Merge branch 'edge' into fix_RQA-4504

Author: koji

api/docs/dist/index.html

@@ -2,7 +2,7 @@ For more details about this release, please see the full [technical change log][
 
 [technical change log]: https://github.com/Opentrons/opentrons/releases
 
-## Internal Release 2.6.0-alpha.0
+## Internal Release 2.6.0-alpha.*
 
 This internal release, pulled from the `edge` branch, contains features being developed for 8.6.0. It's for internal testing only.
 

api/docs/root/index.html

@@ -8,6 +8,12 @@ By installing and using Opentrons software, you agree to the Opentrons End-User
 
 ---
 
+## Opentrons Robot Software Changes in 8.6.0
+
+### TODO
+
+---
+
 ## Opentrons Robot Software Changes in 8.5.1
 
 The 8.5.1 hotfix release fixes these bugs:

api/release-notes-internal.md

@@ -1,5 +1,5 @@
 from dataclasses import dataclass
-from typing import List, Union, Sequence, Optional, Tuple
+from typing import List, Union, Sequence, Optional
 
 from opentrons.types import Location, NozzleMapInterface
 from opentrons.protocols.api_support import instrument
@@ -13,7 +13,6 @@
 
 from .disposal_locations import TrashBin, WasteChute
 from .labware import Labware, Well
-from .core.common import WellCore
 from . import validation
 
 
@@ -25,7 +24,6 @@ class TransferInfo:
     tip_policy: TransferTipPolicyV2
     tip_racks: List[Labware]
     trash_location: Union[Location, TrashBin, WasteChute]
-    last_tip_location: Optional[Tuple[Location, WellCore]]
 
 
 def verify_and_normalize_transfer_args(
@@ -88,22 +86,12 @@ def verify_and_normalize_transfer_args(
         trash_location=_trash_location
     )
 
-    if last_tip_well is not None:
-        parent_tip_rack = last_tip_well.parent
-        last_tip_location = (
-            Location(last_tip_well.top().point, parent_tip_rack),
-            last_tip_well._core,
-        )
-    else:
-        last_tip_location = None
-
     return TransferInfo(
         source=flat_sources_list,
         dest=flat_dests_list if not isinstance(dest, (TrashBin, WasteChute)) else dest,
         tip_policy=valid_new_tip,
         tip_racks=valid_tip_racks,
         trash_location=valid_trash_location,
-        last_tip_location=last_tip_location,
     )
 
 

api/release-notes.md

@@ -1047,6 +1047,25 @@ def get_nozzle_configuration(self) -> NozzleConfigurationType:
     def get_liquid_presence_detection(self) -> bool:
         return self._liquid_presence_detection
 
+    def get_tip_origin(
+        self,
+    ) -> Optional[Tuple[LabwareCore, WellCore]]:
+        last_tip_pickup_info = (
+            self._engine_client.state.pipettes.get_tip_rack_well_picked_up_from(
+                self._pipette_id
+            )
+        )
+        if last_tip_pickup_info is None:
+            return None
+        else:
+            tip_rack_labware_core = self._protocol_core._labware_cores_by_id[
+                last_tip_pickup_info.labware_id
+            ]
+            tip_well_core = tip_rack_labware_core.get_well_core(
+                last_tip_pickup_info.well_name
+            )
+            return tip_rack_labware_core, tip_well_core
+
     def is_tip_tracking_available(self) -> bool:
         if self.get_nozzle_configuration() == NozzleConfigurationType.FULL:
             return True
@@ -1215,8 +1234,7 @@ def transfer_with_liquid_class(  # noqa: C901
         trash_location: Union[Location, TrashBin, WasteChute],
         return_tip: bool,
         keep_last_tip: bool,
-        last_tip_location: Optional[Tuple[Location, WellCore]],
-    ) -> Optional[Tuple[Location, WellCore]]:
+    ) -> None:
         """Execute transfer using liquid class properties.
 
         Args:
@@ -1238,10 +1256,6 @@ def transfer_with_liquid_class(  # noqa: C901
             return_tip: If `True`, return tips to the tip rack location they were picked up from,
                         otherwise drop in `trash_location`
             keep_last_tip: When set to `True`, do not drop the final tip used in the transfer.
-            last_tip_location: If a tip is already attached, this will be the tiprack and well it was
-                           picked up from, represented as a tuple of types.Location and WellCore.
-                           Used so a tip can be returned if it was picked up outside this function
-                           as could be the case for a new_tip of `never`.
         """
         if not tip_racks:
             raise RuntimeError(
@@ -1278,9 +1292,8 @@ def transfer_with_liquid_class(  # noqa: C901
             )
         )
 
-        last_tip = last_tip_location
         if new_tip == TransferTipPolicyV2.ONCE:
-            last_tip = self._pick_up_tip_for_liquid_class(
+            self._pick_up_tip_for_liquid_class(
                 tip_racks, starting_tip, tiprack_uri_for_transfer_props
             )
 
@@ -1319,10 +1332,8 @@ def transfer_with_liquid_class(  # noqa: C901
                 )
             ):
                 if prev_src is not None and prev_dest is not None:
-                    self._drop_tip_for_liquid_class(
-                        trash_location, last_tip, return_tip
-                    )
-                last_tip = self._pick_up_tip_for_liquid_class(
+                    self._drop_tip_for_liquid_class(trash_location, return_tip)
+                self._pick_up_tip_for_liquid_class(
                     tip_racks, starting_tip, tiprack_uri_for_transfer_props
                 )
                 post_disp_tip_contents = [
@@ -1354,10 +1365,7 @@ def transfer_with_liquid_class(  # noqa: C901
             prev_dest = step_destination
 
         if not keep_last_tip:
-            self._drop_tip_for_liquid_class(trash_location, last_tip, return_tip)
-            last_tip = None
-
-        return last_tip
+            self._drop_tip_for_liquid_class(trash_location, return_tip)
 
     def distribute_with_liquid_class(  # noqa: C901
         self,
@@ -1375,8 +1383,7 @@ def distribute_with_liquid_class(  # noqa: C901
         trash_location: Union[Location, TrashBin, WasteChute],
         return_tip: bool,
         keep_last_tip: bool,
-        last_tip_location: Optional[Tuple[Location, WellCore]],
-    ) -> Optional[Tuple[Location, WellCore]]:
+    ) -> None:
         """Execute a distribution using liquid class properties.
 
         Args:
@@ -1399,10 +1406,6 @@ def distribute_with_liquid_class(  # noqa: C901
             return_tip: If `True`, return tips to the tip rack location they were picked up from,
                         otherwise drop in `trash_location`
             keep_last_tip: When set to `True`, do not drop the final tip used in the distribute.
-            last_tip_location: If a tip is already attached, this will be the tiprack and well it was
-                           picked up from, represented as a tuple of types.Location and WellCore.
-                           Used so a tip can be returned if it was picked up outside this function
-                           as could be the case for a new_tip of `never`
 
         This method distributes the liquid in the source well into multiple destinations.
         It can accomplish this by either doing a multi-dispense (aspirate once and then
@@ -1462,7 +1465,6 @@ def distribute_with_liquid_class(  # noqa: C901
                 trash_location=trash_location,
                 return_tip=return_tip,
                 keep_last_tip=keep_last_tip,
-                last_tip_location=last_tip_location,
             )
 
         # TODO: use the ID returned by load_liquid_class in command annotations
@@ -1484,9 +1486,8 @@ def distribute_with_liquid_class(  # noqa: C901
             )
         )
 
-        last_tip = last_tip_location
         if new_tip != TransferTipPolicyV2.NEVER:
-            last_tip = self._pick_up_tip_for_liquid_class(
+            self._pick_up_tip_for_liquid_class(
                 tip_racks, starting_tip, tiprack_uri_for_transfer_props
             )
 
@@ -1553,8 +1554,8 @@ def distribute_with_liquid_class(  # noqa: C901
                 )
 
             if not is_first_step and new_tip == TransferTipPolicyV2.ALWAYS:
-                self._drop_tip_for_liquid_class(trash_location, last_tip, return_tip)
-                last_tip = self._pick_up_tip_for_liquid_class(
+                self._drop_tip_for_liquid_class(trash_location, return_tip)
+                self._pick_up_tip_for_liquid_class(
                     tip_racks, starting_tip, tiprack_uri_for_transfer_props
                 )
                 tip_contents = [
@@ -1614,10 +1615,7 @@ def distribute_with_liquid_class(  # noqa: C901
                 is_first_step = False
 
         if not keep_last_tip:
-            self._drop_tip_for_liquid_class(trash_location, last_tip, return_tip)
-            last_tip = None
-
-        return last_tip
+            self._drop_tip_for_liquid_class(trash_location, return_tip)
 
     def _tip_can_hold_volume_for_multi_dispensing(
         self,
@@ -1656,8 +1654,7 @@ def consolidate_with_liquid_class(  # noqa: C901
         trash_location: Union[Location, TrashBin, WasteChute],
         return_tip: bool,
         keep_last_tip: bool,
-        last_tip_location: Optional[Tuple[Location, WellCore]],
-    ) -> Optional[Tuple[Location, WellCore]]:
+    ) -> None:
         """Execute consolidate using liquid class properties.
 
         Args:
@@ -1681,10 +1678,6 @@ def consolidate_with_liquid_class(  # noqa: C901
             return_tip: If `True`, return tips to the tip rack location they were picked up from,
                         otherwise drop in `trash_location`
             keep_last_tip: When set to `True`, do not drop the final tip used in the consolidate.
-            last_tip_location: If a tip is already attached, this will be the tiprack and well it was
-                           picked up from, represented as a tuple of types.Location and WellCore.
-                           Used so a tip can be returned if it was picked up outside this function
-                           as could be the case for a new_tip of `never`.
         """
         if not tip_racks:
             raise RuntimeError(
@@ -1730,9 +1723,8 @@ def consolidate_with_liquid_class(  # noqa: C901
             )
         )
 
-        last_tip = last_tip_location
         if new_tip in [TransferTipPolicyV2.ONCE, TransferTipPolicyV2.ALWAYS]:
-            last_tip = self._pick_up_tip_for_liquid_class(
+            self._pick_up_tip_for_liquid_class(
                 tip_racks, starting_tip, tiprack_uri_for_transfer_props
             )
 
@@ -1764,8 +1756,8 @@ def consolidate_with_liquid_class(  # noqa: C901
                     break
 
             if not is_first_step and new_tip == TransferTipPolicyV2.ALWAYS:
-                self._drop_tip_for_liquid_class(trash_location, last_tip, return_tip)
-                last_tip = self._pick_up_tip_for_liquid_class(
+                self._drop_tip_for_liquid_class(trash_location, return_tip)
+                self._pick_up_tip_for_liquid_class(
                     tip_racks, starting_tip, tiprack_uri_for_transfer_props
                 )
                 tip_contents = [
@@ -1802,10 +1794,7 @@ def consolidate_with_liquid_class(  # noqa: C901
             )
 
         if not keep_last_tip:
-            self._drop_tip_for_liquid_class(trash_location, last_tip, return_tip)
-            last_tip = None
-
-        return last_tip
+            self._drop_tip_for_liquid_class(trash_location, return_tip)
 
     def _get_location_and_well_core_from_next_tip_info(
         self,
@@ -1857,7 +1846,7 @@ def _pick_up_tip_for_liquid_class(
         tip_racks: List[Tuple[Location, LabwareCore]],
         starting_tip: Optional[WellCore],
         tiprack_uri_for_transfer_props: str,
-    ) -> Tuple[Location, WellCore]:
+    ) -> None:
         """Resolve next tip and pick it up, for use in liquid class transfer code."""
         next_tip = self.get_next_tip(
             tip_racks=[core for loc, core in tip_racks],
@@ -1884,16 +1873,15 @@ def _pick_up_tip_for_liquid_class(
             presses=None,
             increment=None,
         )
-        return tiprack_loc, tip_well
 
     def _drop_tip_for_liquid_class(
         self,
         trash_location: Union[Location, TrashBin, WasteChute],
-        last_tip: Optional[Tuple[Location, WellCore]],
         return_tip: bool,
     ) -> None:
         """Drop or return tip for usage in liquid class transfers."""
         if return_tip:
+            last_tip = self.get_tip_origin()
             assert last_tip is not None
             _, tip_well = last_tip
             self.drop_tip(

api/src/opentrons/protocol_api/_transfer_liquid_validation.py

@@ -310,6 +310,12 @@ def get_blow_out_flow_rate(self, rate: float = 1.0) -> float:
     def get_liquid_presence_detection(self) -> bool:
         ...
 
+    @abstractmethod
+    def get_tip_origin(
+        self,
+    ) -> Optional[Tuple[LabwareCoreType, WellCoreType]]:
+        ...
+
     @abstractmethod
     def _pressure_supported_by_pipette(self) -> bool:
         ...
@@ -372,8 +378,7 @@ def transfer_with_liquid_class(
         trash_location: Union[types.Location, TrashBin, WasteChute],
         return_tip: bool,
         keep_last_tip: bool,
-        last_tip_location: Optional[Tuple[types.Location, WellCoreType]],
-    ) -> Optional[Tuple[types.Location, WellCoreType]]:
+    ) -> None:
         """Transfer a liquid from source to dest according to liquid class properties."""
         ...
 
@@ -390,8 +395,7 @@ def distribute_with_liquid_class(
         trash_location: Union[types.Location, TrashBin, WasteChute],
         return_tip: bool,
         keep_last_tip: bool,
-        last_tip_location: Optional[Tuple[types.Location, WellCoreType]],
-    ) -> Optional[Tuple[types.Location, WellCoreType]]:
+    ) -> None:
         """
         Distribute a liquid from single source to multiple destinations
         according to liquid class properties.
@@ -411,8 +415,7 @@ def consolidate_with_liquid_class(
         trash_location: Union[types.Location, TrashBin, WasteChute],
         return_tip: bool,
         keep_last_tip: bool,
-        last_tip_location: Optional[Tuple[types.Location, WellCoreType]],
-    ) -> Optional[Tuple[types.Location, WellCoreType]]:
+    ) -> None:
         """
         Consolidate liquid from multiple sources to a single destination
         using the specified liquid class properties.