feat(api): Forbid Heater-Shakers in slot 9, just south of the trash

api/src/opentrons/protocols/geometry/deck_conflict.py

@@ -20,7 +20,7 @@
 _FIXED_TRASH_SLOT: Final = 12
 
 
-class _NotAllowed(NamedTuple):
+class _NothingAllowed(NamedTuple):
  """Nothing is allowed in this slot."""
 
  location: int
@@ -48,7 +48,7 @@ def is_allowed(self, item: DeckItem) -> bool:
 
 
 class _NoModule(NamedTuple):
- """A module is not allowed in this slot."""
+ """No module of any kind is allowed in this slot."""
 
  location: int
  source_item: DeckItem
@@ -58,21 +58,33 @@ def is_allowed(self, item: DeckItem) -> bool:
  return not isinstance(item, ModuleGeometry)
 
 
-class _FixedTrash(NamedTuple):
+class _NoHeaterShakerModule(NamedTuple):
+ """No Heater-Shaker module is allowed in this slot."""
+
+ location: int
+ source_item: DeckItem
+ source_location: int
+
+ def is_allowed(self, item: DeckItem) -> bool:
+ return not isinstance(item, HeaterShakerGeometry)
+
+
+class _FixedTrashOnly(NamedTuple):
  """Only fixed-trash labware is allowed in this slot."""
 
  location: int = _FIXED_TRASH_SLOT
 
  def is_allowed(self, item: DeckItem) -> bool:
- if isinstance(item, AbstractLabware):
- return "fixedTrash" in item.get_quirks()
- if isinstance(item, Labware):
- return "fixedTrash" in item.quirks
-
- return False
+ return _is_fixed_trash(item)
 
 
-_DeckRestriction = Union[_NotAllowed, _MaxHeight, _NoModule, _FixedTrash]
+_DeckRestriction = Union[
+ _NothingAllowed,
+ _MaxHeight,
+ _NoModule,
+ _NoHeaterShakerModule,
+ _FixedTrashOnly,
+]
 """A restriction on what is allowed in a given slot."""
 
 
@@ -95,7 +107,7 @@ def check(
  Raises:
  DeckConflictError: Adding this item should not be allowed.
  """
- restrictions: List[_DeckRestriction] = [_FixedTrash()]
+ restrictions: List[_DeckRestriction] = [_FixedTrashOnly()]
 
  # build restrictions driven by existing items
  for location, item in existing_items.items():
@@ -127,18 +139,33 @@ def _create_restrictions(item: DeckItem, location: int) -> List[_DeckRestriction
  restrictions: List[_DeckRestriction] = []
 
  if location != _FIXED_TRASH_SLOT:
+ # Disallow a different item from overlapping this item in this deck slot.
  restrictions.append(
- _NotAllowed(
+ _NothingAllowed(
  location=location,
  source_item=item,
  source_location=location,
  )
  )
 
+ if _is_fixed_trash(item):
+ # A Heater-Shaker can't safely be placed just south of the fixed trash,
+ # because the fixed trash blocks access to the screw that locks the
+ # Heater-Shaker onto the deck.
+ location_south_of_fixed_trash = _get_south_location(location)
+ if location_south_of_fixed_trash is not None:
+ restrictions.append(
+ _NoHeaterShakerModule(
+ location=location_south_of_fixed_trash,
+ source_item=item,
+ source_location=location,
+ )
+ )
+
  if isinstance(item, ThermocyclerGeometry):
  for covered_location in item.covered_slots:
  restrictions.append(
- _NotAllowed(
+ _NothingAllowed(
  location=covered_location,
  source_item=item,
  source_location=location,
@@ -178,7 +205,7 @@ def _create_deck_conflict_error_message(
  new_item is not None or existing_item is not None
  ), "Conflict error expects either new_item or existing_item"
 
- if isinstance(restriction, _FixedTrash):
+ if isinstance(restriction, _FixedTrashOnly):
  message = f"Only fixed-trash is allowed in slot {restriction.location}"
 
  elif new_item is not None:
@@ -199,21 +226,56 @@ def _create_deck_conflict_error_message(
  return message
 
 
-def _get_east_west_locations(location: int) -> List[int]:
- if location in [1, 4, 7, 10]:
- return [location + 1]
- elif location in [2, 5, 8, 11]:
- return [location - 1, location + 1]
+def _is_fixed_trash(item: DeckItem) -> bool:
+ # `item` is inconsistently provided to us as an AbstractLabware or Labware.
+ # See TODO comments in opentrons.protocols.geometry.deck,
+ # the module that calls into this module.
+ if isinstance(item, AbstractLabware):
+ return "fixedTrash" in item.get_quirks()
+ if isinstance(item, Labware):
+ return "fixedTrash" in item.quirks
+ return False
+
+
+def _get_north_location(location: int) -> Optional[int]:
+ if location in [10, 11, 12]:
+ return None
  else:
- return [location - 1]
+ return location + 3
 
 
-def _get_adjacent_locations(location: int) -> List[int]:
+def _get_south_location(location: int) -> Optional[int]:
  if location in [1, 2, 3]:
- north_south = [location + 3]
- elif location in [4, 5, 6, 7, 8, 9]:
- north_south = [location - 3, location + 3]
+ return None
  else:
- north_south = [location - 3]
+ return location - 3
 
- return north_south + _get_east_west_locations(location)
+
+def _get_east_location(location: int) -> Optional[int]:
+ if location in [3, 6, 9, 12]:
+ return None
+ else:
+ return location + 1
+
+
+def _get_west_location(location: int) -> Optional[int]:
+ if location in [1, 4, 7, 10]:
+ return None
+ else:
+ return location - 1
+
+
+def _get_east_west_locations(location: int) -> List[int]:
+ east = _get_east_location(location)
+ west = _get_west_location(location)
+ return [maybe_loc for maybe_loc in [east, west] if maybe_loc is not None]
+
+
+def _get_north_south_locations(location: int) -> List[int]:
+ north = _get_north_location(location)
+ south = _get_south_location(location)
+ return [maybe_loc for maybe_loc in [north, south] if maybe_loc is not None]
+
+
+def _get_adjacent_locations(location: int) -> List[int]:
+ return _get_east_west_locations(location) + _get_north_south_locations(location)

api/tests/opentrons/protocols/geometry/test_deck_conflict.py

@@ -320,9 +320,11 @@ def test_tip_rack_when_heater_shaker(
  decoy.when(cool_tip_rack.load_name).then_return("cool_tip_rack")
  decoy.when(cool_tip_rack.highest_z).then_return(11)
  decoy.when(cool_tip_rack.get_uri()).then_return("test/cool_tip_rack/1")
+ decoy.when(cool_tip_rack.get_quirks()).then_return([])
  decoy.when(lame_tip_rack.load_name).then_return("lame_tip_rack")
  decoy.when(lame_tip_rack.highest_z).then_return(11)
  decoy.when(lame_tip_rack.get_uri()).then_return("test/lame_tip_rack/1")
+ decoy.when(lame_tip_rack.get_quirks()).then_return([])
 
  check(
  existing_items={heater_shaker_location: heater_shaker},
@@ -362,7 +364,7 @@ def test_tip_rack_when_heater_shaker(
  )
 
 
-def test_no_heater_shaker_trash(decoy: Decoy) -> None:
+def test_no_heater_shaker_west_of_trash(decoy: Decoy) -> None:
  """It should check that fixed trash does not conflict with heater-shaker."""
  heater_shaker = decoy.mock(cls=HeaterShakerGeometry)
  trash = decoy.mock(cls=Labware)
@@ -382,3 +384,23 @@ def test_no_heater_shaker_trash(decoy: Decoy) -> None:
  ),
  ):
  check(existing_items={12: trash}, new_item=heater_shaker, new_location=11)
+
+
+def test_no_heater_shaker_south_of_trash_(decoy: Decoy) -> None:
+ """It should check that fixed trash does not conflict with heater-shaker."""
+ heater_shaker = decoy.mock(cls=HeaterShakerGeometry)
+ trash = decoy.mock(cls=Labware)
+
+ decoy.when(trash.load_name).then_return("some_fixed_trash")
+ decoy.when(trash.quirks).then_return(["fixedTrash"])
+
+ decoy.when(heater_shaker.load_name).then_return("some_heater_shaker")
+
+ with pytest.raises(
+ DeckConflictError,
+ match=(
+ "some_fixed_trash in slot 12"
+ " prevents some_heater_shaker from using slot 9"
+ ),
+ ):
+ check(existing_items={12: trash}, new_item=heater_shaker, new_location=9)