fixups from rebase

api/src/opentrons/protocol_engine/commands/robot/move_axes_relative.py

@@ -42,9 +42,7 @@ class MoveAxesRelativeResult(DestinationRobotPositionResult):
 
 
 class MoveAxesRelativeImplementation(
-    AbstractCommandImpl[
-        MoveAxesRelativeParams, SuccessData[MoveAxesRelativeResult, None]
-    ]
+    AbstractCommandImpl[MoveAxesRelativeParams, SuccessData[MoveAxesRelativeResult]]
 ):
     """MoveAxesRelative command implementation."""
 
@@ -59,7 +57,7 @@ def __init__(
 
     async def execute(
         self, params: MoveAxesRelativeParams
-    ) -> SuccessData[MoveAxesRelativeResult, None]:
+    ) -> SuccessData[MoveAxesRelativeResult]:
         # TODO (lc 08-16-2024) implement `move_axes` for OT 2 hardware controller
         # and then we can remove this validation.
         ensure_ot3_hardware(self._hardware_api)
@@ -69,7 +67,6 @@ async def execute(
         )
         return SuccessData(
             public=MoveAxesRelativeResult(position=current_position),
-            private=None,
         )
 
 

api/src/opentrons/protocol_engine/commands/robot/move_axes_to.py

@@ -45,7 +45,7 @@ class MoveAxesToResult(DestinationRobotPositionResult):
 
 
 class MoveAxesToImplementation(
-    AbstractCommandImpl[MoveAxesToParams, SuccessData[MoveAxesToResult, None]]
+    AbstractCommandImpl[MoveAxesToParams, SuccessData[MoveAxesToResult]]
 ):
     """MoveAxesTo command implementation."""
 
@@ -58,9 +58,7 @@ def __init__(
         self._gantry_mover = gantry_mover
         self._hardware_api = hardware_api
 
-    async def execute(
-        self, params: MoveAxesToParams
-    ) -> SuccessData[MoveAxesToResult, None]:
+    async def execute(self, params: MoveAxesToParams) -> SuccessData[MoveAxesToResult]:
         # TODO (lc 08-16-2024) implement `move_axes` for OT 2 hardware controller
         # and then we can remove this validation.
         ensure_ot3_hardware(self._hardware_api)
@@ -71,7 +69,6 @@ async def execute(
         )
         return SuccessData(
             public=MoveAxesToResult(position=current_position),
-            private=None,
         )
 
 

api/src/opentrons/protocol_engine/commands/robot/move_to.py

@@ -48,7 +48,7 @@ class MoveToResult(DestinationPositionResult):
 
 
 class MoveToImplementation(
-    AbstractCommandImpl[MoveToParams, SuccessData[MoveToResult, None]]
+    AbstractCommandImpl[MoveToParams, SuccessData[MoveToResult]]
 ):
     """MoveTo command implementation."""
 
@@ -59,13 +59,12 @@ def __init__(
     ) -> None:
         self._movement = movement
 
-    async def execute(self, params: MoveToParams) -> SuccessData[MoveToResult, None]:
+    async def execute(self, params: MoveToParams) -> SuccessData[MoveToResult]:
         x, y, z = await self._movement.move_mount_to(
             mount=params.mount, destination=params.destination, speed=params.speed
         )
         return SuccessData(
             public=MoveToResult(position=DeckPoint(x=x, y=y, z=z)),
-            private=None,
         )
 
 

api/src/opentrons/protocol_engine/execution/gantry_mover.py

@@ -190,7 +190,9 @@ def _critical_point_for(
         else:
             return self._hardware_api.critical_point_for(mount)
 
-    def _get_gantry_offsets_for_robot_type(self) -> Tuple[Point, Point, Optional[Point]]:
+    def _get_gantry_offsets_for_robot_type(
+        self,
+    ) -> Tuple[Point, Point, Optional[Point]]:
         if isinstance(self._hardware_api.config, OT3Config):
             return (
                 Point(*self._hardware_api.config.left_mount_offset),
@@ -334,7 +336,11 @@ async def move_axes(
                     f"The absolute position is: {pos_hw} and hw pos map is {pos_hw}."
                 )
             log.info(f"The calculated move {pos_hw} and {mount}")
-            left_offset, right_offset, gripper_offset = self._get_gantry_offsets_for_robot_type()
+            (
+                left_offset,
+                right_offset,
+                gripper_offset,
+            ) = self._get_gantry_offsets_for_robot_type()
             absolute_pos = target_axis_map_from_absolute(
                 mount,
                 pos_hw,
@@ -530,10 +536,11 @@ def get_max_travel_z_from_mount(self, mount: MountType) -> float:
             )
         else:
             instrument_height = VIRTUAL_MAX_OT3_HEIGHT
-        tip_length = (
-            self._state_view.tips.get_tip_length(pipette.id) if pipette else 0.0
-        )
-
+        if pipette:
+            tip = self._state_view.pipettes.get_attached_tip(pipette_id=pipette.id)
+            tip_length = tip.length if tip is not None else 0.0
+        else:
+            tip_length = 0.0
         return instrument_height - tip_length
 
     async def move_axes(

api/tests/opentrons/protocol_engine/commands/robot/test_move_axes_relative_to.py

@@ -49,6 +49,5 @@ async def test_move_axes_to_implementation(
     assert result == SuccessData(
         public=MoveAxesRelativeResult(
             position={MotorAxis.X: 10, MotorAxis.Y: 10, MotorAxis.EXTENSION_Z: 20}
-        ),
-        private=None,
+        )
     )

api/tests/opentrons/protocol_engine/commands/robot/test_move_axes_to.py

@@ -51,6 +51,5 @@ async def test_move_axes_to_implementation(
     assert result == SuccessData(
         public=MoveAxesToResult(
             position={MotorAxis.X: 10, MotorAxis.Y: 10, MotorAxis.EXTENSION_Z: 20}
-        ),
-        private=None,
+        )
     )

api/tests/opentrons/protocol_engine/commands/robot/test_move_to.py

@@ -43,6 +43,5 @@ async def test_move_to_implementation(
     result = await subject.execute(params=params)
 
     assert result == SuccessData(
-        public=MoveToResult(position=DeckPoint(x=4.44, y=5.55, z=6.66)),
-        private=None,
+        public=MoveToResult(position=DeckPoint(x=4.44, y=5.55, z=6.66))
     )

api/tests/opentrons/protocol_engine/execution/test_gantry_mover.py

@@ -510,17 +510,21 @@ async def test_home_z(
         ],
     ],
 )
+@pytest.mark.ot3_only
 async def test_move_axes(
     decoy: Decoy,
     ot3_hardware_api: OT3API,
-    hardware_subject: HardwareGantryMover,
+    mock_state_view: StateView,
     axis_map: Dict[MotorAxis, float],
     critical_point: Optional[Dict[MotorAxis, float]],
     expected_mount: Mount,
     relative_move: bool,
     call_to_hw: "OrderedDict[HardwareAxis, float]",
     final_position: Dict[HardwareAxis, float],
 ) -> None:
+    subject = HardwareGantryMover(
+        state_view=mock_state_view, hardware_api=ot3_hardware_api
+    )
     curr_pos = {
         HardwareAxis.X: 10.0,
         HardwareAxis.Y: 15.0,
@@ -561,13 +565,13 @@ def _current_position(mount: Mount, refresh: bool) -> Dict[HardwareAxis, float]:
             Point(1, 1, 1)
         )
 
-    pos = await hardware_subject.move_axes(axis_map, critical_point, 100, relative_move)
+    pos = await subject.move_axes(axis_map, critical_point, 100, relative_move)
     decoy.verify(
         await ot3_hardware_api.move_axes(position=call_to_hw, speed=100),
         times=1,
     )
     assert pos == {
-        hardware_subject._hardware_axis_to_motor_axis(ax): pos
+        subject._hardware_axis_to_motor_axis(ax): pos
         for ax, pos in final_position.items()
     }