feat(api): add command to configure liquid class in Protocol Engine

Rather than importing the concept of liquid classes to pipette state, we should just add a command to update the static configs from the user facing python API.
Opentrons · Sep 6, 2023 · 47b291e · 47b291e
1 parent 431ac83
commit 47b291e
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Showing 4 changed files with 29 additions and 3 deletions.
diff --git a/api/src/opentrons/protocol_engine/actions/__init__.py b/api/src/opentrons/protocol_engine/actions/__init__.py
@@ -25,6 +25,7 @@
     ResetTipsAction,
     SetPipetteMovementSpeedAction,
     AddPipetteConfigAction,
+    UpdateLiquidClassAction,
 )
 
 __all__ = [
@@ -50,6 +51,7 @@
     "ResetTipsAction",
     "SetPipetteMovementSpeedAction",
     "AddPipetteConfigAction",
+    "UpdateLiquidClassAction",
     # action payload values
     "PauseSource",
     "FinishErrorDetails",

diff --git a/api/src/opentrons/protocol_engine/actions/actions.py b/api/src/opentrons/protocol_engine/actions/actions.py
@@ -189,6 +189,15 @@ class AddPipetteConfigAction:
     config: pipette_data_provider.LoadedStaticPipetteData
 
 
+@dataclass(frozen=True)
+class UpdateLiquidClassAction:
+    """Update a pipette's current static config class based on a new liquid class."""
+
+    pipette_id: str
+    serial_number: str
+    config: pipette_data_provider.LoadedStaticPipetteData
+
+
 Action = Union[
     PlayAction,
     PauseAction,
@@ -206,4 +215,5 @@ class AddPipetteConfigAction:
     ResetTipsAction,
     SetPipetteMovementSpeedAction,
     AddPipetteConfigAction,
+    UpdateLiquidClassAction,
 ]
diff --git a/api/src/opentrons/protocol_engine/resources/pipette_data_provider.py b/api/src/opentrons/protocol_engine/resources/pipette_data_provider.py
@@ -35,6 +35,7 @@ class LoadedStaticPipetteData:
 
 def get_virtual_pipette_static_config(
     pipette_name: PipetteName,
+    liquid_class: pip_types.LiquidClasses = pip_types.LiquidClasses.default,
 ) -> LoadedStaticPipetteData:
     """Get the config for a virtual pipette, given only the pipette name."""
     pipette_model = pipette_load_name.convert_pipette_name(pipette_name)
@@ -44,9 +45,6 @@ def get_virtual_pipette_static_config(
         pipette_model.pipette_version,
     )
 
-    # TODO the liquid classes should be made configurable
-    # in a follow-up PR.
-    liquid_class = pip_types.LiquidClasses.default
     tip_configuration = config.liquid_properties[liquid_class].supported_tips[
         pip_types.PipetteTipType(config.liquid_properties[liquid_class].max_volume)
     ]

diff --git a/api/src/opentrons/protocol_engine/state/pipettes.py b/api/src/opentrons/protocol_engine/state/pipettes.py
@@ -42,6 +42,7 @@
     SetPipetteMovementSpeedAction,
     UpdateCommandAction,
     AddPipetteConfigAction,
+    UpdateLiquidClassAction,
 )
 from .abstract_store import HasState, HandlesActions
 
@@ -133,6 +134,21 @@ def handle_action(self, action: Action) -> None:
                 nozzle_offset_z=config.nozzle_offset_z,
             )
             self._state.flow_rates_by_id[action.pipette_id] = config.flow_rates
+        elif isinstance(action, UpdateLiquidClassAction):
+            config = action.config
+            self._state.static_config_by_id[action.pipette_id] = StaticPipetteConfig(
+                serial_number=action.serial_number,
+                model=config.model,
+                display_name=config.display_name,
+                min_volume=config.min_volume,
+                max_volume=config.max_volume,
+                channels=config.channels,
+                tip_configuration_lookup_table=config.tip_configuration_lookup_table,
+                nominal_tip_overlap=config.nominal_tip_overlap,
+                home_position=config.home_position,
+                nozzle_offset_z=config.nozzle_offset_z,
+            )
+            self._state.flow_rates_by_id[action.pipette_id] = config.flow_rates
 
     def _handle_command(self, command: Command) -> None:  # noqa: ANN101, C901
         self._update_current_well(command)