opentrons 8.3.2__py2.py3-none-any.whl → 8.4.0__py2.py3-none-any.whl

opentrons/protocol_engine/commands/{evotip_dispense.py → pressure_dispense.py}

@@ -1,16 +1,17 @@
-"""Evotip Dispense-in-place command request, result, and implementation models."""
+"""Pressure 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,
+    increase_evo_disp_count,
+    DEFAULT_CORRECTION_VOLUME,
 )
 from .movement_common import (
     LiquidHandlingWellLocationMixin,
@@ -26,7 +27,6 @@ from .command import (
     DefinedErrorData,
 )
 from ..state.update_types import StateUpdate
-from ..resources import labware_validation
 from ..errors import ProtocolEngineError
 
 if TYPE_CHECKING:
@@ -35,33 +35,33 @@ if TYPE_CHECKING:
     from ..state.state import StateView
 
 
-EvotipDispenseCommandType = Literal["evotipDispense"]
+PressureDispenseCommandType = Literal["pressureDispense"]
 
 
-class EvotipDispenseParams(
+class PressureDispenseParams(
     PipetteIdMixin, DispenseVolumeMixin, FlowRateMixin, LiquidHandlingWellLocationMixin
 ):
-    """Payload required to dispense in place."""
+    """Payload required to pressure dispense in place."""
 
     pass
 
 
-class EvotipDispenseResult(BaseLiquidHandlingResult):
-    """Result data from the execution of a DispenseInPlace command."""
+class PressureDispenseResult(BaseLiquidHandlingResult):
+    """Result data from the execution of a PressureDispense command."""
 
     pass
 
 
 _ExecuteReturn = Union[
-    SuccessData[EvotipDispenseResult],
+    SuccessData[PressureDispenseResult],
     DefinedErrorData[StallOrCollisionError],
 ]
 
 
-class EvotipDispenseImplementation(
-    AbstractCommandImpl[EvotipDispenseParams, _ExecuteReturn]
+class PressureDispenseImplementation(
+    AbstractCommandImpl[PressureDispenseParams, _ExecuteReturn]
 ):
-    """DispenseInPlace command implementation."""
+    """Pressure dispense command implementation."""
 
     def __init__(
         self,
@@ -78,17 +78,12 @@ class EvotipDispenseImplementation(
         self._model_utils = model_utils
         self._movement = movement
 
-    async def execute(self, params: EvotipDispenseParams) -> _ExecuteReturn:
-        """Move to and dispense to the requested well."""
+    async def execute(self, params: PressureDispenseParams) -> _ExecuteReturn:
+        """Move to and pressure 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,
@@ -101,6 +96,9 @@ class EvotipDispenseImplementation(
             return move_result
 
         current_position = await self._gantry_mover.get_position(params.pipetteId)
+        await increase_evo_disp_count(
+            pipette_id=params.pipetteId, pipetting=self._pipetting
+        )
         result = await dispense_in_place(
             pipette_id=params.pipetteId,
             volume=params.volume,
@@ -115,6 +113,7 @@ class EvotipDispenseImplementation(
             },
             pipetting=self._pipetting,
             model_utils=self._model_utils,
+            correction_volume=params.correctionVolume or DEFAULT_CORRECTION_VOLUME,
         )
         if isinstance(result, DefinedErrorData):
             # TODO (chb, 2025-01-29): Remove this and the OverpressureError returns once disabled for this function
@@ -122,35 +121,35 @@ class EvotipDispenseImplementation(
                 message="Overpressure Error during Resin Tip Dispense Command."
             )
         return SuccessData(
-            public=EvotipDispenseResult(volume=result.public.volume),
+            public=PressureDispenseResult(volume=result.public.volume),
             state_update=StateUpdate.reduce(
                 move_result.state_update, result.state_update
             ),
         )
 
 
-class EvotipDispense(
+class PressureDispense(
     BaseCommand[
-        EvotipDispenseParams,
-        EvotipDispenseResult,
+        PressureDispenseParams,
+        PressureDispenseResult,
         StallOrCollisionError,
     ]
 ):
-    """DispenseInPlace command model."""
+    """PressureDispense command model."""
 
-    commandType: EvotipDispenseCommandType = "evotipDispense"
-    params: EvotipDispenseParams
-    result: Optional[EvotipDispenseResult] = None
+    commandType: PressureDispenseCommandType = "pressureDispense"
+    params: PressureDispenseParams
+    result: Optional[PressureDispenseResult] = None
 
     _ImplementationCls: Type[
-        EvotipDispenseImplementation
-    ] = EvotipDispenseImplementation
+        PressureDispenseImplementation
+    ] = PressureDispenseImplementation
 
 
-class EvotipDispenseCreate(BaseCommandCreate[EvotipDispenseParams]):
-    """DispenseInPlace command request model."""
+class PressureDispenseCreate(BaseCommandCreate[PressureDispenseParams]):
+    """PressureDispense command request model."""
 
-    commandType: EvotipDispenseCommandType = "evotipDispense"
-    params: EvotipDispenseParams
+    commandType: PressureDispenseCommandType = "pressureDispense"
+    params: PressureDispenseParams
 
-    _CommandCls: Type[EvotipDispense] = EvotipDispense
+    _CommandCls: Type[PressureDispense] = PressureDispense

opentrons/protocol_engine/commands/reload_labware.py

@@ -1,9 +1,11 @@
 """Reload labware command request, result, and implementation models."""
+
 from __future__ import annotations
 from pydantic import BaseModel, Field
 from typing import TYPE_CHECKING, Optional, Type
 from typing_extensions import Literal
 
+from .labware_handling_common import LabwarePositionResultMixin
 from .command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
 from ..errors.error_occurrence import ErrorOccurrence
 from ..state.update_types import StateUpdate
@@ -24,27 +26,9 @@ class ReloadLabwareParams(BaseModel):
     )
 
 
-class ReloadLabwareResult(BaseModel):
+class ReloadLabwareResult(LabwarePositionResultMixin):
     """Result data from the execution of a LoadLabware command."""
 
-    labwareId: str = Field(
-        ...,
-        description="An ID to reference this labware in subsequent commands. Same as the one in the parameters.",
-    )
-    offsetId: Optional[str] = Field(
-        # Default `None` instead of `...` so this field shows up as non-required in
-        # OpenAPI. The server is allowed to omit it or make it null.
-        None,
-        description=(
-            "An ID referencing the labware offset that will apply"
-            " to the reloaded labware."
-            " This offset will be in effect until the labware is moved"
-            " with a `moveLabware` command."
-            " Null or undefined means no offset applies,"
-            " so the default of (0, 0, 0) will be used."
-        ),
-    )
-
 
 class ReloadLabwareImplementation(
     AbstractCommandImpl[ReloadLabwareParams, SuccessData[ReloadLabwareResult]]
@@ -77,6 +61,9 @@ class ReloadLabwareImplementation(
             public=ReloadLabwareResult(
                 labwareId=params.labwareId,
                 offsetId=reloaded_labware.offsetId,
+                locationSequence=self._state_view.geometry.get_predicted_location_sequence(
+                    reloaded_labware.location
+                ),
             ),
             state_update=state_update,
         )

opentrons/protocol_engine/commands/{evotip_seal_pipette.py → seal_pipette_to_tip.py}

@@ -1,14 +1,16 @@
-"""Seal evotip resin tip command request, result, and implementation models."""
+"""Seal tips to pipette 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 pydantic import Field, BaseModel
 
-from opentrons.protocol_engine.errors import UnsupportedLabwareForActionError
-from ..resources import ModelUtils, labware_validation
+from opentrons_shared_data.errors.exceptions import PositionUnknownError
+
+from opentrons.types import MountType
+from opentrons.protocol_engine.types import MotorAxis
+from ..resources import ModelUtils, ensure_ot3_hardware
 from ..types import PickUpTipWellLocation, FluidKind, AspiratedFluid
 from .pipetting_common import (
     PipetteIdMixin,
@@ -28,7 +30,6 @@ from .command import (
 
 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
@@ -40,11 +41,14 @@ if TYPE_CHECKING:
     )
 
 
-EvotipSealPipetteCommandType = Literal["evotipSealPipette"]
-_PREP_DISTANCE_DEFAULT = 8.25
-_PRESS_DISTANCE_DEFAULT = 3.5
-_EJECTOR_PUSH_MM_DEFAULT = 7.0
-_SAFE_TOP_VOLUME = 400
+SealPipetteToTipCommandType = Literal["sealPipetteToTip"]
+_CAM_PREP_DISTANCE_DEFAULT = 8.25
+_CAM_PRESS_DISTANCE_DEFAULT = 3.5
+_CAM_EJECTOR_PUSH_MM_DEFAULT = 7.0
+_PRESS_FIT_PREP_DISTANCE_DEFAULT = 0
+_PRESS_FIT_PRESS_DISTANCE_DEFAULT = -11.0
+_PRESS_FIT_EJECTOR_PUSH_MM_DEFAULT = 0
+_SAFE_TOP_VOLUME = 1000
 
 
 class TipPickUpParams(BaseModel):
@@ -62,7 +66,7 @@ class TipPickUpParams(BaseModel):
     )
 
 
-class EvotipSealPipetteParams(PipetteIdMixin):
+class SealPipetteToTipParams(PipetteIdMixin):
     """Payload needed to seal resin tips to a pipette."""
 
     labwareId: str = Field(..., description="Identifier of labware to use.")
@@ -76,8 +80,8 @@ class EvotipSealPipetteParams(PipetteIdMixin):
     )
 
 
-class EvotipSealPipetteResult(DestinationPositionResult):
-    """Result data from the execution of a EvotipSealPipette."""
+class SealPipetteToTipResult(DestinationPositionResult):
+    """Result data from the execution of a SealPipetteToTip."""
 
     tipVolume: float = Field(
         0,
@@ -99,15 +103,15 @@ class EvotipSealPipetteResult(DestinationPositionResult):
 
 
 _ExecuteReturn = Union[
-    SuccessData[EvotipSealPipetteResult],
+    SuccessData[SealPipetteToTipResult],
     DefinedErrorData[StallOrCollisionError],
 ]
 
 
-class EvotipSealPipetteImplementation(
-    AbstractCommandImpl[EvotipSealPipetteParams, _ExecuteReturn]
+class SealPipetteToTipImplementation(
+    AbstractCommandImpl[SealPipetteToTipParams, _ExecuteReturn]
 ):
-    """Evotip seal pipette command implementation."""
+    """Seal pipette command implementation."""
 
     def __init__(
         self,
@@ -136,25 +140,52 @@ class EvotipSealPipetteImplementation(
         """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)
+        retract_distance = -1 * (press_distance) / 2
 
         mount_axis = MotorAxis.LEFT_Z if mount == MountType.LEFT else MotorAxis.RIGHT_Z
-
+        ot3_hardware_api = ensure_ot3_hardware(self._hardware_api)
         # 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
+        try:
+            await self._gantry_mover.move_axes(
+                axis_map={mount_axis: prep_distance},
+                speed=10,
+                relative_move=True,
+                expect_stalls=True,
+            )
+        except PositionUnknownError:
+            # if this happens it's from the get position after the move and we can ignore it
+            pass
+
+        await ot3_hardware_api.update_axis_position_estimations(
+            self._gantry_mover.motor_axes_to_present_hardware_axes([mount_axis])
         )
 
         # 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,
+        try:
+            await self._gantry_mover.move_axes(
+                axis_map={mount_axis: press_distance},
+                speed=10.0,
+                relative_move=True,
+                expect_stalls=True,
+            )
+        except PositionUnknownError:
+            # if this happens it's from the get position after the move and we can ignore it
+            pass
+
+        await ot3_hardware_api.update_axis_position_estimations(
+            self._gantry_mover.motor_axes_to_present_hardware_axes([mount_axis])
         )
-        # retract cam : 11.05
-        await self._gantry_mover.move_axes(
-            axis_map={mount_axis: retract_distance}, speed=5.5, relative_move=True
+
+        try:
+            await self._gantry_mover.move_axes(
+                axis_map={mount_axis: retract_distance}, speed=5.5, relative_move=True
+            )
+        except PositionUnknownError:
+            # if this happens it's from the get position after the move and we can ignore it
+            pass
+
+        await ot3_hardware_api.update_axis_position_estimations(
+            self._gantry_mover.motor_axes_to_present_hardware_axes([mount_axis])
         )
 
     async def cam_action_relative_pickup_tip(
@@ -210,19 +241,13 @@ class EvotipSealPipetteImplementation(
         )
 
     async def execute(
-        self, params: EvotipSealPipetteParams
-    ) -> Union[SuccessData[EvotipSealPipetteResult], _ExecuteReturn]:
+        self, params: SealPipetteToTipParams
+    ) -> Union[SuccessData[SealPipetteToTipResult], _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
         )
@@ -251,29 +276,28 @@ class EvotipSealPipetteImplementation(
         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:
+        if channels == 96:
+            if tip_pick_up_params is None:
+                tip_pick_up_params = TipPickUpParams(
+                    prepDistance=_CAM_PREP_DISTANCE_DEFAULT,
+                    pressDistance=_CAM_PRESS_DISTANCE_DEFAULT,
+                    ejectorPushMm=_CAM_EJECTOR_PUSH_MM_DEFAULT,
+                )
             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,
+            if tip_pick_up_params is None:
+                tip_pick_up_params = TipPickUpParams(
+                    prepDistance=_PRESS_FIT_PREP_DISTANCE_DEFAULT,
+                    pressDistance=_PRESS_FIT_PRESS_DISTANCE_DEFAULT,
+                    ejectorPushMm=_PRESS_FIT_EJECTOR_PUSH_MM_DEFAULT,
+                )
+            await self.relative_pickup_tip(
+                tip_pick_up_params=tip_pick_up_params,
+                mount=mount,
             )
 
         # cache_tip
@@ -283,18 +307,15 @@ class EvotipSealPipetteImplementation(
             if hw_instr is not None:
                 hw_instr.set_current_volume(_SAFE_TOP_VOLUME)
 
-        state_update = StateUpdate()
-        state_update.update_pipette_tip_state(
+        state_update = move_result.state_update.update_pipette_tip_state(
             pipette_id=pipette_id,
             tip_geometry=tip_geometry,
-        )
-
-        state_update.set_fluid_aspirated(
+        ).set_fluid_aspirated(
             pipette_id=pipette_id,
             fluid=AspiratedFluid(kind=FluidKind.LIQUID, volume=_SAFE_TOP_VOLUME),
         )
         return SuccessData(
-            public=EvotipSealPipetteResult(
+            public=SealPipetteToTipResult(
                 tipVolume=tip_geometry.volume,
                 tipLength=tip_geometry.length,
                 tipDiameter=tip_geometry.diameter,
@@ -304,28 +325,28 @@ class EvotipSealPipetteImplementation(
         )
 
 
-class EvotipSealPipette(
+class SealPipetteToTip(
     BaseCommand[
-        EvotipSealPipetteParams,
-        EvotipSealPipetteResult,
+        SealPipetteToTipParams,
+        SealPipetteToTipResult,
         StallOrCollisionError,
     ]
 ):
-    """Seal evotip resin tip command model."""
+    """Seal tip command model."""
 
-    commandType: EvotipSealPipetteCommandType = "evotipSealPipette"
-    params: EvotipSealPipetteParams
-    result: Optional[EvotipSealPipetteResult] = None
+    commandType: SealPipetteToTipCommandType = "sealPipetteToTip"
+    params: SealPipetteToTipParams
+    result: Optional[SealPipetteToTipResult] = None
 
     _ImplementationCls: Type[
-        EvotipSealPipetteImplementation
-    ] = EvotipSealPipetteImplementation
+        SealPipetteToTipImplementation
+    ] = SealPipetteToTipImplementation
 
 
-class EvotipSealPipetteCreate(BaseCommandCreate[EvotipSealPipetteParams]):
-    """Seal evotip resin tip command creation request model."""
+class SealPipetteToTipCreate(BaseCommandCreate[SealPipetteToTipParams]):
+    """Seal tip command creation request model."""
 
-    commandType: EvotipSealPipetteCommandType = "evotipSealPipette"
-    params: EvotipSealPipetteParams
+    commandType: SealPipetteToTipCommandType = "sealPipetteToTip"
+    params: SealPipetteToTipParams
 
-    _CommandCls: Type[EvotipSealPipette] = EvotipSealPipette
+    _CommandCls: Type[SealPipetteToTip] = SealPipetteToTip

opentrons/protocol_engine/commands/unsafe/unsafe_blow_out_in_place.py

@@ -69,7 +69,9 @@ class UnsafeBlowOutInPlaceImplementation(
         )
         state_update = update_types.StateUpdate()
         state_update.set_fluid_empty(pipette_id=params.pipetteId)
-
+        state_update.set_pipette_ready_to_aspirate(
+            pipette_id=params.pipetteId, ready_to_aspirate=False
+        )
         return SuccessData(
             public=UnsafeBlowOutInPlaceResult(), state_update=state_update
         )

opentrons/protocol_engine/commands/unsafe/unsafe_drop_tip_in_place.py

@@ -78,7 +78,12 @@ class UnsafeDropTipInPlaceImplementation(
             [Axis.of_main_tool_actuator(pipette_location.mount.to_hw_mount())]
         )
         await self._tip_handler.drop_tip(
-            pipette_id=params.pipetteId, home_after=params.homeAfter
+            pipette_id=params.pipetteId,
+            home_after=params.homeAfter,
+            ignore_plunger=(
+                self._state_view.tips.get_pipette_active_channels(params.pipetteId)
+                == 96
+            ),
         )
 
         state_update = StateUpdate()