feat(api): Validate plate reader status using live data hookups for engine and introduce lid status to the PAPI

[CaseyBatten]

Overview

Ensure that the lid position is automatically updated in live runs, and that the live data is used to validate position on load, open and close. Validate that labware cannot be moved to the plate reader unless the plate reader is open. Add is_lid_on() PAPI exposure for use in python protocols.

Closes: PLAT-208 PLAT-386

Test Plan and Hands on Testing

Run the following protocol and ensure the expected results below occur (NOTE: Must set Max API version to 2.21):

from opentrons import protocol_api

# metadata
metadata = {
    'protocolName': 'Absorbance Reader Test Protocol',
    'author': 'Platform Expansion',
}

requirements = {
    "robotType": "Flex",
    "apiLevel": "2.21",
}

DRYRUN = 'YES'
USE_GRIPPER = 'TRUE'

# protocol run function
def run(protocol: protocol_api.ProtocolContext):

    mod = protocol.load_module('absorbanceReaderV1', 'D3')
    sample_plate = protocol.load_labware('armadillo_96_wellplate_200ul_pcr_full_skirt','A2')

    #COMMENT OUT THE FOLLOWING TWO LINES FOR TEST 3
    if mod.is_lid_on():
        mod.open_lid()

    protocol.move_labware(
        sample_plate,
        new_location=mod,
        use_gripper=USE_GRIPPER,
    )
    mod.close_lid()

Tests:

• Begin Protocol on Robot with lid on, ensure lid status check passes and lid removal, labware movement, and lid replacement occur as expected
• Begin Protocol on Robot with lid off, ensure .open(...) command no ops and moves on
• Begin Protocol with Lid off, ensure .close(...) command no ops and moves on

Changelog

• Updated protocol_api/protocol_context.py move_labware(...) function to contain special case validation for moving to a plate reader module when it's lid status is closed (expect error to raise).
• Added in live data hookup infrastructure for the Absorbance Reader, hooked lid status data into the engine to report live (remaining live data points will be passed into engine in small follow up PR)
• Addition of Protocol API is_lid_on() method

Review requests

Take a look at the validation workaround that had to be put into move_labware(...). It's a special casing due to the way that plate reader lid labware is being injected into the engine labware store via the deck configuration. Previously, if the lid was closed and an attempt was made to move labware onto the plate reader, we would get a random key error with the unique labware ID of the lid returned. This addition returns a much nicer error, but I'm not entirely sure if special casing is the best approach here, let me know any thoughts on this.

Risk assessment

Low risk - only effects plate reader module data and validations.

[vegano1]

This makes sense to me!

[ecormany]

Suggestions for some potentially user-facing copy.

[ecormany]

Let's Sphinx it up

Suggested change

	"""Return True if the Absorbance Reader's lid is currently closed."""
	"""Return ``True`` if the Absorbance Reader's lid is currently closed."""

I'm OK with leaving the implication that False means it's open, but if false means open or unknown, we should state that.

[ecormany]

Suggested change

	f"Cannot move {labware.name} onto the Absorbance Reader Module when Lid is Closed."
	f"Cannot move {labware.name} onto the Absorbance Reader Module when its lid is closed."

nit

[ecormany]

can this error ever bubble up to be shown to users? if so, needs an edit.

Suggested change

	"The Opentrons Plate Reader lid mechanicaly position did not match expected Closed state."
	"The mechanical position of the Absorbance Plate Reader's lid did not match the expected 'closed' state."

[vegano1]

Looking good to me, i tested this on a PlatypusExpansion robot