feat(app): Only follow rear tip sensor during calibration setup (#14984)

Author: caila-marashaj

api/src/opentrons/hardware_control/backends/ot3controller.py

@@ -1524,10 +1524,10 @@ async def teardown_tip_detector(self, mount: OT3Mount) -> None:
     async def get_tip_status(
         self,
         mount: OT3Mount,
-        ht_operational_sensor: Optional[InstrumentProbeType] = None,
+        follow_singular_sensor: Optional[InstrumentProbeType] = None,
     ) -> TipStateType:
         return await self.tip_presence_manager.get_tip_status(
-            mount, ht_operational_sensor
+            mount, follow_singular_sensor
         )
 
     def current_tip_state(self, mount: OT3Mount) -> Optional[bool]:

api/src/opentrons/hardware_control/backends/ot3simulator.py

@@ -783,7 +783,7 @@ def subsystems(self) -> Dict[SubSystem, SubSystemState]:
     async def get_tip_status(
         self,
         mount: OT3Mount,
-        ht_operational_sensor: Optional[InstrumentProbeType] = None,
+        follow_singular_sensor: Optional[InstrumentProbeType] = None,
     ) -> TipStateType:
         return TipStateType(self._sim_tip_state[mount])
 

api/src/opentrons/hardware_control/backends/tip_presence_manager.py

@@ -116,21 +116,21 @@ def current_tip_state(self, mount: OT3Mount) -> Optional[bool]:
     @staticmethod
     def _get_tip_presence(
         results: List[tip_types.TipNotification],
-        ht_operational_sensor: Optional[InstrumentProbeType] = None,
+        follow_singular_sensor: Optional[InstrumentProbeType] = None,
     ) -> TipStateType:
         """
-        We can use ht_operational_sensor used to specify that we only care
+        We can use follow_singular_sensor used to specify that we only care
         about the status of one tip presence sensor on a high throughput
         pipette, and the other is allowed to be different.
         """
-        if ht_operational_sensor:
-            target_sensor_id = sensor_id_for_instrument(ht_operational_sensor)
+        if follow_singular_sensor:
+            target_sensor_id = sensor_id_for_instrument(follow_singular_sensor)
             for r in results:
                 if r.sensor == target_sensor_id:
                     return TipStateType(r.presence)
             # raise an error if requested sensor response isn't found
             raise GeneralError(
-                message=f"Requested status for sensor {ht_operational_sensor} not found."
+                message=f"Requested status for sensor {follow_singular_sensor} not found."
             )
         # more than one sensor reported, we have to check if their states match
         if len(set(r.presence for r in results)) > 1:
@@ -142,11 +142,11 @@ def _get_tip_presence(
     async def get_tip_status(
         self,
         mount: OT3Mount,
-        ht_operational_sensor: Optional[InstrumentProbeType] = None,
+        follow_singular_sensor: Optional[InstrumentProbeType] = None,
     ) -> TipStateType:
         detector = self.get_detector(mount)
         return self._get_tip_presence(
-            await detector.request_tip_status(), ht_operational_sensor
+            await detector.request_tip_status(), follow_singular_sensor
         )
 
     def get_detector(self, mount: OT3Mount) -> TipDetector:

api/src/opentrons/hardware_control/ot3api.py

@@ -2072,7 +2072,7 @@ async def _high_throughput_check_tip(self) -> AsyncIterator[None]:
     async def get_tip_presence_status(
         self,
         mount: Union[top_types.Mount, OT3Mount],
-        ht_operational_sensor: Optional[InstrumentProbeType] = None,
+        follow_singular_sensor: Optional[InstrumentProbeType] = None,
     ) -> TipStateType:
         """
         Check tip presence status. If a high throughput pipette is present,
@@ -2087,18 +2087,18 @@ async def get_tip_presence_status(
                 ):
                     await stack.enter_async_context(self._high_throughput_check_tip())
                 result = await self._backend.get_tip_status(
-                    real_mount, ht_operational_sensor
+                    real_mount, follow_singular_sensor
                 )
             return result
 
     async def verify_tip_presence(
         self,
         mount: Union[top_types.Mount, OT3Mount],
         expected: TipStateType,
-        ht_operational_sensor: Optional[InstrumentProbeType] = None,
+        follow_singular_sensor: Optional[InstrumentProbeType] = None,
     ) -> None:
         real_mount = OT3Mount.from_mount(mount)
-        status = await self.get_tip_presence_status(real_mount, ht_operational_sensor)
+        status = await self.get_tip_presence_status(real_mount, follow_singular_sensor)
         if status != expected:
             raise FailedTipStateCheck(expected, status.value)
 

api/src/opentrons/hardware_control/protocols/flex_instrument_configurer.py

@@ -1,5 +1,5 @@
 """Flex-specific extensions to instrument configuration."""
-from typing import Union
+from typing import Union, Optional
 from typing_extensions import Protocol
 
 from .types import MountArgType
@@ -9,6 +9,7 @@
 )
 from opentrons.hardware_control.types import (
     TipStateType,
+    InstrumentProbeType,
 )
 from opentrons.hardware_control.instruments.ot3.instrument_calibration import (
     PipetteOffsetSummary,
@@ -42,7 +43,10 @@ async def get_tip_presence_status(
         ...
 
     async def verify_tip_presence(
-        self, mount: MountArgType, expected: TipStateType
+        self,
+        mount: MountArgType,
+        expected: TipStateType,
+        follow_singular_sensor: Optional[InstrumentProbeType] = None,
     ) -> None:
         """Check tip presence status and raise if it does not match `expected`."""
         ...

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

@@ -8,7 +8,7 @@
 from .pipetting_common import PipetteIdMixin
 from .command import AbstractCommandImpl, BaseCommand, BaseCommandCreate
 
-from ..types import TipPresenceStatus
+from ..types import TipPresenceStatus, InstrumentSensorId
 
 if TYPE_CHECKING:
     from ..execution import TipHandler
@@ -23,6 +23,9 @@ class VerifyTipPresenceParams(PipetteIdMixin):
     expectedState: TipPresenceStatus = Field(
         ..., description="The expected tip presence status on the pipette."
     )
+    followSingularSensor: Optional[InstrumentSensorId] = Field(
+        default=None, description="The sensor id to follow if the other can be ignored."
+    )
 
 
 class VerifyTipPresenceResult(BaseModel):
@@ -47,10 +50,16 @@ async def execute(self, params: VerifyTipPresenceParams) -> VerifyTipPresenceRes
         """Verify if tip presence is as expected for the requested pipette."""
         pipette_id = params.pipetteId
         expected_state = params.expectedState
+        follow_singular_sensor = (
+            InstrumentSensorId.to_instrument_probe_type(params.followSingularSensor)
+            if params.followSingularSensor
+            else None
+        )
 
         await self._tip_handler.verify_tip_presence(
             pipette_id=pipette_id,
             expected=expected_state,
+            follow_singular_sensor=follow_singular_sensor,
         )
 
         return VerifyTipPresenceResult()

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

@@ -3,7 +3,7 @@
 from typing_extensions import Protocol as TypingProtocol
 
 from opentrons.hardware_control import HardwareControlAPI
-from opentrons.hardware_control.types import FailedTipStateCheck
+from opentrons.hardware_control.types import FailedTipStateCheck, InstrumentProbeType
 from opentrons_shared_data.errors.exceptions import (
     CommandPreconditionViolated,
     CommandParameterLimitViolated,
@@ -74,7 +74,10 @@ async def get_tip_presence(self, pipette_id: str) -> TipPresenceStatus:
         """Get tip presence status on the pipette."""
 
     async def verify_tip_presence(
-        self, pipette_id: str, expected: TipPresenceStatus
+        self,
+        pipette_id: str,
+        expected: TipPresenceStatus,
+        follow_singular_sensor: Optional[InstrumentProbeType] = None,
     ) -> None:
         """Verify the expected tip presence status."""
 
@@ -237,7 +240,10 @@ async def get_tip_presence(self, pipette_id: str) -> TipPresenceStatus:
             return TipPresenceStatus.UNKNOWN
 
     async def verify_tip_presence(
-        self, pipette_id: str, expected: TipPresenceStatus
+        self,
+        pipette_id: str,
+        expected: TipPresenceStatus,
+        follow_singular_sensor: Optional[InstrumentProbeType] = None,
     ) -> None:
         """Verify the expecterd tip presence status of the pipette.
 
@@ -247,7 +253,9 @@ async def verify_tip_presence(
         try:
             ot3api = ensure_ot3_hardware(hardware_api=self._hardware_api)
             hw_mount = self._state_view.pipettes.get_mount(pipette_id).to_hw_mount()
-            await ot3api.verify_tip_presence(hw_mount, expected.to_hw_state())
+            await ot3api.verify_tip_presence(
+                hw_mount, expected.to_hw_state(), follow_singular_sensor
+            )
         except HardwareNotSupportedError:
             # Tip presence sensing is not supported on the OT2
             pass
@@ -332,7 +340,10 @@ async def add_tip(self, pipette_id: str, tip: TipGeometry) -> None:
         assert False, "TipHandler.add_tip should not be used with virtual pipettes"
 
     async def verify_tip_presence(
-        self, pipette_id: str, expected: TipPresenceStatus
+        self,
+        pipette_id: str,
+        expected: TipPresenceStatus,
+        follow_singular_sensor: Optional[InstrumentProbeType] = None,
     ) -> None:
         """Verify tip presence.
 

api/src/opentrons/protocol_engine/types.py

@@ -10,7 +10,10 @@
 
 from opentrons_shared_data.pipette.dev_types import PipetteNameType
 from opentrons.types import MountType, DeckSlotName, StagingSlotName
-from opentrons.hardware_control.types import TipStateType as HwTipStateType
+from opentrons.hardware_control.types import (
+    TipStateType as HwTipStateType,
+    InstrumentProbeType,
+)
 from opentrons.hardware_control.modules import (
     ModuleType as ModuleType,
 )
@@ -830,6 +833,22 @@ class QuadrantNozzleLayoutConfiguration(BaseModel):
 ]  # cutout_id, cutout_fixture_id, opentrons_module_serial_number
 
 
+class InstrumentSensorId(str, Enum):
+    """Primary and secondary sensor ids."""
+
+    PRIMARY = "primary"
+    SECONDARY = "secondary"
+    BOTH = "both"
+
+    def to_instrument_probe_type(self) -> InstrumentProbeType:
+        """Convert to InstrumentProbeType."""
+        return {
+            InstrumentSensorId.PRIMARY: InstrumentProbeType.PRIMARY,
+            InstrumentSensorId.SECONDARY: InstrumentProbeType.SECONDARY,
+            InstrumentSensorId.BOTH: InstrumentProbeType.BOTH,
+        }[self]
+
+
 class TipPresenceStatus(str, Enum):
     """Tip presence status reported by a pipette."""
 

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

@@ -413,11 +413,11 @@ async def test_verify_tip_presence_on_ot3(
         decoy.when(mock_state_view.pipettes.get_mount("pipette-id")).then_return(
             MountType.LEFT
         )
-        await subject.verify_tip_presence("pipette-id", expected)
+        await subject.verify_tip_presence("pipette-id", expected, None)
 
         decoy.verify(
             await ot3_hardware_api.verify_tip_presence(
-                Mount.LEFT, expected.to_hw_state()
+                Mount.LEFT, expected.to_hw_state(), None
             )
         )
 

app/src/organisms/LabwarePositionCheck/AttachProbe.tsx

@@ -96,7 +96,11 @@ export const AttachProbe = (props: AttachProbeProps): JSX.Element | null => {
     const verifyCommands: CreateCommand[] = [
       {
         commandType: 'verifyTipPresence',
-        params: { pipetteId: pipetteId, expectedState: 'present' },
+        params: {
+          pipetteId: pipetteId,
+          expectedState: 'present',
+          followSingularSensor: 'primary',
+        },
       },
     ]
     const homeCommands: CreateCommand[] = [