implement tip state handling

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

@@ -3,6 +3,10 @@
 from enum import Enum
 from typing import Dict, Optional, List, Union
 
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
+
+from opentrons.hardware_control.nozzle_manager import NozzleMap
+
 from .abstract_store import HasState, HandlesActions
 from ..actions import (
     Action,
@@ -13,6 +17,7 @@
 from ..commands import (
     Command,
     LoadLabwareResult,
+    ReloadLabwareResult,
     PickUpTip,
     PickUpTipResult,
     DropTipResult,
@@ -24,8 +29,6 @@
 )
 from ..error_recovery_policy import ErrorRecoveryType
 
-from opentrons.hardware_control.nozzle_manager import NozzleMap
-
 
 class TipRackWellState(Enum):
     """The state of a single tip in a tip rack's well."""
@@ -100,21 +103,24 @@ def handle_action(self, action: Action) -> None:
                     well_name
                 ] = TipRackWellState.CLEAN
 
+    def _add_new_tiprack(self, labware_id: str, definition: LabwareDefinition) -> None:
+        self._state.tips_by_labware_id[labware_id] = {
+            well_name: TipRackWellState.CLEAN
+            for column in definition.ordering
+            for well_name in column
+        }
+        self._state.column_by_labware_id[labware_id] = [
+            column for column in definition.ordering
+        ]
+
     def _handle_succeeded_command(self, command: Command) -> None:
         if (
             isinstance(command.result, LoadLabwareResult)
             and command.result.definition.parameters.isTiprack
         ):
             labware_id = command.result.labwareId
             definition = command.result.definition
-            self._state.tips_by_labware_id[labware_id] = {
-                well_name: TipRackWellState.CLEAN
-                for column in definition.ordering
-                for well_name in column
-            }
-            self._state.column_by_labware_id[labware_id] = [
-                column for column in definition.ordering
-            ]
+            self._add_new_tiprack(labware_id, definition)
 
         elif isinstance(command.result, PickUpTipResult):
             labware_id = command.params.labwareId
@@ -130,6 +136,21 @@ def _handle_succeeded_command(self, command: Command) -> None:
             pipette_id = command.params.pipetteId
             self._state.length_by_pipette_id.pop(pipette_id, None)
 
+        elif isinstance(command.result, ReloadLabwareResult):
+            if (
+                command.result.definition.parameters.isTiprack
+                and command.result.labwareId not in self._state.tips_by_labware_id
+            ):
+                self._add_new_tiprack(
+                    command.result.labwareId, command.result.definition
+                )
+            elif (
+                not command.result.definition.parameters.isTiprack
+                and command.result.labwareId in self._state.tips_by_labware_id
+            ):
+                self._state.tips_by_labware_id.pop(command.result.labwareId)
+                self._state.column_by_labware_id.pop(command.result.labwareId)
+
     def _handle_failed_command(
         self,
         action: FailCommandAction,

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

@@ -36,9 +36,9 @@ def subject() -> TipStore:
     return TipStore()
 
 
-@pytest.fixture
-def labware_definition() -> LabwareDefinition:
-    """Get a labware definition value object."""
+def _default_labware_def(
+    parameters: Optional[LabwareParameters] = None,
+) -> LabwareDefinition:
     return LabwareDefinition.construct(  # type: ignore[call-arg]
         ordering=[
             ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"],
@@ -54,10 +54,22 @@ def labware_definition() -> LabwareDefinition:
             ["A11", "B11", "C11", "D11", "E11", "F11", "G11", "H11"],
             ["A12", "B12", "C12", "D12", "E12", "F12", "G12", "H12"],
         ],
-        parameters=_tip_rack_parameters,
+        parameters=parameters or _tip_rack_parameters,
     )
 
 
+@pytest.fixture
+def labware_definition() -> LabwareDefinition:
+    """Get a labware definition value object."""
+    return _default_labware_def()
+
+
+@pytest.fixture
+def reload_labware_definition() -> LabwareDefinition:
+    """Get a labware definition for reloading."""
+    return _default_labware_def()
+
+
 @pytest.fixture
 def load_labware_command(labware_definition: LabwareDefinition) -> commands.LoadLabware:
     """Get a load labware command value object."""
@@ -69,6 +81,18 @@ def load_labware_command(labware_definition: LabwareDefinition) -> commands.Load
     )
 
 
+@pytest.fixture
+def reload_labware_command(
+    reload_labware_definition: LabwareDefinition,
+) -> commands.ReloadLabware:
+    """Get a reload labware command."""
+    return commands.ReloadLabware.construct(  # type: ignore[call-arg]
+        result=commands.ReloadLabwareResult.construct(
+            labwareId="cool-labware", definition=reload_labware_definition
+        )
+    )
+
+
 @pytest.fixture
 def pick_up_tip_command() -> commands.PickUpTip:
     """Get a pick-up tip command value object."""
@@ -1135,3 +1159,157 @@ def _reconfigure_nozzle_layout(start: str, back_l: str, front_r: str) -> NozzleM
     _assert_and_pickup("B1", map)
     map = _reconfigure_nozzle_layout("A1", "A1", "A1")
     _assert_and_pickup("B2", map)
+
+
+def test_reload_tiprack_does_not_alter_tip_state(
+    subject: TipStore,
+    load_labware_command: commands.LoadLabware,
+    pick_up_tip_command: commands.PickUpTip,
+    reload_labware_command: commands.ReloadLabware,
+    supported_tip_fixture: pipette_definition.SupportedTipsDefinition,
+) -> None:
+    """Reloading a tiprack is not the same as resetting the tips."""
+    subject.handle_action(
+        actions.SucceedCommandAction(private_result=None, command=load_labware_command)
+    )
+    load_pipette_command = commands.LoadPipette.construct(  # type: ignore[call-arg]
+        result=commands.LoadPipetteResult(pipetteId="pipette-id")
+    )
+    load_pipette_private_result = commands.LoadPipettePrivateResult(
+        pipette_id="pipette-id",
+        serial_number="pipette-serial",
+        config=LoadedStaticPipetteData(
+            channels=1,
+            max_volume=15,
+            min_volume=3,
+            model="gen a",
+            display_name="display name",
+            flow_rates=FlowRates(
+                default_aspirate={},
+                default_dispense={},
+                default_blow_out={},
+            ),
+            tip_configuration_lookup_table={15: supported_tip_fixture},
+            nominal_tip_overlap={},
+            nozzle_offset_z=1.23,
+            home_position=4.56,
+            nozzle_map=get_default_nozzle_map(PipetteNameType.P300_SINGLE_GEN2),
+            back_left_corner_offset=Point(x=1, y=2, z=3),
+            front_right_corner_offset=Point(x=4, y=5, z=6),
+        ),
+    )
+
+    subject.handle_action(
+        actions.SucceedCommandAction(
+            private_result=load_pipette_private_result, command=load_pipette_command
+        )
+    )
+
+    subject.handle_action(
+        actions.SucceedCommandAction(private_result=None, command=pick_up_tip_command)
+    )
+    subject.handle_action(
+        actions.SucceedCommandAction(
+            private_result=None, command=reload_labware_command
+        )
+    )
+    result = TipView(subject.state).get_next_tip(
+        labware_id="cool-labware",
+        num_tips=1,
+        starting_tip_name=None,
+        nozzle_map=None,
+    )
+
+    assert result == "B1"
+
+
+@pytest.mark.parametrize(
+    "labware_definition",
+    [
+        _default_labware_def(
+            parameters=LabwareParameters.construct(isTiprack=False)  # type: ignore[call-arg]
+        )
+    ],
+)
+def test_reload_to_tiprack_loads(
+    subject: TipStore,
+    load_labware_command: commands.LoadLabware,
+    reload_labware_command: commands.ReloadLabware,
+) -> None:
+    """If you have a loaded non-tiprack and reload with a tiprack, state should appear."""
+    subject.handle_action(
+        actions.SucceedCommandAction(private_result=None, command=load_labware_command)
+    )
+    assert load_labware_command.result
+    assert (
+        TipView(subject.state).get_next_tip(
+            labware_id=load_labware_command.result.labwareId,
+            num_tips=1,
+            starting_tip_name=None,
+            nozzle_map=None,
+        )
+        is None
+    )
+
+    subject.handle_action(
+        actions.SucceedCommandAction(
+            private_result=None, command=reload_labware_command
+        )
+    )
+    result = TipView(subject.state).get_next_tip(
+        labware_id="cool-labware",
+        num_tips=1,
+        starting_tip_name=None,
+        nozzle_map=None,
+    )
+
+    assert result == "A1"
+
+
+@pytest.mark.parametrize(
+    "reload_labware_definition",
+    [
+        _default_labware_def(
+            parameters=LabwareParameters.construct(isTiprack=False)  # type: ignore[call-arg]
+        )
+    ],
+)
+def test_reload_to_non_tiprack_unloads(
+    subject: TipStore,
+    load_labware_command: commands.LoadLabware,
+    reload_labware_command: commands.ReloadLabware,
+) -> None:
+    """If you have a loaded tiprack and reload with a non-tiprack def, state should go away."""
+    subject.handle_action(
+        actions.SucceedCommandAction(private_result=None, command=load_labware_command)
+    )
+    result = TipView(subject.state).get_next_tip(
+        labware_id="cool-labware",
+        num_tips=1,
+        starting_tip_name=None,
+        nozzle_map=None,
+    )
+    assert result == "A1"
+
+    subject.handle_action(
+        actions.SucceedCommandAction(
+            private_result=None, command=reload_labware_command
+        )
+    )
+    result = TipView(subject.state).get_next_tip(
+        labware_id="cool-labware",
+        num_tips=1,
+        starting_tip_name=None,
+        nozzle_map=None,
+    )
+    assert load_labware_command.result
+
+    assert (
+        TipView(subject.state).get_next_tip(
+            labware_id=load_labware_command.result.labwareId,
+            num_tips=1,
+            starting_tip_name=None,
+            nozzle_map=None,
+        )
+        is None
+    )