fix(api): Disable tip presence check on 8ch single and partial 2 thru 3 nozzle (#16312)

Covers RABR-623, RABR-624
Disable tip presence sensing on the 8ch Flex pipette for Single tip
configuration and for Partial Column for 1-3 tips.

Author: CaseyBatten

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

@@ -302,12 +302,29 @@ async def verify_tip_presence(
         This function will raise an exception if the specified tip presence status
         isn't matched.
         """
+        nozzle_configuration = (
+            self._state_view.pipettes.state.nozzle_configuration_by_id[pipette_id]
+        )
+
+        # Configuration metrics by which tip presence checking is ignored
+        unsupported_pipette_types = [8, 96]
+        unsupported_layout_types = [
+            NozzleConfigurationType.SINGLE,
+            NozzleConfigurationType.COLUMN,
+        ]
+        # NOTE: (09-20-2024) Current on multi-channel pipettes, utilizing less than 4 nozzles risks false positives on the tip presence sensor
+        supported_partial_nozzle_minimum = 4
+
         if (
-            self._state_view.pipettes.get_nozzle_layout_type(pipette_id)
-            == NozzleConfigurationType.SINGLE
-            and self._state_view.pipettes.get_channels(pipette_id) == 96
+            nozzle_configuration is not None
+            and self._state_view.pipettes.get_channels(pipette_id)
+            in unsupported_pipette_types
+            and nozzle_configuration.configuration in unsupported_layout_types
+            and len(nozzle_configuration.map_store) < supported_partial_nozzle_minimum
         ):
-            # Tip presence sensing is not supported for single tip pick up on the 96ch Flex Pipette
+            # Tip presence sensing is not supported for single tip pick up on the 96ch Flex Pipette, nor with single and some partial layous of the 8ch Flex Pipette.
+            # This is due in part to a press distance tolerance which creates a risk case for false positives. In the case of single tip, the mechanical tolerance
+            # for presses with 100% success is below the minimum average achieved press distance for a given multi channel pipette in that configuration.
             return
         try:
             ot3api = ensure_ot3_hardware(hardware_api=self._hardware_api)

api/tests/opentrons/protocol_engine/execution/test_tip_handler.py

@@ -3,10 +3,10 @@
 from decoy import Decoy
 from mock import AsyncMock, patch
 
-from typing import Dict, ContextManager, Optional
+from typing import Dict, ContextManager, Optional, OrderedDict
 from contextlib import nullcontext as does_not_raise
 
-from opentrons.types import Mount, MountType
+from opentrons.types import Mount, MountType, Point
 from opentrons.hardware_control import API as HardwareAPI
 from opentrons.hardware_control.types import TipStateType
 from opentrons.hardware_control.protocols.types import OT2RobotType, FlexRobotType
@@ -25,6 +25,8 @@
     VirtualTipHandler,
     create_tip_handler,
 )
+from opentrons.hardware_control.nozzle_manager import NozzleMap
+from opentrons_shared_data.pipette.pipette_definition import ValidNozzleMaps
 
 
 @pytest.fixture
@@ -53,6 +55,17 @@ def tip_rack_definition() -> LabwareDefinition:
     return LabwareDefinition.construct(namespace="test", version=42)  # type: ignore[call-arg]
 
 
+MOCK_MAP = NozzleMap.build(
+    physical_nozzles=OrderedDict({"A1": Point(0, 0, 0)}),
+    physical_rows=OrderedDict({"A": ["A1"]}),
+    physical_columns=OrderedDict({"1": ["A1"]}),
+    starting_nozzle="A1",
+    back_left_nozzle="A1",
+    front_right_nozzle="A1",
+    valid_nozzle_maps=ValidNozzleMaps(maps={"Full": ["A1"]}),
+)
+
+
 async def test_create_tip_handler(
     decoy: Decoy,
     mock_state_view: StateView,
@@ -102,6 +115,9 @@ async def test_flex_pick_up_tip_state(
     decoy.when(mock_state_view.pipettes.get_mount("pipette-id")).then_return(
         MountType.LEFT
     )
+    decoy.when(mock_state_view.pipettes.state.nozzle_configuration_by_id).then_return(
+        {"pipette-id": MOCK_MAP}
+    )
     decoy.when(
         mock_state_view.geometry.get_nominal_tip_geometry(
             pipette_id="pipette-id",
@@ -171,6 +187,10 @@ async def test_pick_up_tip(
         MountType.LEFT
     )
 
+    decoy.when(mock_state_view.pipettes.state.nozzle_configuration_by_id).then_return(
+        {"pipette-id": MOCK_MAP}
+    )
+
     decoy.when(
         mock_state_view.geometry.get_nominal_tip_geometry(
             pipette_id="pipette-id",
@@ -225,6 +245,9 @@ async def test_drop_tip(
     decoy.when(mock_state_view.pipettes.get_mount("pipette-id")).then_return(
         MountType.RIGHT
     )
+    decoy.when(mock_state_view.pipettes.state.nozzle_configuration_by_id).then_return(
+        {"pipette-id": MOCK_MAP}
+    )
 
     await subject.drop_tip(pipette_id="pipette-id", home_after=True)
 
@@ -499,6 +522,11 @@ async def test_verify_tip_presence_on_ot3(
         decoy.when(mock_state_view.pipettes.get_mount("pipette-id")).then_return(
             MountType.LEFT
         )
+
+        decoy.when(
+            mock_state_view.pipettes.state.nozzle_configuration_by_id
+        ).then_return({"pipette-id": MOCK_MAP})
+
         await subject.verify_tip_presence("pipette-id", expected, None)
 
         decoy.verify(