refactor(shared-data, robot-server, api): Pipette configuration archi…

…tecture refactor to organize by nozzle map and tip type (#15250)

Covers PLAT-334, with effects on PLAT-270, PLAT-269
Addresses capability for nozzle layout and tip type to effect current, speed, distance and tip overlap

api/src/opentrons/hardware_control/instruments/ot2/pipette.py

@@ -17,6 +17,7 @@
     PipetteModelVersionType,
     PipetteNameType,
     PipetteLiquidPropertiesDefinition,
+    PressFitPickUpTipConfiguration,
 )
 from opentrons_shared_data.pipette import (
     load_data as load_pipette_data,
@@ -58,6 +59,12 @@
 )
 from opentrons.hardware_control.dev_types import InstrumentHardwareConfigs
 
+from opentrons.hardware_control.util import (
+    pick_up_speed_by_configuration,
+    pick_up_distance_by_configuration,
+    pick_up_current_by_configuration,
+    nominal_tip_overlap_dictionary_by_configuration,
+)
 
 RECONFIG_KEYS = {"quirks"}
 
@@ -112,9 +119,16 @@ def __init__(
             pipette_channels=config.channels,
             pipette_version=config.version,
         )
+        self._valid_nozzle_maps = load_pipette_data.load_valid_nozzle_maps(
+            self._pipette_model.pipette_type,
+            self._pipette_model.pipette_channels,
+            self._pipette_model.pipette_version,
+        )
         self._nozzle_offset = self._config.nozzle_offset
         self._nozzle_manager = (
-            nozzle_manager.NozzleConfigurationManager.build_from_config(self._config)
+            nozzle_manager.NozzleConfigurationManager.build_from_config(
+                self._config, self._valid_nozzle_maps
+            )
         )
         self._current_volume = 0.0
         self._working_volume = float(self._liquid_class.max_volume)
@@ -148,7 +162,9 @@ def __init__(
             self._active_tip_settings.default_blowout_flowrate.default
         )
 
-        self._tip_overlap_lookup = self._liquid_class.tip_overlap_dictionary
+        self._versioned_tip_overlap_dictionary = (
+            self.get_nominal_tip_overlap_dictionary_by_configuration()
+        )
 
         if use_old_aspiration_functions:
             self._pipetting_function_version = PIPETTING_FUNCTION_FALLBACK_VERSION
@@ -216,8 +232,8 @@ def pipette_offset(self) -> PipetteOffsetByPipetteMount:
         return self._pipette_offset
 
     @property
-    def tip_overlap(self) -> Dict[str, float]:
-        return self._tip_overlap_lookup
+    def tip_overlap(self) -> Dict[str, Dict[str, float]]:
+        return self._versioned_tip_overlap_dictionary
 
     @property
     def channels(self) -> pip_types.PipetteChannelType:
@@ -290,9 +306,14 @@ def reset_state(self) -> None:
             self.active_tip_settings.default_blowout_flowrate.default
         )
 
-        self._tip_overlap_lookup = self.liquid_class.tip_overlap_dictionary
+        self._versioned_tip_overlap_dictionary = (
+            self.get_nominal_tip_overlap_dictionary_by_configuration()
+        )
+
         self._nozzle_manager = (
-            nozzle_manager.NozzleConfigurationManager.build_from_config(self._config)
+            nozzle_manager.NozzleConfigurationManager.build_from_config(
+                self._config, self._valid_nozzle_maps
+            )
         )
 
     def reset_pipette_offset(self, mount: Mount, to_default: bool) -> None:
@@ -520,6 +541,45 @@ def remove_tip(self) -> None:
     def has_tip(self) -> bool:
         return self._has_tip
 
+    def get_pick_up_speed_by_configuration(
+        self,
+        config: PressFitPickUpTipConfiguration,
+    ) -> float:
+        return pick_up_speed_by_configuration(
+            config,
+            self._nozzle_manager.current_configuration.valid_map_key,
+            pip_types.PipetteTipType(self._liquid_class.max_volume),
+        )
+
+    def get_pick_up_distance_by_configuration(
+        self,
+        config: PressFitPickUpTipConfiguration,
+    ) -> float:
+        return pick_up_distance_by_configuration(
+            config,
+            self._nozzle_manager.current_configuration.valid_map_key,
+            pip_types.PipetteTipType(self._liquid_class.max_volume),
+        )
+
+    def get_pick_up_current_by_configuration(
+        self,
+        config: PressFitPickUpTipConfiguration,
+    ) -> float:
+        return pick_up_current_by_configuration(
+            config,
+            self._nozzle_manager.current_configuration.valid_map_key,
+            pip_types.PipetteTipType(self._liquid_class.max_volume),
+        )
+
+    def get_nominal_tip_overlap_dictionary_by_configuration(
+        self,
+    ) -> Dict[str, Dict[str, float]]:
+        return nominal_tip_overlap_dictionary_by_configuration(
+            self._config,
+            self._nozzle_manager.current_configuration.valid_map_key,
+            pip_types.PipetteTipType(self._liquid_class.max_volume),
+        )
+
     # Cache max is chosen somewhat arbitrarily. With a float is input we don't
     # want this to unbounded.
     @functools.lru_cache(maxsize=100)
@@ -571,7 +631,9 @@ def as_dict(self) -> "Pipette.DictType":
                 "default_dispense_flow_rates": self.dispense_flow_rates_lookup,
                 "tip_length": self.current_tip_length,
                 "return_tip_height": self.active_tip_settings.default_return_tip_height,
-                "tip_overlap": self.tip_overlap,
+                "tip_overlap": self.tip_overlap[
+                    "v0"
+                ],  # TODO(cb, 2024-06-11): hard coded to "v0" - when versioned tip overlaps are fully integrated this must change
                 "back_compat_names": self._config.pipette_backcompat_names,
                 "supported_tips": self.liquid_class.supported_tips,
             }

api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py

@@ -772,7 +772,7 @@ def plan_check_pick_up_tip(  # type: ignore[no-untyped-def]
         if instrument.has_tip:
             raise UnexpectedTipAttachError("pick_up_tip", instrument.name, mount.name)
         self._ihp_log.debug(f"Picking up tip on {mount.name}")
-        tip_count = instrument.nozzle_manager.current_configuration.tip_count
+
         if presses is None or presses < 0:
             checked_presses = instrument.pick_up_configurations.press_fit.presses
         else:
@@ -783,11 +783,12 @@ def plan_check_pick_up_tip(  # type: ignore[no-untyped-def]
         else:
             check_incr = increment
 
-        pick_up_speed = instrument.pick_up_configurations.press_fit.speed_by_tip_count[
-            tip_count
-        ]
-        pick_up_distance = (
-            instrument.pick_up_configurations.press_fit.distance_by_tip_count[tip_count]
+        pick_up_speed = instrument.get_pick_up_speed_by_configuration(
+            instrument.pick_up_configurations.press_fit
+        )
+
+        pick_up_distance = instrument.get_pick_up_distance_by_configuration(
+            instrument.pick_up_configurations.press_fit
         )
 
         def build_presses() -> Iterator[Tuple[float, float]]:
@@ -817,9 +818,9 @@ def add_tip_to_instr() -> None:
                             current={
                                 Axis.by_mount(
                                     mount
-                                ): instrument.pick_up_configurations.press_fit.current_by_tip_count[
-                                    tip_count
-                                ]
+                                ): instrument.get_pick_up_current_by_configuration(
+                                    instrument.pick_up_configurations.press_fit
+                                )
                             },
                             speed=pick_up_speed,
                             relative_down=top_types.Point(0, 0, press_dist),
@@ -846,9 +847,9 @@ def add_tip_to_instr() -> None:
                             current={
                                 Axis.by_mount(
                                     mount
-                                ): instrument.pick_up_configurations.press_fit.current_by_tip_count[
-                                    instrument.nozzle_manager.current_configuration.tip_count
-                                ]
+                                ): instrument.get_pick_up_current_by_configuration(
+                                    instrument.pick_up_configurations.press_fit
+                                )
                             },
                             speed=pick_up_speed,
                             relative_down=top_types.Point(0, 0, press_dist),

api/src/opentrons/hardware_control/instruments/ot3/pipette.py

@@ -49,6 +49,13 @@
 from opentrons.hardware_control.errors import InvalidCriticalPoint
 from opentrons.hardware_control import nozzle_manager
 
+from opentrons.hardware_control.util import (
+    pick_up_speed_by_configuration,
+    pick_up_distance_by_configuration,
+    pick_up_current_by_configuration,
+    nominal_tip_overlap_dictionary_by_configuration,
+)
+
 mod_log = logging.getLogger(__name__)
 
 
@@ -96,9 +103,16 @@ def __init__(
             pipette_channels=config.channels,
             pipette_version=config.version,
         )
+        self._valid_nozzle_maps = load_pipette_data.load_valid_nozzle_maps(
+            self._pipette_model.pipette_type,
+            self._pipette_model.pipette_channels,
+            self._pipette_model.pipette_version,
+        )
         self._nozzle_offset = self._config.nozzle_offset
         self._nozzle_manager = (
-            nozzle_manager.NozzleConfigurationManager.build_from_config(self._config)
+            nozzle_manager.NozzleConfigurationManager.build_from_config(
+                self._config, self._valid_nozzle_maps
+            )
         )
         self._current_volume = 0.0
         self._working_volume = float(self._liquid_class.max_volume)
@@ -133,7 +147,9 @@ def __init__(
         )
         self._flow_acceleration = self._active_tip_settings.default_flow_acceleration
 
-        self._tip_overlap_lookup = self._liquid_class.tip_overlap_dictionary
+        self._versioned_tip_overlap_dictionary = (
+            self.get_nominal_tip_overlap_dictionary_by_configuration()
+        )
 
         if use_old_aspiration_functions:
             self._pipetting_function_version = PIPETTING_FUNCTION_FALLBACK_VERSION
@@ -161,8 +177,8 @@ def backlash_distance(self) -> float:
         return self._backlash_distance
 
     @property
-    def tip_overlap(self) -> Dict[str, float]:
-        return self._tip_overlap_lookup
+    def tip_overlap(self) -> Dict[str, Dict[str, float]]:
+        return self._versioned_tip_overlap_dictionary
 
     @property
     def nozzle_offset(self) -> Point:
@@ -254,9 +270,13 @@ def reset_state(self) -> None:
         )
         self._flow_acceleration = self._active_tip_settings.default_flow_acceleration
 
-        self._tip_overlap_lookup = self.liquid_class.tip_overlap_dictionary
+        self._versioned_tip_overlap_dictionary = (
+            self.get_nominal_tip_overlap_dictionary_by_configuration()
+        )
         self._nozzle_manager = (
-            nozzle_manager.NozzleConfigurationManager.build_from_config(self._config)
+            nozzle_manager.NozzleConfigurationManager.build_from_config(
+                self._config, self._valid_nozzle_maps
+            )
         )
 
     def reset_pipette_offset(self, mount: OT3Mount, to_default: bool) -> None:
@@ -560,7 +580,7 @@ def as_dict(self) -> "Pipette.DictType":
                 "default_flow_acceleration": self.active_tip_settings.default_flow_acceleration,
                 "tip_length": self.current_tip_length,
                 "return_tip_height": self.active_tip_settings.default_return_tip_height,
-                "tip_overlap": self.tip_overlap,
+                "tip_overlap": self.tip_overlap["v0"],
                 "back_compat_names": self._config.pipette_backcompat_names,
                 "supported_tips": self.liquid_class.supported_tips,
             }
@@ -655,32 +675,90 @@ def set_tip_type(self, tip_type: pip_types.PipetteTipType) -> None:
         self._flow_acceleration = self._active_tip_settings.default_flow_acceleration
 
         self._fallback_tip_length = self._active_tip_settings.default_tip_length
-        self._tip_overlap_lookup = self.liquid_class.tip_overlap_dictionary
+        self._versioned_tip_overlap_dictionary = (
+            self.get_nominal_tip_overlap_dictionary_by_configuration()
+        )
         self._working_volume = min(tip_type.value, self.liquid_class.max_volume)
 
-    def get_pick_up_configuration_for_tip_count(
-        self, count: int
+    def get_pick_up_configuration(  # noqa: C901
+        self,
     ) -> Union[CamActionPickUpTipConfiguration, PressFitPickUpTipConfiguration]:
         for config in (
             self._config.pick_up_tip_configurations.press_fit,
             self._config.pick_up_tip_configurations.cam_action,
         ):
             if not config:
                 continue
-
-            if isinstance(config, PressFitPickUpTipConfiguration) and all(
-                [
-                    config.speed_by_tip_count.get(count),
-                    config.distance_by_tip_count.get(count),
-                    config.current_by_tip_count.get(count),
-                ]
-            ):
-                return config
-            elif config.current_by_tip_count.get(count) is not None:
-                return config
+            config_values = None
+            try:
+                config_values = config.configuration_by_nozzle_map[
+                    self._nozzle_manager.current_configuration.valid_map_key
+                ][self._active_tip_setting_name.name]
+            except KeyError:
+                try:
+                    config_values = config.configuration_by_nozzle_map[
+                        self._nozzle_manager.current_configuration.valid_map_key
+                    ].get("default")
+                    if config_values is None:
+                        raise KeyError(
+                            f"Default tip type configuration values do not exist for Nozzle Map {self._nozzle_manager.current_configuration.valid_map_key}."
+                        )
+                except KeyError:
+                    # No valid key found for the approved nozzle map under this configuration - try the next
+                    continue
+            if config_values is not None:
+                if isinstance(config, PressFitPickUpTipConfiguration) and all(
+                    [
+                        config_values.speed,
+                        config_values.distance,
+                        config_values.current,
+                    ]
+                ):
+                    return config
+                elif config_values.current is not None:
+                    return config
 
         raise CommandPreconditionViolated(
-            message=f"No pick up tip configuration for {count} tips",
+            message="No valid pick up tip configuration values found in instrument definition.",
+        )
+
+    def get_pick_up_speed_by_configuration(
+        self,
+        config: Union[CamActionPickUpTipConfiguration, PressFitPickUpTipConfiguration],
+    ) -> float:
+        return pick_up_speed_by_configuration(
+            config,
+            self._nozzle_manager.current_configuration.valid_map_key,
+            self._active_tip_setting_name,
+        )
+
+    def get_pick_up_distance_by_configuration(
+        self,
+        config: Union[CamActionPickUpTipConfiguration, PressFitPickUpTipConfiguration],
+    ) -> float:
+        return pick_up_distance_by_configuration(
+            config,
+            self._nozzle_manager.current_configuration.valid_map_key,
+            self._active_tip_setting_name,
+        )
+
+    def get_pick_up_current_by_configuration(
+        self,
+        config: Union[CamActionPickUpTipConfiguration, PressFitPickUpTipConfiguration],
+    ) -> float:
+        return pick_up_current_by_configuration(
+            config,
+            self._nozzle_manager.current_configuration.valid_map_key,
+            self._active_tip_setting_name,
+        )
+
+    def get_nominal_tip_overlap_dictionary_by_configuration(
+        self,
+    ) -> Dict[str, Dict[str, float]]:
+        return nominal_tip_overlap_dictionary_by_configuration(
+            self._config,
+            self._nozzle_manager.current_configuration.valid_map_key,
+            self._active_tip_setting_name,
         )