feat(api): add tip tracking for partial tip configuration

[sanni-t]

Closes RSS-299

Overview

Adds automatic tip selection for pipettes in partial tip configuration. Also updates signature of configure_nozzle_layout to include list of tip racks to use during the configuration.

Test Plan

Sample protocol for testing.

• should raise errors where indicated
• once erroring lines are removed/fixed, it should analyze successfully and run on the robot correctly

from opentrons.protocol_api import COLUMN, ALL


requirements = {
	"robotType": "Flex",
	"apiLevel": "2.16"
}

def run(protocol_context):
	trash_labware = protocol_context.load_labware("opentrons_1_trash_3200ml_fixed", "A3")

	tip_rack1 = protocol_context.load_labware("opentrons_flex_96_tiprack_50ul", "C3")
	tip_rack2 = protocol_context.load_labware("opentrons_flex_96_tiprack_200ul", "B3")
	tip_rack3 = protocol_context.load_labware("opentrons_flex_96_tiprack_200ul", "D3")


	instrument = protocol_context.load_instrument('flex_96channel_1000', mount="left", tip_racks=[tip_rack3, tip_rack2, tip_rack1])
	instrument.trash_container = trash_labware

	# Should pick all tips up from tiprack3
	instrument.pick_up_tip()
	instrument.drop_tip()

	instrument.configure_nozzle_layout(style=COLUMN, start="A12", tip_racks=[tip_rack1])

	# Should pick tips up column-wise from tiprack1
	for _ in range(12):
		instrument.pick_up_tip()
		instrument.drop_tip()

	# Should raise error. Comment out to fix
	instrument.pick_up_tip()

	######### CHANGE CONFIG TO ALL #########
	instrument.configure_nozzle_layout(style=ALL, tip_racks=[tip_rack2])

	# Should pick all tips up from tiprack2
	instrument.pick_up_tip()
	instrument.drop_tip()

	# Should raise error. Comment out to fix
	instrument.pick_up_tip()

Changelog

• added a new active_channels getter to get the number of pipette channels that are actually in use
• updated pick_up_tip and tip update logic to use active channels instead of pipette static channels

Review requests

• make sure all the tip tracking logic is updated in PAPI & engine
• test on a robot

Risk assessment

Medium. Affects existing tip tracking logic

[codecov]

Codecov Report

Merging #14104 (db5e758) into chore_release-7.1.0 (4aced90) will decrease coverage by 0.01%.
Report is 3 commits behind head on chore_release-7.1.0.
The diff coverage is n/a.

Additional details and impacted files

@@                   Coverage Diff                   @@
##           chore_release-7.1.0   #14104      +/-   ##
=======================================================
- Coverage                70.44%   70.43%   -0.01%     
=======================================================
  Files                     1636     1636              
  Lines                    54470    54470              
  Branches                  4008     4008              
=======================================================
- Hits                     38369    38367       -2     
- Misses                   15407    15408       +1     
- Partials                   694      695       +1     

Flag	Coverage Δ
g-code-testing	96.44% <ø> (ø)
notify-server	89.13% <ø> (ø)

Flags with carried forward coverage won't be shown. Click here to find out more.

Files	Coverage Δ
...i/src/opentrons/protocol_api/instrument_context.py	89.40% <ø> (ø)
api/src/opentrons/protocol_api/labware.py	91.02% <ø> (ø)
...src/opentrons/protocol_engine/commands/__init__.py	100.00% <ø> (ø)

... and 1 file with indirect coverage changes

[sanni-t]

Tested the above protocol on Flex successfully! (Successful = pipette picked up next tips in correct order. Got an unrelated tip sensor error halfway in)

[sfoster1]

Looks great to me!

[sanni-t]

Comments from in-person review with @jbleon95 @CaseyBatten

[sanni-t]

Do an assert False with error message here instead of returning random number

[sanni-t]

same as above

[sanni-t]

remove todo

[CaseyBatten]

Held in person review, changes look good, nothing blocking.