refactor(shared-data, robot-server, api): Pipette configuration architecture refactor to organize by nozzle map and tip type

api/src/opentrons/hardware_control/instruments/ot2/pipette.py

@@ -17,6 +17,7 @@
     PipetteModelVersionType,
     PipetteNameType,
     PipetteLiquidPropertiesDefinition,
+    PressFitPickUpTipConfiguration,
 )
 from opentrons_shared_data.pipette import (
     load_data as load_pipette_data,
@@ -112,9 +113,16 @@ def __init__(
             pipette_channels=config.channels,
             pipette_version=config.version,
         )
+        self._valid_nozzle_maps = load_pipette_data.load_valid_nozzle_maps(
+            self._pipette_model.pipette_type,
+            self._pipette_model.pipette_channels,
+            self._pipette_model.pipette_version,
+        )
         self._nozzle_offset = self._config.nozzle_offset
         self._nozzle_manager = (
-            nozzle_manager.NozzleConfigurationManager.build_from_config(self._config)
+            nozzle_manager.NozzleConfigurationManager.build_from_config(
+                self._config, self._valid_nozzle_maps
+            )
         )
         self._current_volume = 0.0
         self._working_volume = float(self._liquid_class.max_volume)
@@ -148,7 +156,9 @@ def __init__(
             self._active_tip_settings.default_blowout_flowrate.default
         )
 
-        self._tip_overlap_lookup = self._liquid_class.tip_overlap_dictionary
+        self._tip_overlap_dictionary = (
+            self.get_nominal_tip_overlap_dictionary_by_configuration()
+        )
 
         if use_old_aspiration_functions:
             self._pipetting_function_version = PIPETTING_FUNCTION_FALLBACK_VERSION
@@ -217,7 +227,7 @@ def pipette_offset(self) -> PipetteOffsetByPipetteMount:
 
     @property
     def tip_overlap(self) -> Dict[str, float]:
-        return self._tip_overlap_lookup
+        return self._tip_overlap_dictionary
 
     @property
     def channels(self) -> pip_types.PipetteChannelType:
@@ -290,9 +300,14 @@ def reset_state(self) -> None:
             self.active_tip_settings.default_blowout_flowrate.default
         )
 
-        self._tip_overlap_lookup = self.liquid_class.tip_overlap_dictionary
+        self._tip_overlap_dictionary = (
+            self.get_nominal_tip_overlap_dictionary_by_configuration()
+        )
+
         self._nozzle_manager = (
-            nozzle_manager.NozzleConfigurationManager.build_from_config(self._config)
+            nozzle_manager.NozzleConfigurationManager.build_from_config(
+                self._config, self._valid_nozzle_maps
+            )
         )
 
     def reset_pipette_offset(self, mount: Mount, to_default: bool) -> None:
@@ -520,6 +535,93 @@ def remove_tip(self) -> None:
     def has_tip(self) -> bool:
         return self._has_tip
 
+    def get_pick_up_speed_by_configuration(
+        self,
+        config: PressFitPickUpTipConfiguration,
+    ) -> float:
+        try:
+            return config.configuration_by_nozzle_map[
+                self._nozzle_manager.current_configuration.valid_map_key
+            ][pip_types.PipetteTipType(self._liquid_class.max_volume).name].speed
+        except KeyError:
+            default = config.configuration_by_nozzle_map[
+                self._nozzle_manager.current_configuration.valid_map_key
+            ].get("default")
+            if default is not None:
+                return default.speed
+            raise KeyError(
+                f"Default tip type configuration values do not exist for Nozzle Map {self._nozzle_manager.current_configuration.valid_map_key}."
+            )
+
+    def get_pick_up_distance_by_configuration(
+        self,
+        config: PressFitPickUpTipConfiguration,
+    ) -> float:
+        try:
+            return config.configuration_by_nozzle_map[
+                self._nozzle_manager.current_configuration.valid_map_key
+            ][pip_types.PipetteTipType(self._liquid_class.max_volume).name].distance
+        except KeyError:
+            default = config.configuration_by_nozzle_map[
+                self._nozzle_manager.current_configuration.valid_map_key
+            ].get("default")
+            if default is not None:
+                return default.distance
+            raise KeyError(
+                f"Default tip type configuration values do not exist for Nozzle Map {self._nozzle_manager.current_configuration.valid_map_key}."
+            )
+
+    def get_pick_up_current_by_configuration(
+        self,
+        config: PressFitPickUpTipConfiguration,
+    ) -> float:
+        try:
+            return config.configuration_by_nozzle_map[
+                self._nozzle_manager.current_configuration.valid_map_key
+            ][pip_types.PipetteTipType(self._liquid_class.max_volume).name].current
+        except KeyError:
+            default = config.configuration_by_nozzle_map[
+                self._nozzle_manager.current_configuration.valid_map_key
+            ].get("default")
+            if default is not None:
+                return default.current
+            raise KeyError(
+                f"Default tip type configuration values do not exist for Nozzle Map {self._nozzle_manager.current_configuration.valid_map_key}."
+            )
+
+    def get_nominal_tip_overlap_dictionary_by_configuration(
+        self,
+    ) -> Dict[str, float]:
+        for config in (
+            self._config.pick_up_tip_configurations.press_fit,
+            self._config.pick_up_tip_configurations.cam_action,
+        ):
+            if not config:
+                continue
+
+            try:
+                return config.configuration_by_nozzle_map[
+                    self._nozzle_manager.current_configuration.valid_map_key
+                ][
+                    pip_types.PipetteTipType(self._liquid_class.max_volume).name
+                ].tip_overlap_dictionary
+            except KeyError:
+                try:
+                    default = config.configuration_by_nozzle_map[
+                        self._nozzle_manager.current_configuration.valid_map_key
+                    ].get("default")
+                    if default is not None:
+                        return default.tip_overlap_dictionary
+                    raise KeyError(
+                        f"Default tip type configuration values do not exist for Nozzle Map {self._nozzle_manager.current_configuration.valid_map_key}."
+                    )
+                except KeyError:
+                    # No valid key found for the approved nozzle map under this configuration - try the next
+                    continue
+        raise CommandPreconditionViolated(
+            message="No valid tip overlap dictionary identified.",
+        )
+
     # Cache max is chosen somewhat arbitrarily. With a float is input we don't
     # want this to unbounded.
     @functools.lru_cache(maxsize=100)

api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py

@@ -772,7 +772,7 @@ def plan_check_pick_up_tip(  # type: ignore[no-untyped-def]
         if instrument.has_tip:
             raise UnexpectedTipAttachError("pick_up_tip", instrument.name, mount.name)
         self._ihp_log.debug(f"Picking up tip on {mount.name}")
-        tip_count = instrument.nozzle_manager.current_configuration.tip_count
+
         if presses is None or presses < 0:
             checked_presses = instrument.pick_up_configurations.press_fit.presses
         else:
@@ -783,11 +783,12 @@ def plan_check_pick_up_tip(  # type: ignore[no-untyped-def]
         else:
             check_incr = increment
 
-        pick_up_speed = instrument.pick_up_configurations.press_fit.speed_by_tip_count[
-            tip_count
-        ]
-        pick_up_distance = (
-            instrument.pick_up_configurations.press_fit.distance_by_tip_count[tip_count]
+        pick_up_speed = instrument.get_pick_up_speed_by_configuration(
+            instrument.pick_up_configurations.press_fit
+        )
+
+        pick_up_distance = instrument.get_pick_up_distance_by_configuration(
+            instrument.pick_up_configurations.press_fit
         )
 
         def build_presses() -> Iterator[Tuple[float, float]]:
@@ -817,9 +818,9 @@ def add_tip_to_instr() -> None:
                             current={
                                 Axis.by_mount(
                                     mount
-                                ): instrument.pick_up_configurations.press_fit.current_by_tip_count[
-                                    tip_count
-                                ]
+                                ): instrument.get_pick_up_current_by_configuration(
+                                    instrument.pick_up_configurations.press_fit
+                                )
                             },
                             speed=pick_up_speed,
                             relative_down=top_types.Point(0, 0, press_dist),
@@ -846,9 +847,9 @@ def add_tip_to_instr() -> None:
                             current={
                                 Axis.by_mount(
                                     mount
-                                ): instrument.pick_up_configurations.press_fit.current_by_tip_count[
-                                    instrument.nozzle_manager.current_configuration.tip_count
-                                ]
+                                ): instrument.get_pick_up_current_by_configuration(
+                                    instrument.pick_up_configurations.press_fit
+                                )
                             },
                             speed=pick_up_speed,
                             relative_down=top_types.Point(0, 0, press_dist),