feat(api): replace format with quirks for rectangular well behavior

Related to #3894 and closes #3676

api/src/opentrons/legacy_api/containers/__init__.py

@@ -3,6 +3,7 @@
 import logging
 import json
 from opentrons.config import CONFIG
+from opentrons.config.pipette_config import Y_OFFSET_MULTI
 from opentrons.data_storage import database
 from opentrons.util.vector import Vector
 from opentrons.types import Point
@@ -152,30 +153,45 @@ def save_custom_container(data):
         "labware, please use opentrons.containers.create()")
 
 
-def _load_new_well(well_data, saved_offset, lw_format):
+def _load_new_well(well_data, saved_offset, lw_quirks):
+    # We assume a labware is a trough (a.k.a. a reservoir)
+    # if it has the "centerMultichannelOnWells" quirk, and does
+    # *not* have the "fixedTrash" quirk.
+    #
     # There are two key hacks in here to make troughs work:
     # - do not specify the size of the well
     # - specify the center without subtracting the size (since
     #   the size is 0) in x, and _add_ 7/16 of the size in y
     #   so that the nominal center leaves the nozzle centered in
     #   an imaginary well instead of centering itself over the
     #   top wall of the trough.
+    #
+    # If a labware does have the "fixedTrash" quirk, we shift
+    # the center position back by the y-offset of multi-channel
+    # pipettes so that the pipettes get as close as they can
+    # reach to the center of the trash, without colliding with
+    # the back of the frame.
     props = {
         'depth': well_data['depth'],
         'total-liquid-volume': well_data['totalLiquidVolume'],
     }
     if well_data['shape'] == 'circular':
         props['diameter'] = well_data['diameter']
     elif well_data['shape'] == 'rectangular':
-        if lw_format != 'trough':
+        if "centerMultichannelOnWells" not in lw_quirks:
             props['length'] = well_data['yDimension']
             props['width'] = well_data['xDimension']
     else:
         raise ValueError(
             f"Bad definition for well shape: {well_data['shape']}")
     well = Well(properties=props)
 
-    if lw_format == 'trough':
+    if "fixedTrash" in lw_quirks:
+        well_tuple = (
+            well_data['x'] + saved_offset.x,
+            well_data['y'] + Y_OFFSET_MULTI + saved_offset.y,
+            well_data['z'] + saved_offset.z)
+    elif "centerMultichannelOnWells" in lw_quirks:
         well_tuple = (
             well_data['x'] + saved_offset.x,
             well_data['y'] + 7 * well_data['yDimension'] / 16 + saved_offset.y,
@@ -231,11 +247,11 @@ def load_new_labware_def(definition):
     log.info(f"Container name {container_name}, hash {labware_hash}")
     container.properties['labware_hash'] = labware_hash
     container.properties['type'] = container_name
-    lw_format = definition['parameters']['format']
+    lw_quirks = definition['parameters'].get('quirks', [])
 
     container._coordinates = Vector(definition['cornerOffsetFromSlot'])
     for well_name in itertools.chain(*definition['ordering']):
         well_obj, well_pos = _load_new_well(
-            definition['wells'][well_name], saved_offset, lw_format)
+            definition['wells'][well_name], saved_offset, lw_quirks)
         container.add(well_obj, well_name, well_pos)
     return container

api/src/opentrons/legacy_api/robot/robot.py

@@ -780,9 +780,11 @@ def setup_deck(self):
         # @TODO (Laura & Andy) Slot and type of trash
         # needs to be pulled from config file
         if fflags.short_fixed_trash():
-            self._fixed_trash = self.add_container('fixed-trash', '12')
+            self._fixed_trash = self.add_container(
+                'opentrons_1_trash_850ml_fixed', '12')
         else:
-            self._fixed_trash = self.add_container('tall-fixed-trash', '12')
+            self._fixed_trash = self.add_container(
+                'opentrons_1_trash_1100ml_fixed', '12')
 
     @property
     def deck(self):

api/tests/opentrons/api/test_session.py

@@ -313,7 +313,7 @@ def test_get_labware(labware_setup):
 async def test_session_model_functional(session_manager, protocol):
     session = session_manager.create(name='<blank>', text=protocol.text)
     assert [container.name for container in session.containers] == \
-           ['tiprack', 'trough', 'plate', 'tall-fixed-trash']
+           ['tiprack', 'trough', 'plate', 'opentrons_1_trash_1100ml_fixed']
     names = [instrument.name for instrument in session.instruments]
     assert names == ['p300_single_v1']
 
@@ -331,9 +331,10 @@ async def test_drop_tip_with_trash(session_manager, protocol, protocol_file):
     """
     session = session_manager.create(name='<blank>', text=protocol.text)
 
-    assert 'tall-fixed-trash' in [c.name for c in session.get_containers()]
+    assert 'opentrons_1_trash_1100ml_fixed' in [
+        c.name for c in session.get_containers()]
     containers = sum([i.containers for i in session.get_instruments()], [])
-    assert 'tall-fixed-trash' in [c.name for c in containers]
+    assert 'opentrons_1_trash_1100ml_fixed' in [c.name for c in containers]
 
 
 @pytest.mark.api1_only

api/tests/opentrons/containers/test_containers.py

@@ -100,6 +100,12 @@ def test_load_new_trough(robot):
         == (13.94, 42.9 + 31.4475, 2.29)
 
 
+def test_load_fixed_trash(robot):
+    from opentrons.config.pipette_config import Y_OFFSET_MULTI
+    assert robot.fixed_trash[0]._coordinates == (
+        82.84, 53.56 + Y_OFFSET_MULTI, 82)
+
+
 def test_containers_list(robot):
     res = containers_list()
     assert res

api/tests/opentrons/integration/test_protocol.py

@@ -51,5 +51,5 @@ def test_deck_setup(robot):
     assert isinstance(tiprack, Container)
     assert isinstance(deck, Deck)
     # Check that well location is the same on the robot as the pipette
-    assert robot._deck['12']['tall-fixed-trash'][0] == trash
+    assert robot._deck['12']['opentrons_1_trash_1100ml_fixed'][0] == trash
     assert deck.has_container(tiprack)

api/tests/opentrons/robot/test_robot.py

@@ -81,7 +81,7 @@ def test_calibrated_max_z(virtual_smoothie_env):
     robot.reset()
 
     instruments.P300_Single(mount='left')
-    assert robot.max_deck_height() == 85
+    assert robot.max_deck_height() == 82
 
 
 def test_get_serial_ports_list(monkeypatch):

api/tests/opentrons/server/test_server.py

@@ -436,34 +436,3 @@ def message_key(message):
     meta = message['$']
     data = message.get('data', '')
     return str(meta.get('type')) + meta.get('token', '') + str(data)
-
-
-@pytest.mark.api1_only
-@pytest.mark.parametrize('root', [TickTock()])
-async def test_concurrent_and_disconnect(loop, root, session, connect):  # noqa C901
-    n_sockets = 20
-    sockets = await async_iterate([connect() for _ in range(n_sockets)])
-
-    # TODO (artyom, 20170920): look for pattern to call several coroutines
-    # and collect results in one line
-    tokens = await async_iterate([
-        call(socket, id=id(root), name='start', args=[])
-        for socket in sockets])
-
-    await sockets.pop(1).close()
-
-    stop_messages = [result_message(token, 'Done!') for token in tokens]
-    results = await async_iterate(
-        [read_until(socket, stop_messages) for socket in sockets])
-
-    for res in results:
-        # First message is root info
-        assert res.pop(0)['$'] == {'type': 3, 'monitor': True}
-        expected = []
-        # All acks received
-        expected.extend([ack_message(token) for token in tokens])
-        # All results received
-        expected.extend([result_message(token, 'Done!') for token in tokens])
-        # All notifications received. 5 ticks per notifications
-        expected.extend([notification_message(i) for i in range(5)] * n_sockets)  # noqa
-        assert sorted(res, key=message_key) == sorted(expected, key=message_key)  # noqa

shared-data/labware/definitions/2/opentrons_1_trash_1100ml_fixed/1.json

@@ -27,10 +27,10 @@
       "yDimension": 165.67,
       "xDimension": 107.11,
       "totalLiquidVolume": 1100000,
-      "depth": 77,
+      "depth": 0,
       "x": 82.84,
       "y": 53.56,
-      "z": 5
+      "z": 82
     }
   },
   "brand": {

shared-data/labware/definitions/2/opentrons_1_trash_850ml_fixed/1.json

@@ -27,10 +27,10 @@
       "yDimension": 165.67,
       "xDimension": 107.11,
       "totalLiquidVolume": 850000,
-      "depth": 53,
+      "depth": 0,
       "x": 82.84,
       "y": 53.56,
-      "z": 5
+      "z": 58
     }
   },
   "brand": {