opentrons 8.7.0a7__py3-none-any.whl → 8.7.0a9__py3-none-any.whl

opentrons/protocol_engine/actions/actions.py

@@ -3,7 +3,6 @@
 Actions can be passed to the ActionDispatcher, where they will trigger
 reactions in objects that subscribe to the pipeline, like the StateStore.
 """
-
 import dataclasses
 from datetime import datetime
 from enum import Enum
@@ -21,7 +20,6 @@ from ..commands import (
     CommandDefinedErrorData,
 )
 from ..error_recovery_policy import ErrorRecoveryPolicy, ErrorRecoveryType
-from ..errors import ErrorOccurrence
 from ..notes.notes import CommandNote
 from ..state.update_types import StateUpdate
 from ..types import (
@@ -29,7 +27,6 @@ from ..types import (
     ModuleDefinition,
     Liquid,
     DeckConfigurationType,
-    Task,
 )
 
 
@@ -63,7 +60,7 @@ class PauseAction:
 class StopAction:
     """Request engine execution to stop soon."""
 
-    from_asynchronous_error: bool = False
+    from_estop: bool = False
 
 
 @dataclasses.dataclass(frozen=True)
@@ -204,22 +201,6 @@ class FailCommandAction:
     """The command to fail, in its prior `running` state."""
 
 
-@dataclasses.dataclass(frozen=True)
-class StartTaskAction:
-    """Store new task in state."""
-
-    task: Task
-
-
-@dataclasses.dataclass(frozen=True)
-class FinishTaskAction:
-    """Mark task as finished in state."""
-
-    task_id: str
-    finished_at: datetime
-    error: ErrorOccurrence | None
-
-
 @dataclasses.dataclass(frozen=True)
 class AddLabwareOffsetAction:
     """Add a labware offset, to apply to subsequent `LoadLabwareCommand`s."""
@@ -272,6 +253,13 @@ class AddModuleAction:
     module_live_data: LiveData
 
 
+@dataclasses.dataclass(frozen=True)
+class ResetTipsAction:
+    """Reset the tip tracking state of a given tip rack."""
+
+    labware_id: str
+
+
 @dataclasses.dataclass(frozen=True)
 class SetPipetteMovementSpeedAction:
     """Set the speed of a pipette's X/Y/Z movements. Does not affect plunger speed.
@@ -308,8 +296,7 @@ Action = Union[
     SetDeckConfigurationAction,
     AddAddressableAreaAction,
     AddLiquidAction,
+    ResetTipsAction,
     SetPipetteMovementSpeedAction,
     SetErrorRecoveryPolicyAction,
-    StartTaskAction,
-    FinishTaskAction,
 ]

opentrons/protocol_engine/clients/sync_client.py

@@ -65,48 +65,6 @@ class SyncClient:
     ) -> commands.LoadLabwareResult:
         pass
 
-    @overload
-    def execute_command_without_recovery(
-        self, params: commands.CreateTimerParams
-    ) -> commands.CreateTimerResult:
-        pass
-
-    @overload
-    def execute_command_without_recovery(
-        self, params: commands.temperature_module.SetTargetTemperatureParams
-    ) -> commands.temperature_module.SetTargetTemperatureResult:
-        pass
-
-    @overload
-    def execute_command_without_recovery(
-        self, params: commands.thermocycler.StartRunExtendedProfileParams
-    ) -> commands.thermocycler.StartRunExtendedProfileResult:
-        pass
-
-    @overload
-    def execute_command_without_recovery(
-        self, params: commands.heater_shaker.SetTargetTemperatureParams
-    ) -> commands.heater_shaker.SetTargetTemperatureResult:
-        pass
-
-    @overload
-    def execute_command_without_recovery(
-        self, params: commands.heater_shaker.SetShakeSpeedParams
-    ) -> commands.heater_shaker.SetShakeSpeedResult:
-        pass
-
-    @overload
-    def execute_command_without_recovery(
-        self, params: commands.thermocycler.SetTargetBlockTemperatureParams
-    ) -> commands.thermocycler.SetTargetBlockTemperatureResult:
-        pass
-
-    @overload
-    def execute_command_without_recovery(
-        self, params: commands.thermocycler.SetTargetLidTemperatureParams
-    ) -> commands.thermocycler.SetTargetLidTemperatureResult:
-        pass
-
     @overload
     def execute_command_without_recovery(
         self, params: commands.LoadModuleParams
@@ -191,6 +149,13 @@ class SyncClient:
         """Add a liquid to the engine."""
         return self._transport.call_method("add_liquid", name=name, color=color, description=description)  # type: ignore[no-any-return]
 
+    def reset_tips(self, labware_id: str) -> None:
+        """Reset a labware's tip tracking state.."""
+        self._transport.call_method(
+            "reset_tips",
+            labware_id=labware_id,
+        )
+
     def add_labware_offset(self, request: LabwareOffsetCreate) -> None:
         """Add a labware offset."""
         self._transport.call_method("add_labware_offset", request=request)

opentrons/protocol_engine/commands/__init__.py

@@ -271,22 +271,6 @@ from .wait_for_duration import (
     WaitForDurationCommandType,
 )
 
-from .create_timer import (
-    CreateTimer,
-    CreateTimerCreate,
-    CreateTimerParams,
-    CreateTimerResult,
-    CreateTimerCommandType,
-)
-
-from .wait_for_tasks import (
-    WaitForTasks,
-    WaitForTasksCreate,
-    WaitForTasksParams,
-    WaitForTasksResult,
-    WaitForTasksCommandType,
-)
-
 from .pick_up_tip import (
     PickUpTip,
     PickUpTipParams,
@@ -400,14 +384,6 @@ from .get_next_tip import (
     GetNextTipCommandType,
 )
 
-from .set_tip_state import (
-    SetTipState,
-    SetTipStateCreate,
-    SetTipStateParams,
-    SetTipStateResult,
-    SetTipStateCommandType,
-)
-
 from .liquid_probe import (
     LiquidProbe,
     LiquidProbeParams,
@@ -643,12 +619,6 @@ __all__ = [
     "WaitForDurationCreate",
     "WaitForDurationResult",
     "WaitForDurationCommandType",
-    # Timer command models
-    "CreateTimer",
-    "CreateTimerCreate",
-    "CreateTimerParams",
-    "CreateTimerResult",
-    "CreateTimerCommandType",
     # pick up tip command models
     "PickUpTip",
     "PickUpTipCreate",
@@ -755,12 +725,6 @@ __all__ = [
     "GetNextTipParams",
     "GetNextTipResult",
     "GetNextTipCommandType",
-    # set tip state command bundle
-    "SetTipState",
-    "SetTipStateCreate",
-    "SetTipStateParams",
-    "SetTipStateResult",
-    "SetTipStateCommandType",
     # liquid probe command bundle
     "LiquidProbe",
     "LiquidProbeParams",
@@ -790,10 +754,4 @@ __all__ = [
     "PressureDispenseCreate",
     "PressureDispenseResult",
     "PressureDispenseCommandType",
-    # wait for tasks command bundle
-    "WaitForTasks",
-    "WaitForTasksCreate",
-    "WaitForTasksParams",
-    "WaitForTasksResult",
-    "WaitForTasksCommandType",
 ]

opentrons/protocol_engine/commands/absorbance_reader/close_lid.py

@@ -102,12 +102,25 @@ class CloseLidImpl(AbstractCommandImpl[CloseLidParams, SuccessData[CloseLidResul
                 )
             )
 
+            # The lid's labware definition stores gripper offsets for itself in the
+            # space normally meant for offsets for labware stacked atop it.
+            lid_gripper_offsets = self._state_view.labware.get_child_gripper_offsets(
+                labware_definition=lid_definition,
+                slot_name=None,
+            )
+            if lid_gripper_offsets is None:
+                raise ValueError(
+                    "Gripper Offset values for Absorbance Reader Lid labware must not be None."
+                )
+
             await self._labware_movement.move_labware_with_gripper(
                 labware_definition=lid_definition,
                 current_location=current_location,
                 new_location=new_location,
-                user_pick_up_offset=Point(),
-                user_drop_offset=Point(),
+                user_pick_up_offset=Point.from_xyz_attrs(
+                    lid_gripper_offsets.pickUpOffset
+                ),
+                user_drop_offset=Point.from_xyz_attrs(lid_gripper_offsets.dropOffset),
                 post_drop_slide_offset=None,
                 gripper_z_offset=LID_Z_CLEARANCE,
             )

opentrons/protocol_engine/commands/absorbance_reader/open_lid.py

@@ -103,12 +103,25 @@ class OpenLidImpl(AbstractCommandImpl[OpenLidParams, SuccessData[OpenLidResult]]
                 mod_substate.module_id
             )
 
+            # The lid's labware definition stores gripper offsets for itself in the
+            # space normally meant for offsets for labware stacked atop it.
+            lid_gripper_offsets = self._state_view.labware.get_child_gripper_offsets(
+                labware_definition=lid_definition,
+                slot_name=None,
+            )
+            if lid_gripper_offsets is None:
+                raise ValueError(
+                    "Gripper Offset values for Absorbance Reader Lid labware must not be None."
+                )
+
             await self._labware_movement.move_labware_with_gripper(
                 labware_definition=lid_definition,
                 current_location=current_location,
                 new_location=new_location,
-                user_pick_up_offset=Point(),
-                user_drop_offset=Point(),
+                user_pick_up_offset=Point.from_xyz_attrs(
+                    lid_gripper_offsets.pickUpOffset
+                ),
+                user_drop_offset=Point.from_xyz_attrs(lid_gripper_offsets.dropOffset),
                 post_drop_slide_offset=None,
                 gripper_z_offset=LID_Z_CLEARANCE,
             )

opentrons/protocol_engine/commands/aspirate.py

@@ -161,7 +161,6 @@ class AspirateImplementation(AbstractCommandImpl[AspirateParams, _ExecuteReturn]
             well_location=well_location,
             current_well=current_well,
             operation_volume=-params.volume,
-            offset_pipette_for_reservoir_subwells=False,
         )
         state_update.append(move_result.state_update)
         if isinstance(move_result, DefinedErrorData):

opentrons/protocol_engine/commands/command.py

@@ -185,7 +185,6 @@ class AbstractCommandImpl(
         tip_handler: execution.TipHandler,
         run_control: execution.RunControlHandler,
         rail_lights: execution.RailLightsHandler,
-        task_handler: execution.TaskHandler,
         model_utils: ModelUtils,
         status_bar: execution.StatusBarHandler,
         command_note_adder: CommandNoteAdder,

opentrons/protocol_engine/commands/command_unions.py

@@ -267,22 +267,6 @@ from .wait_for_duration import (
     WaitForDurationCommandType,
 )
 
-from .create_timer import (
-    CreateTimer,
-    CreateTimerCreate,
-    CreateTimerParams,
-    CreateTimerResult,
-    CreateTimerCommandType,
-)
-
-from .wait_for_tasks import (
-    WaitForTasks,
-    WaitForTasksCreate,
-    WaitForTasksParams,
-    WaitForTasksResult,
-    WaitForTasksCommandType,
-)
-
 from .pick_up_tip import (
     PickUpTip,
     PickUpTipParams,
@@ -388,14 +372,6 @@ from .get_next_tip import (
     GetNextTipCommandType,
 )
 
-from .set_tip_state import (
-    SetTipState,
-    SetTipStateCreate,
-    SetTipStateParams,
-    SetTipStateResult,
-    SetTipStateCommandType,
-)
-
 from .liquid_probe import (
     LiquidProbe,
     LiquidProbeParams,
@@ -478,8 +454,6 @@ Command = Annotated[
         PrepareToAspirate,
         WaitForResume,
         WaitForDuration,
-        WaitForTasks,
-        CreateTimer,
         PickUpTip,
         SavePosition,
         SetRailLights,
@@ -488,7 +462,6 @@ Command = Annotated[
         VerifyTipPresence,
         GetTipPresence,
         GetNextTip,
-        SetTipState,
         LiquidProbe,
         TryLiquidProbe,
         SealPipetteToTip,
@@ -498,7 +471,6 @@ Command = Annotated[
         heater_shaker.SetTargetTemperature,
         heater_shaker.DeactivateHeater,
         heater_shaker.SetAndWaitForShakeSpeed,
-        heater_shaker.SetShakeSpeed,
         heater_shaker.DeactivateShaker,
         heater_shaker.OpenLabwareLatch,
         heater_shaker.CloseLabwareLatch,
@@ -516,7 +488,6 @@ Command = Annotated[
         thermocycler.OpenLid,
         thermocycler.CloseLid,
         thermocycler.RunProfile,
-        thermocycler.StartRunExtendedProfile,
         thermocycler.RunExtendedProfile,
         absorbance_reader.CloseLid,
         absorbance_reader.OpenLid,
@@ -586,8 +557,6 @@ CommandParams = Union[
     PrepareToAspirateParams,
     WaitForResumeParams,
     WaitForDurationParams,
-    WaitForTasksParams,
-    CreateTimerParams,
     PickUpTipParams,
     SavePositionParams,
     SetRailLightsParams,
@@ -596,7 +565,6 @@ CommandParams = Union[
     VerifyTipPresenceParams,
     GetTipPresenceParams,
     GetNextTipParams,
-    SetTipStateParams,
     LiquidProbeParams,
     TryLiquidProbeParams,
     SealPipetteToTipParams,
@@ -606,7 +574,6 @@ CommandParams = Union[
     heater_shaker.SetTargetTemperatureParams,
     heater_shaker.DeactivateHeaterParams,
     heater_shaker.SetAndWaitForShakeSpeedParams,
-    heater_shaker.SetShakeSpeedParams,
     heater_shaker.DeactivateShakerParams,
     heater_shaker.OpenLabwareLatchParams,
     heater_shaker.CloseLabwareLatchParams,
@@ -624,7 +591,6 @@ CommandParams = Union[
     thermocycler.OpenLidParams,
     thermocycler.CloseLidParams,
     thermocycler.RunProfileParams,
-    thermocycler.StartRunExtendedProfileParams,
     thermocycler.RunExtendedProfileParams,
     absorbance_reader.CloseLidParams,
     absorbance_reader.OpenLidParams,
@@ -692,8 +658,6 @@ CommandType = Union[
     PrepareToAspirateCommandType,
     WaitForResumeCommandType,
     WaitForDurationCommandType,
-    WaitForTasksCommandType,
-    CreateTimerCommandType,
     PickUpTipCommandType,
     SavePositionCommandType,
     SetRailLightsCommandType,
@@ -702,7 +666,6 @@ CommandType = Union[
     VerifyTipPresenceCommandType,
     GetTipPresenceCommandType,
     GetNextTipCommandType,
-    SetTipStateCommandType,
     LiquidProbeCommandType,
     TryLiquidProbeCommandType,
     SealPipetteToTipCommandType,
@@ -712,7 +675,6 @@ CommandType = Union[
     heater_shaker.SetTargetTemperatureCommandType,
     heater_shaker.DeactivateHeaterCommandType,
     heater_shaker.SetAndWaitForShakeSpeedCommandType,
-    heater_shaker.SetShakeSpeedCommandType,
     heater_shaker.DeactivateShakerCommandType,
     heater_shaker.OpenLabwareLatchCommandType,
     heater_shaker.CloseLabwareLatchCommandType,
@@ -730,7 +692,6 @@ CommandType = Union[
     thermocycler.OpenLidCommandType,
     thermocycler.CloseLidCommandType,
     thermocycler.RunProfileCommandType,
-    thermocycler.StartRunExtendedProfileCommandType,
     thermocycler.RunExtendedProfileCommandType,
     absorbance_reader.CloseLidCommandType,
     absorbance_reader.OpenLidCommandType,
@@ -799,8 +760,6 @@ CommandCreate = Annotated[
         PrepareToAspirateCreate,
         WaitForResumeCreate,
         WaitForDurationCreate,
-        WaitForTasksCreate,
-        CreateTimerCreate,
         PickUpTipCreate,
         SavePositionCreate,
         SetRailLightsCreate,
@@ -809,7 +768,6 @@ CommandCreate = Annotated[
         VerifyTipPresenceCreate,
         GetTipPresenceCreate,
         GetNextTipCreate,
-        SetTipStateCreate,
         LiquidProbeCreate,
         TryLiquidProbeCreate,
         SealPipetteToTipCreate,
@@ -819,7 +777,6 @@ CommandCreate = Annotated[
         heater_shaker.SetTargetTemperatureCreate,
         heater_shaker.DeactivateHeaterCreate,
         heater_shaker.SetAndWaitForShakeSpeedCreate,
-        heater_shaker.SetShakeSpeedCreate,
         heater_shaker.DeactivateShakerCreate,
         heater_shaker.OpenLabwareLatchCreate,
         heater_shaker.CloseLabwareLatchCreate,
@@ -837,7 +794,6 @@ CommandCreate = Annotated[
         thermocycler.OpenLidCreate,
         thermocycler.CloseLidCreate,
         thermocycler.RunProfileCreate,
-        thermocycler.StartRunExtendedProfileCreate,
         thermocycler.RunExtendedProfileCreate,
         absorbance_reader.CloseLidCreate,
         absorbance_reader.OpenLidCreate,
@@ -914,8 +870,6 @@ CommandResult = Union[
     PrepareToAspirateResult,
     WaitForResumeResult,
     WaitForDurationResult,
-    WaitForTasksResult,
-    CreateTimerResult,
     PickUpTipResult,
     SavePositionResult,
     SetRailLightsResult,
@@ -924,7 +878,6 @@ CommandResult = Union[
     VerifyTipPresenceResult,
     GetTipPresenceResult,
     GetNextTipResult,
-    SetTipStateResult,
     LiquidProbeResult,
     TryLiquidProbeResult,
     SealPipetteToTipResult,
@@ -934,7 +887,6 @@ CommandResult = Union[
     heater_shaker.SetTargetTemperatureResult,
     heater_shaker.DeactivateHeaterResult,
     heater_shaker.SetAndWaitForShakeSpeedResult,
-    heater_shaker.SetShakeSpeedResult,
     heater_shaker.DeactivateShakerResult,
     heater_shaker.OpenLabwareLatchResult,
     heater_shaker.CloseLabwareLatchResult,
@@ -952,7 +904,6 @@ CommandResult = Union[
     thermocycler.OpenLidResult,
     thermocycler.CloseLidResult,
     thermocycler.RunProfileResult,
-    thermocycler.StartRunExtendedProfileResult,
     thermocycler.RunExtendedProfileResult,
     absorbance_reader.CloseLidResult,
     absorbance_reader.OpenLidResult,

opentrons/protocol_engine/commands/dispense.py

@@ -101,7 +101,6 @@ class DispenseImplementation(AbstractCommandImpl[DispenseParams, _ExecuteReturn]
             well_name=well_name,
             well_location=well_location,
             operation_volume=volume,
-            offset_pipette_for_reservoir_subwells=False,
         )
         if isinstance(move_result, DefinedErrorData):
             return move_result

opentrons/protocol_engine/commands/drop_tip.py

@@ -12,7 +12,7 @@ from opentrons.protocol_engine.errors.exceptions import TipAttachedError
 from opentrons.protocol_engine.resources.model_utils import ModelUtils
 
 from ..state.update_types import StateUpdate
-from ..types import DropTipWellLocation, TipRackWellState
+from ..types import DropTipWellLocation
 from .pipetting_common import (
     PipetteIdMixin,
     TipPhysicallyAttachedError,
@@ -140,25 +140,6 @@ class DropTipImplementation(AbstractCommandImpl[DropTipParams, _ExecuteReturn]):
             partially_configured=is_partially_configured,
         )
 
-        is_tip_rack = self._state_view.labware.get_definition(
-            labware_id
-        ).parameters.isTiprack
-
-        # It's possible that we are dropping tips into a labware trash for pre API v2.14 OT-2 protocols
-        # (or something else unexpected), so if it is not a tip rack mark no wells as used
-        if is_tip_rack:
-            tips_to_mark_as_used = (
-                self._state_view.tips.compute_tips_to_mark_as_used_or_empty(
-                    labware_id=labware_id,
-                    well_name=well_name,
-                    nozzle_map=self._state_view.pipettes.get_nozzle_configuration(
-                        pipette_id
-                    ),
-                )
-            )
-        else:
-            tips_to_mark_as_used = []
-
         move_result = await move_to_well(
             movement=self._movement_handler,
             model_utils=self._model_utils,
@@ -171,7 +152,12 @@ class DropTipImplementation(AbstractCommandImpl[DropTipParams, _ExecuteReturn]):
             return move_result
 
         scrape_type = TipScrapeType.NONE
-        if params.scrape_tips and is_tip_rack:
+        if (
+            params.scrape_tips
+            and self._state_view.geometry._labware.get_definition(
+                labware_id
+            ).parameters.isTiprack
+        ):
             if int("".join(filter(str.isdigit, well_name))) <= 6:
                 scrape_type = TipScrapeType.RIGHT_ONE_COL
             else:
@@ -208,10 +194,6 @@ class DropTipImplementation(AbstractCommandImpl[DropTipParams, _ExecuteReturn]):
                     pipette_id=params.pipetteId,
                     tip_geometry=None,
                     tip_source=None,
-                ).update_tip_rack_well_state(
-                    tip_state=TipRackWellState.USED,
-                    labware_id=labware_id,
-                    well_names=tips_to_mark_as_used,
                 ),
             )
         else:
@@ -219,16 +201,10 @@ class DropTipImplementation(AbstractCommandImpl[DropTipParams, _ExecuteReturn]):
                 public=DropTipResult(position=move_result.public.position),
                 state_update=move_result.state_update.set_fluid_unknown(
                     pipette_id=pipette_id
-                )
-                .update_pipette_tip_state(
+                ).update_pipette_tip_state(
                     pipette_id=params.pipetteId,
                     tip_geometry=None,
                     tip_source=None,
-                )
-                .update_tip_rack_well_state(
-                    tip_state=TipRackWellState.USED,
-                    labware_id=labware_id,
-                    well_names=tips_to_mark_as_used,
                 ),
             )
 

opentrons/protocol_engine/commands/heater_shaker/__init__.py

@@ -32,14 +32,6 @@ from .set_and_wait_for_shake_speed import (
     SetAndWaitForShakeSpeedCommandType,
 )
 
-from .set_shake_speed import (
-    SetShakeSpeed,
-    SetShakeSpeedCreate,
-    SetShakeSpeedParams,
-    SetShakeSpeedResult,
-    SetShakeSpeedCommandType,
-)
-
 from .deactivate_shaker import (
     DeactivateShaker,
     DeactivateShakerCreate,
@@ -89,12 +81,6 @@ __all__ = [
     "SetAndWaitForShakeSpeedParams",
     "SetAndWaitForShakeSpeedResult",
     "SetAndWaitForShakeSpeedCommandType",
-    # heaterShaker/setShakeSpeed
-    "SetShakeSpeed",
-    "SetShakeSpeedCreate",
-    "SetShakeSpeedParams",
-    "SetShakeSpeedResult",
-    "SetShakeSpeedCommandType",
     # heaterShaker/deactivateShaker
     "DeactivateShaker",
     "DeactivateShakerCreate",

opentrons/protocol_engine/commands/heater_shaker/set_and_wait_for_shake_speed.py

@@ -8,8 +8,6 @@ from ..command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, Succe
 from ...errors.error_occurrence import ErrorOccurrence
 from ...state import update_types
 
-from .common import get_heatershaker_ready_to_shake
-
 if TYPE_CHECKING:
     from opentrons.protocol_engine.state.state import StateView
     from opentrons.protocol_engine.execution import EquipmentHandler, MovementHandler
@@ -66,9 +64,10 @@ class SetAndWaitForShakeSpeedImpl(
             module_id=params.moduleId
         )
 
-        validated_speed = await get_heatershaker_ready_to_shake(
-            hs_module_substate, params.rpm
-        )
+        hs_module_substate.raise_if_labware_latch_not_closed()
+
+        # Verify speed from hs module view
+        validated_speed = hs_module_substate.validate_target_speed(params.rpm)
 
         pipette_should_retract = (
             self._state_view.motion.check_pipette_blocking_hs_shaker(