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chore(hardware-testing): Remove unneed hacks and use new 8.4 features. #18282

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Merged
ryanthecoder merged 1 commit into from
May 7, 2025
Merged

chore(hardware-testing): Remove unneed hacks and use new 8.4 features. #18282

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134 changes: 20 additions & 114 deletions hardware-testing/hardware_testing/protocols/universal_photometric.py
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Original file line number Diff line number Diff line change
@@ -1,13 +1,11 @@
"""Universal photometric test."""
import os
from typing import Tuple

from opentrons import protocol_api
from opentrons.protocol_engine.errors.exceptions import InvalidLiquidHeightFound
from opentrons_shared_data.load import get_shared_data_root
from opentrons.types import Mount

metadata = {"protocolName": "96ch Universal Photometric Protocol"}
requirements = {"robotType": "Flex", "apiLevel": "2.20"}
requirements = {"robotType": "Flex", "apiLevel": "2.23"}

DYE_RESERVOIR_DEAD_VOLUME = 20000 # 20k uL

Expand Down Expand Up @@ -207,7 +205,7 @@ def add_parameters(parameters: protocol_api.ParameterContext) -> None:
{"display_name": "NEST 290mL", "value": "nest_1_reservoir_290ml"},
{"display_name": "None", "value": "none"},
],
default="nest_1_reservoir_195ml",
default="nest_1_reservoir_290ml",
)
parameters.add_str(
variable_name="destination_labware_loadname",
Expand All @@ -234,75 +232,6 @@ def add_parameters(parameters: protocol_api.ParameterContext) -> None:
)


def _find_latest_labware_version(loadname: str) -> int:
latest = sorted(
os.listdir(f"{get_shared_data_root()}/labware/definitions/3/{loadname}/")
)[-1]
return int(latest[0])


def _get_height_after_liquid_handling(
labware: protocol_api.Labware,
height_before: float,
volume: float,
) -> float:
"""Get height after liquid handling fr 96 channel pipetting."""
well_core = labware._core.get_well_core("A1")
geometry = well_core._engine_client.state.geometry # type: ignore [attr-defined]
labware_id = well_core.labware_id # type: ignore [attr-defined]
well_name = well_core._name # type: ignore [attr-defined]

try:
return geometry.get_well_height_after_volume(
labware_id=labware_id,
well_name=well_name,
initial_height=height_before,
volume=volume,
)
except InvalidLiquidHeightFound:
raise ValueError(f"called with height before = {height_before} vol = {volume}")


def _get_well_volume_at_height(
labware: protocol_api.Labware,
height: float,
) -> float:
well_core = labware._core.get_well_core("A1")
geometry = well_core._engine_client.state.geometry # type: ignore [attr-defined]
labware_id = well_core.labware_id # type: ignore [attr-defined]
well_name = well_core._name # type: ignore [attr-defined]

return geometry.get_well_volume_at_height(
labware_id=labware_id,
well_name=well_name,
height=height,
)


def _get_well_height_at_volume(
labware: protocol_api.Labware,
volume: float,
) -> float:
well_core = labware._core.get_well_core("A1")
geometry = well_core._engine_client.state.geometry # type: ignore [attr-defined]
labware_id = well_core.labware_id # type: ignore [attr-defined]
well_name = well_core._name # type: ignore [attr-defined]

return geometry.get_well_height_at_volume(
labware_id=labware_id,
well_name=well_name,
volume=volume,
)


def _get_current_liquid_height(labware: protocol_api.Labware) -> float:
source_core = labware._core.get_well_core("A1")
source_core_geometry = source_core._engine_client.state.geometry # type: ignore [attr-defined]
source_labware_id = source_core._labware_id # type: ignore [attr-defined]
source_well_name = source_core._name # type: ignore [attr-defined]
return source_core_geometry.get_meniscus_height(source_labware_id, source_well_name)


def run(ctx: protocol_api.ProtocolContext) -> None: # noqa: C901
"""Run."""
ctx.load_trash_bin("A3")
Expand All @@ -328,14 +257,9 @@ def _get_tiprack(trial_number: int) -> protocol_api.Labware:
tip_racks=tipracks,
)

# dye source
src_labware_version = _find_latest_labware_version(
loadname=ctx.params.reservoir_labware_loadname # type: ignore [attr-defined]
)
dye_source = ctx.load_labware(
ctx.params.reservoir_labware_loadname, # type: ignore [attr-defined]
"D2",
version=src_labware_version, # type: ignore [attr-defined]
)
dye = ctx.define_liquid(
name="Dye",
Expand All @@ -345,24 +269,17 @@ def _get_tiprack(trial_number: int) -> protocol_api.Labware:
if not ctx.params.lld: # type: ignore [attr-defined]
dye_source["A1"].load_liquid(dye, ctx.params.dye_volume) # type: ignore [attr-defined]

# destination plate
plate_labware_version = _find_latest_labware_version(
loadname=ctx.params.destination_labware_loadname # type: ignore [attr-defined]
)
plate = ctx.load_labware(
ctx.params.destination_labware_loadname, # type: ignore [attr-defined]
location="D3",
version=plate_labware_version,
)
diluent = ctx.define_liquid(
name="Diluent",
description="Food Coloring",
display_color="#FE0000",
)
diluent_volume = 200 - ctx.params.target_volume # type: ignore [attr-defined]
dye_source["A1"].load_liquid(diluent, diluent_volume) # type: ignore [attr-defined]

def _validate_dye_liquid_height() -> float:
def _validate_dye_liquid_height() -> None:

liquid_height_valid = False
retrying = False
Expand All @@ -375,11 +292,8 @@ def _validate_dye_liquid_height() -> float:
# try again.
pip.detect_liquid_presence(dye_source["A1"])

src_liquid_height = _get_current_liquid_height(dye_source)
actual_starting_dye_volume = dye_source["A1"].current_liquid_volume()

actual_starting_dye_volume = _get_well_volume_at_height(
labware=dye_source, height=src_liquid_height
)
needed_starting_dye_volume = (
96
* ctx.params.cycles # type: ignore [attr-defined]
Expand All @@ -390,9 +304,10 @@ def _validate_dye_liquid_height() -> float:
liquid_height_valid = True
else:
pip._retract()
rounded = round(actual_starting_dye_volume, 2) # type: ignore[arg-type]
ctx.pause(
f"Need {round(needed_starting_dye_volume, 2)} uL dye to start. \
Only {round(actual_starting_dye_volume, 2)} uL detected. Refill and try again."
Only {rounded} uL detected. Refill and try again."
)
retrying = True
pip._retract()
Expand All @@ -401,15 +316,14 @@ def _validate_dye_liquid_height() -> float:
pip._retract()
ctx.pause("Replace tip rack.")
pip.pick_up_tip(tips["A1"])
return src_liquid_height

def _set_pipettte_motion_settings() -> Tuple[float, float, float, float, float]:
if ctx.params.use_pip_motion_defaults: # type: ignore [attr-defined]
aspirate_submerge_speed = 50
dispense_submerge_speed = 50
aspirate_exit_speed = 50
dispense_exit_speed = 50
if not ctx.is_simulating: # type: ignore [truthy-function]
if not ctx.is_simulating():
from hardware_testing.gravimetric.liquid_class.defaults import (
get_liquid_class,
)
Expand Down Expand Up @@ -449,38 +363,28 @@ def _set_pipettte_motion_settings() -> Tuple[float, float, float, float, float]:
dispense_exit_speed,
set_push_out,
) = _set_pipettte_motion_settings()
current_src_volume = ctx.params.dye_volume # type: ignore [attr-defined]
current_plate_volume = 0
for i in range(ctx.params.cycles): # type: ignore [attr-defined]
tips = _get_tiprack(i)
pip.pick_up_tip(tips["A1"])

if i == 0:
source_liquid_height = _validate_dye_liquid_height()
else:
source_liquid_height = _get_well_height_at_volume(
labware=dye_source, volume=current_src_volume
)
current_src_volume = _get_well_volume_at_height(
labware=dye_source, height=source_liquid_height
)
src_volume_after_aspirate = (
current_src_volume
- 96 * ctx.params.target_volume # type: ignore [attr-defined]
)
_validate_dye_liquid_height()

aspirate_volume = (
ctx.params.target_volume # type: ignore [attr-defined]
+ ctx.params.conditioning_volume # type: ignore [attr-defined]
)
aspirate_pos = (
_get_well_height_at_volume(
labware=dye_source, volume=src_volume_after_aspirate
dye_source["A1"].estimate_liquid_height_after_pipetting(
Mount.LEFT, -1 * ctx.params.target_volume # type: ignore [attr-defined]
)
- ctx.params.asp_sub_depth # type: ignore [attr-defined]
)
# Move above reservoir
pip.move_to(location=dye_source["A1"].top())
# Move to aspirate position at aspirate submerge speed
if ctx.is_simulating():
aspirate_pos = 0.1
pip.move_to(
location=dye_source["A1"].bottom(aspirate_pos),
speed=aspirate_submerge_speed,
Expand All @@ -492,7 +396,6 @@ def _set_pipettte_motion_settings() -> Tuple[float, float, float, float, float]:
volume=aspirate_volume,
location=None,
)
current_src_volume = src_volume_after_aspirate
# Dispense conditioning volume, if any, while submerged
if ctx.params.conditioning_volume: # type: ignore [attr-defined]
pip.dispense(
Expand All @@ -510,7 +413,11 @@ def _set_pipettte_motion_settings() -> Tuple[float, float, float, float, float]:
if ctx.params.pause_after_asp: # type: ignore [attr-defined]
ctx.pause("Inspect for dropouts.")
# we'll always end up with 200 uL after dispensing
dispense_pos = _get_well_height_at_volume(labware=plate, volume=200)
prep_vol = 200 - ctx.params.target_volume # type: ignore [attr-defined]
plate.load_liquid(plate.wells(), prep_vol, diluent)
dispense_pos = plate["A1"].estimate_liquid_height_after_pipetting(
Mount.LEFT, ctx.params.target_volume # type: ignore [attr-defined]
)

# note: would probably be good to add a needed dead volume in this comparison
dispense_submerge_depth = ctx.params.disp_sub_depth # type: ignore [attr-defined]
Expand All @@ -524,7 +431,7 @@ def _set_pipettte_motion_settings() -> Tuple[float, float, float, float, float]:
pip.move_to(location=plate["A1"].top())
# Move to dispense position at dispense submerge speed
pip.move_to(
location=plate["A1"].bottom(dispense_pos),
location=plate["A1"].bottom(dispense_pos), # type: ignore [arg-type]
speed=dispense_submerge_speed,
)
# Dispense
Expand All @@ -533,7 +440,6 @@ def _set_pipettte_motion_settings() -> Tuple[float, float, float, float, float]:
location=None,
push_out=set_push_out, # type: ignore [attr-defined]
)
current_plate_volume += ctx.params.target_volume # type: ignore [attr-defined]
# Exit liquid from dispense position at dispense exit speed
blow_out_pos = plate["A1"].bottom(
dispense_pos + ctx.params.disp_sub_depth + 5 # type: ignore [attr-defined]
Expand Down