fix(api): Automatic tip tracking index out of range fix (#15135)

 RQA-2700
Ensure automatic tip tracking for partial configurations does not exceed the limits of the tiprack it is iterating over

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

@@ -297,7 +297,7 @@ def _cluster_search_A1(active_columns: int, active_rows: int) -> Optional[str]:
  critical_column = active_columns - 1
  critical_row = active_rows - 1
 
- while critical_column <= len(columns):
+ while critical_column < len(columns):
  tip_cluster = _identify_tip_cluster(
  active_columns, active_rows, critical_column, critical_row, "A1"
  )
@@ -312,7 +312,7 @@ def _cluster_search_A1(active_columns: int, active_rows: int) -> Optional[str]:
  if critical_row + active_rows < len(columns[0]):
  critical_row = critical_row + active_rows
  else:
- critical_column = critical_column + 1
+ critical_column += 1
  critical_row = active_rows - 1
  return None
 
@@ -336,7 +336,7 @@ def _cluster_search_A12(active_columns: int, active_rows: int) -> Optional[str]:
  if critical_row + active_rows < len(columns[0]):
  critical_row = critical_row + active_rows
  else:
- critical_column = critical_column - 1
+ critical_column -= 1
  critical_row = active_rows - 1
  return None
 
@@ -360,7 +360,9 @@ def _cluster_search_H1(active_columns: int, active_rows: int) -> Optional[str]:
  if critical_row - active_rows >= 0:
  critical_row = critical_row - active_rows
  else:
- critical_column = critical_column + 1
+ critical_column += 1
+ if critical_column >= len(columns):
+ return None
  critical_row = len(columns[critical_column]) - active_rows
  return None
 
@@ -384,7 +386,9 @@ def _cluster_search_H12(active_columns: int, active_rows: int) -> Optional[str]:
  if critical_row - active_rows >= 0:
  critical_row = critical_row - active_rows
  else:
- critical_column = critical_column - 1
+ critical_column -= 1
+ if critical_column < 0:
+ return None
  critical_row = len(columns[critical_column]) - active_rows
  return None
 

api/tests/opentrons/protocol_engine/state/test_tip_state.py

@@ -1135,3 +1135,122 @@ def _reconfigure_nozzle_layout(start: str, back_l: str, front_r: str) -> NozzleM
  _assert_and_pickup("H1", map)
  map = _reconfigure_nozzle_layout("A1", "A1", "A1")
  _assert_and_pickup("B9", map)
+
+
+def test_next_tip_automatic_tip_tracking_tiprack_limits(
+ subject: TipStore,
+ supported_tip_fixture: pipette_definition.SupportedTipsDefinition,
+ load_labware_command: commands.LoadLabware,
+ pick_up_tip_command: commands.PickUpTip,
+) -> None:
+ """Test tip tracking logic to ensure once a tiprack is consumed it returns None when consuming tips using multiple pipette configurations."""
+ # Load labware
+ subject.handle_action(
+ actions.SucceedCommandAction(private_result=None, command=load_labware_command)
+ )
+
+ # Load pipette
+ load_pipette_command = commands.LoadPipette.construct( # type: ignore[call-arg]
+ result=commands.LoadPipetteResult(pipetteId="pipette-id")
+ )
+ load_pipette_private_result = commands.LoadPipettePrivateResult(
+ pipette_id="pipette-id",
+ serial_number="pipette-serial",
+ config=LoadedStaticPipetteData(
+ channels=96,
+ max_volume=15,
+ min_volume=3,
+ model="gen a",
+ display_name="display name",
+ flow_rates=FlowRates(
+ default_aspirate={},
+ default_dispense={},
+ default_blow_out={},
+ ),
+ tip_configuration_lookup_table={15: supported_tip_fixture},
+ nominal_tip_overlap={},
+ nozzle_offset_z=1.23,
+ home_position=4.56,
+ 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),
+ ),
+ )
+ subject.handle_action(
+ actions.SucceedCommandAction(
+ private_result=load_pipette_private_result, command=load_pipette_command
+ )
+ )
+
+ def _get_next_and_pickup(nozzle_map: NozzleMap) -> str | None:
+ result = TipView(subject.state).get_next_tip(
+ labware_id="cool-labware",
+ num_tips=0,
+ starting_tip_name=None,
+ nozzle_map=nozzle_map,
+ )
+ if result is not None:
+ pick_up_tip = commands.PickUpTip.construct( # type: ignore[call-arg]
+ params=commands.PickUpTipParams.construct(
+ pipetteId="pipette-id",
+ labwareId="cool-labware",
+ wellName=result,
+ ),
+ result=commands.PickUpTipResult.construct(
+ position=DeckPoint(x=0, y=0, z=0), tipLength=1.23
+ ),
+ )
+
+ subject.handle_action(
+ actions.SucceedCommandAction(private_result=None, command=pick_up_tip)
+ )
+
+ return result
+
+ # Configure nozzle for partial configurations
+ configure_nozzle_layout_cmd = commands.ConfigureNozzleLayout.construct( # type: ignore[call-arg]
+ result=commands.ConfigureNozzleLayoutResult()
+ )
+
+ def _reconfigure_nozzle_layout(start: str, back_l: str, front_r: str) -> NozzleMap:
+ configure_nozzle_private_result = commands.ConfigureNozzleLayoutPrivateResult(
+ pipette_id="pipette-id",
+ nozzle_map=NozzleMap.build(
+ physical_nozzles=NINETY_SIX_MAP,
+ physical_rows=NINETY_SIX_ROWS,
+ physical_columns=NINETY_SIX_COLS,
+ starting_nozzle=start,
+ back_left_nozzle=back_l,
+ front_right_nozzle=front_r,
+ ),
+ )
+ subject.handle_action(
+ actions.SucceedCommandAction(
+ private_result=configure_nozzle_private_result,
+ command=configure_nozzle_layout_cmd,
+ )
+ )
+ return configure_nozzle_private_result.nozzle_map
+
+ map = _reconfigure_nozzle_layout("A1", "A1", "A1")
+ for x in range(96):
+ _get_next_and_pickup(map)
+ assert _get_next_and_pickup(map) is None
+
+ subject.handle_action(actions.ResetTipsAction(labware_id="cool-labware"))
+ map = _reconfigure_nozzle_layout("A12", "A12", "A12")
+ for x in range(96):
+ _get_next_and_pickup(map)
+ assert _get_next_and_pickup(map) is None
+
+ subject.handle_action(actions.ResetTipsAction(labware_id="cool-labware"))
+ map = _reconfigure_nozzle_layout("H1", "H1", "H1")
+ for x in range(96):
+ _get_next_and_pickup(map)
+ assert _get_next_and_pickup(map) is None
+
+ subject.handle_action(actions.ResetTipsAction(labware_id="cool-labware"))
+ map = _reconfigure_nozzle_layout("H12", "H12", "H12")
+ for x in range(96):
+ _get_next_and_pickup(map)
+ assert _get_next_and_pickup(map) is None