fix(api): Use the latest information when estimating liquid height (#…

…17374)

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# Overview
There was a bug in the estimation code under the following scenario
Well volume is set with Load Liquid
Well is then probed
Well is operated on and the probed volume and loaded volume are updated
based on the operation
Future well operations are based on the load liquid and not the probe
because it happened to be first in the "is_valid" check


Now the well volume after an operation is based on which happened LAST
load_liquid or liquid probe.
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## Test Plan and Hands on Testing

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api/src/opentrons/protocol_engine/state/geometry.py

@@ -1448,17 +1448,25 @@ def get_meniscus_height(
         well_name: str,
     ) -> float:
         """Returns stored meniscus height in specified well."""
+        last_updated = self._wells.get_last_liquid_update(labware_id, well_name)
+        if last_updated is None:
+            raise errors.LiquidHeightUnknownError(
+                "Must LiquidProbe or LoadLiquid before specifying WellOrigin.MENISCUS."
+            )
+
         well_liquid = self._wells.get_well_liquid_info(
             labware_id=labware_id, well_name=well_name
         )
         if (
             well_liquid.probed_height is not None
             and well_liquid.probed_height.height is not None
+            and well_liquid.probed_height.last_probed == last_updated
         ):
             return well_liquid.probed_height.height
         elif (
             well_liquid.loaded_volume is not None
             and well_liquid.loaded_volume.volume is not None
+            and well_liquid.loaded_volume.last_loaded == last_updated
         ):
             return self.get_well_height_at_volume(
                 labware_id=labware_id,
@@ -1468,15 +1476,17 @@ def get_meniscus_height(
         elif (
             well_liquid.probed_volume is not None
             and well_liquid.probed_volume.volume is not None
+            and well_liquid.probed_volume.last_probed == last_updated
         ):
             return self.get_well_height_at_volume(
                 labware_id=labware_id,
                 well_name=well_name,
                 volume=well_liquid.probed_volume.volume,
             )
         else:
+            # This should not happen if there was an update but who knows
             raise errors.LiquidHeightUnknownError(
-                "Must LiquidProbe or LoadLiquid before specifying WellOrigin.MENISCUS."
+                f"Unable to find liquid height despite an update at {last_updated}."
             )
 
     def get_well_handling_height(

api/src/opentrons/protocol_engine/state/wells.py

@@ -2,6 +2,7 @@
 
 from dataclasses import dataclass
 from typing import Dict, List, Union, Iterator, Optional, Tuple, overload, TypeVar
+from datetime import datetime
 
 from opentrons.protocol_engine.types import (
     ProbedHeightInfo,
@@ -177,6 +178,22 @@ def get_well_liquid_info(self, labware_id: str, well_name: str) -> WellLiquidInf
             probed_volume=probed_volume_info,
         )
 
+    def get_last_liquid_update(
+        self, labware_id: str, well_name: str
+    ) -> Optional[datetime]:
+        """Return the timestamp of the last load or probe done on the well."""
+        info = self.get_well_liquid_info(labware_id, well_name)
+        update_times: List[datetime] = []
+        if info.loaded_volume is not None and info.loaded_volume.volume is not None:
+            update_times.append(info.loaded_volume.last_loaded)
+        if info.probed_height is not None and info.probed_height.height is not None:
+            update_times.append(info.probed_height.last_probed)
+        if info.probed_volume is not None and info.probed_volume.volume is not None:
+            update_times.append(info.probed_volume.last_probed)
+        if len(update_times) > 0:
+            return max(update_times)
+        return None
+
     def get_all(self) -> List[WellInfoSummary]:
         """Get all well liquid info summaries."""
 

api/tests/opentrons/protocol_engine/state/test_geometry_view.py

@@ -62,6 +62,7 @@
     TipGeometry,
     ModuleDefinition,
     ProbedHeightInfo,
+    ProbedVolumeInfo,
     LoadedVolumeInfo,
     WellLiquidInfo,
 )
@@ -1577,10 +1578,14 @@ def test_get_well_position_with_meniscus_offset(
     decoy.when(mock_labware_view.get_well_definition("labware-id", "B2")).then_return(
         well_def
     )
+    probe_time = datetime.now()
+    decoy.when(mock_well_view.get_last_liquid_update("labware-id", "B2")).then_return(
+        probe_time
+    )
     decoy.when(mock_well_view.get_well_liquid_info("labware-id", "B2")).then_return(
         WellLiquidInfo(
             probed_volume=None,
-            probed_height=ProbedHeightInfo(height=70.5, last_probed=datetime.now()),
+            probed_height=ProbedHeightInfo(height=70.5, last_probed=probe_time),
             loaded_volume=None,
         )
     )
@@ -1639,10 +1644,14 @@ def test_get_well_position_with_volume_offset_raises_error(
     decoy.when(mock_labware_view.get_well_definition("labware-id", "B2")).then_return(
         well_def
     )
+    probe_time = datetime.now()
+    decoy.when(mock_well_view.get_last_liquid_update("labware-id", "B2")).then_return(
+        probe_time
+    )
     decoy.when(mock_well_view.get_well_liquid_info("labware-id", "B2")).then_return(
         WellLiquidInfo(
             loaded_volume=None,
-            probed_height=ProbedHeightInfo(height=45.0, last_probed=datetime.now()),
+            probed_height=ProbedHeightInfo(height=45.0, last_probed=probe_time),
             probed_volume=None,
         )
     )
@@ -1698,13 +1707,17 @@ def test_get_well_position_with_meniscus_and_literal_volume_offset(
     decoy.when(
         mock_addressable_area_view.get_addressable_area_position(DeckSlotName.SLOT_4.id)
     ).then_return(slot_pos)
+    probe_time = datetime.now()
+    decoy.when(mock_well_view.get_last_liquid_update("labware-id", "B2")).then_return(
+        probe_time
+    )
     decoy.when(mock_labware_view.get_well_definition("labware-id", "B2")).then_return(
         well_def
     )
     decoy.when(mock_well_view.get_well_liquid_info("labware-id", "B2")).then_return(
         WellLiquidInfo(
             loaded_volume=None,
-            probed_height=ProbedHeightInfo(height=45.0, last_probed=datetime.now()),
+            probed_height=ProbedHeightInfo(height=45.0, last_probed=probe_time),
             probed_volume=None,
         )
     )
@@ -1771,10 +1784,14 @@ def test_get_well_position_with_meniscus_and_float_volume_offset(
     decoy.when(mock_labware_view.get_well_definition("labware-id", "B2")).then_return(
         well_def
     )
+    probe_time = datetime.now()
+    decoy.when(mock_well_view.get_last_liquid_update("labware-id", "B2")).then_return(
+        probe_time
+    )
     decoy.when(mock_well_view.get_well_liquid_info("labware-id", "B2")).then_return(
         WellLiquidInfo(
             loaded_volume=None,
-            probed_height=ProbedHeightInfo(height=45.0, last_probed=datetime.now()),
+            probed_height=ProbedHeightInfo(height=45.0, last_probed=probe_time),
             probed_volume=None,
         )
     )
@@ -1840,10 +1857,14 @@ def test_get_well_position_raises_validation_error(
     decoy.when(mock_labware_view.get_well_definition("labware-id", "B2")).then_return(
         well_def
     )
+    probe_time = datetime.now()
+    decoy.when(mock_well_view.get_last_liquid_update("labware-id", "B2")).then_return(
+        probe_time
+    )
     decoy.when(mock_well_view.get_well_liquid_info("labware-id", "B2")).then_return(
         WellLiquidInfo(
             loaded_volume=None,
-            probed_height=ProbedHeightInfo(height=40.0, last_probed=datetime.now()),
+            probed_height=ProbedHeightInfo(height=40.0, last_probed=probe_time),
             probed_volume=None,
         )
     )
@@ -1905,10 +1926,14 @@ def test_get_meniscus_height(
     decoy.when(mock_labware_view.get_well_definition("labware-id", "B2")).then_return(
         well_def
     )
+    probe_time = datetime.now()
+    decoy.when(mock_well_view.get_last_liquid_update("labware-id", "B2")).then_return(
+        probe_time
+    )
     decoy.when(mock_well_view.get_well_liquid_info("labware-id", "B2")).then_return(
         WellLiquidInfo(
             loaded_volume=LoadedVolumeInfo(
-                volume=2000.0, last_loaded=datetime.now(), operations_since_load=0
+                volume=2000.0, last_loaded=probe_time, operations_since_load=0
             ),
             probed_height=None,
             probed_volume=None,
@@ -3349,10 +3374,14 @@ def test_validate_dispense_volume_into_well_meniscus(
     decoy.when(mock_labware_view.get_well_geometry("labware-id", "A1")).then_return(
         inner_well_def
     )
+    probe_time = datetime.now()
+    decoy.when(mock_well_view.get_last_liquid_update("labware-id", "A1")).then_return(
+        probe_time
+    )
     decoy.when(mock_well_view.get_well_liquid_info("labware-id", "A1")).then_return(
         WellLiquidInfo(
             loaded_volume=None,
-            probed_height=ProbedHeightInfo(height=40.0, last_probed=datetime.now()),
+            probed_height=ProbedHeightInfo(height=40.0, last_probed=probe_time),
             probed_volume=None,
         )
     )
@@ -3369,6 +3398,129 @@ def test_validate_dispense_volume_into_well_meniscus(
         )
 
 
+def test_get_latest_volume_information(
+    decoy: Decoy,
+    mock_labware_view: LabwareView,
+    mock_well_view: WellView,
+    subject: GeometryView,
+) -> None:
+    """It should raise an InvalidDispenseVolumeError if too much volume is specified."""
+    # Setup
+    labware_def = _load_labware_definition_data()
+    assert labware_def.wells is not None
+    well_def = labware_def.wells["A1"]
+    assert labware_def.innerLabwareGeometry is not None
+    inner_well_def = labware_def.innerLabwareGeometry["welldefinition1111"]
+
+    load_time = datetime.min
+    probe_time = datetime.now()
+
+    decoy.when(mock_labware_view.get_well_definition("labware-id", "A1")).then_return(
+        well_def
+    )
+    decoy.when(mock_labware_view.get_well_geometry("labware-id", "A1")).then_return(
+        inner_well_def
+    )
+    ten_ul_height = subject.get_well_height_at_volume(
+        labware_id="labware-id", well_name="A1", volume=10.0
+    )
+    twenty_ul_height = subject.get_well_height_at_volume(
+        labware_id="labware-id", well_name="A1", volume=20.0
+    )
+
+    # Make sure Get height with no information raises an error
+    decoy.when(mock_well_view.get_last_liquid_update("labware-id", "A1")).then_return(
+        None
+    )
+    decoy.when(mock_well_view.get_well_liquid_info("labware-id", "A1")).then_return(
+        WellLiquidInfo(
+            loaded_volume=None,
+            probed_height=None,
+            probed_volume=None,
+        )
+    )
+    decoy.when(mock_well_view.get_last_liquid_update("labware-id", "A1")).then_return(
+        None
+    )
+
+    with pytest.raises(errors.LiquidHeightUnknownError):
+        subject.get_meniscus_height(labware_id="labware-id", well_name="A1")
+    # Make sure get height with a valid load returns the correct height
+    decoy.when(mock_well_view.get_well_liquid_info("labware-id", "A1")).then_return(
+        WellLiquidInfo(
+            loaded_volume=LoadedVolumeInfo(
+                volume=10.0, last_loaded=load_time, operations_since_load=0
+            ),
+            probed_height=None,
+            probed_volume=None,
+        )
+    )
+
+    decoy.when(mock_well_view.get_last_liquid_update("labware-id", "A1")).then_return(
+        load_time
+    )
+    assert (
+        subject.get_meniscus_height(labware_id="labware-id", well_name="A1")
+        == ten_ul_height
+    )
+
+    # Make sure that if there is a probe after a load that we get the correct height
+    decoy.when(mock_well_view.get_well_liquid_info("labware-id", "A1")).then_return(
+        WellLiquidInfo(
+            loaded_volume=LoadedVolumeInfo(
+                volume=10.0, last_loaded=load_time, operations_since_load=0
+            ),
+            probed_height=ProbedHeightInfo(height=40.0, last_probed=probe_time),
+            probed_volume=None,
+        )
+    )
+    decoy.when(mock_well_view.get_last_liquid_update("labware-id", "A1")).then_return(
+        probe_time
+    )
+
+    assert subject.get_meniscus_height(labware_id="labware-id", well_name="A1") == 40.0
+
+    # Simulate a pipetting action and make sure we get the height based on the most current one
+    decoy.when(mock_well_view.get_well_liquid_info("labware-id", "A1")).then_return(
+        WellLiquidInfo(
+            loaded_volume=LoadedVolumeInfo(
+                volume=10.0, last_loaded=load_time, operations_since_load=1
+            ),
+            probed_height=None,
+            probed_volume=ProbedVolumeInfo(
+                volume=20.0, last_probed=probe_time, operations_since_probe=1
+            ),
+        )
+    )
+    decoy.when(mock_well_view.get_last_liquid_update("labware-id", "A1")).then_return(
+        probe_time
+    )
+    assert (
+        subject.get_meniscus_height(labware_id="labware-id", well_name="A1")
+        == twenty_ul_height
+    )
+
+    # Simulate a calling load_liquid after a probe and make sure we get the height based on the load_liquid
+    decoy.when(mock_well_view.get_well_liquid_info("labware-id", "A1")).then_return(
+        WellLiquidInfo(
+            loaded_volume=LoadedVolumeInfo(
+                volume=10.0, last_loaded=datetime.max, operations_since_load=0
+            ),
+            probed_height=ProbedHeightInfo(height=40.0, last_probed=probe_time),
+            probed_volume=ProbedVolumeInfo(
+                volume=20.0, last_probed=probe_time, operations_since_probe=0
+            ),
+        )
+    )
+    decoy.when(mock_well_view.get_last_liquid_update("labware-id", "A1")).then_return(
+        datetime.max
+    )
+    assert (
+        subject.get_meniscus_height(labware_id="labware-id", well_name="A1")
+        == ten_ul_height
+    )
+
+
 @pytest.mark.parametrize(
     [
         "labware_id",