Preserve saved tip state during tracker restoration - #1466
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hazlamshamin wants to merge 1 commit into
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hazlamshamin wants to merge 1 commit into
hazlamshamin wants to merge 1 commit into
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why not add this to the new OT driver rather than legacy? |
Compare committed and pending tips before attaching a tip to its holder. Resource placement must not turn a committed state into a pending transaction. Restore saved liquid volume through the committed tip volume tracker. Reuse the committed tip when both tip states match, while preserving pending pickup and removal transactions for commit or rollback. Keep resource-tree tip ownership and the saved state format unchanged.
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oh god, i genuinely missed that. been working and building on top with the legacy one even before the new driver is merged last month. didn't realise it. but thats a good news for me too then... i have narrowed this PR to just the saved tip-state restoration, since the eight-channel capability i needed already exists in the new driver. apologies for duplicating! |
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Summary
Preserve committed tip state and saved liquid volume when loading a tip tracker. Attaching a deserialized tip to its spot changes its resource placement. Comparing tip states after attachment can incorrectly create a pending transaction, and ignoring the saved volume state loses the liquid in the tip.
The shared
TipSpot.serialize_state()andTipSpot.load_state()APIs delegate to this tracker. The fix therefore also applies to rack state used by the current OT-2 driver. No pipette driver or hardware command changes are included.Verification
Three regression tests fail against upstream main at
3eb0b68cbda63095a4172dccc9844185deb3a674and pass with the fix. A fourth test checks preservation of pending pickup transactions.python -m pytest -q pylabrobot/legacy/liquid_handling pylabrobot/resources pylabrobot/legacy/tip_tracker_tests.py pylabrobot/opentrons/ot2 pylabrobot/opentrons/tracking_tests.py— 954 passed, 8 unchanged skips, and 341 subtests passed.python -m ruff check pylabrobot/legacy/tip_tracker.py pylabrobot/legacy/tip_tracker_tests.py— passed.python -m ruff format --check pylabrobot/legacy/tip_tracker.py pylabrobot/legacy/tip_tracker_tests.py— passed.python -m mypy --follow-imports=silent --ignore-missing-imports pylabrobot/legacy/tip_tracker.py— passed; scoped to the changed source file.Existing tests and CI configuration are unchanged. The full repository test suite and hardware tests did not run for this change.