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feat(api): add absolute flow_rate argument to aspirate() and dispense() #18326

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Merged
ddcc4 merged 1 commit into from
May 13, 2025
Merged

feat(api): add absolute flow_rate argument to aspirate() and dispense() #18326

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60 changes: 49 additions & 11 deletions api/src/opentrons/protocol_api/instrument_context.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -186,11 +186,12 @@ def get_minimum_liquid_sense_height(self) -> float:
return self._core.get_minimum_liquid_sense_height()

@requires_version(2, 0)
def aspirate(
def aspirate( # noqa: C901
self,
volume: Optional[float] = None,
location: Optional[Union[types.Location, labware.Well]] = None,
rate: float = 1.0,
flow_rate: Optional[float] = None,
) -> InstrumentContext:
"""
Draw liquid into a pipette tip.
Expand Down Expand Up @@ -227,6 +228,9 @@ def aspirate(
<flow_rate>`. If not specified, defaults to 1.0. See
:ref:`new-plunger-flow-rates`.
:type rate: float
:param flow_rate: The absolute flow rate in µL/s. If ``flow_rate`` is specified,
``rate`` must not be set.
:type flow_rate: float
:returns: This instance.

.. note::
Expand All @@ -236,10 +240,25 @@ def aspirate(
``location``, specify it as a keyword argument:
``pipette.aspirate(location=plate['A1'])``

.. versionchanged:: 2.24
Added the ``flow_rate`` parameter.
"""
if flow_rate is not None:
if self.api_version < APIVersion(2, 24):
raise APIVersionError(
api_element="flow_rate",
until_version="2.24",
current_version=f"{self.api_version}",
)
if rate != 1.0:
raise ValueError("rate must not be set if flow_rate is specified")
rate = flow_rate / self._core.get_aspirate_flow_rate()
else:
flow_rate = self._core.get_aspirate_flow_rate(rate)

_log.debug(
"aspirate {} from {} at {}".format(
volume, location if location else "current position", rate
"aspirate {} from {} at {} µL/s".format(
volume, location if location else "current position", flow_rate
)
)

Expand Down Expand Up @@ -276,7 +295,6 @@ def aspirate(
c_vol = self._core.get_available_volume() if volume is None else volume
else:
c_vol = self._core.get_available_volume() if not volume else volume
flow_rate = self._core.get_aspirate_flow_rate(rate)

if (
self.api_version >= APIVersion(2, 20)
Expand Down Expand Up @@ -312,14 +330,15 @@ def aspirate(
return self

@requires_version(2, 0)
def dispense(
def dispense( # noqa: C901
self,
volume: Optional[float] = None,
location: Optional[
Union[types.Location, labware.Well, TrashBin, WasteChute]
] = None,
rate: float = 1.0,
push_out: Optional[float] = None,
flow_rate: Optional[float] = None,
) -> InstrumentContext:
"""
Dispense liquid from a pipette tip.
Expand Down Expand Up @@ -376,15 +395,19 @@ def dispense(
<flow_rate>`. If not specified, defaults to 1.0. See
:ref:`new-plunger-flow-rates`.
:type rate: float

:param push_out: Continue past the plunger bottom to help ensure all liquid
leaves the tip. Measured in µL. The default value is ``None``.

When not specified or set to ``None``, the plunger moves by a non-zero default amount.


For a table of default values, see :ref:`push-out-dispense`.
:type push_out: float

:param flow_rate: The absolute flow rate in µL/s. If ``flow_rate`` is specified,
``rate`` must not be set.
:type flow_rate: float

:returns: This instance.

.. note::
Expand All @@ -400,6 +423,9 @@ def dispense(
.. versionchanged:: 2.17
Behavior of the ``volume`` parameter.

.. versionchanged:: 2.24
Added the ``flow_rate`` parameter.

.. versionchanged:: 2.24
``location`` is no longer required if the pipette just moved to, dispensed, or blew out
into a trash bin or waste chute.
Expand All @@ -410,13 +436,27 @@ def dispense(
until_version="2.15",
current_version=f"{self.api_version}",
)

if flow_rate is not None:
if self.api_version < APIVersion(2, 24):
raise APIVersionError(
api_element="flow_rate",
until_version="2.24",
current_version=f"{self.api_version}",
)
if rate != 1.0:
raise ValueError("rate must not be set if flow_rate is specified")
rate = flow_rate / self._core.get_dispense_flow_rate()
else:
flow_rate = self._core.get_dispense_flow_rate(rate)

_log.debug(
"dispense {} from {} at {}".format(
volume, location if location else "current position", rate
"dispense {} from {} at {} µL/s".format(
volume, location if location else "current position", flow_rate
)
)
last_location = self._get_last_location_by_api_version()

last_location = self._get_last_location_by_api_version()
try:
target = validation.validate_location(
location=location, last_location=last_location
Expand All @@ -434,8 +474,6 @@ def dispense(
else:
c_vol = self._core.get_current_volume() if not volume else volume

flow_rate = self._core.get_dispense_flow_rate(rate)

if isinstance(target, validation.DisposalTarget):
with publisher.publish_context(
broker=self.broker,
Expand Down
69 changes: 69 additions & 0 deletions api/tests/opentrons/protocol_api/test_instrument_context.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -469,6 +469,40 @@ def test_aspirate_raises_no_location(
subject.aspirate(location=None)


def test_aspirate_flow_rate(
decoy: Decoy,
mock_instrument_core: InstrumentCore,
subject: InstrumentContext,
mock_protocol_core: ProtocolCore,
) -> None:
"""It should aspirate with absolute_flow_rate."""
decoy.when(mock_instrument_core.get_mount()).then_return(Mount.RIGHT)
last_location = Location(point=Point(9, 9, 9), labware=None)
decoy.when(mock_protocol_core.get_last_location(Mount.RIGHT)).then_return(
last_location
)
decoy.when(mock_instrument_core.get_aspirate_flow_rate()).then_return(400)

subject.aspirate(volume=30, flow_rate=600)

decoy.verify(
mock_instrument_core.aspirate(
location=last_location,
well_core=None,
in_place=True,
volume=30,
rate=1.5, # requested flow_rate is 1.5 times default of 400
flow_rate=600,
meniscus_tracking=None,
),
times=1,
)

# Should raise if both `rate` and `flow_rate` are specified:
with pytest.raises(ValueError):
subject.aspirate(volume=30, rate=1.5, flow_rate=600)


def test_blow_out_to_well(
decoy: Decoy,
mock_instrument_core: InstrumentCore,
Expand Down Expand Up @@ -1126,6 +1160,41 @@ def test_dispense_push_out_on_not_allowed_version(
subject.dispense(push_out=3)


def test_dispense_flow_rate(
decoy: Decoy,
mock_instrument_core: InstrumentCore,
subject: InstrumentContext,
mock_protocol_core: ProtocolCore,
) -> None:
"""It should dispense with absolute_flow_rate."""
decoy.when(mock_instrument_core.get_mount()).then_return(Mount.RIGHT)
last_location = Location(point=Point(9, 9, 9), labware=None)
decoy.when(mock_protocol_core.get_last_location(Mount.RIGHT)).then_return(
last_location
)
decoy.when(mock_instrument_core.get_dispense_flow_rate()).then_return(400)

subject.dispense(volume=30, flow_rate=600)

decoy.verify(
mock_instrument_core.dispense(
location=last_location,
well_core=None,
volume=30,
rate=1.5, # requested flow_rate is 1.5 times default of 400
flow_rate=600,
in_place=True,
push_out=None,
meniscus_tracking=None,
),
times=1,
)

# Should raise if both `rate` and `flow_rate` are specified:
with pytest.raises(ValueError):
subject.dispense(volume=30, rate=1.5, flow_rate=600)


def test_touch_tip(
decoy: Decoy,
mock_instrument_core: InstrumentCore,
Expand Down