opentrons 8.7.0a2__py3-none-any.whl → 8.7.0a3__py3-none-any.whl

opentrons/protocol_engine/protocol_engine.py

@@ -59,6 +59,7 @@ from .actions import (
     AddAddressableAreaAction,
     AddModuleAction,
     HardwareStoppedAction,
+    ResetTipsAction,
     SetPipetteMovementSpeedAction,
 )
 
@@ -321,10 +322,24 @@ class ProtocolEngine:
         )
         return completed_command
 
-    def _stop_from_asynchronous_error(self) -> None:
+    def estop(self) -> None:
+        """Signal to the engine that an E-stop event occurred.
+
+        If an estop happens while the robot is moving, lower layers physically stop
+        motion and raise the event as an exception, which fails the Protocol Engine
+        command. No action from the `ProtocolEngine` caller is needed to handle that.
+
+        However, if an estop happens in between commands, or in the middle of
+        a command like `comment` or `waitForDuration` that doesn't access the hardware,
+        `ProtocolEngine` needs to be told about it so it can interrupt the command
+        and stop executing any more. This method is how to do that.
+
+        This acts roughly like `request_stop()`. After calling this, you should call
+        `finish()` with an EStopActivatedError.
+        """
         try:
             action = self._state_store.commands.validate_action_allowed(
-                StopAction(from_asynchronous_error=True)
+                StopAction(from_estop=True)
             )
         except Exception:  # todo(mm, 2024-04-16): Catch a more specific type.
             # This is likely called from some hardware API callback that doesn't care
@@ -343,72 +358,9 @@ class ProtocolEngine:
         # do this because we want to make sure non-hardware commands, like
         # `waitForDuration`, are also interrupted.
         self._get_queue_worker.cancel()
-
-    def estop(self) -> None:
-        """Signal to the engine that an E-stop event occurred.
-
-        If an estop happens while the robot is moving, lower layers physically stop
-        motion and raise the event as an exception, which fails the Protocol Engine
-        command. No action from the `ProtocolEngine` caller is needed to handle that.
-
-        However, if an estop happens in between commands, or in the middle of
-        a command like `comment` or `waitForDuration` that doesn't access the hardware,
-        `ProtocolEngine` needs to be told about it so it can interrupt the command
-        and stop executing any more. This method is how to do that.
-
-        This acts roughly like `request_stop()`. After calling this, you should call
-        `finish()` with an EStopActivatedError.
-        """
         # Unlike self.request_stop(), we don't need to do
         # self._hardware_api.cancel_execution_and_running_tasks(). Since this was an
         # E-stop event, the hardware API already knows.
-        self._stop_from_asynchronous_error()
-
-    async def async_module_error(
-        self, module_model: ModuleModel, serial: str | None
-    ) -> bool:
-        """Signal to the engine that an asynchronous module error occured.
-
-        The return value of this function signals whether the error is relevant to the protocol
-        or not. If the function returns True, the error is relevant. The engine will stop, and
-        the caller should call `finish()` with the error object that signaled the error. If
-        the function returns False, the error is not relevant. The engine will not stop, and the
-        caller should not call `finish()`.
-
-        Asynchronous module errors are signaled when a module enters a hardware error state
-        - for instance, a thermocycler's thermistors fail because of condensation, or a
-        heater-shaker's wires fray and snap, or a module is accidentally disconnected. These
-        errors are not related to a particular command, even a currently-happening module
-        control command for the module in the error state.
-
-        Similar to an estop error, the error can occur at any time relative to the lifecycle
-        of the engine run or of any particular command.
-
-        Unlike an estop, the motion control hardware will not be raising an error and will not
-        stop on its own; the stop action derived from this call will do that.
-        """
-        if not self._state_store.modules.get_has_module_probably_matching_hardware_details(
-            module_model, serial
-        ):
-            return False
-        self._stop_from_asynchronous_error()
-        # like self.request_stop, and unlike self.estop(), we must explicitly request that the
-        # hardware stops execution, since not all asynchronous errors will cause the hardware
-        # to know that it should stop.
-        await self._do_hardware_stop()
-        return True
-
-    async def _do_hardware_stop(self) -> None:
-        """Make the hardware stop now."""
-        if self._hardware_api.is_movement_execution_taskified():
-            # We 'taskify' hardware controller movement functions when running protocols
-            # that are not backed by the engine. Such runs cannot be stopped by cancelling
-            # the queue worker and hence need to be stopped via the execution manager.
-            # `cancel_execution_and_running_tasks()` sets the execution manager in a CANCELLED state
-            # and cancels the running tasks, which raises an error and gets us out of the
-            # run function execution, just like `_queue_worker.cancel()` does for
-            # engine-backed runs.
-            await self._hardware_api.cancel_execution_and_running_tasks()
 
     async def request_stop(self) -> None:
         """Make command execution stop soon.
@@ -426,7 +378,15 @@ class ProtocolEngine:
         action = self._state_store.commands.validate_action_allowed(StopAction())
         self._action_dispatcher.dispatch(action)
         self._get_queue_worker.cancel()
-        await self._do_hardware_stop()
+        if self._hardware_api.is_movement_execution_taskified():
+            # We 'taskify' hardware controller movement functions when running protocols
+            # that are not backed by the engine. Such runs cannot be stopped by cancelling
+            # the queue worker and hence need to be stopped via the execution manager.
+            # `cancel_execution_and_running_tasks()` sets the execution manager in a CANCELLED state
+            # and cancels the running tasks, which raises an error and gets us out of the
+            # run function execution, just like `_queue_worker.cancel()` does for
+            # engine-backed runs.
+            await self._hardware_api.cancel_execution_and_running_tasks()
 
     async def wait_until_complete(self) -> None:
         """Wait until there are no more commands to execute.
@@ -469,7 +429,7 @@ class ProtocolEngine:
             post_run_hardware_state: The state in which to leave the gantry and motors in
                 after the run is over.
         """
-        if self._state_store.commands.get_is_stopped_by_async_error():
+        if self._state_store.commands.get_is_stopped_by_estop():
             # This handles the case where the E-stop was pressed while we were *not* in the middle
             # of some hardware interaction that would raise it as an exception. For example, imagine
             # we were paused between two commands, or imagine we were executing a waitForDuration.
@@ -626,6 +586,12 @@ class ProtocolEngine:
             AddAddressableAreaAction(addressable_area_name)
         )
 
+    def reset_tips(self, labware_id: str) -> None:
+        """Reset the tip state of a given labware."""
+        # TODO(mm, 2023-03-10): Safely raise an error if the given labware isn't a
+        # tip rack?
+        self._action_dispatcher.dispatch(ResetTipsAction(labware_id=labware_id))
+
     # TODO(mm, 2022-11-10): This is a method on ProtocolEngine instead of a command
     # as a quick hack to support Python protocols. We should consider making this a
     # command, or adding speed parameters to existing commands.

opentrons/protocol_engine/resources/__init__.py

@@ -11,7 +11,6 @@ from .labware_data_provider import LabwareDataProvider
 from .module_data_provider import ModuleDataProvider
 from .file_provider import FileProvider
 from .ot3_validation import ensure_ot3_hardware
-from .concurrency_provider import ConcurrencyProvider
 
 
 __all__ = [
@@ -19,7 +18,6 @@ __all__ = [
     "LabwareDataProvider",
     "DeckDataProvider",
     "DeckFixedLabware",
-    "ConcurrencyProvider",
     "ModuleDataProvider",
     "FileProvider",
     "ensure_ot3_hardware",

opentrons/protocol_engine/resources/deck_configuration_provider.py

@@ -2,7 +2,6 @@
 
 from typing import List, Set, Tuple
 
-from opentrons_shared_data.module.types import ModuleOrientation
 from opentrons_shared_data.deck.types import (
     DeckDefinitionV5,
     CutoutFixture,
@@ -125,11 +124,6 @@ def get_addressable_area_from_name(
                 z=addressable_area["boundingBox"]["zDimension"],
             )
             features = addressable_area["features"]
-            orientation = (
-                addressable_area["orientation"]
-                if addressable_area["orientation"]
-                else ModuleOrientation.NOT_APPLICABLE
-            )
             mating_surface_unit_vector = addressable_area.get("matingSurfaceUnitVector")
 
             return AddressableArea(
@@ -144,7 +138,6 @@ def get_addressable_area_from_name(
                     "compatibleModuleTypes", []
                 ),
                 features=features,
-                orientation=orientation,
             )
     raise AddressableAreaDoesNotExistError(
         f"Could not find addressable area with name {addressable_area_name}"

opentrons/protocol_engine/resources/labware_validation.py

@@ -2,7 +2,6 @@
 
 from opentrons_shared_data.labware.labware_definition import (
     LabwareDefinition,
-    LabwareDefinition2,
     LabwareRole,
 )
 
@@ -45,18 +44,15 @@ def validate_definition_is_system(definition: LabwareDefinition) -> bool:
     return LabwareRole.system in definition.allowedRoles
 
 
-def validate_legacy_labware_can_be_stacked(
-    child_labware_definition: LabwareDefinition2, parent_labware_load_name: str
+def validate_labware_can_be_stacked(
+    top_labware_definition: LabwareDefinition, below_labware_load_name: str
 ) -> bool:
-    """Validate that the parent labware is in the child labware's stackingOffsetWithLabware definition.
-
-    Schema 3 Labware stacking validation is handled in locating features.
-    """
+    """Validate that the labware being loaded onto is in the above labware's stackingOffsetWithLabware definition."""
     return (
-        parent_labware_load_name in child_labware_definition.stackingOffsetWithLabware
+        below_labware_load_name in top_labware_definition.stackingOffsetWithLabware
         or (
-            "default" in child_labware_definition.stackingOffsetWithLabware
-            and child_labware_definition.compatibleParentLabware is None
+            "default" in top_labware_definition.stackingOffsetWithLabware
+            and top_labware_definition.compatibleParentLabware is None
         )
     )