feat(api): add pipette movement restrictions for 96ch col A1 and 8ch …

…single A1 (#14230) --------- Co-authored-by: Max Marrone <[email protected]>
Opentrons · Jan 10, 2024 · d7cbd75 · d7cbd75
1 parent 6a0e3fe
commit d7cbd75
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Showing 3 changed files with 282 additions and 66 deletions.
diff --git a/api/src/opentrons/protocol_api/core/engine/deck_conflict.py b/api/src/opentrons/protocol_api/core/engine/deck_conflict.py
@@ -12,6 +12,8 @@
 from opentrons.motion_planning.adjacent_slots_getters import (
     get_north_slot,
     get_west_slot,
+    get_east_slot,
+    get_south_slot,
 )
 from opentrons.protocol_engine import (
     StateView,
@@ -49,9 +51,18 @@ def __init__(self, message: str) -> None:
 
 # TODO (spp, 2023-12-06): move this to a location like motion planning where we can
 #  derive these values from geometry definitions
+#  Also, verify y-axis extents values for the nozzle columns.
 # Bounding box measurements
-A12_column_front_left_bound = Point(x=-1.8, y=2)
-A12_column_back_right_bound = Point(x=592, y=506.2)
+A12_column_front_left_bound = Point(x=-11.03, y=2)
+A12_column_back_right_bound = Point(x=526.77, y=506.2)
+
+_NOZZLE_PITCH = 9
+A1_column_front_left_bound = Point(
+    x=A12_column_front_left_bound.x - _NOZZLE_PITCH * 11, y=2
+)
+A1_column_back_right_bound = Point(
+    x=A12_column_back_right_bound.x - _NOZZLE_PITCH * 11, y=506.2
+)
 
 # Arbitrary safety margin in z-direction
 Z_SAFETY_MARGIN = 10
@@ -250,9 +261,8 @@ def _check_deck_conflict_for_96_channel(
     if not (
         engine_state.pipettes.get_nozzle_layout_type(pipette_id)
         == NozzleConfigurationType.COLUMN
-        and engine_state.pipettes.get_primary_nozzle(pipette_id) == "A12"
     ):
-        # Checking deck conflicts only for 12th column config
+        # Checking deck conflicts only for column config
         return
 
     if isinstance(well_location, DropTipWellLocation):
@@ -267,41 +277,52 @@ def _check_deck_conflict_for_96_channel(
     well_location_point = engine_state.geometry.get_well_position(
         labware_id=labware_id, well_name=well_name, well_location=well_location
     )
+    primary_nozzle = engine_state.pipettes.get_primary_nozzle(pipette_id)
 
     if not _is_within_pipette_extents(
         engine_state=engine_state, pipette_id=pipette_id, location=well_location_point
     ):
         raise PartialTipMovementNotAllowedError(
-            "Requested motion with A12 nozzle column configuration"
-            " is outside of robot bounds for the 96-channel."
+            f"Requested motion with the {primary_nozzle} nozzle column configuration"
+            f" is outside of robot bounds for the 96-channel."
         )
 
     labware_slot = engine_state.geometry.get_ancestor_slot_name(labware_id)
-    west_slot_number = get_west_slot(
-        _deck_slot_to_int(DeckSlotLocation(slotName=labware_slot))
-    )
-    if west_slot_number is None:
-        return
 
-    west_slot = DeckSlotName.from_primitive(
-        west_slot_number
-    ).to_equivalent_for_robot_type(engine_state.config.robot_type)
+    destination_slot_num = labware_slot.as_int()
+    adjacent_slot_num = None
+    # TODO (spp, 2023-12-18): change this eventually to "column 1"/"column 12"
+    #  via the column mappings in the pipette geometry definitions.
+    if primary_nozzle == "A12":
+        adjacent_slot_num = get_west_slot(destination_slot_num)
+    elif primary_nozzle == "A1":
+        adjacent_slot_num = get_east_slot(destination_slot_num)
+
+    def _check_conflict_with_slot_item(
+        adjacent_slot: DeckSlotName,
+    ) -> None:
+        """Raises error if the pipette is expected to collide with adjacent slot items."""
+        slot_highest_z = engine_state.geometry.get_highest_z_in_slot(
+            DeckSlotLocation(slotName=adjacent_slot)
+        )
 
-    west_slot_highest_z = engine_state.geometry.get_highest_z_in_slot(
-        DeckSlotLocation(slotName=west_slot)
-    )
+        pipette_tip = engine_state.pipettes.get_attached_tip(pipette_id)
+        tip_length = pipette_tip.length if pipette_tip else 0.0
 
-    pipette_tip = engine_state.pipettes.get_attached_tip(pipette_id)
-    tip_length = pipette_tip.length if pipette_tip else 0.0
+        if slot_highest_z + Z_SAFETY_MARGIN > well_location_point.z + tip_length:
+            raise PartialTipMovementNotAllowedError(
+                f"Moving to {engine_state.labware.get_display_name(labware_id)} in slot"
+                f" {labware_slot} with pipette column {primary_nozzle} nozzle configuration"
+                f" will result in collision with items in deck slot {adjacent_slot}."
+            )
 
-    if (
-        west_slot_highest_z + Z_SAFETY_MARGIN > well_location_point.z + tip_length
-    ):  # a safe margin magic number
-        raise PartialTipMovementNotAllowedError(
-            f"Moving to {engine_state.labware.get_load_name(labware_id)} in slot {labware_slot}"
-            f" with a Column nozzle configuration will result in collision with"
-            f" items in deck slot {west_slot}."
-        )
+    if adjacent_slot_num is None:
+        return
+    _check_conflict_with_slot_item(
+        adjacent_slot=DeckSlotName.from_primitive(
+            adjacent_slot_num
+        ).to_equivalent_for_robot_type(engine_state.config.robot_type)
+    )
 
 
 def _check_deck_conflict_for_8_channel(
@@ -315,9 +336,8 @@ def _check_deck_conflict_for_8_channel(
     if not (
         engine_state.pipettes.get_nozzle_layout_type(pipette_id)
         == NozzleConfigurationType.SINGLE
-        and engine_state.pipettes.get_primary_nozzle(pipette_id) == "H1"
     ):
-        # Checking deck conflicts only for H1 single tip config
+        # Checking deck conflicts only for single tip config
         return
 
     if isinstance(well_location, DropTipWellLocation):
@@ -332,41 +352,50 @@ def _check_deck_conflict_for_8_channel(
     well_location_point = engine_state.geometry.get_well_position(
         labware_id=labware_id, well_name=well_name, well_location=well_location
     )
+    primary_nozzle = engine_state.pipettes.get_primary_nozzle(pipette_id)
 
     if not _is_within_pipette_extents(
         engine_state=engine_state, pipette_id=pipette_id, location=well_location_point
     ):
         # WARNING: (spp, 2023-11-30: this needs to be wired up to check for
         # 8-channel pipette extents on both OT2 & Flex!!)
         raise PartialTipMovementNotAllowedError(
-            "Requested motion with single H1 nozzle configuration"
-            " is outside of robot bounds for the 8-channel."
+            f"Requested motion with single {primary_nozzle} nozzle configuration"
+            f" is outside of robot bounds for the 8-channel."
         )
 
     labware_slot = engine_state.geometry.get_ancestor_slot_name(labware_id)
-    north_slot_number = get_north_slot(
-        _deck_slot_to_int(DeckSlotLocation(slotName=labware_slot))
-    )
-    if north_slot_number is None:
-        return
-
-    north_slot = DeckSlotName.from_primitive(
-        north_slot_number
-    ).to_equivalent_for_robot_type(engine_state.config.robot_type)
+    destination_slot = labware_slot.as_int()
+    adjacent_slot_num = None
+    # TODO (spp, 2023-12-18): change this eventually to use nozzles from mappings in
+    #  the pipette geometry definitions.
+    if primary_nozzle == "H1":
+        adjacent_slot_num = get_north_slot(destination_slot)
+    elif primary_nozzle == "A1":
+        adjacent_slot_num = get_south_slot(destination_slot)
+
+    def _check_conflict_with_slot_item(adjacent_slot: DeckSlotName) -> None:
+        slot_highest_z = engine_state.geometry.get_highest_z_in_slot(
+            DeckSlotLocation(slotName=adjacent_slot)
+        )
 
-    north_slot_highest_z = engine_state.geometry.get_highest_z_in_slot(
-        DeckSlotLocation(slotName=north_slot)
-    )
+        pipette_tip = engine_state.pipettes.get_attached_tip(pipette_id)
+        tip_length = pipette_tip.length if pipette_tip else 0.0
 
-    pipette_tip = engine_state.pipettes.get_attached_tip(pipette_id)
-    tip_length = pipette_tip.length if pipette_tip else 0.0
+        if slot_highest_z + Z_SAFETY_MARGIN > well_location_point.z + tip_length:
+            raise PartialTipMovementNotAllowedError(
+                f"Moving to {engine_state.labware.get_display_name(labware_id)} in slot"
+                f" {labware_slot} with pipette nozzle {primary_nozzle} configuration"
+                f" will result in collision with items in deck slot {adjacent_slot}."
+            )
 
-    if north_slot_highest_z + Z_SAFETY_MARGIN > well_location_point.z + tip_length:
-        raise PartialTipMovementNotAllowedError(
-            f"Moving to {engine_state.labware.get_load_name(labware_id)} in slot {labware_slot}"
-            f" with a Single nozzle configuration will result in collision with"
-            f" items in deck slot {north_slot}."
-        )
+    if adjacent_slot_num is None:
+        return
+    _check_conflict_with_slot_item(
+        adjacent_slot=DeckSlotName.from_primitive(
+            adjacent_slot_num
+        ).to_equivalent_for_robot_type(engine_state.config.robot_type)
+    )
 
 
 def _is_within_pipette_extents(
@@ -380,20 +409,28 @@ def _is_within_pipette_extents(
     nozzle_config = engine_state.pipettes.get_nozzle_layout_type(pipette_id)
     primary_nozzle = engine_state.pipettes.get_primary_nozzle(pipette_id)
     if robot_type == "OT-3 Standard":
-        if (
-            pipette_channels == 96
-            and nozzle_config == NozzleConfigurationType.COLUMN
-            and primary_nozzle == "A12"
-        ):
-            return (
-                A12_column_front_left_bound.x
-                < location.x
-                < A12_column_back_right_bound.x
-                and A12_column_front_left_bound.y
-                < location.y
-                < A12_column_back_right_bound.y
-            )
-    # TODO (spp, 2023-11-07): check for 8-channel nozzle H1 extents on Flex & OT2
+        if pipette_channels == 96 and nozzle_config == NozzleConfigurationType.COLUMN:
+            # TODO (spp, 2023-12-18): change this eventually to use column mappings in
+            #  the pipette geometry definitions.
+            if primary_nozzle == "A12":
+                return (
+                    A12_column_front_left_bound.x
+                    <= location.x
+                    <= A12_column_back_right_bound.x
+                    and A12_column_front_left_bound.y
+                    <= location.y
+                    <= A12_column_back_right_bound.y
+                )
+            elif primary_nozzle == "A1":
+                return (
+                    A1_column_front_left_bound.x
+                    <= location.x
+                    <= A1_column_back_right_bound.x
+                    and A1_column_front_left_bound.y
+                    <= location.y
+                    <= A1_column_back_right_bound.y
+                )
+    # TODO (spp, 2023-11-07): check for 8-channel nozzle A1 & H1 extents on Flex & OT2
     return True
 
 

diff --git a/api/tests/opentrons/protocol_api/core/engine/test_deck_conflict.py b/api/tests/opentrons/protocol_api/core/engine/test_deck_conflict.py
@@ -327,7 +327,7 @@ def get_expected_mapping_result() -> wrapped_deck_conflict.DeckItem:
         ),
         # Out-of-bounds error
         (
-            Point(x=-10, y=100, z=60),
+            Point(x=-12, y=100, z=60),
             pytest.raises(
                 deck_conflict.PartialTipMovementNotAllowedError,
                 match="outside of robot bounds",