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

opentrons/protocol_api/core/instrument.py

@@ -3,14 +3,14 @@
 from __future__ import annotations
 
 from abc import abstractmethod, ABC
-from typing import Any, Generic, Optional, TypeVar, Union
+from typing import Any, Generic, Optional, TypeVar, Union, List
 
 from opentrons import types
 from opentrons.hardware_control.dev_types import PipetteDict
 from opentrons.protocols.api_support.util import FlowRates
+from opentrons.protocols.advanced_control.transfers.common import TransferTipPolicyV2
 from opentrons.protocol_api._nozzle_layout import NozzleLayout
-from opentrons.hardware_control.nozzle_manager import NozzleMap
-
+from opentrons.protocol_api._liquid import LiquidClass
 from ..disposal_locations import TrashBin, WasteChute
 from .well import WellCoreType
 
@@ -24,6 +24,14 @@ class AbstractInstrument(ABC, Generic[WellCoreType]):
     def set_default_speed(self, speed: float) -> None:
         ...
 
+    @abstractmethod
+    def air_gap_in_place(self, volume: float, flow_rate: float) -> None:
+        """Aspirate a given volume of air from the current location of the pipette.
+        Args:
+            volume: The volume of air to aspirate, in microliters.
+            flow_rate: The flow rate of air into the pipette, in microliters.
+        """
+
     @abstractmethod
     def aspirate(
         self,
@@ -222,7 +230,7 @@ class AbstractInstrument(ABC, Generic[WellCoreType]):
         ...
 
     @abstractmethod
-    def get_nozzle_map(self) -> NozzleMap:
+    def get_nozzle_map(self) -> types.NozzleMapInterface:
         ...
 
     @abstractmethod
@@ -253,6 +261,10 @@ class AbstractInstrument(ABC, Generic[WellCoreType]):
     def get_liquid_presence_detection(self) -> bool:
         ...
 
+    @abstractmethod
+    def _pressure_supported_by_pipette(self) -> bool:
+        ...
+
     @abstractmethod
     def set_liquid_presence_detection(self, enable: bool) -> None:
         ...
@@ -298,6 +310,32 @@ class AbstractInstrument(ABC, Generic[WellCoreType]):
         """
         ...
 
+    @abstractmethod
+    def load_liquid_class(
+        self,
+        liquid_class: LiquidClass,
+        pipette_load_name: str,
+        tiprack_uri: str,
+    ) -> str:
+        """Load the liquid class properties of given pipette and tiprack into the engine.
+
+        Returns: ID of the liquid class record
+        """
+        ...
+
+    @abstractmethod
+    def transfer_liquid(
+        self,
+        liquid_class_id: str,
+        volume: float,
+        source: List[WellCoreType],
+        dest: List[WellCoreType],
+        new_tip: TransferTipPolicyV2,
+        trash_location: Union[WellCoreType, types.Location, TrashBin, WasteChute],
+    ) -> None:
+        """Transfer a liquid from source to dest according to liquid class properties."""
+        ...
+
     @abstractmethod
     def is_tip_tracking_available(self) -> bool:
         """Return whether auto tip tracking is available for the pipette's current nozzle configuration."""
@@ -327,5 +365,9 @@ class AbstractInstrument(ABC, Generic[WellCoreType]):
         """Do a liquid probe to find the level of the liquid in the well."""
         ...
 
+    @abstractmethod
+    def nozzle_configuration_valid_for_lld(self) -> bool:
+        """Check if the nozzle configuration currently supports LLD."""
+
 
 InstrumentCoreType = TypeVar("InstrumentCoreType", bound=AbstractInstrument[Any])

opentrons/protocol_api/core/labware.py

@@ -1,8 +1,9 @@
 """The interface that implements InstrumentContext."""
+
 from __future__ import annotations
 
 from abc import ABC, abstractmethod
-from typing import Any, Generic, List, NamedTuple, Optional, TypeVar
+from typing import Any, Generic, List, NamedTuple, Optional, TypeVar, Dict
 
 from opentrons_shared_data.labware.types import (
     LabwareUri,
@@ -10,8 +11,8 @@ from opentrons_shared_data.labware.types import (
     LabwareDefinition as LabwareDefinitionDict,
 )
 
-from opentrons.types import DeckSlotName, Point
-from opentrons.hardware_control.nozzle_manager import NozzleMap
+from opentrons.types import DeckSlotName, Point, NozzleMapInterface
+from .._liquid import Liquid
 
 from .well import WellCoreType
 
@@ -118,7 +119,7 @@ class AbstractLabware(ABC, Generic[WellCoreType]):
         self,
         num_tips: int,
         starting_tip: Optional[WellCoreType],
-        nozzle_map: Optional[NozzleMap],
+        nozzle_map: Optional[NozzleMapInterface],
     ) -> Optional[str]:
         """Get the name of the next available tip(s) in the rack, if available."""
 
@@ -134,5 +135,13 @@ class AbstractLabware(ABC, Generic[WellCoreType]):
     def get_deck_slot(self) -> Optional[DeckSlotName]:
         """Get the deck slot the labware or its parent is in, if any."""
 
+    @abstractmethod
+    def load_liquid(self, volumes: Dict[str, float], liquid: Liquid) -> None:
+        """Load liquid into wells of the labware."""
+
+    @abstractmethod
+    def load_empty(self, wells: List[str]) -> None:
+        """Mark wells of the labware as empty."""
+
 
 LabwareCoreType = TypeVar("LabwareCoreType", bound=AbstractLabware[Any])

opentrons/protocol_api/core/legacy/legacy_instrument_core.py

@@ -1,12 +1,13 @@
 from __future__ import annotations
 
 import logging
-from typing import TYPE_CHECKING, Optional, Union
+from typing import TYPE_CHECKING, Optional, Union, List
 
 from opentrons import types
 from opentrons.hardware_control import CriticalPoint
 from opentrons.hardware_control.dev_types import PipetteDict
 from opentrons.protocol_api.core.common import WellCore
+from opentrons.protocols.advanced_control.transfers.common import TransferTipPolicyV2
 from opentrons.protocols.api_support import instrument as instrument_support
 from opentrons.protocols.api_support.definitions import MAX_SUPPORTED_VERSION
 from opentrons.protocols.api_support.labware_like import LabwareLike
@@ -19,7 +20,7 @@ from opentrons.protocols.api_support.util import (
 )
 from opentrons.protocols.geometry import planning
 from opentrons.protocol_api._nozzle_layout import NozzleLayout
-from opentrons.hardware_control.nozzle_manager import NozzleMap
+from opentrons.protocol_api._liquid import LiquidClass
 
 from ...disposal_locations import TrashBin, WasteChute
 from ..instrument import AbstractInstrument
@@ -72,6 +73,9 @@ class LegacyInstrumentCore(AbstractInstrument[LegacyWellCore]):
         """Sets the speed at which the robot's gantry moves."""
         self._default_speed = speed
 
+    def air_gap_in_place(self, volume: float, flow_rate: float) -> None:
+        assert False, "Air gap tracking only available in API version 2.22 and later"
+
     def aspirate(
         self,
         location: types.Location,
@@ -552,11 +556,34 @@ class LegacyInstrumentCore(AbstractInstrument[LegacyWellCore]):
         """This will never be called because it was added in API 2.16."""
         pass
 
+    def load_liquid_class(
+        self,
+        liquid_class: LiquidClass,
+        pipette_load_name: str,
+        tiprack_uri: str,
+    ) -> str:
+        """This will never be called because it was added in .."""
+        # TODO(spp, 2024-11-20): update the docstring and error to include API version
+        assert False, "load_liquid_class is not supported in legacy context"
+
+    def transfer_liquid(
+        self,
+        liquid_class_id: str,
+        volume: float,
+        source: List[LegacyWellCore],
+        dest: List[LegacyWellCore],
+        new_tip: TransferTipPolicyV2,
+        trash_location: Union[LegacyWellCore, types.Location, TrashBin, WasteChute],
+    ) -> None:
+        """This will never be called because it was added in .."""
+        # TODO(spp, 2024-11-20): update the docstring and error to include API version
+        assert False, "transfer_liquid is not supported in legacy context"
+
     def get_active_channels(self) -> int:
         """This will never be called because it was added in API 2.16."""
         assert False, "get_active_channels only supported in API 2.16 & later"
 
-    def get_nozzle_map(self) -> NozzleMap:
+    def get_nozzle_map(self) -> types.NozzleMapInterface:
         """This will never be called because it was added in API 2.18."""
         assert False, "get_nozzle_map only supported in API 2.18 & later"
 
@@ -583,3 +610,10 @@ class LegacyInstrumentCore(AbstractInstrument[LegacyWellCore]):
     ) -> float:
         """This will never be called because it was added in API 2.20."""
         assert False, "liquid_probe_without_recovery only supported in API 2.20 & later"
+
+    def _pressure_supported_by_pipette(self) -> bool:
+        return False
+
+    def nozzle_configuration_valid_for_lld(self) -> bool:
+        """Check if the nozzle configuration currently supports LLD."""
+        return False

opentrons/protocol_api/core/legacy/legacy_labware_core.py

@@ -1,13 +1,14 @@
-from typing import List, Optional
+from typing import List, Optional, Dict
 
 from opentrons.calibration_storage import helpers
 from opentrons.protocols.geometry.labware_geometry import LabwareGeometry
 from opentrons.protocols.api_support.tip_tracker import TipTracker
 
-from opentrons.types import DeckSlotName, Location, Point
-from opentrons.hardware_control.nozzle_manager import NozzleMap
+from opentrons.types import DeckSlotName, Location, Point, NozzleMapInterface
+
 from opentrons_shared_data.labware.types import LabwareParameters, LabwareDefinition
 
+from ..._liquid import Liquid
 from ..labware import AbstractLabware, LabwareLoadParams
 from .legacy_well_core import LegacyWellCore
 from .well_geometry import WellGeometry
@@ -162,7 +163,7 @@ class LegacyLabwareCore(AbstractLabware[LegacyWellCore]):
         self,
         num_tips: int,
         starting_tip: Optional[LegacyWellCore],
-        nozzle_map: Optional[NozzleMap],
+        nozzle_map: Optional[NozzleMapInterface],
     ) -> Optional[str]:
         if nozzle_map is not None:
             raise ValueError(
@@ -220,3 +221,11 @@ class LegacyLabwareCore(AbstractLabware[LegacyWellCore]):
         """Get the deck slot the labware is in, if in a deck slot."""
         slot = self._geometry.parent.labware.first_parent()
         return DeckSlotName.from_primitive(slot) if slot is not None else None
+
+    def load_liquid(self, volumes: Dict[str, float], liquid: Liquid) -> None:
+        """Load liquid into wells of the labware."""
+        assert False, "load_liquid only supported in API version 2.22 & later"
+
+    def load_empty(self, wells: List[str]) -> None:
+        """Mark wells of the labware as empty."""
+        assert False, "load_empty only supported in API version 2.22 & later"

opentrons/protocol_api/core/legacy/legacy_protocol_core.py

@@ -6,7 +6,13 @@ from opentrons_shared_data.labware.types import LabwareDefinition
 from opentrons_shared_data.pipette.types import PipetteNameType
 from opentrons_shared_data.robot.types import RobotType
 
-from opentrons.types import DeckSlotName, StagingSlotName, Location, Mount, Point
+from opentrons.types import (
+    DeckSlotName,
+    StagingSlotName,
+    Location,
+    Mount,
+    Point,
+)
 from opentrons.util.broker import Broker
 from opentrons.hardware_control import SyncHardwareAPI
 from opentrons.hardware_control.modules import AbstractModule, ModuleModel, ModuleType
@@ -267,6 +273,20 @@ class LegacyProtocolCore(
         """Load an adapter using its identifying parameters"""
         raise APIVersionError(api_element="Loading adapter")
 
+    def load_lid(
+        self,
+        load_name: str,
+        location: LegacyLabwareCore,
+        namespace: Optional[str],
+        version: Optional[int],
+    ) -> LegacyLabwareCore:
+        """Load an individual lid labware using its identifying parameters. Must be loaded on a labware."""
+        raise APIVersionError(api_element="Loading lid")
+
+    def load_robot(self) -> None:  # type: ignore
+        """Load an adapter using its identifying parameters"""
+        raise APIVersionError(api_element="Loading robot")
+
     def move_labware(
         self,
         labware_core: LegacyLabwareCore,
@@ -474,6 +494,17 @@ class LegacyProtocolCore(
         self._last_location = location
         self._last_mount = mount
 
+    def load_lid_stack(
+        self,
+        load_name: str,
+        location: Union[DeckSlotName, StagingSlotName, LegacyLabwareCore],
+        quantity: int,
+        namespace: Optional[str],
+        version: Optional[int],
+    ) -> LegacyLabwareCore:
+        """Load a Stack of Lids to a given location, creating a Lid Stack."""
+        raise APIVersionError(api_element="Lid stack")
+
     def get_module_cores(self) -> List[legacy_module_core.LegacyModuleCore]:
         """Get loaded module cores."""
         return self._module_cores

opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py

@@ -1,12 +1,13 @@
 from __future__ import annotations
 
 import logging
-from typing import TYPE_CHECKING, Optional, Union
+from typing import TYPE_CHECKING, Optional, Union, List
 
 from opentrons import types
 from opentrons.hardware_control.dev_types import PipetteDict
 from opentrons.hardware_control.types import HardwareAction
 from opentrons.protocol_api.core.common import WellCore
+from opentrons.protocols.advanced_control.transfers.common import TransferTipPolicyV2
 from opentrons.protocols.api_support import instrument as instrument_support
 from opentrons.protocols.api_support.labware_like import LabwareLike
 from opentrons.protocols.api_support.types import APIVersion
@@ -24,7 +25,7 @@ from opentrons_shared_data.errors.exceptions import (
 
 from ...disposal_locations import TrashBin, WasteChute
 from opentrons.protocol_api._nozzle_layout import NozzleLayout
-from opentrons.hardware_control.nozzle_manager import NozzleMap
+from opentrons.protocol_api._liquid import LiquidClass
 
 from ..instrument import AbstractInstrument
 
@@ -83,6 +84,9 @@ class LegacyInstrumentCoreSimulator(AbstractInstrument[LegacyWellCore]):
     def set_default_speed(self, speed: float) -> None:
         self._default_speed = speed
 
+    def air_gap_in_place(self, volume: float, flow_rate: float) -> None:
+        assert False, "Air gap tracking only available in API version 2.22 and later"
+
     def aspirate(
         self,
         location: types.Location,
@@ -470,11 +474,34 @@ class LegacyInstrumentCoreSimulator(AbstractInstrument[LegacyWellCore]):
         """This will never be called because it was added in API 2.15."""
         pass
 
+    def load_liquid_class(
+        self,
+        liquid_class: LiquidClass,
+        pipette_load_name: str,
+        tiprack_uri: str,
+    ) -> str:
+        """This will never be called because it was added in .."""
+        # TODO(spp, 2024-11-20): update the docstring and error to include API version
+        assert False, "load_liquid_class is not supported in legacy context"
+
+    def transfer_liquid(
+        self,
+        liquid_class_id: str,
+        volume: float,
+        source: List[LegacyWellCore],
+        dest: List[LegacyWellCore],
+        new_tip: TransferTipPolicyV2,
+        trash_location: Union[LegacyWellCore, types.Location, TrashBin, WasteChute],
+    ) -> None:
+        """Transfer a liquid from source to dest according to liquid class properties."""
+        # TODO(spp, 2024-11-20): update the docstring and error to include API version
+        assert False, "transfer_liquid is not supported in legacy context"
+
     def get_active_channels(self) -> int:
         """This will never be called because it was added in API 2.16."""
         assert False, "get_active_channels only supported in API 2.16 & later"
 
-    def get_nozzle_map(self) -> NozzleMap:
+    def get_nozzle_map(self) -> types.NozzleMapInterface:
         """This will never be called because it was added in API 2.18."""
         assert False, "get_nozzle_map only supported in API 2.18 & later"
 
@@ -501,3 +528,10 @@ class LegacyInstrumentCoreSimulator(AbstractInstrument[LegacyWellCore]):
     ) -> float:
         """This will never be called because it was added in API 2.20."""
         assert False, "liquid_probe_without_recovery only supported in API 2.20 & later"
+
+    def _pressure_supported_by_pipette(self) -> bool:
+        return False
+
+    def nozzle_configuration_valid_for_lld(self) -> bool:
+        """Check if the nozzle configuration currently supports LLD."""
+        return False

opentrons/protocol_api/core/protocol.py

@@ -10,7 +10,13 @@ from opentrons_shared_data.pipette.types import PipetteNameType
 from opentrons_shared_data.labware.types import LabwareDefinition
 from opentrons_shared_data.robot.types import RobotType
 
-from opentrons.types import DeckSlotName, StagingSlotName, Location, Mount, Point
+from opentrons.types import (
+    DeckSlotName,
+    StagingSlotName,
+    Location,
+    Mount,
+    Point,
+)
 from opentrons.hardware_control import SyncHardwareAPI
 from opentrons.hardware_control.modules.types import ModuleModel
 from opentrons.protocols.api_support.util import AxisMaxSpeeds
@@ -19,6 +25,7 @@ from .instrument import InstrumentCoreType
 from .labware import LabwareCoreType, LabwareLoadParams
 from .module import ModuleCoreType
 from .._liquid import Liquid, LiquidClass
+from .robot import AbstractRobot
 from .._types import OffDeckType
 from ..disposal_locations import TrashBin, WasteChute
 
@@ -93,6 +100,17 @@ class AbstractProtocol(
         """Load an adapter using its identifying parameters"""
         ...
 
+    @abstractmethod
+    def load_lid(
+        self,
+        load_name: str,
+        location: LabwareCoreType,
+        namespace: Optional[str],
+        version: Optional[int],
+    ) -> LabwareCoreType:
+        """Load an individual lid labware using its identifying parameters. Must be loaded on a labware."""
+        ...
+
     @abstractmethod
     def move_labware(
         self,
@@ -190,6 +208,17 @@ class AbstractProtocol(
     ) -> None:
         ...
 
+    @abstractmethod
+    def load_lid_stack(
+        self,
+        load_name: str,
+        location: Union[DeckSlotName, StagingSlotName, LabwareCoreType],
+        quantity: int,
+        namespace: Optional[str],
+        version: Optional[int],
+    ) -> LabwareCoreType:
+        ...
+
     @abstractmethod
     def get_deck_definition(self) -> DeckDefinitionV5:
         """Get the geometry definition of the robot's deck."""
@@ -257,3 +286,7 @@ class AbstractProtocol(
         self, labware_core: LabwareCoreType
     ) -> Union[str, LabwareCoreType, ModuleCoreType, OffDeckType]:
         """Get labware parent location."""
+
+    @abstractmethod
+    def load_robot(self) -> AbstractRobot:
+        """Load a Robot Core context into a protocol"""

opentrons/protocol_api/core/robot.py

@@ -0,0 +1,51 @@
+from abc import abstractmethod, ABC
+from typing import Optional, Union
+
+from opentrons.types import AxisMapType, Mount, Point
+from opentrons_shared_data.pipette.types import PipetteNameType
+from opentrons.protocol_api._types import PlungerPositionTypes, PipetteActionTypes
+
+
+class AbstractRobot(ABC):
+    @abstractmethod
+    def get_pipette_type_from_engine(
+        self, mount: Union[Mount, str]
+    ) -> Optional[PipetteNameType]:
+        ...
+
+    @abstractmethod
+    def get_plunger_position_from_volume(
+        self, mount: Mount, volume: float, action: PipetteActionTypes, robot_type: str
+    ) -> float:
+        ...
+
+    @abstractmethod
+    def get_plunger_position_from_name(
+        self, mount: Mount, position_name: PlungerPositionTypes
+    ) -> float:
+        ...
+
+    @abstractmethod
+    def move_to(self, mount: Mount, destination: Point, speed: Optional[float]) -> None:
+        ...
+
+    @abstractmethod
+    def move_axes_to(
+        self,
+        axis_map: AxisMapType,
+        critical_point: Optional[AxisMapType],
+        speed: Optional[float],
+    ) -> None:
+        ...
+
+    @abstractmethod
+    def move_axes_relative(self, axis_map: AxisMapType, speed: Optional[float]) -> None:
+        ...
+
+    @abstractmethod
+    def release_grip(self) -> None:
+        ...
+
+    @abstractmethod
+    def close_gripper(self, force: Optional[float] = None) -> None:
+        ...