Merge branch 'edge' into pd-build-and-test-speedup

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/protocol_api/core/engine/labware.py

@@ -122,7 +122,7 @@ def set_calibration(self, delta: Point) -> None:
 
         request = LabwareOffsetCreate.model_construct(
             definitionUri=self.get_uri(),
-            location=offset_location,
+            locationSequence=offset_location,
             vector=LabwareOffsetVector(x=delta.x, y=delta.y, z=delta.z),
         )
         self._engine_client.add_labware_offset(request)

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

@@ -3,7 +3,11 @@
 from typing import Optional
 
 from opentrons.hardware_control.modules import ModuleModel as HardwareModuleModel
-from opentrons.protocol_engine import ProtocolEngine, LabwareOffsetLocation, ModuleModel
+from opentrons.protocol_engine import (
+    ProtocolEngine,
+    LegacyLabwareOffsetLocation,
+    ModuleModel,
+)
 from opentrons.types import DeckSlotName, Point
 
 from ..labware import LabwareLoadParams
@@ -81,9 +85,9 @@ def find(
 
         See the parent class for param details.
         """
-        offset = self._labware_view.find_applicable_labware_offset(
+        offset = self._labware_view.find_applicable_labware_offset_by_legacy_location(
             definition_uri=load_params.as_uri(),
-            location=LabwareOffsetLocation(
+            location=LegacyLabwareOffsetLocation(
                 slotName=deck_slot,
                 moduleModel=(
                     None

api/src/opentrons/protocol_api/instrument_context.py

@@ -8,7 +8,6 @@
     UnexpectedTipRemovalError,
     UnsupportedHardwareCommand,
 )
-from opentrons_shared_data.robot.types import RobotTypeEnum
 
 from opentrons.legacy_broker import LegacyBroker
 from opentrons.hardware_control.dev_types import PipetteDict
@@ -38,7 +37,6 @@
 from ._nozzle_layout import NozzleLayout
 from ._liquid import LiquidClass
 from . import labware, validation
-from ..config import feature_flags
 from ..protocols.advanced_control.transfers.common import (
     TransferTipPolicyV2,
     TransferTipPolicyV2Type,
@@ -1509,6 +1507,7 @@ def _execute_transfer(self, plan: v1_transfer.TransferPlan) -> None:
         for cmd in plan:
             getattr(self, cmd["method"])(*cmd["args"], **cmd["kwargs"])
 
+    @requires_version(2, 23)
     def transfer_liquid(
         self,
         liquid_class: LiquidClass,
@@ -1528,13 +1527,6 @@ def transfer_liquid(
 
         TODO: Add args description.
         """
-        if not feature_flags.allow_liquid_classes(
-            robot_type=RobotTypeEnum.robot_literal_to_enum(
-                self._protocol_core.robot_type
-            )
-        ):
-            raise NotImplementedError("This method is not implemented.")
-
         flat_sources_list = validation.ensure_valid_flat_wells_list_for_transfer_v2(
             source
         )
@@ -1604,6 +1596,7 @@ def transfer_liquid(
         )
         return self
 
+    @requires_version(2, 23)
     def distribute_liquid(
         self,
         liquid_class: LiquidClass,
@@ -1623,13 +1616,6 @@ def distribute_liquid(
 
         TODO: Add args description.
         """
-        if not feature_flags.allow_liquid_classes(
-            robot_type=RobotTypeEnum.robot_literal_to_enum(
-                self._protocol_core.robot_type
-            )
-        ):
-            raise NotImplementedError("This method is not implemented.")
-
         if not isinstance(source, labware.Well):
             raise ValueError(f"Source should be a single Well but received {source}.")
         flat_dests_list = validation.ensure_valid_flat_wells_list_for_transfer_v2(dest)
@@ -1689,6 +1675,7 @@ def distribute_liquid(
         )
         return self
 
+    @requires_version(2, 23)
     def consolidate_liquid(
         self,
         liquid_class: LiquidClass,
@@ -1708,12 +1695,6 @@ def consolidate_liquid(
 
         TODO: Add args description.
         """
-        if not feature_flags.allow_liquid_classes(
-            robot_type=RobotTypeEnum.robot_literal_to_enum(
-                self._protocol_core.robot_type
-            )
-        ):
-            raise NotImplementedError("This method is not implemented.")
         if not isinstance(dest, labware.Well):
             raise ValueError(
                 f"Destination should be a single Well but received {dest}."

api/src/opentrons/protocol_api/protocol_context.py

@@ -14,10 +14,8 @@
 
 from opentrons_shared_data.labware.types import LabwareDefinition
 from opentrons_shared_data.pipette.types import PipetteNameType
-from opentrons_shared_data.robot.types import RobotTypeEnum
 
 from opentrons.types import Mount, Location, DeckLocation, DeckSlotName, StagingSlotName
-from opentrons.config import feature_flags
 from opentrons.legacy_broker import LegacyBroker
 from opentrons.hardware_control.modules.types import (
     MagneticBlockModel,
@@ -1354,17 +1352,13 @@ def define_liquid(
             display_color=display_color,
         )
 
+    @requires_version(2, 23)
     def define_liquid_class(
         self,
         name: str,
     ) -> LiquidClass:
         """Define a liquid class for use in the protocol."""
-        if feature_flags.allow_liquid_classes(
-            robot_type=RobotTypeEnum.robot_literal_to_enum(self._core.robot_type)
-        ):
-            return self._core.define_liquid_class(name=name)
-        else:
-            raise NotImplementedError("This method is not implemented.")
+        return self._core.define_liquid_class(name=name)
 
     @property
     @requires_version(2, 5)

api/src/opentrons/protocol_engine/__init__.py

@@ -26,9 +26,10 @@
 
 from .types import (
     LabwareOffset,
+    LegacyLabwareOffsetCreate,
     LabwareOffsetCreate,
     LabwareOffsetVector,
-    LabwareOffsetLocation,
+    LegacyLabwareOffsetLocation,
     LabwareMovementStrategy,
     AddressableOffsetVector,
     DeckPoint,
@@ -96,7 +97,8 @@
     "LabwareOffset",
     "LabwareOffsetCreate",
     "LabwareOffsetVector",
-    "LabwareOffsetLocation",
+    "LegacyLabwareOffsetCreate",
+    "LegacyLabwareOffsetLocation",
     "LabwareMovementStrategy",
     "AddressableOffsetVector",
     "DeckSlotLocation",