Merge branch 'edge' into chore_react-18-no-hmr

.github/workflows/shared-data-test-lint-deploy.yaml

@@ -199,10 +199,10 @@ jobs:
         - id: publish-switch
           run: |
             echo "Determining whether to publish artifacts for event ${{github.event_type}} and ref ${{github.ref}}"
-            if [ "${{ format('{0}', startsWith(github.ref, 'refs/tags/shared-data')) }}" ] ; then
+            if [ "${{ format('{0}', startsWith(github.ref, 'refs/tags/shared-data')) }}" = "true"] ; then
               echo "Publishing builds for shared-data@ tags"
               echo 'should_publish=true' >> $GITHUB_OUTPUT
-            elif [ "${{ format('{0}', startsWith(github.ref, 'refs/tags/components')) }}" ] ; then
+            elif [ "${{ format('{0}', startsWith(github.ref, 'refs/tags/components')) }}" = "true"] ; then
               echo "Publishing builds for components@ tags"
               echo 'should_publish=true' >> $GITHUB_OUTPUT
             else 

api/release-notes.md

@@ -5,13 +5,35 @@ log][]. For a list of currently known issues, please see the [Opentrons issue tr
 [opentrons issue tracker]: https://github.com/Opentrons/opentrons/issues?q=is%3Aopen+is%3Aissue+label%3Abug
 
 
+## Opentrons Robot Software Changes in 7.1.0
+
+Welcome to the v7.1.0 release of the Opentrons robot software! This release includes support for deck configuration on Opentrons Flex, partial tip pickup with the Flex 96-Channel Pipette, and other improvements.
+
+### New Features
+
+- Pick up either a column of 8 tips or all 96 tips with the Flex 96-Channel Pipette.
+- Specify the deck configuration of Flex, including the movable trash bin, waste chute, and staging area slots.
+- Use the Flex Gripper to drop labware into the waste chute, or use Flex pipettes to dispense liquid or drop tips into the waste chute.
+- Manually prepare a pipette for aspiration, when required for your application.
+
+### Improved Features
+
+- Improves aspirate, dispense, and mix behavior with volumes set to zero.
+- The `opentrons_simulate` command-line tool now works with all Python API versions.
+
+### Known Issues
+
+JSON protocols created or modified with Protocol Designer v6.0.0 or higher can't be simulated with `opentrons_simulate`.
+
+---
+
 ## Opentrons Robot Software Changes in 7.0.2
 
-The 7.0.2 hotfix release does not contain any changes to the robot software
+The 7.0.2 hotfix release does not contain any changes to the robot software.
 
 ### Known Issues
 
-JSON protocols created or modified with Protocol Designer v6.0.0 or higher can't be simulated with the `opentrons_simulate` command-line tool
+JSON protocols created or modified with Protocol Designer v6.0.0 or higher can't be simulated with the `opentrons_simulate` command-line tool.
 
 ---
 

api/src/opentrons/hardware_control/__init__.py

@@ -13,24 +13,29 @@
 from .api import API
 from .pause_manager import PauseManager
 from .backends import Controller, Simulator
-from .types import CriticalPoint, ExecutionState
+from .types import CriticalPoint, ExecutionState, OT3Mount
 from .constants import DROP_TIP_RELEASE_DISTANCE
 from .thread_manager import ThreadManager
 from .execution_manager import ExecutionManager
 from .threaded_async_lock import ThreadedAsyncLock, ThreadedAsyncForbidden
-from .protocols import HardwareControlInterface
+from .protocols import HardwareControlInterface, FlexHardwareControlInterface
 from .instruments import AbstractInstrument, Gripper
 from typing import Union
 from .ot3_calibration import OT3Transforms
 from .robot_calibration import RobotCalibration
+from opentrons.config.types import RobotConfig, OT3Config
+
+from opentrons.types import Mount
 
 # TODO (lc 12-05-2022) We should 1. figure out if we need
 # to globally export a class that is strictly used in the hardware controller
 # and 2. how to properly export an ot2 and ot3 pipette.
 from .instruments.ot2.pipette import Pipette
 
-OT2HardwareControlAPI = HardwareControlInterface[RobotCalibration]
-OT3HardwareControlAPI = HardwareControlInterface[OT3Transforms]
+OT2HardwareControlAPI = HardwareControlInterface[RobotCalibration, Mount, RobotConfig]
+OT3HardwareControlAPI = FlexHardwareControlInterface[
+    OT3Transforms, Union[Mount, OT3Mount], OT3Config
+]
 HardwareControlAPI = Union[OT2HardwareControlAPI, OT3HardwareControlAPI]
 
 ThreadManagedHardware = ThreadManager[HardwareControlAPI]
@@ -55,4 +60,6 @@
     "ThreadedAsyncForbidden",
     "ThreadManagedHardware",
     "SyncHardwareAPI",
+    "OT2HardwareControlAPI",
+    "OT3HardwareControlAPI",
 ]

api/src/opentrons/hardware_control/api.py

@@ -88,7 +88,7 @@ class API(
     # of methods that are present in the protocol will call the (empty,
     # do-nothing) methods in the protocol. This will happily make all the
     # tests fail.
-    HardwareControlInterface[RobotCalibration],
+    HardwareControlInterface[RobotCalibration, top_types.Mount, RobotConfig],
 ):
     """This API is the primary interface to the hardware controller.
 
@@ -426,6 +426,9 @@ async def update_firmware(
             firmware_file, checked_loop, explicit_modeset
         )
 
+    def has_gripper(self) -> bool:
+        return False
+
     async def cache_instruments(
         self, require: Optional[Dict[top_types.Mount, PipetteName]] = None
     ) -> None:

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

@@ -22,7 +22,10 @@
 )
 from ..instrument_abc import AbstractInstrument
 from opentrons.hardware_control.dev_types import AttachedGripper, GripperDict
-from opentrons_shared_data.errors.exceptions import CommandPreconditionViolated
+from opentrons_shared_data.errors.exceptions import (
+    CommandPreconditionViolated,
+    FailedGripperPickupError,
+)
 
 from opentrons_shared_data.gripper import (
     GripperDefinition,
@@ -101,6 +104,10 @@ def remove_probe(self) -> None:
         assert self.attached_probe
         self._attached_probe = None
 
+    @property
+    def max_allowed_grip_error(self) -> float:
+        return self._geometry.max_allowed_grip_error
+
     @property
     def jaw_width(self) -> float:
         jaw_max = self.geometry.jaw_width["max"]
@@ -196,6 +203,23 @@ def check_calibration_pin_location_is_accurate(self) -> None:
                 },
             )
 
+    def check_labware_pickup(self, labware_width: float) -> None:
+        """Ensure that a gripper pickup succeeded."""
+        # check if the gripper is at an acceptable position after attempting to
+        #  pick up labware
+        expected_gripper_position = labware_width
+        current_gripper_position = self.jaw_width
+        if (
+            abs(current_gripper_position - expected_gripper_position)
+            > self.max_allowed_grip_error
+        ):
+            raise FailedGripperPickupError(
+                details={
+                    "expected jaw width": expected_gripper_position,
+                    "actual jaw width": current_gripper_position,
+                },
+            )
+
     def critical_point(self, cp_override: Optional[CriticalPoint] = None) -> Point:
         """
         The vector from the gripper mount to the critical point, which is selectable

api/src/opentrons/hardware_control/ot3_calibration.py

@@ -47,7 +47,7 @@
 from .util import DeckTransformState
 
 if TYPE_CHECKING:
-    from .ot3api import OT3API
+    from opentrons.hardware_control import OT3HardwareControlAPI
 
 LOG = getLogger(__name__)
 
@@ -123,7 +123,7 @@ def _verify_height(
 
 
 async def _verify_edge_pos(
-    hcapi: OT3API,
+    hcapi: OT3HardwareControlAPI,
     mount: OT3Mount,
     search_axis: Union[Literal[Axis.X, Axis.Y]],
     found_edge: Point,
@@ -177,7 +177,7 @@ def critical_edge_offset(
 
 
 async def find_edge_binary(
-    hcapi: OT3API,
+    hcapi: OT3HardwareControlAPI,
     mount: OT3Mount,
     slot_edge_nominal: Point,
     search_axis: Union[Literal[Axis.X, Axis.Y]],
@@ -272,7 +272,7 @@ async def find_edge_binary(
 
 
 async def find_slot_center_binary(
-    hcapi: OT3API,
+    hcapi: OT3HardwareControlAPI,
     mount: OT3Mount,
     estimated_center: Point,
     raise_verify_error: bool = True,
@@ -337,7 +337,7 @@ async def find_slot_center_binary(
 
 
 async def find_calibration_structure_height(
-    hcapi: OT3API,
+    hcapi: OT3HardwareControlAPI,
     mount: OT3Mount,
     nominal_center: Point,
     probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,
@@ -365,7 +365,7 @@ async def find_calibration_structure_height(
 
 
 async def _probe_deck_at(
-    api: OT3API,
+    api: OT3HardwareControlAPI,
     mount: OT3Mount,
     target: Point,
     settings: CapacitivePassSettings,
@@ -390,7 +390,7 @@ async def _probe_deck_at(
 
 
 async def find_axis_center(
-    hcapi: OT3API,
+    hcapi: OT3HardwareControlAPI,
     mount: OT3Mount,
     minus_edge_nominal: Point,
     plus_edge_nominal: Point,
@@ -530,7 +530,7 @@ def _edges_from_data(
 
 
 async def find_slot_center_noncontact(
-    hcapi: OT3API, mount: OT3Mount, estimated_center: Point
+    hcapi: OT3HardwareControlAPI, mount: OT3Mount, estimated_center: Point
 ) -> Point:
     NONCONTACT_INTERVAL_MM: float = 0.1
     travel_center = estimated_center + Point(0, 0, NONCONTACT_INTERVAL_MM)
@@ -552,7 +552,7 @@ async def find_slot_center_noncontact(
 
 
 async def find_calibration_structure_center(
-    hcapi: OT3API,
+    hcapi: OT3HardwareControlAPI,
     mount: OT3Mount,
     nominal_center: Point,
     method: CalibrationMethod = CalibrationMethod.BINARY_SEARCH,
@@ -574,7 +574,7 @@ async def find_calibration_structure_center(
 
 
 async def _calibrate_mount(
-    hcapi: OT3API,
+    hcapi: OT3HardwareControlAPI,
     mount: OT3Mount,
     slot: int = SLOT_CENTER,
     method: CalibrationMethod = CalibrationMethod.BINARY_SEARCH,
@@ -641,7 +641,7 @@ async def _calibrate_mount(
 
 
 async def find_calibration_structure_position(
-    hcapi: OT3API,
+    hcapi: OT3HardwareControlAPI,
     mount: OT3Mount,
     nominal_center: Point,
     method: CalibrationMethod = CalibrationMethod.BINARY_SEARCH,
@@ -673,7 +673,7 @@ async def find_calibration_structure_position(
 
 
 async def find_slot_center_binary_from_nominal_center(
-    hcapi: OT3API,
+    hcapi: OT3HardwareControlAPI,
     mount: OT3Mount,
     slot: int,
 ) -> Tuple[Point, Point]:
@@ -698,7 +698,7 @@ async def find_slot_center_binary_from_nominal_center(
 
 
 async def _determine_transform_matrix(
-    hcapi: OT3API,
+    hcapi: OT3HardwareControlAPI,
     mount: OT3Mount,
 ) -> Tuple[types.AttitudeMatrix, Dict[str, Any]]:
     """
@@ -750,7 +750,7 @@ def gripper_pin_offsets_mean(front: Point, rear: Point) -> Point:
 
 
 async def calibrate_gripper_jaw(
-    hcapi: OT3API,
+    hcapi: OT3HardwareControlAPI,
     probe: GripperProbe,
     slot: int = 5,
     method: CalibrationMethod = CalibrationMethod.BINARY_SEARCH,
@@ -788,7 +788,7 @@ async def calibrate_gripper_jaw(
 
 
 async def calibrate_gripper(
-    hcapi: OT3API, offset_front: Point, offset_rear: Point
+    hcapi: OT3HardwareControlAPI, offset_front: Point, offset_rear: Point
 ) -> Point:
     """Calibrate gripper."""
     offset = gripper_pin_offsets_mean(front=offset_front, rear=offset_rear)
@@ -798,7 +798,7 @@ async def calibrate_gripper(
 
 
 async def find_pipette_offset(
-    hcapi: OT3API,
+    hcapi: OT3HardwareControlAPI,
     mount: Literal[OT3Mount.LEFT, OT3Mount.RIGHT],
     slot: int = 5,
     method: CalibrationMethod = CalibrationMethod.BINARY_SEARCH,
@@ -829,7 +829,7 @@ async def find_pipette_offset(
 
 
 async def calibrate_pipette(
-    hcapi: OT3API,
+    hcapi: OT3HardwareControlAPI,
     mount: Literal[OT3Mount.LEFT, OT3Mount.RIGHT],
     slot: int = 5,
     method: CalibrationMethod = CalibrationMethod.BINARY_SEARCH,
@@ -852,7 +852,7 @@ async def calibrate_pipette(
 
 
 async def calibrate_module(
-    hcapi: OT3API,
+    hcapi: OT3HardwareControlAPI,
     mount: OT3Mount,
     slot: str,
     module_id: str,
@@ -907,7 +907,7 @@ async def calibrate_module(
 
 
 async def calibrate_belts(
-    hcapi: OT3API,
+    hcapi: OT3HardwareControlAPI,
     mount: OT3Mount,
     pipette_id: str,
 ) -> Tuple[types.AttitudeMatrix, Dict[str, Any]]:
@@ -1005,7 +1005,7 @@ def validate_attitude_deck_calibration(
         return DeckTransformState.OK
 
 
-def delete_belt_calibration_data(hcapi: OT3API) -> None:
+def delete_belt_calibration_data(hcapi: OT3HardwareControlAPI) -> None:
     delete_robot_belt_attitude()
     hcapi.reset_deck_calibration()