Merge branch 'edge' into lc-snapshot-protocols-96-happy-path

Author: y3rsh

analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[2b866b03f3][Flex_S_v2_21_P1000_96_GRIP_HS_MB_TC_TM_Smoke].json

@@ -1265,7 +1265,7 @@
           "cornerOffsetFromSlot": {
             "x": 0,
             "y": 0,
-            "z": -0.71
+            "z": 0
           },
           "dimensions": {
             "xDimension": 127.7,
@@ -1433,7 +1433,7 @@
           "cornerOffsetFromSlot": {
             "x": 0,
             "y": 0,
-            "z": -0.71
+            "z": 0
           },
           "dimensions": {
             "xDimension": 127.7,
@@ -1605,7 +1605,7 @@
           "cornerOffsetFromSlot": {
             "x": 0,
             "y": 0,
-            "z": -0.71
+            "z": 0
           },
           "dimensions": {
             "xDimension": 127.7,
@@ -1781,7 +1781,7 @@
           "cornerOffsetFromSlot": {
             "x": 0,
             "y": 0,
-            "z": -0.71
+            "z": 0
           },
           "dimensions": {
             "xDimension": 127.7,
@@ -1961,7 +1961,7 @@
           "cornerOffsetFromSlot": {
             "x": 0,
             "y": 0,
-            "z": -0.71
+            "z": 0
           },
           "dimensions": {
             "xDimension": 127.7,

analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[7d16d5dbf0][Flex_X_v2_21_tc_lids_wrong_target].json

@@ -2035,7 +2035,7 @@
           "cornerOffsetFromSlot": {
             "x": 0,
             "y": 0,
-            "z": -0.71
+            "z": 0
           },
           "dimensions": {
             "xDimension": 127.7,
@@ -2202,7 +2202,7 @@
           "cornerOffsetFromSlot": {
             "x": 0,
             "y": 0,
-            "z": -0.71
+            "z": 0
           },
           "dimensions": {
             "xDimension": 127.7,
@@ -2373,7 +2373,7 @@
           "cornerOffsetFromSlot": {
             "x": 0,
             "y": 0,
-            "z": -0.71
+            "z": 0
           },
           "dimensions": {
             "xDimension": 127.7,
@@ -2548,7 +2548,7 @@
           "cornerOffsetFromSlot": {
             "x": 0,
             "y": 0,
-            "z": -0.71
+            "z": 0
           },
           "dimensions": {
             "xDimension": 127.7,
@@ -2727,7 +2727,7 @@
           "cornerOffsetFromSlot": {
             "x": 0,
             "y": 0,
-            "z": -0.71
+            "z": 0
           },
           "dimensions": {
             "xDimension": 127.7,

analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[99c15c6c62][Flex_S_v2_21_tc_lids_happy_path].json

@@ -121,7 +121,7 @@
           "cornerOffsetFromSlot": {
             "x": 0,
             "y": 0,
-            "z": -0.71
+            "z": 0
           },
           "dimensions": {
             "xDimension": 127.7,
@@ -288,7 +288,7 @@
           "cornerOffsetFromSlot": {
             "x": 0,
             "y": 0,
-            "z": -0.71
+            "z": 0
           },
           "dimensions": {
             "xDimension": 127.7,
@@ -459,7 +459,7 @@
           "cornerOffsetFromSlot": {
             "x": 0,
             "y": 0,
-            "z": -0.71
+            "z": 0
           },
           "dimensions": {
             "xDimension": 127.7,

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

@@ -52,7 +52,7 @@ class BaseErrorCode(Enum):
     def code_string(self) -> str:
         """Return the error code string."""
         code: str = self.value[0]
-        return code
+        return code.lower()
 
     @property
     def exception(self) -> Type[ErrorResponse]:

api/src/opentrons/hardware_control/motion_utilities.py

@@ -192,6 +192,26 @@ def target_position_from_plunger(
     return all_axes_pos
 
 
+def target_positions_from_plunger_tracking(
+    mount: Union[Mount, OT3Mount],
+    plunger_delta: float,
+    z_delta: float,
+    current_position: Dict[Axis, float],
+) -> "OrderedDict[Axis, float]":
+    """Create a target position for machine axes including plungers for dynamic liquid tracking.
+
+    The x/y axes remain constant but the plunger and Z move to create a tracking action.
+
+    plunger_delta: the distance the plunger should move- should be determined based on desired
+    volume to aspirate/dispense.
+    z_delta: the distance to move the z axis- should be determined based on volume and well geometry.
+    """
+    all_axes_pos = target_position_from_plunger(mount, plunger_delta, current_position)
+    z_ax = Axis.by_mount(mount)
+    all_axes_pos[z_ax] = current_position[z_ax] + z_delta
+    return all_axes_pos
+
+
 def deck_point_from_machine_point(
     machine_point: Point, attitude: AttitudeMatrix, offset: Point
 ) -> Point:

api/src/opentrons/hardware_control/ot3api.py

@@ -127,6 +127,7 @@
     target_position_from_absolute,
     target_position_from_relative,
     target_position_from_plunger,
+    target_positions_from_plunger_tracking,
     offset_for_mount,
     deck_from_machine,
     machine_from_deck,
@@ -2994,6 +2995,102 @@ async def capacitive_sweep(
 
     AMKey = TypeVar("AMKey")
 
+    async def aspirate_while_tracking(
+        self,
+        mount: Union[top_types.Mount, OT3Mount],
+        z_distance: float,
+        volume: float,
+        flow_rate: float = 1.0,
+    ) -> None:
+        """
+        Aspirate a volume of liquid (in microliters/uL) while moving the z axis synchronously.
+
+        :param mount: A robot mount that the instrument is on.
+        :param z_distance: The distance the z axis will move during apsiration.
+        :param volume: The volume of liquid to be aspirated.
+        :param flow_rate: The flow rate to aspirate with.
+        """
+        realmount = OT3Mount.from_mount(mount)
+        aspirate_spec = self._pipette_handler.plan_check_aspirate(
+            realmount, volume, flow_rate
+        )
+        if not aspirate_spec:
+            return
+        target_pos = target_positions_from_plunger_tracking(
+            realmount,
+            aspirate_spec.plunger_distance,
+            z_distance,
+            self._current_position,
+        )
+        try:
+            await self._backend.set_active_current(
+                {aspirate_spec.axis: aspirate_spec.current}
+            )
+            async with self.restore_system_constrants():
+                await self.set_system_constraints_for_plunger_acceleration(
+                    realmount, aspirate_spec.acceleration
+                )
+                await self._move(
+                    target_pos,
+                    speed=aspirate_spec.speed,
+                    home_flagged_axes=False,
+                )
+        except Exception:
+            self._log.exception("Aspirate failed")
+            aspirate_spec.instr.set_current_volume(0)
+            raise
+        else:
+            aspirate_spec.instr.add_current_volume(aspirate_spec.volume)
+
+    async def dispense_while_tracking(
+        self,
+        mount: Union[top_types.Mount, OT3Mount],
+        z_distance: float,
+        volume: float,
+        push_out: Optional[float],
+        flow_rate: float = 1.0,
+    ) -> None:
+        """
+        Dispense a volume of liquid (in microliters/uL) while moving the z axis synchronously.
+
+        :param mount: A robot mount that the instrument is on.
+        :param z_distance: The distance the z axis will move during dispensing.
+        :param volume: The volume of liquid to be dispensed.
+        :param flow_rate: The flow rate to dispense with.
+        """
+        realmount = OT3Mount.from_mount(mount)
+        dispense_spec = self._pipette_handler.plan_check_dispense(
+            realmount, volume, flow_rate, push_out
+        )
+        if not dispense_spec:
+            return
+        target_pos = target_positions_from_plunger_tracking(
+            realmount,
+            dispense_spec.plunger_distance,
+            z_distance,
+            self._current_position,
+        )
+
+        try:
+            await self._backend.set_active_current(
+                {dispense_spec.axis: dispense_spec.current}
+            )
+            async with self.restore_system_constrants():
+                await self.set_system_constraints_for_plunger_acceleration(
+                    realmount, dispense_spec.acceleration
+                )
+                await self._move(
+                    target_pos,
+                    speed=dispense_spec.speed,
+                    home_flagged_axes=False,
+                )
+        except Exception:
+            self._log.exception("dispense failed")
+            dispense_spec.instr.set_current_volume(0)
+            raise
+        else:
+            dispense_spec.instr.remove_current_volume(dispense_spec.volume)
+
     @property
     def attached_subsystems(self) -> Dict[SubSystem, SubSystemState]:
         """Get a view of the state of the currently-attached subsystems."""

api/src/opentrons/hardware_control/protocols/liquid_handler.py

@@ -122,6 +122,23 @@ async def aspirate(
         """
         ...
 
+    async def aspirate_while_tracking(
+        self,
+        mount: MountArgType,
+        z_distance: float,
+        volume: float,
+        flow_rate: float = 1.0,
+    ) -> None:
+        """
+        Aspirate a volume of liquid (in microliters/uL) while moving the z axis synchronously.
+
+        :param mount: A robot mount that the instrument is on.
+        :param z_distance: The distance the z axis will move during apsiration.
+        :param volume: The volume of liquid to be aspirated.
+        :param flow_rate: The flow rate to aspirate with.
+        """
+        ...
+
     async def dispense(
         self,
         mount: MountArgType,
@@ -143,6 +160,24 @@ async def dispense(
         """
         ...
 
+    async def dispense_while_tracking(
+        self,
+        mount: MountArgType,
+        z_distance: float,
+        volume: float,
+        push_out: Optional[float],
+        flow_rate: float = 1.0,
+    ) -> None:
+        """
+        Dispense a volume of liquid (in microliters/uL) while moving the z axis synchronously.
+
+        :param mount: A robot mount that the instrument is on.
+        :param z_distance: The distance the z axis will move during dispensing.
+        :param volume: The volume of liquid to be dispensed.
+        :param flow_rate: The flow rate to dispense with.
+        """
+        ...
+
     async def blow_out(
         self, mount: MountArgType, volume: Optional[float] = None
     ) -> None:

api/src/opentrons/protocol_api/_liquid_properties.py

@@ -168,7 +168,7 @@ def speed(self) -> Optional[float]:
 
     @speed.setter
     def speed(self, new_speed: float) -> None:
-        validated_speed = validation.ensure_positive_float(new_speed)
+        validated_speed = validation.ensure_greater_than_zero_float(new_speed)
         self._speed = validated_speed
 
     def _get_shared_data_params(self) -> Optional[SharedDataTouchTipParams]:

api/src/opentrons/protocol_api/validation.py

@@ -627,6 +627,16 @@ def ensure_positive_float(value: Union[int, float]) -> float:
     return float_value
 
 
+def ensure_greater_than_zero_float(value: Union[int, float]) -> float:
+    """Ensure value is a positive and real float value."""
+    float_value = ensure_float(value)
+    if isnan(float_value) or isinf(float_value):
+        raise ValueError("Value must be a defined, non-infinite number.")
+    if float_value <= 0:
+        raise ValueError("Value must be a positive float greater than 0.")
+    return float_value
+
+
 def ensure_positive_int(value: int) -> int:
     """Ensure value is a positive integer."""
     if not isinstance(value, int):

api/src/opentrons/protocol_engine/execution/pipetting.py

@@ -100,7 +100,7 @@ async def liquid_probe_in_place(
 
 
 class HardwarePipettingHandler(PipettingHandler):
-    """Liquid handling, using the Hardware API.""" ""
+    """Liquid handling, using the Hardware API."""
 
     def __init__(self, state_view: StateView, hardware_api: HardwareControlAPI) -> None:
         """Initialize a PipettingHandler instance."""

api/tests/opentrons/drivers/asyncio/communication/test_serial_connection.py

@@ -180,6 +180,14 @@ def test_raise_on_error(
         subject.raise_on_error(response, "fake request")
 
 
+def test_get_error_codes_lowercase(
+    subject: SerialKind,
+) -> None:
+    """It should return an error code dictionary keyed by lowercase value."""
+    lowercase_result = subject._error_codes.get_error_codes()
+    assert lowercase_result == {"err003": DefaultErrorCodes.UNHANDLED_GCODE}
+
+
 async def test_on_retry(mock_serial_port: AsyncMock, subject: SerialKind) -> None:
     """It should try to re-open connection."""
     await subject.on_retry()