opentrons 8.4.0a3__py2.py3-none-any.whl → 8.4.0a5__py2.py3-none-any.whl

opentrons/protocol_api/core/engine/transfer_components_executor.py

@@ -99,6 +99,14 @@ class TipState:
         ), "Last air gap volume doe not match the volume being removed"
         self.last_liquid_and_air_gap_in_tip.air_gap = 0
 
+    def delete_last_air_gap_and_liquid(self) -> None:
+        air_gap_in_tip = self.last_liquid_and_air_gap_in_tip.air_gap
+        liquid_in_tip = self.last_liquid_and_air_gap_in_tip.liquid
+        if air_gap_in_tip:
+            self.delete_air_gap(air_gap_in_tip)
+        if liquid_in_tip:
+            self.delete_liquid(volume=liquid_in_tip)
+
 
 class TransferType(Enum):
     ONE_TO_ONE = "one_to_one"
@@ -180,7 +188,6 @@ class TransferComponentsExecutor:
             # TODO: do volume configuration + prepare for aspirate only if the mode needs to be changed
             self._instrument.configure_for_volume(volume_for_pipette_mode_configuration)  # type: ignore[arg-type]
             self._instrument.prepare_to_aspirate()
-
         tx_utils.raise_if_location_inside_liquid(
             location=submerge_start_location,
             well_location=self._target_location,
@@ -207,8 +214,7 @@ class TransferComponentsExecutor:
             minimum_z_height=None,
             speed=submerge_properties.speed,
         )
-        if submerge_properties.delay.enabled:
-            assert submerge_properties.delay.duration is not None
+        if submerge_properties.delay.enabled and submerge_properties.delay.duration:
             self._instrument.delay(submerge_properties.delay.duration)
 
     def aspirate_and_wait(self, volume: float) -> None:
@@ -227,9 +233,7 @@ class TransferComponentsExecutor:
         )
         self._tip_state.append_liquid(volume)
         delay_props = aspirate_props.delay
-        if delay_props.enabled:
-            # Assertion only for mypy purposes
-            assert delay_props.duration is not None
+        if delay_props.enabled and delay_props.duration:
             self._instrument.delay(delay_props.duration)
 
     def dispense_and_wait(
@@ -257,8 +261,7 @@ class TransferComponentsExecutor:
             self._tip_state.ready_to_aspirate = False
         self._tip_state.delete_liquid(volume)
         dispense_delay = dispense_properties.delay
-        if dispense_delay.enabled:
-            assert dispense_delay.duration is not None
+        if dispense_delay.enabled and dispense_delay.duration:
             self._instrument.delay(dispense_delay.duration)
 
     def mix(self, mix_properties: MixProperties, last_dispense_push_out: bool) -> None:
@@ -361,8 +364,7 @@ class TransferComponentsExecutor:
             speed=retract_props.speed,
         )
         retract_delay = retract_props.delay
-        if retract_delay.enabled:
-            assert retract_delay.duration is not None
+        if retract_delay.enabled and retract_delay.duration:
             self._instrument.delay(retract_delay.duration)
         touch_tip_props = retract_props.touch_tip
         if touch_tip_props.enabled:
@@ -459,8 +461,7 @@ class TransferComponentsExecutor:
             speed=retract_props.speed,
         )
         retract_delay = retract_props.delay
-        if retract_delay.enabled:
-            assert retract_delay.duration is not None
+        if retract_delay.enabled and retract_delay.duration:
             self._instrument.delay(retract_delay.duration)
 
         blowout_props = retract_props.blowout
@@ -532,6 +533,9 @@ class TransferComponentsExecutor:
                     if isinstance(trash_location, Location)
                     else None
                 )
+            # A non-multi-dispense blowout will only have air and maybe droplets in the tip
+            # since we only blowout after dispensing the full tip contents.
+            # So delete the air gap from tip state
             last_air_gap = self._tip_state.last_liquid_and_air_gap_in_tip.air_gap
             self._tip_state.delete_air_gap(last_air_gap)
             self._tip_state.ready_to_aspirate = False
@@ -599,8 +603,7 @@ class TransferComponentsExecutor:
             speed=retract_props.speed,
         )
         retract_delay = retract_props.delay
-        if retract_delay.enabled:
-            assert retract_delay.duration is not None
+        if retract_delay.enabled and retract_delay.duration:
             self._instrument.delay(retract_delay.duration)
 
         blowout_props = retract_props.blowout
@@ -616,6 +619,10 @@ class TransferComponentsExecutor:
                 well_core=None,
                 in_place=True,
             )
+            # A blowout will remove all air gap and liquid (disposal volume) from the tip
+            # so delete them from tip state (although practically, there will not be
+            # any air gaps in the tip before blowing out in the destination well)
+            self._tip_state.delete_last_air_gap_and_liquid()
             self._tip_state.ready_to_aspirate = False
 
         # A retract will perform total of two air gaps if we need to blow out in source or trash:
@@ -703,8 +710,9 @@ class TransferComponentsExecutor:
                     if isinstance(trash_location, Location)
                     else None
                 )
-            last_air_gap = self._tip_state.last_liquid_and_air_gap_in_tip.air_gap
-            self._tip_state.delete_air_gap(last_air_gap)
+            # A blowout will remove all air gap and liquid (disposal volume) from the tip
+            # so delete them from tip state
+            self._tip_state.delete_last_air_gap_and_liquid()
             self._tip_state.ready_to_aspirate = False
 
             # Do touch tip and air gap again after blowing out into source well or trash
@@ -780,8 +788,8 @@ class TransferComponentsExecutor:
         correction_volume = aspirate_props.correction_by_volume.get_for_volume(
             air_gap_volume
         )
-        # The maximum flow rate should be air_gap_volume per second
-        flow_rate = min(
+        # The minimum flow rate should be air_gap_volume per second
+        flow_rate = max(
             aspirate_props.flow_rate_by_volume.get_for_volume(air_gap_volume),
             air_gap_volume,
         )
@@ -791,9 +799,7 @@ class TransferComponentsExecutor:
             correction_volume=correction_volume,
         )
         delay_props = aspirate_props.delay
-        if delay_props.enabled:
-            # Assertion only for mypy purposes
-            assert delay_props.duration is not None
+        if delay_props.enabled and delay_props.duration:
             self._instrument.delay(delay_props.duration)
         self._tip_state.append_air_gap(air_gap_volume)
 
@@ -807,8 +813,8 @@ class TransferComponentsExecutor:
         correction_volume = dispense_props.correction_by_volume.get_for_volume(
             last_air_gap
         )
-        # The maximum flow rate should be air_gap_volume per second
-        flow_rate = min(
+        # The minimum flow rate should be air_gap_volume per second
+        flow_rate = max(
             dispense_props.flow_rate_by_volume.get_for_volume(last_air_gap),
             last_air_gap,
         )
@@ -824,8 +830,7 @@ class TransferComponentsExecutor:
         )
         self._tip_state.delete_air_gap(last_air_gap)
         dispense_delay = dispense_props.delay
-        if dispense_delay.enabled:
-            assert dispense_delay.duration is not None
+        if dispense_delay.enabled and dispense_delay.duration:
             self._instrument.delay(dispense_delay.duration)
 
 

opentrons/protocol_api/core/instrument.py

@@ -3,7 +3,7 @@
 from __future__ import annotations
 
 from abc import abstractmethod, ABC
-from typing import Any, Generic, Optional, TypeVar, Union, List, Tuple
+from typing import Any, Generic, Optional, TypeVar, Union, List, Tuple, Literal
 
 from opentrons import types
 from opentrons.hardware_control.dev_types import PipetteDict
@@ -11,7 +11,7 @@ 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.protocol_api._liquid import LiquidClass
-from opentrons.protocol_engine.types.liquid_level_detection import LiquidTrackingType
+from opentrons.protocol_engine.types import LiquidTrackingType
 
 from ..disposal_locations import TrashBin, WasteChute
 from .well import WellCoreType
@@ -190,6 +190,7 @@ class AbstractInstrument(ABC, Generic[WellCoreType, LabwareCoreType]):
         force_direct: bool,
         minimum_z_height: Optional[float],
         speed: Optional[float],
+        check_for_movement_conflicts: bool,
     ) -> None:
         ...
 
@@ -367,6 +368,7 @@ class AbstractInstrument(ABC, Generic[WellCoreType, LabwareCoreType]):
         dest: List[Tuple[types.Location, WellCoreType]],
         new_tip: TransferTipPolicyV2,
         tip_racks: List[Tuple[types.Location, LabwareCoreType]],
+        starting_tip: Optional[WellCoreType],
         trash_location: Union[types.Location, TrashBin, WasteChute],
         return_tip: bool,
     ) -> None:
@@ -380,8 +382,9 @@ class AbstractInstrument(ABC, Generic[WellCoreType, LabwareCoreType]):
         volume: float,
         source: Tuple[types.Location, WellCoreType],
         dest: List[Tuple[types.Location, WellCoreType]],
-        new_tip: TransferTipPolicyV2,
+        new_tip: Literal[TransferTipPolicyV2.NEVER, TransferTipPolicyV2.ONCE],
         tip_racks: List[Tuple[types.Location, LabwareCoreType]],
+        starting_tip: Optional[WellCoreType],
         trash_location: Union[types.Location, TrashBin, WasteChute],
         return_tip: bool,
     ) -> None:
@@ -398,8 +401,9 @@ class AbstractInstrument(ABC, Generic[WellCoreType, LabwareCoreType]):
         volume: float,
         source: List[Tuple[types.Location, WellCoreType]],
         dest: Tuple[types.Location, WellCoreType],
-        new_tip: TransferTipPolicyV2,
+        new_tip: Literal[TransferTipPolicyV2.NEVER, TransferTipPolicyV2.ONCE],
         tip_racks: List[Tuple[types.Location, LabwareCoreType]],
+        starting_tip: Optional[WellCoreType],
         trash_location: Union[types.Location, TrashBin, WasteChute],
         return_tip: bool,
     ) -> None:

opentrons/protocol_api/core/legacy/legacy_instrument_core.py

@@ -1,7 +1,7 @@
 from __future__ import annotations
 
 import logging
-from typing import TYPE_CHECKING, Optional, Union, List, Tuple
+from typing import TYPE_CHECKING, Optional, Union, List, Tuple, Literal
 
 from opentrons import types
 from opentrons.hardware_control import CriticalPoint
@@ -22,7 +22,7 @@ from opentrons.protocols.geometry import planning
 from opentrons.protocol_api._nozzle_layout import NozzleLayout
 from opentrons.protocol_api._liquid import LiquidClass
 
-from opentrons.protocol_engine.types.liquid_level_detection import LiquidTrackingType
+from opentrons.protocol_engine.types import LiquidTrackingType
 
 from ...disposal_locations import TrashBin, WasteChute
 from ..instrument import AbstractInstrument
@@ -367,6 +367,7 @@ class LegacyInstrumentCore(AbstractInstrument[LegacyWellCore, LegacyLabwareCore]
         force_direct: bool = False,
         minimum_z_height: Optional[float] = None,
         speed: Optional[float] = None,
+        check_for_movement_conflicts: bool = False,
     ) -> None:
         """Move the instrument.
 
@@ -376,6 +377,7 @@ class LegacyInstrumentCore(AbstractInstrument[LegacyWellCore, LegacyLabwareCore]
             force_direct: Force a direct movement instead of an arc.
             minimum_z_height: Set a minimum travel height for a movement arc.
             speed: Override the travel speed in mm/s.
+            check_for_movement_conflicts: Not used in legacy implementation
 
         Raises:
             LabwareHeightError: An item on the deck is taller than
@@ -438,32 +440,6 @@ class LegacyInstrumentCore(AbstractInstrument[LegacyWellCore, LegacyLabwareCore]
                 location=location, mount=location_cache_mount
             )
 
-    def evotip_seal(
-        self,
-        location: types.Location,
-        well_core: LegacyWellCore,
-        in_place: Optional[bool] = False,
-    ) -> None:
-        """This will never be called because it was added in API 2.22."""
-        assert False, "evotip_seal only supported in API 2.22 & later"
-
-    def evotip_unseal(
-        self, location: types.Location, well_core: WellCore, home_after: Optional[bool]
-    ) -> None:
-        """This will never be called because it was added in API 2.22."""
-        assert False, "evotip_unseal only supported in API 2.22 & later"
-
-    def evotip_dispense(
-        self,
-        location: types.Location,
-        well_core: WellCore,
-        volume: Optional[float] = None,
-        flow_rate: Optional[float] = None,
-        push_out: Optional[float] = None,
-    ) -> None:
-        """This will never be called because it was added in API 2.22."""
-        assert False, "evotip_dispense only supported in API 2.22 & later"
-
     def get_mount(self) -> types.Mount:
         """Get the mount this pipette is attached to."""
         return self._mount
@@ -632,6 +608,7 @@ class LegacyInstrumentCore(AbstractInstrument[LegacyWellCore, LegacyLabwareCore]
         dest: List[Tuple[types.Location, LegacyWellCore]],
         new_tip: TransferTipPolicyV2,
         tip_racks: List[Tuple[types.Location, LegacyLabwareCore]],
+        starting_tip: Optional[LegacyWellCore],
         trash_location: Union[types.Location, TrashBin, WasteChute],
         return_tip: bool,
     ) -> None:
@@ -644,8 +621,9 @@ class LegacyInstrumentCore(AbstractInstrument[LegacyWellCore, LegacyLabwareCore]
         volume: float,
         source: Tuple[types.Location, LegacyWellCore],
         dest: List[Tuple[types.Location, LegacyWellCore]],
-        new_tip: TransferTipPolicyV2,
+        new_tip: Literal[TransferTipPolicyV2.NEVER, TransferTipPolicyV2.ONCE],
         tip_racks: List[Tuple[types.Location, LegacyLabwareCore]],
+        starting_tip: Optional[LegacyWellCore],
         trash_location: Union[types.Location, TrashBin, WasteChute],
         return_tip: bool,
     ) -> None:
@@ -658,8 +636,9 @@ class LegacyInstrumentCore(AbstractInstrument[LegacyWellCore, LegacyLabwareCore]
         volume: float,
         source: List[Tuple[types.Location, LegacyWellCore]],
         dest: Tuple[types.Location, LegacyWellCore],
-        new_tip: TransferTipPolicyV2,
+        new_tip: Literal[TransferTipPolicyV2.NEVER, TransferTipPolicyV2.ONCE],
         tip_racks: List[Tuple[types.Location, LegacyLabwareCore]],
+        starting_tip: Optional[LegacyWellCore],
         trash_location: Union[types.Location, TrashBin, WasteChute],
         return_tip: bool,
     ) -> None:

opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py

@@ -1,7 +1,7 @@
 from __future__ import annotations
 
 import logging
-from typing import TYPE_CHECKING, Optional, Union, List, Tuple
+from typing import TYPE_CHECKING, Optional, Union, List, Tuple, Literal
 
 from opentrons import types
 from opentrons.hardware_control.dev_types import PipetteDict
@@ -23,7 +23,7 @@ from opentrons_shared_data.errors.exceptions import (
     UnexpectedTipAttachError,
 )
 
-from opentrons.protocol_engine.types.liquid_level_detection import LiquidTrackingType
+from opentrons.protocol_engine.types import LiquidTrackingType
 
 from ..legacy.legacy_labware_core import LegacyLabwareCore
 from ...disposal_locations import TrashBin, WasteChute
@@ -325,6 +325,7 @@ class LegacyInstrumentCoreSimulator(
         force_direct: bool = False,
         minimum_z_height: Optional[float] = None,
         speed: Optional[float] = None,
+        check_for_movement_conflicts: bool = False,  # Not used in this implementation
     ) -> None:
         """Simulation of only the motion planning portion of move_to."""
         if isinstance(location, (TrashBin, WasteChute)):
@@ -521,6 +522,7 @@ class LegacyInstrumentCoreSimulator(
         dest: List[Tuple[types.Location, LegacyWellCore]],
         new_tip: TransferTipPolicyV2,
         tip_racks: List[Tuple[types.Location, LegacyLabwareCore]],
+        starting_tip: Optional[LegacyWellCore],
         trash_location: Union[types.Location, TrashBin, WasteChute],
         return_tip: bool,
     ) -> None:
@@ -533,8 +535,9 @@ class LegacyInstrumentCoreSimulator(
         volume: float,
         source: Tuple[types.Location, LegacyWellCore],
         dest: List[Tuple[types.Location, LegacyWellCore]],
-        new_tip: TransferTipPolicyV2,
+        new_tip: Literal[TransferTipPolicyV2.NEVER, TransferTipPolicyV2.ONCE],
         tip_racks: List[Tuple[types.Location, LegacyLabwareCore]],
+        starting_tip: Optional[LegacyWellCore],
         trash_location: Union[types.Location, TrashBin, WasteChute],
         return_tip: bool,
     ) -> None:
@@ -547,8 +550,9 @@ class LegacyInstrumentCoreSimulator(
         volume: float,
         source: List[Tuple[types.Location, LegacyWellCore]],
         dest: Tuple[types.Location, LegacyWellCore],
-        new_tip: TransferTipPolicyV2,
+        new_tip: Literal[TransferTipPolicyV2.NEVER, TransferTipPolicyV2.ONCE],
         tip_racks: List[Tuple[types.Location, LegacyLabwareCore]],
+        starting_tip: Optional[LegacyWellCore],
         trash_location: Union[types.Location, TrashBin, WasteChute],
         return_tip: bool,
     ) -> None:

opentrons/protocol_api/core/well.py

@@ -4,7 +4,7 @@ from abc import ABC, abstractmethod
 from typing import TypeVar, Optional, Union
 
 from opentrons.types import Point
-from opentrons.protocol_engine.types.liquid_level_detection import LiquidTrackingType
+from opentrons.protocol_engine.types import LiquidTrackingType
 
 from .._liquid import Liquid