feat(api): Validate plate reader status using live data hookups for e…

…ngine and introduce lid status to the PAPI (#15872)

Closes: PLAT-208 PLAT-386
Ensure lid status utilizes live data, can no op open() and close() commands, and expose `is_lid_on()` to PAPI for use in protocols

api/docs/v2/conf.py

@@ -445,7 +445,7 @@
     ("py:class", r".*protocol_api\.config.*"),
     ("py:class", r".*opentrons_shared_data.*"),
     ("py:class", r".*protocol_api._parameters.Parameters.*"),
-    ("py:class", r".*AbsorbanceReaderContext"),  # shh it's a secret (for now)
+    ("py:class", r".*AbsorbanceReaderContext"), 
 	("py:class", r".*RobotContext"),  # shh it's a secret (for now)
     ("py:class", r'.*AbstractLabware|APIVersion|LabwareLike|LoadedCoreMap|ModuleTypes|NoneType|OffDeckType|ProtocolCore|WellCore'),  # laundry list of not fully qualified things
 ]

api/src/opentrons/drivers/absorbance_reader/driver.py

@@ -61,6 +61,7 @@ async def get_available_wavelengths(self) -> List[int]:
         return await self._connection.get_supported_wavelengths()
 
     async def get_single_measurement(self, wavelength: int) -> List[float]:
+        # TODO (cb, 08-02-2024): The list of measurements for 96 wells is rotated 180 degrees (well A1 is where well H12 should be) this must be corrected
         return await self._connection.get_single_measurement(wavelength)
 
     async def initialize_measurement(self, wavelength: int) -> None:

api/src/opentrons/hardware_control/modules/absorbance_reader.py

@@ -204,11 +204,11 @@ def status(self) -> AbsorbanceReaderStatus:
 
     @property
     def lid_status(self) -> AbsorbanceReaderLidStatus:
-        return AbsorbanceReaderLidStatus.UNKNOWN
+        return self._reader.lid_status
 
     @property
     def plate_presence(self) -> AbsorbanceReaderPlatePresence:
-        return AbsorbanceReaderPlatePresence.UNKNOWN
+        return self._reader.plate_presence
 
     @property
     def device_info(self) -> Mapping[str, str]:
@@ -321,6 +321,11 @@ async def get_current_wavelength(self) -> None:
         """Get the Absorbance Reader's current active wavelength."""
         pass  # TODO: implement
 
+    async def get_current_lid_status(self) -> AbsorbanceReaderLidStatus:
+        """Get the Absorbance Reader's current lid status."""
+        await self._reader.get_lid_status()
+        return self._reader.lid_status
+
     def _enter_error_state(self, error: Exception) -> None:
         self._error = str(error)
         if isinstance(error, AbsorbanceReaderDisconnectedError):

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

@@ -562,3 +562,10 @@ def open_lid(self) -> None:
                 moduleId=self.module_id,
             )
         )
+
+    def is_lid_on(self) -> bool:
+        """Returns True if the Absorbance Reader's lid is currently on the Reader slot."""
+        abs_state = self._engine_client.state.modules.get_absorbance_reader_substate(
+            self.module_id
+        )
+        return abs_state.is_lid_on

api/src/opentrons/protocol_api/core/module.py

@@ -369,3 +369,7 @@ def close_lid(self) -> None:
     @abstractmethod
     def open_lid(self) -> None:
         """Open the Absorbance Reader's lid."""
+
+    @abstractmethod
+    def is_lid_on(self) -> bool:
+        """Return True if the Absorbance Reader's lid is currently closed."""

api/src/opentrons/protocol_api/module_contexts.py

@@ -994,9 +994,14 @@ def close_lid(self) -> None:
 
     @requires_version(2, 21)
     def open_lid(self) -> None:
-        """Close the lid of the Absorbance Reader."""
+        """Open the lid of the Absorbance Reader."""
         self._core.open_lid()
 
+    @requires_version(2, 21)
+    def is_lid_on(self) -> bool:
+        """Return ``True`` if the Absorbance Reader's lid is currently closed."""
+        return self._core.is_lid_on()
+
     @requires_version(2, 21)
     def initialize(self, wavelength: int) -> None:
         """Initialize the Absorbance Reader by taking zero reading."""

api/src/opentrons/protocol_api/protocol_context.py

@@ -42,6 +42,7 @@
     RobotTypeError,
     UnsupportedAPIError,
 )
+from opentrons_shared_data.errors.exceptions import CommandPreconditionViolated
 
 from ._types import OffDeckType
 from .core.common import ModuleCore, LabwareCore, ProtocolCore
@@ -707,6 +708,13 @@ def move_labware(
                 f"Expected labware of type 'Labware' but got {type(labware)}."
             )
 
+        # Ensure that when moving to an absorbance reader than the lid is open
+        if isinstance(new_location, AbsorbanceReaderContext):
+            if new_location.is_lid_on():
+                raise CommandPreconditionViolated(
+                    f"Cannot move {labware.name} onto the Absorbance Reader Module when its lid is closed."
+                )
+
         location: Union[
             ModuleCore,
             LabwareCore,

api/src/opentrons/protocol_engine/commands/absorbance_reader/close_lid.py

@@ -7,10 +7,14 @@
 
 from ..command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
 from ...errors.error_occurrence import ErrorOccurrence
+from ...errors import CannotPerformModuleAction
 from opentrons.protocol_engine.types import AddressableAreaLocation
+
 from opentrons.protocol_engine.resources import labware_validation
 from .types import MoveLidResult
 
+from opentrons.drivers.types import AbsorbanceReaderLidStatus
+
 if TYPE_CHECKING:
     from opentrons.protocol_engine.state import StateView
     from opentrons.protocol_engine.execution import (
@@ -55,59 +59,79 @@ async def execute(
         mod_substate = self._state_view.modules.get_absorbance_reader_substate(
             module_id=params.moduleId
         )
-        # Make sure the lid is open
-        mod_substate.raise_if_lid_status_not_expected(lid_on_expected=False)
 
-        # Allow propagation of ModuleNotAttachedError.
-        _ = self._equipment.get_module_hardware_api(mod_substate.module_id)
-
-        # lid should currently be docked
+        # lid should currently be on the module
         assert mod_substate.lid_id is not None
         loaded_lid = self._state_view.labware.get(mod_substate.lid_id)
         assert labware_validation.is_absorbance_reader_lid(loaded_lid.loadName)
 
-        current_location = loaded_lid.location
-        validated_current_location = (
-            self._state_view.geometry.ensure_valid_gripper_location(current_location)
-        )
+        hardware_lid_status = AbsorbanceReaderLidStatus.OFF
+        # If the lid is closed, if the lid is open No-op out
+        if not self._state_view.config.use_virtual_modules:
+            abs_reader = self._equipment.get_module_hardware_api(mod_substate.module_id)
+
+            if abs_reader is not None:
+                result = await abs_reader.get_current_lid_status()
+                hardware_lid_status = result
+            else:
+                raise CannotPerformModuleAction(
+                    "Could not reach the Hardware API for Opentrons Plate Reader Module."
+                )
+
+        # If the lid is already ON, no-op losing lid
+        if hardware_lid_status is AbsorbanceReaderLidStatus.ON:
+            # The lid is already On, so we can no-op and return the lids current location data
+            assert isinstance(loaded_lid.location, AddressableAreaLocation)
+            new_location = loaded_lid.location
+            new_offset_id = self._equipment.find_applicable_labware_offset_id(
+                labware_definition_uri=loaded_lid.definitionUri,
+                labware_location=loaded_lid.location,
+            )
+        else:
+            # Allow propagation of ModuleNotAttachedError.
+            _ = self._equipment.get_module_hardware_api(mod_substate.module_id)
 
-        # we need to move the lid onto the module reader
-        absorbance_model = self._state_view.modules.get_requested_model(params.moduleId)
-        assert absorbance_model is not None
-        new_location = AddressableAreaLocation(
-            addressableAreaName=self._state_view.modules.ensure_and_convert_module_fixture_location(
-                deck_slot=self._state_view.modules.get_location(
-                    params.moduleId
-                ).slotName,
-                deck_type=self._state_view.config.deck_type,
-                model=absorbance_model,
+            current_location = self._state_view.modules.absorbance_reader_dock_location(
+                params.moduleId
             )
-        )
-        validated_new_location = (
-            self._state_view.geometry.ensure_valid_gripper_location(new_location)
-        )
 
-        lid_gripper_offsets = self._state_view.labware.get_labware_gripper_offsets(
-            loaded_lid.id, None
-        )
-        if lid_gripper_offsets is None:
-            raise ValueError(
-                "Gripper Offset values for Absorbance Reader Lid labware must not be None."
+            # we need to move the lid onto the module reader
+            absorbance_model = self._state_view.modules.get_requested_model(
+                params.moduleId
+            )
+            assert absorbance_model is not None
+            new_location = AddressableAreaLocation(
+                addressableAreaName=self._state_view.modules.ensure_and_convert_module_fixture_location(
+                    deck_slot=self._state_view.modules.get_location(
+                        params.moduleId
+                    ).slotName,
+                    deck_type=self._state_view.config.deck_type,
+                    model=absorbance_model,
+                )
             )
 
-        # Skips gripper moves when using virtual gripper
-        await self._labware_movement.move_labware_with_gripper(
-            labware_id=loaded_lid.id,
-            current_location=validated_current_location,
-            new_location=validated_new_location,
-            user_offset_data=lid_gripper_offsets,
-            post_drop_slide_offset=None,
-        )
+            lid_gripper_offsets = self._state_view.labware.get_labware_gripper_offsets(
+                loaded_lid.id, None
+            )
+            if lid_gripper_offsets is None:
+                raise ValueError(
+                    "Gripper Offset values for Absorbance Reader Lid labware must not be None."
+                )
+
+            # Skips gripper moves when using virtual gripper
+            await self._labware_movement.move_labware_with_gripper(
+                labware_id=loaded_lid.id,
+                current_location=current_location,
+                new_location=new_location,
+                user_offset_data=lid_gripper_offsets,
+                post_drop_slide_offset=None,
+            )
+
+            new_offset_id = self._equipment.find_applicable_labware_offset_id(
+                labware_definition_uri=loaded_lid.definitionUri,
+                labware_location=new_location,
+            )
 
-        new_offset_id = self._equipment.find_applicable_labware_offset_id(
-            labware_definition_uri=loaded_lid.definitionUri,
-            labware_location=new_location,
-        )
         return SuccessData(
             public=CloseLidResult(
                 lidId=loaded_lid.id, newLocation=new_location, offsetId=new_offset_id

api/src/opentrons/protocol_engine/commands/absorbance_reader/open_lid.py

@@ -7,8 +7,13 @@
 
 from ..command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
 from ...errors.error_occurrence import ErrorOccurrence
+from ...errors import CannotPerformModuleAction
+
 from .types import MoveLidResult
 from opentrons.protocol_engine.resources import labware_validation
+from opentrons.protocol_engine.types import AddressableAreaLocation
+
+from opentrons.drivers.types import AbsorbanceReaderLidStatus
 
 if TYPE_CHECKING:
     from opentrons.protocol_engine.state import StateView
@@ -50,54 +55,80 @@ async def execute(self, params: OpenLidParams) -> SuccessData[OpenLidResult, Non
         mod_substate = self._state_view.modules.get_absorbance_reader_substate(
             module_id=params.moduleId
         )
-        # Make sure the lid is closed
-        mod_substate.raise_if_lid_status_not_expected(lid_on_expected=True)
-
-        # Allow propagation of ModuleNotAttachedError.
-        _ = self._equipment.get_module_hardware_api(mod_substate.module_id)
-
         # lid should currently be on the module
         assert mod_substate.lid_id is not None
         loaded_lid = self._state_view.labware.get(mod_substate.lid_id)
         assert labware_validation.is_absorbance_reader_lid(loaded_lid.loadName)
 
-        current_location = loaded_lid.location
-        validated_current_location = (
-            self._state_view.geometry.ensure_valid_gripper_location(current_location)
-        )
+        hardware_lid_status = AbsorbanceReaderLidStatus.ON
+        # If the lid is closed, if the lid is open No-op out
+        if not self._state_view.config.use_virtual_modules:
+            abs_reader = self._equipment.get_module_hardware_api(mod_substate.module_id)
+
+            if abs_reader is not None:
+                result = await abs_reader.get_current_lid_status()
+                hardware_lid_status = result
+            else:
+                raise CannotPerformModuleAction(
+                    "Could not reach the Hardware API for Opentrons Plate Reader Module."
+                )
+
+        # If the lid is already OFF, no-op the lid removal
+        if hardware_lid_status is AbsorbanceReaderLidStatus.OFF:
+            assert isinstance(loaded_lid.location, AddressableAreaLocation)
+            new_location = loaded_lid.location
+            new_offset_id = self._equipment.find_applicable_labware_offset_id(
+                labware_definition_uri=loaded_lid.definitionUri,
+                labware_location=loaded_lid.location,
+            )
+        else:
+            # Allow propagation of ModuleNotAttachedError.
+            _ = self._equipment.get_module_hardware_api(mod_substate.module_id)
 
-        # we need to move the lid to the lid dock
-        new_location = self._state_view.modules.absorbance_reader_dock_location(
-            mod_substate.module_id
-        )
-        validated_new_location = (
-            self._state_view.geometry.ensure_valid_gripper_location(new_location)
-        )
+            absorbance_model = self._state_view.modules.get_requested_model(
+                params.moduleId
+            )
+            assert absorbance_model is not None
+            current_location = AddressableAreaLocation(
+                addressableAreaName=self._state_view.modules.ensure_and_convert_module_fixture_location(
+                    deck_slot=self._state_view.modules.get_location(
+                        params.moduleId
+                    ).slotName,
+                    deck_type=self._state_view.config.deck_type,
+                    model=absorbance_model,
+                )
+            )
 
-        lid_gripper_offsets = self._state_view.labware.get_labware_gripper_offsets(
-            loaded_lid.id, None
-        )
-        if lid_gripper_offsets is None:
-            raise ValueError(
-                "Gripper Offset values for Absorbance Reader Lid labware must not be None."
+            # we need to move the lid to the lid dock
+            new_location = self._state_view.modules.absorbance_reader_dock_location(
+                mod_substate.module_id
+            )
+
+            lid_gripper_offsets = self._state_view.labware.get_labware_gripper_offsets(
+                loaded_lid.id, None
+            )
+            if lid_gripper_offsets is None:
+                raise ValueError(
+                    "Gripper Offset values for Absorbance Reader Lid labware must not be None."
+                )
+
+            # Skips gripper moves when using virtual gripper
+            await self._labware_movement.move_labware_with_gripper(
+                labware_id=loaded_lid.id,
+                current_location=current_location,
+                new_location=new_location,
+                user_offset_data=lid_gripper_offsets,
+                post_drop_slide_offset=None,
+            )
+            new_offset_id = self._equipment.find_applicable_labware_offset_id(
+                labware_definition_uri=loaded_lid.definitionUri,
+                labware_location=new_location,
             )
 
-        # Skips gripper moves when using virtual gripper
-        await self._labware_movement.move_labware_with_gripper(
-            labware_id=loaded_lid.id,
-            current_location=validated_current_location,
-            new_location=validated_new_location,
-            user_offset_data=lid_gripper_offsets,
-            post_drop_slide_offset=None,
-        )
-        new_offset_id = self._equipment.find_applicable_labware_offset_id(
-            labware_definition_uri=loaded_lid.definitionUri,
-            labware_location=new_location,
-        )
         return SuccessData(
             public=OpenLidResult(
                 lidId=loaded_lid.id,
-                newLocation=validated_new_location,
+                newLocation=new_location,
                 offsetId=new_offset_id,
             ),
             private=None,