Merge back 'chore_release-pd-8.7.0' into 'edge'

Author: ddcc4

.github/workflows/pd-test-build-deploy.yaml

@@ -113,7 +113,7 @@ jobs:
           make -C protocol-designer NODE_ENV=${{ needs.determine-deploy-config.outputs.environment == 'production' && 'production' || 'development' }} OT_PD_PRERELEASE_MODE=${{ needs.determine-deploy-config.outputs.environment == 'sandbox' && '1' || '0' }}
       - name: 'upload sourcemaps to Sentry'
         # Only on production or staging releases (protocol-designer* or staging-protocol-designer*)
-        if: github.ref_type == 'tag' && (startsWith(github.ref, 'refs/tags/protocol-designer') || startsWith(github.ref, 'refs/tags/staging-protocol-designer'))
+        if: github.ref_type == 'tag' && (startsWith(github.ref, 'refs/tags/protocol-designer') || startsWith(github.ref, 'refs/tags/staging-protocol-designer')) && (needs.determine-deploy-config.outputs.environment == 'production' || needs.determine-deploy-config.outputs.environment == 'staging')
         uses: getsentry/action-release@v3
         env:
           SENTRY_AUTH_TOKEN: ${{ secrets.SENTRY_AUTH_TOKEN }}
@@ -125,7 +125,7 @@ jobs:
           set_commits: auto
           ignore_missing: true
           finalize: false
-          environment: ${{ needs.determine-deploy-config.outputs.environment == 'production' && 'production' || 'staging' }}
+          environment: ${{ needs.determine-deploy-config.outputs.environment }}
       - name: 'upload github artifact'
         uses: actions/upload-artifact@v4
         with:

step-generation/src/utils/safePipetteMovements.ts

@@ -5,6 +5,7 @@ import {
   getAddressableAreaFromSlotId,
   getDeckDefFromRobotType,
   getFlexSurroundingSlots,
+  getModuleDef,
   getOt2SurroundingSlots,
   getPositionFromSlotId,
   OT2_ROBOT_TYPE,
@@ -23,6 +24,7 @@ import type {
   NozzleConfigurationStyle,
   OT2AddressableAreaName,
   PipetteChannels,
+  PipetteV2Specs,
   RobotType,
 } from '@opentrons/shared-data'
 import type {
@@ -91,7 +93,8 @@ const getPipetteBoundsAtSpecifiedMoveToPosition = (
   pipetteEntity: PipetteEntity,
   tipLength: number,
   wellTargetPoint: Point,
-  primaryNozzle: string
+  primaryNozzle: string,
+  tipOverlapOnNozzle: number
 ): Point[] => {
   const { nozzleMap, nozzleOffset, pipetteBoundingBoxOffsets } =
     pipetteEntity.spec
@@ -116,7 +119,6 @@ const getPipetteBoundsAtSpecifiedMoveToPosition = (
   const frontY =
     wellTargetPoint.y - (primaryNozzlePoint[1] - pipetteBoundingBoxFrontYOffset)
 
-  const tipOverlapOnNozzle = 0
   const zNozzles = (wellTargetPoint.z ?? 0) + tipLength - tipOverlapOnNozzle
 
   const backLeftBound = { x: leftX, y: backY, z: zNozzles }
@@ -140,22 +142,28 @@ const getHasOverlappingRectangles = (
 }
 
 const getModuleHeightFromDeckDefinition = (
-  moduleModel: ModuleModel
+  moduleModel: ModuleModel,
+  robotType: RobotType
 ): number => {
-  const deckDef = getDeckDefFromRobotType(FLEX_ROBOT_TYPE)
-  const { addressableAreas } = deckDef.locations
-  const moduleAddressableArea = addressableAreas.find(addressableArea =>
-    addressableArea.id.includes(moduleModel)
-  )
-  return moduleAddressableArea?.offsetFromCutoutFixture[2] ?? 0
+  if (robotType === FLEX_ROBOT_TYPE) {
+    const deckDef = getDeckDefFromRobotType(robotType)
+    const { addressableAreas } = deckDef.locations
+    const moduleAddressableArea = addressableAreas.find(addressableArea =>
+      addressableArea.id.includes(moduleModel)
+    )
+    return moduleAddressableArea?.offsetFromCutoutFixture[2] ?? 0
+  }
+  // OT-2
+  return getModuleDef(moduleModel).dimensions.bareOverallHeight
 }
 
 //  check the highest Z-point of all items stacked given a deck slot (including modules,
 //  adapters, and modules on adapters)
 const getHighestZInSlot = (
   robotState: RobotState,
   invariantContext: InvariantContext,
-  slotId: string
+  slotId: string,
+  robotType: RobotType
 ): number => {
   const { modules, labware } = robotState
   const { moduleEntities, labwareEntities } = invariantContext
@@ -167,11 +175,12 @@ const getHighestZInSlot = (
   )
 
   //  if slot has labware, includes labware, adapters, and module
-  if (largestLabwareStack != null) {
+  if (largestLabwareStack.length > 0) {
     largestLabwareStack.forEach(item => {
       if (modules[item] != null) {
         totalHeight += getModuleHeightFromDeckDefinition(
-          moduleEntities[item].model
+          moduleEntities[item].model,
+          robotType
         )
       }
       if (labware[item] != null) {
@@ -181,7 +190,8 @@ const getHighestZInSlot = (
     // if slot only has module
   } else if (moduleInSlot != null) {
     totalHeight += getModuleHeightFromDeckDefinition(
-      moduleEntities[moduleInSlot].model
+      moduleEntities[moduleInSlot].model,
+      robotType
     )
   }
   return totalHeight
@@ -241,7 +251,8 @@ const getSlotHasPotentialCollidingObject = (
           ? getHighestZInSlot(
               robotState,
               invariantContext,
-              slot.addressableArea.id
+              slot.addressableArea.id,
+              robotType
             )
           : 0
       if (highestZInSurroundingSlot >= pipetteBounds[0]?.z) {
@@ -344,11 +355,9 @@ export const getIsSafePipetteMovement = (args: {
     return true
   }
 
-  const tiprackEntityId = tipState.pipettes[pipetteId]?.tiprackURI
-  const tiprackTipLength =
-    tiprackEntityId != null
-      ? labwareEntities[tiprackEntityId]?.def.parameters.tipLength
-      : 0
+  const tiprackId = tipState.pipettes[pipetteId]?.tiprackURI
+  const tiprackEntity = tiprackId != null ? labwareEntities[tiprackId] : null
+  const tiprackTipLength = tiprackEntity?.def.parameters.tipLength ?? 0
   const stagingAreaSlots = Object.values(stagingAreaEntities).map(
     stagingArea => stagingArea.location as string
   )
@@ -384,11 +393,20 @@ export const getIsSafePipetteMovement = (args: {
   if (!isWithinPipetteExtents) {
     return false
   }
+  const tipOverlapOnNozzle =
+    tiprackEntity != null
+      ? getTipOverlap({
+          pipetteSpecs,
+          tiprackUri: tiprackEntity.labwareDefURI,
+          nozzles: nozzleConfiguration,
+        })
+      : 0
   const pipetteBoundsAtWellLocation = getPipetteBoundsAtSpecifiedMoveToPosition(
     pipetteEntity,
     tipLength,
     wellTargetPoint,
-    primaryNozzle
+    primaryNozzle,
+    tipOverlapOnNozzle
   )
   const surroundingSlots =
     robotType === OT2_ROBOT_TYPE
@@ -582,3 +600,54 @@ export const getTargetTipsFromWellSets = (args: {
     return wellSet[0]
   })
 }
+
+const getTipOverlap = (args: {
+  pipetteSpecs: PipetteV2Specs
+  tiprackUri: string
+  nozzles: NozzleConfigurationStyle
+}): number => {
+  const { pipetteSpecs, tiprackUri, nozzles } = args
+  const { channels } = pipetteSpecs
+  const overlapKey = getOverlapKeyForPipetteSpecs(channels, nozzles)
+  const tipOverlaps =
+    pipetteSpecs.pickUpTipConfigurations.pressFit.configurationsByNozzleMap[
+      overlapKey
+    ]?.default.tipOverlaps
+
+  // protect in case we get a bad overlap key
+  if (tipOverlaps == null) {
+    console.error(
+      `No tip overlaps found for ${nozzles} and ${overlapKey} overlap.`
+    )
+    return 0
+  }
+  const maxVersion = Math.max(
+    ...Object.keys(tipOverlaps).map(version => Number(version.slice(1)))
+  )
+  return (
+    tipOverlaps[`v${maxVersion}`]?.[tiprackUri] ??
+    tipOverlaps[`v${maxVersion}`]?.default ??
+    0
+  )
+}
+
+const getOverlapKeyForPipetteSpecs = (
+  channels: PipetteChannels,
+  nozzles: NozzleConfigurationStyle
+): string => {
+  if (channels === 1) {
+    return 'SingleA1'
+  }
+  if (channels === 8) {
+    return nozzles === SINGLE ? 'SingleH1' : 'Full'
+  }
+  if (channels === 96) {
+    if (nozzles === SINGLE) {
+      return 'SingleH12'
+    } else if (nozzles === COLUMN) {
+      return 'Column12'
+    }
+  }
+  // default
+  return 'Full'
+}