Recover from pickUpTip false-positives.

Missing tests.

api/src/opentrons/protocol_engine/commands/pick_up_tip.py

@@ -6,7 +6,7 @@
 from typing_extensions import Literal
 
 
-from ..errors import ErrorOccurrence, TipNotAttachedError
+from ..errors import ErrorOccurrence, PickUpTipTipNotAttachedError
 from ..resources import ModelUtils
 from ..state import update_types
 from ..types import PickUpTipWellLocation, DeckPoint
@@ -140,7 +140,12 @@ async def execute(
                 labware_id=labware_id,
                 well_name=well_name,
             )
-        except TipNotAttachedError as e:
+        except PickUpTipTipNotAttachedError as e:
+            state_update_if_false_positive = update_types.StateUpdate()
+            state_update_if_false_positive.update_pipette_tip_state(
+                pipette_id=pipette_id,
+                tip_geometry=e.tip_geometry,
+            )
             state_update.mark_tips_as_used(
                 pipette_id=pipette_id, labware_id=labware_id, well_name=well_name
             )
@@ -157,6 +162,7 @@ async def execute(
                     ],
                 ),
                 state_update=state_update,
+                state_update_if_false_positive=state_update_if_false_positive,
             )
         else:
             state_update.update_pipette_tip_state(

api/src/opentrons/protocol_engine/errors/__init__.py

@@ -8,6 +8,7 @@
     InvalidSpecificationForRobotTypeError,
     InvalidLoadPipetteSpecsError,
     TipNotAttachedError,
+    PickUpTipTipNotAttachedError,
     TipAttachedError,
     CommandDoesNotExistError,
     LabwareNotLoadedError,
@@ -88,6 +89,7 @@
     "InvalidSpecificationForRobotTypeError",
     "InvalidLoadPipetteSpecsError",
     "TipNotAttachedError",
+    "PickUpTipTipNotAttachedError",
     "TipAttachedError",
     "CommandDoesNotExistError",
     "LabwareNotLoadedError",

api/src/opentrons/protocol_engine/errors/exceptions.py

@@ -1,11 +1,17 @@
 """Protocol engine exceptions."""
 
+from __future__ import annotations
+
 from logging import getLogger
-from typing import Any, Dict, Optional, Union, Iterator, Sequence
+from typing import Any, Dict, Final, Optional, Union, Iterator, Sequence, TYPE_CHECKING
 
 from opentrons_shared_data.errors import ErrorCodes
 from opentrons_shared_data.errors.exceptions import EnumeratedError, PythonException
 
+if TYPE_CHECKING:
+    from opentrons.protocol_engine.types import TipGeometry
+
+
 log = getLogger(__name__)
 
 
@@ -132,6 +138,21 @@ def __init__(
         super().__init__(ErrorCodes.UNEXPECTED_TIP_REMOVAL, message, details, wrapping)
 
 
+class PickUpTipTipNotAttachedError(TipNotAttachedError):
+    """Raised from TipHandler.pick_up_tip().
+
+    This is like TipNotAttachedError except that it carries some extra information
+    about the attempted operation.
+    """
+
+    tip_geometry: Final[TipGeometry]
+    """The tip geometry that would have been on the pipette, had the operation succeeded."""
+
+    def __init__(self, tip_geometry: TipGeometry) -> None:
+        super().__init__()
+        self.tip_geometry = tip_geometry
+
+
 class TipAttachedError(ProtocolEngineError):
     """Raised when a tip shouldn't be attached, but is."""
 

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

@@ -1,9 +1,10 @@
 """Tip pickup and drop procedures."""
-from typing import Optional, Dict
+from typing import Final, Optional, Dict
 from typing_extensions import Protocol as TypingProtocol
 
 from opentrons.hardware_control import HardwareControlAPI
 from opentrons.hardware_control.types import FailedTipStateCheck, InstrumentProbeType
+from opentrons.protocol_engine.errors.exceptions import PickUpTipTipNotAttachedError
 from opentrons.types import Mount
 
 from opentrons_shared_data.errors.exceptions import (
@@ -72,7 +73,7 @@ async def pick_up_tip(
             Tip geometry of the picked up tip.
 
         Raises:
-            TipNotAttachedError
+            PickUpTipTipNotAttachedError
         """
         ...
 
@@ -245,11 +246,19 @@ async def pick_up_tip(
             nominal_fallback=nominal_tip_geometry.length,
         )
 
+        tip_geometry = TipGeometry(
+            length=actual_tip_length,
+            diameter=nominal_tip_geometry.diameter,
+            volume=nominal_tip_geometry.volume,
+        )
+
         await self._hardware_api.tip_pickup_moves(
             mount=hw_mount, presses=None, increment=None
         )
-        # Allow TipNotAttachedError to propagate.
-        await self.verify_tip_presence(pipette_id, TipPresenceStatus.PRESENT)
+        try:
+            await self.verify_tip_presence(pipette_id, TipPresenceStatus.PRESENT)
+        except TipNotAttachedError as e:
+            raise PickUpTipTipNotAttachedError(tip_geometry=tip_geometry) from e
 
         # todo(mm, 2024-10-21): This sequence of cache_tip(), set_current_tiprack_diameter(),
         # and set_working_volume() is almost the same as self.add_tip(), except one uses
@@ -268,11 +277,7 @@ async def pick_up_tip(
             tip_volume=nominal_tip_geometry.volume,
         )
 
-        return TipGeometry(
-            length=actual_tip_length,
-            diameter=nominal_tip_geometry.diameter,
-            volume=nominal_tip_geometry.volume,
-        )
+        return tip_geometry
 
     async def drop_tip(self, pipette_id: str, home_after: Optional[bool]) -> None:
         """See documentation on abstract base class."""