mostly works except detect_liquid_presence errors on empty well inste…

…ad of returning False

api/lldfunctionexamples.py

@@ -33,61 +33,49 @@ def run(ctx: protocol_api.ProtocolContext):
 
 
  # ####### FIRST CYCLE, SHOULD NOT DO LLD #######
- # pipette.pick_up_tip(tiprack["A1"])
-
- # # Liquid presence detection does not take place in the following aspirate command
- # # because the pipette was loaded in with liquid_presence_detection = False
- # pipette.aspirate(5, reservoir["A1"])
- # pipette.dispense(5, plate["A1"])
-
- # #Make sure to get a new tip each time before attempting liquid presence detection
- # pipette.drop_tip(trash_bin) 
-
-
-
-
-
- # ####### SECOND CYCLE, SHOULD NOT DO LLD #######
- # pipette.pick_up_tip(tiprack["A2"])
-
- # print(pipette.liquid_detection) #should be: False
- # pipette.liquid_detection = True
- # print(pipette.liquid_detection) #should be: True
- # pipette.aspirate(5, reservoir["A2"])
- # pipette.dispense(5, plate["A1"])
- # pipette.drop_tip(trash_bin)
+ pipette.pick_up_tip(tiprack["A1"])
+ pipette.aspirate(100, reservoir["A1"])
+ pipette.dispense(100, plate["B2"])
+ pipette.drop_tip(trash_bin) 
 
 
+ ####### SECOND CYCLE, SHOULD DO LLD #######
+ pipette.liquid_detection = True
+ pipette.pick_up_tip(tiprack["A2"])
+ pipette.aspirate(100, reservoir["A2"])
+ pipette.dispense(100, plate["A10"])
+ pipette.drop_tip(trash_bin)
 
 
- ####### THIRD CYCLE, SHOULD DO LLD #######
+ ####### THIRD CYCLE, SHOULD NOT DO LLD #######
+ pipette.liquid_detection = False
  pipette.pick_up_tip(tiprack["A3"])
-
- print(pipette.liquid_detection) #should be: False
- pipette.require_liquid_presence(plate["A5"]) #should run without error
+ pipette.aspirate(100, reservoir["A3"])
+ pipette.dispense(100, plate["A11"])
  pipette.drop_tip(trash_bin)
 
+ ###### FOURTH CYCLE, SHOULD DO LLD #######
+ pipette.pick_up_tip(tiprack["A4"])
+ pipette.require_liquid_presence(plate["A6"]) #should run without error
+ pipette.drop_tip(trash_bin)
 
 
+ ####### FIFTH CYCLE, SHOULD TRY TO DO LLD #######
+ pipette.pick_up_tip(tiprack["A5"])
+ pipette.require_liquid_presence(plate["D10"]) #should error because no liquid in there but provide chance for recovery
+ pipette.drop_tip(trash_bin)
 
- # ####### FOURTH CYCLE, SHOULD TRY TO DO LLD #######
- # pipette.pick_up_tip(tiprack["A4"])
-
- # pipette.require_liquid_presence(plate["A2"]) #should error because no liquid in there but provide chance for recovery
-
- # pipette.drop_tip(trash_bin)
-
-
-
- # ####### FIFTH CYCLE, SHOULD DO LLD #######
- # pipette.pick_up_tip(tiprack["A5"])
-
- # assert pipette.detect_liquid_presence(plate["A1"]) == True
 
- # pipette.drop_tip(trash_bin)
- # pipette.pick_up_tip(tiprack["A6"])
+ ####### SIXTH CYCLE, SHOULD DO LLD #######
+ pipette.pick_up_tip(tiprack["A6"])
+ assert pipette.detect_liquid_presence(plate["A2"]) is True
+ pipette.drop_tip(trash_bin)
 
- # #assert pipette.detect_liquid_presence(plate["A2"]) == False
 
- # pipette.drop_tip(trash_bin)
+ ####### SEVENTH CYCLE, SHOULD DO LLD #######
+ pipette.pick_up_tip(tiprack["A7"])
+ if pipette.detect_liquid_presence(plate["H7"]) is False:
+ pipette.drop_tip(trash_bin)
+ ### THE BELOW LINE IS A PROBLEM
+ # assert pipette.detect_liquid_presence(plate["H7"]) is False
 

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

@@ -876,7 +876,6 @@ def liquid_probe_without_recovery(self, well_core: WellCore) -> float:
  pipetteId=self.pipette_id,
  )
  )
-
  #TODO: fix this. i'm not even sure what set_last_location is used for
  self._protocol_core.set_last_location(location=Location(well_core.get_top(0), "Well"), mount=self.get_mount())
 

api/src/opentrons/protocol_api/instrument_context.py

@@ -222,7 +222,6 @@ def aspirate(
 
  well: Optional[labware.Well] = None
  move_to_location: types.Location
-
  last_location = self._get_last_location_by_api_version()
  try:
  target = validation.validate_location(
@@ -259,6 +258,11 @@ def aspirate(
  else:
  c_vol = self._core.get_available_volume() if not volume else volume
  flow_rate = self._core.get_aspirate_flow_rate(rate)
+
+ if self.api_version >= APIVersion(2, 20) and well is not None:
+ if self._core.get_liquid_presence_detection():
+ self.require_liquid_presence(well=well)
+ self.prepare_to_aspirate()
 
  with publisher.publish_context(
  broker=self.broker,

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

@@ -111,7 +111,7 @@ async def execute(self, params: LiquidProbeParams) -> _ExecuteReturn:
  try:
  z_pos = await self._pipetting.liquid_probe_in_place(
  pipette_id=pipette_id, labware_id=labware_id, well_name=well_name
- )
+ ) 
  except PipetteLiquidNotFoundError as e:
  return DefinedErrorData(
  public=LiquidNotFoundError(