Merge branch 'edge' into testing-liquid-classes-api-in-grav-script

Author: andySigler

api-client/src/maintenance_runs/types.ts

@@ -6,7 +6,7 @@ import type {
 } from '@opentrons/shared-data'
 import type {
   RunCommandSummary,
-  LabwareOffsetCreateData,
+  LegacyLabwareOffsetCreateData,
   RunStatus,
   RunAction,
 } from '../runs'
@@ -42,7 +42,7 @@ export interface MaintenanceRunError {
 }
 
 export interface CreateMaintenanceRunData {
-  labwareOffsets?: LabwareOffsetCreateData[]
+  labwareOffsets?: LegacyLabwareOffsetCreateData[]
 }
 
 export interface LabwareDefinitionSummary {

api-client/src/modules/api-types.ts

@@ -10,6 +10,7 @@ interface PhysicalPort {
   port: number
   hub: boolean
   portGroup: PortGroup
+  hubPort?: number
 }
 
 type ModuleOffsetSource =

api-client/src/runs/createLabwareOffset.ts

@@ -2,14 +2,14 @@ import { POST, request } from '../request'
 
 import type { ResponsePromise } from '../request'
 import type { HostConfig } from '../types'
-import type { LabwareOffsetCreateData, Run } from './types'
+import type { LegacyLabwareOffsetCreateData, Run } from './types'
 
 export function createLabwareOffset(
   config: HostConfig,
   runId: string,
-  data: LabwareOffsetCreateData
+  data: LegacyLabwareOffsetCreateData
 ): ResponsePromise<Run> {
-  return request<Run, { data: LabwareOffsetCreateData }>(
+  return request<Run, { data: LegacyLabwareOffsetCreateData }>(
     POST,
     `/runs/${runId}/labware_offsets`,
     { data },

api-client/src/runs/createRun.ts

@@ -4,14 +4,14 @@ import type { ResponsePromise } from '../request'
 import type { HostConfig } from '../types'
 import type {
   Run,
-  LabwareOffsetCreateData,
+  LegacyLabwareOffsetCreateData,
   RunTimeParameterValuesCreateData,
   RunTimeParameterFilesCreateData,
 } from './types'
 
 export interface CreateRunData {
   protocolId?: string
-  labwareOffsets?: LabwareOffsetCreateData[]
+  labwareOffsets?: LegacyLabwareOffsetCreateData[]
   runTimeParameterValues?: RunTimeParameterValuesCreateData
   runTimeParameterFiles?: RunTimeParameterFilesCreateData
 }

api-client/src/runs/types.ts

@@ -85,7 +85,8 @@ export interface LabwareOffset {
   id: string
   createdAt: string
   definitionUri: string
-  location: LabwareOffsetLocation
+  location: LegacyLabwareOffsetLocation
+  locationSequence?: LabwareOffsetLocationSequence
   vector: VectorOffset
 }
 
@@ -156,14 +157,35 @@ export interface CreateRunActionData {
   actionType: RunActionType
 }
 
-export interface LabwareOffsetLocation {
+export interface OnAddressableAreaLabwareOffsetLocationSequenceComponent {
+  kind: 'onAddressableArea'
+  labware: string
+}
+
+export interface OnModuleOffsetLocationSequenceComponent {
+  kind: 'onModule'
+  moduleModel: ModuleModel
+}
+
+export interface OnLabwareOffsetLocationSequenceComponent {
+  kind: 'onLabware'
+  labwareUri: string
+}
+
+export type LabwareOffsetLocationSequenceComponent =
+  | OnAddressableAreaLabwareOffsetLocationSequenceComponent
+  | OnModuleOffsetLocationSequenceComponent
+  | OnLabwareOffsetLocationSequenceComponent
+export type LabwareOffsetLocationSequence = LabwareOffsetLocationSequenceComponent[]
+
+export interface LegacyLabwareOffsetLocation {
   slotName: string
   moduleModel?: ModuleModel
   definitionUri?: string
 }
-export interface LabwareOffsetCreateData {
+export interface LegacyLabwareOffsetCreateData {
   definitionUri: string
-  location: LabwareOffsetLocation
+  location: LegacyLabwareOffsetLocation
   vector: VectorOffset
 }
 

api/docs/v2/pipettes/characteristics.rst

@@ -184,29 +184,32 @@ These flow rates will remain in effect until you change the ``flow_rate`` attrib
 Flex Pipette Flow Rates
 -----------------------
 
-Flex pipette flow rates depend on pipette volume and tip capacity. Each pipette–tip combination has a default flow rate for aspirating, dispensing, and blowing out liquid. When using a 50 µL pipette, you should only use 50 µL tips.
-
-.. list-table::
-    :header-rows: 1
-    
-    * - Pipette Model
-      - Tip Capacity (µL)
-      - Flow Rate (µL/s)
-    * - 50 µL (1- and 8-channel)
-      - 50
-      - 57
-    * - 1000 µL (1-, 8-, and 96-channel)
-      - 50
-      - 478
-    * - 1000 µL (1-, 8-, and 96-channel)
-      - 200
-      - 716
-    * - 1000 µL (1-, 8-, and 96-channel)
-      - 1000
-      - 716
-
-
-Additionally, all Flex pipettes have a well bottom clearance of 1 mm for aspirate and dispense actions.
+The following table provides data on the default aspirate, dispense, and blowout flow rates (in µL/s) for Flex pipettes. Default flow rates for each pipette-tip combination are the same across all three actions.
+
+.. Excludes low-vol 96 channel. Not yet released.
+
++-----------------------------+-------------------+------------------------+
+| Pipette Model               | Tip Capacity (µL) | Default Flow Rate (µL) |
++=============================+===================+========================+
+| 1- and 8-channel (50 µL)    | 50                | 35                     |
++-----------------------------+-------------------+------------------------+
+| 1- and 8-channel (1000 µL)  | 50                | 478                    |
++                             +-------------------+------------------------+
+|                             | 200               | 716                    |
++                             +-------------------+------------------------+
+|                             | 1000              | 716                    |
++-----------------------------+-------------------+------------------------+
+| 96-channel (5-1000 µL)      | 50                | 6                      |
++                             +-------------------+------------------------+
+|                             | 200               | 80                     |
++                             +-------------------+------------------------+
+|                             | 1000              | 160                    |
++-----------------------------+-------------------+------------------------+
+
+Additionally:
+
+- When using a 50 µL pipette, you should only use 50 µL tips.
+- All Flex pipettes have a well bottom clearance of 1 mm for aspirate and dispense actions.
 
 .. _ot2-flow-rates:
 

api/release-notes-internal.md

@@ -2,6 +2,15 @@ For more details about this release, please see the full [technical change log][
 
 [technical change log]: https://github.com/Opentrons/opentrons/releases
 
+## Internal Release 2.4.0-alpha.1
+
+This internal release, pulled from the `edge` branch, contains features being developed for 8.4.0. It's for internal testing only.
+
+### New Stuff In This Release (list in progress):
+
+- Python API version bumped to 2.23
+- Added liquid classes and new transfer functions
+
 ## Internal Release 2.3.0-alpha.2
 
 This internal release, pulled from the `edge` branch, contains features being developed for 8.3.0. It's for internal testing only.

api/src/opentrons/config/advanced_settings.py

@@ -222,17 +222,6 @@ class Setting(NamedTuple):
         robot_type=[RobotTypeEnum.OT2, RobotTypeEnum.FLEX],
         internal_only=True,
     ),
-    SettingDefinition(
-        _id="allowLiquidClasses",
-        title="Allow the use of liquid classes",
-        description=(
-            "Do not enable."
-            " This is an Opentrons internal setting to allow using in-development"
-            " liquid classes."
-        ),
-        robot_type=[RobotTypeEnum.OT2, RobotTypeEnum.FLEX],
-        internal_only=True,
-    ),
 ]
 
 
@@ -736,6 +725,14 @@ def _migrate35to36(previous: SettingsMap) -> SettingsMap:
     return newmap
 
 
+def _migrate36to37(previous: SettingsMap) -> SettingsMap:
+    """Migrate to version 37 of the feature flags file.
+
+    - Removes the allowLiquidClasses flag.
+    """
+    return {k: v for k, v in previous.items() if "allowLiquidClasses" != k}
+
+
 _MIGRATIONS = [
     _migrate0to1,
     _migrate1to2,
@@ -773,6 +770,7 @@ def _migrate35to36(previous: SettingsMap) -> SettingsMap:
     _migrate33to34,
     _migrate34to35,
     _migrate35to36,
+    _migrate36to37,
 ]
 """
 List of all migrations to apply, indexed by (version - 1). See _migrate below

api/src/opentrons/config/feature_flags.py

@@ -78,7 +78,3 @@ def enable_performance_metrics(robot_type: RobotTypeEnum) -> bool:
 
 def oem_mode_enabled() -> bool:
     return advs.get_setting_with_env_overload("enableOEMMode", RobotTypeEnum.FLEX)
-
-
-def allow_liquid_classes(robot_type: RobotTypeEnum) -> bool:
-    return advs.get_setting_with_env_overload("allowLiquidClasses", robot_type)

api/src/opentrons/drivers/asyncio/communication/async_serial.py

@@ -155,6 +155,10 @@ def reset_input_buffer(self) -> None:
         """Reset the input buffer"""
         self._serial.reset_input_buffer()
 
+    def reset_output_buffer(self) -> None:
+        """Reset the output buffer"""
+        self._serial.reset_output_buffer()
+
     @contextlib.asynccontextmanager
     async def timeout_override(
         self, timeout_property: TimeoutProperties, timeout: Optional[float]

api/src/opentrons/drivers/asyncio/communication/errors.py

@@ -6,6 +6,7 @@
 
 class ErrorCodes(Enum):
     UNHANDLED_GCODE = "ERR003"
+    MOTOR_STALL = "ERR403"
 
 
 class SerialException(Exception):
@@ -43,3 +44,9 @@ class UnhandledGcode(ErrorResponse):
     def __init__(self, port: str, response: str, command: str) -> None:
         self.command = command
         super().__init__(port, response)
+
+
+class MotorStall(ErrorResponse):
+    def __init__(self, port: str, response: str, command: str) -> None:
+        self.command = command
+        super().__init__(port, response)

api/src/opentrons/drivers/asyncio/communication/serial_connection.py

@@ -6,7 +6,14 @@
 
 from opentrons.drivers.command_builder import CommandBuilder
 
-from .errors import NoResponse, AlarmResponse, ErrorResponse, UnhandledGcode, ErrorCodes
+from .errors import (
+    MotorStall,
+    NoResponse,
+    AlarmResponse,
+    ErrorResponse,
+    UnhandledGcode,
+    ErrorCodes,
+)
 from .async_serial import AsyncSerial
 
 log = logging.getLogger(__name__)
@@ -254,6 +261,9 @@ def raise_on_error(self, response: str, request: str) -> None:
                 raise UnhandledGcode(
                     port=self._port, response=response, command=request
                 )
+
+            elif ErrorCodes.MOTOR_STALL.value.lower() in lower:
+                raise MotorStall(port=self._port, response=response, command=request)
             else:
                 raise ErrorResponse(port=self._port, response=response)
 

api/src/opentrons/drivers/flex_stacker/__init__.py

@@ -1,5 +1,5 @@
 from .abstract import AbstractFlexStackerDriver
-from .driver import FlexStackerDriver, STACKER_MOTION_CONFIG
+from .driver import FlexStackerDriver, STACKER_MOTION_CONFIG, STALLGUARD_CONFIG
 from .simulator import SimulatingDriver
 from . import types as FlexStackerTypes
 
@@ -9,4 +9,5 @@
     "SimulatingDriver",
     "FlexStackerTypes",
     "STACKER_MOTION_CONFIG",
+    "STALLGUARD_CONFIG",
 ]

api/src/opentrons/drivers/flex_stacker/abstract.py

@@ -1,6 +1,7 @@
-from typing import List, Protocol
+from typing import List, Optional, Protocol
 
 from .types import (
+    LEDPattern,
     LimitSwitchStatus,
     MoveResult,
     StackerAxis,
@@ -9,6 +10,7 @@
     MoveParams,
     StackerInfo,
     LEDColor,
+    StallGuardParams,
 )
 
 
@@ -51,10 +53,30 @@ async def set_ihold_current(self, axis: StackerAxis, current: float) -> bool:
         """Set axis hold current in amps."""
         ...
 
+    async def set_stallguard_threshold(
+        self, axis: StackerAxis, enable: bool, threshold: int
+    ) -> bool:
+        """Enables and sets the stallguard threshold for the given axis motor."""
+        ...
+
+    async def set_motor_driver_register(
+        self, axis: StackerAxis, reg: int, value: int
+    ) -> bool:
+        """Set the register of the given motor axis driver to the given value."""
+        ...
+
+    async def get_motor_driver_register(self, axis: StackerAxis, reg: int) -> int:
+        """Gets the register value of the given motor axis driver."""
+        ...
+
     async def get_motion_params(self, axis: StackerAxis) -> MoveParams:
         """Get the motion parameters used by the given axis motor."""
         ...
 
+    async def get_stallguard_threshold(self, axis: StackerAxis) -> StallGuardParams:
+        """Get the stallguard parameters by the given axis motor."""
+        ...
+
     async def get_limit_switch(self, axis: StackerAxis, direction: Direction) -> bool:
         """Get limit switch status.
 
@@ -96,16 +118,26 @@ async def move_to_limit_switch(
         """Move until limit switch is triggered."""
         ...
 
-    async def home_axis(self, axis: StackerAxis, direction: Direction) -> bool:
+    async def home_axis(self, axis: StackerAxis, direction: Direction) -> MoveResult:
         """Home axis."""
         ...
 
     async def set_led(
-        self, power: float, color: LEDColor | None = None, external: bool | None = None
+        self,
+        power: float,
+        color: Optional[LEDColor] = None,
+        external: Optional[bool] = None,
+        pattern: Optional[LEDPattern] = None,
+        duration: Optional[int] = None,
+        reps: Optional[int] = None,
     ) -> bool:
-        """Set LED color of status bar."""
+        """Set LED Status bar color and pattern."""
         ...
 
     async def enter_programming_mode(self) -> None:
         """Reboot into programming mode"""
         ...
+
+    def reset_serial_buffers(self) -> None:
+        """Reset the input and output serial buffers."""
+        ...