no op open and close lid if lid already in desired end position

Opentrons · Aug 12, 2024 · 9b01734 · 9b01734
1 parent 91a3242
commit 9b01734
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Showing 3 changed files with 38 additions and 13 deletions.
diff --git a/api/docs/v2/conf.py b/api/docs/v2/conf.py
@@ -445,7 +445,7 @@
     ("py:class", r".*protocol_api\.config.*"),
     ("py:class", r".*opentrons_shared_data.*"),
     ("py:class", r".*protocol_api._parameters.Parameters.*"),
-    ("py:class", r".*AbsorbanceReaderContext"),  # shh it's a secret (for now)
+    ("py:class", r".*AbsorbanceReaderContext"), 
 	("py:class", r".*RobotContext"),  # shh it's a secret (for now)
     ("py:class", r'.*AbstractLabware|APIVersion|LabwareLike|LoadedCoreMap|ModuleTypes|NoneType|OffDeckType|ProtocolCore|WellCore'),  # laundry list of not fully qualified things
 ]
diff --git a/api/src/opentrons/protocol_engine/commands/absorbance_reader/close_lid.py b/api/src/opentrons/protocol_engine/commands/absorbance_reader/close_lid.py
@@ -59,17 +59,30 @@ async def execute(
         mod_substate = self._state_view.modules.get_absorbance_reader_substate(
             module_id=params.moduleId
         )
-        # Make sure the lid is open
-        mod_substate.raise_if_lid_status_not_expected(lid_on_expected=False)
 
-        # Allow propagation of ModuleNotAttachedError.
-        _ = self._equipment.get_module_hardware_api(mod_substate.module_id)
-
-        # lid should currently be docked
+        # lid should currently be on the module
         assert mod_substate.lid_id is not None
         loaded_lid = self._state_view.labware.get(mod_substate.lid_id)
         assert labware_validation.is_absorbance_reader_lid(loaded_lid.loadName)
 
+        # If the lid is already Closed, No-op out
+        if mod_substate.is_lid_on:
+            current_offset_id = self._equipment.find_applicable_labware_offset_id(
+                labware_definition_uri=loaded_lid.definitionUri,
+                labware_location=loaded_lid.location,
+            )
+            return SuccessData(
+                public=CloseLidResult(
+                    lidId=loaded_lid.id,
+                    newLocation=loaded_lid.location,
+                    offsetId=current_offset_id,
+                ),
+                private=None,
+            )
+
+        # Allow propagation of ModuleNotAttachedError.
+        _ = self._equipment.get_module_hardware_api(mod_substate.module_id)
+
         current_location = loaded_lid.location
         validated_current_location = (
             self._state_view.geometry.ensure_valid_gripper_location(current_location)

diff --git a/api/src/opentrons/protocol_engine/commands/absorbance_reader/open_lid.py b/api/src/opentrons/protocol_engine/commands/absorbance_reader/open_lid.py
@@ -54,17 +54,29 @@ async def execute(self, params: OpenLidParams) -> SuccessData[OpenLidResult, Non
         mod_substate = self._state_view.modules.get_absorbance_reader_substate(
             module_id=params.moduleId
         )
-        # Make sure the lid is closed
-        mod_substate.raise_if_lid_status_not_expected(lid_on_expected=True)
-
-        # Allow propagation of ModuleNotAttachedError.
-        _ = self._equipment.get_module_hardware_api(mod_substate.module_id)
-
         # lid should currently be on the module
         assert mod_substate.lid_id is not None
         loaded_lid = self._state_view.labware.get(mod_substate.lid_id)
         assert labware_validation.is_absorbance_reader_lid(loaded_lid.loadName)
 
+        # If the lid is already Open, No-op out
+        if not mod_substate.is_lid_on:
+            current_offset_id = self._equipment.find_applicable_labware_offset_id(
+                labware_definition_uri=loaded_lid.definitionUri,
+                labware_location=loaded_lid.location,
+            )
+            return SuccessData(
+                public=OpenLidResult(
+                    lidId=loaded_lid.id,
+                    newLocation=loaded_lid.location,
+                    offsetId=current_offset_id,
+                ),
+                private=None,
+            )
+
+        # Allow propagation of ModuleNotAttachedError.
+        _ = self._equipment.get_module_hardware_api(mod_substate.module_id)
+
         current_location = loaded_lid.location
         validated_current_location = (
             self._state_view.geometry.ensure_valid_gripper_location(current_location)