Merge branch 'edge' into feat-hardware-testing-acceleration-in-liquid…

…-class

api/src/opentrons/drivers/rpi_drivers/types.py

@@ -111,7 +111,7 @@ def find_hub(
                 if (board_revision == BoardRevision.FLEX_B2) and (
                     hub == FLEX_B2_USB_PORT_GROUP_FRONT
                 ):
-                    port = 1
+                    port = 9
                     hub_port = int(port_info[2])
                 else:
                     port = int(port_info[2])
@@ -120,7 +120,7 @@ def find_hub(
             if board_revision == BoardRevision.FLEX_B2:
                 port_info = port_nodes[0].split(".")
                 hub = int(port_info[1])
-                port = 1
+                port = 9
                 hub_port = None
                 name = port_nodes[0]
             else:

api/src/opentrons/hardware_control/api.py

@@ -24,7 +24,7 @@
 from opentrons import types as top_types
 from opentrons.config import robot_configs
 from opentrons.config.types import RobotConfig, OT3Config
-from opentrons.drivers.rpi_drivers.types import USBPort
+from opentrons.drivers.rpi_drivers.types import USBPort, PortGroup
 
 from .util import use_or_initialize_loop, check_motion_bounds
 from .instruments.ot2.pipette import (
@@ -1117,7 +1117,7 @@ async def create_simulating_module(
 
         return await self._backend.module_controls.build_module(
             port="",
-            usb_port=USBPort(name="", port_number=0),
+            usb_port=USBPort(name="", port_number=1, port_group=PortGroup.MAIN),
             type=modules.ModuleType.from_model(model),
             sim_model=model.value,
         )

api/src/opentrons/hardware_control/emulation/module_server/helpers.py

@@ -83,9 +83,7 @@ def _next_index() -> int:
             ModuleAtPort(
                 port=c.url,
                 name=c.module_type,
-                usb_port=USBPort(
-                    name=c.identifier, port_number=0, hub=True, hub_port=_next_index()
-                ),
+                usb_port=USBPort(name=c.identifier, port_number=_next_index()),
             )
             for c in message.connections
         ]

api/src/opentrons/hardware_control/ot3api.py

@@ -43,7 +43,7 @@
     CapacitivePassSettings,
     LiquidProbeSettings,
 )
-from opentrons.drivers.rpi_drivers.types import USBPort
+from opentrons.drivers.rpi_drivers.types import USBPort, PortGroup
 from opentrons_hardware.hardware_control.motion_planning import (
     Move,
     MoveManager,
@@ -142,9 +142,7 @@
     InstrumentDict,
     GripperDict,
 )
-from opentrons_hardware.hardware_control.motion_planning.move_utils import (
-    MoveConditionNotMet,
-)
+
 
 from .status_bar_state import StatusBarStateController
 
@@ -485,7 +483,7 @@ async def create_simulating_module(
 
         return await self._backend.module_controls.build_module(
             port="",
-            usb_port=USBPort(name="", port_number=0),
+            usb_port=USBPort(name="", port_number=1, port_group=PortGroup.LEFT),
             type=modules.ModuleType.from_model(model),
             sim_model=model.value,
         )
@@ -1227,7 +1225,7 @@ async def _home(self, axes: Sequence[OT3Axis]) -> None:
                 except ZeroLengthMoveError:
                     self._log.info(f"{axis} already at home position, skip homing")
                     continue
-                except (MoveConditionNotMet, Exception) as e:
+                except BaseException as e:
                     self._log.exception(f"Homing failed: {e}")
                     self._current_position.clear()
                     raise

api/src/opentrons/protocol_api/core/engine/labware.py

@@ -6,6 +6,8 @@
     LabwareDefinition as LabwareDefinitionDict,
 )
 
+from opentrons_shared_data.labware.labware_definition import LabwareRole
+
 from opentrons.protocol_engine.errors import LabwareNotOnDeckError, ModuleNotOnDeckError
 from opentrons.protocol_engine.clients import SyncClient as ProtocolEngineClient
 from opentrons.types import DeckSlotName, Point
@@ -98,6 +100,10 @@ def is_tip_rack(self) -> bool:
         """Whether the labware is a tip rack."""
         return self._definition.parameters.isTiprack
 
+    def is_adapter(self) -> bool:
+        """Whether the labware is an adapter."""
+        return LabwareRole.adapter in self._definition.allowedRoles
+
     def is_fixed_trash(self) -> bool:
         """Whether the labware is a fixed trash."""
         return self._engine_client.state.labware.is_fixed_trash(

api/src/opentrons/protocol_api/core/engine/protocol.py

@@ -20,6 +20,7 @@
 from opentrons.protocol_engine import (
     DeckSlotLocation,
     ModuleLocation,
+    OnLabwareLocation,
     ModuleModel as EngineModuleModel,
     LabwareMovementStrategy,
     LabwareOffsetVector,
@@ -30,10 +31,12 @@
     ModuleModel as ProtocolEngineModuleModel,
     OFF_DECK_LOCATION,
     LabwareLocation,
+    NonStackedLocation,
 )
 from opentrons.protocol_engine.clients import SyncClient as ProtocolEngineClient
 from opentrons.protocol_engine.errors import (
     LabwareNotLoadedOnModuleError,
+    LabwareNotLoadedOnLabwareError,
 )
 
 from ... import validation
@@ -134,7 +137,9 @@ def add_labware_definition(
     def load_labware(
         self,
         load_name: str,
-        location: Union[DeckSlotName, ModuleCore, NonConnectedModuleCore, OffDeckType],
+        location: Union[
+            DeckSlotName, LabwareCore, ModuleCore, NonConnectedModuleCore, OffDeckType
+        ],
         label: Optional[str],
         namespace: Optional[str],
         version: Optional[int],
@@ -193,12 +198,59 @@ def load_labware(
 
         return labware_core
 
+    def load_adapter(
+        self,
+        load_name: str,
+        location: Union[DeckSlotName, ModuleCore, NonConnectedModuleCore, OffDeckType],
+        namespace: Optional[str],
+        version: Optional[int],
+    ) -> LabwareCore:
+        """Load an adapter using its identifying parameters"""
+        load_location = self._get_non_stacked_location(location=location)
+
+        custom_labware_params = (
+            self._engine_client.state.labware.find_custom_labware_load_params()
+        )
+        namespace, version = load_labware_params.resolve(
+            load_name, namespace, version, custom_labware_params
+        )
+
+        load_result = self._engine_client.load_adapter(
+            load_name=load_name,
+            location=load_location,
+            namespace=namespace,
+            version=version,
+        )
+
+        # FIXME(jbl, 2023-06-23) read fixme above:
+        deck_conflict.check(
+            engine_state=self._engine_client.state,
+            new_labware_id=load_result.adapterId,
+            # It's important that we don't fetch these IDs from Protocol Engine, and
+            # use our own bookkeeping instead. If we fetched these IDs from Protocol
+            # Engine, it would have leaked state from Labware Position Check in the
+            # same HTTP run.
+            #
+            # Wrapping .keys() in list() is just to make Decoy verification easier.
+            existing_labware_ids=list(self._labware_cores_by_id.keys()),
+            existing_module_ids=list(self._module_cores_by_id.keys()),
+        )
+
+        labware_core = LabwareCore(
+            labware_id=load_result.adapterId,
+            engine_client=self._engine_client,
+        )
+
+        self._labware_cores_by_id[labware_core.labware_id] = labware_core
+
+        return labware_core
+
     # TODO (spp, 2022-12-14): https://opentrons.atlassian.net/browse/RLAB-237
     def move_labware(
         self,
         labware_core: LabwareCore,
         new_location: Union[
-            DeckSlotName, ModuleCore, NonConnectedModuleCore, OffDeckType
+            DeckSlotName, LabwareCore, ModuleCore, NonConnectedModuleCore, OffDeckType
         ],
         use_gripper: bool,
         use_pick_up_location_lpc_offset: bool,
@@ -455,6 +507,18 @@ def get_labware_on_module(
         except LabwareNotLoadedOnModuleError:
             return None
 
+    def get_labware_on_labware(
+        self, labware_core: LabwareCore
+    ) -> Optional[LabwareCore]:
+        """Get the item on top of a given labware, if any."""
+        try:
+            labware_id = self._engine_client.state.labware.get_id_by_labware(
+                labware_core.labware_id
+            )
+            return self._labware_cores_by_id[labware_id]
+        except LabwareNotLoadedOnLabwareError:
+            return None
+
     def get_slot_center(self, slot_name: DeckSlotName) -> Point:
         """Get the absolute coordinate of a slot's center."""
         return self._engine_client.state.labware.get_slot_center_position(slot_name)
@@ -493,7 +557,7 @@ def define_liquid(
 
     def get_labware_location(
         self, labware_core: LabwareCore
-    ) -> Union[str, ModuleCore, NonConnectedModuleCore, OffDeckType]:
+    ) -> Union[str, LabwareCore, ModuleCore, NonConnectedModuleCore, OffDeckType]:
         """Get labware parent location."""
         labware_location = self._engine_client.state.labware.get_location(
             labware_core.labware_id
@@ -504,13 +568,26 @@ def get_labware_location(
             )
         elif isinstance(labware_location, ModuleLocation):
             return self._module_cores_by_id[labware_location.moduleId]
+        elif isinstance(labware_location, OnLabwareLocation):
+            return self._labware_cores_by_id[labware_location.labwareId]
 
         return OffDeckType.OFF_DECK
 
-    @staticmethod
     def _convert_labware_location(
-        location: Union[DeckSlotName, ModuleCore, NonConnectedModuleCore, OffDeckType]
+        self,
+        location: Union[
+            DeckSlotName, LabwareCore, ModuleCore, NonConnectedModuleCore, OffDeckType
+        ],
     ) -> LabwareLocation:
+        if isinstance(location, LabwareCore):
+            return OnLabwareLocation(labwareId=location.labware_id)
+        else:
+            return self._get_non_stacked_location(location)
+
+    @staticmethod
+    def _get_non_stacked_location(
+        location: Union[DeckSlotName, ModuleCore, NonConnectedModuleCore, OffDeckType]
+    ) -> NonStackedLocation:
         if isinstance(location, (ModuleCore, NonConnectedModuleCore)):
             return ModuleLocation(moduleId=location.module_id)
         elif location is OffDeckType.OFF_DECK:

api/src/opentrons/protocol_api/core/labware.py

@@ -90,11 +90,15 @@ def get_calibrated_offset(self) -> Point:
 
     @abstractmethod
     def is_tip_rack(self) -> bool:
-        "Whether the labware is a tip rack."
+        """Whether the labware is a tip rack."""
+
+    @abstractmethod
+    def is_adapter(self) -> bool:
+        """Whether the labware is an adapter."""
 
     @abstractmethod
     def is_fixed_trash(self) -> bool:
-        "Whether the labware is a fixed trash."
+        """Whether the labware is a fixed trash."""
 
     @abstractmethod
     def get_tip_length(self) -> float:

api/src/opentrons/protocol_api/core/legacy/legacy_labware_core.py

@@ -134,6 +134,9 @@ def get_calibrated_offset(self) -> Point:
     def is_tip_rack(self) -> bool:
         return self._parameters["isTiprack"]
 
+    def is_adapter(self) -> bool:
+        return False  # Adapters were introduced in v2.15 and not supported in legacy protocols
+
     def is_fixed_trash(self) -> bool:
         """Whether the labware is fixed trash."""
         return "fixedTrash" in self.get_quirks()

api/src/opentrons/protocol_api/core/legacy/legacy_protocol_core.py

@@ -147,7 +147,12 @@ def add_labware_definition(
     def load_labware(
         self,
         load_name: str,
-        location: Union[DeckSlotName, legacy_module_core.LegacyModuleCore, OffDeckType],
+        location: Union[
+            DeckSlotName,
+            LegacyLabwareCore,
+            legacy_module_core.LegacyModuleCore,
+            OffDeckType,
+        ],
         label: Optional[str],
         namespace: Optional[str],
         version: Optional[int],
@@ -157,6 +162,10 @@ def load_labware(
             raise APIVersionError(
                 "Loading a labware off deck is only supported with apiLevel 2.15 and newer."
             )
+        elif isinstance(location, LegacyLabwareCore):
+            raise APIVersionError(
+                "Loading a labware onto another labware or adapter is only supported with api version 2.15 and above"
+            )
 
         deck_slot = (
             location if isinstance(location, DeckSlotName) else location.get_deck_slot()
@@ -224,12 +233,25 @@ def load_labware(
 
         return labware_core
 
+    def load_adapter(
+        self,
+        load_name: str,
+        location: Union[DeckSlotName, legacy_module_core.LegacyModuleCore, OffDeckType],
+        namespace: Optional[str],
+        version: Optional[int],
+    ) -> LegacyLabwareCore:
+        """Load an adapter using its identifying parameters"""
+        raise APIVersionError("Loading adapter is not supported in this API version.")
+
     # TODO (spp, 2022-12-14): https://opentrons.atlassian.net/browse/RLAB-237
     def move_labware(
         self,
         labware_core: LegacyLabwareCore,
         new_location: Union[
-            DeckSlotName, legacy_module_core.LegacyModuleCore, OffDeckType
+            DeckSlotName,
+            LegacyLabwareCore,
+            legacy_module_core.LegacyModuleCore,
+            OffDeckType,
         ],
         use_gripper: bool,
         use_pick_up_location_lpc_offset: bool,
@@ -424,6 +446,11 @@ def get_labware_on_module(
         labware = module_core.geometry.labware
         return cast(LegacyLabwareCore, labware._core) if labware is not None else None
 
+    def get_labware_on_labware(
+        self, labware_core: LegacyLabwareCore
+    ) -> Optional[LegacyLabwareCore]:
+        assert False, "get_labware_on_labware only supported on engine core"
+
     def get_deck_definition(self) -> DeckDefinitionV3:
         """Get the geometry definition of the robot's deck."""
         assert False, "get_deck_definition only supported on engine core"
@@ -450,6 +477,8 @@ def define_liquid(
 
     def get_labware_location(
         self, labware_core: LegacyLabwareCore
-    ) -> Union[str, legacy_module_core.LegacyModuleCore, OffDeckType]:
+    ) -> Union[
+        str, LegacyLabwareCore, legacy_module_core.LegacyModuleCore, OffDeckType
+    ]:
         """Get labware parent location."""
         assert False, "get_labware_location only supported on engine core"