feat(api): RobotContext: Add pipette helper functions to convert volu…

…me and position type (#16682)

api/src/opentrons/hardware_control/dev_types.py

@@ -100,6 +100,8 @@ class PipetteDict(InstrumentDict):
     pipette_bounding_box_offsets: PipetteBoundingBoxOffsetDefinition
     current_nozzle_map: NozzleMap
     lld_settings: Optional[Dict[str, Dict[str, float]]]
+    plunger_positions: Dict[str, float]
+    shaft_ul_per_mm: float
 
 
 class PipetteStateDict(TypedDict):

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

@@ -28,7 +28,7 @@
     CommandPreconditionViolated,
 )
 from opentrons_shared_data.pipette.ul_per_mm import (
-    piecewise_volume_conversion,
+    calculate_ul_per_mm,
     PIPETTING_FUNCTION_FALLBACK_VERSION,
     PIPETTING_FUNCTION_LATEST_VERSION,
 )
@@ -584,21 +584,9 @@ def get_nominal_tip_overlap_dictionary_by_configuration(
     # want this to unbounded.
     @functools.lru_cache(maxsize=100)
     def ul_per_mm(self, ul: float, action: UlPerMmAction) -> float:
-        if action == "aspirate":
-            fallback = self._active_tip_settings.aspirate.default[
-                PIPETTING_FUNCTION_FALLBACK_VERSION
-            ]
-            sequence = self._active_tip_settings.aspirate.default.get(
-                self._pipetting_function_version, fallback
-            )
-        else:
-            fallback = self._active_tip_settings.dispense.default[
-                PIPETTING_FUNCTION_FALLBACK_VERSION
-            ]
-            sequence = self._active_tip_settings.dispense.default.get(
-                self._pipetting_function_version, fallback
-            )
-        return piecewise_volume_conversion(ul, sequence)
+        return calculate_ul_per_mm(
+            ul, action, self._active_tip_settings, self._pipetting_function_version
+        )
 
     def __str__(self) -> str:
         return "{} current volume {}ul critical point: {} at {}".format(

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

@@ -260,6 +260,13 @@ def get_attached_instrument(self, mount: MountType) -> PipetteDict:
                 "pipette_bounding_box_offsets"
             ] = instr.config.pipette_bounding_box_offsets
             result["lld_settings"] = instr.config.lld_settings
+            result["plunger_positions"] = {
+                "top": instr.plunger_positions.top,
+                "bottom": instr.plunger_positions.bottom,
+                "blow_out": instr.plunger_positions.blow_out,
+                "drop_tip": instr.plunger_positions.drop_tip,
+            }
+            result["shaft_ul_per_mm"] = instr.config.shaft_ul_per_mm
         return cast(PipetteDict, result)
 
     @property

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

@@ -27,7 +27,7 @@
     InvalidInstrumentData,
 )
 from opentrons_shared_data.pipette.ul_per_mm import (
-    piecewise_volume_conversion,
+    calculate_ul_per_mm,
     PIPETTING_FUNCTION_FALLBACK_VERSION,
     PIPETTING_FUNCTION_LATEST_VERSION,
 )
@@ -529,23 +529,13 @@ def tip_presence_responses(self) -> int:
     # want this to unbounded.
     @functools.lru_cache(maxsize=100)
     def ul_per_mm(self, ul: float, action: UlPerMmAction) -> float:
-        if action == "aspirate":
-            fallback = self._active_tip_settings.aspirate.default[
-                PIPETTING_FUNCTION_FALLBACK_VERSION
-            ]
-            sequence = self._active_tip_settings.aspirate.default.get(
-                self._pipetting_function_version, fallback
-            )
-        elif action == "blowout":
-            return self._config.shaft_ul_per_mm
-        else:
-            fallback = self._active_tip_settings.dispense.default[
-                PIPETTING_FUNCTION_FALLBACK_VERSION
-            ]
-            sequence = self._active_tip_settings.dispense.default.get(
-                self._pipetting_function_version, fallback
-            )
-        return piecewise_volume_conversion(ul, sequence)
+        return calculate_ul_per_mm(
+            ul,
+            action,
+            self._active_tip_settings,
+            self._pipetting_function_version,
+            self._config.shaft_ul_per_mm,
+        )
 
     def __str__(self) -> str:
         return "{} current volume {}ul critical point: {} at {}".format(
@@ -585,6 +575,7 @@ def as_dict(self) -> "Pipette.DictType":
                 "versioned_tip_overlap": self.tip_overlap,
                 "back_compat_names": self._config.pipette_backcompat_names,
                 "supported_tips": self.liquid_class.supported_tips,
+                "shaft_ul_per_mm": self._config.shaft_ul_per_mm,
             }
         )
         return self._config_as_dict

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

@@ -282,6 +282,13 @@ def get_attached_instrument(self, mount: OT3Mount) -> PipetteDict:
                 "pipette_bounding_box_offsets"
             ] = instr.config.pipette_bounding_box_offsets
             result["lld_settings"] = instr.config.lld_settings
+            result["plunger_positions"] = {
+                "top": instr.plunger_positions.top,
+                "bottom": instr.plunger_positions.bottom,
+                "blow_out": instr.plunger_positions.blow_out,
+                "drop_tip": instr.plunger_positions.drop_tip,
+            }
+            result["shaft_ul_per_mm"] = instr.config.shaft_ul_per_mm
         return cast(PipetteDict, result)
 
     @property

api/src/opentrons/protocol_api/__init__.py

@@ -30,7 +30,16 @@
 )
 from .disposal_locations import TrashBin, WasteChute
 from ._liquid import Liquid, LiquidClass
-from ._types import OFF_DECK
+from ._types import (
+    OFF_DECK,
+    PLUNGER_BLOWOUT,
+    PLUNGER_TOP,
+    PLUNGER_BOTTOM,
+    PLUNGER_DROPTIP,
+    ASPIRATE_ACTION,
+    DISPENSE_ACTION,
+    BLOWOUT_ACTION,
+)
 from ._nozzle_layout import (
     COLUMN,
     PARTIAL_COLUMN,
@@ -69,12 +78,22 @@
     "Liquid",
     "LiquidClass",
     "Parameters",
+    # Partial Tip types
     "COLUMN",
     "PARTIAL_COLUMN",
     "SINGLE",
     "ROW",
     "ALL",
+    # Deck location types
     "OFF_DECK",
+    # Pipette plunger types
+    "PLUNGER_BLOWOUT",
+    "PLUNGER_TOP",
+    "PLUNGER_BOTTOM",
+    "PLUNGER_DROPTIP",
+    "ASPIRATE_ACTION",
+    "DISPENSE_ACTION",
+    "BLOWOUT_ACTION",
     "RuntimeParameterRequiredError",
     "CSVParameter",
     # For internal Opentrons use only:

api/src/opentrons/protocol_api/_types.py

@@ -17,3 +17,27 @@ class OffDeckType(enum.Enum):
 
 See :ref:`off-deck-location` for details on using ``OFF_DECK`` with :py:obj:`ProtocolContext.move_labware()`.
 """
+
+
+class PlungerPositionTypes(enum.Enum):
+    PLUNGER_TOP = "top"
+    PLUNGER_BOTTOM = "bottom"
+    PLUNGER_BLOWOUT = "blow_out"
+    PLUNGER_DROPTIP = "drop_tip"
+
+
+PLUNGER_TOP: Final = PlungerPositionTypes.PLUNGER_TOP
+PLUNGER_BOTTOM: Final = PlungerPositionTypes.PLUNGER_BOTTOM
+PLUNGER_BLOWOUT: Final = PlungerPositionTypes.PLUNGER_BLOWOUT
+PLUNGER_DROPTIP: Final = PlungerPositionTypes.PLUNGER_DROPTIP
+
+
+class PipetteActionTypes(enum.Enum):
+    ASPIRATE_ACTION = "aspirate"
+    DISPENSE_ACTION = "dispense"
+    BLOWOUT_ACTION = "blowout"
+
+
+ASPIRATE_ACTION: Final = PipetteActionTypes.ASPIRATE_ACTION
+DISPENSE_ACTION: Final = PipetteActionTypes.DISPENSE_ACTION
+BLOWOUT_ACTION: Final = PipetteActionTypes.BLOWOUT_ACTION

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

@@ -1,13 +1,16 @@
-from typing import Optional, Dict
+from typing import Optional, Dict, Union
 from opentrons.hardware_control import SyncHardwareAPI
 
 from opentrons.types import Mount, MountType, Point, AxisType, AxisMapType
+from opentrons_shared_data.pipette import types as pip_types
+from opentrons.protocol_api._types import PipetteActionTypes, PlungerPositionTypes
 from opentrons.protocol_engine import commands as cmd
 from opentrons.protocol_engine.clients import SyncClient as EngineClient
 from opentrons.protocol_engine.types import DeckPoint, MotorAxis
 
 from opentrons.protocol_api.core.robot import AbstractRobot
 
+
 _AXIS_TYPE_TO_MOTOR_AXIS = {
     AxisType.X: MotorAxis.X,
     AxisType.Y: MotorAxis.Y,
@@ -39,12 +42,57 @@ def __init__(
     def _convert_to_engine_mount(self, axis_map: AxisMapType) -> Dict[MotorAxis, float]:
         return {_AXIS_TYPE_TO_MOTOR_AXIS[ax]: dist for ax, dist in axis_map.items()}
 
-    def get_pipette_type_from_engine(self, mount: Mount) -> Optional[str]:
+    def get_pipette_type_from_engine(
+        self, mount: Union[Mount, str]
+    ) -> Optional[pip_types.PipetteNameType]:
         """Get the pipette attached to the given mount."""
-        engine_mount = MountType[mount.name]
+        if isinstance(mount, Mount):
+            engine_mount = MountType[mount.name]
+        else:
+            if mount.lower() == "right":
+                engine_mount = MountType.RIGHT
+            else:
+                engine_mount = MountType.LEFT
         maybe_pipette = self._engine_client.state.pipettes.get_by_mount(engine_mount)
         return maybe_pipette.pipetteName if maybe_pipette else None
 
+    def get_plunger_position_from_name(
+        self, mount: Mount, position_name: PlungerPositionTypes
+    ) -> float:
+        engine_mount = MountType[mount.name]
+        maybe_pipette = self._engine_client.state.pipettes.get_by_mount(engine_mount)
+        if not maybe_pipette:
+            return 0.0
+        return self._engine_client.state.pipettes.lookup_plunger_position_name(
+            maybe_pipette.id, position_name.value
+        )
+
+    def get_plunger_position_from_volume(
+        self, mount: Mount, volume: float, action: PipetteActionTypes, robot_type: str
+    ) -> float:
+        engine_mount = MountType[mount.name]
+        maybe_pipette = self._engine_client.state.pipettes.get_by_mount(engine_mount)
+        if not maybe_pipette:
+            raise RuntimeError(
+                f"Cannot load plunger position as no pipette is attached to {mount}"
+            )
+        convert_volume = (
+            self._engine_client.state.pipettes.lookup_volume_to_mm_conversion(
+                maybe_pipette.id, volume, action.value
+            )
+        )
+        plunger_bottom = (
+            self._engine_client.state.pipettes.lookup_plunger_position_name(
+                maybe_pipette.id, "bottom"
+            )
+        )
+        mm = volume / convert_volume
+        if robot_type == "OT-2 Standard":
+            position = plunger_bottom + mm
+        else:
+            position = plunger_bottom - mm
+        return round(position, 6)
+
     def move_to(self, mount: Mount, destination: Point, speed: Optional[float]) -> None:
         engine_mount = MountType[mount.name]
         engine_destination = DeckPoint(

api/src/opentrons/protocol_api/core/legacy/legacy_protocol_core.py

@@ -37,7 +37,6 @@ class LegacyProtocolCore(
         LegacyInstrumentCore,
         LegacyLabwareCore,
         legacy_module_core.LegacyModuleCore,
-        # None,
     ]
 ):
     def __init__(

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

@@ -1,12 +1,28 @@
 from abc import abstractmethod, ABC
-from typing import Optional
+from typing import Optional, Union
 
 from opentrons.types import AxisMapType, Mount, Point
+from opentrons_shared_data.pipette.types import PipetteNameType
+from opentrons.protocol_api._types import PlungerPositionTypes, PipetteActionTypes
 
 
 class AbstractRobot(ABC):
     @abstractmethod
-    def get_pipette_type_from_engine(self, mount: Mount) -> Optional[str]:
+    def get_pipette_type_from_engine(
+        self, mount: Union[Mount, str]
+    ) -> Optional[PipetteNameType]:
+        ...
+
+    @abstractmethod
+    def get_plunger_position_from_volume(
+        self, mount: Mount, volume: float, action: PipetteActionTypes, robot_type: str
+    ) -> float:
+        ...
+
+    @abstractmethod
+    def get_plunger_position_from_name(
+        self, mount: Mount, position_name: PlungerPositionTypes
+    ) -> float:
         ...
 
     @abstractmethod

api/src/opentrons/protocol_api/robot_context.py

@@ -19,6 +19,7 @@
 from .core.common import ProtocolCore, RobotCore
 from .module_contexts import ModuleContext
 from .labware import Labware
+from ._types import PipetteActionTypes, PlungerPositionTypes
 
 
 class HardwareManager(NamedTuple):
@@ -200,14 +201,43 @@ def axis_coordinates_for(
             raise TypeError("You must specify a location to move to.")
 
     def plunger_coordinates_for_volume(
-        self, mount: Union[Mount, str], volume: float
-    ) -> None:
-        raise NotImplementedError()
+        self, mount: Union[Mount, str], volume: float, action: PipetteActionTypes
+    ) -> AxisMapType:
+        """
+        Build a :py:class:`.types.AxisMapType` for a pipette plunger motor from volume.
+
+        """
+        pipette_name = self._core.get_pipette_type_from_engine(mount)
+        if not pipette_name:
+            raise ValueError(
+                f"Expected a pipette to be attached to provided mount {mount}"
+            )
+        mount = validation.ensure_mount_for_pipette(mount, pipette_name)
+        pipette_axis = AxisType.plunger_axis_for_mount(mount)
+
+        pipette_position = self._core.get_plunger_position_from_volume(
+            mount, volume, action, self._protocol_core.robot_type
+        )
+        return {pipette_axis: pipette_position}
 
     def plunger_coordinates_for_named_position(
-        self, mount: Union[Mount, str], position_name: str
-    ) -> None:
-        raise NotImplementedError()
+        self, mount: Union[Mount, str], position_name: PlungerPositionTypes
+    ) -> AxisMapType:
+        """
+        Build a :py:class:`.types.AxisMapType` for a pipette plunger motor from position_name.
+
+        """
+        pipette_name = self._core.get_pipette_type_from_engine(mount)
+        if not pipette_name:
+            raise ValueError(
+                f"Expected a pipette to be attached to provided mount {mount}"
+            )
+        mount = validation.ensure_mount_for_pipette(mount, pipette_name)
+        pipette_axis = AxisType.plunger_axis_for_mount(mount)
+        pipette_position = self._core.get_plunger_position_from_name(
+            mount, position_name
+        )
+        return {pipette_axis: pipette_position}
 
     def build_axis_map(self, axis_map: StringAxisMap) -> AxisMapType:
         """Take in a :py:class:`.types.StringAxisMap` and output a :py:class:`.types.AxisMapType`.

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

@@ -64,6 +64,7 @@
     HardwareAxis.Q: MotorAxis.AXIS_96_CHANNEL_CAM,
 }
 
+
 # The height of the bottom of the pipette nozzle at home position without any tips.
 # We rely on this being the same for every OT-3 pipette.
 #
@@ -305,7 +306,6 @@ async def move_mount_to(
     ) -> Point:
         """Move the given hardware mount to a waypoint."""
         assert len(waypoints) > 0, "Must have at least one waypoint"
-        log.info(f"Moving mount {mount}")
         for waypoint in waypoints:
             log.info(f"The current waypoint moving is {waypoint}")
             await self._hardware_api.move_to(
@@ -340,6 +340,10 @@ async def move_axes(
                     mount, refresh=True
                 )
                 log.info(f"The current position of the robot is: {current_position}.")
+                converted_current_position_deck = (
+                    self._hardware_api.get_deck_from_machine(current_position)
+                )
+                log.info(f"The current position of the robot is: {current_position}.")
 
                 pos_hw = target_axis_map_from_relative(pos_hw, current_position)
                 log.info(