feat(api): Tip tracking for all 96ch configurations

api/src/opentrons/protocol_api/core/engine/instrument.py

@@ -703,13 +703,7 @@ def is_tip_tracking_available(self) -> bool:
             return True
         else:
             if self.get_channels() == 96:
-                # SINGLE configuration with H12 nozzle is technically supported by the
-                # current tip tracking implementation but we don't do any deck conflict
-                # checks for it, so we won't provide full support for it yet.
-                return (
-                    self.get_nozzle_configuration() == NozzleConfigurationType.COLUMN
-                    and primary_nozzle == "A12"
-                )
+                return True
             if self.get_channels() == 8:
                 return (
                     self.get_nozzle_configuration() == NozzleConfigurationType.SINGLE

api/src/opentrons/protocol_api/core/engine/labware.py

@@ -8,9 +8,10 @@
 
 from opentrons_shared_data.labware.labware_definition import LabwareRole
 
+from opentrons.protocol_engine import LoadedPipette
 from opentrons.protocol_engine.errors import LabwareNotOnDeckError, ModuleNotOnDeckError
 from opentrons.protocol_engine.clients import SyncClient as ProtocolEngineClient
-from opentrons.types import DeckSlotName, Point
+from opentrons.types import DeckSlotName, Point, Mount, MountType
 
 from ..labware import AbstractLabware, LabwareLoadParams
 from .well import WellCore
@@ -122,17 +123,28 @@ def reset_tips(self) -> None:
             raise TypeError(f"{self.get_display_name()} is not a tip rack.")
 
     def get_next_tip(
-        self, num_tips: int, starting_tip: Optional[WellCore]
+        self,
+        mount: Mount,
+        num_tips: int,
+        starting_tip: Optional[WellCore],
     ) -> Optional[str]:
-        return self._engine_client.state.tips.get_next_tip(
-            labware_id=self._labware_id,
-            num_tips=num_tips,
-            starting_tip_name=(
-                starting_tip.get_name()
-                if starting_tip and starting_tip.labware_id == self._labware_id
-                else None
-            ),
+        pipette = self._engine_client.state.pipettes.get_by_mount(
+            MountType.from_hw_mount(mount)
         )
+        if isinstance(pipette, LoadedPipette):
+            pipette_id = pipette.id
+            return self._engine_client.state.tips.get_next_tip(
+                pipette_id=pipette_id,
+                labware_id=self._labware_id,
+                num_tips=num_tips,
+                starting_tip_name=(
+                    starting_tip.get_name()
+                    if starting_tip and starting_tip.labware_id == self._labware_id
+                    else None
+                ),
+            )
+        else:
+            raise ValueError(f"No valid Pipette found for Mount {mount.name}")
 
     def get_well_columns(self) -> List[List[str]]:
         """Get the all well names, organized by column, from the labware's definition."""

api/src/opentrons/protocol_api/core/labware.py

@@ -10,7 +10,7 @@
     LabwareDefinition as LabwareDefinitionDict,
 )
 
-from opentrons.types import DeckSlotName, Point
+from opentrons.types import DeckSlotName, Point, Mount
 
 from .well import WellCoreType
 
@@ -110,7 +110,10 @@ def reset_tips(self) -> None:
 
     @abstractmethod
     def get_next_tip(
-        self, num_tips: int, starting_tip: Optional[WellCoreType]
+        self,
+        mount: Mount,
+        num_tips: int,
+        starting_tip: Optional[WellCoreType],
     ) -> Optional[str]:
         """Get the name of the next available tip(s) in the rack, if available."""
 

api/src/opentrons/protocol_api/core/legacy/legacy_labware_core.py

@@ -4,7 +4,7 @@
 from opentrons.protocols.geometry.labware_geometry import LabwareGeometry
 from opentrons.protocols.api_support.tip_tracker import TipTracker
 
-from opentrons.types import DeckSlotName, Location, Point
+from opentrons.types import DeckSlotName, Location, Point, Mount
 from opentrons_shared_data.labware.dev_types import LabwareParameters, LabwareDefinition
 
 from ..labware import AbstractLabware, LabwareLoadParams
@@ -153,7 +153,10 @@ def reset_tips(self) -> None:
                 well.set_has_tip(True)
 
     def get_next_tip(
-        self, num_tips: int, starting_tip: Optional[LegacyWellCore]
+        self,
+        mount: Mount,
+        num_tips: int,
+        starting_tip: Optional[LegacyWellCore],
     ) -> Optional[str]:
         next_well = self._tip_tracker.next_tip(num_tips, starting_tip)
         return next_well.get_name() if next_well else None

api/src/opentrons/protocol_api/instrument_context.py

@@ -872,15 +872,20 @@ def pick_up_tip(  # noqa: C901
         )
 
         if location is None:
-            if not self._core.is_tip_tracking_available():
+            # TODO (cb, 02-29-2024): Remove the 96 channel specific gating here once starting tip is supported in tip-cluster based automatic tip tracking
+            if not self._core.is_tip_tracking_available() or (
+                self.starting_tip is not None
+                and self._core.get_channels() == 96
+                and (self._core.get_active_channels() not in [96, 8])
+            ):
                 raise CommandPreconditionViolated(
                     "Automatic tip tracking is not available for the current pipette"
                     " nozzle configuration. We suggest switching to a configuration"
                     " that supports automatic tip tracking or specifying the exact tip"
                     " to pick up."
                 )
-
             tip_rack, well = labware.next_available_tip(
+                mount=self._core.get_mount(),
                 starting_tip=self.starting_tip,
                 tip_racks=self.tip_racks,
                 channels=active_channels,
@@ -892,6 +897,7 @@ def pick_up_tip(  # noqa: C901
 
         elif isinstance(location, labware.Labware):
             tip_rack, well = labware.next_available_tip(
+                mount=self._core.get_mount(),
                 starting_tip=None,
                 tip_racks=[location],
                 channels=active_channels,
@@ -907,6 +913,7 @@ def pick_up_tip(  # noqa: C901
 
             elif maybe_tip_rack is not None:
                 tip_rack, well = labware.next_available_tip(
+                    mount=self._core.get_mount(),
                     starting_tip=None,
                     tip_racks=[maybe_tip_rack],
                     channels=active_channels,
@@ -1322,7 +1329,10 @@ def transfer(  # noqa: C901
 
         if new_tip != types.TransferTipPolicy.NEVER:
             tr, next_tip = labware.next_available_tip(
-                self.starting_tip, self.tip_racks, active_channels
+                self._core.get_mount(),
+                self.starting_tip,
+                self.tip_racks,
+                active_channels,
             )
             max_volume = min(next_tip.max_volume, self.max_volume)
         else:

api/src/opentrons/protocol_api/labware.py

@@ -17,7 +17,7 @@
 
 from opentrons_shared_data.labware.dev_types import LabwareDefinition, LabwareParameters
 
-from opentrons.types import Location, Point
+from opentrons.types import Location, Point, Mount
 from opentrons.protocols.api_support.types import APIVersion
 from opentrons.protocols.api_support.util import requires_version, APIVersionError
 
@@ -883,7 +883,10 @@ def tip_length(self, length: float) -> None:
 
     # TODO(mc, 2022-11-09): implementation detail; deprecate public method
     def next_tip(
-        self, num_tips: int = 1, starting_tip: Optional[Well] = None
+        self,
+        mount: Mount,
+        num_tips: int = 1,
+        starting_tip: Optional[Well] = None,
     ) -> Optional[Well]:
         """
         Find the next valid well for pick-up.
@@ -902,6 +905,7 @@ def next_tip(
         assert num_tips > 0, f"num_tips must be positive integer, but got {num_tips}"
 
         well_name = self._core.get_next_tip(
+            mount=mount,
             num_tips=num_tips,
             starting_tip=starting_tip._core if starting_tip else None,
         )
@@ -1061,7 +1065,10 @@ def split_tipracks(tip_racks: List[Labware]) -> Tuple[Labware, List[Labware]]:
 
 # TODO(mc, 2022-11-09): implementation detail, move to core
 def select_tiprack_from_list(
-    tip_racks: List[Labware], num_channels: int, starting_point: Optional[Well] = None
+    mount: Mount,
+    tip_racks: List[Labware],
+    num_channels: int,
+    starting_point: Optional[Well] = None,
 ) -> Tuple[Labware, Well]:
     try:
         first, rest = split_tipracks(tip_racks)
@@ -1077,11 +1084,11 @@ def select_tiprack_from_list(
     else:
         first_well = first.wells()[0]
 
-    next_tip = first.next_tip(num_channels, first_well)
+    next_tip = first.next_tip(mount, num_channels, first_well)
     if next_tip:
         return first, next_tip
     else:
-        return select_tiprack_from_list(rest, num_channels)
+        return select_tiprack_from_list(mount, rest, num_channels)
 
 
 # TODO(mc, 2022-11-09): implementation detail, move to core
@@ -1093,14 +1100,20 @@ def filter_tipracks_to_start(
 
 # TODO(mc, 2022-11-09): implementation detail, move to core
 def next_available_tip(
-    starting_tip: Optional[Well], tip_racks: List[Labware], channels: int
+    mount: Mount,
+    starting_tip: Optional[Well],
+    tip_racks: List[Labware],
+    channels: int,
 ) -> Tuple[Labware, Well]:
     start = starting_tip
     if start is None:
-        return select_tiprack_from_list(tip_racks, channels)
+        return select_tiprack_from_list(mount, tip_racks, channels)
     else:
         return select_tiprack_from_list(
-            filter_tipracks_to_start(start, tip_racks), channels, start
+            mount,
+            filter_tipracks_to_start(start, tip_racks),
+            channels,
+            start,
         )