refactor(api): slightly faster simulation (#9821)

* cache thermocycler presense to avoid linear search

* cache check names

* comments. more caching.

* thermocycler_present attribute test and fix.

* constants.

* move lru_cache to ul_per_mm

api/src/opentrons/hardware_control/pipette.py

@@ -1,5 +1,7 @@
 from __future__ import annotations
 
+import functools
+
 """ Classes and functions for pipette state tracking
 """
 from dataclasses import asdict, replace
@@ -287,6 +289,9 @@ def remove_tip(self) -> None:
     def has_tip(self) -> bool:
         return self._has_tip
 
+    # Cache max is chosen somewhat arbitrarily. With a float is input we don't
+    # want this to unbounded.
+    @functools.lru_cache(maxsize=100)
     def ul_per_mm(self, ul: float, action: UlPerMmAction) -> float:
         sequence = self._config.ul_per_mm[action]
         return pipette_config.piecewise_volume_conversion(ul, sequence)

api/src/opentrons/protocols/context/simulator/instrument_context.py

@@ -4,9 +4,9 @@
 from opentrons.hardware_control import NoTipAttachedError, TipAttachedError
 from opentrons.hardware_control.dev_types import PipetteDict
 from opentrons.hardware_control.types import HardwareAction
+from opentrons.protocols.api_support.labware_like import LabwareLike
 from opentrons.protocols.api_support.types import APIVersion
 from opentrons.protocols.api_support.definitions import MAX_SUPPORTED_VERSION
-from opentrons.protocols.api_support.labware_like import LabwareLike
 from opentrons.protocols.api_support.util import FlowRates, PlungerSpeeds, Clearances
 from opentrons.protocols.geometry import planning
 from opentrons.protocols.context.instrument import AbstractInstrument

api/src/opentrons/protocols/geometry/deck.py

@@ -1,3 +1,4 @@
+import functools
 import logging
 from collections import UserDict
 from dataclasses import dataclass
@@ -57,6 +58,7 @@ def __init__(self, load_name: Optional[str] = None) -> None:
             load_name = deck_type()
         self._definition = load_deck(load_name, 2)
         self._load_fixtures()
+        self._thermocycler_present = False
 
     def _load_fixtures(self):
         for f in self._definition["locations"]["fixtures"]:
@@ -67,6 +69,7 @@ def _load_fixtures(self):
             self.__setitem__(slot_name, loaded_f)
 
     @staticmethod
+    @functools.lru_cache(20)
     def _assure_int(key: object) -> int:
         if isinstance(key, str):
             return int(key)
@@ -97,6 +100,10 @@ def __delitem__(self, key: types.DeckLocation) -> None:
         self.data[checked_key] = None
         if old:
             self.recalculate_high_z()
+            # Update the thermocycler present member
+            self._thermocycler_present = any(
+                isinstance(item, ThermocyclerGeometry) for item in self.data.values()
+            )
 
     def __setitem__(self, key: types.DeckLocation, val: DeckItem) -> None:
         slot_key_int = self._check_name(key)
@@ -125,6 +132,9 @@ def __setitem__(self, key: types.DeckLocation, val: DeckItem) -> None:
             )
         self.data[slot_key_int] = val
         self._highest_z = max(val.highest_z, self._highest_z)
+        self._thermocycler_present = any(
+            isinstance(item, ThermocyclerGeometry) for item in self.data.values()
+        )
 
     def __contains__(self, key: object) -> bool:
         try:
@@ -295,3 +305,8 @@ def get_item_covered_slot_keys(sk, i):
             if item_slot_keys.issubset(covered_sks):
                 colliding_items.setdefault(sk, []).append(i)
         return colliding_items
+
+    @property
+    def thermocycler_present(self) -> bool:
+        """Is a thermocycler present on the deck."""
+        return self._thermocycler_present

api/src/opentrons/protocols/geometry/planning.py

@@ -18,7 +18,6 @@
 from opentrons.protocols.api_support.labware_like import LabwareLike
 from opentrons.protocols.geometry.deck import Deck
 from opentrons.protocols.geometry.module_geometry import (
-    ThermocyclerGeometry,
     ModuleGeometry,
 )
 
@@ -34,7 +33,7 @@ def max_many(*args):
     return functools.reduce(max, args[1:], args[0])
 
 
-BAD_PAIRS = [
+BAD_PAIRS = {
     ("1", "12"),
     ("12", "1"),
     ("4", "12"),
@@ -49,7 +48,7 @@ def max_many(*args):
     ("11", "4"),
     ("1", "11"),
     ("11", "1"),
-]
+}
 
 
 def should_dodge_thermocycler(
@@ -61,7 +60,7 @@ def should_dodge_thermocycler(
 
     Returns True if we need to dodge, False otherwise
     """
-    if any([isinstance(item, ThermocyclerGeometry) for item in deck.values()]):
+    if deck.thermocycler_present:
         transit = (from_loc.labware.first_parent(), to_loc.labware.first_parent())
         # mypy doesn't like this because transit could be none, but it's
         # checked by value in BAD_PAIRS which has only strings

api/tests/opentrons/protocols/geometry/test_geometry.py

@@ -471,3 +471,25 @@ def test_get_non_fixture_slots():
     deck[4] = trough
 
     assert deck.get_non_fixture_slots() == [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11]
+
+
+def test_thermocycler_present() -> None:
+    """It should change when thermocycler is added/removed"""
+    deck = Deck()
+
+    # Empty deck. No thermocycler
+    assert not deck.thermocycler_present
+
+    # Add a thermocycler
+    deck[7] = module_geometry.load_module(
+        module_geometry.ThermocyclerModuleModel.THERMOCYCLER_V1, deck.position_for(7)
+    )
+    assert deck.thermocycler_present
+
+    # Add another labware
+    deck[4] = labware.load(trough_name, deck.position_for(4))
+    assert deck.thermocycler_present
+
+    # Remove thermocycler
+    del deck[7]
+    assert not deck.thermocycler_present