refactor(api): Allow adding/removing tips on HW API without await (#…

…16530)

api/src/opentrons/hardware_control/api.py

@@ -1285,7 +1285,7 @@ async def drop_tip(self, mount: top_types.Mount, home_after: bool = True) -> Non
         instrument.set_current_volume(0)
 
         self.set_current_tiprack_diameter(mount, 0.0)
-        await self.remove_tip(mount)
+        self.remove_tip(mount)
 
     async def create_simulating_module(
         self,

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

@@ -415,7 +415,7 @@ async def reset_nozzle_configuration(self, mount: MountType) -> None:
         if instr:
             instr.reset_nozzle_configuration()
 
-    async def add_tip(self, mount: MountType, tip_length: float) -> None:
+    def add_tip(self, mount: MountType, tip_length: float) -> None:
         instr = self._attached_instruments[mount]
         attached = self.attached_instruments
         instr_dict = attached[mount]
@@ -430,7 +430,7 @@ async def add_tip(self, mount: MountType, tip_length: float) -> None:
                 f"attach tip called while tip already attached to {instr}"
             )
 
-    async def remove_tip(self, mount: MountType) -> None:
+    def remove_tip(self, mount: MountType) -> None:
         instr = self._attached_instruments[mount]
         attached = self.attached_instruments
         instr_dict = attached[mount]

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

@@ -425,7 +425,7 @@ async def reset_nozzle_configuration(self, mount: OT3Mount) -> None:
         if instr:
             instr.reset_nozzle_configuration()
 
-    async def add_tip(self, mount: OT3Mount, tip_length: float) -> None:
+    def add_tip(self, mount: OT3Mount, tip_length: float) -> None:
         instr = self._attached_instruments[mount]
         attached = self.attached_instruments
         instr_dict = attached[mount]
@@ -440,7 +440,7 @@ async def add_tip(self, mount: OT3Mount, tip_length: float) -> None:
                 "attach tip called while tip already attached to {instr}"
             )
 
-    async def remove_tip(self, mount: OT3Mount) -> None:
+    def remove_tip(self, mount: OT3Mount) -> None:
         instr = self._attached_instruments[mount]
         attached = self.attached_instruments
         instr_dict = attached[mount]

api/src/opentrons/hardware_control/ot3_calibration.py

@@ -819,13 +819,13 @@ async def find_pipette_offset(
     try:
         if reset_instrument_offset:
             await hcapi.reset_instrument_offset(mount)
-        await hcapi.add_tip(mount, hcapi.config.calibration.probe_length)
+        hcapi.add_tip(mount, hcapi.config.calibration.probe_length)
         offset = await _calibrate_mount(
             hcapi, mount, slot, method, raise_verify_error, probe=probe
         )
         return offset
     finally:
-        await hcapi.remove_tip(mount)
+        hcapi.remove_tip(mount)
 
 
 async def calibrate_pipette(
@@ -877,7 +877,7 @@ async def calibrate_module(
         if mount == OT3Mount.GRIPPER:
             hcapi.add_gripper_probe(GripperProbe.FRONT)
         else:
-            await hcapi.add_tip(mount, hcapi.config.calibration.probe_length)
+            hcapi.add_tip(mount, hcapi.config.calibration.probe_length)
 
         LOG.info(
             f"Starting module calibration for {module_id} at {nominal_position} using {mount}"
@@ -903,7 +903,7 @@ async def calibrate_module(
             hcapi.remove_gripper_probe()
             await hcapi.ungrip()
         else:
-            await hcapi.remove_tip(mount)
+            hcapi.remove_tip(mount)
 
 
 async def calibrate_belts(
@@ -927,15 +927,15 @@ async def calibrate_belts(
         raise RuntimeError("Must use pipette mount, not gripper")
     try:
         hcapi.reset_deck_calibration()
-        await hcapi.add_tip(mount, hcapi.config.calibration.probe_length)
+        hcapi.add_tip(mount, hcapi.config.calibration.probe_length)
         belt_attitude, alignment_details = await _determine_transform_matrix(
             hcapi, mount
         )
         save_robot_belt_attitude(belt_attitude, pipette_id)
         return belt_attitude, alignment_details
     finally:
         hcapi.load_deck_calibration()
-        await hcapi.remove_tip(mount)
+        hcapi.remove_tip(mount)
 
 
 def apply_machine_transform(

api/src/opentrons/hardware_control/ot3api.py

@@ -2338,7 +2338,7 @@ async def drop_tip(
         instrument.set_current_volume(0)
 
         self.set_current_tiprack_diameter(mount, 0.0)
-        await self.remove_tip(mount)
+        self.remove_tip(mount)
 
     async def clean_up(self) -> None:
         """Get the API ready to stop cleanly."""
@@ -2607,13 +2607,13 @@ async def update_nozzle_configuration_for_mount(
                 starting_nozzle,
             )
 
-    async def add_tip(
+    def add_tip(
         self, mount: Union[top_types.Mount, OT3Mount], tip_length: float
     ) -> None:
-        await self._pipette_handler.add_tip(OT3Mount.from_mount(mount), tip_length)
+        self._pipette_handler.add_tip(OT3Mount.from_mount(mount), tip_length)
 
-    async def remove_tip(self, mount: Union[top_types.Mount, OT3Mount]) -> None:
-        await self._pipette_handler.remove_tip(OT3Mount.from_mount(mount))
+    def remove_tip(self, mount: Union[top_types.Mount, OT3Mount]) -> None:
+        self._pipette_handler.remove_tip(OT3Mount.from_mount(mount))
 
     def add_gripper_probe(self, probe: GripperProbe) -> None:
         self._gripper_handler.add_probe(probe)

api/src/opentrons/hardware_control/protocols/__init__.py

@@ -58,11 +58,6 @@ class HardwareControlInterface(
     def get_robot_type(self) -> Type[OT2RobotType]:
         return OT2RobotType
 
-    # todo(mm, 2024-10-17): This probably belongs in InstrumentConfigurer, alongside
-    # add_tip() and remove_tip().
-    def cache_tip(self, mount: MountArgType, tip_length: float) -> None:
-        ...
-
 
 class FlexHardwareControlInterface(
     PositionEstimator,
@@ -89,14 +84,9 @@ class FlexHardwareControlInterface(
     def get_robot_type(self) -> Type[FlexRobotType]:
         return FlexRobotType
 
-    # todo(mm, 2024-10-17): This probably belongs in InstrumentConfigurer, alongside
-    # add_tip() and remove_tip().
-    def cache_tip(self, mount: MountArgType, tip_length: float) -> None:
-        ...
-
 
 __all__ = [
-    "HardwareControlAPI",
+    "HardwareControlInterface",
     "FlexHardwareControlInterface",
     "Simulatable",
     "Stoppable",

api/src/opentrons/hardware_control/protocols/instrument_configurer.py

@@ -142,19 +142,20 @@ def get_instrument_max_height(
         """
         ...
 
-    # todo(mm, 2024-10-17): Can this be made non-async?
     # todo(mm, 2024-10-17): Consider deleting this in favor of cache_tip(), which is
     # the same except for `assert`s, if we can do so without breaking anything.
-    async def add_tip(self, mount: MountArgType, tip_length: float) -> None:
+    def add_tip(self, mount: MountArgType, tip_length: float) -> None:
         """Inform the hardware that a tip is now attached to a pipette.
 
         This changes the critical point of the pipette to make sure that
         the end of the tip is what moves around, and allows liquid handling.
         """
         ...
 
-    # todo(mm, 2024-10-17): Can this be made non-async?
-    async def remove_tip(self, mount: MountArgType) -> None:
+    def cache_tip(self, mount: MountArgType, tip_length: float) -> None:
+        ...
+
+    def remove_tip(self, mount: MountArgType) -> None:
         """Inform the hardware that a tip is no longer attached to a pipette.
 
         This changes the critical point of the system to the end of the

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

@@ -276,14 +276,14 @@ async def drop_tip(self, pipette_id: str, home_after: Optional[bool]) -> None:
         # Allow TipNotAttachedError to propagate.
         await self.verify_tip_presence(pipette_id, TipPresenceStatus.ABSENT)
 
-        await self._hardware_api.remove_tip(hw_mount)
+        self._hardware_api.remove_tip(hw_mount)
         self._hardware_api.set_current_tiprack_diameter(hw_mount, 0)
 
     async def add_tip(self, pipette_id: str, tip: TipGeometry) -> None:
         """See documentation on abstract base class."""
         hw_mount = self._state_view.pipettes.get_mount(pipette_id).to_hw_mount()
 
-        await self._hardware_api.add_tip(mount=hw_mount, tip_length=tip.length)
+        self._hardware_api.add_tip(mount=hw_mount, tip_length=tip.length)
 
         self._hardware_api.set_current_tiprack_diameter(
             mount=hw_mount,

api/tests/opentrons/hardware_control/test_moves.py

@@ -491,7 +491,7 @@ async def test_shake_during_drop(
         },
     }
     await hardware_api.cache_instruments()
-    await hardware_api.add_tip(types.Mount.RIGHT, 50.0)
+    hardware_api.add_tip(types.Mount.RIGHT, 50.0)
     hardware_api.set_current_tiprack_diameter(types.Mount.RIGHT, 2.0 * 4)
 
     shake_tips_drop = mock.Mock(side_effect=hardware_api._shake_off_tips_drop)
@@ -515,7 +515,7 @@ async def test_shake_during_drop(
 
     # Test drop tip shake with 25% of tiprack well diameter
     # over upper (2.25 mm) limit
-    await hardware_api.add_tip(types.Mount.RIGHT, 20)
+    hardware_api.add_tip(types.Mount.RIGHT, 20)
     hardware_api.set_current_tiprack_diameter(types.Mount.RIGHT, 2.3 * 4)
     shake_tips_drop.reset_mock()
     move_rel.reset_move()
@@ -530,7 +530,7 @@ async def test_shake_during_drop(
 
     # Test drop tip shake with 25% of tiprack well diameter
     # below lower (1.0 mm) limit
-    await hardware_api.add_tip(types.Mount.RIGHT, 50)
+    hardware_api.add_tip(types.Mount.RIGHT, 50)
     hardware_api.set_current_tiprack_diameter(types.Mount.RIGHT, 0.9 * 4)
     shake_tips_drop.reset_mock()
     move_rel.reset_mock()

api/tests/opentrons/hardware_control/test_ot3_api.py

@@ -812,7 +812,7 @@ async def test_liquid_probe(
     pipette = ot3_hardware.hardware_pipettes[mount.to_mount()]
 
     assert pipette
-    await ot3_hardware.add_tip(mount, 100)
+    ot3_hardware.add_tip(mount, 100)
     await ot3_hardware.home()
     mock_move_to.return_value = None
 
@@ -905,7 +905,7 @@ async def test_liquid_probe_plunger_moves(
     pipette = ot3_hardware.hardware_pipettes[mount.to_mount()]
 
     assert pipette
-    await ot3_hardware.add_tip(mount, 100)
+    ot3_hardware.add_tip(mount, 100)
     await ot3_hardware.home()
     mock_move_to.return_value = None
 
@@ -1012,7 +1012,7 @@ async def test_liquid_probe_mount_moves(
     pipette = ot3_hardware.hardware_pipettes[mount.to_mount()]
 
     assert pipette
-    await ot3_hardware.add_tip(mount, 100)
+    ot3_hardware.add_tip(mount, 100)
     await ot3_hardware.home()
     mock_move_to.return_value = None
 
@@ -1073,7 +1073,7 @@ async def test_multi_liquid_probe(
     await ot3_hardware.cache_pipette(OT3Mount.LEFT, instr_data, None)
     pipette = ot3_hardware.hardware_pipettes[OT3Mount.LEFT.to_mount()]
     assert pipette
-    await ot3_hardware.add_tip(OT3Mount.LEFT, 100)
+    ot3_hardware.add_tip(OT3Mount.LEFT, 100)
     await ot3_hardware.home()
     mock_move_to.return_value = None
 
@@ -1142,7 +1142,7 @@ async def test_liquid_not_found(
     await ot3_hardware.cache_pipette(OT3Mount.LEFT, instr_data, None)
     pipette = ot3_hardware.hardware_pipettes[OT3Mount.LEFT.to_mount()]
     assert pipette
-    await ot3_hardware.add_tip(OT3Mount.LEFT, 100)
+    ot3_hardware.add_tip(OT3Mount.LEFT, 100)
     await ot3_hardware.home()
     await ot3_hardware.move_to(OT3Mount.LEFT, Point(10, 10, 10))
 
@@ -1633,7 +1633,7 @@ async def test_prepare_for_aspirate(
     await ot3_hardware.cache_pipette(mount, instr_data, None)
     assert ot3_hardware.hardware_pipettes[mount.to_mount()]
 
-    await ot3_hardware.add_tip(mount, 100)
+    ot3_hardware.add_tip(mount, 100)
     await ot3_hardware.prepare_for_aspirate(OT3Mount.LEFT)
     mock_move_to_plunger_bottom.assert_called_once_with(OT3Mount.LEFT, 1.0)
 
@@ -1668,7 +1668,7 @@ async def test_plunger_ready_to_aspirate_after_dispense(
     await ot3_hardware.cache_pipette(mount, instr_data, None)
     assert ot3_hardware.hardware_pipettes[mount.to_mount()]
 
-    await ot3_hardware.add_tip(mount, 100)
+    ot3_hardware.add_tip(mount, 100)
     await ot3_hardware.prepare_for_aspirate(OT3Mount.LEFT)
     assert ot3_hardware.hardware_pipettes[mount.to_mount()].ready_to_aspirate
 
@@ -1729,7 +1729,7 @@ async def test_move_to_plunger_bottom(
 
     # tip attached, moving DOWN towards "bottom" position
     await ot3_hardware.home()
-    await ot3_hardware.add_tip(mount, 100)
+    ot3_hardware.add_tip(mount, 100)
     mock_move.reset_mock()
     await ot3_hardware.prepare_for_aspirate(mount)
     # make sure we've done the backlash compensation

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

@@ -258,7 +258,7 @@ async def test_drop_tip(
     decoy.verify(
         await mock_hardware_api.tip_drop_moves(mount=Mount.RIGHT, home_after=True)
     )
-    decoy.verify(await mock_hardware_api.remove_tip(mount=Mount.RIGHT))
+    decoy.verify(mock_hardware_api.remove_tip(mount=Mount.RIGHT))
     decoy.verify(
         mock_hardware_api.set_current_tiprack_diameter(
             mount=Mount.RIGHT, tiprack_diameter=0
@@ -292,7 +292,7 @@ async def test_add_tip(
     await subject.add_tip(pipette_id="pipette-id", tip=tip)
 
     decoy.verify(
-        await mock_hardware_api.add_tip(mount=Mount.LEFT, tip_length=50),
+        mock_hardware_api.add_tip(mount=Mount.LEFT, tip_length=50),
         mock_hardware_api.set_current_tiprack_diameter(
             mount=Mount.LEFT,
             tiprack_diameter=5,

hardware-testing/hardware_testing/examples/capacitive_probe_ot3.py

@@ -143,7 +143,7 @@ async def _main(is_simulating: bool, cycles: int, stable: bool) -> None:
         raise RuntimeError("No pipette attached")
 
     # add length to the pipette, to account for the attached probe
-    await api.add_tip(mount, PROBE_LENGTH)
+    api.add_tip(mount, PROBE_LENGTH)
 
     await helpers_ot3.home_ot3(api)
     for c in range(cycles):
@@ -154,7 +154,7 @@ async def _main(is_simulating: bool, cycles: int, stable: bool) -> None:
     z_ax = types.Axis.by_mount(mount)
     top_z = helpers_ot3.get_endstop_position_ot3(api, mount)[z_ax]
     await api.move_to(mount, ASSUMED_XY_LOCATION._replace(z=top_z))
-    await api.remove_tip(mount)
+    api.remove_tip(mount)
     await api.disengage_axes([types.Axis.X, types.Axis.Y])
 
 

hardware-testing/hardware_testing/examples/capacitive_probe_ot3_tunable.py

@@ -85,7 +85,7 @@ async def _main(is_simulating: bool, cycles: int, stable: bool) -> None:
         raise RuntimeError("No pipette attached")
 
     # add length to the pipette, to account for the attached probe
-    await api.add_tip(mount, PROBE_LENGTH)
+    api.add_tip(mount, PROBE_LENGTH)
 
     await helpers_ot3.home_ot3(api)
     for c in range(cycles):
@@ -96,7 +96,7 @@ async def _main(is_simulating: bool, cycles: int, stable: bool) -> None:
     z_ax = types.Axis.by_mount(mount)
     top_z = helpers_ot3.get_endstop_position_ot3(api, mount)[z_ax]
     await api.move_to(mount, ASSUMED_XY_LOCATION._replace(z=top_z))
-    await api.remove_tip(mount)
+    api.remove_tip(mount)
     await api.disengage_axes([types.Axis.X, types.Axis.Y])
 
 

hardware-testing/hardware_testing/examples/plunger_ot3.py

@@ -19,14 +19,14 @@ async def _main(is_simulating: bool) -> None:
     await api.home_plunger(mount)
 
     # move the plunger based on volume (aspirate/dispense)
-    await api.add_tip(mount, tip_length=10)
+    api.add_tip(mount, tip_length=10)
     await api.prepare_for_aspirate(mount)
     max_vol = pipette.working_volume
     for vol in [max_vol, max_vol / 2, max_vol / 10]:
         await api.aspirate(mount, volume=vol)
         await api.dispense(mount, volume=vol)
         await api.prepare_for_aspirate(mount)
-    await api.remove_tip(mount)
+    api.remove_tip(mount)
 
     # move the plunger based on position (millimeters)
     plunger_poses = helpers_ot3.get_plunger_positions_ot3(api, mount)

hardware-testing/hardware_testing/gravimetric/helpers.py

@@ -36,11 +36,7 @@
 import opentrons.protocol_engine.execution.pipetting as PE_pipetting
 from opentrons.protocol_engine.notes import CommandNoteAdder
 
-from opentrons.protocol_engine import (
-    StateView,
-    WellLocation,
-    DropTipWellLocation,
-)
+from opentrons.protocol_engine import StateView
 from opentrons.protocol_api.core.engine import pipette_movement_conflict
 
 
@@ -267,7 +263,7 @@ def _override_check_safe_for_pipette_movement(
     pipette_id: str,
     labware_id: str,
     well_name: str,
-    well_location: Union[WellLocation, DropTipWellLocation],
+    well_location: object,
 ) -> None:
     pass