clear instead of None

Opentrons · Oct 28, 2024 · c69b4f4 · c69b4f4
1 parent 095c6ac
commit c69b4f4
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Showing 12 changed files with 47 additions and 39 deletions.
diff --git a/api/src/opentrons/protocol_engine/commands/aspirate.py b/api/src/opentrons/protocol_engine/commands/aspirate.py
@@ -24,7 +24,7 @@
 
 from opentrons.hardware_control import HardwareControlAPI
 
-from ..state.update_types import StateUpdate
+from ..state.update_types import StateUpdate, CLEAR
 from ..types import WellLocation, WellOrigin, CurrentWell, DeckPoint
 
 if TYPE_CHECKING:
@@ -140,7 +140,7 @@ async def execute(self, params: AspirateParams) -> _ExecuteReturn:
             state_update.set_liquid_operated(
                 labware_id=labware_id,
                 well_name=well_name,
-                volume=None,
+                volume=CLEAR,
             )
             return DefinedErrorData(
                 public=OverpressureError(

diff --git a/api/src/opentrons/protocol_engine/commands/aspirate_in_place.py b/api/src/opentrons/protocol_engine/commands/aspirate_in_place.py
@@ -24,7 +24,7 @@
 )
 from ..errors.error_occurrence import ErrorOccurrence
 from ..errors.exceptions import PipetteNotReadyToAspirateError
-from ..state.update_types import StateUpdate
+from ..state.update_types import StateUpdate, CLEAR
 from ..types import CurrentWell
 
 if TYPE_CHECKING:
@@ -114,7 +114,7 @@ async def execute(self, params: AspirateInPlaceParams) -> _ExecuteReturn:
                 state_update.set_liquid_operated(
                     labware_id=current_location.labware_id,
                     well_name=current_location.well_name,
-                    volume=None,
+                    volume=CLEAR,
                 )
             return DefinedErrorData(
                 public=OverpressureError(

diff --git a/api/src/opentrons/protocol_engine/commands/dispense.py b/api/src/opentrons/protocol_engine/commands/dispense.py
@@ -8,7 +8,7 @@
 from pydantic import Field
 
 from ..types import DeckPoint
-from ..state.update_types import StateUpdate
+from ..state.update_types import StateUpdate, CLEAR
 from .pipetting_common import (
     PipetteIdMixin,
     DispenseVolumeMixin,
@@ -111,7 +111,7 @@ async def execute(self, params: DispenseParams) -> _ExecuteReturn:
             state_update.set_liquid_operated(
                 labware_id=labware_id,
                 well_name=well_name,
-                volume=None,
+                volume=CLEAR,
             )
             return DefinedErrorData(
                 public=OverpressureError(

diff --git a/api/src/opentrons/protocol_engine/commands/dispense_in_place.py b/api/src/opentrons/protocol_engine/commands/dispense_in_place.py
@@ -21,7 +21,7 @@
     DefinedErrorData,
 )
 from ..errors.error_occurrence import ErrorOccurrence
-from ..state.update_types import StateUpdate
+from ..state.update_types import StateUpdate, CLEAR
 from ..types import CurrentWell
 
 if TYPE_CHECKING:
@@ -93,7 +93,7 @@ async def execute(self, params: DispenseInPlaceParams) -> _ExecuteReturn:
                 state_update.set_liquid_operated(
                     labware_id=current_location.labware_id,
                     well_name=current_location.well_name,
-                    volume=None,
+                    volume=CLEAR,
                 )
             return DefinedErrorData(
                 public=OverpressureError(

diff --git a/api/src/opentrons/protocol_engine/commands/liquid_probe.py b/api/src/opentrons/protocol_engine/commands/liquid_probe.py
@@ -209,8 +209,8 @@ async def execute(self, params: _CommonParams) -> _LiquidProbeExecuteReturn:
             state_update.set_liquid_probed(
                 labware_id=params.labwareId,
                 well_name=params.wellName,
-                height=None,
-                volume=None,
+                height=update_types.CLEAR,
+                volume=update_types.CLEAR,
                 last_probed=self._model_utils.get_timestamp(),
             )
             return DefinedErrorData(
@@ -229,13 +229,15 @@ async def execute(self, params: _CommonParams) -> _LiquidProbeExecuteReturn:
             )
         else:
             try:
-                well_volume = self._state_view.geometry.get_well_volume_at_height(
-                    labware_id=params.labwareId,
-                    well_name=params.wellName,
-                    height=z_pos_or_error,
+                well_volume: float | update_types.ClearType = (
+                    self._state_view.geometry.get_well_volume_at_height(
+                        labware_id=params.labwareId,
+                        well_name=params.wellName,
+                        height=z_pos_or_error,
+                    )
                 )
             except IncompleteLabwareDefinitionError:
-                well_volume = None
+                well_volume = update_types.CLEAR
             state_update.set_liquid_probed(
                 labware_id=params.labwareId,
                 well_name=params.wellName,
@@ -283,20 +285,20 @@ async def execute(self, params: _CommonParams) -> _TryLiquidProbeExecuteReturn:
 
         if isinstance(z_pos_or_error, PipetteLiquidNotFoundError):
             z_pos = None
-            well_volume = None
+            well_volume: float | update_types.ClearType = update_types.CLEAR
         else:
             z_pos = z_pos_or_error
             try:
                 well_volume = self._state_view.geometry.get_well_volume_at_height(
                     labware_id=params.labwareId, well_name=params.wellName, height=z_pos
                 )
             except IncompleteLabwareDefinitionError:
-                well_volume = None
+                well_volume = update_types.CLEAR
 
         state_update.set_liquid_probed(
             labware_id=params.labwareId,
             well_name=params.wellName,
-            height=z_pos,
+            height=z_pos if z_pos is not None else update_types.CLEAR,
             volume=well_volume,
             last_probed=self._model_utils.get_timestamp(),
         )

diff --git a/api/src/opentrons/protocol_engine/state/update_types.py b/api/src/opentrons/protocol_engine/state/update_types.py
@@ -192,8 +192,8 @@ class LiquidProbedUpdate:
     labware_id: str
     well_name: str
     last_probed: datetime
-    height: typing.Optional[float] = None
-    volume: typing.Optional[float] = None
+    height: float | ClearType
+    volume: float | ClearType
 
 
 @dataclasses.dataclass
@@ -202,7 +202,7 @@ class LiquidOperatedUpdate:
 
     labware_id: str
     well_name: str
-    volume: typing.Optional[float] = None
+    volume: float | ClearType
 
 
 @dataclasses.dataclass
@@ -385,8 +385,8 @@ def set_liquid_probed(
         labware_id: str,
         well_name: str,
         last_probed: datetime,
-        height: typing.Optional[float] = None,
-        volume: typing.Optional[float] = None,
+        height: float | ClearType,
+        volume: float | ClearType,
     ) -> None:
         """Add a liquid height and volume to well state. See `ProbeLiquidUpdate`."""
         self.liquid_probed = LiquidProbedUpdate(
@@ -398,10 +398,7 @@ def set_liquid_probed(
         )
 
     def set_liquid_operated(
-        self,
-        labware_id: str,
-        well_name: str,
-        volume: typing.Optional[float] = None,
+        self, labware_id: str, well_name: str, volume: float | ClearType
     ) -> None:
         """Update liquid volumes in well state. See `OperateLiquidUpdate`."""
         self.liquid_operated = LiquidOperatedUpdate(

diff --git a/api/src/opentrons/protocol_engine/state/wells.py b/api/src/opentrons/protocol_engine/state/wells.py
@@ -1,6 +1,6 @@
 """Basic well data state and store."""
 from dataclasses import dataclass
-from typing import Dict, List, Union, Iterator, Optional, Tuple, overload
+from typing import Dict, List, Union, Iterator, Optional, Tuple, overload, TypeVar
 
 from opentrons.protocol_engine.types import (
     ProbedHeightInfo,
@@ -56,7 +56,7 @@ def _handle_liquid_loaded_update(
             self._state.loaded_volumes[labware_id] = {}
         for (well, volume) in state_update.volumes.items():
             self._state.loaded_volumes[labware_id][well] = LoadedVolumeInfo(
-                volume=volume,
+                volume=_none_from_clear(volume),
                 last_loaded=state_update.last_loaded,
                 operations_since_load=0,
             )
@@ -71,11 +71,11 @@ def _handle_liquid_probed_update(
         if labware_id not in self._state.probed_volumes:
             self._state.probed_volumes[labware_id] = {}
         self._state.probed_heights[labware_id][well_name] = ProbedHeightInfo(
-            height=state_update.height,
+            height=_none_from_clear(state_update.height),
             last_probed=state_update.last_probed,
         )
         self._state.probed_volumes[labware_id][well_name] = ProbedVolumeInfo(
-            volume=state_update.volume,
+            volume=_none_from_clear(state_update.volume),
             last_probed=state_update.last_probed,
             operations_since_probe=0,
         )
@@ -89,7 +89,7 @@ def _handle_liquid_operated_update(
             labware_id in self._state.loaded_volumes
             and well_name in self._state.loaded_volumes[labware_id]
         ):
-            if state_update.volume is None:
+            if state_update.volume is update_types.CLEAR:
                 del self._state.loaded_volumes[labware_id][well_name]
             else:
                 prev_loaded_vol_info = self._state.loaded_volumes[labware_id][well_name]
@@ -109,7 +109,7 @@ def _handle_liquid_operated_update(
             labware_id in self._state.probed_volumes
             and well_name in self._state.probed_volumes[labware_id]
         ):
-            if state_update.volume is None:
+            if state_update.volume is update_types.CLEAR:
                 del self._state.probed_volumes[labware_id][well_name]
             else:
                 prev_probed_vol_info = self._state.probed_volumes[labware_id][well_name]
@@ -223,3 +223,12 @@ def _height_from_info(info: Optional[ProbedHeightInfo]) -> Optional[float]:
     if info is None:
         return None
     return info.height
+
+
+MaybeClear = TypeVar("MaybeClear")
+
+
+def _none_from_clear(inval: MaybeClear | update_types.ClearType) -> MaybeClear | None:
+    if inval == update_types.CLEAR:
+        return None
+    return inval
diff --git a/api/tests/opentrons/protocol_engine/commands/test_aspirate.py b/api/tests/opentrons/protocol_engine/commands/test_aspirate.py
@@ -327,7 +327,7 @@ async def test_overpressure_error(
             liquid_operated=update_types.LiquidOperatedUpdate(
                 labware_id=labware_id,
                 well_name=well_name,
-                volume=None,
+                volume=update_types.CLEAR,
             ),
         ),
     )

diff --git a/api/tests/opentrons/protocol_engine/commands/test_aspirate_in_place.py b/api/tests/opentrons/protocol_engine/commands/test_aspirate_in_place.py
@@ -270,7 +270,7 @@ async def test_overpressure_error(
                 liquid_operated=update_types.LiquidOperatedUpdate(
                     labware_id=stateupdateLabware,
                     well_name=stateupdateWell,
-                    volume=None,
+                    volume=update_types.CLEAR,
                 )
             ),
         )

diff --git a/api/tests/opentrons/protocol_engine/commands/test_dispense.py b/api/tests/opentrons/protocol_engine/commands/test_dispense.py
@@ -169,7 +169,7 @@ async def test_overpressure_error(
             liquid_operated=update_types.LiquidOperatedUpdate(
                 labware_id="labware-id",
                 well_name="well-name",
-                volume=None,
+                volume=update_types.CLEAR,
             ),
         ),
     )
diff --git a/api/tests/opentrons/protocol_engine/commands/test_dispense_in_place.py b/api/tests/opentrons/protocol_engine/commands/test_dispense_in_place.py
@@ -175,7 +175,7 @@ async def test_overpressure_error(
                 liquid_operated=update_types.LiquidOperatedUpdate(
                     labware_id=stateupdateLabware,
                     well_name=stateupdateWell,
-                    volume=None,
+                    volume=update_types.CLEAR,
                 )
             ),
         )

diff --git a/api/tests/opentrons/protocol_engine/commands/test_liquid_probe.py b/api/tests/opentrons/protocol_engine/commands/test_liquid_probe.py
@@ -235,8 +235,8 @@ async def test_liquid_not_found_error(
         liquid_probed=update_types.LiquidProbedUpdate(
             labware_id=labware_id,
             well_name=well_name,
-            height=None,
-            volume=None,
+            height=update_types.CLEAR,
+            volume=update_types.CLEAR,
             last_probed=error_timestamp,
         ),
     )