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chore(api): only auto liquid probe with clean tips #17808

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merged 6 commits into from
Mar 20, 2025
Merged

chore(api): only auto liquid probe with clean tips #17808

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e4497f4
add way to check if tip is clean
ryanthecoder Mar 18, 2025
c6e470a
check if tip is clean before an auto-probe
ryanthecoder Mar 18, 2025
7e9645b
fix old tests
ryanthecoder Mar 18, 2025
14ba7b8
add a new test
ryanthecoder Mar 18, 2025
6dd7bd3
make 'clean' a part of empty fluid instead of it's own fluid
ryanthecoder Mar 19, 2025
2b07daa
fix(analyses-snapshot-testing): heal EXEC-781-only-auto-probe-with-cl…
github-actions[bot] Mar 20, 2025
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530 changes: 169 additions & 361 deletions ...est/test_analysis_snapshot[2b866b03f3][Flex_S_v2_21_P1000_96_GRIP_HS_MB_TC_TM_Smoke].json
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84 changes: 26 additions & 58 deletions ...ts__/analyses_snapshot_test/test_analysis_snapshot[d2c818bf00][Flex_S_v2_20_P50_LPD].json
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Original file line number Diff line number Diff line change
Expand Up @@ -4461,44 +4461,12 @@
"startedAt": "TIMESTAMP",
"status": "succeeded"
},
{
"commandType": "liquidProbe",
"completedAt": "TIMESTAMP",
"createdAt": "TIMESTAMP",
"id": "UUID",
"key": "8a6371348d39f444fc65e7304dde52ce",
"notes": [],
"params": {
"labwareId": "UUID",
"pipetteId": "UUID",
"wellLocation": {
"offset": {
"x": 0.0,
"y": 0.0,
"z": 2.0
},
"origin": "top",
"volumeOffset": 0.0
},
"wellName": "A3"
},
"result": {
"position": {
"x": 360.38,
"y": 256.78,
"z": 33.4
},
"z_position": "SimulatedProbeResult"
},
"startedAt": "TIMESTAMP",
"status": "succeeded"
},
{
"commandType": "aspirate",
"completedAt": "TIMESTAMP",
"createdAt": "TIMESTAMP",
"id": "UUID",
"key": "b22e2f859d148b4dfdb91b3e43ddd7c0",
"key": "778e826c901184eabfcc20d2b5a2e49f",
"notes": [],
"params": {
"flowRate": 35.0,
Expand Down Expand Up @@ -4532,7 +4500,7 @@
"completedAt": "TIMESTAMP",
"createdAt": "TIMESTAMP",
"id": "UUID",
"key": "d7b826433bfc2c5dd7650b7f64de4387",
"key": "38675e4e928860df768c3e85d5768603",
"notes": [],
"params": {
"flowRate": 57.0,
Expand Down Expand Up @@ -4566,7 +4534,7 @@
"completedAt": "TIMESTAMP",
"createdAt": "TIMESTAMP",
"id": "UUID",
"key": "45c70122bf33abff61217f0c752c06a4",
"key": "b4caf3b2661bcba8f6a838f6ea450075",
"notes": [],
"params": {
"addressableAreaName": "movableTrashA3",
Expand Down Expand Up @@ -4595,7 +4563,7 @@
"completedAt": "TIMESTAMP",
"createdAt": "TIMESTAMP",
"id": "UUID",
"key": "440594c1295a83478b3bf55db1efc12d",
"key": "2b7db72bdd89db19f1ed47e67528f28b",
"notes": [],
"params": {
"pipetteId": "UUID"
Expand All @@ -4609,7 +4577,7 @@
"completedAt": "TIMESTAMP",
"createdAt": "TIMESTAMP",
"id": "UUID",
"key": "dbeb059b62f722adf17e49167171024f",
"key": "41dbfe52d75d3788b387c0d9338e34ea",
"notes": [],
"params": {
"message": "Reservoir in D3 is to have NO liquid"
Expand All @@ -4623,7 +4591,7 @@
"completedAt": "TIMESTAMP",
"createdAt": "TIMESTAMP",
"id": "UUID",
"key": "04ea53a488348ffb1688af708b65f7e4",
"key": "4b3f9b7518054b692c5325c9f314bbc2",
"notes": [],
"params": {
"labwareId": "UUID",
Expand Down Expand Up @@ -4656,7 +4624,7 @@
"completedAt": "TIMESTAMP",
"createdAt": "TIMESTAMP",
"id": "UUID",
"key": "e94242544868a35ba08cec280d753bc6",
"key": "1263b3f609a7880eaa95c752e2bd475d",
"notes": [],
"params": {
"flowRate": 35.0,
Expand Down Expand Up @@ -4690,7 +4658,7 @@
"completedAt": "TIMESTAMP",
"createdAt": "TIMESTAMP",
"id": "UUID",
"key": "ef6736559fde071db453f5eab377a125",
"key": "909c08dccafd36971e0152dd6e1a8139",
"notes": [],
"params": {
"addressableAreaName": "movableTrashA3",
Expand Down Expand Up @@ -4719,7 +4687,7 @@
"completedAt": "TIMESTAMP",
"createdAt": "TIMESTAMP",
"id": "UUID",
"key": "57ecb3ed1ba19f712a64f34d0098c991",
"key": "d100078485070fc9ffbd5402abc866cc",
"notes": [],
"params": {
"flowRate": 57.0,
Expand All @@ -4734,7 +4702,7 @@
"completedAt": "TIMESTAMP",
"createdAt": "TIMESTAMP",
"id": "UUID",
"key": "ff5d401da9025c5e29c5687c101a5e3d",
"key": "fd14cf1ab3d29a1beb839f773714c75c",
"notes": [],
"params": {
"message": "Current volume in pipette: 0"
Expand All @@ -4748,7 +4716,7 @@
"completedAt": "TIMESTAMP",
"createdAt": "TIMESTAMP",
"id": "UUID",
"key": "d4d7653c4ef95313ee313641835096ad",
"key": "6d4749de29e5b16690b4c24357519c71",
"notes": [],
"params": {
"pipetteId": "UUID"
Expand All @@ -4762,7 +4730,7 @@
"completedAt": "TIMESTAMP",
"createdAt": "TIMESTAMP",
"id": "UUID",
"key": "572506e8a901de4c31b05824435605e3",
"key": "785e9be5b17c72f142d39f03297bc799",
"notes": [],
"params": {
"labwareId": "UUID",
Expand Down Expand Up @@ -4794,7 +4762,7 @@
"completedAt": "TIMESTAMP",
"createdAt": "TIMESTAMP",
"id": "UUID",
"key": "99ff896a8dd377c6b88d73e413dd83fb",
"key": "7ccc6abf8a3db11ce7e6acd5aad7c371",
"notes": [],
"params": {
"message": "Is there liquid in the reservoir? True"
Expand All @@ -4808,7 +4776,7 @@
"completedAt": "TIMESTAMP",
"createdAt": "TIMESTAMP",
"id": "UUID",
"key": "f3ad90410318c85bdafc440398099b1c",
"key": "b3a1a14a2952fffaa3ffec6b16057ee7",
"notes": [],
"params": {
"addressableAreaName": "movableTrashA3",
Expand Down Expand Up @@ -4837,7 +4805,7 @@
"completedAt": "TIMESTAMP",
"createdAt": "TIMESTAMP",
"id": "UUID",
"key": "5f601c702191a47b8e0e0d99ae514a34",
"key": "f3cca7482c4018c4ef6df79c1803b756",
"notes": [],
"params": {
"pipetteId": "UUID"
Expand All @@ -4851,7 +4819,7 @@
"completedAt": "TIMESTAMP",
"createdAt": "TIMESTAMP",
"id": "UUID",
"key": "3d627373932d2d82fdee646567e0aa8e",
"key": "c6c070d903d15619cb5558c1ca1c2686",
"notes": [],
"params": {
"labwareId": "UUID",
Expand Down Expand Up @@ -4884,7 +4852,7 @@
"completedAt": "TIMESTAMP",
"createdAt": "TIMESTAMP",
"id": "UUID",
"key": "286f5eaff085f0888fa20b1f7e6ea0d8",
"key": "98193cec066e166983e2f35c505411f3",
"notes": [],
"params": {
"message": "We expect an error on the next line"
Expand All @@ -4898,7 +4866,7 @@
"completedAt": "TIMESTAMP",
"createdAt": "TIMESTAMP",
"id": "UUID",
"key": "f0ce6617868dd419408be36fa2c9b687",
"key": "9805906fd76d9e4ea5b48c4dd4a47f11",
"notes": [],
"params": {
"labwareId": "UUID",
Expand Down Expand Up @@ -4930,7 +4898,7 @@
"completedAt": "TIMESTAMP",
"createdAt": "TIMESTAMP",
"id": "UUID",
"key": "d184edc87ae8067624e33f43a08fe0c3",
"key": "945ed7582aa88ad9af48034e185e78cb",
"notes": [],
"params": {
"flowRate": 35.0,
Expand Down Expand Up @@ -4964,7 +4932,7 @@
"completedAt": "TIMESTAMP",
"createdAt": "TIMESTAMP",
"id": "UUID",
"key": "7e96f475215267b1f53e6431009b68f9",
"key": "cda1a90c5d9583258d101cde416ac69c",
"notes": [],
"params": {
"addressableAreaName": "movableTrashA3",
Expand Down Expand Up @@ -4993,7 +4961,7 @@
"completedAt": "TIMESTAMP",
"createdAt": "TIMESTAMP",
"id": "UUID",
"key": "36e0b46690493b64dea41f3d6c27e266",
"key": "3c43bc864ede9c53854dc16d03e83237",
"notes": [],
"params": {
"pipetteId": "UUID"
Expand All @@ -5007,7 +4975,7 @@
"completedAt": "TIMESTAMP",
"createdAt": "TIMESTAMP",
"id": "UUID",
"key": "2c58bd55bfad83d78f2859e636ee2723",
"key": "3412243e76c37f838b113e7eb6b592ac",
"notes": [],
"params": {
"labwareId": "UUID",
Expand Down Expand Up @@ -5040,7 +5008,7 @@
"completedAt": "TIMESTAMP",
"createdAt": "TIMESTAMP",
"id": "UUID",
"key": "c713a0160a4176161ba486b32b07d0dd",
"key": "67e7abea27e463d130e20a1b519ccb68",
"notes": [],
"params": {
"message": "Reservoir in D3 is to have NO liquid"
Expand All @@ -5054,7 +5022,7 @@
"completedAt": "TIMESTAMP",
"createdAt": "TIMESTAMP",
"id": "UUID",
"key": "ecd85454102ce7575176fc1430b9854f",
"key": "8b1fcd8c6726c9cbe49ad45391015980",
"notes": [],
"params": {
"labwareId": "UUID",
Expand Down Expand Up @@ -5086,7 +5054,7 @@
"completedAt": "TIMESTAMP",
"createdAt": "TIMESTAMP",
"id": "UUID",
"key": "1bae2c05e983ffa93cb1e081d438f8ef",
"key": "ecce1348844aa390a8de623d60b09b4c",
"notes": [],
"params": {
"labwareId": "UUID",
Expand Down Expand Up @@ -5118,7 +5086,7 @@
"completedAt": "TIMESTAMP",
"createdAt": "TIMESTAMP",
"id": "UUID",
"key": "d249c3b29b22c37a6412d69a4c83b5c7",
"key": "86cd2f1c02989e5f6a8cdc3e02d98255",
"notes": [],
"params": {
"message": "Is there liquid in the reservoir? True"
Expand Down
10 changes: 10 additions & 0 deletions api/src/opentrons/protocol_api/core/engine/instrument.py
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Original file line number Diff line number Diff line change
Expand Up @@ -939,6 +939,16 @@ def get_current_volume(self) -> float:

return current_volume or 0

def get_has_clean_tip(self) -> bool:
try:
clean_tip = self._engine_client.state.pipettes.get_has_clean_tip(
self._pipette_id
)
except TipNotAttachedError:
clean_tip = False

return clean_tip

def get_available_volume(self) -> float:
try:
available_volume = self._engine_client.state.pipettes.get_available_volume(
Expand Down
4 changes: 4 additions & 0 deletions api/src/opentrons/protocol_api/core/instrument.py
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Original file line number Diff line number Diff line change
Expand Up @@ -252,6 +252,10 @@ def get_working_volume(self) -> float:
def get_current_volume(self) -> float:
...

@abstractmethod
def get_has_clean_tip(self) -> bool:
...

@abstractmethod
def get_available_volume(self) -> float:
...
Expand Down
4 changes: 4 additions & 0 deletions api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py
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Original file line number Diff line number Diff line change
Expand Up @@ -500,6 +500,10 @@ def get_current_volume(self) -> float:
"""Get the current volume."""
return self.get_hardware_state()["current_volume"]

def get_has_clean_tip(self) -> bool:
"""Get if has a clean tip, only used with LLD and engine commands."""
return False

def get_available_volume(self) -> float:
"""Get the available volume."""
return self.get_hardware_state()["available_volume"]
Expand Down
3 changes: 3 additions & 0 deletions api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py
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Original file line number Diff line number Diff line change
Expand Up @@ -377,6 +377,9 @@ def get_working_volume(self) -> float:
def get_current_volume(self) -> float:
return self._pipette_dict["current_volume"]

def get_has_clean_tip(self) -> bool:
return False

def get_available_volume(self) -> float:
return self._pipette_dict["available_volume"]

Expand Down
1 change: 1 addition & 0 deletions api/src/opentrons/protocol_api/instrument_context.py
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Original file line number Diff line number Diff line change
Expand Up @@ -271,6 +271,7 @@ def aspirate(
and self.liquid_presence_detection
and self._core.nozzle_configuration_valid_for_lld()
and self._core.get_current_volume() == 0
and self._core.get_has_clean_tip()
):
self._raise_if_pressure_not_supported_by_pipette()
self.require_liquid_presence(well=well)
Expand Down
4 changes: 2 additions & 2 deletions api/src/opentrons/protocol_engine/commands/pick_up_tip.py
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Original file line number Diff line number Diff line change
Expand Up @@ -150,7 +150,7 @@ async def execute(
pipette_id=pipette_id,
tip_geometry=e.tip_geometry,
)
.set_fluid_empty(pipette_id=pipette_id)
.set_fluid_empty(pipette_id=pipette_id, clean_tip=True)
.mark_tips_as_used(
pipette_id=pipette_id, labware_id=labware_id, well_name=well_name
)
Expand Down Expand Up @@ -188,7 +188,7 @@ async def execute(
.mark_tips_as_used(
pipette_id=pipette_id, labware_id=labware_id, well_name=well_name
)
.set_fluid_empty(pipette_id=pipette_id)
.set_fluid_empty(pipette_id=pipette_id, clean_tip=True)
.set_pipette_ready_to_aspirate(
pipette_id=pipette_id, ready_to_aspirate=True
)
Expand Down
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