fix(engine): include modules w/o labware in motion planning (#10902)

api/src/opentrons/protocol_engine/state/geometry.py

@@ -56,13 +56,18 @@ def get_labware_highest_z(self, labware_id: str) -> float:
 
         return self._get_highest_z_from_labware_data(labware_data)
 
+    # TODO(mc, 2022-06-24): rename this method
     def get_all_labware_highest_z(self) -> float:
         """Get the highest Z-point across all labware."""
         return max(
-            [
+            *(
                 self._get_highest_z_from_labware_data(lw_data)
                 for lw_data in self._labware.get_all()
-            ]
+            ),
+            *(
+                self._modules.get_overall_height(module.id)
+                for module in self._modules.get_all()
+            ),
         )
 
     def get_labware_parent_position(self, labware_id: str) -> Point:

api/src/opentrons/protocol_engine/state/modules.py

@@ -463,8 +463,6 @@ def get_module_offset(self, module_id: str) -> LabwareOffsetVector:
             z=definition.labwareOffset.z,
         )
 
-    # TODO(mc, 2022-01-19): this method is missing unit test coverage and
-    # is also unused. Remove or add tests.
     def get_overall_height(self, module_id: str) -> float:
         """Get the height of the module."""
         return self.get_dimensions(module_id).bareOverallHeight

api/tests/opentrons/protocol_engine/state/test_geometry_view.py

@@ -15,6 +15,7 @@
     DeckSlotLocation,
     ModuleLocation,
     LoadedLabware,
+    LoadedModule,
     WellLocation,
     WellOrigin,
     WellOffset,
@@ -213,6 +214,7 @@ def test_get_all_labware_highest_z(
     well_plate_def: LabwareDefinition,
     reservoir_def: LabwareDefinition,
     labware_view: LabwareView,
+    module_view: ModuleView,
     subject: GeometryView,
 ) -> None:
     """It should get the highest Z amongst all labware."""
@@ -234,6 +236,8 @@ def test_get_all_labware_highest_z(
     plate_offset = LabwareOffsetVector(x=1, y=-2, z=3)
     reservoir_offset = LabwareOffsetVector(x=1, y=-2, z=3)
 
+    decoy.when(module_view.get_all()).then_return([])
+
     decoy.when(labware_view.get_all()).then_return([plate, reservoir])
     decoy.when(labware_view.get("plate-id")).then_return(plate)
     decoy.when(labware_view.get("reservoir-id")).then_return(reservoir)
@@ -262,6 +266,26 @@ def test_get_all_labware_highest_z(
     assert all_z == max(plate_z, reservoir_z)
 
 
+def test_get_all_labware_highest_z_with_modules(
+    decoy: Decoy,
+    labware_view: LabwareView,
+    module_view: ModuleView,
+    subject: GeometryView,
+) -> None:
+    """It should get the highest Z including modules."""
+    module_1 = LoadedModule.construct(id="module-id-1")  # type: ignore[call-arg]
+    module_2 = LoadedModule.construct(id="module-id-2")  # type: ignore[call-arg]
+
+    decoy.when(labware_view.get_all()).then_return([])
+    decoy.when(module_view.get_all()).then_return([module_1, module_2])
+    decoy.when(module_view.get_overall_height("module-id-1")).then_return(42.0)
+    decoy.when(module_view.get_overall_height("module-id-2")).then_return(1337.0)
+
+    result = subject.get_all_labware_highest_z()
+
+    assert result == 1337.0
+
+
 def test_get_labware_position(
     decoy: Decoy,
     well_plate_def: LabwareDefinition,

api/tests/opentrons/protocol_engine/state/test_module_view.py

@@ -1174,3 +1174,33 @@ def test_thermocycler_validate_target_lid_temperature_raises(
 
     with pytest.raises(errors.InvalidTargetTemperatureError):
         subject.validate_target_lid_temperature(input_temperature)
+
+
+@pytest.mark.parametrize(
+    ("module_definition", "expected_height"),
+    [
+        (lazy_fixture("thermocycler_v1_def"), 98.0),
+        (lazy_fixture("tempdeck_v1_def"), 84.0),
+        (lazy_fixture("tempdeck_v2_def"), 84.0),
+        (lazy_fixture("magdeck_v1_def"), 110.152),
+        (lazy_fixture("magdeck_v2_def"), 110.152),
+        (lazy_fixture("heater_shaker_v1_def"), 82.0),
+    ],
+)
+def test_get_overall_height(
+    module_definition: ModuleDefinition,
+    expected_height: float,
+) -> None:
+    """It should get a module's overall height."""
+    subject = make_module_view(
+        slot_by_module_id={"module-id": DeckSlotName.SLOT_7},
+        hardware_by_module_id={
+            "module-id": HardwareModule(
+                serial_number="serial-number",
+                definition=module_definition,
+            )
+        },
+    )
+
+    result = subject.get_overall_height("module-id")
+    assert result == expected_height