cnanged location to optional and added exception when not ready to as…

…pirate in place

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

@@ -66,7 +66,7 @@ def set_default_speed(self, speed: float) -> None:
 
  def aspirate(
  self,
- location: Location,
+ location: Optional[Location],
  well_core: Optional[WellCore],
  volume: float,
  rate: float,
@@ -81,7 +81,7 @@ def aspirate(
  flow_rate: The flow rate in µL/s to aspirate at.
  """
  if well_core is None:
- if location != self._protocol_core.get_last_location():
+ if location is not None:
  self._engine_client.move_to_coordinates(
  pipette_id=self._pipette_id,
  coordinates=DeckPoint(
@@ -96,7 +96,7 @@ def aspirate(
  pipette_id=self._pipette_id, volume=volume, flow_rate=flow_rate
  )
 
- else:
+ elif location is not None:
  well_name = well_core.get_name()
  labware_id = well_core.labware_id
 
@@ -121,7 +121,7 @@ def aspirate(
 
  def dispense(
  self,
- location: Location,
+ location: Optional[Location],
  well_core: Optional[WellCore],
  volume: float,
  rate: float,
@@ -136,7 +136,7 @@ def dispense(
  flow_rate: The flow rate in µL/s to dispense at.
  """
  if well_core is None:
- if location != self._protocol_core.get_last_location():
+ if location:
  self._engine_client.move_to_coordinates(
  pipette_id=self._pipette_id,
  coordinates=DeckPoint(
@@ -150,7 +150,7 @@ def dispense(
  self._engine_client.dispense_in_place(
  pipette_id=self._pipette_id, volume=volume, flow_rate=flow_rate
  )
- else:
+ elif location:
  well_name = well_core.get_name()
  labware_id = well_core.labware_id
 
@@ -171,9 +171,13 @@ def dispense(
  flow_rate=flow_rate,
  )
 
- self._protocol_core.set_last_location(location=location, mount=self.get_mount())
+ self._protocol_core.set_last_location(
+ location=location, mount=self.get_mount()
+ )
 
- def blow_out(self, location: Location, well_core: Optional[WellCore]) -> None:
+ def blow_out(
+ self, location: Optional[Location], well_core: Optional[WellCore]
+ ) -> None:
  """Blow liquid out of the tip.
 
  Args:
@@ -182,7 +186,7 @@ def blow_out(self, location: Location, well_core: Optional[WellCore]) -> None:
  """
  flow_rate = self.get_absolute_blow_out_flow_rate(1.0)
  if well_core is None:
- if location != self._protocol_core.get_last_location():
+ if location:
  self._engine_client.move_to_coordinates(
  pipette_id=self._pipette_id,
  coordinates=DeckPoint(
@@ -196,7 +200,7 @@ def blow_out(self, location: Location, well_core: Optional[WellCore]) -> None:
  self._engine_client.blow_out_in_place(
  pipette_id=self._pipette_id, flow_rate=flow_rate
  )
- else:
+ elif location:
  well_name = well_core.get_name()
  labware_id = well_core.labware_id
 
@@ -218,7 +222,9 @@ def blow_out(self, location: Location, well_core: Optional[WellCore]) -> None:
  flow_rate=flow_rate,
  )
 
- self._protocol_core.set_last_location(location=location, mount=self.get_mount())
+ self._protocol_core.set_last_location(
+ location=location, mount=self.get_mount()
+ )
 
  def touch_tip(
  self,

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

@@ -24,7 +24,7 @@ def set_default_speed(self, speed: float) -> None:
  @abstractmethod
  def aspirate(
  self,
- location: types.Location,
+ location: Optional[types.Location],
  well_core: Optional[WellCoreType],
  volume: float,
  rate: float,
@@ -43,7 +43,7 @@ def aspirate(
  @abstractmethod
  def dispense(
  self,
- location: types.Location,
+ location: Optional[types.Location],
  well_core: Optional[WellCoreType],
  volume: float,
  rate: float,
@@ -62,7 +62,7 @@ def dispense(
  @abstractmethod
  def blow_out(
  self,
- location: types.Location,
+ location: Optional[types.Location],
  well_core: Optional[WellCoreType],
  ) -> None:
  """Blow liquid out of the tip.

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

@@ -61,7 +61,7 @@ def set_default_speed(self, speed: float) -> None:
 
  def aspirate(
  self,
- location: types.Location,
+ location: Optional[types.Location],
  well_core: Optional[LegacyWellCore],
  volume: float,
  rate: float,
@@ -75,7 +75,7 @@ def aspirate(
  rate: The rate in µL/s to aspirate at.
  flow_rate: Not used in this core.
  """
- if self.get_current_volume() == 0:
+ if location and self.get_current_volume() == 0:
  # Make sure we're at the top of the labware and clear of any
  # liquid to prepare the pipette for aspiration
  if self._api_version < APIVersion(2, 3) or not self.is_ready_to_aspirate():
@@ -93,14 +93,14 @@ def aspirate(
  )
  self.prepare_for_aspirate()
  self.move_to(location=location)
- elif location != self._protocol_interface.get_last_location():
+ elif location:
  self.move_to(location=location)
 
  self._protocol_interface.get_hardware().aspirate(self._mount, volume, rate)
 
  def dispense(
  self,
- location: types.Location,
+ location: Optional[types.Location],
  well_core: Optional[LegacyWellCore],
  volume: float,
  rate: float,
@@ -114,13 +114,14 @@ def dispense(
  rate: The rate in µL/s to dispense at.
  flow_rate: Not used in this core.
  """
- self.move_to(location=location)
+ if location:
+ self.move_to(location=location)
 
  self._protocol_interface.get_hardware().dispense(self._mount, volume, rate)
 
  def blow_out(
  self,
- location: types.Location,
+ location: Optional[types.Location],
  well_core: Optional[LegacyWellCore],
  ) -> None:
  """Blow liquid out of the tip.
@@ -129,7 +130,7 @@ def blow_out(
  location: The location to blow out into.
  well_core: Unused by legacy core.
  """
- if location != self._protocol_interface.get_last_location():
+ if location:
  self.move_to(location=location)
  self._protocol_interface.get_hardware().blow_out(self._mount)
 

api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py

@@ -64,13 +64,13 @@ def set_default_speed(self, speed: float) -> None:
 
  def aspirate(
  self,
- location: types.Location,
+ location: Optional[types.Location],
  well_core: Optional[LegacyWellCore],
  volume: float,
  rate: float,
  flow_rate: float,
  ) -> None:
- if self.get_current_volume() == 0:
+ if location and self.get_current_volume() == 0:
  # Make sure we're at the top of the labware and clear of any
  # liquid to prepare the pipette for aspiration
  if self._api_version < APIVersion(2, 3) or not self.is_ready_to_aspirate():
@@ -90,7 +90,7 @@ def aspirate(
  )
  self.prepare_for_aspirate()
  self.move_to(location=location, well_core=well_core)
- elif location != self._protocol_interface.get_last_location():
+ elif location:
  self.move_to(location=location, well_core=well_core)
 
  self._raise_if_no_tip(HardwareAction.ASPIRATE.name)
@@ -103,22 +103,23 @@ def aspirate(
 
  def dispense(
  self,
- location: types.Location,
+ location: Optional[types.Location],
  well_core: Optional[LegacyWellCore],
  volume: float,
  rate: float,
  flow_rate: float,
  ) -> None:
- self.move_to(location=location, well_core=well_core)
+ if location:
+ self.move_to(location=location, well_core=well_core)
  self._raise_if_no_tip(HardwareAction.DISPENSE.name)
  self._update_volume(self.get_current_volume() - volume)
 
  def blow_out(
  self,
- location: types.Location,
+ location: Optional[types.Location],
  well_core: Optional[LegacyWellCore],
  ) -> None:
- if location != self._protocol_interface.get_last_location():
+ if location:
  self.move_to(location=location, well_core=well_core)
  self._raise_if_no_tip(HardwareAction.BLOWOUT.name)
  self._update_volume(0)

api/src/opentrons/protocol_api/instrument_context.py

@@ -174,7 +174,14 @@ def aspirate(
  )
 
  well: Optional[labware.Well]
- last_location = self._protocol_core.get_last_location()
+ move_to_location: Optional[types.Location]
+
+ if self._api_version >= APIVersion(2, 14):
+ last_location = self._protocol_core.get_last_location(
+ mount=types.Mount.string_to_mount(self.mount)
+ )
+ else:
+ last_location = self._protocol_core.get_last_location()
 
  if isinstance(location, labware.Well):
  move_to_location = location.bottom(z=self._well_bottom_clearances.aspirate)
@@ -187,8 +194,8 @@ def aspirate(
  "location should be a Well or Location, but it is {}".format(location)
  )
  elif last_location:
- move_to_location = last_location
- _, well = move_to_location.labware.get_parent_labware_and_well()
+ move_to_location = None
+ _, well = last_location.labware.get_parent_labware_and_well()
  else:
  raise RuntimeError(
  "If aspirate is called without an explicit location, another"
@@ -198,7 +205,7 @@ def aspirate(
  )
  if self.api_version >= APIVersion(2, 11):
  instrument.validate_takes_liquid(
- location=move_to_location,
+ location=move_to_location or last_location, # type: ignore[arg-type]
  reject_module=self.api_version >= APIVersion(2, 13),
  )
 
@@ -210,7 +217,7 @@ def aspirate(
  command=cmds.aspirate(
  instrument=self,
  volume=c_vol,
- location=move_to_location,
+ location=move_to_location or last_location, # type: ignore[arg-type]
  flow_rate=flow_rate,
  rate=rate,
  ),
@@ -278,7 +285,12 @@ def dispense(
  )
  )
  well: Optional[labware.Well]
- last_location = self._protocol_core.get_last_location()
+ if self._api_version >= APIVersion(2, 14):
+ last_location = self._protocol_core.get_last_location(
+ mount=types.Mount.string_to_mount(self.mount)
+ )
+ else:
+ last_location = self._protocol_core.get_last_location()
 
  if isinstance(location, labware.Well):
  well = location
@@ -434,26 +446,32 @@ def blow_out(
  """
 
  well: Optional[labware.Well]
- last_location = self._protocol_core.get_last_location()
+ move_to_location: Optional[types.Location]
+ if self._api_version >= APIVersion(2, 14):
+ last_location = self._protocol_core.get_last_location(
+ mount=types.Mount.string_to_mount(self.mount)
+ )
+ else:
+ last_location = self._protocol_core.get_last_location()
 
  if isinstance(location, labware.Well):
  if location.parent.is_tiprack:
  _log.warning(
  "Blow_out being performed on a tiprack. "
  "Please re-check your code"
  )
- checked_loc = location.top()
+ move_to_location = location.top()
  well = location
  elif isinstance(location, types.Location):
- checked_loc = location
+ move_to_location = location
  _, well = location.labware.get_parent_labware_and_well()
  elif location is not None:
  raise TypeError(
  "location should be a Well or Location, but it is {}".format(location)
  )
  elif last_location:
- checked_loc = last_location
- _, well = checked_loc.labware.get_parent_labware_and_well()
+ move_to_location = None
+ _, well = last_location.labware.get_parent_labware_and_well()
  else:
  raise RuntimeError(
  "If blow out is called without an explicit location, another"
@@ -464,10 +482,12 @@ def blow_out(
 
  with publisher.publish_context(
  broker=self.broker,
- command=cmds.blow_out(instrument=self, location=checked_loc),
+ command=cmds.blow_out(
+ instrument=self, location=move_to_location or last_location # type: ignore[arg-type]
+ ),
  ):
  self._core.blow_out(
- location=checked_loc,
+ location=move_to_location,
  well_core=well._core if well is not None else None,
  )
 

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

@@ -255,6 +255,20 @@ async def aspirate_in_place(
  attached_pipettes=self._hardware_api.attached_instruments,
  )
 
+ ready_to_aspirate = self._state_store.pipettes.get_is_ready_to_aspirate(
+ pipette_id=pipette_id,
+ pipette_config=hw_pipette.config,
+ )
+
+ if not ready_to_aspirate:
+ raise ValueError(
+ "When aspirate is called on something other than a "
+ "well relative position, we can't move to the top of"
+ " the well to prepare for aspiration. This might "
+ "cause over aspiration if the previous command is a "
+ "blow_out."
+ )
+
  with self.set_flow_rate(pipette=hw_pipette, dispense_flow_rate=flow_rate):
  await self._hardware_api.aspirate(mount=hw_pipette.mount, volume=volume)
 

api/tests/opentrons/protocol_api/test_instrument_context.py

@@ -276,7 +276,7 @@ def test_blow_out_in_place(
 
  decoy.verify(
  mock_instrument_core.blow_out(
- location=location,
+ location=None,
  well_core=mock_well._core,
  ),
  times=1,