first pass: add fluid handling

Opentrons · Oct 30, 2024 · cd8ae17 · cd8ae17
1 parent 633e0d0
commit cd8ae17
Show file tree

Hide file tree

Showing 19 changed files with 548 additions and 162 deletions.
diff --git a/api/src/opentrons/protocol_engine/commands/air_gap_in_place.py b/api/src/opentrons/protocol_engine/commands/air_gap_in_place.py
@@ -25,6 +25,7 @@
 from ..errors.error_occurrence import ErrorOccurrence
 from ..errors.exceptions import PipetteNotReadyToAspirateError
 from ..state.update_types import StateUpdate
+from ..types import AspiratedFluid, FluidKind
 
 if TYPE_CHECKING:
     from ..execution import PipettingHandler, GantryMover
@@ -48,7 +49,7 @@ class AirGapInPlaceResult(BaseLiquidHandlingResult):
 
 
 _ExecuteReturn = Union[
-    SuccessData[AirGapInPlaceResult, None],
+    SuccessData[AirGapInPlaceResult],
     DefinedErrorData[OverpressureError],
 ]
 
@@ -128,9 +129,12 @@ async def execute(self, params: AirGapInPlaceParams) -> _ExecuteReturn:
                 state_update=state_update,
             )
         else:
+            state_update.set_fluid_aspirated(
+                pipette_id=params.pipetteId,
+                fluid=AspiratedFluid(kind=FluidKind.AIR, volume=volume),
+            )
             return SuccessData(
                 public=AirGapInPlaceResult(volume=volume),
-                private=None,
                 state_update=state_update,
             )
 

diff --git a/api/src/opentrons/protocol_engine/commands/aspirate.py b/api/src/opentrons/protocol_engine/commands/aspirate.py
@@ -25,7 +25,14 @@
 from opentrons.hardware_control import HardwareControlAPI
 
 from ..state.update_types import StateUpdate, CLEAR
-from ..types import WellLocation, WellOrigin, CurrentWell, DeckPoint
+from ..types import (
+    WellLocation,
+    WellOrigin,
+    CurrentWell,
+    DeckPoint,
+    AspiratedFluid,
+    FluidKind,
+)
 
 if TYPE_CHECKING:
     from ..execution import MovementHandler, PipettingHandler
@@ -141,6 +148,7 @@ async def execute(self, params: AspirateParams) -> _ExecuteReturn:
                 well_name=well_name,
                 volume_added=CLEAR,
             )
+            state_update.set_fluid_unknown(pipette_id=params.pipetteId)
             return DefinedErrorData(
                 public=OverpressureError(
                     id=self._model_utils.generate_id(),
@@ -162,6 +170,10 @@ async def execute(self, params: AspirateParams) -> _ExecuteReturn:
                 well_name=well_name,
                 volume_added=-volume_aspirated,
             )
+            state_update.set_fluid_aspirated(
+                pipette_id=params.pipetteId,
+                fluid=AspiratedFluid(kind=FluidKind.LIQUID, volume=volume_aspirated),
+            )
             return SuccessData(
                 public=AspirateResult(
                     volume=volume_aspirated,

diff --git a/api/src/opentrons/protocol_engine/commands/aspirate_in_place.py b/api/src/opentrons/protocol_engine/commands/aspirate_in_place.py
@@ -25,7 +25,7 @@
 from ..errors.error_occurrence import ErrorOccurrence
 from ..errors.exceptions import PipetteNotReadyToAspirateError
 from ..state.update_types import StateUpdate, CLEAR
-from ..types import CurrentWell
+from ..types import CurrentWell, AspiratedFluid, FluidKind
 
 if TYPE_CHECKING:
     from ..execution import PipettingHandler, GantryMover
@@ -115,6 +115,7 @@ async def execute(self, params: AspirateInPlaceParams) -> _ExecuteReturn:
                     well_name=current_location.well_name,
                     volume_added=CLEAR,
                 )
+            state_update.set_fluid_unknown(pipette_id=params.pipetteId)
             return DefinedErrorData(
                 public=OverpressureError(
                     id=self._model_utils.generate_id(),
@@ -139,6 +140,10 @@ async def execute(self, params: AspirateInPlaceParams) -> _ExecuteReturn:
                 state_update=state_update,
             )
         else:
+            state_update.set_fluid_aspirated(
+                pipette_id=params.pipetteId,
+                fluid=AspiratedFluid(kind=FluidKind.LIQUID, volume=volume),
+            )
             if (
                 isinstance(current_location, CurrentWell)
                 and current_location.pipette_id == params.pipetteId
@@ -148,6 +153,7 @@ async def execute(self, params: AspirateInPlaceParams) -> _ExecuteReturn:
                     well_name=current_location.well_name,
                     volume_added=-volume,
                 )
+
             return SuccessData(
                 public=AspirateInPlaceResult(volume=volume),
                 state_update=state_update,

diff --git a/api/src/opentrons/protocol_engine/commands/blow_out.py b/api/src/opentrons/protocol_engine/commands/blow_out.py
@@ -93,6 +93,7 @@ async def execute(self, params: BlowOutParams) -> _ExecuteReturn:
                 pipette_id=params.pipetteId, flow_rate=params.flowRate
             )
         except PipetteOverpressureError as e:
+            state_update.set_fluid_unknown(pipette_id=params.pipetteId)
             return DefinedErrorData(
                 public=OverpressureError(
                     id=self._model_utils.generate_id(),
@@ -112,8 +113,10 @@ async def execute(self, params: BlowOutParams) -> _ExecuteReturn:
                         )
                     },
                 ),
+                state_update=state_update,
             )
         else:
+            state_update.set_fluid_empty(pipette_id=params.pipetteId)
             return SuccessData(
                 public=BlowOutResult(position=deck_point),
                 state_update=state_update,

diff --git a/api/src/opentrons/protocol_engine/commands/blow_out_in_place.py b/api/src/opentrons/protocol_engine/commands/blow_out_in_place.py
@@ -19,6 +19,7 @@
     SuccessData,
 )
 from ..errors.error_occurrence import ErrorOccurrence
+from ..state import update_types
 
 from opentrons.hardware_control import HardwareControlAPI
 
@@ -72,12 +73,14 @@ def __init__(
 
     async def execute(self, params: BlowOutInPlaceParams) -> _ExecuteReturn:
         """Blow-out without moving the pipette."""
+        state_update = update_types.StateUpdate()
         try:
             current_position = await self._gantry_mover.get_position(params.pipetteId)
             await self._pipetting.blow_out_in_place(
                 pipette_id=params.pipetteId, flow_rate=params.flowRate
             )
         except PipetteOverpressureError as e:
+            state_update.set_fluid_unknown(pipette_id=params.pipetteId)
             return DefinedErrorData(
                 public=OverpressureError(
                     id=self._model_utils.generate_id(),
@@ -97,8 +100,10 @@ async def execute(self, params: BlowOutInPlaceParams) -> _ExecuteReturn:
                         )
                     },
                 ),
+                state_update=state_update,
             )
         else:
+            state_update.set_fluid_empty(pipette_id=params.pipetteId)
             return SuccessData(
                 public=BlowOutInPlaceResult(),
             )

diff --git a/api/src/opentrons/protocol_engine/commands/dispense.py b/api/src/opentrons/protocol_engine/commands/dispense.py
@@ -112,6 +112,7 @@ async def execute(self, params: DispenseParams) -> _ExecuteReturn:
                 well_name=well_name,
                 volume_added=CLEAR,
             )
+            state_update.set_fluid_unknown(pipette_id=params.pipetteId)
             return DefinedErrorData(
                 public=OverpressureError(
                     id=self._model_utils.generate_id(),
@@ -128,11 +129,17 @@ async def execute(self, params: DispenseParams) -> _ExecuteReturn:
                 state_update=state_update,
             )
         else:
+            volume_added = (
+                self._state_view.pipettes.get_liquid_dispensed_by_ejecting_volume(
+                    pipette_id=params.pipetteId, volume=volume
+                )
+            )
             state_update.set_liquid_operated(
                 labware_id=labware_id,
                 well_name=well_name,
-                volume_added=volume,
+                volume_added=volume_added if volume_added is not None else CLEAR,
             )
+            state_update.set_fluid_ejected(pipette_id=params.pipetteId, volume=volume)
             return SuccessData(
                 public=DispenseResult(volume=volume, position=deck_point),
                 state_update=state_update,

diff --git a/api/src/opentrons/protocol_engine/commands/dispense_in_place.py b/api/src/opentrons/protocol_engine/commands/dispense_in_place.py
@@ -94,6 +94,7 @@ async def execute(self, params: DispenseInPlaceParams) -> _ExecuteReturn:
                     well_name=current_location.well_name,
                     volume_added=CLEAR,
                 )
+            state_update.set_fluid_unknown(pipette_id=params.pipetteId)
             return DefinedErrorData(
                 public=OverpressureError(
                     id=self._model_utils.generate_id(),
@@ -118,14 +119,20 @@ async def execute(self, params: DispenseInPlaceParams) -> _ExecuteReturn:
                 state_update=state_update,
             )
         else:
+            state_update.set_fluid_ejected(pipette_id=params.pipetteId, volume=volume)
             if (
                 isinstance(current_location, CurrentWell)
                 and current_location.pipette_id == params.pipetteId
             ):
+                volume_added = (
+                    self._state_view.pipettes.get_liquid_dispensed_by_ejecting_volume(
+                        pipette_id=params.pipetteId, volume=volume
+                    )
+                )
                 state_update.set_liquid_operated(
                     labware_id=current_location.labware_id,
                     well_name=current_location.well_name,
-                    volume_added=volume,
+                    volume_added=volume_added if volume_added is not None else CLEAR,
                 )
             return SuccessData(
                 public=DispenseInPlaceResult(volume=volume),

diff --git a/api/src/opentrons/protocol_engine/commands/drop_tip.py b/api/src/opentrons/protocol_engine/commands/drop_tip.py
@@ -150,12 +150,15 @@ async def execute(self, params: DropTipParams) -> _ExecuteReturn:
             state_update_if_false_positive.update_pipette_tip_state(
                 pipette_id=params.pipetteId, tip_geometry=None
             )
+            state_update.set_fluid_unknown(pipette_id=pipette_id)
+            state_update_if_false_positive.set_fluid_unknown(pipette_id=pipette_id)
             return DefinedErrorData(
                 public=error,
                 state_update=state_update,
                 state_update_if_false_positive=state_update_if_false_positive,
             )
         else:
+            state_update.set_fluid_unknown(pipette_id=pipette_id)
             state_update.update_pipette_tip_state(
                 pipette_id=params.pipetteId, tip_geometry=None
             )

diff --git a/api/src/opentrons/protocol_engine/commands/drop_tip_in_place.py b/api/src/opentrons/protocol_engine/commands/drop_tip_in_place.py
@@ -65,7 +65,6 @@ def __init__(
     async def execute(self, params: DropTipInPlaceParams) -> _ExecuteReturn:
         """Drop a tip using the requested pipette."""
         state_update = update_types.StateUpdate()
-
         try:
             await self._tip_handler.drop_tip(
                 pipette_id=params.pipetteId, home_after=params.homeAfter
@@ -75,6 +74,10 @@ async def execute(self, params: DropTipInPlaceParams) -> _ExecuteReturn:
             state_update_if_false_positive.update_pipette_tip_state(
                 pipette_id=params.pipetteId, tip_geometry=None
             )
+            state_update.set_fluid_unknown(pipette_id=params.pipetteId)
+            state_update_if_false_positive.set_fluid_unknown(
+                pipette_id=params.pipetteId
+            )
             error = TipPhysicallyAttachedError(
                 id=self._model_utils.generate_id(),
                 createdAt=self._model_utils.get_timestamp(),
@@ -92,6 +95,7 @@ async def execute(self, params: DropTipInPlaceParams) -> _ExecuteReturn:
                 state_update_if_false_positive=state_update_if_false_positive,
             )
         else:
+            state_update.set_fluid_unknown(pipette_id=params.pipetteId)
             state_update.update_pipette_tip_state(
                 pipette_id=params.pipetteId, tip_geometry=None
             )

diff --git a/api/src/opentrons/protocol_engine/commands/load_pipette.py b/api/src/opentrons/protocol_engine/commands/load_pipette.py
@@ -127,6 +127,7 @@ async def execute(
             serial_number=loaded_pipette.serial_number,
             config=loaded_pipette.static_config,
         )
+        state_update.set_fluid_unknown(pipette_id=loaded_pipette.pipette_id)
 
         return SuccessData(
             public=LoadPipetteResult(pipetteId=loaded_pipette.pipette_id),

diff --git a/api/src/opentrons/protocol_engine/commands/pick_up_tip.py b/api/src/opentrons/protocol_engine/commands/pick_up_tip.py
@@ -172,6 +172,7 @@ async def execute(
             state_update.mark_tips_as_used(
                 pipette_id=pipette_id, labware_id=labware_id, well_name=well_name
             )
+            state_update.set_fluid_empty(pipette_id=pipette_id)
             return SuccessData(
                 public=PickUpTipResult(
                     tipVolume=tip_geometry.volume,

diff --git a/api/src/opentrons/protocol_engine/commands/prepare_to_aspirate.py b/api/src/opentrons/protocol_engine/commands/prepare_to_aspirate.py
@@ -18,6 +18,7 @@
     SuccessData,
 )
 from ..errors.error_occurrence import ErrorOccurrence
+from ..state import update_types
 
 if TYPE_CHECKING:
     from ..execution import PipettingHandler, GantryMover
@@ -64,11 +65,13 @@ def __init__(
     async def execute(self, params: PrepareToAspirateParams) -> _ExecuteReturn:
         """Prepare the pipette to aspirate."""
         current_position = await self._gantry_mover.get_position(params.pipetteId)
+        state_update = update_types.StateUpdate()
         try:
             await self._pipetting_handler.prepare_for_aspirate(
                 pipette_id=params.pipetteId,
             )
         except PipetteOverpressureError as e:
+            state_update.set_fluid_unknown(pipette_id=params.pipetteId)
             return DefinedErrorData(
                 public=OverpressureError(
                     id=self._model_utils.generate_id(),
@@ -90,10 +93,12 @@ async def execute(self, params: PrepareToAspirateParams) -> _ExecuteReturn:
                         }
                     ),
                 ),
+                state_update=state_update,
             )
         else:
+            state_update.set_fluid_empty(pipette_id=params.pipetteId)
             return SuccessData(
-                public=PrepareToAspirateResult(),
+                public=PrepareToAspirateResult(), state_update=state_update
             )