feat(api): Support changing return tip height by tip size type (#13157)

api/src/opentrons/hardware_control/dev_types.py

@@ -15,7 +15,11 @@
     PipetteName,
     ChannelCount,
 )
-from opentrons_shared_data.pipette.pipette_definition import PipetteConfigurations
+from opentrons_shared_data.pipette.types import PipetteTipType
+from opentrons_shared_data.pipette.pipette_definition import (
+    PipetteConfigurations,
+    SupportedTipsDefinition,
+)
 from opentrons_shared_data.gripper import (
     GripperModel,
     GripperDefinition,
@@ -89,6 +93,7 @@ class PipetteDict(InstrumentDict):
     ready_to_aspirate: bool
     has_tip: bool
     default_blow_out_volume: float
+    supported_tips: Dict[PipetteTipType, SupportedTipsDefinition]
 
 
 class GripperDict(InstrumentDict):

api/src/opentrons/hardware_control/instruments/ot2/pipette.py

@@ -537,6 +537,7 @@ def as_dict(self) -> "Pipette.DictType":
                 "return_tip_height": self.active_tip_settings.default_return_tip_height,
                 "tip_overlap": self.tip_overlap,
                 "back_compat_names": self._config.pipette_backcompat_names,
+                "supported_tips": self._config.supported_tips,
             }
         )
         return self._config_as_dict

api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py

@@ -218,6 +218,7 @@ def get_attached_instrument(self, mount: MountType) -> PipetteDict:
                 "default_blow_out_flow_rates",
                 "default_dispense_flow_rates",
                 "back_compat_names",
+                "supported_tips",
             ]
 
             instr_dict = instr.as_dict()

api/src/opentrons/hardware_control/instruments/ot3/pipette.py

@@ -532,6 +532,7 @@ def as_dict(self) -> "Pipette.DictType":
                 "return_tip_height": self.active_tip_settings.default_return_tip_height,
                 "tip_overlap": self.tip_overlap,
                 "back_compat_names": self._config.pipette_backcompat_names,
+                "supported_tips": self._config.supported_tips,
             }
         )
         return self._config_as_dict

api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py

@@ -229,6 +229,7 @@ def get_attached_instrument(self, mount: OT3Mount) -> PipetteDict:
                 "default_blow_out_flow_rates",
                 "default_dispense_flow_rates",
                 "back_compat_names",
+                "supported_tips",
             ]
 
             instr_dict = instr.as_dict()

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

@@ -60,9 +60,7 @@ async def pick_up_tip(
         hw_mount = self._state_view.pipettes.get_mount(pipette_id).to_hw_mount()
 
         nominal_tip_geometry = self._state_view.geometry.get_nominal_tip_geometry(
-            pipette_id=pipette_id,
-            labware_id=labware_id,
-            well_name=well_name,
+            pipette_id=pipette_id, labware_id=labware_id, well_name=well_name
         )
 
         actual_tip_length = await self._labware_data_provider.get_calibrated_tip_length(

api/src/opentrons/protocol_engine/resources/pipette_data_provider.py

@@ -7,6 +7,7 @@
     pipette_load_name_conversions as pipette_load_name,
     load_data as load_pipette_data,
     types as pip_types,
+    pipette_definition,
 )
 
 from opentrons.hardware_control.dev_types import PipetteDict
@@ -26,7 +27,9 @@ class LoadedStaticPipetteData:
     home_position: float
     nozzle_offset_z: float
     flow_rates: FlowRates
-    return_tip_scale: float
+    tip_configuration_lookup_table: Dict[
+        float, pipette_definition.SupportedTipsDefinition
+    ]
     nominal_tip_overlap: Dict[str, float]
 
 
@@ -52,12 +55,14 @@ def get_virtual_pipette_static_config(
         channels=config.channels,
         home_position=config.mount_configurations.homePosition,
         nozzle_offset_z=config.nozzle_offset[2],
+        tip_configuration_lookup_table={
+            k.value: v for k, v in config.supported_tips.items()
+        },
         flow_rates=FlowRates(
             default_blow_out=tip_configuration.default_blowout_flowrate.values_by_api_level,
             default_aspirate=tip_configuration.default_aspirate_flowrate.values_by_api_level,
             default_dispense=tip_configuration.default_dispense_flowrate.values_by_api_level,
         ),
-        return_tip_scale=tip_configuration.default_return_tip_height,
         nominal_tip_overlap=config.tip_overlap_dictionary,
     )
 
@@ -75,7 +80,9 @@ def get_pipette_static_config(pipette_dict: PipetteDict) -> LoadedStaticPipetteD
             default_aspirate=pipette_dict["default_aspirate_flow_rates"],
             default_dispense=pipette_dict["default_dispense_flow_rates"],
         ),
-        return_tip_scale=pipette_dict["return_tip_height"],
+        tip_configuration_lookup_table={
+            k.value: v for k, v in pipette_dict["supported_tips"].items()
+        },
         nominal_tip_overlap=pipette_dict["tip_overlap"],
         # TODO(mc, 2023-02-28): these two values are not present in PipetteDict
         # https://opentrons.atlassian.net/browse/RCORE-655

api/src/opentrons/protocol_engine/state/pipettes.py

@@ -3,6 +3,7 @@
 from dataclasses import dataclass
 from typing import Dict, List, Mapping, Optional, Tuple
 
+from opentrons_shared_data.pipette import pipette_definition
 from opentrons.config.defaults_ot2 import Z_RETRACT_DISTANCE
 from opentrons.hardware_control.dev_types import PipetteDict
 from opentrons.types import MountType, Mount as HwMount
@@ -71,7 +72,9 @@ class StaticPipetteConfig:
     min_volume: float
     max_volume: float
     channels: int
-    return_tip_scale: float
+    tip_configuration_lookup_table: Dict[
+        float, pipette_definition.SupportedTipsDefinition
+    ]
     nominal_tip_overlap: Dict[str, float]
     home_position: float
     nozzle_offset_z: float
@@ -124,7 +127,7 @@ def handle_action(self, action: Action) -> None:
                 min_volume=config.min_volume,
                 max_volume=config.max_volume,
                 channels=config.channels,
-                return_tip_scale=config.return_tip_scale,
+                tip_configuration_lookup_table=config.tip_configuration_lookup_table,
                 nominal_tip_overlap=config.nominal_tip_overlap,
                 home_position=config.home_position,
                 nozzle_offset_z=config.nozzle_offset_z,
@@ -171,11 +174,32 @@ def _handle_command(self, command: Command) -> None:
             self._state.attached_tip_by_id[pipette_id] = attached_tip
             self._state.aspirated_volume_by_id[pipette_id] = 0
 
+            static_config = self._state.static_config_by_id.get(pipette_id)
+            if static_config:
+                tip_configuration = static_config.tip_configuration_lookup_table[
+                    attached_tip.volume
+                ]
+                self._state.flow_rates_by_id[pipette_id] = FlowRates(
+                    default_blow_out=tip_configuration.default_blowout_flowrate.values_by_api_level,
+                    default_aspirate=tip_configuration.default_aspirate_flowrate.values_by_api_level,
+                    default_dispense=tip_configuration.default_dispense_flowrate.values_by_api_level,
+                )
+
         elif isinstance(command.result, (DropTipResult, DropTipInPlaceResult)):
             pipette_id = command.params.pipetteId
             self._state.aspirated_volume_by_id[pipette_id] = None
             self._state.attached_tip_by_id[pipette_id] = None
 
+            static_config = self._state.static_config_by_id.get(pipette_id)
+            if static_config:
+                tip_configuration = static_config.tip_configuration_lookup_table[
+                    static_config.max_volume
+                ]
+                self._state.flow_rates_by_id[pipette_id] = FlowRates(
+                    default_blow_out=tip_configuration.default_blowout_flowrate.values_by_api_level,
+                    default_aspirate=tip_configuration.default_aspirate_flowrate.values_by_api_level,
+                    default_dispense=tip_configuration.default_dispense_flowrate.values_by_api_level,
+                )
         elif isinstance(command.result, BlowOutResult):
             pipette_id = command.params.pipetteId
             self._state.aspirated_volume_by_id[pipette_id] = None
@@ -504,7 +528,20 @@ def get_instrument_max_height_ot2(self, pipette_id: str) -> float:
 
     def get_return_tip_scale(self, pipette_id: str) -> float:
         """Return the given pipette's return tip height scale."""
-        return self.get_config(pipette_id).return_tip_scale
+        max_volume = self.get_maximum_volume(pipette_id)
+        working_volume = max_volume
+        if self.get_attached_tip(pipette_id):
+            working_volume = self.get_working_volume(pipette_id)
+
+        if working_volume in self.get_config(pipette_id).tip_configuration_lookup_table:
+            tip_lookup = self.get_config(pipette_id).tip_configuration_lookup_table[
+                working_volume
+            ]
+        else:
+            tip_lookup = self.get_config(pipette_id).tip_configuration_lookup_table[
+                working_volume
+            ]
+        return tip_lookup.default_return_tip_height
 
     def get_flow_rates(self, pipette_id: str) -> FlowRates:
         """Get the default flow rates for the pipette."""

api/tests/opentrons/protocol_engine/conftest.py

@@ -9,6 +9,7 @@
 from opentrons_shared_data.deck import load as load_deck
 from opentrons_shared_data.deck.dev_types import DeckDefinitionV3
 from opentrons_shared_data.labware import load_definition
+from opentrons_shared_data.pipette import pipette_definition
 from opentrons.protocols.models import LabwareDefinition
 from opentrons.protocols.api_support.deck_type import (
     STANDARD_OT2_DECK,
@@ -187,3 +188,24 @@ def mag_block_v1_def() -> ModuleDefinition:
     """Get the definition of a V1 Mag Block."""
     definition = load_shared_data("module/definitions/3/magneticBlockV1.json")
     return ModuleDefinition.parse_raw(definition)
+
+
+@pytest.fixture(scope="session")
+def supported_tip_fixture() -> pipette_definition.SupportedTipsDefinition:
+    """Get a mock supported tip definition."""
+    return pipette_definition.SupportedTipsDefinition(
+        defaultAspirateFlowRate=pipette_definition.FlowRateDefinition(
+            default=10, valuesByApiLevel={}
+        ),
+        defaultDispenseFlowRate=pipette_definition.FlowRateDefinition(
+            default=10, valuesByApiLevel={}
+        ),
+        defaultBlowOutFlowRate=pipette_definition.FlowRateDefinition(
+            default=10, valuesByApiLevel={}
+        ),
+        defaultTipLength=40,
+        defaultReturnTipHeight=0.5,
+        aspirate=pipette_definition.ulPerMMDefinition(default={"1": [(0, 0, 0)]}),
+        dispense=pipette_definition.ulPerMMDefinition(default={"1": [(0, 0, 0)]}),
+        defaultBlowoutVolume=5,
+    )

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

@@ -6,6 +6,7 @@
 from typing import Any, Optional, cast
 
 from opentrons_shared_data.pipette.dev_types import PipetteNameType
+from opentrons_shared_data.pipette import pipette_definition
 from opentrons_shared_data.labware.dev_types import LabwareUri
 
 from opentrons.calibration_storage.helpers import uri_from_details
@@ -126,7 +127,9 @@ async def temp_module_v2(decoy: Decoy) -> TempDeck:
 
 
 @pytest.fixture
-def loaded_static_pipette_data() -> LoadedStaticPipetteData:
+def loaded_static_pipette_data(
+    supported_tip_fixture: pipette_definition.SupportedTipsDefinition,
+) -> LoadedStaticPipetteData:
     """Get a pipette config data value object."""
     return LoadedStaticPipetteData(
         model="pipette_model",
@@ -139,7 +142,7 @@ def loaded_static_pipette_data() -> LoadedStaticPipetteData:
             default_aspirate={"b": 4.56},
             default_dispense={"c": 7.89},
         ),
-        return_tip_scale=0.5,
+        tip_configuration_lookup_table={4.56: supported_tip_fixture},
         nominal_tip_overlap={"default": 9.87},
         home_position=10.11,
         nozzle_offset_z=12.13,

api/tests/opentrons/protocol_engine/resources/test_pipette_data_provider.py

@@ -1,5 +1,6 @@
 """Test pipette data provider."""
 from opentrons_shared_data.pipette.dev_types import PipetteNameType, PipetteModel
+from opentrons_shared_data.pipette import pipette_definition, types as pip_types
 
 from opentrons.hardware_control.dev_types import PipetteDict
 from opentrons.protocol_engine.types import FlowRates
@@ -29,7 +30,7 @@ def test_get_virtual_pipette_static_config() -> None:
             default_dispense={"2.0": 3.78, "2.6": 7.56},
             default_blow_out={"2.0": 3.78, "2.6": 7.56},
         ),
-        return_tip_scale=0.5,
+        tip_configuration_lookup_table=result.tip_configuration_lookup_table,
         nominal_tip_overlap={
             "default": 8.25,
             "opentrons/eppendorf_96_tiprack_10ul_eptips/1": 8.4,
@@ -42,7 +43,9 @@ def test_get_virtual_pipette_static_config() -> None:
     )
 
 
-def test_get_pipette_static_config() -> None:
+def test_get_pipette_static_config(
+    supported_tip_fixture: pipette_definition.SupportedTipsDefinition,
+) -> None:
     """It should return config data given a PipetteDict."""
     pipette_dict: PipetteDict = {
         "name": "p300_single_gen2",
@@ -78,6 +81,7 @@ def test_get_pipette_static_config() -> None:
         "default_dispense_speeds": {"2.0": 5.021202, "2.6": 10.042404},
         "default_aspirate_speeds": {"2.0": 5.021202, "2.6": 10.042404},
         "default_blow_out_volume": 10,
+        "supported_tips": {pip_types.PipetteTipType.t300: supported_tip_fixture},
     }
 
     result = subject.get_pipette_static_config(pipette_dict)
@@ -93,7 +97,7 @@ def test_get_pipette_static_config() -> None:
             default_dispense={"2.0": 46.43, "2.3": 92.86},
             default_blow_out={"2.0": 46.43, "2.2": 92.86},
         ),
-        return_tip_scale=0.5,
+        tip_configuration_lookup_table={300: supported_tip_fixture},
         nominal_tip_overlap={
             "default": 8.2,
             "opentrons/opentrons_96_tiprack_300ul/1": 8.2,

api/tests/opentrons/protocol_engine/state/test_geometry_view.py

@@ -7,6 +7,7 @@
 
 from opentrons_shared_data.deck.dev_types import DeckDefinitionV3
 from opentrons_shared_data.labware.dev_types import LabwareUri
+from opentrons_shared_data.pipette import pipette_definition
 from opentrons.calibration_storage.helpers import uri_from_details
 from opentrons.protocols.models import LabwareDefinition
 from opentrons.types import Point, DeckSlotName, MountType
@@ -1354,6 +1355,7 @@ def test_get_next_drop_tip_location(
     pipette_channels: int,
     pipette_mount: MountType,
     expected_locations: List[DropTipWellLocation],
+    supported_tip_fixture: pipette_definition.SupportedTipsDefinition,
 ) -> None:
     """It should provide the next location to drop tips into within a labware."""
     decoy.when(labware_view.is_fixed_trash(labware_id="abc")).then_return(True)
@@ -1368,7 +1370,7 @@ def test_get_next_drop_tip_location(
             model="blah",
             display_name="bleh",
             serial_number="",
-            return_tip_scale=0,
+            tip_configuration_lookup_table={9001: supported_tip_fixture},
             nominal_tip_overlap={},
             home_position=0,
             nozzle_offset_z=0,

api/tests/opentrons/protocol_engine/state/test_pipette_store.py

@@ -4,6 +4,7 @@
 from typing import Optional
 
 from opentrons_shared_data.pipette.dev_types import PipetteNameType
+from opentrons_shared_data.pipette import pipette_definition
 
 from opentrons.types import DeckSlotName, MountType
 from opentrons.protocol_engine import commands as cmd
@@ -589,7 +590,10 @@ def test_set_movement_speed(subject: PipetteStore) -> None:
     assert subject.state.movement_speed_by_id[pipette_id] == 123.456
 
 
-def test_add_pipette_config(subject: PipetteStore) -> None:
+def test_add_pipette_config(
+    subject: PipetteStore,
+    supported_tip_fixture: pipette_definition.SupportedTipsDefinition,
+) -> None:
     """It should issue an action to add a pipette config."""
     subject.handle_action(
         AddPipetteConfigAction(
@@ -606,7 +610,7 @@ def test_add_pipette_config(subject: PipetteStore) -> None:
                     default_dispense={"b": 2},
                     default_blow_out={"c": 3},
                 ),
-                return_tip_scale=4,
+                tip_configuration_lookup_table={4: supported_tip_fixture},
                 nominal_tip_overlap={"default": 5},
                 home_position=8.9,
                 nozzle_offset_z=10.11,
@@ -621,7 +625,7 @@ def test_add_pipette_config(subject: PipetteStore) -> None:
         min_volume=1.23,
         max_volume=4.56,
         channels=7,
-        return_tip_scale=4,
+        tip_configuration_lookup_table={4: supported_tip_fixture},
         nominal_tip_overlap={"default": 5},
         home_position=8.9,
         nozzle_offset_z=10.11,