Merge branch 'edge' into pd_step-summary

api/src/opentrons/protocol_engine/commands/__init__.py

@@ -306,7 +306,6 @@
     ConfigureNozzleLayoutCreate,
     ConfigureNozzleLayoutParams,
     ConfigureNozzleLayoutResult,
-    ConfigureNozzleLayoutPrivateResult,
     ConfigureNozzleLayoutCommandType,
 )
 
@@ -569,7 +568,6 @@
     "ConfigureNozzleLayoutParams",
     "ConfigureNozzleLayoutResult",
     "ConfigureNozzleLayoutCommandType",
-    "ConfigureNozzleLayoutPrivateResult",
     # get pipette tip presence bundle
     "GetTipPresence",
     "GetTipPresenceCreate",

api/src/opentrons/protocol_engine/commands/command_unions.py

@@ -288,7 +288,6 @@
     ConfigureNozzleLayoutParams,
     ConfigureNozzleLayoutResult,
     ConfigureNozzleLayoutCommandType,
-    ConfigureNozzleLayoutPrivateResult,
 )
 
 from .verify_tip_presence import (
@@ -709,7 +708,6 @@
     None,
     LoadPipettePrivateResult,
     ConfigureForVolumePrivateResult,
-    ConfigureNozzleLayoutPrivateResult,
 ]
 
 # All `DefinedErrorData`s that implementations will actually return in practice.

api/src/opentrons/protocol_engine/commands/configure_nozzle_layout.py

@@ -10,9 +10,6 @@
 )
 from .command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
 from ..errors.error_occurrence import ErrorOccurrence
-from .configuring_common import (
-    PipetteNozzleLayoutResultMixin,
-)
 from ..types import (
     AllNozzleLayoutConfiguration,
     SingleNozzleLayoutConfiguration,
@@ -40,12 +37,6 @@ class ConfigureNozzleLayoutParams(PipetteIdMixin):
     ]
 
 
-class ConfigureNozzleLayoutPrivateResult(PipetteNozzleLayoutResultMixin):
-    """Result sent to the store but not serialized."""
-
-    pass
-
-
 class ConfigureNozzleLayoutResult(BaseModel):
     """Result data from execution of an configureNozzleLayout command."""
 
@@ -55,7 +46,7 @@ class ConfigureNozzleLayoutResult(BaseModel):
 class ConfigureNozzleLayoutImplementation(
     AbstractCommandImpl[
         ConfigureNozzleLayoutParams,
-        SuccessData[ConfigureNozzleLayoutResult, ConfigureNozzleLayoutPrivateResult],
+        SuccessData[ConfigureNozzleLayoutResult, None],
     ]
 ):
     """Configure nozzle layout command implementation."""
@@ -68,7 +59,7 @@ def __init__(
 
     async def execute(
         self, params: ConfigureNozzleLayoutParams
-    ) -> SuccessData[ConfigureNozzleLayoutResult, ConfigureNozzleLayoutPrivateResult]:
+    ) -> SuccessData[ConfigureNozzleLayoutResult, None]:
         """Check that requested pipette can support the requested nozzle layout."""
         primary_nozzle = params.configurationParams.dict().get("primaryNozzle")
         front_right_nozzle = params.configurationParams.dict().get("frontRightNozzle")
@@ -93,10 +84,7 @@ async def execute(
 
         return SuccessData(
             public=ConfigureNozzleLayoutResult(),
-            private=ConfigureNozzleLayoutPrivateResult(
-                pipette_id=params.pipetteId,
-                nozzle_map=nozzle_map,
-            ),
+            private=None,
             state_update=update_state,
         )
 

api/src/opentrons/protocol_engine/commands/configuring_common.py

@@ -1,9 +1,6 @@
 """Common configuration command base models."""
 
 from dataclasses import dataclass
-from opentrons.hardware_control.nozzle_manager import (
-    NozzleMap,
-)
 from ..resources import pipette_data_provider
 
 
@@ -14,13 +11,3 @@ class PipetteConfigUpdateResultMixin:
     pipette_id: str
     serial_number: str
     config: pipette_data_provider.LoadedStaticPipetteData
-
-
-@dataclass
-class PipetteNozzleLayoutResultMixin:
-    """A nozzle layout result for updating the pipette state."""
-
-    pipette_id: str
-
-    nozzle_map: NozzleMap
-    """A dataclass object holding information about the current nozzle configuration."""

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

@@ -96,14 +96,17 @@ class StaticPipetteConfig:
     nozzle_offset_z: float
     pipette_bounding_box_offsets: PipetteBoundingBoxOffsets
     bounding_nozzle_offsets: BoundingNozzlesOffsets
-    default_nozzle_map: NozzleMap
+    default_nozzle_map: NozzleMap  # todo(mm, 2024-10-14): unused, remove?
     lld_settings: Optional[Dict[str, Dict[str, float]]]
 
 
 @dataclasses.dataclass
 class PipetteState:
     """Basic pipette data state and getter methods."""
 
+    # todo(mm, 2024-10-14): It's getting difficult to ensure that all of these
+    # attributes are populated at the appropriate times. Refactor to a
+    # single dict-of-many-things instead of many dicts-of-single-things.
     pipettes_by_id: Dict[str, LoadedPipette]
     aspirated_volume_by_id: Dict[str, Optional[float]]
     current_location: Optional[CurrentPipetteLocation]
@@ -112,7 +115,7 @@ class PipetteState:
     movement_speed_by_id: Dict[str, Optional[float]]
     static_config_by_id: Dict[str, StaticPipetteConfig]
     flow_rates_by_id: Dict[str, FlowRates]
-    nozzle_configuration_by_id: Dict[str, Optional[NozzleMap]]
+    nozzle_configuration_by_id: Dict[str, NozzleMap]
     liquid_presence_detection_by_id: Dict[str, bool]
 
 
@@ -167,11 +170,6 @@ def _set_load_pipette(self, state_update: update_types.StateUpdate) -> None:
             self._state.aspirated_volume_by_id[pipette_id] = None
             self._state.movement_speed_by_id[pipette_id] = None
             self._state.attached_tip_by_id[pipette_id] = None
-            static_config = self._state.static_config_by_id.get(pipette_id)
-            if static_config:
-                self._state.nozzle_configuration_by_id[
-                    pipette_id
-                ] = static_config.default_nozzle_map
 
     def _update_tip_state(self, state_update: update_types.StateUpdate) -> None:
         if state_update.pipette_tip_state != update_types.NO_CHANGE:
@@ -632,31 +630,23 @@ def get_plunger_axis(self, pipette_id: str) -> MotorAxis:
 
     def get_nozzle_layout_type(self, pipette_id: str) -> NozzleConfigurationType:
         """Get the current set nozzle layout configuration."""
-        nozzle_map_for_pipette = self._state.nozzle_configuration_by_id.get(pipette_id)
-        if nozzle_map_for_pipette:
-            return nozzle_map_for_pipette.configuration
-        else:
-            return NozzleConfigurationType.FULL
+        nozzle_map_for_pipette = self._state.nozzle_configuration_by_id[pipette_id]
+        return nozzle_map_for_pipette.configuration
 
     def get_is_partially_configured(self, pipette_id: str) -> bool:
         """Determine if the provided pipette is partially configured."""
         return self.get_nozzle_layout_type(pipette_id) != NozzleConfigurationType.FULL
 
-    def get_primary_nozzle(self, pipette_id: str) -> Optional[str]:
+    def get_primary_nozzle(self, pipette_id: str) -> str:
         """Get the primary nozzle, if any, related to the given pipette's nozzle configuration."""
-        nozzle_map = self._state.nozzle_configuration_by_id.get(pipette_id)
-        return nozzle_map.starting_nozzle if nozzle_map else None
+        nozzle_map = self._state.nozzle_configuration_by_id[pipette_id]
+        return nozzle_map.starting_nozzle
 
     def _get_critical_point_offset_without_tip(
         self, pipette_id: str, critical_point: Optional[CriticalPoint]
     ) -> Point:
         """Get the offset of the specified critical point from pipette's mount position."""
-        nozzle_map = self._state.nozzle_configuration_by_id.get(pipette_id)
-        # Nozzle map is unavailable only when there's no pipette loaded
-        # so this is merely for satisfying the type checker
-        assert (
-            nozzle_map is not None
-        ), "Error getting critical point offset. Nozzle map not found."
+        nozzle_map = self._state.nozzle_configuration_by_id[pipette_id]
         match critical_point:
             case CriticalPoint.INSTRUMENT_XY_CENTER:
                 return nozzle_map.instrument_xy_center_offset

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

@@ -11,10 +11,7 @@
     Command,
     LoadLabwareResult,
 )
-from ..commands.configuring_common import (
-    PipetteConfigUpdateResultMixin,
-    PipetteNozzleLayoutResultMixin,
-)
+from ..commands.configuring_common import PipetteConfigUpdateResultMixin
 
 from opentrons.hardware_control.nozzle_manager import NozzleMap
 
@@ -82,13 +79,6 @@ def handle_action(self, action: Action) -> None:
 
             self._handle_succeeded_command(action.command)
 
-            if isinstance(action.private_result, PipetteNozzleLayoutResultMixin):
-                pipette_id = action.private_result.pipette_id
-                nozzle_map = action.private_result.nozzle_map
-                pipette_info = self._state.pipette_info_by_pipette_id[pipette_id]
-                pipette_info.active_channels = nozzle_map.tip_count
-                pipette_info.nozzle_map = nozzle_map
-
         elif isinstance(action, ResetTipsAction):
             labware_id = action.labware_id
 
@@ -121,6 +111,15 @@ def _handle_state_update(self, state_update: update_types.StateUpdate) -> None:
                 well_name=state_update.tips_used.well_name,
             )
 
+        if state_update.pipette_nozzle_map != update_types.NO_CHANGE:
+            pipette_info = self._state.pipette_info_by_pipette_id[
+                state_update.pipette_nozzle_map.pipette_id
+            ]
+            pipette_info.active_channels = (
+                state_update.pipette_nozzle_map.nozzle_map.tip_count
+            )
+            pipette_info.nozzle_map = state_update.pipette_nozzle_map.nozzle_map
+
     def _set_used_tips(  # noqa: C901
         self, pipette_id: str, well_name: str, labware_id: str
     ) -> None:

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

@@ -66,9 +66,10 @@ class AddressableArea:
 
 @dataclasses.dataclass
 class PipetteLocationUpdate:
-    """Represents an update to perform on a pipette's location."""
+    """An update to a pipette's location."""
 
     pipette_id: str
+    """The ID of the already-loaded pipette."""
 
     new_location: Well | AddressableArea | None | NoChangeType
     """The pipette's new logical location.
@@ -82,19 +83,30 @@ class PipetteLocationUpdate:
 
 @dataclasses.dataclass
 class LabwareLocationUpdate:
-    """Represents an update to perform on a labware's location."""
+    """An update to a labware's location."""
 
     labware_id: str
+    """The ID of the already-loaded labware."""
 
     new_location: LabwareLocation
-    """The labware's new logical location."""
+    """The labware's new location."""
 
     offset_id: typing.Optional[str]
+    """The ID of the labware's new offset, for its new location."""
 
 
 @dataclasses.dataclass
-class LoadedLabwareUpdate(LabwareLocationUpdate):
-    """Update loaded labware."""
+class LoadedLabwareUpdate:
+    """An update that loads a new labware."""
+
+    labware_id: str
+    """The unique ID of the new labware."""
+
+    new_location: LabwareLocation
+    """The labware's initial location."""
+
+    offset_id: typing.Optional[str]
+    """The ID of the labware's offset."""
 
     display_name: typing.Optional[str]
 
@@ -103,20 +115,30 @@ class LoadedLabwareUpdate(LabwareLocationUpdate):
 
 @dataclasses.dataclass
 class LoadPipetteUpdate:
-    """Update loaded pipette."""
+    """An update that loads a new pipette.
+
+    NOTE: Currently, if this is provided, a PipetteConfigUpdate must always be
+    provided alongside it to fully initialize everything.
+    """
 
     pipette_id: str
+    """The unique ID of the new pipette."""
+
     pipette_name: PipetteNameType
     mount: MountType
     liquid_presence_detection: typing.Optional[bool]
 
 
 @dataclasses.dataclass
 class PipetteConfigUpdate:
-    """Update pipette config."""
+    """An update to a pipette's config."""
 
     pipette_id: str
+    """The ID of the already-loaded pipette."""
+
+    # todo(mm, 2024-10-14): Does serial_number belong in LoadPipetteUpdate?
     serial_number: str
+
     config: pipette_data_provider.LoadedStaticPipetteData
 
 
@@ -237,7 +259,7 @@ def set_labware_location(
         new_location: LabwareLocation,
         new_offset_id: str | None,
     ) -> None:
-        """Set labware location."""
+        """Set a labware's location. See `LabwareLocationUpdate`."""
         self.labware_location = LabwareLocationUpdate(
             labware_id=labware_id,
             new_location=new_location,
@@ -252,7 +274,7 @@ def set_loaded_labware(
         display_name: typing.Optional[str],
         location: LabwareLocation,
     ) -> None:
-        """Add loaded labware to state."""
+        """Add a new labware to state. See `LoadedLabwareUpdate`."""
         self.loaded_labware = LoadedLabwareUpdate(
             definition=definition,
             labware_id=labware_id,
@@ -268,7 +290,7 @@ def set_load_pipette(
         mount: MountType,
         liquid_presence_detection: typing.Optional[bool],
     ) -> None:
-        """Add loaded pipette to state."""
+        """Add a new pipette to state. See `LoadPipetteUpdate`."""
         self.loaded_pipette = LoadPipetteUpdate(
             pipette_id=pipette_id,
             pipette_name=pipette_name,
@@ -282,29 +304,29 @@ def update_pipette_config(
         config: pipette_data_provider.LoadedStaticPipetteData,
         serial_number: str,
     ) -> None:
-        """Update pipette config."""
+        """Update a pipette's config. See `PipetteConfigUpdate`."""
         self.pipette_config = PipetteConfigUpdate(
             pipette_id=pipette_id, config=config, serial_number=serial_number
         )
 
     def update_pipette_nozzle(self, pipette_id: str, nozzle_map: NozzleMap) -> None:
-        """Update pipette nozzle map."""
+        """Update a pipette's nozzle map. See `PipetteNozzleMapUpdate`."""
         self.pipette_nozzle_map = PipetteNozzleMapUpdate(
             pipette_id=pipette_id, nozzle_map=nozzle_map
         )
 
     def update_pipette_tip_state(
         self, pipette_id: str, tip_geometry: typing.Optional[TipGeometry]
     ) -> None:
-        """Update tip state."""
+        """Update a pipette's tip state. See `PipetteTipStateUpdate`."""
         self.pipette_tip_state = PipetteTipStateUpdate(
             pipette_id=pipette_id, tip_geometry=tip_geometry
         )
 
     def mark_tips_as_used(
         self, pipette_id: str, labware_id: str, well_name: str
     ) -> None:
-        """Mark tips in a tip rack as used. See `MarkTipsUsedState`."""
+        """Mark tips in a tip rack as used. See `TipsUsedUpdate`."""
         self.tips_used = TipsUsedUpdate(
             pipette_id=pipette_id, labware_id=labware_id, well_name=well_name
         )