tip overlap by dict fix for v3_6 p1000 and engine updates to reflect …

…arch change

api/src/opentrons/hardware_control/dev_types.py

@@ -83,7 +83,7 @@ class PipetteDict(InstrumentDict):
     current_volume: float
     tip_length: float
     working_volume: float
-    tip_overlap: float
+    tip_overlap: Dict[str, float]
     available_volume: float
     return_tip_height: float
     default_aspirate_flow_rates: Dict[str, float]

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

@@ -154,7 +154,9 @@ def __init__(
             self._active_tip_settings.default_blowout_flowrate.default
         )
 
-        self._tip_overlap = self.get_nominal_tip_overlap_by_configuration()
+        self._tip_overlap_dictionary = (
+            self.get_nominal_tip_overlap_dictionary_by_configuration()
+        )
 
         if use_old_aspiration_functions:
             self._pipetting_function_version = PIPETTING_FUNCTION_FALLBACK_VERSION
@@ -222,8 +224,8 @@ def pipette_offset(self) -> PipetteOffsetByPipetteMount:
         return self._pipette_offset
 
     @property
-    def tip_overlap(self) -> float:
-        return self._tip_overlap
+    def tip_overlap(self) -> Dict[str, float]:
+        return self._tip_overlap_dictionary
 
     @property
     def channels(self) -> pip_types.PipetteChannelType:
@@ -296,7 +298,9 @@ def reset_state(self) -> None:
             self.active_tip_settings.default_blowout_flowrate.default
         )
 
-        self._tip_overlap = self.get_nominal_tip_overlap_by_configuration()
+        self._tip_overlap_dictionary = (
+            self.get_nominal_tip_overlap_dictionary_by_configuration()
+        )
 
         self._nozzle_manager = (
             nozzle_manager.NozzleConfigurationManager.build_from_config(self._config)
@@ -552,9 +556,17 @@ def get_pick_up_speed_by_configuration(
                 "Pick up tip speed request error. Nozzle Configuration does not match any approved map layout for the current pipette."
             )
 
-        return config.configuration_by_nozzle_map[approved_map][
-            pip_types.PipetteTipType(self._liquid_class.max_volume).name
-        ].speed
+        try:
+            return config.configuration_by_nozzle_map[approved_map][
+                pip_types.PipetteTipType(self._liquid_class.max_volume).name
+            ].speed
+        except KeyError:
+            default = config.configuration_by_nozzle_map[approved_map].get("default")
+            if default is not None:
+                return default.speed
+            raise KeyError(
+                f"Default tip type configuration values do not exist for Nozzle Map {approved_map}."
+            )
 
     def get_pick_up_distance_by_configuration(
         self,
@@ -566,7 +578,7 @@ def get_pick_up_distance_by_configuration(
             return config.configuration_by_nozzle_map[approved_map][
                 pip_types.PipetteTipType(self._liquid_class.max_volume).name
             ].distance
-        except:
+        except KeyError:
             default = config.configuration_by_nozzle_map[approved_map].get("default")
             if default is not None:
                 return default.distance
@@ -584,17 +596,17 @@ def get_pick_up_current_by_configuration(
             return config.configuration_by_nozzle_map[approved_map][
                 pip_types.PipetteTipType(self._liquid_class.max_volume).name
             ].current
-        except:
+        except KeyError:
             default = config.configuration_by_nozzle_map[approved_map].get("default")
             if default is not None:
                 return default.current
             raise KeyError(
                 f"Default tip type configuration values do not exist for Nozzle Map {approved_map}."
             )
 
-    def get_nominal_tip_overlap_by_configuration(
+    def get_nominal_tip_overlap_dictionary_by_configuration(
         self,
-    ) -> float:
+    ) -> Dict[str, float]:
         for config in (
             self._config.pick_up_tip_configurations.press_fit,
             self._config.pick_up_tip_configurations.cam_action,
@@ -606,18 +618,22 @@ def get_nominal_tip_overlap_by_configuration(
             try:
                 return config.configuration_by_nozzle_map[approved_map][
                     pip_types.PipetteTipType(self._liquid_class.max_volume).name
-                ].tip_overlap
-            except:
-                default = config.configuration_by_nozzle_map[approved_map].get(
-                    "default"
-                )
-                if default is not None:
-                    return default.tip_overlap
-                raise KeyError(
-                    f"Default tip type configuration values do not exist for Nozzle Map {approved_map}."
-                )
+                ].tip_overlap_dictionary
+            except KeyError:
+                try:
+                    default = config.configuration_by_nozzle_map[approved_map].get(
+                        "default"
+                    )
+                    if default is not None:
+                        return default.tip_overlap_dictionary
+                    raise KeyError(
+                        f"Default tip type configuration values do not exist for Nozzle Map {approved_map}."
+                    )
+                except KeyError:
+                    # No valid key found for the approved nozzle map under this configuration - try the next
+                    continue
         raise CommandPreconditionViolated(
-            message=f"No valid pick-up tip configuration found.",
+            message="No valid tip overlap dictionary identified.",
         )
 
     # Cache max is chosen somewhat arbitrarily. With a float is input we don't

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

@@ -138,7 +138,9 @@ def __init__(
         )
         self._flow_acceleration = self._active_tip_settings.default_flow_acceleration
 
-        self._tip_overlap = self.get_nominal_tip_overlap_by_configuration()
+        self._tip_overlap_dictionary = (
+            self.get_nominal_tip_overlap_dictionary_by_configuration()
+        )
 
         if use_old_aspiration_functions:
             self._pipetting_function_version = PIPETTING_FUNCTION_FALLBACK_VERSION
@@ -166,8 +168,8 @@ def backlash_distance(self) -> float:
         return self._backlash_distance
 
     @property
-    def tip_overlap(self) -> float:
-        return self._tip_overlap
+    def tip_overlap(self) -> Dict[str, float]:
+        return self._tip_overlap_dictionary
 
     @property
     def nozzle_offset(self) -> Point:
@@ -259,7 +261,9 @@ def reset_state(self) -> None:
         )
         self._flow_acceleration = self._active_tip_settings.default_flow_acceleration
 
-        self._tip_overlap = self.get_nominal_tip_overlap_by_configuration()
+        self._tip_overlap_dictionary = (
+            self.get_nominal_tip_overlap_dictionary_by_configuration()
+        )
         self._nozzle_manager = (
             nozzle_manager.NozzleConfigurationManager.build_from_config(self._config)
         )
@@ -660,7 +664,9 @@ def set_tip_type(self, tip_type: pip_types.PipetteTipType) -> None:
         self._flow_acceleration = self._active_tip_settings.default_flow_acceleration
 
         self._fallback_tip_length = self._active_tip_settings.default_tip_length
-        self._tip_overlap = self.get_nominal_tip_overlap_by_configuration()
+        self._tip_overlap_dictionary = (
+            self.get_nominal_tip_overlap_dictionary_by_configuration()
+        )
         self._working_volume = min(tip_type.value, self.liquid_class.max_volume)
 
     def _get_matching_approved_nozzle_map(self) -> str:
@@ -720,7 +726,7 @@ def get_pick_up_speed_by_configuration(
             return config.configuration_by_nozzle_map[approved_map][
                 self._active_tip_setting_name.name
             ].speed
-        except:
+        except KeyError:
             default = config.configuration_by_nozzle_map[approved_map].get("default")
             if default is not None:
                 return default.speed
@@ -738,10 +744,8 @@ def get_pick_up_distance_by_configuration(
             return config.configuration_by_nozzle_map[approved_map][
                 self._active_tip_setting_name.name
             ].distance
-        except:
-            default = config.configuration_by_nozzle_map[approved_map].get(
-                "default"
-            )
+        except KeyError:
+            default = config.configuration_by_nozzle_map[approved_map].get("default")
             if default is not None:
                 return default.distance
             raise KeyError(
@@ -758,17 +762,15 @@ def get_pick_up_current_by_configuration(
             return config.configuration_by_nozzle_map[approved_map][
                 self._active_tip_setting_name.name
             ].current
-        except:
-            default = config.configuration_by_nozzle_map[approved_map].get(
-                "default"
-            )
+        except KeyError:
+            default = config.configuration_by_nozzle_map[approved_map].get("default")
             if default is not None:
                 return default.current
             raise KeyError(
                 f"Default tip type configuration values do not exist for Nozzle Map {approved_map}."
             )
 
-    def get_nominal_tip_overlap_by_configuration(self) -> float:
+    def get_nominal_tip_overlap_dictionary_by_configuration(self) -> Dict[str, float]:
         for config in (
             self._config.pick_up_tip_configurations.press_fit,
             self._config.pick_up_tip_configurations.cam_action,
@@ -780,22 +782,22 @@ def get_nominal_tip_overlap_by_configuration(self) -> float:
             try:
                 return config.configuration_by_nozzle_map[approved_map][
                     self._active_tip_setting_name.name
-                ].tip_overlap
-            except:
+                ].tip_overlap_dictionary
+            except KeyError:
                 try:
                     default = config.configuration_by_nozzle_map[approved_map].get(
                         "default"
                     )
                     if default is not None:
-                        return default.tip_overlap
+                        return default.tip_overlap_dictionary
                     raise KeyError(
                         f"Default tip type configuration values do not exist for Nozzle Map {approved_map}."
                     )
-                except:
+                except KeyError:
                     # No valid key found for the approved nozzle map under this configuration - try the next
                     continue
         raise CommandPreconditionViolated(
-            message=f"No valid pick-up tip configuration found.",
+            message="No valid tip overlap dictionary identified.",
         )
 
 

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

@@ -36,7 +36,7 @@ class LoadedStaticPipetteData:
     tip_configuration_lookup_table: Dict[
         float, pipette_definition.SupportedTipsDefinition
     ]
-    nominal_tip_overlap: float
+    nominal_tip_overlap: Dict[str, float]
     nozzle_map: NozzleMap
     back_left_corner_offset: Point
     front_right_corner_offset: Point
@@ -127,7 +127,7 @@ def _get_virtual_pipette_full_config_by_model_string(
             pipette_model.pipette_version,
         )
 
-    def _get_virtual_pipette_static_config_by_model(
+    def _get_virtual_pipette_static_config_by_model(  # noqa: C901
         self, pipette_model: pipette_definition.PipetteModelVersionType, pipette_id: str
     ) -> LoadedStaticPipetteData:
         if pipette_id not in self._liquid_class_by_id:
@@ -157,7 +157,7 @@ def _get_virtual_pipette_static_config_by_model(
         )
         nozzle_manager = NozzleConfigurationManager.build_from_config(config)
 
-        tip_overlap_for_tip_type = None
+        tip_overlap_dict_for_tip_type = None
         for configuration in (
             config.pick_up_tip_configurations.press_fit,
             config.pick_up_tip_configurations.cam_action,
@@ -178,23 +178,25 @@ def _get_virtual_pipette_static_config_by_model(
 
             if configuration is not None:
                 try:
-                    tip_overlap_for_tip_type = (
+                    tip_overlap_dict_for_tip_type = (
                         configuration.configuration_by_nozzle_map[approved_map][
                             tip_type.name
-                        ].tip_overlap
+                        ].tip_overlap_dictionary
                     )
                     break
-                except:
+                except KeyError:
                     try:
                         default = configuration.configuration_by_nozzle_map[
                             approved_map
                         ].get("default")
                         if default is not None:
-                            tip_overlap_for_tip_type = default.tip_overlap
+                            tip_overlap_dict_for_tip_type = (
+                                default.tip_overlap_dictionary
+                            )
                             break
-                    except:
-                        tip_overlap_for_tip_type = None
-        if tip_overlap_for_tip_type is None:
+                    except KeyError:
+                        tip_overlap_dict_for_tip_type = None
+        if tip_overlap_dict_for_tip_type is None:
             raise ValueError(
                 "Virtual Static Nozzle Configuration does not have a valid pick up tip configuration."
             )
@@ -220,7 +222,7 @@ def _get_virtual_pipette_static_config_by_model(
                 default_aspirate=tip_configuration.default_aspirate_flowrate.values_by_api_level,
                 default_dispense=tip_configuration.default_dispense_flowrate.values_by_api_level,
             ),
-            nominal_tip_overlap=tip_overlap_for_tip_type,
+            nominal_tip_overlap=tip_overlap_dict_for_tip_type,
             nozzle_map=nozzle_manager.current_configuration,
             back_left_corner_offset=Point(
                 pip_back_left[0], pip_back_left[1], pip_back_left[2]

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

@@ -457,7 +457,10 @@ def get_nominal_effective_tip_length(
         tip overlaps with the pipette nozzle. This does not take calibrated
         tip lengths into account.
         """
-        nominal_overlap = self._pipettes.get_nominal_tip_overlap(pipette_id=pipette_id)
+        labware_uri = self._labware.get_definition_uri(labware_id)
+        nominal_overlap = self._pipettes.get_nominal_tip_overlap(
+            pipette_id=pipette_id, labware_uri=labware_uri
+        )
 
         return self._labware.get_tip_length(
             labware_id=labware_id, overlap=nominal_overlap

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

@@ -106,7 +106,7 @@ class StaticPipetteConfig:
     tip_configuration_lookup_table: Dict[
         float, pipette_definition.SupportedTipsDefinition
     ]
-    nominal_tip_overlap: float
+    nominal_tip_overlap: Dict[str, float]
     home_position: float
     nozzle_offset_z: float
     pipette_bounding_box_offsets: PipetteBoundingBoxOffsets
@@ -649,10 +649,14 @@ def get_flow_rates(self, pipette_id: str) -> FlowRates:
                 f"Pipette {pipette_id} not found; unable to get pipette flow rates."
             ) from e
 
-    def get_nominal_tip_overlap(self, pipette_id: str) -> float:
+    def get_nominal_tip_overlap(self, pipette_id: str, labware_uri: str) -> float:
         """Get the nominal tip overlap for a given labware from config."""
-        nominal_tip_overlap = self.get_config(pipette_id).nominal_tip_overlap
-        return nominal_tip_overlap
+        tip_overlaps_by_uri = self.get_config(pipette_id).nominal_tip_overlap
+
+        try:
+            return tip_overlaps_by_uri[labware_uri]
+        except KeyError:
+            return tip_overlaps_by_uri.get("default", 0)
 
     def get_z_axis(self, pipette_id: str) -> MotorAxis:
         """Get the MotorAxis representing this pipette's Z stage."""

api/src/opentrons/protocols/api_support/instrument.py

@@ -64,7 +64,10 @@ def tip_length_for(
             pipette["pipette_id"], tip_rack_definition
         ).tip_length
     except TipLengthCalNotFound:
-        tip_overlap = pipette["tip_overlap"]
+        tip_overlap = pipette["tip_overlap"].get(
+            uri_from_definition(tip_rack_definition),
+            pipette["tip_overlap"]["default"],
+        )
         tip_length = tip_rack_definition["parameters"]["tipLength"]
         return tip_length - tip_overlap