OpentronsOT2Backend: validate head8 pickup geometry against the Opentrons API#1136
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OpentronsOT2Backend: validate head8 pickup geometry against the Opentrons API#1136BioCam wants to merge 9 commits into
OpentronsOT2Backend: validate head8 pickup geometry against the Opentrons API#1136BioCam wants to merge 9 commits into
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Characterization tests ahead of the transport-seam refactor (Phase 0). The existing suite already asserts the pickup/drop/aspirate/dispense wire calls; this adds the four remaining ot_api call sites so the seam refactor cannot change them silently: - home() issues one ot_api.health.home() - list_connected_modules() returns ot_api.modules.list_connected_modules() verbatim - stop() cancels the active run via the requestor and clears mounted pipettes - a discard to the deck trash at api_version >= 7.1.0 routes through the addressable area (move_to_addressable_area_for_drop_tip + drop_tip_in_place), not drop_tip No production code changes. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Introduces a single transport seam (Phase 1): every ot_api call - including the run-cancel requestor calls in stop() - now goes through self._ot, set to the ot_api module in __init__. Behaviour is unchanged (self._ot is ot_api), but a subclass can now dry-run the backend by swapping the handle for a recording stand-in, the way STARChatterboxBackend overrides STAR's transport. The dedicated `import ot_api.requestor as _req` is dropped; ot_api.requestor is reachable through the handle (self._ot.requestor). Guarded by the Phase 0 characterization tests, which patch ot_api.* and stay green because self._ot is the same module object. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
…nsport seam Phase 2. A chatterbox sibling to OpentronsOT2Backend that swaps the self._ot transport handle for a recorder, so the real backend logic - pipette selection, tip and volume tracking, the per-operation wire calls - runs unchanged with no hardware and no ot_api library. Mirrors STARChatterboxBackend (transport-only override) rather than OpentronsOT2Simulator (which reimplements the high-level methods single-channel). Issued calls are printed and collected in .commands. The recorder returns canned data for the reads setup() and the operations make back (mounted pipettes, api version, labware define, save_position, modules). Exported from backends/__init__. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
…mulator Phase 3. Direct tests run the chatterbox with no ot_api installed: setup resolves both mounts, a pickup -> aspirate -> dispense -> trash-discard records exactly one wire call per operation, an unknown pipette name raises, and serialize() captures the mounts. A differential audit runs the same single-channel protocol through the chatterbox and the reference OpentronsOT2Simulator and asserts identical tracked outcomes (tip mounted, source/destination volumes). The audit is scoped to the single-channel overlap, since the simulator cannot represent a multi-channel head. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
The OT-2 talks HTTP through ot_api rather than a pylabrobot.io transport, so its wire traffic never reached the IO log other backends produce. Wrap the real ot_api handle in a transparent _IOLogger proxy that logs every call (submodules recursed, plain attributes passed through) at LOG_LEVEL_IO. The chatterbox recorder logs the same way, so a dry run captures the same wire trace as a real run. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
First slice of building the 8-channel head into the backend itself. Adds the channel model: _pipette_channel_count (8 for a multi, 1 for a single), _channel_map (per-mount channel blocks, left then right), num_channels derived from it, and _pipette_id_for_channel routed through it. A multi mount now reports 8 channels (0 = back / row A) instead of 1; single-channel setups are unchanged, so the characterization net and the chatterbox tests stay green. Per-column command issuing and the pickup geometry guard build on this next. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
…ep 2) Routes pick_up_tips / aspirate / dispense / drop_tips through a new _resolve_pipette_and_primary(ops, use_channels): it maps the channels to the single mount they address (rejecting a mix of mounts) and picks the primary op (lowest nozzle). A multi column op now issues exactly one ot_api command at the primary well while PLR tracks all 8 channels. can_pick_up_tip is likewise routed through the channel map so the multi's channels 1-7 are accepted (previously hardcoded channel 0 = left, 1 = right). The single-channel _get_*_pipette helpers stay - OpentronsOT2Simulator still uses them. Verified in simulation through the chatterbox: one pick_up_tip / one aspirate_in_place / one dispense_in_place for a full 8-channel column, all eight channels tracked, and a cross-mount selection rejected. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
- Remove test_multi_mount_reports_eight_channels: num_channels==9 is already pinned by test_channel_map_multi_mount_is_eight_channels and exercised by the 8-channel column test. - Remove the chatterbox-vs-simulator differential: both backends share the PLR frontend that does the tracking, so they can only diverge by raising, which the full-protocol recording test already guards. - Strip tautological assertEqual(offset_x, offset_x) (x3 in each of test_tip_pick_up and test_tip_drop) and a duplicate well_name assert in test_tip_drop. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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…p 3) Adds _check_head8_pickup: a multi pickup must use a channel-0-anchored contiguous block [0..k] (the API anchors at the back nozzle and only declares front-anchored layouts), and the head also grabs occupied tipspots below the selection within its 8-nozzle reach. pick_up_tips rejects such a pickup unless allow_undeclared_tip_pickup is set (per call, keyword-only, or on the backend), in which case _absorb_undeclared_tips accounts for the grabbed tips so PLR tracking stays consistent, with a warning. The keyword-only override keeps OpentronsOT2Simulator's **kwargs signature compatible. Verified through the chatterbox: full column OK, back-anchored [1..7] rejected, grab-extra A1:F1 rejected, and allow_undeclared absorbs all eight with a warning. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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The 8-channel head is rigid: the Opentrons API anchors a multi pickup at the back (channel-0) nozzle and only approves front-anchored, contiguous nozzle layouts. Without a check, the backend could send a pickup the API cannot declare, or one whose tipspots do not line up with the nozzles.
This validates an 8-channel pickup before it is sent: the channels must be a channel-0-anchored contiguous block
[0, 1, ..., k], the tipspots must come from a single rack and a single column, and they must run consecutively down that column in channel order at the 9 mm nozzle pitch. A back-anchored selection such as[1..7](which would leave row A and overhang the back edge) is rejected with an explanation. Tips that undeclared nozzles still grab are accounted for in PLR tip tracking so a partial pickup leaves the trackers consistent.Stacked on #1135, which adds the 8-channel model this guards. The self-contained change here is the commit above that base.
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