refactor(api): wire protocol engine pick_up_tip to new hardware control function #15469
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caila-marashaj
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| try: | ||
| from opentrons.hardware_control.ot3api import OT3API |
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You only need to wrap the import statement in the try. The rest of the test logic can be outside the try-except.
Also, is this how we normally run Flex-only tests? Or should the ot3_only mark be used and it can be expected the import will always work?
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try it with the ot3_only mark, yeah
| increment=None, | ||
| ) | ||
| await self.verify_tip_presence(pipette_id, TipPresenceStatus.PRESENT) | ||
| if self._state_view.config.robot_type == "OT-3 Standard": |
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Could you explain why we need to do this if/else on robot_type? Does the OT-2 HWAPI not behave the same way as the OT-3 HWAPI?
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no, we don't want to run verify_tip_presence for an ot2. We pretty much just want to run the old pick_up_tip if we have an ot2, and then unconditionally cache the tip.
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But this code is calling verify_tip_presence() on an OT-2, isn't it? Down on line 197?
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yeah you're right I think this actually is compatible with ot2
| @@ -1152,7 +1152,7 @@ async def update_nozzle_configuration_for_mount( | |||
| mount, back_left_nozzle, front_right_nozzle, starting_nozzle | |||
| ) | |||
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| async def tip_pickup_moves( | |||
| async def _tip_pickup_moves( | |||
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I think this can be a public function, no reason not to really
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does this have a cache_tip already also? if not, should add that too
| try: | ||
| from opentrons.hardware_control.ot3api import OT3API |
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try it with the ot3_only mark, yeah
caila-marashaj
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A PR has been opened to address analyses snapshot changes. Please review the changes here: #15513 |
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A PR has been opened to address analyses snapshot changes. Please review the changes here: #15513 |
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A PR has been opened to address analyses snapshot changes. Please review the changes here: #15517 |
Overview
Hardware control now has a
tip_pickup_movesfunction, which is just the most immediate movement required to pick up a tip, and unlikepick_up_tip, does not cache a tip in the pipette handler or prepare the pipette for aspiration.This code changes the protocol engine's
pick_up_tipcommand to use this new function if a flex is executing the command, and does not change the behavior for an ot2.Test Plan