Engine behavior clean up and removal of unnecessary parameters

Author: CaseyBatten

api/src/opentrons/hardware_control/api.py

@@ -778,7 +778,7 @@ async def move_axes(
         position: Mapping[Axis, float],
         speed: Optional[float] = None,
         max_speeds: Optional[Dict[Axis, float]] = None,
-        _expect_stalls: bool = False,
+        expect_stalls: bool = False,
     ) -> None:
         """Moves the effectors of the specified axis to the specified position.
         The effector of the x,y axis is the center of the carriage.
@@ -1249,7 +1249,10 @@ async def pick_up_tip(
             await self.prepare_for_aspirate(mount)
 
     async def tip_drop_moves(
-        self, mount: top_types.Mount, home_after: bool = True
+        self,
+        mount: top_types.Mount,
+        home_after: bool = True,
+        ignore_plunger: Optional[bool] = False,
     ) -> None:
         spec, _ = self.plan_check_drop_tip(mount, home_after)
 

api/src/opentrons/hardware_control/ot3api.py

@@ -1189,7 +1189,7 @@ async def move_to(
         speed: Optional[float] = None,
         critical_point: Optional[CriticalPoint] = None,
         max_speeds: Union[None, Dict[Axis, float], OT3AxisMap[float]] = None,
-        _expect_stalls: bool = False,
+        expect_stalls: bool = False,
     ) -> None:
         """Move the critical point of the specified mount to a location
         relative to the deck, at the specified speed."""
@@ -1233,15 +1233,15 @@ async def move_to(
             target_position,
             speed=speed,
             max_speeds=checked_max,
-            expect_stalls=_expect_stalls,
+            expect_stalls=expect_stalls,
         )
 
     async def move_axes(  # noqa: C901
         self,
         position: Mapping[Axis, float],
         speed: Optional[float] = None,
         max_speeds: Optional[Dict[Axis, float]] = None,
-        _expect_stalls: bool = False,
+        expect_stalls: bool = False,
     ) -> None:
         """Moves the effectors of the specified axis to the specified position.
         The effector of the x,y axis is the center of the carriage.
@@ -1300,7 +1300,7 @@ async def move_axes(  # noqa: C901
         await self._move(
             target_position=absolute_positions,
             speed=speed,
-            expect_stalls=_expect_stalls,
+            expect_stalls=expect_stalls,
         )
 
     async def move_rel(
@@ -1311,7 +1311,7 @@ async def move_rel(
         max_speeds: Union[None, Dict[Axis, float], OT3AxisMap[float]] = None,
         check_bounds: MotionChecks = MotionChecks.NONE,
         fail_on_not_homed: bool = False,
-        _expect_stalls: bool = False,
+        expect_stalls: bool = False,
     ) -> None:
         """Move the critical point of the specified mount by a specified
         displacement in a specified direction, at the specified speed."""
@@ -1353,7 +1353,7 @@ async def move_rel(
             speed=speed,
             max_speeds=checked_max,
             check_bounds=check_bounds,
-            expect_stalls=_expect_stalls,
+            expect_stalls=expect_stalls,
         )
 
     async def _cache_and_maybe_retract_mount(self, mount: OT3Mount) -> None:

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

@@ -171,7 +171,7 @@ async def move_axes(
         position: Mapping[Axis, float],
         speed: Optional[float] = None,
         max_speeds: Optional[Dict[Axis, float]] = None,
-        _expect_stalls: bool = False,
+        expect_stalls: bool = False,
     ) -> None:
         """Moves the effectors of the specified axis to the specified position.
         The effector of the x,y axis is the center of the carriage.

api/src/opentrons/legacy_commands/commands.py

@@ -327,8 +327,10 @@ def unseal(
 
 def resin_tip_dispense(
     instrument: InstrumentContext,
-    flow_rate: float,
+    flow_rate: float | None,
 ) -> command_types.PressurizeCommand:
+    if flow_rate is None:
+        flow_rate = 10  # The Protocol Engine default for Resin Tip Dispense
     text = f"Pressurize pipette to dispense from resin tip at {flow_rate}uL/s."
     return {
         "name": command_types.PRESSURIZE,

api/src/opentrons/legacy_commands/types.py

@@ -540,15 +540,17 @@ class MoveLabwareCommandPayload(TextOnlyPayload):
 
 
 class SealCommandPayload(TextOnlyPayload):
-    pass
+    instrument: InstrumentContext
+    location: Union[None, Location, Well]
 
 
 class UnsealCommandPayload(TextOnlyPayload):
-    pass
+    instrument: InstrumentContext
+    location: Union[None, Location, Well]
 
 
 class PressurizeCommandPayload(TextOnlyPayload):
-    pass
+    instrument: InstrumentContext
 
 
 class MoveLabwareCommand(TypedDict):

api/src/opentrons/protocol_api/core/engine/instrument.py

@@ -701,9 +701,7 @@ def resin_tip_seal(
             )
         )
 
-    def resin_tip_unseal(
-        self, location: Location, well_core: WellCore, home_after: Optional[bool]
-    ) -> None:
+    def resin_tip_unseal(self, location: Location, well_core: WellCore) -> None:
         well_name = well_core.get_name()
         labware_id = well_core.labware_id
 
@@ -736,7 +734,6 @@ def resin_tip_unseal(
                 labwareId=labware_id,
                 wellName=well_name,
                 wellLocation=well_location,
-                homeAfter=home_after,
             )
         )
 
@@ -790,7 +787,6 @@ def resin_tip_dispense(
                 wellLocation=well_location,
                 volume=volume,
                 flowRate=flow_rate,
-                pushOut=push_out,
             )
         )
 

api/src/opentrons/protocol_api/core/instrument.py

@@ -195,7 +195,6 @@ def resin_tip_unseal(
         self,
         location: types.Location,
         well_core: WellCoreType,
-        home_after: Optional[bool],
     ) -> None:
         ...
 

api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py

@@ -320,7 +320,6 @@ def resin_tip_unseal(
         self,
         location: types.Location,
         well_core: WellCore,
-        home_after: Optional[bool],
     ) -> None:
         raise APIVersionError(api_element="Unsealing resin tips.")
 
@@ -333,7 +332,7 @@ def resin_tip_dispense(
         push_out: Optional[float] = None,
     ) -> None:
         raise APIVersionError(api_element="Dispensing liquid from resin tips.")
-    
+
     def home(self) -> None:
         """Home the mount"""
         self._protocol_interface.get_hardware().home_z(

api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py

@@ -288,7 +288,6 @@ def resin_tip_unseal(
         self,
         location: types.Location,
         well_core: WellCore,
-        home_after: Optional[bool],
     ) -> None:
         raise APIVersionError(api_element="Unsealing resin tips.")
 
@@ -301,7 +300,7 @@ def resin_tip_dispense(
         push_out: Optional[float] = None,
     ) -> None:
         raise APIVersionError(api_element="Dispensing liquid from resin tips.")
-    
+
     def home(self) -> None:
         self._protocol_interface.set_last_location(None)
 

api/src/opentrons/protocol_api/instrument_context.py

@@ -1751,7 +1751,6 @@ def resin_tip_seal(
     def resin_tip_unseal(
         self,
         location: Union[labware.Well, labware.Labware],
-        home_after: Optional[bool] = None,
     ) -> InstrumentContext:
         """Release resin tips from the pipette.
 
@@ -1784,9 +1783,7 @@ def resin_tip_unseal(
                 location=well,
             ),
         ):
-            self._core.evotip_unseal(
-                location=well.top(), well_core=well._core, home_after=home_after
-            )
+            self._core.resin_tip_unseal(location=well.top(), well_core=well._core)
 
         return self
 

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

@@ -44,10 +44,7 @@ class EvotipDispenseParams(
 ):
     """Payload required to dispense in place."""
 
-    pushOut: Optional[float] = Field(
-        None,
-        description="Push the plunger a small amount farther than necessary for accurate low-volume dispensing",
-    )
+    pass
 
 
 class EvotipDispenseResult(BaseLiquidHandlingResult):
@@ -110,7 +107,7 @@ async def execute(self, params: EvotipDispenseParams) -> _ExecuteReturn:
             pipette_id=params.pipetteId,
             volume=params.volume,
             flow_rate=params.flowRate,
-            push_out=params.pushOut,
+            push_out=None,
             location_if_error={
                 "retryLocation": (
                     current_position.x,
@@ -122,38 +119,10 @@ async def execute(self, params: EvotipDispenseParams) -> _ExecuteReturn:
             model_utils=self._model_utils,
         )
 
-        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=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,
-                    params.pipetteId,
-                )
-            return SuccessData(
-                public=EvotipDispenseResult(volume=result.public.volume),
-                state_update=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=EvotipDispenseResult(volume=result.public.volume),
-                state_update=result.state_update,
-            )
+        return SuccessData(
+            public=EvotipDispenseResult(volume=result.public.volume),
+            state_update=result.state_update,
+        )
 
 
 class EvotipDispense(