fix(api): remove gratuitous tip state check prior to drop tip (#13450)

Before dropping tip in the hardware controller for ot2 and flex, we previously asserted the pipette hc tip state is has_tip=False. This provides no extra security as that tip state could be stale. in the worst case it prevents an intentional command to descend the tip ejector from occuring because of an inaccurate sw state. Co-authored-by: jbleon95 <[email protected]> Co-authored-by: Max Marrone <[email protected]>
Opentrons · Oct 9, 2023 · b18d31f · b18d31f
1 parent 6347454
commit b18d31f
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Showing 7 changed files with 57 additions and 39 deletions.
diff --git a/api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py b/api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py
@@ -896,7 +896,6 @@ def plan_check_drop_tip(  # type: ignore[no-untyped-def]
         home_after,
     ):
         instrument = self.get_pipette(mount)
-        self.ready_for_tip_action(instrument, HardwareAction.DROPTIP, mount)
 
         bottom = instrument.plunger_positions.bottom
         droptip = instrument.plunger_positions.drop_tip

diff --git a/api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py b/api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py
@@ -880,7 +880,6 @@ def plan_check_drop_tip(
         home_after: bool,
     ) -> Tuple[DropTipSpec, Callable[[], None]]:
         instrument = self.get_pipette(mount)
-        self.ready_for_tip_action(instrument, HardwareAction.DROPTIP, mount)
 
         is_96_chan = instrument.channels == 96
 

diff --git a/api/tests/opentrons/protocol_api_old/core/simulator/test_instrument_context.py b/api/tests/opentrons/protocol_api_old/core/simulator/test_instrument_context.py
@@ -62,15 +62,6 @@ def test_dispense_no_tip(subject: InstrumentCore) -> None:
         )
 
 
-def test_drop_tip_no_tip(subject: InstrumentCore, tip_rack: LabwareCore) -> None:
-    """It should raise an error if a tip is not attached."""
-    tip_core = tip_rack.get_well_core("A1")
-
-    subject.home()
-    with pytest.raises(UnexpectedTipRemovalError, match="Cannot perform DROPTIP"):
-        subject.drop_tip(location=None, well_core=tip_core, home_after=False)
-
-
 def test_blow_out_no_tip(subject: InstrumentCore, labware: LabwareCore) -> None:
     """It should raise an error if a tip is not attached."""
     with pytest.raises(UnexpectedTipRemovalError, match="Cannot perform BLOWOUT"):

diff --git a/robot-server/tests/integration/http_api/runs/test_json_v6_run_failure.tavern.yaml b/robot-server/tests/integration/http_api/runs/test_json_v6_run_failure.tavern.yaml
@@ -41,7 +41,7 @@ stages:
       strict:
         - json:off
 
-  - name: Wait for the protocol to complete
+  - name: Wait for the run to fail
     max_retries: 10
     delay_after: 0.1
     request:
@@ -54,16 +54,25 @@ stages:
       json:
         data:
           status: failed
+
+  - name: Verify the run contains the expected error
+    request:
+      url: '{ot2_server_base_url}/runs/{run_id}'
+      method: GET
+    response:
+      status_code: 200
+      strict:
+        - json:off
+      json:
+        data:
           errors:
             - id: !anystr
               createdAt: !anystr
-              errorType: 'UnexpectedTipRemovalError'
-              detail: 'Cannot perform DROPTIP without a tip attached.'
-              errorInfo:
-                mount: 'LEFT'
-                pipette_name: 'p10_single'
               errorCode: '3005'
-              wrappedErrors: []
+              errorType: TipNotAttachedError 
+              detail: Pipette should have a tip attached, but does not.
+              errorInfo: !anydict
+              wrappedErrors: !anylist
   - name: Verify commands contain the expected results
     request:
       url: '{ot2_server_base_url}/runs/{run_id}/commands'
@@ -85,7 +94,7 @@ stages:
             startedAt: !anystr
             completedAt: !anystr
             status: succeeded
-            params: { }
+            params: {}
           - id: !anystr
             key: !anystr
             commandType: loadLabware
@@ -114,32 +123,31 @@ stages:
               pipetteId: pipetteId
           - id: !anystr
             key: !anystr
-            commandType: dropTip
+            commandType: aspirate
             createdAt: !anystr
             startedAt: !anystr
             completedAt: !anystr
             status: failed
             error:
               id: !anystr
+              errorType: TipNotAttachedError
               createdAt: !anystr
-              errorType: 'UnexpectedTipRemovalError'
-              detail: 'Cannot perform DROPTIP without a tip attached.'
-              errorInfo:
-                mount: 'LEFT'
-                pipette_name: 'p10_single'
+              detail: Pipette should have a tip attached, but does not.
               errorCode: '3005'
-              wrappedErrors: []
+              errorInfo: !anydict
+              wrappedErrors: !anylist
             params:
               pipetteId: pipetteId
               labwareId: tipRackId
               wellName: A1
               wellLocation:
-                origin: default
+                origin: bottom
                 offset:
                   x: 0
                   y: 0
-                  z: 0
-              alternateDropLocation: false
+                  z: 1
+              flowRate: 3.78
+              volume: 100
           - id: !anystr
             key: !anystr
             commandType: pickUpTip

diff --git a/robot-server/tests/integration/http_api/runs/test_papi_v2_run_failure.tavern.yaml b/robot-server/tests/integration/http_api/runs/test_papi_v2_run_failure.tavern.yaml
@@ -41,7 +41,7 @@ stages:
       strict:
         - json:off
 
-  - name: Wait for the protocol to complete
+  - name: Wait for the run to fail
     max_retries: 10
     delay_after: 0.1
     request:
@@ -54,12 +54,24 @@ stages:
       json:
         data:
           status: failed
+
+  - name: Verify the run contains the expected error
+    request:
+      url: '{ot2_server_base_url}/runs/{run_id}'
+      method: GET
+    response:
+      status_code: 200
+      strict:
+        - json:off
+      json:
+        data:
           errors:
             - id: !anystr
               errorType: ExceptionInProtocolError
               createdAt: !anystr
-              detail: 'UnexpectedTipRemovalError [line 9]: Error 3005 UNEXPECTED_TIP_REMOVAL (UnexpectedTipRemovalError): Cannot perform DROPTIP without a tip attached.'
+              detail: 'UnexpectedTipRemovalError [line 9]: Error 3005 UNEXPECTED_TIP_REMOVAL (UnexpectedTipRemovalError): Cannot perform PREPARE_ASPIRATE without a tip attached.'
               errorCode: '4000'
+              errorInfo: !anydict
               wrappedErrors: !anylist
 
   - name: Verify commands contain the expected results
@@ -82,7 +94,7 @@ stages:
             startedAt: !anystr
             completedAt: !anystr
             status: succeeded
-            params: { }
+            params: {}
           - id: !anystr
             key: !anystr
             commandType: loadLabware
@@ -108,7 +120,7 @@ stages:
               mount: right
           - id: !anystr
             key: !anystr
-            commandType: dropTip
+            commandType: aspirate
             createdAt: !anystr
             startedAt: !anystr
             completedAt: !anystr
@@ -117,7 +129,7 @@ stages:
               id: !anystr
               errorType: LegacyContextCommandError
               createdAt: !anystr
-              detail: 'Cannot perform DROPTIP without a tip attached.'
+              detail: 'Cannot perform PREPARE_ASPIRATE without a tip attached.'
               errorCode: '3005'
               errorInfo: !anydict
               wrappedErrors: !anylist
@@ -126,9 +138,10 @@ stages:
               labwareId: !anystr
               wellName: A1
               wellLocation:
-                origin: default
+                origin: top
                 offset:
                   x: 0
                   y: 0
                   z: 0
-              alternateDropLocation: false
+              flowRate: 150
+              volume: 100
diff --git a/robot-server/tests/integration/protocols/runtime_error.py b/robot-server/tests/integration/protocols/runtime_error.py
@@ -6,4 +6,4 @@
 def run(ctx: ProtocolContext) -> None:
     tip_rack = ctx.load_labware("opentrons_96_tiprack_300ul", 1)
     pipette = ctx.load_instrument("p300_single", "right", [tip_rack])
-    pipette.drop_tip(tip_rack.wells()[0])
+    pipette.aspirate(location=tip_rack.wells()[0], volume=100)
diff --git a/robot-server/tests/integration/protocols/simple_v6_failure.json b/robot-server/tests/integration/protocols/simple_v6_failure.json
@@ -93,11 +93,19 @@
       }
     },
     {
-      "commandType": "dropTip",
+      "commandType": "aspirate",
       "params": {
         "pipetteId": "pipetteId",
         "labwareId": "tipRackId",
-        "wellName": "A1"
+        "wellName": "A1",
+        "volume": 100,
+        "wellLocation": {
+            "origin": "bottom",
+            "offset": {
+                "z": 1
+            }
+        },
+        "flowRate": 3.78
       }
     },
     {