fix(api): Flex 2 15 api fixed trash auto tipdrop support (#14225)

ensures that all OT2 protocols auto drop tips regardless of version, and that only Flex protocols 2.15 and prior auto drop tips

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

@@ -74,14 +74,23 @@ async def _drop_tip(self) -> None:
 
             await self._home_everything_except_plungers()
 
-            # OT-2 Will only ever use the Fixed Trash Addressable Area
-            if self._state_store.config.robot_type == "OT-2 Standard":
-                for pipette_id, tip in attached_tips:
-                    try:
+            for pipette_id, tip in attached_tips:
+                try:
+                    if self._state_store.labware.get_fixed_trash_id() == FIXED_TRASH_ID:
+                        # OT-2 and Flex 2.15 protocols will default to the Fixed Trash Labware
+                        await self._tip_handler.add_tip(pipette_id=pipette_id, tip=tip)
+                        await self._movement_handler.move_to_well(
+                            pipette_id=pipette_id,
+                            labware_id=FIXED_TRASH_ID,
+                            well_name="A1",
+                        )
+                        await self._tip_handler.drop_tip(
+                            pipette_id=pipette_id,
+                            home_after=False,
+                        )
+                    elif self._state_store.config.robot_type == "OT-2 Standard":
+                        # API 2.16 and above OT2 protocols use addressable areas
                         await self._tip_handler.add_tip(pipette_id=pipette_id, tip=tip)
-                        # TODO: Add ability to drop tip onto custom trash as well.
-                        # if API is 2.15 and below aka is should_have_fixed_trash
-
                         await self._movement_handler.move_to_addressable_area(
                             pipette_id=pipette_id,
                             addressable_area_name="fixedTrash",
@@ -90,21 +99,19 @@ async def _drop_tip(self) -> None:
                             speed=None,
                             minimum_z_height=None,
                         )
-
                         await self._tip_handler.drop_tip(
                             pipette_id=pipette_id,
                             home_after=False,
                         )
+                    else:
+                        log.debug(
+                            "Flex Protocols API Version 2.16 and beyond do not support automatic tip dropping at this time."
+                        )
 
-                    except HwPipetteNotAttachedError:
-                        # this will happen normally during protocol analysis, but
-                        # should not happen during an actual run
-                        log.debug(f"Pipette ID {pipette_id} no longer attached.")
-
-            else:
-                log.debug(
-                    "Flex protocols do not support automatic tip dropping at this time."
-                )
+                except HwPipetteNotAttachedError:
+                    # this will happen normally during protocol analysis, but
+                    # should not happen during an actual run
+                    log.debug(f"Pipette ID {pipette_id} no longer attached.")
 
     async def do_halt(self, disengage_before_stopping: bool = False) -> None:
         """Issue a halt signal to the hardware API.

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

@@ -15,7 +15,12 @@
     TipHandler,
     HardwareStopper,
 )
-from opentrons.protocol_engine.types import MotorAxis, TipGeometry, PostRunHardwareState
+from opentrons.protocol_engine.types import (
+    MotorAxis,
+    TipGeometry,
+    PostRunHardwareState,
+    AddressableOffsetVector,
+)
 
 if TYPE_CHECKING:
     from opentrons.hardware_control.ot3api import OT3API
@@ -229,3 +234,107 @@ async def test_hardware_stopping_sequence_with_gripper(
         ),
         await ot3_hardware_api.stop(home_after=True),
     )
+
+
+@pytest.mark.ot3_only
+async def test_hardware_stopping_sequence_with_fixed_trash(
+    decoy: Decoy,
+    state_store: StateStore,
+    ot3_hardware_api: OT3API,
+    movement: MovementHandler,
+    mock_tip_handler: TipHandler,
+) -> None:
+    """It should stop the hardware, and home the robot. Flex no longer performs automatic drop tip."""
+    subject = HardwareStopper(
+        hardware_api=ot3_hardware_api,
+        state_store=state_store,
+        movement=movement,
+        tip_handler=mock_tip_handler,
+    )
+    decoy.when(state_store.pipettes.get_all_attached_tips()).then_return(
+        [
+            ("pipette-id", TipGeometry(length=1.0, volume=2.0, diameter=3.0)),
+        ]
+    )
+    decoy.when(state_store.labware.get_fixed_trash_id()).then_return("fixedTrash")
+    decoy.when(state_store.config.use_virtual_gripper).then_return(False)
+    decoy.when(ot3_hardware_api.has_gripper()).then_return(True)
+
+    await subject.do_stop_and_recover(
+        drop_tips_after_run=True,
+        post_run_hardware_state=PostRunHardwareState.HOME_AND_STAY_ENGAGED,
+    )
+
+    decoy.verify(
+        await ot3_hardware_api.stop(home_after=False),
+        await ot3_hardware_api.home_z(mount=OT3Mount.GRIPPER),
+        await movement.home(
+            axes=[MotorAxis.X, MotorAxis.Y, MotorAxis.LEFT_Z, MotorAxis.RIGHT_Z]
+        ),
+        await mock_tip_handler.add_tip(
+            pipette_id="pipette-id",
+            tip=TipGeometry(length=1.0, volume=2.0, diameter=3.0),
+        ),
+        await movement.move_to_well(
+            pipette_id="pipette-id",
+            labware_id="fixedTrash",
+            well_name="A1",
+        ),
+        await mock_tip_handler.drop_tip(
+            pipette_id="pipette-id",
+            home_after=False,
+        ),
+        await ot3_hardware_api.stop(home_after=True),
+    )
+
+
+async def test_hardware_stopping_sequence_with_OT2_addressable_area(
+    decoy: Decoy,
+    state_store: StateStore,
+    hardware_api: HardwareAPI,
+    movement: MovementHandler,
+    mock_tip_handler: TipHandler,
+) -> None:
+    """It should stop the hardware, and home the robot. Flex no longer performs automatic drop tip."""
+    subject = HardwareStopper(
+        hardware_api=hardware_api,
+        state_store=state_store,
+        movement=movement,
+        tip_handler=mock_tip_handler,
+    )
+    decoy.when(state_store.pipettes.get_all_attached_tips()).then_return(
+        [
+            ("pipette-id", TipGeometry(length=1.0, volume=2.0, diameter=3.0)),
+        ]
+    )
+    decoy.when(state_store.config.robot_type).then_return("OT-2 Standard")
+    decoy.when(state_store.config.use_virtual_gripper).then_return(False)
+
+    await subject.do_stop_and_recover(
+        drop_tips_after_run=True,
+        post_run_hardware_state=PostRunHardwareState.HOME_AND_STAY_ENGAGED,
+    )
+
+    decoy.verify(
+        await hardware_api.stop(home_after=False),
+        await movement.home(
+            axes=[MotorAxis.X, MotorAxis.Y, MotorAxis.LEFT_Z, MotorAxis.RIGHT_Z]
+        ),
+        await mock_tip_handler.add_tip(
+            pipette_id="pipette-id",
+            tip=TipGeometry(length=1.0, volume=2.0, diameter=3.0),
+        ),
+        await movement.move_to_addressable_area(
+            pipette_id="pipette-id",
+            addressable_area_name="fixedTrash",
+            offset=AddressableOffsetVector(x=0, y=0, z=0),
+            force_direct=False,
+            speed=None,
+            minimum_z_height=None,
+        ),
+        await mock_tip_handler.drop_tip(
+            pipette_id="pipette-id",
+            home_after=False,
+        ),
+        await hardware_api.stop(home_after=True),
+    )

robot-server/robot_server/runs/engine_store.py

@@ -188,9 +188,6 @@ async def create(
 
         post_run_hardware_state = PostRunHardwareState.HOME_AND_STAY_ENGAGED
         drop_tips_after_run = True
-        if self._robot_type == "OT-3 Standard":
-            post_run_hardware_state = PostRunHardwareState.HOME_AND_STAY_ENGAGED
-            drop_tips_after_run = False
 
         runner = create_protocol_runner(
             protocol_engine=engine,