opentrons 8.6.0a1__py3-none-any.whl

opentrons/protocol_engine/execution/pipetting.py

@@ -0,0 +1,607 @@
+"""Pipetting command handling."""
+from typing import Optional, Iterator, Tuple
+from typing_extensions import Protocol as TypingProtocol
+from contextlib import contextmanager
+
+from opentrons.hardware_control import HardwareControlAPI
+
+from ..state.state import StateView
+from ..state.pipettes import HardwarePipette
+from ..notes import CommandNoteAdder, CommandNote
+from ..errors.exceptions import (
+    TipNotAttachedError,
+    InvalidAspirateVolumeError,
+    InvalidPushOutVolumeError,
+    InvalidDispenseVolumeError,
+    InvalidLiquidHeightFound,
+)
+from opentrons.protocol_engine.types import WellLocation
+from opentrons.protocol_engine.types.liquid_level_detection import (
+    SimulatedProbeResult,
+    LiquidTrackingType,
+)
+
+# 1e-9 µL (1 femtoliter!) is a good value because:
+# * It's large relative to rounding errors that occur in practice in protocols. For
+#   example, https://opentrons.atlassian.net/browse/RESC-182 shows a rounding error
+#   on the order of 1e-15 µL.
+# * It's small relative to volumes that our users might actually care about and
+#   expect the robot to execute faithfully.
+# * It's the default absolute tolerance for math.isclose(), where it apparently works
+#   well in general.
+_VOLUME_ROUNDING_ERROR_TOLERANCE = 1e-9
+
+
+class PipettingHandler(TypingProtocol):
+    """Liquid handling commands."""
+
+    def get_state_view(self) -> StateView:
+        """Get the stateview associated with this handler."""
+
+    def get_is_ready_to_aspirate(self, pipette_id: str) -> bool:
+        """Get whether a pipette is ready to aspirate."""
+
+    async def prepare_for_aspirate(self, pipette_id: str) -> None:
+        """Prepare for pipette aspiration."""
+
+    async def aspirate_in_place(
+        self,
+        pipette_id: str,
+        volume: float,
+        flow_rate: float,
+        command_note_adder: CommandNoteAdder,
+        correction_volume: float = 0.0,
+    ) -> float:
+        """Set flow-rate and aspirate."""
+
+    async def aspirate_while_tracking(
+        self,
+        pipette_id: str,
+        labware_id: str,
+        well_name: str,
+        volume: float,
+        flow_rate: float,
+        command_note_adder: CommandNoteAdder,
+    ) -> float:
+        """Set flow-rate and aspirate while tracking."""
+
+    async def dispense_while_tracking(
+        self,
+        pipette_id: str,
+        labware_id: str,
+        well_name: str,
+        volume: float,
+        flow_rate: float,
+        push_out: Optional[float],
+        is_full_dispense: bool = False,
+    ) -> float:
+        """Set flow-rate and dispense while tracking."""
+
+    async def dispense_in_place(
+        self,
+        pipette_id: str,
+        volume: float,
+        flow_rate: float,
+        push_out: Optional[float],
+        is_full_dispense: bool,
+        correction_volume: float = 0.0,
+    ) -> float:
+        """Set flow-rate and dispense."""
+
+    async def blow_out_in_place(
+        self,
+        pipette_id: str,
+        flow_rate: float,
+    ) -> None:
+        """Set flow rate and blow-out."""
+
+    async def liquid_probe_in_place(
+        self,
+        pipette_id: str,
+        labware_id: str,
+        well_name: str,
+        well_location: WellLocation,
+    ) -> LiquidTrackingType:
+        """Detect liquid level."""
+
+    async def increase_evo_disp_count(self, pipette_id: str) -> None:
+        """Increase evo tip dispense action count."""
+
+
+class HardwarePipettingHandler(PipettingHandler):
+    """Liquid handling, using the Hardware API."""
+
+    def __init__(self, state_view: StateView, hardware_api: HardwareControlAPI) -> None:
+        """Initialize a PipettingHandler instance."""
+        self._state_view = state_view
+        self._hardware_api = hardware_api
+
+    def get_state_view(self) -> StateView:
+        """Get the stateview associated with this handler."""
+        return self._state_view
+
+    def get_is_ready_to_aspirate(self, pipette_id: str) -> bool:
+        """Get whether a pipette is ready to aspirate."""
+        hw_pipette = self._state_view.pipettes.get_hardware_pipette(
+            pipette_id=pipette_id,
+            attached_pipettes=self._hardware_api.attached_instruments,
+        )
+        return (
+            self._state_view.pipettes.get_aspirated_volume(pipette_id) is not None
+            and hw_pipette.config["ready_to_aspirate"]
+            and self._state_view.pipettes.get_ready_to_aspirate(pipette_id)
+        )
+
+    async def prepare_for_aspirate(self, pipette_id: str) -> None:
+        """Prepare for pipette aspiration.
+
+        Raises:
+            PipetteOverpressureError, propagated as-is from the hardware controller.
+        """
+        hw_mount = self._state_view.pipettes.get_mount(pipette_id).to_hw_mount()
+        await self._hardware_api.prepare_for_aspirate(mount=hw_mount)
+
+    def get_hw_aspirate_params(
+        self,
+        pipette_id: str,
+        volume: float,
+        command_note_adder: CommandNoteAdder,
+    ) -> Tuple[HardwarePipette, float]:
+        """Get params for hardware aspirate."""
+        _adjusted_volume = _validate_aspirate_volume(
+            state_view=self._state_view,
+            pipette_id=pipette_id,
+            aspirate_volume=volume,
+            command_note_adder=command_note_adder,
+        )
+        _hw_pipette = self._state_view.pipettes.get_hardware_pipette(
+            pipette_id=pipette_id,
+            attached_pipettes=self._hardware_api.attached_instruments,
+        )
+        return _hw_pipette, _adjusted_volume
+
+    def get_hw_dispense_params(
+        self,
+        pipette_id: str,
+        volume: float,
+    ) -> Tuple[HardwarePipette, float]:
+        """Get params for hardware dispense."""
+        _adjusted_volume = _validate_dispense_volume(
+            state_view=self._state_view,
+            pipette_id=pipette_id,
+            dispense_volume=volume,
+        )
+        _hw_pipette = self._state_view.pipettes.get_hardware_pipette(
+            pipette_id=pipette_id,
+            attached_pipettes=self._hardware_api.attached_instruments,
+        )
+        return _hw_pipette, _adjusted_volume
+
+    async def aspirate_while_tracking(
+        self,
+        pipette_id: str,
+        labware_id: str,
+        well_name: str,
+        volume: float,
+        flow_rate: float,
+        command_note_adder: CommandNoteAdder,
+    ) -> float:
+        """Set flow-rate and aspirate.
+
+        Raises:
+            PipetteOverpressureError, propagated as-is from the hardware controller.
+        """
+        # get mount and config data from state and hardware controller
+        hw_pipette, adjusted_volume = self.get_hw_aspirate_params(
+            pipette_id, volume, command_note_adder
+        )
+        aspirate_z_distance = self._state_view.geometry.get_liquid_handling_z_change(
+            labware_id=labware_id,
+            well_name=well_name,
+            operation_volume=volume * -1,
+            pipette_id=pipette_id,
+        )
+        if isinstance(aspirate_z_distance, SimulatedProbeResult):
+            raise InvalidLiquidHeightFound(
+                "Aspirate distance must be a float in Hardware pipetting handler."
+            )
+        with self._set_flow_rate(pipette=hw_pipette, aspirate_flow_rate=flow_rate):
+            await self._hardware_api.aspirate_while_tracking(
+                mount=hw_pipette.mount,
+                z_distance=aspirate_z_distance,
+                flow_rate=flow_rate,
+                volume=adjusted_volume,
+            )
+        return adjusted_volume
+
+    async def dispense_while_tracking(
+        self,
+        pipette_id: str,
+        labware_id: str,
+        well_name: str,
+        volume: float,
+        flow_rate: float,
+        push_out: Optional[float],
+        is_full_dispense: bool = False,
+    ) -> float:
+        """Set flow-rate and dispense.
+
+        Raises:
+            PipetteOverpressureError, propagated as-is from the hardware controller.
+        """
+        # get mount and config data from state and hardware controller
+        hw_pipette, adjusted_volume = self.get_hw_dispense_params(pipette_id, volume)
+        dispense_z_distance = self._state_view.geometry.get_liquid_handling_z_change(
+            labware_id=labware_id,
+            well_name=well_name,
+            operation_volume=volume,
+            pipette_id=pipette_id,
+        )
+        if isinstance(dispense_z_distance, SimulatedProbeResult):
+            raise InvalidLiquidHeightFound(
+                "Dispense distance must be a float in Hardware pipetting handler."
+            )
+        with self._set_flow_rate(pipette=hw_pipette, dispense_flow_rate=flow_rate):
+            await self._hardware_api.dispense_while_tracking(
+                mount=hw_pipette.mount,
+                z_distance=dispense_z_distance,
+                flow_rate=flow_rate,
+                volume=adjusted_volume,
+                push_out=push_out,
+                is_full_dispense=is_full_dispense,
+            )
+        return adjusted_volume
+
+    async def aspirate_in_place(
+        self,
+        pipette_id: str,
+        volume: float,
+        flow_rate: float,
+        command_note_adder: CommandNoteAdder,
+        correction_volume: float = 0.0,
+    ) -> float:
+        """Set flow-rate and aspirate.
+
+        Raises:
+            PipetteOverpressureError, propagated as-is from the hardware controller.
+        """
+        # get mount and config data from state and hardware controller
+        hw_pipette, adjusted_volume = self.get_hw_aspirate_params(
+            pipette_id, volume, command_note_adder
+        )
+        with self._set_flow_rate(pipette=hw_pipette, aspirate_flow_rate=flow_rate):
+            await self._hardware_api.aspirate(
+                mount=hw_pipette.mount,
+                volume=adjusted_volume,
+                correction_volume=correction_volume,
+            )
+
+        return adjusted_volume
+
+    async def dispense_in_place(
+        self,
+        pipette_id: str,
+        volume: float,
+        flow_rate: float,
+        push_out: Optional[float],
+        is_full_dispense: bool,
+        correction_volume: float = 0.0,
+    ) -> float:
+        """Dispense liquid without moving the pipette."""
+        hw_pipette, adjusted_volume = self.get_hw_dispense_params(pipette_id, volume)
+        # TODO (tz, 8-23-23): add a check for push_out not larger that the max volume allowed when working on this https://opentrons.atlassian.net/browse/RSS-329
+        if push_out and push_out < 0:
+            raise InvalidPushOutVolumeError(
+                "push out value cannot have a negative value."
+            )
+        with self._set_flow_rate(pipette=hw_pipette, dispense_flow_rate=flow_rate):
+            await self._hardware_api.dispense(
+                mount=hw_pipette.mount,
+                volume=adjusted_volume,
+                push_out=push_out,
+                correction_volume=correction_volume,
+                is_full_dispense=is_full_dispense,
+            )
+
+        return adjusted_volume
+
+    async def blow_out_in_place(
+        self,
+        pipette_id: str,
+        flow_rate: float,
+    ) -> None:
+        """Set flow rate and blow-out."""
+        # get mount and config data from state and hardware controller
+        hw_pipette = self._state_view.pipettes.get_hardware_pipette(
+            pipette_id=pipette_id,
+            attached_pipettes=self._hardware_api.attached_instruments,
+        )
+        with self._set_flow_rate(pipette=hw_pipette, blow_out_flow_rate=flow_rate):
+            await self._hardware_api.blow_out(mount=hw_pipette.mount)
+
+    async def liquid_probe_in_place(
+        self,
+        pipette_id: str,
+        labware_id: str,
+        well_name: str,
+        well_location: WellLocation,
+    ) -> LiquidTrackingType:
+        """Return liquid level relative to the bottom of the well."""
+        hw_pipette = self._state_view.pipettes.get_hardware_pipette(
+            pipette_id=pipette_id,
+            attached_pipettes=self._hardware_api.attached_instruments,
+        )
+        well_def = self._state_view.labware.get_well_definition(labware_id, well_name)
+        well_depth = well_def.depth
+        lld_min_height = self._state_view.pipettes.get_current_tip_lld_settings(
+            pipette_id=pipette_id
+        )
+        z_pos = await self._hardware_api.liquid_probe(
+            mount=hw_pipette.mount,
+            max_z_dist=well_depth - lld_min_height + well_location.offset.z,
+        )
+        labware_pos = self._state_view.geometry.get_labware_position(labware_id)
+        relative_height = z_pos - labware_pos.z - well_def.z
+        return float(relative_height)
+
+    @contextmanager
+    def _set_flow_rate(
+        self,
+        pipette: HardwarePipette,
+        aspirate_flow_rate: Optional[float] = None,
+        dispense_flow_rate: Optional[float] = None,
+        blow_out_flow_rate: Optional[float] = None,
+    ) -> Iterator[None]:
+        """Context manager for setting flow rate before calling aspirate, dispense, or blowout."""
+        original_aspirate_rate = pipette.config["aspirate_flow_rate"]
+        original_dispense_rate = pipette.config["dispense_flow_rate"]
+        original_blow_out_rate = pipette.config["blow_out_flow_rate"]
+        self._hardware_api.set_flow_rate(
+            pipette.mount,
+            aspirate=aspirate_flow_rate,
+            dispense=dispense_flow_rate,
+            blow_out=blow_out_flow_rate,
+        )
+        try:
+            yield
+        finally:
+            self._hardware_api.set_flow_rate(
+                pipette.mount,
+                aspirate=original_aspirate_rate,
+                dispense=original_dispense_rate,
+                blow_out=original_blow_out_rate,
+            )
+
+    async def increase_evo_disp_count(self, pipette_id: str) -> None:
+        """Increase evo tip dispense action count."""
+        hw_pipette = self._state_view.pipettes.get_hardware_pipette(
+            pipette_id=pipette_id,
+            attached_pipettes=self._hardware_api.attached_instruments,
+        )
+        await self._hardware_api.increase_evo_disp_count(mount=hw_pipette.mount)
+
+
+class VirtualPipettingHandler(PipettingHandler):
+    """Liquid handling, using the virtual pipettes.""" ""
+
+    _state_view: StateView
+
+    def __init__(
+        self,
+        state_view: StateView,
+    ) -> None:
+        """Initialize a PipettingHandler instance."""
+        self._state_view = state_view
+
+    def get_state_view(self) -> StateView:
+        """Get the stateview associated with this handler."""
+        return self._state_view
+
+    def get_is_ready_to_aspirate(self, pipette_id: str) -> bool:
+        """Get whether a pipette is ready to aspirate."""
+        return self._state_view.pipettes.get_aspirated_volume(
+            pipette_id
+        ) is not None and self._state_view.pipettes.get_ready_to_aspirate(pipette_id)
+
+    async def prepare_for_aspirate(self, pipette_id: str) -> None:
+        """Virtually prepare to aspirate (no-op)."""
+        self._validate_tip_attached(pipette_id=pipette_id, command_name="aspirate")
+
+    async def aspirate_in_place(
+        self,
+        pipette_id: str,
+        volume: float,
+        flow_rate: float,
+        command_note_adder: CommandNoteAdder,
+        correction_volume: float = 0.0,
+    ) -> float:
+        """Virtually aspirate (no-op)."""
+        self._validate_tip_attached(pipette_id=pipette_id, command_name="aspirate")
+        return _validate_aspirate_volume(
+            state_view=self._state_view,
+            pipette_id=pipette_id,
+            aspirate_volume=volume,
+            command_note_adder=command_note_adder,
+        )
+
+    async def dispense_in_place(
+        self,
+        pipette_id: str,
+        volume: float,
+        flow_rate: float,
+        push_out: Optional[float],
+        is_full_dispense: bool,
+        correction_volume: float = 0.0,
+    ) -> float:
+        """Virtually dispense (no-op)."""
+        # TODO (tz, 8-23-23): add a check for push_out not larger that the max volume allowed when working on this https://opentrons.atlassian.net/browse/RSS-329
+        if push_out and push_out < 0:
+            raise InvalidPushOutVolumeError(
+                "push out value cannot have a negative value."
+            )
+        self._validate_tip_attached(pipette_id=pipette_id, command_name="dispense")
+        return _validate_dispense_volume(
+            state_view=self._state_view, pipette_id=pipette_id, dispense_volume=volume
+        )
+
+    async def blow_out_in_place(
+        self,
+        pipette_id: str,
+        flow_rate: float,
+    ) -> None:
+        """Virtually blow out (no-op)."""
+
+    async def liquid_probe_in_place(
+        self,
+        pipette_id: str,
+        labware_id: str,
+        well_name: str,
+        well_location: WellLocation,
+    ) -> LiquidTrackingType:
+        """Detect liquid level."""
+        return SimulatedProbeResult()
+
+    def _validate_tip_attached(self, pipette_id: str, command_name: str) -> None:
+        """Validate if there is a tip attached."""
+        tip_geometry = self._state_view.pipettes.get_attached_tip(pipette_id)
+        if not tip_geometry:
+            raise TipNotAttachedError(
+                f"Cannot perform {command_name} without a tip attached"
+            )
+
+    async def aspirate_while_tracking(
+        self,
+        pipette_id: str,
+        labware_id: str,
+        well_name: str,
+        volume: float,
+        flow_rate: float,
+        command_note_adder: CommandNoteAdder,
+    ) -> float:
+        """Virtually aspirate (no-op)."""
+        self._validate_tip_attached(pipette_id=pipette_id, command_name="aspirate")
+
+        return _validate_aspirate_volume(
+            state_view=self._state_view,
+            pipette_id=pipette_id,
+            aspirate_volume=volume,
+            command_note_adder=command_note_adder,
+        )
+
+    async def dispense_while_tracking(
+        self,
+        pipette_id: str,
+        labware_id: str,
+        well_name: str,
+        volume: float,
+        flow_rate: float,
+        push_out: Optional[float],
+        is_full_dispense: bool = False,
+    ) -> float:
+        """Virtually dispense (no-op)."""
+        # TODO (tz, 8-23-23): add a check for push_out not larger that the max volume allowed when working on this https://opentrons.atlassian.net/browse/RSS-329
+        if push_out and push_out < 0:
+            raise InvalidPushOutVolumeError(
+                "push out value cannot have a negative value."
+            )
+        self._validate_tip_attached(pipette_id=pipette_id, command_name="dispense")
+        return _validate_dispense_volume(
+            state_view=self._state_view, pipette_id=pipette_id, dispense_volume=volume
+        )
+
+    async def increase_evo_disp_count(self, pipette_id: str) -> None:
+        """Increase evo tip dispense action count."""
+        pass
+
+
+def create_pipetting_handler(
+    state_view: StateView, hardware_api: HardwareControlAPI
+) -> PipettingHandler:
+    """Create a pipetting handler."""
+    return (
+        HardwarePipettingHandler(state_view=state_view, hardware_api=hardware_api)
+        if state_view.config.use_virtual_pipettes is False
+        else VirtualPipettingHandler(state_view=state_view)
+    )
+
+
+def _validate_aspirate_volume(
+    state_view: StateView,
+    pipette_id: str,
+    aspirate_volume: float,
+    command_note_adder: CommandNoteAdder,
+) -> float:
+    """Get whether the given volume is valid to aspirate right now.
+
+    Return the volume to aspirate, possibly clamped, or raise an
+    InvalidAspirateVolumeError.
+    """
+    working_volume = state_view.pipettes.get_working_volume(pipette_id=pipette_id)
+
+    current_volume = (
+        state_view.pipettes.get_aspirated_volume(pipette_id=pipette_id) or 0
+    )
+
+    # TODO(mm, 2024-01-11): We should probably just use
+    # state_view.pipettes.get_available_volume()? Its whole `None` return vs. exception
+    # raising thing is confusing me.
+    available_volume = working_volume - current_volume
+    available_volume_with_tolerance = (
+        available_volume + _VOLUME_ROUNDING_ERROR_TOLERANCE
+    )
+
+    if aspirate_volume > available_volume_with_tolerance:
+        raise InvalidAspirateVolumeError(
+            attempted_aspirate_volume=aspirate_volume,
+            available_volume=available_volume,
+            max_pipette_volume=state_view.pipettes.get_maximum_volume(
+                pipette_id=pipette_id
+            ),
+            max_tip_volume=_get_max_tip_volume(
+                state_view=state_view, pipette_id=pipette_id
+            ),
+        )
+    else:
+        volume_to_aspirate = min(aspirate_volume, available_volume)
+        if volume_to_aspirate < aspirate_volume:
+            command_note_adder(
+                CommandNote(
+                    noteKind="warning",
+                    shortMessage=f"Aspirate clamped to {available_volume} µL",
+                    longMessage=(
+                        f"Command requested to aspirate {aspirate_volume} µL but only"
+                        f" {available_volume} µL were available in the pipette. This is"
+                        " probably a floating point artifact."
+                    ),
+                    source="execution",
+                )
+            )
+        return volume_to_aspirate
+
+
+def _validate_dispense_volume(
+    state_view: StateView, pipette_id: str, dispense_volume: float
+) -> float:
+    """Get whether the given volume is valid to dispense right now.
+
+    Return the volume to dispense, possibly clamped, or raise an
+    InvalidDispenseVolumeError.
+    """
+    aspirated_volume = state_view.pipettes.get_aspirated_volume(pipette_id)
+    if aspirated_volume is None:
+        raise InvalidDispenseVolumeError(
+            "Cannot perform a dispense if there is no volume in attached tip."
+        )
+    else:
+        remaining = aspirated_volume - dispense_volume
+        if remaining < -_VOLUME_ROUNDING_ERROR_TOLERANCE:
+            raise InvalidDispenseVolumeError(
+                f"Cannot dispense {dispense_volume} µL when only {aspirated_volume} µL has been aspirated."
+            )
+        else:
+            return min(dispense_volume, aspirated_volume)
+
+
+def _get_max_tip_volume(state_view: StateView, pipette_id: str) -> Optional[float]:
+    attached_tip = state_view.pipettes.get_attached_tip(pipette_id=pipette_id)
+    return None if attached_tip is None else attached_tip.volume

opentrons/protocol_engine/execution/queue_worker.py

@@ -0,0 +1,86 @@
+"""Command queue execution worker module."""
+import asyncio
+from logging import getLogger
+from typing import Optional, AsyncGenerator, Callable
+
+from ..state.state import StateStore
+from .command_executor import CommandExecutor
+
+log = getLogger(__name__)
+
+
+class QueueWorker:
+    """Handle and track execution of commands queued in ProtocolEngine state."""
+
+    def __init__(
+        self,
+        state_store: StateStore,
+        command_executor: CommandExecutor,
+        command_generator: Callable[[], AsyncGenerator[str, None]],
+    ) -> None:
+        """Initialize the queue worker's dependencies and state.
+
+        Arguments:
+            state_store: The source of truth for protocol state, including
+                all queued commands.
+            command_executor: Interface used to execute and update commands.
+            command_generator: Command generator to get the next command to execute.
+        """
+        self._state_store: StateStore = state_store
+        self._command_executor: CommandExecutor = command_executor
+        self._command_generator = command_generator
+        self._worker_task: Optional["asyncio.Task[None]"] = None
+
+    def start(self) -> None:
+        """Start processing jobs.
+
+        This method will no-op if the worker is already running.
+        """
+        if self._worker_task is None:
+            self._worker_task = asyncio.create_task(self._run_commands())
+
+    def cancel(self) -> None:
+        """Cancel any in-progress commands.
+
+        This method is synchronous to allow synchronous callers to
+        cancel the ongoing background task in situations where it
+        needs to happen immediately.
+
+        You should call `join` after calling `cancel` to clean up and
+        propagate errors.
+        """
+        if self._worker_task:
+            self._worker_task.cancel()
+
+    async def join(self) -> None:
+        """Wait for the worker to finish, propagating any errors."""
+        worker_task = self._worker_task
+
+        if worker_task:
+            self._worker_task = None
+
+            try:
+                await worker_task
+            except asyncio.CancelledError:  # From self.cancel().
+                pass
+            except Exception as e:
+                log.error("Unhandled exception in QueueWorker job", exc_info=e)
+                raise e
+
+    async def _run_commands(self) -> None:
+        async for command_id in self._command_generator():
+            try:
+                await self._command_executor.execute(command_id=command_id)
+            except BaseException:
+                log.exception(
+                    # The state can tear if e.g. we've finished updating PipetteStore,
+                    # but the exception came before we could update LabwareStore. Or
+                    # the exception could have interrupted updating a single store.
+                    "Unhandled failure in command executor."
+                    " This is a bug in opentrons.protocol_engine"
+                    " and has probably left the ProtocolEngine in a torn state."
+                )
+                raise
+            # Yield to the event loop in case we're executing a long sequence of commands
+            # that never yields internally. For example, a long sequence of comment commands.
+            await asyncio.sleep(0)