feat(api, robot-server, app): Handle the Plate Reader lid while held by the gripper when the Estop is pressed.

api-client/src/runs/types.ts

@@ -8,6 +8,7 @@ import type {
   RunTimeCommand,
   RunTimeParameter,
   NozzleLayoutConfig,
+  OnDeckLabwareLocation,
 } from '@opentrons/shared-data'
 import type { ResourceLink, ErrorDetails } from '../types'
 export * from './commands/types'
@@ -117,7 +118,9 @@ export interface Runs {
 }
 
 export interface RunCurrentStateData {
+  estopEngaged: boolean
   activeNozzleLayouts: Record<string, NozzleLayoutValues> // keyed by pipetteId
+  placeLabwareState?: PlaceLabwareState
 }
 
 export const RUN_ACTION_TYPE_PLAY: 'play' = 'play'
@@ -209,3 +212,9 @@ export interface NozzleLayoutValues {
   activeNozzles: string[]
   config: NozzleLayoutConfig
 }
+
+export interface PlaceLabwareState {
+  labwareId: string
+  location: OnDeckLabwareLocation
+  shouldPlaceDown: boolean
+}

api/src/opentrons/hardware_control/modules/absorbance_reader.py

@@ -272,12 +272,8 @@ def usb_port(self) -> USBPort:
         return self._usb_port
 
     async def deactivate(self, must_be_running: bool = True) -> None:
-        """Deactivate the module.
-
-        Contains an override to the `wait_for_is_running` step in cases where the
-        module must be deactivated regardless of context."""
-        await self._poller.stop()
-        await self._driver.disconnect()
+        """Deactivate the module."""
+        pass
 
     async def wait_for_is_running(self) -> None:
         if not self.is_simulated:
@@ -336,7 +332,8 @@ async def cleanup(self) -> None:
         Clean up, i.e. stop pollers, disconnect serial, etc in preparation for
         object destruction.
         """
-        await self.deactivate()
+        await self._poller.stop()
+        await self._driver.disconnect()
 
     async def set_sample_wavelength(
         self,

api/src/opentrons/motion_planning/__init__.py

@@ -6,6 +6,7 @@
     MINIMUM_Z_MARGIN,
     get_waypoints,
     get_gripper_labware_movement_waypoints,
+    get_gripper_labware_placement_waypoints,
 )
 
 from .types import Waypoint, MoveType
@@ -27,4 +28,5 @@
     "ArcOutOfBoundsError",
     "get_waypoints",
     "get_gripper_labware_movement_waypoints",
+    "get_gripper_labware_placement_waypoints",
 ]

api/src/opentrons/motion_planning/waypoints.py

@@ -181,3 +181,35 @@ def get_gripper_labware_movement_waypoints(
             )
         )
     return waypoints_with_jaw_status
+
+
+def get_gripper_labware_placement_waypoints(
+    to_labware_center: Point,
+    gripper_home_z: float,
+    drop_offset: Optional[Point],
+) -> List[GripperMovementWaypointsWithJawStatus]:
+    """Get waypoints for placing labware using a gripper."""
+    drop_offset = drop_offset or Point()
+
+    drop_location = to_labware_center + Point(
+        drop_offset.x, drop_offset.y, drop_offset.z
+    )
+
+    post_drop_home_pos = Point(drop_location.x, drop_location.y, gripper_home_z)
+
+    return [
+        GripperMovementWaypointsWithJawStatus(
+            position=Point(drop_location.x, drop_location.y, gripper_home_z),
+            jaw_open=False,
+            dropping=False,
+        ),
+        GripperMovementWaypointsWithJawStatus(
+            position=drop_location, jaw_open=False, dropping=False
+        ),
+        # Gripper ungrips here
+        GripperMovementWaypointsWithJawStatus(
+            position=post_drop_home_pos,
+            jaw_open=True,
+            dropping=True,
+        ),
+    ]

api/src/opentrons/protocol_api/core/engine/module_core.py

@@ -586,7 +586,7 @@ def initialize(
         )
         self._initialized_value = wavelengths
 
-    def read(self, filename: Optional[str]) -> Dict[int, Dict[str, float]]:
+    def read(self, filename: Optional[str] = None) -> Dict[int, Dict[str, float]]:
         """Initiate a read on the Absorbance Reader, and return the results. During Analysis, this will return a measurement of zero for all wells."""
         wavelengths = self._engine_client.state.modules.get_absorbance_reader_substate(
             self.module_id

api/src/opentrons/protocol_api/core/engine/protocol.py

@@ -449,9 +449,10 @@ def load_module(
 
         # When the protocol engine is created, we add Module Lids as part of the deck fixed labware
         # If a valid module exists in the deck config. For analysis, we add the labware here since
-        # deck fixed labware is not created under the same conditions.
-        if self._engine_client.state.config.use_virtual_modules:
-            self._load_virtual_module_lid(module_core)
+        # deck fixed labware is not created under the same conditions. We also need to inject the Module
+        # lids when the module isnt already on the deck config, like when adding a new
+        # module during a protocol setup.
+        self._load_virtual_module_lid(module_core)
 
         self._module_cores_by_id[module_core.module_id] = module_core
 
@@ -461,20 +462,24 @@ def _load_virtual_module_lid(
         self, module_core: Union[ModuleCore, NonConnectedModuleCore]
     ) -> None:
         if isinstance(module_core, AbsorbanceReaderCore):
-            lid = self._engine_client.execute_command_without_recovery(
-                cmd.LoadLabwareParams(
-                    loadName="opentrons_flex_lid_absorbance_plate_reader_module",
-                    location=ModuleLocation(moduleId=module_core.module_id),
-                    namespace="opentrons",
-                    version=1,
-                    displayName="Absorbance Reader Lid",
-                )
+            substate = self._engine_client.state.modules.get_absorbance_reader_substate(
+                module_core.module_id
             )
+            if substate.lid_id is None:
+                lid = self._engine_client.execute_command_without_recovery(
+                    cmd.LoadLabwareParams(
+                        loadName="opentrons_flex_lid_absorbance_plate_reader_module",
+                        location=ModuleLocation(moduleId=module_core.module_id),
+                        namespace="opentrons",
+                        version=1,
+                        displayName="Absorbance Reader Lid",
+                    )
+                )
 
-            self._engine_client.add_absorbance_reader_lid(
-                module_id=module_core.module_id,
-                lid_id=lid.labwareId,
-            )
+                self._engine_client.add_absorbance_reader_lid(
+                    module_id=module_core.module_id,
+                    lid_id=lid.labwareId,
+                )
 
     def _create_non_connected_module_core(
         self, load_module_result: LoadModuleResult

api/src/opentrons/protocol_api/core/module.py

@@ -365,7 +365,7 @@ def initialize(
         """Initialize the Absorbance Reader by taking zero reading."""
 
     @abstractmethod
-    def read(self, filename: Optional[str]) -> Dict[int, Dict[str, float]]:
+    def read(self, filename: Optional[str] = None) -> Dict[int, Dict[str, float]]:
         """Get an absorbance reading from the Absorbance Reader."""
 
     @abstractmethod

api/src/opentrons/protocol_api/module_contexts.py

@@ -1035,7 +1035,9 @@ def initialize(
         )
 
     @requires_version(2, 21)
-    def read(self, export_filename: Optional[str]) -> Dict[int, Dict[str, float]]:
+    def read(
+        self, export_filename: Optional[str] = None
+    ) -> Dict[int, Dict[str, float]]:
         """Initiate read on the Absorbance Reader.
 
         Returns a dictionary of wavelengths to dictionary of values ordered by well name.

api/src/opentrons/protocol_engine/commands/command_unions.py

@@ -392,6 +392,7 @@
         unsafe.UpdatePositionEstimators,
         unsafe.UnsafeEngageAxes,
         unsafe.UnsafeUngripLabware,
+        unsafe.UnsafePlaceLabware,
     ],
     Field(discriminator="commandType"),
 ]
@@ -469,6 +470,7 @@
     unsafe.UpdatePositionEstimatorsParams,
     unsafe.UnsafeEngageAxesParams,
     unsafe.UnsafeUngripLabwareParams,
+    unsafe.UnsafePlaceLabwareParams,
 ]
 
 CommandType = Union[
@@ -544,6 +546,7 @@
     unsafe.UpdatePositionEstimatorsCommandType,
     unsafe.UnsafeEngageAxesCommandType,
     unsafe.UnsafeUngripLabwareCommandType,
+    unsafe.UnsafePlaceLabwareCommandType,
 ]
 
 CommandCreate = Annotated[
@@ -620,6 +623,7 @@
         unsafe.UpdatePositionEstimatorsCreate,
         unsafe.UnsafeEngageAxesCreate,
         unsafe.UnsafeUngripLabwareCreate,
+        unsafe.UnsafePlaceLabwareCreate,
     ],
     Field(discriminator="commandType"),
 ]
@@ -697,6 +701,7 @@
     unsafe.UpdatePositionEstimatorsResult,
     unsafe.UnsafeEngageAxesResult,
     unsafe.UnsafeUngripLabwareResult,
+    unsafe.UnsafePlaceLabwareResult,
 ]
 
 

api/src/opentrons/protocol_engine/commands/unsafe/__init__.py

@@ -40,6 +40,15 @@
 )
 
 
+from .unsafe_place_labware import (
+    UnsafePlaceLabwareCommandType,
+    UnsafePlaceLabwareParams,
+    UnsafePlaceLabwareResult,
+    UnsafePlaceLabware,
+    UnsafePlaceLabwareCreate,
+)
+
+
 __all__ = [
     # Unsafe blow-out-in-place command models
     "UnsafeBlowOutInPlaceCommandType",
@@ -71,4 +80,10 @@
     "UnsafeUngripLabwareResult",
     "UnsafeUngripLabware",
     "UnsafeUngripLabwareCreate",
+    # Unsafe place labware
+    "UnsafePlaceLabwareCommandType",
+    "UnsafePlaceLabwareParams",
+    "UnsafePlaceLabwareResult",
+    "UnsafePlaceLabware",
+    "UnsafePlaceLabwareCreate",
 ]