fix(protocol-engine): Update location after liquidProbe and `tryLiq…

…uidProbe` (#15867)
Opentrons · Aug 2, 2024 · a2b5c44 · a2b5c44
1 parent c66e43e
commit a2b5c44
Show file tree

Hide file tree

Showing 2 changed files with 169 additions and 76 deletions.
diff --git a/api/src/opentrons/protocol_engine/state/pipettes.py b/api/src/opentrons/protocol_engine/state/pipettes.py
@@ -12,17 +12,15 @@
     NozzleMap,
 )
 from opentrons.protocol_engine.actions.actions import FailCommandAction
-from opentrons.protocol_engine.commands.aspirate import Aspirate
-from opentrons.protocol_engine.commands.dispense import Dispense
-from opentrons.protocol_engine.commands.aspirate_in_place import AspirateInPlace
-from opentrons.protocol_engine.commands.dispense_in_place import DispenseInPlace
 from opentrons.protocol_engine.commands.command import DefinedErrorData
 from opentrons.protocol_engine.commands.pipetting_common import (
+    LiquidNotFoundError,
     OverpressureError,
     OverpressureErrorInternalData,
 )
 from opentrons.types import MountType, Mount as HwMount, Point
 
+from .. import commands
 from .. import errors
 from ..types import (
     LoadedPipette,
@@ -34,31 +32,6 @@
     CurrentPipetteLocation,
     TipGeometry,
 )
-from ..commands import (
-    LoadPipetteResult,
-    AspirateResult,
-    AspirateInPlaceResult,
-    DispenseResult,
-    DispenseInPlaceResult,
-    MoveLabwareResult,
-    MoveToCoordinatesResult,
-    MoveToWellResult,
-    MoveRelativeResult,
-    MoveToAddressableAreaResult,
-    MoveToAddressableAreaForDropTipResult,
-    PickUpTipResult,
-    DropTipResult,
-    DropTipInPlaceResult,
-    HomeResult,
-    RetractAxisResult,
-    BlowOutResult,
-    BlowOutInPlaceResult,
-    unsafe,
-    TouchTipResult,
-    thermocycler,
-    heater_shaker,
-    PrepareToAspirateResult,
-)
 from ..commands.configuring_common import (
     PipetteConfigUpdateResultMixin,
     PipetteNozzleLayoutResultMixin,
@@ -227,7 +200,7 @@ def _handle_command(  # noqa: C901
                 private_result.pipette_id
             ] = private_result.nozzle_map
 
-        if isinstance(command.result, LoadPipetteResult):
+        if isinstance(command.result, commands.LoadPipetteResult):
             pipette_id = command.result.pipetteId
 
             self._state.pipettes_by_id[pipette_id] = LoadedPipette(
@@ -247,7 +220,7 @@ def _handle_command(  # noqa: C901
                     pipette_id
                 ] = static_config.default_nozzle_map
 
-        elif isinstance(command.result, PickUpTipResult):
+        elif isinstance(command.result, commands.PickUpTipResult):
             pipette_id = command.params.pipetteId
             attached_tip = TipGeometry(
                 length=command.result.tipLength,
@@ -281,7 +254,11 @@ def _handle_command(  # noqa: C901
 
         elif isinstance(
             command.result,
-            (DropTipResult, DropTipInPlaceResult, unsafe.UnsafeDropTipInPlaceResult),
+            (
+                commands.DropTipResult,
+                commands.DropTipInPlaceResult,
+                commands.unsafe.UnsafeDropTipInPlaceResult,
+            ),
         ):
             pipette_id = command.params.pipetteId
             self._state.aspirated_volume_by_id[pipette_id] = None
@@ -307,25 +284,36 @@ def _update_current_location(  # noqa: C901
         if isinstance(action, SucceedCommandAction) and isinstance(
             action.command.result,
             (
-                MoveToWellResult,
-                PickUpTipResult,
-                DropTipResult,
-                AspirateResult,
-                DispenseResult,
-                BlowOutResult,
-                TouchTipResult,
+                commands.MoveToWellResult,
+                commands.PickUpTipResult,
+                commands.DropTipResult,
+                commands.AspirateResult,
+                commands.DispenseResult,
+                commands.BlowOutResult,
+                commands.TouchTipResult,
+                commands.LiquidProbeResult,
+                commands.TryLiquidProbeResult,
             ),
         ):
             self._state.current_location = CurrentWell(
                 pipette_id=action.command.params.pipetteId,
                 labware_id=action.command.params.labwareId,
                 well_name=action.command.params.wellName,
             )
-        elif (
-            isinstance(action, FailCommandAction)
-            and isinstance(action.running_command, (Aspirate, Dispense))
-            and isinstance(action.error, DefinedErrorData)
-            and isinstance(action.error.public, OverpressureError)
+        elif isinstance(action, FailCommandAction) and (
+            isinstance(action.error, DefinedErrorData)
+            and (
+                (
+                    isinstance(
+                        action.running_command, (commands.Aspirate, commands.Dispense)
+                    )
+                    and isinstance(action.error.public, OverpressureError)
+                )
+                or (
+                    isinstance(action.running_command, commands.LiquidProbe)
+                    and isinstance(action.error.public, LiquidNotFoundError)
+                )
+            )
         ):
             self._state.current_location = CurrentWell(
                 pipette_id=action.running_command.params.pipetteId,
@@ -334,7 +322,10 @@ def _update_current_location(  # noqa: C901
             )
         elif isinstance(action, SucceedCommandAction) and isinstance(
             action.command.result,
-            (MoveToAddressableAreaResult, MoveToAddressableAreaForDropTipResult),
+            (
+                commands.MoveToAddressableAreaResult,
+                commands.MoveToAddressableAreaForDropTipResult,
+            ),
         ):
             self._state.current_location = CurrentAddressableArea(
                 pipette_id=action.command.params.pipetteId,
@@ -349,11 +340,11 @@ def _update_current_location(  # noqa: C901
         elif isinstance(action, SucceedCommandAction) and isinstance(
             action.command.result,
             (
-                HomeResult,
-                RetractAxisResult,
-                MoveToCoordinatesResult,
-                thermocycler.OpenLidResult,
-                thermocycler.CloseLidResult,
+                commands.HomeResult,
+                commands.RetractAxisResult,
+                commands.MoveToCoordinatesResult,
+                commands.thermocycler.OpenLidResult,
+                commands.thermocycler.CloseLidResult,
             ),
         ):
             self._state.current_location = None
@@ -363,8 +354,8 @@ def _update_current_location(  # noqa: C901
         elif isinstance(action, SucceedCommandAction) and isinstance(
             action.command.result,
             (
-                heater_shaker.SetAndWaitForShakeSpeedResult,
-                heater_shaker.OpenLabwareLatchResult,
+                commands.heater_shaker.SetAndWaitForShakeSpeedResult,
+                commands.heater_shaker.OpenLabwareLatchResult,
             ),
         ):
             if action.command.result.pipetteRetracted:
@@ -377,7 +368,7 @@ def _update_current_location(  # noqa: C901
         # This is necessary for safe motion planning in case the next movement
         # goes to the same labware (now in a new place).
         elif isinstance(action, SucceedCommandAction) and isinstance(
-            action.command.result, MoveLabwareResult
+            action.command.result, commands.MoveLabwareResult
         ):
             moved_labware_id = action.command.params.labwareId
             if action.command.params.strategy == "usingGripper":
@@ -398,17 +389,17 @@ def _update_deck_point(
         if isinstance(action, SucceedCommandAction) and isinstance(
             action.command.result,
             (
-                MoveToWellResult,
-                MoveToCoordinatesResult,
-                MoveRelativeResult,
-                MoveToAddressableAreaResult,
-                MoveToAddressableAreaForDropTipResult,
-                PickUpTipResult,
-                DropTipResult,
-                AspirateResult,
-                DispenseResult,
-                BlowOutResult,
-                TouchTipResult,
+                commands.MoveToWellResult,
+                commands.MoveToCoordinatesResult,
+                commands.MoveRelativeResult,
+                commands.MoveToAddressableAreaResult,
+                commands.MoveToAddressableAreaForDropTipResult,
+                commands.PickUpTipResult,
+                commands.DropTipResult,
+                commands.AspirateResult,
+                commands.DispenseResult,
+                commands.BlowOutResult,
+                commands.TouchTipResult,
             ),
         ):
             pipette_id = action.command.params.pipetteId
@@ -421,7 +412,12 @@ def _update_deck_point(
             isinstance(action, FailCommandAction)
             and isinstance(
                 action.running_command,
-                (Aspirate, Dispense, AspirateInPlace, DispenseInPlace),
+                (
+                    commands.Aspirate,
+                    commands.Dispense,
+                    commands.AspirateInPlace,
+                    commands.DispenseInPlace,
+                ),
             )
             and isinstance(action.error, DefinedErrorData)
             and isinstance(action.error.public, OverpressureError)
@@ -437,26 +433,26 @@ def _update_deck_point(
         elif isinstance(action, SucceedCommandAction) and isinstance(
             action.command.result,
             (
-                HomeResult,
-                RetractAxisResult,
-                thermocycler.OpenLidResult,
-                thermocycler.CloseLidResult,
+                commands.HomeResult,
+                commands.RetractAxisResult,
+                commands.thermocycler.OpenLidResult,
+                commands.thermocycler.CloseLidResult,
             ),
         ):
             self._clear_deck_point()
 
         elif isinstance(action, SucceedCommandAction) and isinstance(
             action.command.result,
             (
-                heater_shaker.SetAndWaitForShakeSpeedResult,
-                heater_shaker.OpenLabwareLatchResult,
+                commands.heater_shaker.SetAndWaitForShakeSpeedResult,
+                commands.heater_shaker.OpenLabwareLatchResult,
             ),
         ):
             if action.command.result.pipetteRetracted:
                 self._clear_deck_point()
 
         elif isinstance(action, SucceedCommandAction) and isinstance(
-            action.command.result, MoveLabwareResult
+            action.command.result, commands.MoveLabwareResult
         ):
             if action.command.params.strategy == "usingGripper":
                 # All mounts will have been retracted.
@@ -466,7 +462,8 @@ def _update_volumes(
         self, action: Union[SucceedCommandAction, FailCommandAction]
     ) -> None:
         if isinstance(action, SucceedCommandAction) and isinstance(
-            action.command.result, (AspirateResult, AspirateInPlaceResult)
+            action.command.result,
+            (commands.AspirateResult, commands.AspirateInPlaceResult),
         ):
             pipette_id = action.command.params.pipetteId
             previous_volume = self._state.aspirated_volume_by_id[pipette_id] or 0
@@ -477,7 +474,8 @@ def _update_volumes(
             self._state.aspirated_volume_by_id[pipette_id] = next_volume
 
         elif isinstance(action, SucceedCommandAction) and isinstance(
-            action.command.result, (DispenseResult, DispenseInPlaceResult)
+            action.command.result,
+            (commands.DispenseResult, commands.DispenseInPlaceResult),
         ):
             pipette_id = action.command.params.pipetteId
             previous_volume = self._state.aspirated_volume_by_id[pipette_id] or 0
@@ -488,13 +486,17 @@ def _update_volumes(
 
         elif isinstance(action, SucceedCommandAction) and isinstance(
             action.command.result,
-            (BlowOutResult, BlowOutInPlaceResult, unsafe.UnsafeBlowOutInPlaceResult),
+            (
+                commands.BlowOutResult,
+                commands.BlowOutInPlaceResult,
+                commands.unsafe.UnsafeBlowOutInPlaceResult,
+            ),
         ):
             pipette_id = action.command.params.pipetteId
             self._state.aspirated_volume_by_id[pipette_id] = None
 
         elif isinstance(action, SucceedCommandAction) and isinstance(
-            action.command.result, PrepareToAspirateResult
+            action.command.result, commands.PrepareToAspirateResult
         ):
             pipette_id = action.command.params.pipetteId
             self._state.aspirated_volume_by_id[pipette_id] = 0