init commit

Author: andySigler

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

@@ -162,14 +162,17 @@ def aspirate_and_wait(self, volume: float) -> None:
         # TODO: handle volume correction
         aspirate_props = self._transfer_properties.aspirate
         correction_volume = aspirate_props.correction_by_volume.get_for_volume(volume)
+        is_meniscus = bool(
+            aspirate_props.position_reference == PositionReference.LIQUID_MENISCUS
+        )
         self._instrument.aspirate(
             location=self._target_location,
             well_core=None,
             volume=volume,
             rate=1,
             flow_rate=aspirate_props.flow_rate_by_volume.get_for_volume(volume),
             in_place=True,
-            is_meniscus=None,  # TODO: update this once meniscus is implemented
+            is_meniscus=is_meniscus,
             correction_volume=correction_volume,
         )
         self._tip_state.append_liquid(volume)
@@ -186,6 +189,9 @@ def dispense_and_wait(
         # TODO: handle volume correction
         dispense_props = self._transfer_properties.dispense
         correction_volume = dispense_props.correction_by_volume.get_for_volume(volume)
+        is_meniscus = bool(
+            dispense_props.position_reference == PositionReference.LIQUID_MENISCUS
+        )
         self._instrument.dispense(
             location=self._target_location,
             well_core=None,
@@ -194,7 +200,7 @@ def dispense_and_wait(
             flow_rate=dispense_props.flow_rate_by_volume.get_for_volume(volume),
             in_place=True,
             push_out=push_out_override,
-            is_meniscus=None,
+            is_meniscus=is_meniscus,
             correction_volume=correction_volume,
         )
         if push_out_override:
@@ -575,10 +581,11 @@ def absolute_point_from_position_reference_and_offset(
         case PositionReference.WELL_CENTER:
             reference_point = well.get_center()
         case PositionReference.LIQUID_MENISCUS:
-            raise NotImplementedError(
-                "Liquid transfer using liquid-meniscus relative positioning"
-                " is not yet implemented."
-            )
+            # raise NotImplementedError(
+            #     "Liquid transfer using liquid-meniscus relative positioning"
+            #     " is not yet implemented."
+            # )
+            reference_point = well.get_meniscus()
         case _:
             raise ValueError(f"Unknown position reference {position_reference}")
     return reference_point + Point(offset.x, offset.y, offset.z)

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

@@ -125,6 +125,10 @@ def get_center(self) -> Point:
             well_location=WellLocation(origin=WellOrigin.CENTER),
         )
 
+    def get_meniscus(self) -> Point:
+        """Get the coordinate of the well's meniscus."""
+        return self.get_bottom(self.current_liquid_height())
+
     def load_liquid(
         self,
         liquid: Liquid,

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

@@ -106,6 +106,10 @@ def get_center(self) -> Point:
         """Get the coordinate of the well's center."""
         return self._geometry.center()
 
+    def get_meniscus(self) -> Point:
+        """Get the coordinate of the well's center."""
+        raise APIVersionError(api_element="Getting a meniscus")
+
     def load_liquid(
         self,
         liquid: Liquid,

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

@@ -71,6 +71,10 @@ def get_bottom(self, z_offset: float) -> Point:
     def get_center(self) -> Point:
         """Get the coordinate of the well's center."""
 
+    @abstractmethod
+    def get_meniscus(self) -> Point:
+        """Get the coordinate of the well's meniscus."""
+
     @abstractmethod
     def load_liquid(
         self,