle_offset
         self._nozzle_manager = (
@@ -225,6 +231,9 @@ class Pipette(AbstractInstrument[PipetteConfigurations]):
     def push_out_volume(self) -> float:
         return self._active_tip_settings.default_push_out_volume
 
+    def is_high_speed_pipette(self) -> bool:
+        return Quirks.highSpeed in self._config.quirks
+
     def act_as(self, name: PipetteName) -> None:
         """Reconfigure to act as ``name``. ``name`` must be either the
         actual name of the pipette, or a name in its back-compatibility
@@ -246,8 +255,9 @@ class Pipette(AbstractInstrument[PipetteConfigurations]):
             self._pipette_model.pipette_type,
             self._pipette_model.pipette_channels,
             self._pipette_model.pipette_version,
+            self._pipette_model.oem_type,
         )
-        self._config_as_dict = self._config.dict()
+        self._config_as_dict = self._config.model_dump()
 
     def reset_state(self) -> None:
         self._current_volume = 0.0
@@ -529,23 +539,13 @@ class Pipette(AbstractInstrument[PipetteConfigurations]):
     # want this to unbounded.
     @functools.lru_cache(maxsize=100)
     def ul_per_mm(self, ul: float, action: UlPerMmAction) -> float:
-        if action == "aspirate":
-            fallback = self._active_tip_settings.aspirate.default[
-                PIPETTING_FUNCTION_FALLBACK_VERSION
-            ]
-            sequence = self._active_tip_settings.aspirate.default.get(
-                self._pipetting_function_version, fallback
-            )
-        elif action == "blowout":
-            return self._config.shaft_ul_per_mm
-        else:
-            fallback = self._active_tip_settings.dispense.default[
-                PIPETTING_FUNCTION_FALLBACK_VERSION
-            ]
-            sequence = self._active_tip_settings.dispense.default.get(
-                self._pipetting_function_version, fallback
-            )
-        return piecewise_volume_conversion(ul, sequence)
+        return calculate_ul_per_mm(
+            ul,
+            action,
+            self._active_tip_settings,
+            self._pipetting_function_version,
+            self._config.shaft_ul_per_mm,
+        )
 
     def __str__(self) -> str:
         return "{} current volume {}ul critical point: {} at {}".format(
@@ -585,6 +585,7 @@ class Pipette(AbstractInstrument[PipetteConfigurations]):
                 "versioned_tip_overlap": self.tip_overlap,
                 "back_compat_names": self._config.pipette_backcompat_names,
                 "supported_tips": self.liquid_class.supported_tips,
+                "shaft_ul_per_mm": self._config.shaft_ul_per_mm,
             }
         )
         return self._config_as_dict
@@ -775,8 +776,8 @@ def _reload_and_check_skip(
         # Same config, good enough
         return attached_instr, True
     else:
-        newdict = new_config.dict()
-        olddict = attached_instr.config.dict()
+        newdict = new_config.model_dump()
+        olddict = attached_instr.config.model_dump()
         changed: Set[str] = set()
         for k in newdict.keys():
             if newdict[k] != olddict[k]:

opentrons/hardware_control/instruments/ot3/pipette_handler.py

@@ -237,6 +237,7 @@ class OT3PipetteHandler:
                 "back_compat_names",
                 "supported_tips",
                 "lld_settings",
+                "available_sensors",
             ]
 
             instr_dict = instr.as_dict()
@@ -248,7 +249,7 @@ class OT3PipetteHandler:
             result["current_nozzle_map"] = instr.nozzle_manager.current_configuration
             result["min_volume"] = instr.liquid_class.min_volume
             result["max_volume"] = instr.liquid_class.max_volume
-            result["channels"] = instr._max_channels
+            result["channels"] = instr._max_channels.value
             result["has_tip"] = instr.has_tip
             result["tip_length"] = instr.current_tip_length
             result["aspirate_speed"] = self.plunger_speed(
@@ -282,6 +283,14 @@ class OT3PipetteHandler:
                 "pipette_bounding_box_offsets"
             ] = instr.config.pipette_bounding_box_offsets
             result["lld_settings"] = instr.config.lld_settings
+            result["plunger_positions"] = {
+                "top": instr.plunger_positions.top,
+                "bottom": instr.plunger_positions.bottom,
+                "blow_out": instr.plunger_positions.blow_out,
+                "drop_tip": instr.plunger_positions.drop_tip,
+            }
+            result["shaft_ul_per_mm"] = instr.config.shaft_ul_per_mm
+            result["available_sensors"] = instr.config.available_sensors
         return cast(PipetteDict, result)
 
     @property

opentrons/hardware_control/modules/mod_abc.py

@@ -2,7 +2,7 @@ import abc
 import asyncio
 import logging
 import re
-from typing import ClassVar, Mapping, Optional, TypeVar, cast
+from typing import ClassVar, Mapping, Optional, TypeVar
 from packaging.version import InvalidVersion, parse, Version
 from opentrons.config import IS_ROBOT, ROBOT_FIRMWARE_DIR
 from opentrons.drivers.rpi_drivers.types import USBPort
@@ -31,7 +31,7 @@ def parse_fw_version(version: str) -> Version:
             raise InvalidVersion()
     except InvalidVersion:
         device_version = parse("v0.0.0")
-    return cast(Version, device_version)
+    return device_version
 
 
 class AbstractModule(abc.ABC):