opentrons 8.3.0a2__py2.py3-none-any.whl → 8.3.0a5__py2.py3-none-any.whl

opentrons/protocol_engine/commands/__init__.py

@@ -380,6 +380,28 @@ from .liquid_probe import (
     TryLiquidProbeCommandType,
 )
 
+from .evotip_seal_pipette import (
+    EvotipSealPipette,
+    EvotipSealPipetteParams,
+    EvotipSealPipetteCreate,
+    EvotipSealPipetteResult,
+    EvotipSealPipetteCommandType,
+)
+from .evotip_unseal_pipette import (
+    EvotipUnsealPipette,
+    EvotipUnsealPipetteParams,
+    EvotipUnsealPipetteCreate,
+    EvotipUnsealPipetteResult,
+    EvotipUnsealPipetteCommandType,
+)
+from .evotip_dispense import (
+    EvotipDispense,
+    EvotipDispenseParams,
+    EvotipDispenseCreate,
+    EvotipDispenseResult,
+    EvotipDispenseCommandType,
+)
+
 __all__ = [
     # command type unions
     "Command",
@@ -670,4 +692,22 @@ __all__ = [
     "TryLiquidProbeCreate",
     "TryLiquidProbeResult",
     "TryLiquidProbeCommandType",
+    # evotip seal command bundle
+    "EvotipSealPipette",
+    "EvotipSealPipetteParams",
+    "EvotipSealPipetteCreate",
+    "EvotipSealPipetteResult",
+    "EvotipSealPipetteCommandType",
+    # evotip unseal command bundle
+    "EvotipUnsealPipette",
+    "EvotipUnsealPipetteParams",
+    "EvotipUnsealPipetteCreate",
+    "EvotipUnsealPipetteResult",
+    "EvotipUnsealPipetteCommandType",
+    # evotip dispense command bundle
+    "EvotipDispense",
+    "EvotipDispenseParams",
+    "EvotipDispenseCreate",
+    "EvotipDispenseResult",
+    "EvotipDispenseCommandType",
 ]

opentrons/protocol_engine/commands/absorbance_reader/close_lid.py

@@ -132,7 +132,7 @@ class CloseLid(BaseCommand[CloseLidParams, CloseLidResult, ErrorOccurrence]):
 
     commandType: CloseLidCommandType = "absorbanceReader/closeLid"
     params: CloseLidParams
-    result: Optional[CloseLidResult]
+    result: Optional[CloseLidResult] = None
 
     _ImplementationCls: Type[CloseLidImpl] = CloseLidImpl
 

opentrons/protocol_engine/commands/absorbance_reader/initialize.py

@@ -137,7 +137,7 @@ class Initialize(BaseCommand[InitializeParams, InitializeResult, ErrorOccurrence
 
     commandType: InitializeCommandType = "absorbanceReader/initialize"
     params: InitializeParams
-    result: Optional[InitializeResult]
+    result: Optional[InitializeResult] = None
 
     _ImplementationCls: Type[InitializeImpl] = InitializeImpl
 

opentrons/protocol_engine/commands/absorbance_reader/open_lid.py

@@ -133,7 +133,7 @@ class OpenLid(BaseCommand[OpenLidParams, OpenLidResult, ErrorOccurrence]):
 
     commandType: OpenLidCommandType = "absorbanceReader/openLid"
     params: OpenLidParams
-    result: Optional[OpenLidResult]
+    result: Optional[OpenLidResult] = None
 
     _ImplementationCls: Type[OpenLidImpl] = OpenLidImpl
 

opentrons/protocol_engine/commands/absorbance_reader/read.py

@@ -182,6 +182,9 @@ class ReadAbsorbanceImpl(
                     )
                     file_ids.append(file_id)
 
+                state_update.files_added = update_types.FilesAddedUpdate(
+                    file_ids=file_ids
+                )
                 # Return success data to api
                 return SuccessData(
                     public=ReadAbsorbanceResult(
@@ -209,7 +212,7 @@ class ReadAbsorbance(
 
     commandType: ReadAbsorbanceCommandType = "absorbanceReader/read"
     params: ReadAbsorbanceParams
-    result: Optional[ReadAbsorbanceResult]
+    result: Optional[ReadAbsorbanceResult] = None
 
     _ImplementationCls: Type[ReadAbsorbanceImpl] = ReadAbsorbanceImpl
 

opentrons/protocol_engine/commands/air_gap_in_place.py

@@ -146,7 +146,7 @@ class AirGapInPlace(
 
     commandType: AirGapInPlaceCommandType = "airGapInPlace"
     params: AirGapInPlaceParams
-    result: Optional[AirGapInPlaceResult]
+    result: Optional[AirGapInPlaceResult] = None
 
     _ImplementationCls: Type[AirGapInPlaceImplementation] = AirGapInPlaceImplementation
 

opentrons/protocol_engine/commands/command_unions.py

@@ -360,6 +360,30 @@ from .liquid_probe import (
     TryLiquidProbeCommandType,
 )
 
+from .evotip_seal_pipette import (
+    EvotipSealPipette,
+    EvotipSealPipetteParams,
+    EvotipSealPipetteCreate,
+    EvotipSealPipetteResult,
+    EvotipSealPipetteCommandType,
+)
+
+from .evotip_dispense import (
+    EvotipDispense,
+    EvotipDispenseParams,
+    EvotipDispenseCreate,
+    EvotipDispenseResult,
+    EvotipDispenseCommandType,
+)
+
+from .evotip_unseal_pipette import (
+    EvotipUnsealPipette,
+    EvotipUnsealPipetteParams,
+    EvotipUnsealPipetteCreate,
+    EvotipUnsealPipetteResult,
+    EvotipUnsealPipetteCommandType,
+)
+
 Command = Annotated[
     Union[
         AirGapInPlace,
@@ -404,6 +428,9 @@ Command = Annotated[
         GetNextTip,
         LiquidProbe,
         TryLiquidProbe,
+        EvotipSealPipette,
+        EvotipDispense,
+        EvotipUnsealPipette,
         heater_shaker.WaitForTemperature,
         heater_shaker.SetTargetTemperature,
         heater_shaker.DeactivateHeater,
@@ -492,6 +519,9 @@ CommandParams = Union[
     GetNextTipParams,
     LiquidProbeParams,
     TryLiquidProbeParams,
+    EvotipSealPipetteParams,
+    EvotipDispenseParams,
+    EvotipUnsealPipetteParams,
     heater_shaker.WaitForTemperatureParams,
     heater_shaker.SetTargetTemperatureParams,
     heater_shaker.DeactivateHeaterParams,
@@ -578,6 +608,9 @@ CommandType = Union[
     GetNextTipCommandType,
     LiquidProbeCommandType,
     TryLiquidProbeCommandType,
+    EvotipSealPipetteCommandType,
+    EvotipDispenseCommandType,
+    EvotipUnsealPipetteCommandType,
     heater_shaker.WaitForTemperatureCommandType,
     heater_shaker.SetTargetTemperatureCommandType,
     heater_shaker.DeactivateHeaterCommandType,
@@ -665,6 +698,9 @@ CommandCreate = Annotated[
         GetNextTipCreate,
         LiquidProbeCreate,
         TryLiquidProbeCreate,
+        EvotipSealPipetteCreate,
+        EvotipDispenseCreate,
+        EvotipUnsealPipetteCreate,
         heater_shaker.WaitForTemperatureCreate,
         heater_shaker.SetTargetTemperatureCreate,
         heater_shaker.DeactivateHeaterCreate,
@@ -760,6 +796,9 @@ CommandResult = Union[
     GetNextTipResult,
     LiquidProbeResult,
     TryLiquidProbeResult,
+    EvotipSealPipetteResult,
+    EvotipDispenseResult,
+    EvotipUnsealPipetteResult,
     heater_shaker.WaitForTemperatureResult,
     heater_shaker.SetTargetTemperatureResult,
     heater_shaker.DeactivateHeaterResult,

opentrons/protocol_engine/commands/evotip_dispense.py

@@ -0,0 +1,156 @@
+"""Evotip Dispense-in-place command request, result, and implementation models."""
+
+from __future__ import annotations
+from typing import TYPE_CHECKING, Optional, Type, Union
+from typing_extensions import Literal
+
+from opentrons.protocol_engine.errors import UnsupportedLabwareForActionError
+from .pipetting_common import (
+    PipetteIdMixin,
+    FlowRateMixin,
+    DispenseVolumeMixin,
+    BaseLiquidHandlingResult,
+    dispense_in_place,
+)
+from .movement_common import (
+    LiquidHandlingWellLocationMixin,
+    StallOrCollisionError,
+    move_to_well,
+)
+
+from .command import (
+    AbstractCommandImpl,
+    BaseCommand,
+    BaseCommandCreate,
+    SuccessData,
+    DefinedErrorData,
+)
+from ..state.update_types import StateUpdate
+from ..resources import labware_validation
+from ..errors import ProtocolEngineError
+
+if TYPE_CHECKING:
+    from ..execution import PipettingHandler, GantryMover, MovementHandler
+    from ..resources import ModelUtils
+    from ..state.state import StateView
+
+
+EvotipDispenseCommandType = Literal["evotipDispense"]
+
+
+class EvotipDispenseParams(
+    PipetteIdMixin, DispenseVolumeMixin, FlowRateMixin, LiquidHandlingWellLocationMixin
+):
+    """Payload required to dispense in place."""
+
+    pass
+
+
+class EvotipDispenseResult(BaseLiquidHandlingResult):
+    """Result data from the execution of a DispenseInPlace command."""
+
+    pass
+
+
+_ExecuteReturn = Union[
+    SuccessData[EvotipDispenseResult],
+    DefinedErrorData[StallOrCollisionError],
+]
+
+
+class EvotipDispenseImplementation(
+    AbstractCommandImpl[EvotipDispenseParams, _ExecuteReturn]
+):
+    """DispenseInPlace command implementation."""
+
+    def __init__(
+        self,
+        pipetting: PipettingHandler,
+        state_view: StateView,
+        gantry_mover: GantryMover,
+        model_utils: ModelUtils,
+        movement: MovementHandler,
+        **kwargs: object,
+    ) -> None:
+        self._pipetting = pipetting
+        self._state_view = state_view
+        self._gantry_mover = gantry_mover
+        self._model_utils = model_utils
+        self._movement = movement
+
+    async def execute(self, params: EvotipDispenseParams) -> _ExecuteReturn:
+        """Move to and dispense to the requested well."""
+        well_location = params.wellLocation
+        labware_id = params.labwareId
+        well_name = params.wellName
+
+        labware_definition = self._state_view.labware.get_definition(params.labwareId)
+        if not labware_validation.is_evotips(labware_definition.parameters.loadName):
+            raise UnsupportedLabwareForActionError(
+                f"Cannot use command: `EvotipDispense` with labware: {labware_definition.parameters.loadName}"
+            )
+        move_result = await move_to_well(
+            movement=self._movement,
+            model_utils=self._model_utils,
+            pipette_id=params.pipetteId,
+            labware_id=labware_id,
+            well_name=well_name,
+            well_location=well_location,
+        )
+        if isinstance(move_result, DefinedErrorData):
+            return move_result
+
+        current_position = await self._gantry_mover.get_position(params.pipetteId)
+        result = await dispense_in_place(
+            pipette_id=params.pipetteId,
+            volume=params.volume,
+            flow_rate=params.flowRate,
+            push_out=None,
+            location_if_error={
+                "retryLocation": (
+                    current_position.x,
+                    current_position.y,
+                    current_position.z,
+                )
+            },
+            pipetting=self._pipetting,
+            model_utils=self._model_utils,
+        )
+        if isinstance(result, DefinedErrorData):
+            # TODO (chb, 2025-01-29): Remove this and the OverpressureError returns once disabled for this function
+            raise ProtocolEngineError(
+                message="Overpressure Error during Resin Tip Dispense Command."
+            )
+        return SuccessData(
+            public=EvotipDispenseResult(volume=result.public.volume),
+            state_update=StateUpdate.reduce(
+                move_result.state_update, result.state_update
+            ),
+        )
+
+
+class EvotipDispense(
+    BaseCommand[
+        EvotipDispenseParams,
+        EvotipDispenseResult,
+        StallOrCollisionError,
+    ]
+):
+    """DispenseInPlace command model."""
+
+    commandType: EvotipDispenseCommandType = "evotipDispense"
+    params: EvotipDispenseParams
+    result: Optional[EvotipDispenseResult] = None
+
+    _ImplementationCls: Type[
+        EvotipDispenseImplementation
+    ] = EvotipDispenseImplementation
+
+
+class EvotipDispenseCreate(BaseCommandCreate[EvotipDispenseParams]):
+    """DispenseInPlace command request model."""
+
+    commandType: EvotipDispenseCommandType = "evotipDispense"
+    params: EvotipDispenseParams
+
+    _CommandCls: Type[EvotipDispense] = EvotipDispense

opentrons/protocol_engine/commands/evotip_seal_pipette.py

@@ -0,0 +1,331 @@
+"""Seal evotip resin tip command request, result, and implementation models."""
+
+from __future__ import annotations
+from pydantic import Field, BaseModel
+from typing import TYPE_CHECKING, Optional, Type, Union
+from opentrons.types import MountType
+from opentrons.protocol_engine.types import MotorAxis
+from typing_extensions import Literal
+
+from opentrons.protocol_engine.errors import UnsupportedLabwareForActionError
+from ..resources import ModelUtils, labware_validation
+from ..types import PickUpTipWellLocation, FluidKind, AspiratedFluid
+from .pipetting_common import (
+    PipetteIdMixin,
+)
+from .movement_common import (
+    DestinationPositionResult,
+    StallOrCollisionError,
+    move_to_well,
+)
+from .command import (
+    AbstractCommandImpl,
+    BaseCommand,
+    BaseCommandCreate,
+    DefinedErrorData,
+    SuccessData,
+)
+
+from opentrons.hardware_control import HardwareControlAPI
+from opentrons.hardware_control.types import Axis
+from ..state.update_types import StateUpdate
+
+if TYPE_CHECKING:
+    from ..state.state import StateView
+    from ..execution import (
+        MovementHandler,
+        TipHandler,
+        GantryMover,
+        PipettingHandler,
+    )
+
+
+EvotipSealPipetteCommandType = Literal["evotipSealPipette"]
+_PREP_DISTANCE_DEFAULT = 8.25
+_PRESS_DISTANCE_DEFAULT = 3.5
+_EJECTOR_PUSH_MM_DEFAULT = 7.0
+_SAFE_TOP_VOLUME = 400
+
+
+class TipPickUpParams(BaseModel):
+    """Payload used to specify press-tip parameters for a seal command."""
+
+    prepDistance: float = Field(
+        default=0, description="The distance to move down to fit the tips on."
+    )
+    pressDistance: float = Field(
+        default=0, description="The distance to press on tips."
+    )
+    ejectorPushMm: float = Field(
+        default=0,
+        description="The distance to back off to ensure that the tip presence sensors are not triggered.",
+    )
+
+
+class EvotipSealPipetteParams(PipetteIdMixin):
+    """Payload needed to seal resin tips to a pipette."""
+
+    labwareId: str = Field(..., description="Identifier of labware to use.")
+    wellName: str = Field(..., description="Name of well to use in labware.")
+    wellLocation: PickUpTipWellLocation = Field(
+        default_factory=PickUpTipWellLocation,
+        description="Relative well location at which to pick up the tip.",
+    )
+    tipPickUpParams: Optional[TipPickUpParams] = Field(
+        default=None, description="Specific parameters for "
+    )
+
+
+class EvotipSealPipetteResult(DestinationPositionResult):
+    """Result data from the execution of a EvotipSealPipette."""
+
+    tipVolume: float = Field(
+        0,
+        description="Maximum volume of liquid that the picked up tip can hold, in µL.",
+        ge=0,
+    )
+
+    tipLength: float = Field(
+        0,
+        description="The length of the tip in mm.",
+        ge=0,
+    )
+
+    tipDiameter: float = Field(
+        0,
+        description="The diameter of the tip in mm.",
+        ge=0,
+    )
+
+
+_ExecuteReturn = Union[
+    SuccessData[EvotipSealPipetteResult],
+    DefinedErrorData[StallOrCollisionError],
+]
+
+
+class EvotipSealPipetteImplementation(
+    AbstractCommandImpl[EvotipSealPipetteParams, _ExecuteReturn]
+):
+    """Evotip seal pipette command implementation."""
+
+    def __init__(
+        self,
+        state_view: StateView,
+        tip_handler: TipHandler,
+        model_utils: ModelUtils,
+        movement: MovementHandler,
+        hardware_api: HardwareControlAPI,
+        gantry_mover: GantryMover,
+        pipetting: PipettingHandler,
+        **kwargs: object,
+    ) -> None:
+        self._state_view = state_view
+        self._tip_handler = tip_handler
+        self._model_utils = model_utils
+        self._movement = movement
+        self._gantry_mover = gantry_mover
+        self._pipetting = pipetting
+        self._hardware_api = hardware_api
+
+    async def relative_pickup_tip(
+        self,
+        tip_pick_up_params: TipPickUpParams,
+        mount: MountType,
+    ) -> None:
+        """A relative press-fit pick up command using gantry moves."""
+        prep_distance = tip_pick_up_params.prepDistance
+        press_distance = tip_pick_up_params.pressDistance
+        retract_distance = -1 * (prep_distance + press_distance)
+
+        mount_axis = MotorAxis.LEFT_Z if mount == MountType.LEFT else MotorAxis.RIGHT_Z
+
+        # TODO chb, 2025-01-29): Factor out the movement constants and relocate this logic into the hardware controller
+        await self._gantry_mover.move_axes(
+            axis_map={mount_axis: prep_distance}, speed=10, relative_move=True
+        )
+
+        # Drive mount down for press-fit
+        await self._gantry_mover.move_axes(
+            axis_map={mount_axis: press_distance},
+            speed=10.0,
+            relative_move=True,
+            expect_stalls=True,
+        )
+        # retract cam : 11.05
+        await self._gantry_mover.move_axes(
+            axis_map={mount_axis: retract_distance}, speed=5.5, relative_move=True
+        )
+
+    async def cam_action_relative_pickup_tip(
+        self,
+        tip_pick_up_params: TipPickUpParams,
+        mount: MountType,
+    ) -> None:
+        """A cam action pick up command using gantry moves."""
+        prep_distance = tip_pick_up_params.prepDistance
+        press_distance = tip_pick_up_params.pressDistance
+        ejector_push_mm = tip_pick_up_params.ejectorPushMm
+        retract_distance = -1 * (prep_distance + press_distance)
+
+        mount_axis = MotorAxis.LEFT_Z if mount == MountType.LEFT else MotorAxis.RIGHT_Z
+
+        # TODO chb, 2025-01-29): Factor out the movement constants and relocate this logic into the hardware controller
+        await self._gantry_mover.move_axes(
+            axis_map={mount_axis: -6}, speed=10, relative_move=True
+        )
+
+        # Drive Q down 3mm at fast speed - look into the pick up tip fuinction to find slow and fast: 10.0
+        await self._gantry_mover.move_axes(
+            axis_map={MotorAxis.AXIS_96_CHANNEL_CAM: prep_distance},
+            speed=10.0,
+            relative_move=True,
+        )
+        # 2.8mm at slow speed - cam action pickup speed: 5.5
+        await self._gantry_mover.move_axes(
+            axis_map={MotorAxis.AXIS_96_CHANNEL_CAM: press_distance},
+            speed=5.5,
+            relative_move=True,
+        )
+        # retract cam : 11.05
+        await self._gantry_mover.move_axes(
+            axis_map={MotorAxis.AXIS_96_CHANNEL_CAM: retract_distance},
+            speed=5.5,
+            relative_move=True,
+        )
+
+        # Lower tip presence
+        await self._gantry_mover.move_axes(
+            axis_map={mount_axis: 2}, speed=10, relative_move=True
+        )
+        await self._gantry_mover.move_axes(
+            axis_map={MotorAxis.AXIS_96_CHANNEL_CAM: ejector_push_mm},
+            speed=5.5,
+            relative_move=True,
+        )
+        await self._gantry_mover.move_axes(
+            axis_map={MotorAxis.AXIS_96_CHANNEL_CAM: -1 * ejector_push_mm},
+            speed=5.5,
+            relative_move=True,
+        )
+
+    async def execute(
+        self, params: EvotipSealPipetteParams
+    ) -> Union[SuccessData[EvotipSealPipetteResult], _ExecuteReturn]:
+        """Move to and pick up a tip using the requested pipette."""
+        pipette_id = params.pipetteId
+        labware_id = params.labwareId
+        well_name = params.wellName
+
+        labware_definition = self._state_view.labware.get_definition(params.labwareId)
+        if not labware_validation.is_evotips(labware_definition.parameters.loadName):
+            raise UnsupportedLabwareForActionError(
+                f"Cannot use command: `EvotipSealPipette` with labware: {labware_definition.parameters.loadName}"
+            )
+
+        well_location = self._state_view.geometry.convert_pick_up_tip_well_location(
+            well_location=params.wellLocation
+        )
+        move_result = await move_to_well(
+            movement=self._movement,
+            model_utils=self._model_utils,
+            pipette_id=pipette_id,
+            labware_id=labware_id,
+            well_name=well_name,
+            well_location=well_location,
+        )
+        if isinstance(move_result, DefinedErrorData):
+            return move_result
+
+        # Aspirate to move plunger to a maximum volume position per pipette type
+        tip_geometry = self._state_view.geometry.get_nominal_tip_geometry(
+            pipette_id, labware_id, well_name
+        )
+        if self._state_view.pipettes.get_mount(pipette_id) == MountType.LEFT:
+            await self._hardware_api.home(axes=[Axis.P_L])
+        else:
+            await self._hardware_api.home(axes=[Axis.P_R])
+
+        # Begin relative pickup steps for the resin tips
+
+        channels = self._state_view.tips.get_pipette_active_channels(pipette_id)
+        mount = self._state_view.pipettes.get_mount(pipette_id)
+        tip_pick_up_params = params.tipPickUpParams
+        if tip_pick_up_params is None:
+            tip_pick_up_params = TipPickUpParams(
+                prepDistance=_PREP_DISTANCE_DEFAULT,
+                pressDistance=_PRESS_DISTANCE_DEFAULT,
+                ejectorPushMm=_EJECTOR_PUSH_MM_DEFAULT,
+            )
+
+        if channels != 96:
+            await self.relative_pickup_tip(
+                tip_pick_up_params=tip_pick_up_params,
+                mount=mount,
+            )
+        elif channels == 96:
+            await self.cam_action_relative_pickup_tip(
+                tip_pick_up_params=tip_pick_up_params,
+                mount=mount,
+            )
+        else:
+            tip_geometry = await self._tip_handler.pick_up_tip(
+                pipette_id=pipette_id,
+                labware_id=labware_id,
+                well_name=well_name,
+                do_not_ignore_tip_presence=True,
+            )
+
+        # cache_tip
+        if self._state_view.config.use_virtual_pipettes is False:
+            self._tip_handler.cache_tip(pipette_id, tip_geometry)
+            hw_instr = self._hardware_api.hardware_instruments[mount.to_hw_mount()]
+            if hw_instr is not None:
+                hw_instr.set_current_volume(_SAFE_TOP_VOLUME)
+
+        state_update = StateUpdate()
+        state_update.update_pipette_tip_state(
+            pipette_id=pipette_id,
+            tip_geometry=tip_geometry,
+        )
+
+        state_update.set_fluid_aspirated(
+            pipette_id=pipette_id,
+            fluid=AspiratedFluid(kind=FluidKind.LIQUID, volume=_SAFE_TOP_VOLUME),
+        )
+        return SuccessData(
+            public=EvotipSealPipetteResult(
+                tipVolume=tip_geometry.volume,
+                tipLength=tip_geometry.length,
+                tipDiameter=tip_geometry.diameter,
+                position=move_result.public.position,
+            ),
+            state_update=state_update,
+        )
+
+
+class EvotipSealPipette(
+    BaseCommand[
+        EvotipSealPipetteParams,
+        EvotipSealPipetteResult,
+        StallOrCollisionError,
+    ]
+):
+    """Seal evotip resin tip command model."""
+
+    commandType: EvotipSealPipetteCommandType = "evotipSealPipette"
+    params: EvotipSealPipetteParams
+    result: Optional[EvotipSealPipetteResult] = None
+
+    _ImplementationCls: Type[
+        EvotipSealPipetteImplementation
+    ] = EvotipSealPipetteImplementation
+
+
+class EvotipSealPipetteCreate(BaseCommandCreate[EvotipSealPipetteParams]):
+    """Seal evotip resin tip command creation request model."""
+
+    commandType: EvotipSealPipetteCommandType = "evotipSealPipette"
+    params: EvotipSealPipetteParams
+
+    _CommandCls: Type[EvotipSealPipette] = EvotipSealPipette