feat(api): change liquid_probe to respect min well height (#15488)

Add logic to liquid_probe_in_place that will not go to the very bottom
of the well, but stop
slightly above it(as specified by the well's minimum height)

fix EXEC-576

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Author: aaron-kulkarni

api/src/opentrons/hardware_control/dev_types.py

@@ -99,6 +99,7 @@ class PipetteDict(InstrumentDict):
     supported_tips: Dict[PipetteTipType, SupportedTipsDefinition]
     pipette_bounding_box_offsets: PipetteBoundingBoxOffsetDefinition
     current_nozzle_map: NozzleMap
+    lld_settings: Optional[Dict[str, Dict[str, float]]]
 
 
 class PipetteStateDict(TypedDict):

api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py

@@ -220,6 +220,7 @@ def get_attached_instrument(self, mount: MountType) -> PipetteDict:
                 "default_dispense_flow_rates",
                 "back_compat_names",
                 "supported_tips",
+                "lld_settings",
             ]
 
             instr_dict = instr.as_dict()
@@ -259,6 +260,7 @@ def get_attached_instrument(self, mount: MountType) -> PipetteDict:
             result[
                 "pipette_bounding_box_offsets"
             ] = instr.config.pipette_bounding_box_offsets
+            result["lld_settings"] = instr.config.lld_settings
         return cast(PipetteDict, result)
 
     @property

api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py

@@ -236,6 +236,7 @@ def get_attached_instrument(self, mount: OT3Mount) -> PipetteDict:
                 "default_dispense_flow_rates",
                 "back_compat_names",
                 "supported_tips",
+                "lld_settings",
             ]
 
             instr_dict = instr.as_dict()
@@ -280,6 +281,7 @@ def get_attached_instrument(self, mount: OT3Mount) -> PipetteDict:
             result[
                 "pipette_bounding_box_offsets"
             ] = instr.config.pipette_bounding_box_offsets
+            result["lld_settings"] = instr.config.lld_settings
         return cast(PipetteDict, result)
 
     @property

api/src/opentrons/protocol_engine/execution/pipetting.py

@@ -177,8 +177,11 @@ async def liquid_probe_in_place(
         )
         well_def = self._state_view.labware.get_well_definition(labware_id, well_name)
         well_depth = well_def.depth
+        lld_min_height = self._state_view.pipettes.get_current_tip_lld_settings(
+            pipette_id=pipette_id
+        )
         z_pos = await self._hardware_api.liquid_probe(
-            mount=hw_pipette.mount, max_z_dist=well_depth
+            mount=hw_pipette.mount, max_z_dist=well_depth - lld_min_height
         )
         return float(z_pos)
 

api/src/opentrons/protocol_engine/resources/pipette_data_provider.py

@@ -66,6 +66,7 @@ class LoadedStaticPipetteData:
     nozzle_map: NozzleMap
     back_left_corner_offset: Point
     front_right_corner_offset: Point
+    pipette_lld_settings: Optional[Dict[str, Dict[str, float]]]
 
 
 class VirtualPipetteDataProvider:
@@ -275,6 +276,7 @@ def _get_virtual_pipette_static_config_by_model(  # noqa: C901
             front_right_corner_offset=Point(
                 pip_front_right[0], pip_front_right[1], pip_front_right[2]
             ),
+            pipette_lld_settings=config.lld_settings,
         )
 
     def get_virtual_pipette_static_config(
@@ -321,6 +323,7 @@ def get_pipette_static_config(
         front_right_corner_offset=Point(
             front_right_offset[0], front_right_offset[1], front_right_offset[2]
         ),
+        pipette_lld_settings=pipette_dict["lld_settings"],
     )
 
 

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

@@ -118,6 +118,7 @@ class StaticPipetteConfig:
     pipette_bounding_box_offsets: PipetteBoundingBoxOffsets
     bounding_nozzle_offsets: BoundingNozzlesOffsets
     default_nozzle_map: NozzleMap
+    lld_settings: Optional[Dict[str, Dict[str, float]]]
 
 
 @dataclass
@@ -199,6 +200,7 @@ def _handle_command(  # noqa: C901
                     front_right_offset=config.nozzle_map.front_right_nozzle_offset,
                 ),
                 default_nozzle_map=config.nozzle_map,
+                lld_settings=config.pipette_lld_settings,
             )
             self._state.flow_rates_by_id[private_result.pipette_id] = config.flow_rates
             self._state.nozzle_configuration_by_id[
@@ -623,6 +625,27 @@ def get_available_volume(self, pipette_id: str) -> Optional[float]:
 
         return max(0.0, working_volume - current_volume) if current_volume else None
 
+    def get_pipette_lld_settings(
+        self, pipette_id: str
+    ) -> Optional[Dict[str, Dict[str, float]]]:
+        """Get the liquid level settings for all possible tips for a single pipette."""
+        return self.get_config(pipette_id).lld_settings
+
+    def get_current_tip_lld_settings(self, pipette_id: str) -> float:
+        """Get the liquid level settings for pipette and its current tip."""
+        attached_tip = self.get_attached_tip(pipette_id)
+        if attached_tip is None or attached_tip.volume is None:
+            return 0
+        lld_settings = self.get_pipette_lld_settings(pipette_id)
+        tipVolume = str(attached_tip.volume)
+        if (
+            lld_settings is None
+            or lld_settings[tipVolume] is None
+            or lld_settings[tipVolume]["minHeight"] is None
+        ):
+            return 0
+        return float(lld_settings[tipVolume]["minHeight"])
+
     def validate_tip_state(self, pipette_id: str, expected_has_tip: bool) -> None:
         """Validate that a pipette's tip state matches expectations."""
         attached_tip = self.get_attached_tip(pipette_id)

api/tests/opentrons/protocol_engine/commands/test_configure_for_volume.py

@@ -59,6 +59,7 @@ async def test_configure_for_volume_implementation(
         nozzle_map=get_default_nozzle_map(PipetteNameType.P300_MULTI),
         back_left_corner_offset=Point(10, 20, 30),
         front_right_corner_offset=Point(40, 50, 60),
+        pipette_lld_settings={},
     )
 
     decoy.when(

api/tests/opentrons/protocol_engine/commands/test_load_pipette.py

@@ -63,6 +63,7 @@ async def test_load_pipette_implementation(
         nozzle_map=get_default_nozzle_map(PipetteNameType.P300_MULTI),
         back_left_corner_offset=Point(x=1, y=2, z=3),
         front_right_corner_offset=Point(x=4, y=5, z=6),
+        pipette_lld_settings={},
     )
 
     decoy.when(
@@ -119,6 +120,7 @@ async def test_load_pipette_implementation_96_channel(
         nozzle_map=get_default_nozzle_map(PipetteNameType.P1000_96),
         back_left_corner_offset=Point(x=1, y=2, z=3),
         front_right_corner_offset=Point(x=4, y=5, z=6),
+        pipette_lld_settings={},
     )
 
     decoy.when(

api/tests/opentrons/protocol_engine/execution/test_equipment_handler.py

@@ -152,6 +152,7 @@ def loaded_static_pipette_data(
         nozzle_map=get_default_nozzle_map(PipetteNameType.P300_SINGLE),
         back_left_corner_offset=Point(x=1, y=2, z=3),
         front_right_corner_offset=Point(x=4, y=5, z=6),
+        pipette_lld_settings={},
     )
 
 

api/tests/opentrons/protocol_engine/resources/test_pipette_data_provider.py

@@ -64,6 +64,7 @@ def test_get_virtual_pipette_static_config(
         nozzle_map=result.nozzle_map,
         back_left_corner_offset=Point(0, 0, 10.45),
         front_right_corner_offset=Point(0, 0, 10.45),
+        pipette_lld_settings={},
     )
 
 
@@ -92,6 +93,7 @@ def test_configure_virtual_pipette_for_volume(
         nozzle_map=result1.nozzle_map,
         back_left_corner_offset=Point(-8.0, -22.0, -259.15),
         front_right_corner_offset=Point(-8.0, -22.0, -259.15),
+        pipette_lld_settings={"t50": {"minHeight": 0.5, "minVolume": 0.0}},
     )
     subject_instance.configure_virtual_pipette_for_volume(
         "my-pipette", 1, result1.model
@@ -117,6 +119,7 @@ def test_configure_virtual_pipette_for_volume(
         nozzle_map=result2.nozzle_map,
         back_left_corner_offset=Point(-8.0, -22.0, -259.15),
         front_right_corner_offset=Point(-8.0, -22.0, -259.15),
+        pipette_lld_settings={"t50": {"minHeight": 0.5, "minVolume": 0.0}},
     )
 
 
@@ -145,6 +148,7 @@ def test_load_virtual_pipette_by_model_string(
         nozzle_map=result.nozzle_map,
         back_left_corner_offset=Point(-16.0, 43.15, 35.52),
         front_right_corner_offset=Point(16.0, -43.15, 35.52),
+        pipette_lld_settings={},
     )
 
 
@@ -237,6 +241,11 @@ def pipette_dict(
             backLeftCorner=[10, 20, 30],
             frontRightCorner=[40, 50, 60],
         ),
+        "lld_settings": {
+            "t50": {"minHeight": 0.5, "minVolume": 0},
+            "t200": {"minHeight": 0.5, "minVolume": 0},
+            "t1000": {"minHeight": 0.5, "minVolume": 0},
+        },
     }
 
 
@@ -278,6 +287,11 @@ def test_get_pipette_static_config(
         nozzle_map=get_default_nozzle_map(PipetteNameType.P300_SINGLE_GEN2),
         back_left_corner_offset=Point(10, 20, 30),
         front_right_corner_offset=Point(40, 50, 60),
+        pipette_lld_settings={
+            "t50": {"minHeight": 0.5, "minVolume": 0},
+            "t200": {"minHeight": 0.5, "minVolume": 0},
+            "t1000": {"minHeight": 0.5, "minVolume": 0},
+        },
     )