feat(api): support get_max_travel_z for Flex and enable use_virtual_p…

…ipettes (#12515) * calculate max height for simulating ot3/flex * fix incorrect max volume and channel count in shared data * revert channel count for dummy shared_data 96 channel * comment better explaining the source of the virtual height * Comment rephrasing from in-person discussion. --------- Co-authored-by: Max Marrone <[email protected]>
Opentrons · Apr 19, 2023 · ca7bbba · ca7bbba
1 parent 066e13e
commit ca7bbba
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Showing 4 changed files with 38 additions and 11 deletions.
diff --git a/api/src/opentrons/protocol_engine/execution/gantry_mover.py b/api/src/opentrons/protocol_engine/execution/gantry_mover.py
@@ -24,6 +24,17 @@
     MotorAxis.RIGHT_PLUNGER: HardwareAxis.C,
 }
 
+# The height of the bottom of the pipette nozzle at home position without any tips.
+# We rely on this being the same for every OT-3 pipette.
+#
+# We found this number by peeking at the height that OT3Simulator returns for these pipettes:
+#   * Single- and 8-Channel P50 GEN3
+#   * Single-, 8-, and 96-channel P1000 GEN3
+#
+# That OT3Simulator return value is what Protocol Engine uses for simulation when Protocol Engine
+# is configured to not virtualize pipettes, so this number should match it.
+VIRTUAL_MAX_OT3_HEIGHT = 248.0
+
 
 class GantryMover(TypingProtocol):
     """Abstract class for gantry movement handler."""
@@ -211,9 +222,12 @@ def get_max_travel_z(self, pipette_id: str) -> float:
         Args:
             pipette_id: Pipette ID to get instrument height and tip length for.
         """
-        instrument_height = self._state_view.pipettes.get_instrument_max_height_ot2(
-            pipette_id
-        )
+        if self._state_view.config.robot_type == "OT-2 Standard":
+            instrument_height = self._state_view.pipettes.get_instrument_max_height_ot2(
+                pipette_id
+            )
+        else:
+            instrument_height = VIRTUAL_MAX_OT3_HEIGHT
         tip_length = self._state_view.tips.get_tip_length(pipette_id)
         return instrument_height - tip_length
 
@@ -248,7 +262,7 @@ async def home(self, axes: Optional[List[MotorAxis]]) -> None:
 def create_gantry_mover(
     state_view: StateView, hardware_api: HardwareControlAPI
 ) -> GantryMover:
-    """Create a tip handler."""
+    """Create a gantry mover."""
     return (
         HardwareGantryMover(hardware_api=hardware_api, state_view=state_view)
         if state_view.config.use_virtual_pipettes is False

diff --git a/api/src/opentrons/protocol_runner/create_simulating_runner.py b/api/src/opentrons/protocol_runner/create_simulating_runner.py
@@ -53,10 +53,7 @@ async def create_simulating_runner(
             ignore_pause=True,
             use_virtual_modules=True,
             use_virtual_gripper=True,
-            use_virtual_pipettes=(
-                robot_type != "OT-3 Standard"
-                and not feature_flags.disable_fast_protocol_upload()
-            ),
+            use_virtual_pipettes=(not feature_flags.disable_fast_protocol_upload()),
         ),
     )
 

diff --git a/api/tests/opentrons/protocol_engine/execution/test_gantry_mover.py b/api/tests/opentrons/protocol_engine/execution/test_gantry_mover.py
@@ -20,6 +20,7 @@
     HardwareGantryMover,
     VirtualGantryMover,
     create_gantry_mover,
+    VIRTUAL_MAX_OT3_HEIGHT,
 )
 
 
@@ -379,12 +380,13 @@ async def test_virtual_get_position_default(
     assert result == Point(x=0, y=0, z=0)
 
 
-def test_virtual_get_max_travel_z(
+def test_virtual_get_max_travel_z_ot2(
     decoy: Decoy,
     mock_state_view: StateView,
     virtual_subject: VirtualGantryMover,
 ) -> None:
-    """It should get the max travel z height with the state store."""
+    """It should get the max travel z height with the state store for an OT-2."""
+    decoy.when(mock_state_view.config.robot_type).then_return("OT-2 Standard")
     decoy.when(
         mock_state_view.pipettes.get_instrument_max_height_ot2("pipette-id")
     ).then_return(42)
@@ -395,6 +397,20 @@ def test_virtual_get_max_travel_z(
     assert result == 22.0
 
 
+def test_virtual_get_max_travel_z_ot3(
+    decoy: Decoy,
+    mock_state_view: StateView,
+    virtual_subject: VirtualGantryMover,
+) -> None:
+    """It should get the max travel z height with the state store."""
+    decoy.when(mock_state_view.config.robot_type).then_return("OT-3 Standard")
+    decoy.when(mock_state_view.tips.get_tip_length("pipette-id")).then_return(48)
+
+    result = virtual_subject.get_max_travel_z("pipette-id")
+
+    assert result == VIRTUAL_MAX_OT3_HEIGHT - 48.0
+
+
 async def test_virtual_move_relative(
     decoy: Decoy,
     mock_state_view: StateView,

diff --git a/shared-data/pipette/definitions/1/pipetteNameSpecs.json b/shared-data/pipette/definitions/1/pipetteNameSpecs.json
@@ -651,7 +651,7 @@
     },
     "channels": 8,
     "minVolume": 1,
-    "maxVolume": 50,
+    "maxVolume": 1000,
     "smoothieConfigs": {
       "stepsPerMM": 2133.33,
       "homePosition": 230.15,