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

opentrons/protocol_engine/commands/aspirate_while_tracking.py

@@ -29,7 +29,7 @@ from ..state.update_types import StateUpdate
 from ..errors.exceptions import PipetteNotReadyToAspirateError
 from opentrons.hardware_control import HardwareControlAPI
 from ..state.update_types import CLEAR
-from ..types import CurrentWell, DeckPoint
+from ..types import DeckPoint
 
 if TYPE_CHECKING:
     from ..execution import PipettingHandler, GantryMover, MovementHandler
@@ -104,16 +104,8 @@ class AspirateWhileTrackingImplementation(
                 " The first aspirate following a blow-out must be from a specific well"
                 " so the plunger can be reset in a known safe position."
             )
-
-        current_position = await self._gantry_mover.get_position(params.pipetteId)
-        current_location = self._state_view.pipettes.get_current_location()
-
         state_update = StateUpdate()
-        current_well = CurrentWell(
-            pipette_id=params.pipetteId,
-            labware_id=params.labwareId,
-            well_name=params.wellName,
-        )
+
         move_result = await move_to_well(
             movement=self._movement,
             model_utils=self._model_utils,
@@ -121,7 +113,6 @@ class AspirateWhileTrackingImplementation(
             labware_id=params.labwareId,
             well_name=params.wellName,
             well_location=params.wellLocation,
-            current_well=current_well,
             operation_volume=-params.volume,
         )
         state_update.append(move_result.state_update)
@@ -138,9 +129,9 @@ class AspirateWhileTrackingImplementation(
             flow_rate=params.flowRate,
             location_if_error={
                 "retryLocation": (
-                    current_position.x,
-                    current_position.y,
-                    current_position.z,
+                    move_result.public.position.x,
+                    move_result.public.position.y,
+                    move_result.public.position.z,
                 )
             },
             command_note_adder=self._command_note_adder,
@@ -156,58 +147,40 @@ class AspirateWhileTrackingImplementation(
             z=position_after_aspirate.z,
         )
         if isinstance(aspirate_result, DefinedErrorData):
-            if (
-                isinstance(current_location, CurrentWell)
-                and current_location.pipette_id == params.pipetteId
-            ):
-                return DefinedErrorData(
-                    public=aspirate_result.public,
-                    state_update=aspirate_result.state_update.set_liquid_operated(
-                        labware_id=current_location.labware_id,
-                        well_names=self._state_view.geometry.get_wells_covered_by_pipette_with_active_well(
-                            current_location.labware_id,
-                            current_location.well_name,
-                            params.pipetteId,
-                        ),
-                        volume_added=CLEAR,
-                    ),
-                    state_update_if_false_positive=aspirate_result.state_update_if_false_positive,
-                )
-            else:
-                return aspirate_result
-        else:
-            if (
-                isinstance(current_location, CurrentWell)
-                and current_location.pipette_id == params.pipetteId
-            ):
-                return SuccessData(
-                    public=AspirateWhileTrackingResult(
-                        volume=aspirate_result.public.volume,
-                        position=result_deck_point,
-                    ),
-                    state_update=aspirate_result.state_update.set_liquid_operated(
-                        labware_id=current_location.labware_id,
-                        well_names=self._state_view.geometry.get_wells_covered_by_pipette_with_active_well(
-                            current_location.labware_id,
-                            current_location.well_name,
-                            params.pipetteId,
-                        ),
-                        volume_added=-aspirate_result.public.volume
-                        * self._state_view.geometry.get_nozzles_per_well(
-                            current_location.labware_id,
-                            current_location.well_name,
-                            params.pipetteId,
-                        ),
-                    ),
-                )
-            else:
-                return SuccessData(
-                    public=AspirateWhileTrackingResult(
-                        volume=aspirate_result.public.volume,
-                        position=result_deck_point,
+            return DefinedErrorData(
+                public=aspirate_result.public,
+                state_update=aspirate_result.state_update.set_liquid_operated(
+                    labware_id=params.labwareId,
+                    well_names=self._state_view.geometry.get_wells_covered_by_pipette_with_active_well(
+                        params.labwareId,
+                        params.wellName,
+                        params.pipetteId,
                     ),
-                    state_update=aspirate_result.state_update,
-                )
+                    volume_added=CLEAR,
+                ),
+                state_update_if_false_positive=aspirate_result.state_update_if_false_positive,
+            )
+
+        return SuccessData(
+            public=AspirateWhileTrackingResult(
+                volume=aspirate_result.public.volume,
+                position=result_deck_point,
+            ),
+            state_update=aspirate_result.state_update.set_liquid_operated(
+                labware_id=params.labwareId,
+                well_names=self._state_view.geometry.get_wells_covered_by_pipette_with_active_well(
+                    params.labwareId,
+                    params.wellName,
+                    params.pipetteId,
+                ),
+                volume_added=-aspirate_result.public.volume
+                * self._state_view.geometry.get_nozzles_per_well(
+                    params.labwareId,
+                    params.wellName,
+                    params.pipetteId,
+                ),
+            ),
+        )
 
 
 class AspirateWhileTracking(

opentrons/protocol_engine/commands/command_unions.py

@@ -378,28 +378,28 @@ from .liquid_probe import (
     TryLiquidProbeCommandType,
 )
 
-from .evotip_seal_pipette import (
-    EvotipSealPipette,
-    EvotipSealPipetteParams,
-    EvotipSealPipetteCreate,
-    EvotipSealPipetteResult,
-    EvotipSealPipetteCommandType,
+from .seal_pipette_to_tip import (
+    SealPipetteToTip,
+    SealPipetteToTipParams,
+    SealPipetteToTipCreate,
+    SealPipetteToTipResult,
+    SealPipetteToTipCommandType,
 )
 
-from .evotip_dispense import (
-    EvotipDispense,
-    EvotipDispenseParams,
-    EvotipDispenseCreate,
-    EvotipDispenseResult,
-    EvotipDispenseCommandType,
+from .pressure_dispense import (
+    PressureDispense,
+    PressureDispenseParams,
+    PressureDispenseCreate,
+    PressureDispenseResult,
+    PressureDispenseCommandType,
 )
 
-from .evotip_unseal_pipette import (
-    EvotipUnsealPipette,
-    EvotipUnsealPipetteParams,
-    EvotipUnsealPipetteCreate,
-    EvotipUnsealPipetteResult,
-    EvotipUnsealPipetteCommandType,
+from .unseal_pipette_from_tip import (
+    UnsealPipetteFromTip,
+    UnsealPipetteFromTipParams,
+    UnsealPipetteFromTipCreate,
+    UnsealPipetteFromTipResult,
+    UnsealPipetteFromTipCommandType,
 )
 
 Command = Annotated[
@@ -448,9 +448,9 @@ Command = Annotated[
         GetNextTip,
         LiquidProbe,
         TryLiquidProbe,
-        EvotipSealPipette,
-        EvotipDispense,
-        EvotipUnsealPipette,
+        SealPipetteToTip,
+        PressureDispense,
+        UnsealPipetteFromTip,
         heater_shaker.WaitForTemperature,
         heater_shaker.SetTargetTemperature,
         heater_shaker.DeactivateHeater,
@@ -549,9 +549,9 @@ CommandParams = Union[
     GetNextTipParams,
     LiquidProbeParams,
     TryLiquidProbeParams,
-    EvotipSealPipetteParams,
-    EvotipDispenseParams,
-    EvotipUnsealPipetteParams,
+    SealPipetteToTipParams,
+    PressureDispenseParams,
+    UnsealPipetteFromTipParams,
     heater_shaker.WaitForTemperatureParams,
     heater_shaker.SetTargetTemperatureParams,
     heater_shaker.DeactivateHeaterParams,
@@ -648,9 +648,9 @@ CommandType = Union[
     GetNextTipCommandType,
     LiquidProbeCommandType,
     TryLiquidProbeCommandType,
-    EvotipSealPipetteCommandType,
-    EvotipDispenseCommandType,
-    EvotipUnsealPipetteCommandType,
+    SealPipetteToTipCommandType,
+    PressureDispenseCommandType,
+    UnsealPipetteFromTipCommandType,
     heater_shaker.WaitForTemperatureCommandType,
     heater_shaker.SetTargetTemperatureCommandType,
     heater_shaker.DeactivateHeaterCommandType,
@@ -748,9 +748,9 @@ CommandCreate = Annotated[
         GetNextTipCreate,
         LiquidProbeCreate,
         TryLiquidProbeCreate,
-        EvotipSealPipetteCreate,
-        EvotipDispenseCreate,
-        EvotipUnsealPipetteCreate,
+        SealPipetteToTipCreate,
+        PressureDispenseCreate,
+        UnsealPipetteFromTipCreate,
         heater_shaker.WaitForTemperatureCreate,
         heater_shaker.SetTargetTemperatureCreate,
         heater_shaker.DeactivateHeaterCreate,
@@ -856,9 +856,9 @@ CommandResult = Union[
     GetNextTipResult,
     LiquidProbeResult,
     TryLiquidProbeResult,
-    EvotipSealPipetteResult,
-    EvotipDispenseResult,
-    EvotipUnsealPipetteResult,
+    SealPipetteToTipResult,
+    PressureDispenseResult,
+    UnsealPipetteFromTipResult,
     heater_shaker.WaitForTemperatureResult,
     heater_shaker.SetTargetTemperatureResult,
     heater_shaker.DeactivateHeaterResult,

opentrons/protocol_engine/commands/dispense_while_tracking.py

@@ -9,7 +9,7 @@ from pydantic import Field
 from pydantic.json_schema import SkipJsonSchema
 
 from ..state.update_types import CLEAR, StateUpdate
-from ..types import CurrentWell, DeckPoint
+from ..types import DeckPoint
 from .pipetting_common import (
     PipetteIdMixin,
     DispenseVolumeMixin,
@@ -99,13 +99,6 @@ class DispenseWhileTrackingImplementation(
 
         # TODO(pbm, 10-15-24): call self._state_view.geometry.validate_dispense_volume_into_well()
 
-        current_location = self._state_view.pipettes.get_current_location()
-        current_position = await self._gantry_mover.get_position(params.pipetteId)
-        current_well = CurrentWell(
-            pipette_id=params.pipetteId,
-            labware_id=params.labwareId,
-            well_name=params.wellName,
-        )
         state_update = StateUpdate()
         move_result = await move_to_well(
             movement=self._movement,
@@ -114,8 +107,6 @@ class DispenseWhileTrackingImplementation(
             labware_id=params.labwareId,
             well_name=params.wellName,
             well_location=params.wellLocation,
-            current_well=current_well,
-            operation_volume=-params.volume,
         )
         state_update.append(move_result.state_update)
         if isinstance(move_result, DefinedErrorData):
@@ -132,9 +123,9 @@ class DispenseWhileTrackingImplementation(
             push_out=params.pushOut,
             location_if_error={
                 "retryLocation": (
-                    current_position.x,
-                    current_position.y,
-                    current_position.z,
+                    move_result.public.position.x,
+                    move_result.public.position.y,
+                    move_result.public.position.z,
                 )
             },
             pipetting=self._pipetting,
@@ -150,67 +141,40 @@ class DispenseWhileTrackingImplementation(
         )
 
         if isinstance(dispense_result, DefinedErrorData):
-            if (
-                isinstance(current_location, CurrentWell)
-                and current_location.pipette_id == params.pipetteId
-            ):
-                return DefinedErrorData(
-                    public=dispense_result.public,
-                    state_update=dispense_result.state_update.set_liquid_operated(
-                        labware_id=current_location.labware_id,
-                        well_names=self._state_view.geometry.get_wells_covered_by_pipette_with_active_well(
-                            current_location.labware_id,
-                            current_location.well_name,
-                            params.pipetteId,
-                        ),
-                        volume_added=CLEAR,
-                    ),
-                    state_update_if_false_positive=dispense_result.state_update_if_false_positive,
-                )
-            else:
-                return dispense_result
-        else:
-            if (
-                isinstance(current_location, CurrentWell)
-                and current_location.pipette_id == params.pipetteId
-            ):
-                volume_added = (
-                    self._state_view.pipettes.get_liquid_dispensed_by_ejecting_volume(
-                        pipette_id=params.pipetteId,
-                        volume=dispense_result.public.volume,
-                    )
-                )
-                if volume_added is not None:
-                    volume_added *= self._state_view.geometry.get_nozzles_per_well(
-                        current_location.labware_id,
-                        current_location.well_name,
+            return DefinedErrorData(
+                public=dispense_result.public,
+                state_update=dispense_result.state_update.set_liquid_operated(
+                    labware_id=params.labwareId,
+                    well_names=self._state_view.geometry.get_wells_covered_by_pipette_with_active_well(
+                        params.labwareId,
+                        params.wellName,
                         params.pipetteId,
-                    )
-                return SuccessData(
-                    public=DispenseWhileTrackingResult(
-                        volume=dispense_result.public.volume,
-                        position=result_deck_point,
                     ),
-                    state_update=dispense_result.state_update.set_liquid_operated(
-                        labware_id=current_location.labware_id,
-                        well_names=self._state_view.geometry.get_wells_covered_by_pipette_with_active_well(
-                            current_location.labware_id,
-                            current_location.well_name,
-                            params.pipetteId,
-                        ),
-                        volume_added=volume_added
-                        if volume_added is not None
-                        else CLEAR,
-                    ),
-                )
-            else:
-                return SuccessData(
-                    public=DispenseWhileTrackingResult(
-                        volume=dispense_result.public.volume,
-                        position=result_deck_point,
-                    ),
-                    state_update=dispense_result.state_update,
-                )
+                    volume_added=CLEAR,
+                ),
+                state_update_if_false_positive=dispense_result.state_update_if_false_positive,
+            )
+
+        return SuccessData(
+            public=DispenseWhileTrackingResult(
+                volume=dispense_result.public.volume,
+                position=result_deck_point,
+            ),
+            state_update=dispense_result.state_update.set_liquid_operated(
+                labware_id=params.labwareId,
+                well_names=self._state_view.geometry.get_wells_covered_by_pipette_with_active_well(
+                    params.labwareId,
+                    params.wellName,
+                    params.pipetteId,
+                ),
+                volume_added=dispense_result.public.volume
+                * self._state_view.geometry.get_nozzles_per_well(
+                    params.labwareId,
+                    params.wellName,
+                    params.pipetteId,
+                ),
+            ),
+        )
 
 
 class DispenseWhileTracking(

opentrons/protocol_engine/commands/labware_handling_common.py

@@ -11,7 +11,12 @@ class LabwareHandlingResultMixin(BaseModel):
     labwareId: str = Field(..., description="The id of the labware.")
     locationSequence: LabwareLocationSequence | None = Field(
         None,
-        description="The full location down to the deck on which this labware exists.",
+        description=(
+            "The full location down to the deck on which this labware exists."
+            " The reason this can be `null` or omitted is just backwards compatibility,"
+            " for older runs and analyses. This should always be present"
+            " for new runs and analyses, even for labware whose location is off-deck."
+        ),
     )
 
 

opentrons/protocol_engine/commands/liquid_probe.py

@@ -22,8 +22,7 @@ from opentrons_shared_data.errors.exceptions import (
     PipetteOverpressureError,
 )
 
-from ..types import DeckPoint
-from ..types.liquid_level_detection import LiquidTrackingType
+from ..types import DeckPoint, LiquidTrackingType
 from .pipetting_common import (
     LiquidNotFoundError,
     PipetteIdMixin,

opentrons/protocol_engine/commands/move_to_well.py

@@ -8,7 +8,7 @@ from .pipetting_common import (
     PipetteIdMixin,
 )
 from .movement_common import (
-    WellLocationMixin,
+    LiquidHandlingWellLocationMixin,
     MovementMixin,
     DestinationPositionResult,
     StallOrCollisionError,
@@ -21,7 +21,6 @@ from .command import (
     SuccessData,
     DefinedErrorData,
 )
-from ..errors import LabwareIsTipRackError
 
 if TYPE_CHECKING:
     from ..execution import MovementHandler
@@ -31,7 +30,7 @@ if TYPE_CHECKING:
 MoveToWellCommandType = Literal["moveToWell"]
 
 
-class MoveToWellParams(PipetteIdMixin, WellLocationMixin, MovementMixin):
+class MoveToWellParams(PipetteIdMixin, LiquidHandlingWellLocationMixin, MovementMixin):
     """Payload required to move a pipette to a specific well."""
 
     pass
@@ -70,14 +69,9 @@ class MoveToWellImplementation(
         labware_id = params.labwareId
         well_name = params.wellName
         well_location = params.wellLocation
-
-        if (
-            self._state_view.labware.is_tiprack(labware_id)
-            and well_location.volumeOffset
-        ):
-            raise LabwareIsTipRackError(
-                "Cannot specify a WellLocation with a volumeOffset with movement to a tip rack"
-            )
+        # TODO(cm): implement move_to_well with meniscus + volume offset
+        if well_location.volumeOffset and well_location.volumeOffset != 0:
+            raise ValueError("volume offset not supported with MoveToWell")
 
         move_result = await move_to_well(
             model_utils=self._model_utils,

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

@@ -1,4 +1,4 @@
-"""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
@@ -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,
@@ -78,8 +78,8 @@ 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
@@ -121,35 +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