Remove length from TipState.

Opentrons · Oct 9, 2024 · 463315b · 463315b
1 parent 1f50f1d
commit 463315b
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Showing 5 changed files with 18 additions and 106 deletions.
diff --git a/api/src/opentrons/protocol_engine/commands/pick_up_tip.py b/api/src/opentrons/protocol_engine/commands/pick_up_tip.py
@@ -9,7 +9,7 @@
 from ..errors import ErrorOccurrence, TipNotAttachedError
 from ..resources import ModelUtils
 from ..state import update_types
-from ..types import DeckPoint, TipGeometry
+from ..types import DeckPoint
 from .pipetting_common import (
     PipetteIdMixin,
     WellLocationMixin,
@@ -132,11 +132,7 @@ async def execute(
             )
             state_update.update_tip_state(
                 pipette_id=pipette_id,
-                tip_geometry=TipGeometry(
-                    volume=tip_geometry.volume,
-                    length=tip_geometry.length,
-                    diameter=tip_geometry.diameter,
-                ),
+                tip_geometry=tip_geometry,
             )
         except TipNotAttachedError as e:
             return DefinedErrorData(

diff --git a/api/src/opentrons/protocol_engine/execution/gantry_mover.py b/api/src/opentrons/protocol_engine/execution/gantry_mover.py
@@ -273,7 +273,9 @@ def get_max_travel_z(self, pipette_id: str) -> float:
             )
         else:
             instrument_height = VIRTUAL_MAX_OT3_HEIGHT
-        tip_length = self._state_view.tips.get_tip_length(pipette_id)
+
+        tip = self._state_view.pipettes.get_attached_tip(pipette_id=pipette_id)
+        tip_length = tip.length if tip is not None else 0
         return instrument_height - tip_length
 
     async def move_to(

diff --git a/api/src/opentrons/protocol_engine/state/tips.py b/api/src/opentrons/protocol_engine/state/tips.py
@@ -44,8 +44,8 @@ class TipState:
 
     tips_by_labware_id: Dict[str, TipRackStateByWellName]
     column_by_labware_id: Dict[str, List[List[str]]]
+
     channels_by_pipette_id: Dict[str, int]
-    length_by_pipette_id: Dict[str, float]
     active_channels_by_pipette_id: Dict[str, int]
     nozzle_map_by_pipette_id: Dict[str, NozzleMap]
 
@@ -61,7 +61,6 @@ def __init__(self) -> None:
             tips_by_labware_id={},
             column_by_labware_id={},
             channels_by_pipette_id={},
-            length_by_pipette_id={},
             active_channels_by_pipette_id={},
             nozzle_map_by_pipette_id={},
         )
@@ -121,18 +120,15 @@ def _handle_succeeded_command(self, command: Command) -> None:
             labware_id = command.params.labwareId
             well_name = command.params.wellName
             pipette_id = command.params.pipetteId
-            length = command.result.tipLength
             self._set_used_tips(
                 pipette_id=pipette_id, well_name=well_name, labware_id=labware_id
             )
-            self._state.length_by_pipette_id[pipette_id] = length
 
         elif isinstance(
             command.result,
             (DropTipResult, DropTipInPlaceResult, unsafe.UnsafeDropTipInPlaceResult),
         ):
             pipette_id = command.params.pipetteId
-            self._state.length_by_pipette_id.pop(pipette_id, None)
 
     def _handle_failed_command(
         self,
@@ -506,10 +502,6 @@ def has_clean_tip(self, labware_id: str, well_name: str) -> bool:
 
         return well_state == TipRackWellState.CLEAN
 
-    def get_tip_length(self, pipette_id: str) -> float:
-        """Return the given pipette's tip length."""
-        return self._state.length_by_pipette_id.get(pipette_id, 0)
-
 
 def _drop_wells_before_starting_tip(
     wells: TipRackStateByWellName, starting_tip_name: str

diff --git a/api/tests/opentrons/protocol_engine/execution/test_gantry_mover.py b/api/tests/opentrons/protocol_engine/execution/test_gantry_mover.py
@@ -17,7 +17,12 @@
 
 from opentrons.protocol_engine.state.state import StateView
 from opentrons.protocol_engine.state.motion import PipetteLocationData
-from opentrons.protocol_engine.types import MotorAxis, DeckPoint, CurrentWell
+from opentrons.protocol_engine.types import (
+    MotorAxis,
+    DeckPoint,
+    CurrentWell,
+    TipGeometry,
+)
 from opentrons.protocol_engine.errors import MustHomeError, InvalidAxisForRobotType
 
 from opentrons.protocol_engine.execution.gantry_mover import (
@@ -499,7 +504,9 @@ def test_virtual_get_max_travel_z_ot2(
     decoy.when(
         mock_state_view.pipettes.get_instrument_max_height_ot2("pipette-id")
     ).then_return(42)
-    decoy.when(mock_state_view.tips.get_tip_length("pipette-id")).then_return(20)
+    decoy.when(mock_state_view.pipettes.get_attached_tip("pipette-id")).then_return(
+        TipGeometry(length=20, diameter=0, volume=0)
+    )
 
     result = virtual_subject.get_max_travel_z("pipette-id")
 
@@ -513,7 +520,9 @@ def test_virtual_get_max_travel_z_ot3(
 ) -> None:
     """It should get the max travel z height with the state store."""
     decoy.when(mock_state_view.config.robot_type).then_return("OT-3 Standard")
-    decoy.when(mock_state_view.tips.get_tip_length("pipette-id")).then_return(48)
+    decoy.when(mock_state_view.pipettes.get_attached_tip("pipette-id")).then_return(
+        TipGeometry(length=48, diameter=0, volume=0)
+    )
 
     result = virtual_subject.get_max_travel_z("pipette-id")
 

diff --git a/api/tests/opentrons/protocol_engine/state/test_tip_state.py b/api/tests/opentrons/protocol_engine/state/test_tip_state.py
@@ -908,93 +908,6 @@ def test_has_tip_tip_rack(
     assert result is True
 
 
-def test_drop_tip(
-    subject: TipStore,
-    load_labware_command: commands.LoadLabware,
-    pick_up_tip_command: commands.PickUpTip,
-    drop_tip_command: commands.DropTip,
-    drop_tip_in_place_command: commands.DropTipInPlace,
-    unsafe_drop_tip_in_place_command: commands.unsafe.UnsafeDropTipInPlace,
-    supported_tip_fixture: pipette_definition.SupportedTipsDefinition,
-) -> None:
-    """It should be clear tip length when a tip is dropped."""
-    subject.handle_action(
-        actions.SucceedCommandAction(private_result=None, command=load_labware_command)
-    )
-    load_pipette_command = commands.LoadPipette.construct(  # type: ignore[call-arg]
-        result=commands.LoadPipetteResult(pipetteId="pipette-id")
-    )
-    load_pipette_private_result = commands.LoadPipettePrivateResult(
-        pipette_id="pipette-id",
-        serial_number="pipette-serial",
-        config=LoadedStaticPipetteData(
-            channels=8,
-            max_volume=15,
-            min_volume=3,
-            model="gen a",
-            display_name="display name",
-            flow_rates=FlowRates(
-                default_aspirate={},
-                default_dispense={},
-                default_blow_out={},
-            ),
-            tip_configuration_lookup_table={15: supported_tip_fixture},
-            nominal_tip_overlap={},
-            nozzle_offset_z=1.23,
-            home_position=4.56,
-            nozzle_map=get_default_nozzle_map(PipetteNameType.P300_SINGLE_GEN2),
-            back_left_corner_offset=Point(x=1, y=2, z=3),
-            front_right_corner_offset=Point(x=4, y=5, z=6),
-            pipette_lld_settings={},
-        ),
-    )
-    subject.handle_action(
-        actions.SucceedCommandAction(
-            private_result=load_pipette_private_result, command=load_pipette_command
-        )
-    )
-
-    subject.handle_action(
-        actions.SucceedCommandAction(private_result=None, command=pick_up_tip_command)
-    )
-    result = TipView(subject.state).get_tip_length("pipette-id")
-    assert result == 1.23
-
-    subject.handle_action(
-        actions.SucceedCommandAction(private_result=None, command=drop_tip_command)
-    )
-    result = TipView(subject.state).get_tip_length("pipette-id")
-    assert result == 0
-
-    subject.handle_action(
-        actions.SucceedCommandAction(private_result=None, command=pick_up_tip_command)
-    )
-    result = TipView(subject.state).get_tip_length("pipette-id")
-    assert result == 1.23
-
-    subject.handle_action(
-        actions.SucceedCommandAction(
-            private_result=None, command=drop_tip_in_place_command
-        )
-    )
-    result = TipView(subject.state).get_tip_length("pipette-id")
-    assert result == 0
-
-    subject.handle_action(
-        actions.SucceedCommandAction(private_result=None, command=pick_up_tip_command)
-    )
-    result = TipView(subject.state).get_tip_length("pipette-id")
-    assert result == 1.23
-
-    subject.handle_action(
-        actions.SucceedCommandAction(
-            private_result=None, command=unsafe_drop_tip_in_place_command
-        )
-    )
-    result = TipView(subject.state).get_tip_length("pipette-id")
-    assert result == 0
-
-
 @pytest.mark.parametrize(
     argnames=["nozzle_map", "expected_channels"],
     argvalues=[