Rename get_all_labware_highest_z() -> get_all_obstacle_highest_z().

api/src/opentrons/protocol_api/core/engine/protocol.py

@@ -612,7 +612,7 @@ def get_slot_center(self, slot_name: DeckSlotName) -> Point:
 
     def get_highest_z(self) -> float:
         """Get the highest Z point of all deck items."""
-        return self._engine_client.state.geometry.get_all_labware_highest_z()
+        return self._engine_client.state.geometry.get_all_obstacle_highest_z()
 
     def get_labware_cores(self) -> List[LabwareCore]:
         """Get all loaded labware cores."""

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

@@ -89,9 +89,8 @@ 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."""
+    def get_all_obstacle_highest_z(self) -> float:
+        """Get the highest Z-point across all obstacles that the instruments need to fly over."""
         highest_labware_z = max(
             (
                 self._get_highest_z_from_labware_data(lw_data)
@@ -134,7 +133,7 @@ def get_min_travel_z(
         ):
             min_travel_z = self.get_labware_highest_z(labware_id)
         else:
-            min_travel_z = self.get_all_labware_highest_z()
+            min_travel_z = self.get_all_obstacle_highest_z()
         if minimum_z_height:
             min_travel_z = max(min_travel_z, minimum_z_height)
         return min_travel_z

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

@@ -160,7 +160,7 @@ def get_movement_waypoints_to_addressable_area(
         # TODO(jbl 11-28-2023) This may need to change for partial tip configurations on a 96
         destination_cp = CriticalPoint.XY_CENTER
 
-        all_labware_highest_z = self._geometry.get_all_labware_highest_z()
+        all_labware_highest_z = self._geometry.get_all_obstacle_highest_z()
         if minimum_z_height is None:
             minimum_z_height = float("-inf")
         min_travel_z = max(all_labware_highest_z, minimum_z_height)
@@ -215,7 +215,7 @@ def get_movement_waypoints_to_coords(
                 Ignored if `direct` is True. If lower than the default height,
                 the default is used; this can only increase the height, not decrease it.
         """
-        all_labware_highest_z = self._geometry.get_all_labware_highest_z()
+        all_labware_highest_z = self._geometry.get_all_obstacle_highest_z()
         if additional_min_travel_z is None:
             additional_min_travel_z = float("-inf")
         min_travel_z = max(all_labware_highest_z, additional_min_travel_z)

api/tests/opentrons/protocol_api/core/engine/test_protocol_core.py

@@ -1552,7 +1552,7 @@ def test_get_highest_z(
 ) -> None:
     """It should return a slot center from engine state."""
     decoy.when(
-        mock_engine_client.state.geometry.get_all_labware_highest_z()
+        mock_engine_client.state.geometry.get_all_obstacle_highest_z()
     ).then_return(9001)
 
     result = subject.get_highest_z()

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

@@ -449,7 +449,7 @@ def test_get_all_labware_highest_z_no_equipment(
     decoy.when(labware_view.get_all()).then_return([])
     decoy.when(addressable_area_view.get_all()).then_return([])
 
-    result = subject.get_all_labware_highest_z()
+    result = subject.get_all_obstacle_highest_z()
 
     assert result == 0
 
@@ -524,7 +524,7 @@ def test_get_all_labware_highest_z(
 
     plate_z = subject.get_labware_highest_z("plate-id")
     reservoir_z = subject.get_labware_highest_z("reservoir-id")
-    all_z = subject.get_all_labware_highest_z()
+    all_z = subject.get_all_obstacle_highest_z()
 
     # Should exclude the off-deck plate.
     assert all_z == max(plate_z, reservoir_z)
@@ -585,7 +585,7 @@ def test_get_all_labware_highest_z_with_staging_area(
     )
 
     staging_z = subject.get_labware_highest_z("staging-id")
-    all_z = subject.get_all_labware_highest_z()
+    all_z = subject.get_all_obstacle_highest_z()
 
     # Should exclude the off-deck plate.
     assert all_z == staging_z
@@ -609,7 +609,7 @@ def test_get_all_labware_highest_z_with_modules(
     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()
+    result = subject.get_all_obstacle_highest_z()
 
     assert result == 1337.0
 
@@ -633,7 +633,7 @@ def test_get_all_labware_highest_z_with_addressable_area(
         1337.0
     )
 
-    result = subject.get_all_labware_highest_z()
+    result = subject.get_all_obstacle_highest_z()
 
     assert result == 1337.0
 

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

@@ -352,7 +352,7 @@ def test_get_movement_waypoints_to_addressable_area(
     decoy.when(
         addressable_area_view.get_addressable_area_move_to_location("area-name")
     ).then_return(Point(x=3, y=3, z=3))
-    decoy.when(geometry_view.get_all_labware_highest_z()).then_return(42)
+    decoy.when(geometry_view.get_all_obstacle_highest_z()).then_return(42)
 
     decoy.when(
         addressable_area_view.get_addressable_area_base_slot("area-name")
@@ -430,7 +430,7 @@ def test_get_movement_waypoints_to_coords(
     dest = Point(4, 5, 6)
     max_travel_z = 789
 
-    decoy.when(geometry_view.get_all_labware_highest_z()).then_return(
+    decoy.when(geometry_view.get_all_obstacle_highest_z()).then_return(
         all_labware_highest_z
     )
 
@@ -472,7 +472,7 @@ def test_get_movement_waypoints_to_coords_raises(
     subject: MotionView,
 ) -> None:
     """It should raise FailedToPlanMoveError if motion_planning.get_waypoints raises."""
-    decoy.when(geometry_view.get_all_labware_highest_z()).then_return(123)
+    decoy.when(geometry_view.get_all_obstacle_highest_z()).then_return(123)
     decoy.when(
         # TODO(mm, 2022-06-22): We should use decoy.matchers.Anything() for all
         # arguments. For some reason, Decoy does not match the call unless we