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

opentrons/protocol_engine/commands/heater_shaker/set_target_temperature.py

@@ -1,47 +1,31 @@
 """Command models to start heating a Heater-Shaker Module."""
 from __future__ import annotations
-from typing import Optional, TYPE_CHECKING, Any
+from typing import Optional, TYPE_CHECKING
 from typing_extensions import Literal, Type
 
 from pydantic import BaseModel, Field
-from pydantic.json_schema import SkipJsonSchema
 
 from ..command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
 from ...errors.error_occurrence import ErrorOccurrence
 
 if TYPE_CHECKING:
     from opentrons.protocol_engine.state.state import StateView
-    from opentrons.protocol_engine.execution import EquipmentHandler, TaskHandler
+    from opentrons.protocol_engine.execution import EquipmentHandler
 
 
 SetTargetTemperatureCommandType = Literal["heaterShaker/setTargetTemperature"]
 
 
-def _remove_default(s: dict[str, Any]) -> None:
-    s.pop("default", None)
-
-
 class SetTargetTemperatureParams(BaseModel):
     """Input parameters to set a Heater-Shaker's target temperature."""
 
     moduleId: str = Field(..., description="Unique ID of the Heater-Shaker Module.")
     celsius: float = Field(..., description="Target temperature in °C.")
-    taskId: str | SkipJsonSchema[None] = Field(
-        None,
-        description="Id for the background task that manages the temperature",
-        json_schema_extra=_remove_default,
-    )
 
 
 class SetTargetTemperatureResult(BaseModel):
     """Result data from setting a Heater-Shaker's target temperature."""
 
-    taskId: str | SkipJsonSchema[None] = Field(
-        None,
-        description="The task id for the setTargetTemperature task",
-        json_schema_extra=_remove_default,
-    )
-
 
 class SetTargetTemperatureImpl(
     AbstractCommandImpl[
@@ -54,12 +38,10 @@ class SetTargetTemperatureImpl(
         self,
         state_view: StateView,
         equipment: EquipmentHandler,
-        task_handler: TaskHandler,
         **unused_dependencies: object,
     ) -> None:
         self._state_view = state_view
         self._equipment = equipment
-        self._task_handler = task_handler
 
     async def execute(
         self,
@@ -79,19 +61,11 @@ class SetTargetTemperatureImpl(
             hs_module_substate.module_id
         )
 
-        async def start_set_temperature(task_handler: TaskHandler) -> None:
-            if hs_hardware_module is not None:
-                async with task_handler.synchronize_cancel_previous(
-                    hs_module_substate.module_id
-                ):
-                    await hs_hardware_module.start_set_temperature(validated_temp)
-                    await hs_hardware_module.await_temperature(validated_temp)
+        if hs_hardware_module is not None:
+            await hs_hardware_module.start_set_temperature(validated_temp)
 
-        task = await self._task_handler.create_task(
-            task_function=start_set_temperature, id=params.taskId
-        )
         return SuccessData(
-            public=SetTargetTemperatureResult(taskId=task.id),
+            public=SetTargetTemperatureResult(),
         )
 
 

opentrons/protocol_engine/commands/movement_common.py

@@ -152,7 +152,6 @@ async def move_to_well(
     minimum_z_height: Optional[float] = None,
     speed: Optional[float] = None,
     operation_volume: Optional[float] = None,
-    offset_pipette_for_reservoir_subwells: bool = False,
 ) -> MoveToWellOperationReturn:
     """Execute a move to well microoperation."""
     try:
@@ -166,7 +165,6 @@ async def move_to_well(
             minimum_z_height=minimum_z_height,
             speed=speed,
             operation_volume=operation_volume,
-            offset_pipette_for_reservoir_subwells=offset_pipette_for_reservoir_subwells,
         )
     except StallOrCollisionDetectedError as e:
         return DefinedErrorData(

opentrons/protocol_engine/commands/pick_up_tip.py

@@ -10,7 +10,7 @@ from typing_extensions import Literal
 from ..errors import ErrorOccurrence, PickUpTipTipNotAttachedError
 from ..resources import ModelUtils
 from ..state import update_types
-from ..types import PickUpTipWellLocation, LabwareWellId, TipRackWellState
+from ..types import PickUpTipWellLocation, LabwareWellId
 from .pipetting_common import (
     PipetteIdMixin,
 )
@@ -121,14 +121,10 @@ class PickUpTipImplementation(AbstractCommandImpl[PickUpTipParams, _ExecuteRetur
         labware_id = params.labwareId
         well_name = params.wellName
 
-        tips_to_mark_as_empty = (
-            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
-                ),
-            )
+        tips_to_mark_as_used = self._state_view.tips.compute_tips_to_mark_as_used(
+            labware_id=labware_id,
+            well_name=well_name,
+            nozzle_map=self._state_view.pipettes.get_nozzle_configuration(pipette_id),
         )
 
         well_location = self._state_view.geometry.convert_pick_up_tip_well_location(
@@ -164,20 +160,16 @@ class PickUpTipImplementation(AbstractCommandImpl[PickUpTipParams, _ExecuteRetur
                     ),
                 )
                 .set_fluid_empty(pipette_id=pipette_id, clean_tip=True)
-                .update_tip_rack_well_state(
-                    tip_state=TipRackWellState.EMPTY,
-                    labware_id=labware_id,
-                    well_names=tips_to_mark_as_empty,
+                .mark_tips_as_used(
+                    labware_id=labware_id, well_names=tips_to_mark_as_used
                 )
             )
             state_update = (
                 update_types.StateUpdate.reduce(
                     update_types.StateUpdate(), move_result.state_update
                 )
-                .update_tip_rack_well_state(
-                    tip_state=TipRackWellState.EMPTY,
-                    labware_id=labware_id,
-                    well_names=tips_to_mark_as_empty,
+                .mark_tips_as_used(
+                    labware_id=labware_id, well_names=tips_to_mark_as_used
                 )
                 .set_fluid_unknown(pipette_id=pipette_id)
             )
@@ -205,10 +197,8 @@ class PickUpTipImplementation(AbstractCommandImpl[PickUpTipParams, _ExecuteRetur
                         labware_id=labware_id, well_name=well_name
                     ),
                 )
-                .update_tip_rack_well_state(
-                    tip_state=TipRackWellState.EMPTY,
-                    labware_id=labware_id,
-                    well_names=tips_to_mark_as_empty,
+                .mark_tips_as_used(
+                    labware_id=labware_id, well_names=tips_to_mark_as_used
                 )
                 .set_fluid_empty(pipette_id=pipette_id, clean_tip=True)
                 .set_pipette_ready_to_aspirate(

opentrons/protocol_engine/commands/temperature_module/set_target_temperature.py

@@ -1,35 +1,25 @@
 """Command models to start heating a Temperature Module."""
 from __future__ import annotations
-from typing import Optional, TYPE_CHECKING, Any
+from typing import Optional, TYPE_CHECKING
 from typing_extensions import Literal, Type
 
 from pydantic import BaseModel, Field
-from pydantic.json_schema import SkipJsonSchema
 
 from ..command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
 from ...errors.error_occurrence import ErrorOccurrence
 
 if TYPE_CHECKING:
     from opentrons.protocol_engine.state.state import StateView
-    from opentrons.protocol_engine.execution import EquipmentHandler, TaskHandler
+    from opentrons.protocol_engine.execution import EquipmentHandler
 
 SetTargetTemperatureCommandType = Literal["temperatureModule/setTargetTemperature"]
 
 
-def _remove_default(s: dict[str, Any]) -> None:
-    s.pop("default", None)
-
-
 class SetTargetTemperatureParams(BaseModel):
     """Input parameters to set a Temperature Module's target temperature."""
 
     moduleId: str = Field(..., description="Unique ID of the Temperature Module.")
     celsius: float = Field(..., description="Target temperature in °C.")
-    taskId: str | SkipJsonSchema[None] = Field(
-        None,
-        description="Id for the background task that manages the temperature",
-        json_schema_extra=_remove_default,
-    )
 
 
 class SetTargetTemperatureResult(BaseModel):
@@ -40,11 +30,6 @@ class SetTargetTemperatureResult(BaseModel):
         description="The target temperature that was set after validation "
         "and type conversion (if any).",
     )
-    taskId: str | SkipJsonSchema[None] = Field(
-        None,
-        description="The task id for the setTargetTemperature task",
-        json_schema_extra=_remove_default,
-    )
 
 
 class SetTargetTemperatureImpl(
@@ -58,12 +43,10 @@ class SetTargetTemperatureImpl(
         self,
         state_view: StateView,
         equipment: EquipmentHandler,
-        task_handler: TaskHandler,
         **unused_dependencies: object,
     ) -> None:
         self._state_view = state_view
         self._equipment = equipment
-        self._task_handler = task_handler
 
     async def execute(
         self, params: SetTargetTemperatureParams
@@ -73,33 +56,19 @@ class SetTargetTemperatureImpl(
         module_substate = self._state_view.modules.get_temperature_module_substate(
             module_id=params.moduleId
         )
+
         # Verify temperature from temperature module view
         validated_temp = module_substate.validate_target_temperature(params.celsius)
+
         # Allow propagation of ModuleNotAttachedError.
         temp_hardware_module = self._equipment.get_module_hardware_api(
             module_substate.module_id
         )
 
-        async def start_set_temperature(task_handler: TaskHandler) -> None:
-            if temp_hardware_module is not None:
-                async with task_handler.synchronize_cancel_previous(
-                    module_substate.module_id
-                ):
-                    await temp_hardware_module.start_set_temperature(
-                        celsius=validated_temp
-                    )
-                    await temp_hardware_module.await_temperature(
-                        awaiting_temperature=validated_temp
-                    )
-
-        task = await self._task_handler.create_task(
-            task_function=start_set_temperature, id=params.taskId
-        )
-
+        if temp_hardware_module is not None:
+            await temp_hardware_module.start_set_temperature(celsius=validated_temp)
         return SuccessData(
-            public=SetTargetTemperatureResult(
-                targetTemperature=validated_temp, taskId=task.id
-            ),
+            public=SetTargetTemperatureResult(targetTemperature=validated_temp),
         )
 
 

opentrons/protocol_engine/commands/thermocycler/__init__.py

@@ -73,15 +73,6 @@ from .run_profile import (
     RunProfileCreate,
 )
 
-from .start_run_extended_profile import (
-    StartRunExtendedProfileCommandType,
-    StartRunExtendedProfileParams,
-    StartRunExtendedProfileStepParams,
-    StartRunExtendedProfileResult,
-    StartRunExtendedProfile,
-    StartRunExtendedProfileCreate,
-)
-
 from .run_extended_profile import (
     RunExtendedProfileCommandType,
     RunExtendedProfileParams,
@@ -149,13 +140,6 @@ __all__ = [
     "RunProfileResult",
     "RunProfile",
     "RunProfileCreate",
-    # Start run profile command models,
-    "StartRunExtendedProfileCommandType",
-    "StartRunExtendedProfileParams",
-    "StartRunExtendedProfileStepParams",
-    "StartRunExtendedProfileResult",
-    "StartRunExtendedProfile",
-    "StartRunExtendedProfileCreate",
     # Run extended profile command models.
     "RunExtendedProfileCommandType",
     "RunExtendedProfileParams",

opentrons/protocol_engine/commands/thermocycler/run_extended_profile.py

@@ -33,11 +33,6 @@ class ProfileStep(BaseModel):
     holdSeconds: float = Field(
         ..., description="Time to hold target temperature in seconds."
     )
-    rampRate: float | SkipJsonSchema[None] = Field(
-        None,
-        description="How quickly to change temperature in °C/second.",
-        json_schema_extra=_remove_default,
-    )
 
 
 class ProfileCycle(BaseModel):
@@ -73,7 +68,6 @@ def _transform_profile_step(
     return ThermocyclerStep(
         temperature=thermocycler_state.validate_target_block_temperature(step.celsius),
         hold_time_seconds=step.holdSeconds,
-        ramp_rate=thermocycler_state.validate_ramp_rate(step.rampRate, step.celsius),
     )
 
 

opentrons/protocol_engine/commands/thermocycler/run_profile.py

@@ -30,11 +30,6 @@ class RunProfileStepParams(BaseModel):
     holdSeconds: float = Field(
         ..., description="Time to hold target temperature at in seconds."
     )
-    rampRate: float | SkipJsonSchema[None] = Field(
-        None,
-        description="How quickly to change temperature in °C/second.",
-        json_schema_extra=_remove_default,
-    )
 
 
 class RunProfileParams(BaseModel):
@@ -86,9 +81,6 @@ class RunProfileImpl(
                     profile_step.celsius
                 ),
                 hold_time_seconds=profile_step.holdSeconds,
-                ramp_rate=thermocycler_state.validate_ramp_rate(
-                    profile_step.rampRate, profile_step.celsius
-                ),
             )
             for profile_step in params.profile
         ]

opentrons/protocol_engine/commands/thermocycler/set_target_block_temperature.py

@@ -11,7 +11,7 @@ from ...errors.error_occurrence import ErrorOccurrence
 
 if TYPE_CHECKING:
     from opentrons.protocol_engine.state.state import StateView
-    from opentrons.protocol_engine.execution import EquipmentHandler, TaskHandler
+    from opentrons.protocol_engine.execution import EquipmentHandler
 
 
 SetTargetBlockTemperatureCommandType = Literal["thermocycler/setTargetBlockTemperature"]
@@ -39,17 +39,6 @@ class SetTargetBlockTemperatureParams(BaseModel):
         " the given hold time has elapsed.",
         json_schema_extra=_remove_default,
     )
-    ramp_rate: float | SkipJsonSchema[None] = Field(
-        None,
-        description="The rate in C°/second to change temperature from the current target."
-        " If unspecified, the Thermocycler will change temperature at the fastest possible rate.",
-        json_schema_extra=_remove_default,
-    )
-    taskId: str | SkipJsonSchema[None] = Field(
-        None,
-        description="Id for the background task that manages the temperature.",
-        json_schema_extra=_remove_default,
-    )
 
 
 class SetTargetBlockTemperatureResult(BaseModel):
@@ -59,11 +48,6 @@ class SetTargetBlockTemperatureResult(BaseModel):
         ...,
         description="The target block temperature that was set after validation.",
     )
-    taskId: str | SkipJsonSchema[None] = Field(
-        None,
-        description="The task id for the setTargetBlockTemperature",
-        json_schema_extra=_remove_default,
-    )
 
 
 class SetTargetBlockTemperatureImpl(
@@ -78,12 +62,10 @@ class SetTargetBlockTemperatureImpl(
         self,
         state_view: StateView,
         equipment: EquipmentHandler,
-        task_handler: TaskHandler,
         **unused_dependencies: object,
     ) -> None:
         self._state_view = state_view
         self._equipment = equipment
-        self._task_handler = task_handler
 
     async def execute(
         self,
@@ -108,35 +90,19 @@ class SetTargetBlockTemperatureImpl(
             hold_time = thermocycler_state.validate_hold_time(params.holdTimeSeconds)
         else:
             hold_time = None
-        target_ramp_rate: Optional[float]
-        if params.ramp_rate is not None:
-            target_ramp_rate = thermocycler_state.validate_ramp_rate(
-                params.ramp_rate, target_temperature
-            )
-        else:
-            target_ramp_rate = None
 
         thermocycler_hardware = self._equipment.get_module_hardware_api(
             thermocycler_state.module_id
         )
 
-        async def set_target_block_temperature(task_handler: TaskHandler) -> None:
-            if thermocycler_hardware is not None:
-                await thermocycler_hardware.set_target_block_temperature(
-                    target_temperature,
-                    volume=target_volume,
-                    hold_time_seconds=hold_time,
-                    ramp_rate=target_ramp_rate,
-                )
-                await thermocycler_hardware.wait_for_block_target()
-
-        task = await self._task_handler.create_task(
-            task_function=set_target_block_temperature, id=params.taskId
-        )
+        if thermocycler_hardware is not None:
+            await thermocycler_hardware.set_target_block_temperature(
+                target_temperature, volume=target_volume, hold_time_seconds=hold_time
+            )
 
         return SuccessData(
             public=SetTargetBlockTemperatureResult(
-                targetBlockTemperature=target_temperature, taskId=task.id
+                targetBlockTemperature=target_temperature
             ),
         )
 

opentrons/protocol_engine/commands/thermocycler/set_target_lid_temperature.py

@@ -1,36 +1,26 @@
 """Command models to start heating a Thermocycler's lid."""
 from __future__ import annotations
-from typing import Optional, TYPE_CHECKING, Any
+from typing import Optional, TYPE_CHECKING
 from typing_extensions import Literal, Type
 
 from pydantic import BaseModel, Field
-from pydantic.json_schema import SkipJsonSchema
 
 from ..command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
 from ...errors.error_occurrence import ErrorOccurrence
 
 if TYPE_CHECKING:
     from opentrons.protocol_engine.state.state import StateView
-    from opentrons.protocol_engine.execution import EquipmentHandler, TaskHandler
+    from opentrons.protocol_engine.execution import EquipmentHandler
 
 
 SetTargetLidTemperatureCommandType = Literal["thermocycler/setTargetLidTemperature"]
 
 
-def _remove_default(s: dict[str, Any]) -> None:
-    s.pop("default", None)
-
-
 class SetTargetLidTemperatureParams(BaseModel):
     """Input parameters to set a Thermocycler's target lid temperature."""
 
     moduleId: str = Field(..., description="Unique ID of the Thermocycler Module.")
     celsius: float = Field(..., description="Target temperature in °C.")
-    taskId: str | SkipJsonSchema[None] = Field(
-        None,
-        description="Id for the background task that manages the temperature.",
-        json_schema_extra=_remove_default,
-    )
 
 
 class SetTargetLidTemperatureResult(BaseModel):
@@ -40,11 +30,6 @@ class SetTargetLidTemperatureResult(BaseModel):
         ...,
         description="The target lid temperature that was set after validation.",
     )
-    taskId: str | SkipJsonSchema[None] = Field(
-        None,
-        description="The task id for the setTargetBlockTemperature",
-        json_schema_extra=_remove_default,
-    )
 
 
 class SetTargetLidTemperatureImpl(
@@ -58,12 +43,10 @@ class SetTargetLidTemperatureImpl(
         self,
         state_view: StateView,
         equipment: EquipmentHandler,
-        task_handler: TaskHandler,
         **unused_dependencies: object,
     ) -> None:
         self._state_view = state_view
         self._equipment = equipment
-        self._task_handler = task_handler
 
     async def execute(
         self,
@@ -80,19 +63,12 @@ class SetTargetLidTemperatureImpl(
             thermocycler_state.module_id
         )
 
-        async def set_target_lid_temperature(task_handler: TaskHandler) -> None:
-            if thermocycler_hardware is not None:
-                await thermocycler_hardware.set_target_lid_temperature(
-                    target_temperature
-                )
-                await thermocycler_hardware.wait_for_lid_target()
+        if thermocycler_hardware is not None:
+            await thermocycler_hardware.set_target_lid_temperature(target_temperature)
 
-        task = await self._task_handler.create_task(
-            task_function=set_target_lid_temperature, id=params.taskId
-        )
         return SuccessData(
             public=SetTargetLidTemperatureResult(
-                targetLidTemperature=target_temperature, taskId=task.id
+                targetLidTemperature=target_temperature
             ),
         )
 

opentrons/protocol_engine/commands/touch_tip.py

@@ -114,7 +114,7 @@ class TouchTipImplementation(
 
         if self._state_view.labware.get_has_quirk(labware_id, "touchTipDisabled"):
             raise TouchTipDisabledError(
-                f"Touch tip not allowed on labware {self._state_view.labware.get_display_name(labware_id)}"
+                f"Touch tip not allowed on labware {labware_id}"
             )
 
         if self._state_view.labware.is_tiprack(labware_id):

opentrons/protocol_engine/commands/unsafe/unsafe_place_labware.py

@@ -14,11 +14,12 @@ from opentrons.protocol_engine.errors.exceptions import (
     CannotPerformGripperAction,
     GripperNotAttachedError,
 )
+from opentrons.types import Point
+
 from ...types import (
     DeckSlotLocation,
     ModuleModel,
     OnDeckLabwareLocation,
-    GripperMoveType,
 )
 from ..command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
 from ...errors.error_occurrence import ErrorOccurrence
@@ -99,6 +100,22 @@ class UnsafePlaceLabwareImplementation(
             LabwareUri(params.labwareURI)
         )
 
+        # todo(mm, 2024-11-06): This is only correct in the special case of an
+        # absorbance reader lid. Its definition currently puts the offsets for *itself*
+        # in the property that's normally meant for offsets for its *children.*
+        final_offsets = self._state_view.labware.get_child_gripper_offsets(
+            labware_definition=definition, slot_name=None
+        )
+        drop_offset = (
+            Point(
+                final_offsets.dropOffset.x,
+                final_offsets.dropOffset.y,
+                final_offsets.dropOffset.z,
+            )
+            if final_offsets
+            else None
+        )
+
         if isinstance(params.location, DeckSlotLocation):
             self._state_view.addressable_areas.raise_if_area_not_in_deck_configuration(
                 params.location.slotName.id
@@ -122,7 +139,7 @@ class UnsafePlaceLabwareImplementation(
         await ot3api.update_axis_position_estimations([Axis.X, Axis.Y])
 
         # Place the labware down
-        await self._start_movement(ot3api, definition, location)
+        await self._start_movement(ot3api, definition, location, drop_offset)
 
         return SuccessData(public=UnsafePlaceLabwareResult())
 
@@ -131,6 +148,7 @@ class UnsafePlaceLabwareImplementation(
         ot3api: OT3HardwareControlAPI,
         labware_definition: LabwareDefinition,
         location: OnDeckLabwareLocation,
+        drop_offset: Optional[Point],
     ) -> None:
         gripper_homed_position = await ot3api.gantry_position(
             mount=OT3Mount.GRIPPER,
@@ -138,15 +156,13 @@ class UnsafePlaceLabwareImplementation(
         )
 
         to_labware_center = self._state_view.geometry.get_labware_grip_point(
-            labware_definition=labware_definition,
-            location=location,
-            move_type=GripperMoveType.DROP_LABWARE,
-            user_additional_offset=None,
+            labware_definition=labware_definition, location=location
         )
 
         movement_waypoints = get_gripper_labware_placement_waypoints(
             to_labware_center=to_labware_center,
             gripper_home_z=gripper_homed_position.z,
+            drop_offset=drop_offset,
         )
 
         # start movement

opentrons/protocol_engine/errors/__init__.py

@@ -57,7 +57,6 @@ from .exceptions import (
     InvalidTargetSpeedError,
     InvalidTargetTemperatureError,
     InvalidBlockVolumeError,
-    InvalidRampRateError,
     InvalidHoldTimeError,
     InvalidWavelengthError,
     CannotPerformModuleAction,
@@ -91,7 +90,6 @@ from .exceptions import (
     FlexStackerLabwarePoolNotYetDefinedError,
     FlexStackerNotLogicallyEmptyError,
     InvalidLabwarePositionError,
-    InvalidModuleOrientation,
 )
 
 from .error_occurrence import ErrorOccurrence, ProtocolCommandFailedError
@@ -153,7 +151,6 @@ __all__ = [
     "NoTargetTemperatureSetError",
     "InvalidTargetTemperatureError",
     "InvalidTargetSpeedError",
-    "InvalidRampRateError",
     "InvalidBlockVolumeError",
     "InvalidHoldTimeError",
     "InvalidLiquidError",
@@ -177,7 +174,6 @@ __all__ = [
     "FlexStackerLabwarePoolNotYetDefinedError",
     "FlexStackerNotLogicallyEmptyError",
     "InvalidLabwarePositionError",
-    "InvalidModuleOrientation",
     # error occurrence models
     "ErrorOccurrence",
     "CommandNotAllowedError",