fix minimum lld height func

Opentrons · Jan 28, 2025 · 136a10a · 136a10a
1 parent 74622ed
commit 136a10a
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Showing 5 changed files with 30 additions and 18 deletions.
diff --git a/api/src/opentrons/protocol_api/core/engine/instrument.py b/api/src/opentrons/protocol_api/core/engine/instrument.py
@@ -2,7 +2,7 @@
 
 from __future__ import annotations
 
-from typing import Optional, TYPE_CHECKING, cast, Union, List, Tuple, NamedTuple, Dict
+from typing import Optional, TYPE_CHECKING, cast, Union, List, Tuple, NamedTuple
 from opentrons.types import Location, Mount, NozzleConfigurationType, NozzleMapInterface
 from opentrons.hardware_control import SyncHardwareAPI
 from opentrons.hardware_control.dev_types import PipetteDict
@@ -1344,10 +1344,26 @@ def detect_liquid_presence(self, well_core: WellCore, loc: Location) -> bool:
 
         return result.z_position is not None
 
-    def get_lld_settings(self) -> Optional[Dict[str, Dict[str, float]]]:
-        return self._engine_client.state.pipettes.get_pipette_lld_settings(
+    def get_minimum_liquid_sense_height(self) -> float:
+        attached_tip = self._engine_client.state.pipettes.get_attached_tip(
+            self._pipette_id
+        )
+        if attached_tip:
+            tip_volume = attached_tip.volume
+        else:
+            raise TipNotAttachedError(
+                "Need to have a tip attached for liquid-sense operations."
+            )
+        lld_settings = self._engine_client.state.pipettes.get_pipette_lld_settings(
             pipette_id=self.pipette_id
         )
+        if lld_settings:
+            lld_min_height_for_tip_attached = lld_settings[f"t{tip_volume}"][
+                "minHeight"
+            ]
+            return lld_min_height_for_tip_attached
+        else:
+            raise ValueError("liquid-level detection settings not found.")
 
     def liquid_probe_with_recovery(self, well_core: WellCore, loc: Location) -> None:
         labware_id = well_core.labware_id

diff --git a/api/src/opentrons/protocol_api/core/instrument.py b/api/src/opentrons/protocol_api/core/instrument.py
@@ -3,7 +3,7 @@
 from __future__ import annotations
 
 from abc import abstractmethod, ABC
-from typing import Any, Generic, Optional, TypeVar, Union, List, Tuple, Dict
+from typing import Any, Generic, Optional, TypeVar, Union, List, Tuple
 
 from opentrons import types
 from opentrons.hardware_control.dev_types import PipetteDict
@@ -219,7 +219,7 @@ def get_available_volume(self) -> float:
         ...
 
     @abstractmethod
-    def get_lld_settings(self) -> Optional[Dict[str, Dict[str, float]]]:
+    def get_minimum_liquid_sense_height(self) -> float:
         ...
 
     @abstractmethod

diff --git a/api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py b/api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py
@@ -1,7 +1,7 @@
 from __future__ import annotations
 
 import logging
-from typing import TYPE_CHECKING, Optional, Union, List, Tuple, Dict
+from typing import TYPE_CHECKING, Optional, Union, List, Tuple
 
 from opentrons import types
 from opentrons.hardware_control import CriticalPoint
@@ -638,8 +638,8 @@ def nozzle_configuration_valid_for_lld(self) -> bool:
         """Check if the nozzle configuration currently supports LLD."""
         return False
 
-    def get_lld_settings(self) -> Optional[Dict[str, Dict[str, float]]]:
-        return {}
+    def get_minimum_liquid_sense_height(self) -> float:
+        return 0.0
 
     def estimate_liquid_height(
         self,

diff --git a/api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py b/api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py
@@ -1,7 +1,7 @@
 from __future__ import annotations
 
 import logging
-from typing import TYPE_CHECKING, Optional, Union, List, Tuple, Dict
+from typing import TYPE_CHECKING, Optional, Union, List, Tuple
 
 from opentrons import types
 from opentrons.hardware_control.dev_types import PipetteDict
@@ -558,8 +558,8 @@ def nozzle_configuration_valid_for_lld(self) -> bool:
         """Check if the nozzle configuration currently supports LLD."""
         return False
 
-    def get_lld_settings(self) -> Optional[Dict[str, Dict[str, float]]]:
-        return {}
+    def get_minimum_liquid_sense_height(self) -> float:
+        return 0.0
 
     def estimate_liquid_height(
         self,

diff --git a/api/src/opentrons/protocol_api/instrument_context.py b/api/src/opentrons/protocol_api/instrument_context.py
@@ -167,13 +167,9 @@ def default_speed(self, speed: float) -> None:
         self._core.set_default_speed(speed)
 
     @requires_version(2, 21)
-    def pipette_min_lld_height(self, tip_volume: int) -> float:
-        lld_settings = self._core.get_lld_settings()
-        if lld_settings:
-            tip_min_height = lld_settings[f"t{tip_volume}"]["minHeight"]
-            return tip_min_height
-        else:
-            raise ValueError("liquid-level detection settings not found.")
+    def get_minimum_liquid_sense_height(self) -> float:
+        """Get the minimum allowed height for liquid-level detection."""
+        return self._core.get_minimum_liquid_sense_height()
 
     @requires_version(2, 0)
     def aspirate(