fix(api, app): Clear instrument offset before performing deck calibra…

…tion, don't restart (#6208)

Avoid the influence of an old, possibly (probably)-incorrect instrument offset value in deck calibration by resetting that config element at the beginning of deck calibration.

In addition, do not automatically restart the robot after deck calibration completes. This is not necessary.

Closes #5022

api/src/opentrons/deck_calibration/dc_main.py

@@ -512,6 +512,9 @@ def update_pipette_models(self):
     def exit(self):
         self.hardware.remove_tip(self._current_mount)
         self.hardware.set_lights(rails=False)
+        msg = ('Please calibrate your pipettes'
+               'before running a protocol')
+        self._update_text_box(msg)
         raise urwid.ExitMainLoop
 
     # Private methods for URWID

api/src/opentrons/deck_calibration/endpoints.py

@@ -3,11 +3,7 @@
 import logging
 from enum import Enum
 
-try:
-    from opentrons import instruments
-except ImportError:
-    pass
-from opentrons.config import pipette_config, robot_configs, feature_flags
+from opentrons.config import robot_configs, reset
 from opentrons.types import Mount, Point
 from opentrons.hardware_control.types import CriticalPoint
 from opentrons.deck_calibration import jog, position, dots_set, z_pos
@@ -126,17 +122,18 @@ def init_pipette(session):
 
     :return: The pipette type and mount chosen for deck calibration
     """
+    reset.reset_tip_probe()
     pipette_info = set_current_mount(session)
     pipette = pipette_info['pipette']
     res = {}
     if pipette:
         session.current_model = pipette_info['model']
-        if not feature_flags.use_protocol_api_v2():
-            mount = pipette.mount
-            session.current_mount = mount
-        else:
-            mount = pipette.get('mount')
-            session.current_mount = mount_by_name[mount]
+        mount = pipette.get('mount')
+        # ensure the current pipettes loaded have their instrument
+        # offsets zeroed out.
+        session.current_mount = mount_by_name[mount]
+        session.adapter.update_instrument_offset(
+            session.current_mount, new_offset=Point(0, 0, 0))
         session.pipettes[mount] = pipette
         res = {'mount': mount, 'model': pipette_info['model']}
 
@@ -146,22 +143,10 @@ def init_pipette(session):
 
 
 def get_pipettes(sess: SessionManager):
-    if not feature_flags.use_protocol_api_v2():
-        attached_pipettes = sess.adapter.get_attached_pipettes()
-        left_pipette = None
-        right_pipette = None
-        left = attached_pipettes.get('left')
-        right = attached_pipettes.get('right')
-        if left['model'] in pipette_config.config_models:
-            left_pipette = instruments.pipette_by_name(
-                'left', left['name'])
-        if right['model'] in pipette_config.config_models:
-            right_pipette = instruments.pipette_by_name(
-                'right', right['name'])
-    else:
-        attached_pipettes = sess.adapter.attached_instruments
-        left_pipette = attached_pipettes.get(Mount.LEFT)
-        right_pipette = attached_pipettes.get(Mount.RIGHT)
+    attached_pipettes = sess.adapter.attached_instruments
+    left_pipette = attached_pipettes.get(Mount.LEFT)
+    right_pipette = attached_pipettes.get(Mount.RIGHT)
+    log.info(f"Type of pipette {right_pipette}")
     return right_pipette, left_pipette
 
 
@@ -182,18 +167,12 @@ def set_current_mount(session: SessionManager):
     left_channel = None
     right_pipette, left_pipette = get_pipettes(session)
     if right_pipette:
-        if not feature_flags.use_protocol_api_v2():
-            right_channel = right_pipette.channels
-        else:
-            right_channel = right_pipette.get('channels')
-            right_pipette['mount'] = 'right'
+        right_channel = right_pipette.get('channels')
+        right_pipette['mount'] = 'right'
 
     if left_pipette:
-        if not feature_flags.use_protocol_api_v2():
-            left_channel = left_pipette.channels
-        else:
-            left_channel = left_pipette.get('channels')
-            left_pipette['mount'] = 'left'
+        left_channel = left_pipette.get('channels')
+        left_pipette['mount'] = 'left'
 
     if right_channel == 1:
         pipette = right_pipette
@@ -217,15 +196,10 @@ def _get_model_name(pipette, adapter):
     model = None
     pip_id = None
     if pipette:
-        if not feature_flags.use_protocol_api_v2():
-            model = pipette.model
-            pip_info = adapter.get_attached_pipettes()[pipette.mount]
-            pip_id = pip_info['id']
-        else:
-            model = pipette.get('model')
-            mount = Mount.LEFT if pipette['mount'] == 'left' else Mount.RIGHT
-            pip_info = adapter.attached_instruments[mount]
-            pip_id = pip_info['pipette_id']
+        model = pipette.get('model')
+        mount = Mount.LEFT if pipette['mount'] == 'left' else Mount.RIGHT
+        pip_info = adapter.attached_instruments[mount]
+        pip_id = pip_info['pipette_id']
 
     return model, pip_id
 
@@ -260,18 +234,10 @@ async def attach_tip(data) -> CommandResult:
         message = 'Error: "tipLength" must be specified in request'
         status = False
     else:
-        if not feature_flags.use_protocol_api_v2():
-            pipette = session_wrapper.session.pipettes[
-                session_wrapper.session.current_mount]
-            if pipette.tip_attached:
-                log.warning('attach tip called while tip already attached')
-                pipette._remove_tip(pipette._tip_length)
-            pipette._add_tip(tip_length)
-        else:
-            session_wrapper.session.adapter.add_tip(
-                session_wrapper.session.current_mount, tip_length)
-            if session_wrapper.session.cp == CriticalPoint.NOZZLE:
-                session_wrapper.session.cp = CriticalPoint.TIP
+        session_wrapper.session.adapter.add_tip(
+            session_wrapper.session.current_mount, tip_length)
+        if session_wrapper.session.cp == CriticalPoint.NOZZLE:
+            session_wrapper.session.cp = CriticalPoint.TIP
         session_wrapper.session.tip_length = tip_length
 
         message = "Tip length set: {}".format(tip_length)
@@ -289,17 +255,10 @@ async def detach_tip(data) -> CommandResult:
     if not session_wrapper.session:
         raise NoSessionInProgress()
 
-    if not feature_flags.use_protocol_api_v2():
-        pipette = session_wrapper.session.pipettes[
-            session_wrapper.session.current_mount]
-        if not pipette.tip_attached:
-            log.warning('detach tip called with no tip')
-        pipette._remove_tip(session_wrapper.session.tip_length)
-    else:
-        session_wrapper.session.adapter.remove_tip(
-            session_wrapper.session.current_mount)
-        if session_wrapper.session.cp == CriticalPoint.TIP:
-            session_wrapper.session.cp = CriticalPoint.NOZZLE
+    session_wrapper.session.adapter.remove_tip(
+        session_wrapper.session.current_mount)
+    if session_wrapper.session.cp == CriticalPoint.TIP:
+        session_wrapper.session.cp = CriticalPoint.NOZZLE
     session_wrapper.session.tip_length = None
 
     return CommandResult(success=True, message="Tip removed")
@@ -365,10 +324,6 @@ async def move(data) -> CommandResult:
     point_name = data.get('point')
     point = safe_points().get(point_name)
     if point and len(point) == 3:
-        if not feature_flags.use_protocol_api_v2():
-            pipette = session_wrapper.session.pipettes[
-                session_wrapper.session.current_mount]
-            channels = pipette.channels
         # For multichannel pipettes in the V1 session, we use the tip closest
         # to the front of the robot rather than the back (this is the tip that
         # would go into well H1 of a plate when pipetting from the first row of
@@ -380,52 +335,39 @@ async def move(data) -> CommandResult:
         # out of xy positions saved in the `save_xy` handler
         # (not 2 * Y_OFFSET_MULTI, because the axial center of the pipette
         # will only be off by 1* Y_OFFSET_MULTI).
-            if not channels == 1:
-                x = point[0]
-                y = point[1] + pipette_config.Y_OFFSET_MULTI * 2
-                z = point[2]
-                point = (x, y, z)
+        if not point_name == 'attachTip':
+            intermediate_pos = position(
+                session_wrapper.session.current_mount,
+                session_wrapper.session.adapter,
+                session_wrapper.session.cp)
+            session_wrapper.session.adapter.move_to(
+                session_wrapper.session.current_mount,
+                Point(
+                    x=intermediate_pos[0],
+                    y=intermediate_pos[1],
+                    z=session_wrapper.session.tip_length),
+                critical_point=session_wrapper.session.cp)
+            session_wrapper.session.adapter.move_to(
+                session_wrapper.session.current_mount,
+                Point(x=point[0],
+                      y=point[1],
+                      z=session_wrapper.session.tip_length),
+                critical_point=session_wrapper.session.cp)
+            session_wrapper.session.adapter.move_to(
+                session_wrapper.session.current_mount,
+                Point(x=point[0], y=point[1], z=point[2]),
+                critical_point=session_wrapper.session.cp)
+        else:
             # hack: z=150mm is not a safe point for a gen2 pipette with a tip
             # attached, since their home location is z=+172mm and both 300ul
             # and 1000ul tips are more than 22mm long. This isn't an issue for
             # apiv2 because it can select the NOZZLE critical point.
-            if pipette.tip_attached and point_name == 'attachTip':
-                point = (point[0],
-                         point[1],
-                         point[2]-pipette._tip_length)
-
-            pipette.move_to((session_wrapper.session.adapter.deck, point),
-                            strategy='arc')
-        else:
-            if not point_name == 'attachTip':
-                intermediate_pos = position(
-                    session_wrapper.session.current_mount,
-                    session_wrapper.session.adapter,
-                    session_wrapper.session.cp)
-                session_wrapper.session.adapter.move_to(
-                    session_wrapper.session.current_mount,
-                    Point(
-                        x=intermediate_pos[0],
-                        y=intermediate_pos[1],
-                        z=session_wrapper.session.tip_length),
-                    critical_point=session_wrapper.session.cp)
-                session_wrapper.session.adapter.move_to(
-                    session_wrapper.session.current_mount,
-                    Point(x=point[0],
-                          y=point[1],
-                          z=session_wrapper.session.tip_length),
-                    critical_point=session_wrapper.session.cp)
-                session_wrapper.session.adapter.move_to(
-                    session_wrapper.session.current_mount,
-                    Point(x=point[0], y=point[1], z=point[2]),
-                    critical_point=session_wrapper.session.cp)
-            else:
-                if session_wrapper.session.cp == CriticalPoint.TIP:
-                    session_wrapper.session.cp = CriticalPoint.NOZZLE
-                session_wrapper.session.adapter.move_to(
-                    session_wrapper.session.current_mount,
-                    Point(x=point[0], y=point[1], z=point[2]),
-                    critical_point=session_wrapper.session.cp)
+            if session_wrapper.session.cp == CriticalPoint.TIP:
+                session_wrapper.session.cp = CriticalPoint.NOZZLE
+            session_wrapper.session.adapter.move_to(
+                session_wrapper.session.current_mount,
+                Point(x=point[0], y=point[1], z=point[2]),
+                critical_point=session_wrapper.session.cp)
         message = 'Moved to {}'.format(point)
         status = True
     else:
@@ -456,23 +398,10 @@ async def save_xy(data) -> CommandResult:
         message = "Mount must be set before calibrating"
         status = False
     else:
-        if not feature_flags.use_protocol_api_v2():
-            mount = 'Z' if session_wrapper.session.current_mount == 'left'\
-                else 'A'
-            x, y, _ = position(mount, session_wrapper.session.adapter)
-            if session_wrapper.session.pipettes[
-                    session_wrapper.session.current_mount].channels != 1:
-                # See note in `move`
-                y = y - pipette_config.Y_OFFSET_MULTI
-            if session_wrapper.session.current_mount == 'left':
-                dx, dy, _ = session_wrapper.session.adapter.config.mount_offset
-                x = x + dx
-                y = y + dy
-        else:
-            x, y, _ = position(
-                session_wrapper.session.current_mount,
-                session_wrapper.session.adapter,
-                session_wrapper.session.cp)
+        x, y, _ = position(
+            session_wrapper.session.current_mount,
+            session_wrapper.session.adapter,
+            session_wrapper.session.cp)
 
         session_wrapper.session.points[point] = (x, y)
         message = "Saved point {} value: {}".format(
@@ -495,21 +424,10 @@ async def save_z(data) -> CommandResult:
         message = "Tip length must be set before calibrating"
         status = False
     else:
-        if not feature_flags.use_protocol_api_v2():
-            mount = 'Z' if session_wrapper.session.current_mount == 'left' \
-                else 'A'
-            actual_z = position(
-                mount, session_wrapper.session.adapter)[-1]
-            length_offset = pipette_config.load(
-                session_wrapper.session.current_model,
-                session_wrapper.session.pipette_id).model_offset[-1]
-            session_wrapper.session.z_value =\
-                actual_z - session_wrapper.session.tip_length + length_offset
-        else:
-            session_wrapper.session.z_value = position(
-                session_wrapper.session.current_mount,
-                session_wrapper.session.adapter,
-                session_wrapper.session.cp)[-1]
+        session_wrapper.session.z_value = position(
+            session_wrapper.session.current_mount,
+            session_wrapper.session.adapter,
+            session_wrapper.session.cp)[-1]
 
         session_wrapper.session.current_transform[2][3] =\
             session_wrapper.session.z_value
@@ -583,14 +501,10 @@ async def release(data) -> CommandResult:
     if not session_wrapper.session:
         raise NoSessionInProgress()
 
-    if not feature_flags.use_protocol_api_v2():
-        session_wrapper.session.adapter.remove_instrument('left')
-        session_wrapper.session.adapter.remove_instrument('right')
-    else:
-        session_wrapper.session.adapter.cache_instruments()
-        full_gantry_cal = session_wrapper.session.backup_gantry_cal
-        session_wrapper.session.adapter.update_config(
-            gantry_calibration=full_gantry_cal)
+    session_wrapper.session.adapter.cache_instruments()
+    full_gantry_cal = session_wrapper.session.backup_gantry_cal
+    session_wrapper.session.adapter.update_config(
+        gantry_calibration=full_gantry_cal)
     session_wrapper.session = None
 
     return CommandResult(success=True, message="calibration session released")

app/src/components/CalibrateDeck/AttachTip.js

@@ -1,7 +1,7 @@
 // @flow
 import * as React from 'react'
 import type { CalibrateDeckStartedProps, CalibrationStep } from './types'
-import { PrimaryButton } from '@opentrons/components'
+import { PrimaryButton, Link } from '@opentrons/components'
 
 import styles from './styles.css'
 
@@ -23,6 +23,9 @@ const DIAGRAMS: { [step: CalibrationStep]: { [Channels]: string } } = {
   },
 }
 
+const PIPETTE_CALIBRATION_URL =
+  'https://support.opentrons.com/en/articles/2687641-get-started-calibrate-pipettes-and-labware'
+
 export function AttachTip(props: AttachTipProps): React.Node {
   const multi = props.pipette.channels === 8
   const tipLocation = multi ? 'very first channel at front of' : ''
@@ -45,13 +48,19 @@ export function AttachTip(props: AttachTipProps): React.Node {
       <span>
         <p>Remove the Opentrons tip from the pipette.</p>
         <p>
-          You must restart your robot to finish the initial robot calibration
-          process and have the new settings take effect. It may take several
-          minutes for your robot to restart.
+          In order to effectively use this new deck calibration, please
+          calibrate your pipette prior to running your next protocol.
+        </p>
+        <p>
+          Learn more about pipette calibration &nbsp;
+          <Link href={PIPETTE_CALIBRATION_URL} external>
+            here
+          </Link>
+          &nbsp;
         </p>
       </span>
     )
-    buttonText = 'finish and restart robot'
+    buttonText = 'save deck calibration and exit'
   }
 
   return (

app/src/components/CalibrateDeck/InstructionsModal.js

@@ -6,7 +6,6 @@ import { Link } from 'react-router-dom'
 import capitalize from 'lodash/capitalize'
 
 import { deckCalibrationCommand as dcCommand } from '../../http-api-client'
-import { restartRobot } from '../../robot-admin'
 
 import { chainActions } from '../../util'
 import { ModalPage, SpinnerModalPage } from '@opentrons/components'
@@ -166,7 +165,6 @@ function mapDispatchToProps(dispatch: Dispatch, ownProps: OP): DP {
   } else {
     actions = [
       dcCommand(robot, { command: 'save transform' }),
-      restartRobot(robot.name),
       push(ownProps.parentUrl),
     ]
   }