feat(api): disable return tip for partially configured pipette (#13972)

It is unsafe for us to return tips to a tiprack while in partial tip configuration because we risk
the potential of picking up used tips.

Closes RSS-360
---------

Co-authored-by: Seth Foster <[email protected]>

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

@@ -31,6 +31,7 @@
 
 from opentrons_shared_data.pipette.dev_types import PipetteNameType
 from opentrons.protocol_api._nozzle_layout import NozzleLayout
+from opentrons.hardware_control.nozzle_manager import NozzleConfigurationType
 
 from ..instrument import AbstractInstrument
 from .well import WellCore
@@ -574,6 +575,11 @@ def get_dispense_flow_rate(self, rate: float = 1.0) -> float:
     def get_blow_out_flow_rate(self, rate: float = 1.0) -> float:
         return self._blow_out_flow_rate * rate
 
+    def get_nozzle_configuration(self) -> NozzleConfigurationType:
+        return self._engine_client.state.pipettes.get_nozzle_layout_type(
+            self._pipette_id
+        )
+
     def set_flow_rate(
         self,
         aspirate: Optional[float] = None,

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

@@ -82,8 +82,14 @@ async def execute(self, params: DropTipParams) -> DropTipResult:
         else:
             well_location = params.wellLocation
 
+        is_partially_configured = self._state_view.pipettes.get_is_partially_configured(
+            pipette_id=pipette_id
+        )
         tip_drop_location = self._state_view.geometry.get_checked_tip_drop_location(
-            pipette_id=pipette_id, labware_id=labware_id, well_location=well_location
+            pipette_id=pipette_id,
+            labware_id=labware_id,
+            well_location=well_location,
+            partially_configured=is_partially_configured,
         )
 
         position = await self._movement_handler.move_to_well(

api/src/opentrons/protocol_engine/state/geometry.py

@@ -416,12 +416,20 @@ def get_checked_tip_drop_location(
         pipette_id: str,
         labware_id: str,
         well_location: DropTipWellLocation,
+        partially_configured: bool = False,
     ) -> WellLocation:
         """Get tip drop location given labware and hardware pipette.
 
         This makes sure that the well location has an appropriate origin & offset
         if one is not already set previously.
         """
+        if (
+            self._labware.get_definition(labware_id).parameters.isTiprack
+            and partially_configured
+        ):
+            raise errors.UnexpectedProtocolError(
+                "Cannot return tip to a tiprack while the pipette is configured for partial tip."
+            )
         if well_location.origin != DropTipWellOrigin.DEFAULT:
             return WellLocation(
                 origin=WellOrigin(well_location.origin.value),

api/src/opentrons/protocol_engine/state/pipettes.py

@@ -623,3 +623,7 @@ def get_nozzle_layout_type(self, pipette_id: str) -> NozzleConfigurationType:
             return nozzle_map_for_pipette.configuration
         else:
             return NozzleConfigurationType.FULL
+
+    def get_is_partially_configured(self, pipette_id: str) -> bool:
+        """Determine if the provided pipette is partially configured."""
+        return self.get_nozzle_layout_type(pipette_id) != NozzleConfigurationType.FULL

api/tests/opentrons/protocol_engine/commands/test_drop_tip.py

@@ -86,11 +86,16 @@ async def test_drop_tip_implementation(
         homeAfter=True,
     )
 
+    decoy.when(
+        mock_state_view.pipettes.get_is_partially_configured(pipette_id="abc")
+    ).then_return(False)
+
     decoy.when(
         mock_state_view.geometry.get_checked_tip_drop_location(
             pipette_id="abc",
             labware_id="123",
             well_location=DropTipWellLocation(offset=WellOffset(x=1, y=2, z=3)),
+            partially_configured=False,
         )
     ).then_return(WellLocation(offset=WellOffset(x=4, y=5, z=6)))
 
@@ -142,9 +147,16 @@ async def test_drop_tip_with_alternating_locations(
         )
     ).then_return(drop_location)
 
+    decoy.when(
+        mock_state_view.pipettes.get_is_partially_configured(pipette_id="abc")
+    ).then_return(False)
+
     decoy.when(
         mock_state_view.geometry.get_checked_tip_drop_location(
-            pipette_id="abc", labware_id="123", well_location=drop_location
+            pipette_id="abc",
+            labware_id="123",
+            well_location=drop_location,
+            partially_configured=False,
         )
     ).then_return(WellLocation(offset=WellOffset(x=4, y=5, z=6)))
 

api/tests/opentrons/protocol_engine/resources/test_pipette_data_provider.py

@@ -149,6 +149,7 @@ def test_load_virtual_pipette_nozzle_layout(
     )
     result = subject_instance.get_nozzle_layout_for_pipette("my-96-pipette")
     assert result.configuration.value == "ROW"
+
     subject_instance.configure_virtual_pipette_nozzle_layout(
         "my-96-pipette", "p1000_96_v3.5", "A1", "A1"
     )

api/tests/opentrons/protocol_engine/state/test_geometry_view.py

@@ -1116,15 +1116,22 @@ def test_get_tip_drop_location_with_non_tiprack(
     )
 
 
-def test_get_tip_drop_explicit_location(subject: GeometryView) -> None:
+def test_get_tip_drop_explicit_location(
+    decoy: Decoy,
+    labware_view: LabwareView,
+    subject: GeometryView,
+    tip_rack_def: LabwareDefinition,
+) -> None:
     """It should pass the location through if origin is not WellOrigin.DROP_TIP."""
+    decoy.when(labware_view.get_definition("tip-rack-id")).then_return(tip_rack_def)
+
     input_location = DropTipWellLocation(
         origin=DropTipWellOrigin.TOP,
         offset=WellOffset(x=1, y=2, z=3),
     )
 
     result = subject.get_checked_tip_drop_location(
-        pipette_id="pipette-id", labware_id="labware-id", well_location=input_location
+        pipette_id="pipette-id", labware_id="tip-rack-id", well_location=input_location
     )
 
     assert result == WellLocation(