refactor(api): Save full nozzle map configuration and update state st…

…ore accordingly (#14529)

# Overview
To make a few operations easier in protocol engine, we will keep the
nozzle map in state always. I will think about this further in RSS-443,
but for now it should unblock other partial tip work.

api/src/opentrons/protocol_engine/commands/configuring_common.py

@@ -1,7 +1,6 @@
 """Common configuration command base models."""
 
 from pydantic import BaseModel, Field
-from typing import Optional
 from dataclasses import dataclass
 from opentrons.hardware_control.nozzle_manager import (
     NozzleMap,
@@ -22,7 +21,7 @@ class PipetteNozzleLayoutResultMixin(BaseModel):
     """A nozzle layout result for updating the pipette state."""
 
     pipette_id: str
-    nozzle_map: Optional[NozzleMap] = Field(
-        default=None,
+    nozzle_map: NozzleMap = Field(
+        ...,
         description="A dataclass object holding information about the current nozzle configuration.",
     )

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

@@ -202,7 +202,6 @@ async def load_pipette(
         )
 
         pipette_id = pipette_id or self._model_utils.generate_id()
-
         if not use_virtual_pipettes:
             cache_request = {mount.to_hw_mount(): pipette_name_value}
 
@@ -244,7 +243,6 @@ async def load_pipette(
                 )
             )
         serial = serial_number or ""
-
         return LoadedPipetteData(
             pipette_id=pipette_id,
             serial_number=serial,
@@ -390,7 +388,7 @@ async def configure_nozzle_layout(
         primary_nozzle: Optional[str] = None,
         front_right_nozzle: Optional[str] = None,
         back_left_nozzle: Optional[str] = None,
-    ) -> Optional[NozzleMap]:
+    ) -> NozzleMap:
         """Ensure the requested nozzle layout is compatible with the current pipette.
 
         Args:

api/src/opentrons/protocol_engine/resources/pipette_data_provider.py

@@ -18,7 +18,6 @@
 )
 
 from ..types import FlowRates
-from ...types import Point
 
 
 @dataclass(frozen=True)
@@ -37,8 +36,7 @@ class LoadedStaticPipetteData:
         float, pipette_definition.SupportedTipsDefinition
     ]
     nominal_tip_overlap: Dict[str, float]
-    back_left_nozzle_offset: Point
-    front_right_nozzle_offset: Point
+    nozzle_map: NozzleMap
 
 
 class VirtualPipetteDataProvider:
@@ -173,8 +171,7 @@ def _get_virtual_pipette_static_config_by_model(
             nominal_tip_overlap=config.liquid_properties[
                 liquid_class
             ].tip_overlap_dictionary,
-            back_left_nozzle_offset=nozzle_manager.current_configuration.back_left_nozzle_offset,
-            front_right_nozzle_offset=nozzle_manager.current_configuration.front_right_nozzle_offset,
+            nozzle_map=nozzle_manager.current_configuration,
         )
 
     def get_virtual_pipette_static_config(
@@ -208,11 +205,5 @@ def get_pipette_static_config(pipette_dict: PipetteDict) -> LoadedStaticPipetteD
         # https://opentrons.atlassian.net/browse/RCORE-655
         home_position=0,
         nozzle_offset_z=0,
-        # TODO (spp): Confirm that the nozzle map is populated by the hardware api by default
-        back_left_nozzle_offset=pipette_dict[
-            "current_nozzle_map"
-        ].back_left_nozzle_offset,
-        front_right_nozzle_offset=pipette_dict[
-            "current_nozzle_map"
-        ].front_right_nozzle_offset,
+        nozzle_map=pipette_dict["current_nozzle_map"],
     )

api/src/opentrons/protocol_engine/state/pipettes.py

@@ -102,6 +102,7 @@ class StaticPipetteConfig:
     home_position: float
     nozzle_offset_z: float
     bounding_nozzle_offsets: BoundingNozzlesOffsets
+    default_nozzle_map: NozzleMap
 
 
 @dataclass
@@ -167,11 +168,15 @@ def _handle_command(  # noqa: C901
                 home_position=config.home_position,
                 nozzle_offset_z=config.nozzle_offset_z,
                 bounding_nozzle_offsets=BoundingNozzlesOffsets(
-                    back_left_offset=config.back_left_nozzle_offset,
-                    front_right_offset=config.front_right_nozzle_offset,
+                    back_left_offset=config.nozzle_map.back_left_nozzle_offset,
+                    front_right_offset=config.nozzle_map.front_right_nozzle_offset,
                 ),
+                default_nozzle_map=config.nozzle_map,
             )
             self._state.flow_rates_by_id[private_result.pipette_id] = config.flow_rates
+            self._state.nozzle_configuration_by_id[
+                private_result.pipette_id
+            ] = config.nozzle_map
         elif isinstance(private_result, PipetteNozzleLayoutResultMixin):
             self._state.nozzle_configuration_by_id[
                 private_result.pipette_id
@@ -188,7 +193,11 @@ def _handle_command(  # noqa: C901
             self._state.aspirated_volume_by_id[pipette_id] = None
             self._state.movement_speed_by_id[pipette_id] = None
             self._state.attached_tip_by_id[pipette_id] = None
-            self._state.nozzle_configuration_by_id[pipette_id] = None
+            static_config = self._state.static_config_by_id.get(pipette_id)
+            if static_config:
+                self._state.nozzle_configuration_by_id[
+                    pipette_id
+                ] = static_config.default_nozzle_map
 
         elif isinstance(command.result, (AspirateResult, AspirateInPlaceResult)):
             pipette_id = command.params.pipetteId

api/tests/opentrons/protocol_engine/commands/test_configure_for_volume.py

@@ -16,7 +16,8 @@
     ConfigureForVolumePrivateResult,
     ConfigureForVolumeImplementation,
 )
-from opentrons.types import Point
+from opentrons_shared_data.pipette.dev_types import PipetteNameType
+from ..pipette_fixtures import get_default_nozzle_map
 
 
 async def test_configure_for_volume_implementation(
@@ -44,8 +45,7 @@ async def test_configure_for_volume_implementation(
         ),
         tip_configuration_lookup_table={},
         nominal_tip_overlap={},
-        back_left_nozzle_offset=Point(x=1, y=2, z=3),
-        front_right_nozzle_offset=Point(x=4, y=5, z=6),
+        nozzle_map=get_default_nozzle_map(PipetteNameType.P300_MULTI),
     )
 
     decoy.when(

api/tests/opentrons/protocol_engine/commands/test_configure_nozzle_layout.py

@@ -1,7 +1,7 @@
 """Test configure nozzle layout commands."""
 import pytest
 from decoy import Decoy
-from typing import Union, Optional, Dict
+from typing import Union, Dict
 from collections import OrderedDict
 
 from opentrons.protocol_engine.execution import (
@@ -73,11 +73,6 @@
             ),
             {"primary_nozzle": "A1", "front_right_nozzle": "E1"},
         ],
-        [
-            AllNozzleLayoutConfiguration(),
-            None,
-            {},
-        ],
     ],
 )
 async def test_configure_nozzle_layout_implementation(
@@ -90,7 +85,7 @@ async def test_configure_nozzle_layout_implementation(
         QuadrantNozzleLayoutConfiguration,
         SingleNozzleLayoutConfiguration,
     ],
-    expected_nozzlemap: Optional[NozzleMap],
+    expected_nozzlemap: NozzleMap,
     nozzle_params: Dict[str, str],
 ) -> None:
     """A ConfigureForVolume command should have an execution implementation."""

api/tests/opentrons/protocol_engine/commands/test_load_pipette.py

@@ -4,7 +4,7 @@
 
 from opentrons_shared_data.pipette.dev_types import PipetteNameType
 from opentrons_shared_data.robot.dev_types import RobotType
-from opentrons.types import MountType, Point
+from opentrons.types import MountType
 
 from opentrons.protocol_engine.errors import InvalidSpecificationForRobotTypeError
 from opentrons.protocol_engine.types import FlowRates
@@ -19,6 +19,7 @@
     LoadPipettePrivateResult,
     LoadPipetteImplementation,
 )
+from ..pipette_fixtures import get_default_nozzle_map
 
 
 async def test_load_pipette_implementation(
@@ -41,8 +42,7 @@ async def test_load_pipette_implementation(
         ),
         tip_configuration_lookup_table={},
         nominal_tip_overlap={},
-        back_left_nozzle_offset=Point(x=1, y=2, z=3),
-        front_right_nozzle_offset=Point(x=4, y=5, z=6),
+        nozzle_map=get_default_nozzle_map(PipetteNameType.P300_MULTI),
     )
     data = LoadPipetteParams(
         pipetteName=PipetteNameType.P300_SINGLE,
@@ -98,8 +98,7 @@ async def test_load_pipette_implementation_96_channel(
         ),
         tip_configuration_lookup_table={},
         nominal_tip_overlap={},
-        back_left_nozzle_offset=Point(x=1, y=2, z=3),
-        front_right_nozzle_offset=Point(x=4, y=5, z=6),
+        nozzle_map=get_default_nozzle_map(PipetteNameType.P1000_96),
     )
 
     decoy.when(

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

@@ -10,7 +10,7 @@
 from opentrons_shared_data.labware.dev_types import LabwareUri
 
 from opentrons.calibration_storage.helpers import uri_from_details
-from opentrons.types import Mount as HwMount, MountType, DeckSlotName, Point
+from opentrons.types import Mount as HwMount, MountType, DeckSlotName
 from opentrons.hardware_control import HardwareControlAPI
 from opentrons.hardware_control.modules import (
     TempDeck,
@@ -56,6 +56,7 @@
     LoadedPipetteData,
     LoadedModuleData,
 )
+from ..pipette_fixtures import get_default_nozzle_map
 
 
 def _make_config(use_virtual_modules: bool) -> Config:
@@ -147,8 +148,7 @@ def loaded_static_pipette_data(
         nominal_tip_overlap={"default": 9.87},
         home_position=10.11,
         nozzle_offset_z=12.13,
-        back_left_nozzle_offset=Point(x=1, y=2, z=3),
-        front_right_nozzle_offset=Point(x=4, y=5, z=6),
+        nozzle_map=get_default_nozzle_map(PipetteNameType.P300_SINGLE),
     )
 
 

api/tests/opentrons/protocol_engine/pipette_fixtures.py

@@ -3,6 +3,9 @@
 from collections import OrderedDict
 
 from opentrons.types import Point
+from opentrons.hardware_control.nozzle_manager import NozzleMap
+from opentrons_shared_data.pipette.dev_types import PipetteNameType
+
 
 NINETY_SIX_ROWS = OrderedDict(
     (
@@ -317,3 +320,34 @@
         ("H1", Point(0.0, -31.5, 35.52)),
     )
 )
+
+
+def get_default_nozzle_map(pipette_type: PipetteNameType) -> NozzleMap:
+    """Get default nozzle map for a given pipette type."""
+    if "multi" in pipette_type.value:
+        return NozzleMap.build(
+            physical_nozzles=EIGHT_CHANNEL_MAP,
+            physical_rows=EIGHT_CHANNEL_ROWS,
+            physical_columns=EIGHT_CHANNEL_COLS,
+            starting_nozzle="A1",
+            back_left_nozzle="A1",
+            front_right_nozzle="A1",
+        )
+    elif "96" in pipette_type.value:
+        return NozzleMap.build(
+            physical_nozzles=NINETY_SIX_MAP,
+            physical_rows=NINETY_SIX_ROWS,
+            physical_columns=NINETY_SIX_COLS,
+            starting_nozzle="A1",
+            back_left_nozzle="A1",
+            front_right_nozzle="A1",
+        )
+    else:
+        return NozzleMap.build(
+            physical_nozzles=OrderedDict({"A1": Point(0, 0, 0)}),
+            physical_rows=OrderedDict({"A": ["A1"]}),
+            physical_columns=OrderedDict({"1": ["A1"]}),
+            starting_nozzle="A1",
+            back_left_nozzle="A1",
+            front_right_nozzle="A1",
+        )

api/tests/opentrons/protocol_engine/resources/test_pipette_data_provider.py

@@ -1,20 +1,17 @@
 """Test pipette data provider."""
-from collections import OrderedDict
-
 import pytest
 from opentrons_shared_data.pipette.dev_types import PipetteNameType, PipetteModel
 from opentrons_shared_data.pipette import pipette_definition, types as pip_types
 
 from opentrons.hardware_control.dev_types import PipetteDict
-from opentrons.hardware_control.nozzle_manager import NozzleMap
 from opentrons.protocol_engine.types import FlowRates
 from opentrons.protocol_engine.resources.pipette_data_provider import (
     LoadedStaticPipetteData,
     VirtualPipetteDataProvider,
 )
 
 from opentrons.protocol_engine.resources import pipette_data_provider as subject
-from opentrons.types import Point
+from ..pipette_fixtures import get_default_nozzle_map
 
 
 @pytest.fixture
@@ -54,8 +51,7 @@ def test_get_virtual_pipette_static_config(
             "opentrons/opentrons_96_tiprack_10ul/1": 8.25,
             "opentrons/opentrons_96_tiprack_20ul/1": 8.25,
         },
-        back_left_nozzle_offset=Point(x=0.0, y=0.0, z=10.45),
-        front_right_nozzle_offset=Point(x=0.0, y=0.0, z=10.45),
+        nozzle_map=result.nozzle_map,
     )
 
 
@@ -81,8 +77,7 @@ def test_configure_virtual_pipette_for_volume(
         ),
         tip_configuration_lookup_table=result1.tip_configuration_lookup_table,
         nominal_tip_overlap=result1.nominal_tip_overlap,
-        back_left_nozzle_offset=Point(x=-8.0, y=-22.0, z=-259.15),
-        front_right_nozzle_offset=Point(x=-8.0, y=-22.0, z=-259.15),
+        nozzle_map=result1.nozzle_map,
     )
     subject_instance.configure_virtual_pipette_for_volume(
         "my-pipette", 1, result1.model
@@ -105,8 +100,7 @@ def test_configure_virtual_pipette_for_volume(
         ),
         tip_configuration_lookup_table=result2.tip_configuration_lookup_table,
         nominal_tip_overlap=result2.nominal_tip_overlap,
-        back_left_nozzle_offset=Point(x=-8.0, y=-22.0, z=-259.15),
-        front_right_nozzle_offset=Point(x=-8.0, y=-22.0, z=-259.15),
+        nozzle_map=result2.nozzle_map,
     )
 
 
@@ -132,8 +126,7 @@ def test_load_virtual_pipette_by_model_string(
         ),
         tip_configuration_lookup_table=result.tip_configuration_lookup_table,
         nominal_tip_overlap=result.nominal_tip_overlap,
-        back_left_nozzle_offset=Point(x=0.0, y=31.5, z=35.52),
-        front_right_nozzle_offset=Point(x=0.0, y=-31.5, z=35.52),
+        nozzle_map=result.nozzle_map,
     )
 
 
@@ -179,6 +172,7 @@ def test_get_pipette_static_config(
     supported_tip_fixture: pipette_definition.SupportedTipsDefinition,
 ) -> None:
     """It should return config data given a PipetteDict."""
+    dummy_nozzle_map = get_default_nozzle_map(PipetteNameType.P300_SINGLE_GEN2)
     pipette_dict: PipetteDict = {
         "name": "p300_single_gen2",
         "min_volume": 20,
@@ -214,14 +208,7 @@ def test_get_pipette_static_config(
         "default_aspirate_speeds": {"2.0": 5.021202, "2.6": 10.042404},
         "default_push_out_volume": 3,
         "supported_tips": {pip_types.PipetteTipType.t300: supported_tip_fixture},
-        "current_nozzle_map": NozzleMap.build(
-            physical_nozzles=OrderedDict({"A1": Point(1, 2, 3), "B1": Point(4, 5, 6)}),
-            physical_rows=OrderedDict({"A": ["A1"], "B": ["B1"]}),
-            physical_columns=OrderedDict({"1": ["A1", "B1"]}),
-            starting_nozzle="A1",
-            back_left_nozzle="A1",
-            front_right_nozzle="B1",
-        ),
+        "current_nozzle_map": dummy_nozzle_map,
     }
 
     result = subject.get_pipette_static_config(pipette_dict)
@@ -247,6 +234,5 @@ def test_get_pipette_static_config(
         # https://opentrons.atlassian.net/browse/RCORE-655
         nozzle_offset_z=0,
         home_position=0,
-        back_left_nozzle_offset=Point(x=1, y=2, z=3),
-        front_right_nozzle_offset=Point(x=4, y=5, z=6),
+        nozzle_map=dummy_nozzle_map,
     )