fix logic problem when starting nozzle isn't A1

Opentrons · Nov 1, 2023 · a84f00b · a84f00b
1 parent 184d07c
commit a84f00b
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Showing 5 changed files with 126 additions and 103 deletions.
diff --git a/api/src/opentrons/hardware_control/api.py b/api/src/opentrons/hardware_control/api.py
@@ -1052,8 +1052,8 @@ async def blow_out(
     async def update_nozzle_configuration_for_mount(
         self,
         mount: top_types.Mount,
-        back_left_nozzle: Optional[str] = None,
-        front_right_nozzle: Optional[str] = None,
+        back_left_nozzle: Optional[str],
+        front_right_nozzle: Optional[str],
         starting_nozzle: Optional[str] = None,
     ) -> None:
         """
@@ -1076,6 +1076,7 @@ async def update_nozzle_configuration_for_mount(
         if not back_left_nozzle and not front_right_nozzle and not starting_nozzle:
             await self.reset_nozzle_configuration(mount)
         else:
+            # assert back_left_nozzle and front_right_nozzle
             await self.update_nozzle_configuration(
                 mount, back_left_nozzle, front_right_nozzle, starting_nozzle
             )

diff --git a/api/src/opentrons/hardware_control/nozzle_manager.py b/api/src/opentrons/hardware_control/nozzle_manager.py
@@ -115,6 +115,7 @@ def build(
         starting_nozzle: str,
         back_left_nozzle: str,
         front_right_nozzle: str,
+        origin_nozzle: Optional[str] = None,
     ) -> "NozzleMap":
         difference = (
             physical_nozzle_map[front_right_nozzle]
@@ -125,11 +126,21 @@ def build(
 
         map_store_list = list(physical_nozzle_map.items())
 
+        if origin_nozzle:
+            origin_difference = (
+                physical_nozzle_map[back_left_nozzle]
+                - physical_nozzle_map[origin_nozzle]
+            )
+            starting_col = int(abs(origin_difference[0] // INTERNOZZLE_SPACING))
+        else:
+            starting_col = 0
         map_store = OrderedDict(
             {
                 k: v
                 for i in range(x_columns_length)
-                for k, v in map_store_list[i * 8 : y_rows_length * (i + 1)]
+                for k, v in map_store_list[
+                    (i + starting_col) * 8 : y_rows_length * ((i + starting_col) + 1)
+                ]
             }
         )
         return cls(
@@ -267,6 +278,7 @@ def update_nozzle_configuration(
                 starting_nozzle=starting_nozzle or back_left_nozzle,
                 back_left_nozzle=back_left_nozzle,
                 front_right_nozzle=front_right_nozzle,
+                origin_nozzle=self._physical_nozzle_map.starting_nozzle,
             )
 
     def get_tip_configuration_current(self) -> float:

diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py
@@ -2291,6 +2291,7 @@ async def update_nozzle_configuration_for_mount(
                 OT3Mount.from_mount(mount)
             )
         else:
+            assert back_left_nozzle and front_right_nozzle
             await self._pipette_handler.update_nozzle_configuration(
                 OT3Mount.from_mount(mount),
                 back_left_nozzle,

diff --git a/api/src/opentrons/hardware_control/protocols/liquid_handler.py b/api/src/opentrons/hardware_control/protocols/liquid_handler.py
@@ -19,8 +19,8 @@ class LiquidHandler(
     async def update_nozzle_configuration_for_mount(
         self,
         mount: Mount,
-        back_left_nozzle: Optional[str] = None,
-        front_right_nozzle: Optional[str] = None,
+        back_left_nozzle: Optional[str],
+        front_right_nozzle: Optional[str],
         starting_nozzle: Optional[str] = None,
     ) -> None:
         """

diff --git a/api/tests/opentrons/hardware_control/instruments/test_nozzle_manager.py b/api/tests/opentrons/hardware_control/instruments/test_nozzle_manager.py
@@ -16,6 +16,106 @@ def build_nozzle_manger(
     )
 
 
+NINETY_SIX_CHANNEL_MAP = {
+    "A1": [-36.0, -25.5, -259.15],
+    "A2": [-27.0, -25.5, -259.15],
+    "A3": [-18.0, -25.5, -259.15],
+    "A4": [-9.0, -25.5, -259.15],
+    "A5": [0.0, -25.5, -259.15],
+    "A6": [9.0, -25.5, -259.15],
+    "A7": [18.0, -25.5, -259.15],
+    "A8": [27.0, -25.5, -259.15],
+    "A9": [36.0, -25.5, -259.15],
+    "A10": [45.0, -25.5, -259.15],
+    "A11": [54.0, -25.5, -259.15],
+    "A12": [63.0, -25.5, -259.15],
+    "B1": [-36.0, -34.5, -259.15],
+    "B2": [-27.0, -34.5, -259.15],
+    "B3": [-18.0, -34.5, -259.15],
+    "B4": [-9.0, -34.5, -259.15],
+    "B5": [0.0, -34.5, -259.15],
+    "B6": [9.0, -34.5, -259.15],
+    "B7": [18.0, -34.5, -259.15],
+    "B8": [27.0, -34.5, -259.15],
+    "B9": [36.0, -34.5, -259.15],
+    "B10": [45.0, -34.5, -259.15],
+    "B11": [54.0, -34.5, -259.15],
+    "B12": [63.0, -34.5, -259.15],
+    "C1": [-36.0, -43.5, -259.15],
+    "C2": [-27.0, -43.5, -259.15],
+    "C3": [-18.0, -43.5, -259.15],
+    "C4": [-9.0, -43.5, -259.15],
+    "C5": [0.0, -43.5, -259.15],
+    "C6": [9.0, -43.5, -259.15],
+    "C7": [18.0, -43.5, -259.15],
+    "C8": [27.0, -43.5, -259.15],
+    "C9": [36.0, -43.5, -259.15],
+    "C10": [45.0, -43.5, -259.15],
+    "C11": [54.0, -43.5, -259.15],
+    "C12": [63.0, -43.5, -259.15],
+    "D1": [-36.0, -52.5, -259.15],
+    "D2": [-27.0, -52.5, -259.15],
+    "D3": [-18.0, -52.5, -259.15],
+    "D4": [-9.0, -52.5, -259.15],
+    "D5": [0.0, -52.5, -259.15],
+    "D6": [9.0, -52.5, -259.15],
+    "D7": [18.0, -52.5, -259.15],
+    "D8": [27.0, -52.5, -259.15],
+    "D9": [36.0, -52.5, -259.15],
+    "D10": [45.0, -52.5, -259.15],
+    "D11": [54.0, -52.5, -259.15],
+    "D12": [63.0, -52.5, -259.15],
+    "E1": [-36.0, -61.5, -259.15],
+    "E2": [-27.0, -61.5, -259.15],
+    "E3": [-18.0, -61.5, -259.15],
+    "E4": [-9.0, -61.5, -259.15],
+    "E5": [0.0, -61.5, -259.15],
+    "E6": [9.0, -61.5, -259.15],
+    "E7": [18.0, -61.5, -259.15],
+    "E8": [27.0, -61.5, -259.15],
+    "E9": [36.0, -61.5, -259.15],
+    "E10": [45.0, -61.5, -259.15],
+    "E11": [54.0, -61.5, -259.15],
+    "E12": [63.0, -61.5, -259.15],
+    "F1": [-36.0, -70.5, -259.15],
+    "F2": [-27.0, -70.5, -259.15],
+    "F3": [-18.0, -70.5, -259.15],
+    "F4": [-9.0, -70.5, -259.15],
+    "F5": [0.0, -70.5, -259.15],
+    "F6": [9.0, -70.5, -259.15],
+    "F7": [18.0, -70.5, -259.15],
+    "F8": [27.0, -70.5, -259.15],
+    "F9": [36.0, -70.5, -259.15],
+    "F10": [45.0, -70.5, -259.15],
+    "F11": [54.0, -70.5, -259.15],
+    "F12": [63.0, -70.5, -259.15],
+    "G1": [-36.0, -79.5, -259.15],
+    "G2": [-27.0, -79.5, -259.15],
+    "G3": [-18.0, -79.5, -259.15],
+    "G4": [-9.0, -79.5, -259.15],
+    "G5": [0.0, -79.5, -259.15],
+    "G6": [9.0, -79.5, -259.15],
+    "G7": [18.0, -79.5, -259.15],
+    "G8": [27.0, -79.5, -259.15],
+    "G9": [36.0, -79.5, -259.15],
+    "G10": [45.0, -79.5, -259.15],
+    "G11": [54.0, -79.5, -259.15],
+    "G12": [63.0, -79.5, -259.15],
+    "H1": [-36.0, -88.5, -259.15],
+    "H2": [-27.0, -88.5, -259.15],
+    "H3": [-18.0, -88.5, -259.15],
+    "H4": [-9.0, -88.5, -259.15],
+    "H5": [0.0, -88.5, -259.15],
+    "H6": [9.0, -88.5, -259.15],
+    "H7": [18.0, -88.5, -259.15],
+    "H8": [27.0, -88.5, -259.15],
+    "H9": [36.0, -88.5, -259.15],
+    "H10": [45.0, -88.5, -259.15],
+    "H11": [54.0, -88.5, -259.15],
+    "H12": [63.0, -88.5, -259.15],
+}
+
+
 @pytest.mark.parametrize(
     argnames=["nozzle_map", "critical_point_configuration", "expected"],
     argvalues=[
@@ -34,104 +134,7 @@ def build_nozzle_manger(
             Point(-8.0, -47.5, -259.15),
         ],
         [
-            {
-                "A1": [-36.0, -25.5, -259.15],
-                "A2": [-27.0, -25.5, -259.15],
-                "A3": [-18.0, -25.5, -259.15],
-                "A4": [-9.0, -25.5, -259.15],
-                "A5": [0.0, -25.5, -259.15],
-                "A6": [9.0, -25.5, -259.15],
-                "A7": [18.0, -25.5, -259.15],
-                "A8": [27.0, -25.5, -259.15],
-                "A9": [36.0, -25.5, -259.15],
-                "A10": [45.0, -25.5, -259.15],
-                "A11": [54.0, -25.5, -259.15],
-                "A12": [63.0, -25.5, -259.15],
-                "B1": [-36.0, -34.5, -259.15],
-                "B2": [-27.0, -34.5, -259.15],
-                "B3": [-18.0, -34.5, -259.15],
-                "B4": [-9.0, -34.5, -259.15],
-                "B5": [0.0, -34.5, -259.15],
-                "B6": [9.0, -34.5, -259.15],
-                "B7": [18.0, -34.5, -259.15],
-                "B8": [27.0, -34.5, -259.15],
-                "B9": [36.0, -34.5, -259.15],
-                "B10": [45.0, -34.5, -259.15],
-                "B11": [54.0, -34.5, -259.15],
-                "B12": [63.0, -34.5, -259.15],
-                "C1": [-36.0, -43.5, -259.15],
-                "C2": [-27.0, -43.5, -259.15],
-                "C3": [-18.0, -43.5, -259.15],
-                "C4": [-9.0, -43.5, -259.15],
-                "C5": [0.0, -43.5, -259.15],
-                "C6": [9.0, -43.5, -259.15],
-                "C7": [18.0, -43.5, -259.15],
-                "C8": [27.0, -43.5, -259.15],
-                "C9": [36.0, -43.5, -259.15],
-                "C10": [45.0, -43.5, -259.15],
-                "C11": [54.0, -43.5, -259.15],
-                "C12": [63.0, -43.5, -259.15],
-                "D1": [-36.0, -52.5, -259.15],
-                "D2": [-27.0, -52.5, -259.15],
-                "D3": [-18.0, -52.5, -259.15],
-                "D4": [-9.0, -52.5, -259.15],
-                "D5": [0.0, -52.5, -259.15],
-                "D6": [9.0, -52.5, -259.15],
-                "D7": [18.0, -52.5, -259.15],
-                "D8": [27.0, -52.5, -259.15],
-                "D9": [36.0, -52.5, -259.15],
-                "D10": [45.0, -52.5, -259.15],
-                "D11": [54.0, -52.5, -259.15],
-                "D12": [63.0, -52.5, -259.15],
-                "E1": [-36.0, -61.5, -259.15],
-                "E2": [-27.0, -61.5, -259.15],
-                "E3": [-18.0, -61.5, -259.15],
-                "E4": [-9.0, -61.5, -259.15],
-                "E5": [0.0, -61.5, -259.15],
-                "E6": [9.0, -61.5, -259.15],
-                "E7": [18.0, -61.5, -259.15],
-                "E8": [27.0, -61.5, -259.15],
-                "E9": [36.0, -61.5, -259.15],
-                "E10": [45.0, -61.5, -259.15],
-                "E11": [54.0, -61.5, -259.15],
-                "E12": [63.0, -61.5, -259.15],
-                "F1": [-36.0, -70.5, -259.15],
-                "F2": [-27.0, -70.5, -259.15],
-                "F3": [-18.0, -70.5, -259.15],
-                "F4": [-9.0, -70.5, -259.15],
-                "F5": [0.0, -70.5, -259.15],
-                "F6": [9.0, -70.5, -259.15],
-                "F7": [18.0, -70.5, -259.15],
-                "F8": [27.0, -70.5, -259.15],
-                "F9": [36.0, -70.5, -259.15],
-                "F10": [45.0, -70.5, -259.15],
-                "F11": [54.0, -70.5, -259.15],
-                "F12": [63.0, -70.5, -259.15],
-                "G1": [-36.0, -79.5, -259.15],
-                "G2": [-27.0, -79.5, -259.15],
-                "G3": [-18.0, -79.5, -259.15],
-                "G4": [-9.0, -79.5, -259.15],
-                "G5": [0.0, -79.5, -259.15],
-                "G6": [9.0, -79.5, -259.15],
-                "G7": [18.0, -79.5, -259.15],
-                "G8": [27.0, -79.5, -259.15],
-                "G9": [36.0, -79.5, -259.15],
-                "G10": [45.0, -79.5, -259.15],
-                "G11": [54.0, -79.5, -259.15],
-                "G12": [63.0, -79.5, -259.15],
-                "H1": [-36.0, -88.5, -259.15],
-                "H2": [-27.0, -88.5, -259.15],
-                "H3": [-18.0, -88.5, -259.15],
-                "H4": [-9.0, -88.5, -259.15],
-                "H5": [0.0, -88.5, -259.15],
-                "H6": [9.0, -88.5, -259.15],
-                "H7": [18.0, -88.5, -259.15],
-                "H8": [27.0, -88.5, -259.15],
-                "H9": [36.0, -88.5, -259.15],
-                "H10": [45.0, -88.5, -259.15],
-                "H11": [54.0, -88.5, -259.15],
-                "H12": [63.0, -88.5, -259.15],
-            },
+            NINETY_SIX_CHANNEL_MAP,
             CriticalPoint.XY_CENTER,
             Point(13.5, -57.0, -259.15),
         ],
@@ -176,6 +179,12 @@ def test_update_nozzles_with_critical_points(
             pytest.raises(nozzle_manager.IncompatibleNozzleConfiguration),
             Point(1, 1, 1),
         ],
+        [
+            NINETY_SIX_CHANNEL_MAP,
+            ("A12", "H12"),
+            does_not_raise(),
+            Point(x=63.0, y=-25.5, z=-259.15),
+        ],
     ],
 )
 def test_update_nozzle_configuration(