Skip to content

fix(api): fix aspirate/dispense while tracking move to #17854

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
caila-marashaj merged 6 commits into from
Apr 15, 2025
Merged

fix(api): fix aspirate/dispense while tracking move to #17854

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
38253ae
what I got
ryanthecoder Mar 20, 2025
668a874
do the same for dispense
caila-marashaj Mar 20, 2025
d8c018a
dont use operation_volume params in move_to_well
caila-marashaj Mar 20, 2025
ff1710b
rm comment
caila-marashaj Mar 20, 2025
d260313
start of test fixes
caila-marashaj Mar 21, 2025
3d41486
test fixes
caila-marashaj Apr 15, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
104 changes: 38 additions & 66 deletions api/src/opentrons/protocol_engine/commands/aspirate_while_tracking.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@
from ..errors.exceptions import PipetteNotReadyToAspirateError
from opentrons.hardware_control import HardwareControlAPI
from ..state.update_types import CLEAR
from ..types import CurrentWell, DeckPoint
from ..types import DeckPoint

if TYPE_CHECKING:
from ..execution import PipettingHandler, GantryMover, MovementHandler
Expand Down Expand Up @@ -104,25 +104,15 @@ async def execute(self, params: AspirateWhileTrackingParams) -> _ExecuteReturn:
" The first aspirate following a blow-out must be from a specific well"
" so the plunger can be reset in a known safe position."
)

current_position = await self._gantry_mover.get_position(params.pipetteId)
current_location = self._state_view.pipettes.get_current_location()

state_update = StateUpdate()
current_well = CurrentWell(
pipette_id=params.pipetteId,
labware_id=params.labwareId,
well_name=params.wellName,
)

move_result = await move_to_well(
movement=self._movement,
model_utils=self._model_utils,
pipette_id=params.pipetteId,
labware_id=params.labwareId,
well_name=params.wellName,
well_location=params.wellLocation,
current_well=current_well,
operation_volume=-params.volume,
)
state_update.append(move_result.state_update)
if isinstance(move_result, DefinedErrorData):
Expand All @@ -138,9 +128,9 @@ async def execute(self, params: AspirateWhileTrackingParams) -> _ExecuteReturn:
flow_rate=params.flowRate,
location_if_error={
"retryLocation": (
current_position.x,
current_position.y,
current_position.z,
move_result.public.position.x,
move_result.public.position.y,
move_result.public.position.z,
)
},
command_note_adder=self._command_note_adder,
Expand All @@ -156,58 +146,40 @@ async def execute(self, params: AspirateWhileTrackingParams) -> _ExecuteReturn:
z=position_after_aspirate.z,
)
if isinstance(aspirate_result, DefinedErrorData):
if (
isinstance(current_location, CurrentWell)
and current_location.pipette_id == params.pipetteId
):
return DefinedErrorData(
public=aspirate_result.public,
state_update=aspirate_result.state_update.set_liquid_operated(
labware_id=current_location.labware_id,
well_names=self._state_view.geometry.get_wells_covered_by_pipette_with_active_well(
current_location.labware_id,
current_location.well_name,
params.pipetteId,
),
volume_added=CLEAR,
),
state_update_if_false_positive=aspirate_result.state_update_if_false_positive,
)
else:
return aspirate_result
else:
if (
isinstance(current_location, CurrentWell)
and current_location.pipette_id == params.pipetteId
):
return SuccessData(
public=AspirateWhileTrackingResult(
volume=aspirate_result.public.volume,
position=result_deck_point,
),
state_update=aspirate_result.state_update.set_liquid_operated(
labware_id=current_location.labware_id,
well_names=self._state_view.geometry.get_wells_covered_by_pipette_with_active_well(
current_location.labware_id,
current_location.well_name,
params.pipetteId,
),
volume_added=-aspirate_result.public.volume
* self._state_view.geometry.get_nozzles_per_well(
current_location.labware_id,
current_location.well_name,
params.pipetteId,
),
),
)
else:
return SuccessData(
public=AspirateWhileTrackingResult(
volume=aspirate_result.public.volume,
position=result_deck_point,
return DefinedErrorData(
public=aspirate_result.public,
state_update=aspirate_result.state_update.set_liquid_operated(
labware_id=params.labwareId,
well_names=self._state_view.geometry.get_wells_covered_by_pipette_with_active_well(
params.labwareId,
params.wellName,
params.pipetteId,
),
state_update=aspirate_result.state_update,
)
volume_added=CLEAR,
),
state_update_if_false_positive=aspirate_result.state_update_if_false_positive,
)

return SuccessData(
public=AspirateWhileTrackingResult(
volume=aspirate_result.public.volume,
position=result_deck_point,
),
state_update=aspirate_result.state_update.set_liquid_operated(
labware_id=params.labwareId,
well_names=self._state_view.geometry.get_wells_covered_by_pipette_with_active_well(
params.labwareId,
params.wellName,
params.pipetteId,
),
volume_added=-aspirate_result.public.volume
* self._state_view.geometry.get_nozzles_per_well(
params.labwareId,
params.wellName,
params.pipetteId,
),
),
)


class AspirateWhileTracking(
Expand Down
108 changes: 36 additions & 72 deletions api/src/opentrons/protocol_engine/commands/dispense_while_tracking.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
from pydantic.json_schema import SkipJsonSchema

from ..state.update_types import CLEAR, StateUpdate
from ..types import CurrentWell, DeckPoint
from ..types import DeckPoint
from .pipetting_common import (
PipetteIdMixin,
DispenseVolumeMixin,
Expand Down Expand Up @@ -99,13 +99,6 @@ async def execute(self, params: DispenseWhileTrackingParams) -> _ExecuteReturn:

# TODO(pbm, 10-15-24): call self._state_view.geometry.validate_dispense_volume_into_well()

current_location = self._state_view.pipettes.get_current_location()
current_position = await self._gantry_mover.get_position(params.pipetteId)
current_well = CurrentWell(
pipette_id=params.pipetteId,
labware_id=params.labwareId,
well_name=params.wellName,
)
state_update = StateUpdate()
move_result = await move_to_well(
movement=self._movement,
Expand All @@ -114,8 +107,6 @@ async def execute(self, params: DispenseWhileTrackingParams) -> _ExecuteReturn:
labware_id=params.labwareId,
well_name=params.wellName,
well_location=params.wellLocation,
current_well=current_well,
operation_volume=-params.volume,
)
state_update.append(move_result.state_update)
if isinstance(move_result, DefinedErrorData):
Expand All @@ -132,9 +123,9 @@ async def execute(self, params: DispenseWhileTrackingParams) -> _ExecuteReturn:
push_out=params.pushOut,
location_if_error={
"retryLocation": (
current_position.x,
current_position.y,
current_position.z,
move_result.public.position.x,
move_result.public.position.y,
move_result.public.position.z,
)
},
pipetting=self._pipetting,
Expand All @@ -150,67 +141,40 @@ async def execute(self, params: DispenseWhileTrackingParams) -> _ExecuteReturn:
)

if isinstance(dispense_result, DefinedErrorData):
if (
isinstance(current_location, CurrentWell)
and current_location.pipette_id == params.pipetteId
):
return DefinedErrorData(
public=dispense_result.public,
state_update=dispense_result.state_update.set_liquid_operated(
labware_id=current_location.labware_id,
well_names=self._state_view.geometry.get_wells_covered_by_pipette_with_active_well(
current_location.labware_id,
current_location.well_name,
params.pipetteId,
),
volume_added=CLEAR,
),
state_update_if_false_positive=dispense_result.state_update_if_false_positive,
)
else:
return dispense_result
else:
if (
isinstance(current_location, CurrentWell)
and current_location.pipette_id == params.pipetteId
):
volume_added = (
self._state_view.pipettes.get_liquid_dispensed_by_ejecting_volume(
pipette_id=params.pipetteId,
volume=dispense_result.public.volume,
)
)
if volume_added is not None:
volume_added *= self._state_view.geometry.get_nozzles_per_well(
current_location.labware_id,
current_location.well_name,
return DefinedErrorData(
public=dispense_result.public,
state_update=dispense_result.state_update.set_liquid_operated(
labware_id=params.labwareId,
well_names=self._state_view.geometry.get_wells_covered_by_pipette_with_active_well(
params.labwareId,
params.wellName,
params.pipetteId,
)
return SuccessData(
public=DispenseWhileTrackingResult(
volume=dispense_result.public.volume,
position=result_deck_point,
),
state_update=dispense_result.state_update.set_liquid_operated(
labware_id=current_location.labware_id,
well_names=self._state_view.geometry.get_wells_covered_by_pipette_with_active_well(
current_location.labware_id,
current_location.well_name,
params.pipetteId,
),
volume_added=volume_added
if volume_added is not None
else CLEAR,
),
)
else:
return SuccessData(
public=DispenseWhileTrackingResult(
volume=dispense_result.public.volume,
position=result_deck_point,
),
state_update=dispense_result.state_update,
)
volume_added=CLEAR,
),
state_update_if_false_positive=dispense_result.state_update_if_false_positive,
)

return SuccessData(
public=DispenseWhileTrackingResult(
volume=dispense_result.public.volume,
position=result_deck_point,
),
state_update=dispense_result.state_update.set_liquid_operated(
labware_id=params.labwareId,
well_names=self._state_view.geometry.get_wells_covered_by_pipette_with_active_well(
params.labwareId,
params.wellName,
params.pipetteId,
),
volume_added=dispense_result.public.volume
* self._state_view.geometry.get_nozzles_per_well(
params.labwareId,
params.wellName,
params.pipetteId,
),
),
)


class DispenseWhileTracking(
Expand Down
Loading