do the same for dispense

Author: caila-marashaj

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

@@ -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,
@@ -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,
@@ -114,8 +107,7 @@ 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,
+            operation_volume=params.volume,
         )
         state_update.append(move_result.state_update)
         if isinstance(move_result, DefinedErrorData):
@@ -132,9 +124,9 @@ 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,
@@ -150,67 +142,40 @@ 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(