fix(api): teardown non-existing tip detector shouldn't raise an error (…

…#13921)

* either return a TipDetector or raise an error
* fix tests

api/src/opentrons/hardware_control/backends/tip_presence_manager.py

@@ -78,14 +78,17 @@ def _unsubscribe() -> None:
                 unsub()
                 self.set_unsub(mount, None)
 
-        detector = self.get_detector(mount)
-        if detector:
-            _unsubscribe()
+        try:
+            detector = self.get_detector(mount)
             detector.cleanup()
+        except TipDetectorNotFound:
+            pass
+        finally:
+            _unsubscribe()
             self.set_detector(mount, None)
 
     async def build_detector(self, mount: OT3Mount, sensor_count: int) -> None:
-        assert self.get_detector(mount) is None
+        assert self._detectors.get(self._get_key(mount), None) is None
         # set up and subscribe to the detector
         d = TipDetector(self._messenger, _mount_to_node(mount), sensor_count)
         # listens to the detector so we can immediately notify listeners
@@ -106,7 +109,7 @@ def _handle_tip_update(
     def current_tip_state(self, mount: OT3Mount) -> Optional[bool]:
         state = self._last_state[self._get_key(mount)]
         if state is None:
-            log.warning("Tip state for {mount} is unknown")
+            log.warning(f"Tip state for {mount} is unknown")
         return state
 
     @staticmethod

api/tests/opentrons/hardware_control/backends/test_tip_presence_manager.py → api/tests/opentrons/hardware_control/backends/test_ot3_tip_presence_manager.py

@@ -9,15 +9,15 @@
     types as tp_types,
 )
 from opentrons_hardware.firmware_bindings.constants import SensorId
-from opentrons_hardware.drivers import can_bus
+from opentrons_hardware.drivers.can_bus import CanMessenger
 
 from opentrons_shared_data.errors.exceptions import UnmatchedTipPresenceStates
 
 
 @pytest.fixture
-def can_messenger(decoy: Decoy) -> can_bus.CanMessenger:
+def can_messenger(decoy: Decoy) -> CanMessenger:
     """Build a decoyed can messenger."""
-    return decoy.mock(cls=can_bus.CanMessenger)
+    return decoy.mock(cls=CanMessenger)
 
 
 @pytest.fixture
@@ -58,7 +58,7 @@ def tip_detector_controller(
 
 @pytest.fixture
 async def subject(
-    can_messenger: can_bus.CanMessenger,
+    can_messenger: CanMessenger,
     tip_detector: TipDetector,
 ) -> AsyncIterator[TipPresenceManager]:
     """Build a test subject using decoyed can messenger and tip detector."""

api/tests/opentrons/hardware_control/test_instruments.py

@@ -60,7 +60,9 @@ def dummy_instruments_ot3():
 
 
 @pytest.fixture
-def mock_api_verify_tip_presence() -> Iterator[mock.AsyncMock]:
+def mock_api_verify_tip_presence_ot3(request) -> Iterator[mock.AsyncMock]:
+    if request.config.getoption("--ot2-only"):
+        pytest.skip("testing ot2 only")
     from opentrons.hardware_control.ot3api import OT3API
 
     with mock.patch.object(OT3API, "verify_tip_presence") as mock_tip_presence:
@@ -70,11 +72,14 @@ def mock_api_verify_tip_presence() -> Iterator[mock.AsyncMock]:
 def wrap_build_ot3_sim():
     from opentrons.hardware_control.ot3api import OT3API
 
-    return OT3API.build_hardware_simulator
+    with mock.patch.object(
+        OT3API, "verify_tip_presence"
+    ) as mock_tip_presence:  # noqa: F841
+        return OT3API.build_hardware_simulator
 
 
 @pytest.fixture
-def ot3_api_obj(request, mock_api_verify_tip_presence):
+def ot3_api_obj(request, mock_api_verify_tip_presence_ot3):
     if request.config.getoption("--ot2-only"):
         pytest.skip("testing ot2 only")
     from opentrons.hardware_control.ot3api import OT3API
@@ -89,7 +94,7 @@ def ot3_api_obj(request, mock_api_verify_tip_presence):
     ],
     ids=["ot2", "ot3"],
 )
-def sim_and_instr(request, mock_api_verify_tip_presence):
+def sim_and_instr(request):
     if (
         request.node.get_closest_marker("ot2_only")
         and request.param[0] == wrap_build_ot3_sim