feat(app, api, shared-data, robot-server): Add module fixtures to dec…

…k configuration (#14684) Build out the backend and frontend to support loading modules into the deck configuration, including tracking modules by serial number in the persistent deck configuration directory. Closes RESC-209, PLAT-247, PLAT-248, PLAT-249, PLAT-250, PLAT-251, PLAT-252, PLAT-254 --------- Co-authored-by: Brian Cooper <[email protected]> Co-authored-by: ahiuchingau <[email protected]>
Opentrons · Apr 15, 2024 · 4e895d4 · 4e895d4
1 parent bf69ad8
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diff --git a/api/src/opentrons/calibration_storage/deck_configuration.py b/api/src/opentrons/calibration_storage/deck_configuration.py
@@ -10,6 +10,7 @@
 class _CutoutFixturePlacementModel(pydantic.BaseModel):
     cutoutId: str
     cutoutFixtureId: str
+    opentronsModuleSerialNumber: Optional[str]
 
 
 class _DeckConfigurationModel(pydantic.BaseModel):
@@ -26,7 +27,9 @@ def serialize_deck_configuration(
     data = _DeckConfigurationModel.construct(
         cutoutFixtures=[
             _CutoutFixturePlacementModel.construct(
-                cutoutId=e.cutout_id, cutoutFixtureId=e.cutout_fixture_id
+                cutoutId=e.cutout_id,
+                cutoutFixtureId=e.cutout_fixture_id,
+                opentronsModuleSerialNumber=e.opentrons_module_serial_number,
             )
             for e in cutout_fixture_placements
         ],
@@ -50,7 +53,9 @@ def deserialize_deck_configuration(
     else:
         cutout_fixture_placements = [
             CutoutFixturePlacement(
-                cutout_id=e.cutoutId, cutout_fixture_id=e.cutoutFixtureId
+                cutout_id=e.cutoutId,
+                cutout_fixture_id=e.cutoutFixtureId,
+                opentrons_module_serial_number=e.opentronsModuleSerialNumber,
             )
             for e in parsed.cutoutFixtures
         ]

diff --git a/api/src/opentrons/calibration_storage/types.py b/api/src/opentrons/calibration_storage/types.py
@@ -42,3 +42,4 @@ class UriDetails:
 class CutoutFixturePlacement:
     cutout_fixture_id: str
     cutout_id: str
+    opentrons_module_serial_number: typing.Optional[str]
diff --git a/api/src/opentrons/hardware_control/modules/types.py b/api/src/opentrons/hardware_control/modules/types.py
@@ -64,6 +64,22 @@ def from_model(cls, model: ModuleModel) -> ModuleType:
         if isinstance(model, MagneticBlockModel):
             return cls.MAGNETIC_BLOCK
 
+    @classmethod
+    def to_module_fixture_id(cls, module_type: ModuleType) -> str:
+        if module_type == ModuleType.THERMOCYCLER:
+            # Thermocyclers are "loaded" in B1 only
+            return "thermocyclerModuleV2Front"
+        if module_type == ModuleType.TEMPERATURE:
+            return "temperatureModuleV2"
+        if module_type == ModuleType.HEATER_SHAKER:
+            return "heaterShakerModuleV1"
+        if module_type == ModuleType.MAGNETIC_BLOCK:
+            return "magneticBlockV1"
+        else:
+            raise ValueError(
+                f"Module Type {module_type} does not have a related fixture ID."
+            )
+
 
 class MagneticModuleModel(str, Enum):
     MAGNETIC_V1: str = "magneticModuleV1"

diff --git a/api/src/opentrons/protocol_api/core/engine/protocol.py b/api/src/opentrons/protocol_api/core/engine/protocol.py
@@ -3,7 +3,8 @@
 from typing import Dict, Optional, Type, Union, List, Tuple, TYPE_CHECKING
 
 from opentrons.protocol_engine.commands import LoadModuleResult
-from opentrons_shared_data.deck.dev_types import DeckDefinitionV4, SlotDefV3
+from opentrons_shared_data.deck.dev_types import DeckDefinitionV5, SlotDefV3
+from opentrons.protocol_engine.resources import deck_configuration_provider
 from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 from opentrons_shared_data.labware.dev_types import LabwareDefinition as LabwareDefDict
 from opentrons_shared_data.pipette.dev_types import PipetteNameType
@@ -602,7 +603,7 @@ def set_last_location(
         self._last_location = location
         self._last_mount = mount
 
-    def get_deck_definition(self) -> DeckDefinitionV4:
+    def get_deck_definition(self) -> DeckDefinitionV5:
         """Get the geometry definition of the robot's deck."""
         return self._engine_client.state.labware.get_deck_definition()
 
@@ -625,10 +626,26 @@ def get_staging_slot_definitions(self) -> Dict[str, SlotDefV3]:
     def _ensure_module_location(
         self, slot: DeckSlotName, module_type: ModuleType
     ) -> None:
-        slot_def = self.get_slot_definition(slot)
-        compatible_modules = slot_def["compatibleModuleTypes"]
-        if module_type.value not in compatible_modules:
-            raise ValueError(f"A {module_type.value} cannot be loaded into slot {slot}")
+        if self._engine_client.state.config.robot_type == "OT-2 Standard":
+            slot_def = self.get_slot_definition(slot)
+            compatible_modules = slot_def["compatibleModuleTypes"]
+            if module_type.value not in compatible_modules:
+                raise ValueError(
+                    f"A {module_type.value} cannot be loaded into slot {slot}"
+                )
+        else:
+            cutout_fixture_id = ModuleType.to_module_fixture_id(module_type)
+            module_fixture = deck_configuration_provider.get_cutout_fixture(
+                cutout_fixture_id,
+                self._engine_client.state.addressable_areas.state.deck_definition,
+            )
+            cutout_id = self._engine_client.state.addressable_areas.get_cutout_id_by_deck_slot_name(
+                slot
+            )
+            if cutout_id not in module_fixture["mayMountTo"]:
+                raise ValueError(
+                    f"A {module_type.value} cannot be loaded into slot {slot}"
+                )
 
     def get_slot_item(
         self, slot_name: Union[DeckSlotName, StagingSlotName]

diff --git a/api/src/opentrons/protocol_api/core/legacy/deck.py b/api/src/opentrons/protocol_api/core/legacy/deck.py
@@ -280,6 +280,11 @@ def resolve_module_location(
             compatible_modules = slot_def["compatibleModuleTypes"]
             if module_type.value in compatible_modules:
                 return location
+            elif (
+                self._definition["robot"]["model"] == "OT-3 Standard"
+                and ModuleType.to_module_fixture_id(module_type) == slot_def["id"]
+            ):
+                return location
             else:
                 raise ValueError(
                     f"A {dn_from_type[module_type]} cannot be loaded"

diff --git a/api/src/opentrons/protocol_api/core/legacy/legacy_protocol_core.py b/api/src/opentrons/protocol_api/core/legacy/legacy_protocol_core.py
@@ -1,7 +1,7 @@
 import logging
 from typing import Dict, List, Optional, Set, Union, cast, Tuple
 
-from opentrons_shared_data.deck.dev_types import DeckDefinitionV4, SlotDefV3
+from opentrons_shared_data.deck.dev_types import DeckDefinitionV5, SlotDefV3
 from opentrons_shared_data.labware.dev_types import LabwareDefinition
 from opentrons_shared_data.pipette.dev_types import PipetteNameType
 from opentrons_shared_data.robot.dev_types import RobotType
@@ -491,7 +491,7 @@ def get_labware_on_labware(
     ) -> Optional[LegacyLabwareCore]:
         assert False, "get_labware_on_labware only supported on engine core"
 
-    def get_deck_definition(self) -> DeckDefinitionV4:
+    def get_deck_definition(self) -> DeckDefinitionV5:
         """Get the geometry definition of the robot's deck."""
         assert False, "get_deck_definition only supported on engine core"
 

diff --git a/api/src/opentrons/protocol_api/core/protocol.py b/api/src/opentrons/protocol_api/core/protocol.py
@@ -5,7 +5,7 @@
 from abc import abstractmethod, ABC
 from typing import Generic, List, Optional, Union, Tuple, Dict, TYPE_CHECKING
 
-from opentrons_shared_data.deck.dev_types import DeckDefinitionV4, SlotDefV3
+from opentrons_shared_data.deck.dev_types import DeckDefinitionV5, SlotDefV3
 from opentrons_shared_data.pipette.dev_types import PipetteNameType
 from opentrons_shared_data.labware.dev_types import LabwareDefinition
 from opentrons_shared_data.robot.dev_types import RobotType
@@ -188,7 +188,7 @@ def set_last_location(
         ...
 
     @abstractmethod
-    def get_deck_definition(self) -> DeckDefinitionV4:
+    def get_deck_definition(self) -> DeckDefinitionV5:
         """Get the geometry definition of the robot's deck."""
 
     @abstractmethod

diff --git a/api/src/opentrons/protocol_api/validation.py b/api/src/opentrons/protocol_api/validation.py
@@ -87,6 +87,10 @@ class InvalidTrashBinLocationError(ValueError):
     """An error raised when attempting to load trash bins in invalid slots."""
 
 
+class InvalidFixtureLocationError(ValueError):
+    """An error raised when attempting to load a fixture in an invalid cutout."""
+
+
 def ensure_mount_for_pipette(
     mount: Union[str, Mount, None], pipette: PipetteNameType
 ) -> Mount:

diff --git a/api/src/opentrons/protocol_engine/commands/load_module.py b/api/src/opentrons/protocol_engine/commands/load_module.py
@@ -5,7 +5,11 @@
 from pydantic import BaseModel, Field
 
 from .command import AbstractCommandImpl, BaseCommand, BaseCommandCreate
-from ..types import DeckSlotLocation, ModuleModel, ModuleDefinition
+from ..types import (
+    DeckSlotLocation,
+    ModuleModel,
+    ModuleDefinition,
+)
 
 if TYPE_CHECKING:
     from ..state import StateView
@@ -104,9 +108,19 @@ def __init__(
 
     async def execute(self, params: LoadModuleParams) -> LoadModuleResult:
         """Check that the requested module is attached and assign its identifier."""
-        self._state_view.addressable_areas.raise_if_area_not_in_deck_configuration(
-            params.location.slotName.id
-        )
+        if self._state_view.config.robot_type == "OT-2 Standard":
+            self._state_view.addressable_areas.raise_if_area_not_in_deck_configuration(
+                params.location.slotName.id
+            )
+        else:
+            addressable_area = self._state_view.geometry._modules.ensure_and_convert_module_fixture_location(
+                deck_slot=params.location.slotName,
+                deck_type=self._state_view.config.deck_type,
+                model=params.model,
+            )
+            self._state_view.addressable_areas.raise_if_area_not_in_deck_configuration(
+                addressable_area
+            )
 
         verified_location = self._state_view.geometry.ensure_location_not_occupied(
             params.location

diff --git a/api/src/opentrons/protocol_engine/execution/equipment.py b/api/src/opentrons/protocol_engine/execution/equipment.py
@@ -1,6 +1,6 @@
 """Equipment command side-effect logic."""
 from dataclasses import dataclass
-from typing import Optional, overload
+from typing import Optional, overload, Union
 
 from opentrons_shared_data.pipette.dev_types import PipetteNameType
 
@@ -44,6 +44,7 @@
     LabwareOffsetLocation,
     ModuleModel,
     ModuleDefinition,
+    AddressableAreaLocation,
 )
 
 
@@ -252,7 +253,7 @@ async def load_pipette(
     async def load_magnetic_block(
         self,
         model: ModuleModel,
-        location: DeckSlotLocation,
+        location: Union[DeckSlotLocation, AddressableAreaLocation],
         module_id: Optional[str],
     ) -> LoadedModuleData:
         """Ensure the required magnetic block is attached.
@@ -317,10 +318,14 @@ async def load_module(
                 for hw_mod in self._hardware_api.attached_modules
             ]
 
+            serial_number_at_locaiton = self._state_store.geometry._addressable_areas.get_fixture_serial_from_deck_configuration_by_deck_slot(
+                location.slotName
+            )
             attached_module = self._state_store.modules.select_hardware_module_to_load(
                 model=model,
                 location=location,
                 attached_modules=attached_modules,
+                expected_serial_number=serial_number_at_locaiton,
             )
 
         else:

diff --git a/api/src/opentrons/protocol_engine/resources/deck_configuration_provider.py b/api/src/opentrons/protocol_engine/resources/deck_configuration_provider.py
@@ -1,7 +1,7 @@
 """Deck configuration resource provider."""
 from typing import List, Set, Tuple
 
-from opentrons_shared_data.deck.dev_types import DeckDefinitionV4, CutoutFixture
+from opentrons_shared_data.deck.dev_types import DeckDefinitionV5, CutoutFixture
 
 from opentrons.types import DeckSlotName
 
@@ -17,11 +17,10 @@
     CutoutDoesNotExistError,
     FixtureDoesNotExistError,
     AddressableAreaDoesNotExistError,
-    FixtureDoesNotProvideAreasError,
 )
 
 
-def get_cutout_position(cutout_id: str, deck_definition: DeckDefinitionV4) -> DeckPoint:
+def get_cutout_position(cutout_id: str, deck_definition: DeckDefinitionV5) -> DeckPoint:
     """Get the base position of a cutout on the deck."""
     for cutout in deck_definition["locations"]["cutouts"]:
         if cutout_id == cutout["id"]:
@@ -32,7 +31,7 @@ def get_cutout_position(cutout_id: str, deck_definition: DeckDefinitionV4) -> De
 
 
 def get_cutout_fixture(
-    cutout_fixture_id: str, deck_definition: DeckDefinitionV4
+    cutout_fixture_id: str, deck_definition: DeckDefinitionV5
 ) -> CutoutFixture:
     """Gets cutout fixture from deck that matches the cutout fixture ID provided."""
     for cutout_fixture in deck_definition["cutoutFixtures"]:
@@ -44,20 +43,18 @@ def get_cutout_fixture(
 
 
 def get_provided_addressable_area_names(
-    cutout_fixture_id: str, cutout_id: str, deck_definition: DeckDefinitionV4
+    cutout_fixture_id: str, cutout_id: str, deck_definition: DeckDefinitionV5
 ) -> List[str]:
     """Gets a list of the addressable areas provided by the cutout fixture on the cutout."""
     cutout_fixture = get_cutout_fixture(cutout_fixture_id, deck_definition)
     try:
         return cutout_fixture["providesAddressableAreas"][cutout_id]
-    except KeyError as exception:
-        raise FixtureDoesNotProvideAreasError(
-            f"Cutout fixture {cutout_fixture['id']} does not provide addressable areas for {cutout_id}"
-        ) from exception
+    except KeyError:
+        return []
 
 
 def get_addressable_area_display_name(
-    addressable_area_name: str, deck_definition: DeckDefinitionV4
+    addressable_area_name: str, deck_definition: DeckDefinitionV5
 ) -> str:
     """Get the display name for an addressable area name."""
     for addressable_area in deck_definition["locations"]["addressableAreas"]:
@@ -69,7 +66,7 @@ def get_addressable_area_display_name(
 
 
 def get_potential_cutout_fixtures(
-    addressable_area_name: str, deck_definition: DeckDefinitionV4
+    addressable_area_name: str, deck_definition: DeckDefinitionV5
 ) -> Tuple[str, Set[PotentialCutoutFixture]]:
     """Given an addressable area name, gets the cutout ID associated with it and a set of potential fixtures."""
     potential_fixtures = []
@@ -102,7 +99,7 @@ def get_addressable_area_from_name(
     addressable_area_name: str,
     cutout_position: DeckPoint,
     base_slot: DeckSlotName,
-    deck_definition: DeckDefinitionV4,
+    deck_definition: DeckDefinitionV5,
 ) -> AddressableArea:
     """Given a name and a cutout position, get an addressable area on the deck."""
     for addressable_area in deck_definition["locations"]["addressableAreas"]:

diff --git a/api/src/opentrons/protocol_engine/resources/deck_data_provider.py b/api/src/opentrons/protocol_engine/resources/deck_data_provider.py
@@ -9,7 +9,7 @@
     load as load_deck,
     DEFAULT_DECK_DEFINITION_VERSION,
 )
-from opentrons_shared_data.deck.dev_types import DeckDefinitionV4
+from opentrons_shared_data.deck.dev_types import DeckDefinitionV5
 from opentrons.protocols.models import LabwareDefinition
 from opentrons.types import DeckSlotName
 
@@ -39,10 +39,10 @@ def __init__(
         self._deck_type = deck_type
         self._labware_data = labware_data or LabwareDataProvider()
 
-    async def get_deck_definition(self) -> DeckDefinitionV4:
+    async def get_deck_definition(self) -> DeckDefinitionV5:
         """Get a labware definition given the labware's identification."""
 
-        def sync() -> DeckDefinitionV4:
+        def sync() -> DeckDefinitionV5:
             return load_deck(
                 name=self._deck_type.value, version=DEFAULT_DECK_DEFINITION_VERSION
             )
@@ -51,7 +51,7 @@ def sync() -> DeckDefinitionV4:
 
     async def get_deck_fixed_labware(
         self,
-        deck_definition: DeckDefinitionV4,
+        deck_definition: DeckDefinitionV5,
     ) -> List[DeckFixedLabware]:
         """Get a list of all labware fixtures from a given deck definition."""
         labware: List[DeckFixedLabware] = []