updated validate_well_position and command schema 10

Opentrons · Oct 10, 2024 · 053a47c · 053a47c
1 parent 67d53a4
commit 053a47c
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Showing 5 changed files with 113 additions and 19 deletions.
diff --git a/api/src/opentrons/protocol_engine/state/geometry.py b/api/src/opentrons/protocol_engine/state/geometry.py
@@ -430,14 +430,25 @@ def get_labware_position(self, labware_id: str) -> Point:
     def validate_well_position(
         self,
         well_location: WellLocations,
-        well_depth: float,
         z_offset: float,
+        pipette_id: Optional[str] = None,
     ) -> None:
         """Raise exception if operation location is not within well.
 
         Primarily this checks if there is not enough liquid in a well to do meniscus-relative static aspiration.
         """
-        if z_offset < 0:
+        invalid = False
+        if well_location.origin == WellOrigin.MENISCUS:
+            assert pipette_id is not None
+            lld_min_height = self._pipettes.get_current_tip_lld_settings(
+                pipette_id=pipette_id
+            )
+            if z_offset < lld_min_height:
+                invalid = True
+        elif z_offset < 0:
+            invalid = True
+
+        if invalid:
             if isinstance(well_location, PickUpTipWellLocation):
                 raise OperationLocationNotInWellError(
                     f"Specifying {well_location.origin} with an offset of {well_location.offset} results in an operation location below the bottom of the well"
@@ -453,6 +464,7 @@ def get_well_position(
         well_name: str,
         well_location: Optional[WellLocations] = None,
         operation_volume: Optional[float] = None,
+        pipette_id: Optional[str] = None,
     ) -> Point:
         """Given relative well location in a labware, get absolute position."""
         labware_pos = self.get_labware_position(labware_id)
@@ -471,7 +483,7 @@ def get_well_position(
             )
             offset = offset.copy(update={"z": offset.z + offset_adjustment})
             self.validate_well_position(
-                well_location=well_location, well_depth=well_depth, z_offset=offset.z
+                well_location=well_location, z_offset=offset.z, pipette_id=pipette_id
             )
 
         return Point(

diff --git a/api/src/opentrons/protocol_engine/state/motion.py b/api/src/opentrons/protocol_engine/state/motion.py
@@ -113,6 +113,7 @@ def get_movement_waypoints_to_well(
             well_name=well_name,
             well_location=well_location,
             operation_volume=operation_volume,
+            pipette_id=pipette_id,
         )
 
         move_type = _move_types.get_move_type_to_well(

diff --git a/api/tests/opentrons/protocol_engine/state/test_geometry_view.py b/api/tests/opentrons/protocol_engine/state/test_geometry_view.py
@@ -1511,6 +1511,7 @@ def test_get_well_position_with_meniscus_offset(
     mock_labware_view: LabwareView,
     mock_well_view: WellView,
     mock_addressable_area_view: AddressableAreaView,
+    mock_pipette_view: PipetteView,
     subject: GeometryView,
 ) -> None:
     """It should be able to get the position of a well meniscus in a labware."""
@@ -1541,6 +1542,9 @@ def test_get_well_position_with_meniscus_offset(
     decoy.when(
         mock_well_view.get_last_measured_liquid_height("labware-id", "B2")
     ).then_return(70.5)
+    decoy.when(
+        mock_pipette_view.get_current_tip_lld_settings(pipette_id="pipette-id")
+    ).then_return(0.5)
 
     result = subject.get_well_position(
         labware_id="labware-id",
@@ -1549,6 +1553,7 @@ def test_get_well_position_with_meniscus_offset(
             origin=WellOrigin.MENISCUS,
             offset=WellOffset(x=2, y=3, z=4),
         ),
+        pipette_id="pipette-id",
     )
 
     assert result == Point(
@@ -1564,6 +1569,7 @@ def test_get_well_position_with_meniscus_and_literal_volume_offset(
     mock_labware_view: LabwareView,
     mock_well_view: WellView,
     mock_addressable_area_view: AddressableAreaView,
+    mock_pipette_view: PipetteView,
     subject: GeometryView,
 ) -> None:
     """It should be able to get the position of a well meniscus in a labware with a volume offset."""
@@ -1600,6 +1606,9 @@ def test_get_well_position_with_meniscus_and_literal_volume_offset(
     decoy.when(mock_labware_view.get_well_geometry("labware-id", "B2")).then_return(
         inner_well_def
     )
+    decoy.when(
+        mock_pipette_view.get_current_tip_lld_settings(pipette_id="pipette-id")
+    ).then_return(0.5)
 
     result = subject.get_well_position(
         labware_id="labware-id",
@@ -1610,6 +1619,7 @@ def test_get_well_position_with_meniscus_and_literal_volume_offset(
             volumeOffset="operationVolume",
         ),
         operation_volume=-1245.833,
+        pipette_id="pipette-id",
     )
 
     assert result == Point(
@@ -1625,6 +1635,7 @@ def test_get_well_position_with_meniscus_and_float_volume_offset(
     mock_labware_view: LabwareView,
     mock_well_view: WellView,
     mock_addressable_area_view: AddressableAreaView,
+    mock_pipette_view: PipetteView,
     subject: GeometryView,
 ) -> None:
     """It should be able to get the position of a well meniscus in a labware with a volume offset."""
@@ -1661,6 +1672,9 @@ def test_get_well_position_with_meniscus_and_float_volume_offset(
     decoy.when(mock_labware_view.get_well_geometry("labware-id", "B2")).then_return(
         inner_well_def
     )
+    decoy.when(
+        mock_pipette_view.get_current_tip_lld_settings(pipette_id="pipette-id")
+    ).then_return(0.5)
 
     result = subject.get_well_position(
         labware_id="labware-id",
@@ -1670,6 +1684,7 @@ def test_get_well_position_with_meniscus_and_float_volume_offset(
             offset=WellOffset(x=2, y=3, z=4),
             volumeOffset=-1245.833,
         ),
+        pipette_id="pipette-id",
     )
 
     assert result == Point(
@@ -1685,6 +1700,7 @@ def test_get_well_position_raises_validation_error(
     mock_labware_view: LabwareView,
     mock_well_view: WellView,
     mock_addressable_area_view: AddressableAreaView,
+    mock_pipette_view: PipetteView,
     subject: GeometryView,
 ) -> None:
     """It should raise a validation error when a volume offset is too large (ie location is below the well bottom)."""
@@ -1721,6 +1737,9 @@ def test_get_well_position_raises_validation_error(
     decoy.when(mock_labware_view.get_well_geometry("labware-id", "B2")).then_return(
         inner_well_def
     )
+    decoy.when(
+        mock_pipette_view.get_current_tip_lld_settings(pipette_id="pipette-id")
+    ).then_return(0.5)
 
     with pytest.raises(errors.OperationLocationNotInWellError):
         subject.get_well_position(
@@ -1732,6 +1751,7 @@ def test_get_well_position_raises_validation_error(
                 volumeOffset="operationVolume",
             ),
             operation_volume=-100.0,
+            pipette_id="pipette-id",
         )
 
 

diff --git a/api/tests/opentrons/protocol_engine/state/test_motion_view.py b/api/tests/opentrons/protocol_engine/state/test_motion_view.py
@@ -309,7 +309,9 @@ def test_get_movement_waypoints_to_well_for_y_center(
     ).then_return(False)
 
     decoy.when(
-        geometry_view.get_well_position("labware-id", "well-name", WellLocation(), None)
+        geometry_view.get_well_position(
+            "labware-id", "well-name", WellLocation(), None, "pipette-id"
+        )
     ).then_return(Point(x=4, y=5, z=6))
 
     decoy.when(
@@ -391,7 +393,9 @@ def test_get_movement_waypoints_to_well_for_xy_center(
     ).then_return(True)
 
     decoy.when(
-        geometry_view.get_well_position("labware-id", "well-name", WellLocation(), None)
+        geometry_view.get_well_position(
+            "labware-id", "well-name", WellLocation(), None, "pipette-id"
+        )
     ).then_return(Point(x=4, y=5, z=6))
 
     decoy.when(
@@ -461,6 +465,7 @@ def test_get_movement_waypoints_to_well_raises(
             well_name="A1",
             well_location=None,
             operation_volume=None,
+            pipette_id="pipette-id",
         )
     ).then_return(Point(x=4, y=5, z=6))
     decoy.when(pipette_view.get_current_location()).then_return(None)

diff --git a/shared-data/command/schemas/10.json b/shared-data/command/schemas/10.json
@@ -326,9 +326,9 @@
         }
       }
     },
-    "WellLocation": {
-      "title": "WellLocation",
-      "description": "A relative location in reference to a well's location.",
+    "LiquidHandlingWellLocation": {
+      "title": "LiquidHandlingWellLocation",
+      "description": "A relative location in reference to a well's location.\n\nTo be used with commands that handle liquids.",
       "type": "object",
       "properties": {
         "origin": {
@@ -341,6 +341,20 @@
         },
         "offset": {
           "$ref": "#/definitions/WellOffset"
+        },
+        "volumeOffset": {
+          "title": "Volumeoffset",
+          "description": "A volume of liquid, in \u00b5L, to offset the z-axis offset. When \"operationVolume\" is specified, this volume is pulled from the volume command parameter.",
+          "default": 0.0,
+          "anyOf": [
+            {
+              "type": "number"
+            },
+            {
+              "enum": ["operationVolume"],
+              "type": "string"
+            }
+          ]
         }
       }
     },
@@ -364,7 +378,7 @@
           "description": "Relative well location at which to perform the operation",
           "allOf": [
             {
-              "$ref": "#/definitions/WellLocation"
+              "$ref": "#/definitions/LiquidHandlingWellLocation"
             }
           ]
         },
@@ -800,7 +814,7 @@
           "description": "Relative well location at which to perform the operation",
           "allOf": [
             {
-              "$ref": "#/definitions/WellLocation"
+              "$ref": "#/definitions/LiquidHandlingWellLocation"
             }
           ]
         },
@@ -939,7 +953,7 @@
           "description": "Relative well location at which to perform the operation",
           "allOf": [
             {
-              "$ref": "#/definitions/WellLocation"
+              "$ref": "#/definitions/LiquidHandlingWellLocation"
             }
           ]
         },
@@ -2005,6 +2019,30 @@
       },
       "required": ["params"]
     },
+    "WellLocation": {
+      "title": "WellLocation",
+      "description": "A relative location in reference to a well's location.",
+      "type": "object",
+      "properties": {
+        "origin": {
+          "default": "top",
+          "allOf": [
+            {
+              "$ref": "#/definitions/WellOrigin"
+            }
+          ]
+        },
+        "offset": {
+          "$ref": "#/definitions/WellOffset"
+        },
+        "volumeOffset": {
+          "title": "Volumeoffset",
+          "description": "A volume of liquid, in \u00b5L, to offset the z-axis offset.",
+          "default": 0.0,
+          "type": "number"
+        }
+      }
+    },
     "MoveToWellParams": {
       "title": "MoveToWellParams",
       "description": "Payload required to move a pipette to a specific well.",
@@ -2410,11 +2448,34 @@
       },
       "required": ["params"]
     },
+    "PickUpTipWellLocation": {
+      "title": "PickUpTipWellLocation",
+      "description": "A relative location in reference to a well's location.\n\nTo be used for picking up tips.",
+      "type": "object",
+      "properties": {
+        "origin": {
+          "default": "top",
+          "allOf": [
+            {
+              "$ref": "#/definitions/WellOrigin"
+            }
+          ]
+        },
+        "offset": {
+          "$ref": "#/definitions/WellOffset"
+        }
+      }
+    },
     "PickUpTipParams": {
       "title": "PickUpTipParams",
       "description": "Payload needed to move a pipette to a specific well.",
       "type": "object",
       "properties": {
+        "pipetteId": {
+          "title": "Pipetteid",
+          "description": "Identifier of pipette to use for liquid handling.",
+          "type": "string"
+        },
         "labwareId": {
           "title": "Labwareid",
           "description": "Identifier of labware to use.",
@@ -2427,20 +2488,15 @@
         },
         "wellLocation": {
           "title": "Welllocation",
-          "description": "Relative well location at which to perform the operation",
+          "description": "Relative well location at which to pick up the tip.",
           "allOf": [
             {
-              "$ref": "#/definitions/WellLocation"
+              "$ref": "#/definitions/PickUpTipWellLocation"
             }
           ]
-        },
-        "pipetteId": {
-          "title": "Pipetteid",
-          "description": "Identifier of pipette to use for liquid handling.",
-          "type": "string"
         }
       },
-      "required": ["labwareId", "wellName", "pipetteId"]
+      "required": ["pipetteId", "labwareId", "wellName"]
     },
     "PickUpTipCreate": {
       "title": "PickUpTipCreate",