WIP dispense in public context. reverted optional location and revert…

…ed legacy changes

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

@@ -44,11 +44,12 @@ def aspirate(
  @abstractmethod
  def dispense(
  self,
- location: Optional[types.Location],
+ location: types.Location,
  well_core: Optional[WellCoreType],
  volume: float,
  rate: float,
  flow_rate: float,
+ in_place: bool = False,
  ) -> None:
  """Dispense a given volume of liquid into the specified location.
  Args:

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

@@ -102,11 +102,12 @@ def aspirate(
 
  def dispense(
  self,
- location: Optional[types.Location],
+ location: types.Location,
  well_core: Optional[LegacyWellCore],
  volume: float,
  rate: float,
  flow_rate: float,
+ in_place: bool = False,
  ) -> None:
  """Dispense a given volume of liquid into the specified location.
  Args:
@@ -116,14 +117,13 @@ def dispense(
  rate: The rate in µL/s to dispense at.
  flow_rate: Not used in this core.
  """
- if location:
- self.move_to(location=location)
+ self.move_to(location=location)
 
  self._protocol_interface.get_hardware().dispense(self._mount, volume, rate)
 
  def blow_out(
  self,
- location: Optional[types.Location],
+ location: types.Location,
  well_core: Optional[LegacyWellCore],
  ) -> None:
  """Blow liquid out of the tip.
@@ -132,7 +132,7 @@ def blow_out(
  location: The location to blow out into.
  well_core: Unused by legacy core.
  """
- if location:
+ if location != self._protocol_interface.get_last_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

@@ -104,23 +104,23 @@ def aspirate(
 
  def dispense(
  self,
- location: Optional[types.Location],
+ location: types.Location,
  well_core: Optional[LegacyWellCore],
  volume: float,
  rate: float,
  flow_rate: float,
+ in_place: bool = False,
  ) -> None:
- if location:
- self.move_to(location=location, well_core=well_core)
+ 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: Optional[types.Location],
+ location: types.Location,
  well_core: Optional[LegacyWellCore],
  ) -> None:
- if location:
+ if location != self._protocol_interface.get_last_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

@@ -289,32 +289,34 @@ def dispense(
  )
  well: Optional[labware.Well]
  last_location = self._get_last_location_by_api_version()
-
- if isinstance(location, labware.Well):
- well = location
- if well.parent._core.is_fixed_trash():
- move_to_location = location.top()
- else:
- move_to_location = location.bottom(
- z=self._well_bottom_clearances.dispense
- )
- elif isinstance(location, types.Location):
- move_to_location = location
- _, well = move_to_location.labware.get_parent_labware_and_well()
- elif location is not None:
- raise TypeError(
- f"location should be a Well or Location, but it is {location}"
- )
- elif last_location:
- move_to_location = last_location
- _, well = move_to_location.labware.get_parent_labware_and_well()
- else:
+ dispense_in_place: bool = False
+ try:
+ target = validation.validate_location(location=location, last_location=last_location)
+ except validation.NoLocationError:
  raise RuntimeError(
  "If dispense is called without an explicit location, another"
  " method that moves to a location (such as move_to or "
  "aspirate) must previously have been called so the robot "
  "knows where it is."
  )
+ except validation.LocationTypeError:
+ raise TypeError(
+ f"location should be a Well or Location, but it is {location}"
+ )
+
+ if isinstance(target, validation.WellTarget):
+ well = target.well
+ if well.parent._core.is_fixed_trash():
+ move_to_location = target.well.top()
+ else:
+ move_to_location = target.location or target.well.bottom(
+ z=self._well_bottom_clearances.dispense
+ )
+ if isinstance(target, validation.PointTarget):
+ move_to_location = target.location
+ _, well = target.location.labware.get_parent_labware_and_well()
+ dispense_in_place = target.in_place
+
  if self.api_version >= APIVersion(2, 11):
  instrument.validate_takes_liquid(
  location=move_to_location,
@@ -341,6 +343,7 @@ def dispense(
  location=move_to_location,
  well_core=well._core if well is not None else None,
  flow_rate=flow_rate,
+ in_place=dispense_in_place
  )
 
  return self

api/src/opentrons/protocol_api/validation.py

@@ -234,11 +234,11 @@ def validate_location(
  if isinstance(location, Well):
  return WellTarget(well=location, location=None)
  elif isinstance(location, Location):
- if location.labware is None:
+ if location.labware.as_well() is None:
  return PointTarget(location=location, in_place=False)
  return WellTarget(well=location.labware.as_well(), location=location)
  elif last_location and location is None:
- if last_location.labware is None:
+ if last_location.labware.as_well() is None:
  return PointTarget(location=last_location, in_place=True)
  return WellTarget(well=last_location.labware.as_well(), location=last_location)
 

api/tests/opentrons/protocol_api/test_instrument_context.py

@@ -272,7 +272,7 @@ def test_aspirate_from_coordinates(
  mock_validation.validate_location(
  location=input_location, last_location=last_location
  )
- ).then_return(PointTarget(location=input_location, in_place=True))
+ ).then_return(PointTarget(location=input_location, in_place=False))
  decoy.when(mock_instrument_core.get_absolute_aspirate_flow_rate(1.23)).then_return(
  5.67
  )
@@ -283,7 +283,7 @@ def test_aspirate_from_coordinates(
  mock_instrument_core.aspirate(
  location=input_location,
  well_core=None,
- in_place=True,
+ in_place=False,
  volume=42.0,
  rate=1.23,
  flow_rate=5.67,
@@ -631,87 +631,150 @@ def test_return_tip(
 
 
 def test_dispense_with_location(
- decoy: Decoy, mock_instrument_core: InstrumentCore, subject: InstrumentContext
+ decoy: Decoy, mock_instrument_core: InstrumentCore, subject: InstrumentContext, mock_protocol_core: ProtocolCore
 ) -> None:
  """It should dispense to a given location."""
- mock_well = decoy.mock(cls=Well)
- location = Location(point=Point(1, 2, 3), labware=mock_well)
+ input_location = Location(point=Point(2, 2, 2), labware=None)
+ last_location = Location(point=Point(9, 9, 9), labware=None)
+ decoy.when(mock_instrument_core.get_mount()).then_return(Mount.RIGHT)
 
- decoy.when(mock_instrument_core.get_absolute_dispense_flow_rate(1.0)).then_return(
- 3.0
+ decoy.when(mock_protocol_core.get_last_location(Mount.RIGHT)).then_return(
+ last_location
+ )
+ decoy.when(
+ mock_validation.validate_location(
+ location=input_location, last_location=last_location
+ )
+ ).then_return(PointTarget(location=input_location, in_place=False))
+ decoy.when(mock_instrument_core.get_absolute_dispense_flow_rate(1.23)).then_return(
+ 5.67
  )
 
- subject.dispense(volume=42.0, location=location)
+ subject.dispense(volume=42.0, location=input_location, rate=1.23)
 
  decoy.verify(
  mock_instrument_core.dispense(
- location=location,
- well_core=mock_well._core,
+ location=input_location,
+ well_core=None,
+ in_place=False,
  volume=42.0,
- rate=1.0,
- flow_rate=3.0,
+ rate=1.23,
+ flow_rate=5.67,
  ),
  times=1,
  )
 
 
 def test_dispense_with_well_location(
- decoy: Decoy, mock_instrument_core: InstrumentCore, subject: InstrumentContext
+ decoy: Decoy, mock_instrument_core: InstrumentCore, subject: InstrumentContext, mock_protocol_core: ProtocolCore
 ) -> None:
  """It should dispense to a well."""
  mock_well = decoy.mock(cls=Well)
+ bottom_location = Location(point=Point(1, 2, 3), labware=mock_well)
+ input_location = Location(point=Point(2, 2, 2), labware=None)
+ last_location = Location(point=Point(9, 9, 9), labware=None)
+ decoy.when(mock_instrument_core.get_mount()).then_return(Mount.RIGHT)
 
- decoy.when(mock_well.bottom(1.0)).then_return(
- Location(point=Point(1, 2, 3), labware=mock_well)
+ decoy.when(mock_protocol_core.get_last_location(Mount.RIGHT)).then_return(
+ last_location
  )
-
- decoy.when(mock_instrument_core.get_absolute_dispense_flow_rate(1.0)).then_return(
- 3.0
+ decoy.when(
+ mock_validation.validate_location(
+ location=input_location, last_location=last_location
+ )
+ ).then_return(WellTarget(well=mock_well, location=None))
+ decoy.when(mock_well.bottom(z=1.0)).then_return(bottom_location)
+ decoy.when(mock_instrument_core.get_absolute_dispense_flow_rate(1.23)).then_return(
+ 5.67
  )
 
- subject.dispense(volume=42.0, location=mock_well)
+ subject.dispense(volume=42.0, location=input_location, rate=1.23)
 
  decoy.verify(
  mock_instrument_core.dispense(
- location=Location(point=Point(1, 2, 3), labware=mock_well),
+ location=bottom_location,
  well_core=mock_well._core,
+ in_place=False,
  volume=42.0,
- rate=1.0,
- flow_rate=3.0,
+ rate=1.23,
+ flow_rate=5.67,
  ),
  times=1,
  )
 
 
-def test_dispense_with_no_location(
+def test_dispense_in_place(
  decoy: Decoy,
  mock_instrument_core: InstrumentCore,
  subject: InstrumentContext,
  mock_protocol_core: ProtocolCore,
 ) -> None:
- """It should dispense to a well."""
- decoy.when(mock_protocol_core.get_last_location(Mount.LEFT)).then_return(
-  Location(point=Point(1, 2, 3), labware=None)
- )
+ """It should dispense in place."""
+ input_location = Location(point=Point(2, 2, 2), labware=None)
+ last_location = Location(point=Point(9, 9, 9), labware=None)
+ decoy.when(mock_instrument_core.get_mount()).then_return(Mount.RIGHT)
 
- decoy.when(mock_instrument_core.get_absolute_dispense_flow_rate(1.0)).then_return(
- 3.0
+ decoy.when(mock_protocol_core.get_last_location(Mount.RIGHT)).then_return(
+ last_location
+ )
+ decoy.when(
+ mock_validation.validate_location(
+ location=input_location, last_location=last_location
+ )
+ ).then_return(PointTarget(location=input_location, in_place=True))
+ decoy.when(mock_instrument_core.get_absolute_dispense_flow_rate(1.23)).then_return(
+ 5.67
  )
 
- subject.dispense(volume=42.0)
+ subject.dispense(volume=42.0, location=input_location, rate=1.23)
 
  decoy.verify(
  mock_instrument_core.dispense(
- location=Location(point=Point(1, 2, 3), labware=None),
+ location=input_location,
  well_core=None,
+ in_place=True,
  volume=42.0,
- rate=1.0,
- flow_rate=3.0,
+ rate=1.23,
+ flow_rate=5.67,
  ),
  times=1,
  )
 
 
+def test_dispense_raises_no_location(
+ decoy: Decoy,
+ mock_instrument_core: InstrumentCore,
+ subject: InstrumentContext,
+ mock_protocol_core: ProtocolCore,
+) -> None:
+
+ decoy.when(mock_instrument_core.get_mount()).then_return(Mount.RIGHT)
+ decoy.when(mock_protocol_core.get_last_location(Mount.RIGHT)).then_return(None)
+
+ decoy.when(
+ mock_validation.validate_location(location=None, last_location=None)
+ ).then_raise(mock_validation.NoLocationError())
+ with pytest.raises(RuntimeError):
+ subject.dispense(location=None)
+
+
+def test_dispense_raises_wrong_location_value(
+ decoy: Decoy,
+ mock_instrument_core: InstrumentCore,
+ subject: InstrumentContext,
+ mock_protocol_core: ProtocolCore,
+) -> None:
+
+ decoy.when(mock_instrument_core.get_mount()).then_return(Mount.RIGHT)
+ decoy.when(mock_protocol_core.get_last_location(Mount.RIGHT)).then_return(None)
+
+ decoy.when(
+ mock_validation.validate_location(location=None, last_location=None)
+ ).then_raise(mock_validation.LocationTypeError())
+ with pytest.raises(TypeError):
+ subject.dispense(location=None)
+
+
 def test_touch_tip(
  decoy: Decoy,
  mock_instrument_core: InstrumentCore,

api/tests/opentrons/protocol_api/test_validation.py

@@ -278,7 +278,7 @@ def test_validate_in_place(decoy: Decoy) -> None:
  input_last_location = Location(point=Point(x=1, y=1, z=2), labware=None)
  expected_result = subject.PointTarget(location=input_last_location, in_place=True)
 
- result = subject.validate_location(location=input_last_location, last_location=None)
+ result = subject.validate_location(location=None, last_location=input_last_location)
 
  assert result == expected_result