feat(api): define & execute v3 json protocols

api/src/opentrons/protocol_api/execute.py

@@ -1,14 +1,11 @@
 import inspect
-import itertools
 import logging
 import traceback
 import sys
-from typing import Any, Callable, Dict, Optional
+from typing import Any, Callable, Dict
 
-from .contexts import ProtocolContext, InstrumentContext
-from .back_compat import BCLabware
-from . import labware
-from opentrons.types import Point, Location
+from .contexts import ProtocolContext
+from . import execute_v1, execute_v3
 from opentrons import config
 
 MODULE_LOG = logging.getLogger(__name__)
@@ -111,227 +108,27 @@ def _run_python(proto: Any, context: ProtocolContext):
         raise ExceptionInProtocolError(e, tb, str(e), frame.lineno)
 
 
-def load_pipettes_from_json(
-        ctx: ProtocolContext,
-        protocol: Dict[Any, Any]) -> Dict[str, InstrumentContext]:
-    pipette_data = protocol.get('pipettes', {})
-    pipettes_by_id = {}
-    for pipette_id, props in pipette_data.items():
-        model = props.get('model')
-        mount = props.get('mount')
-
-        # TODO: Ian 2018-11-06 remove this fallback to 'model' when
-        # backwards-compatability for JSON protocols with versioned
-        # pipettes is dropped (next JSON protocol schema major bump)
-        name = props.get('name')
-        if not name:
-            name = model.split('_v')[0]
-
-        instr = ctx.load_instrument(name, mount)
-
-        pipettes_by_id[pipette_id] = instr
-
-    return pipettes_by_id
-
-
-def load_labware_from_json(
-        ctx: ProtocolContext,
-        protocol: Dict[Any, Any]) -> Dict[str, labware.Labware]:
-    data = protocol.get('labware', {})
-    loaded_labware = {}
-    bc = BCLabware(ctx)
-    for labware_id, props in data.items():
-        slot = props.get('slot')
-        model = props.get('model')
-        if slot == '12':
-            if model == 'fixed-trash':
-                # pass in the pre-existing fixed-trash
-                loaded_labware[labware_id] = ctx.fixed_trash
-            else:
-                raise RuntimeError(
-                    "Nothing but the fixed trash may be loaded in slot 12; "
-                    "this protocol attempts to load a {} there."
-                    .format(model))
-        else:
-            loaded_labware[labware_id] = bc.load(
-                model, slot, label=props.get('display-name'))
-
-    return loaded_labware
-
-
-def _get_well(loaded_labware: Dict[str, labware.Labware],
-              params: Dict[str, Any]):
-    labwareId = params['labware']
-    well = params['well']
-    plate = loaded_labware.get(labwareId)
-    if not plate:
-        raise ValueError(
-            'Command tried to use labware "{}", but that ID does not exist '
-            'in protocol\'s "labware" section'.format(labwareId))
-    return plate.wells_by_index()[well]
-
-
-def _get_bottom_offset(command_type: str,
-                       params: Dict[str, Any],
-                       default_values: Dict[str, float]) -> Optional[float]:
-    # default offset from bottom for aspirate/dispense commands
-    offset_default = default_values.get(
-        '{}-mm-from-bottom'.format(command_type))
-
-    # optional command-specific value, fallback to default
-    offset_from_bottom = params.get(
-        'offsetFromBottomMm', offset_default)
-
-    return offset_from_bottom
-
-
-def _get_location_with_offset(loaded_labware: Dict[str, labware.Labware],
-                              command_type: str,
-                              params: Dict[str, Any],
-                              default_values: Dict[str, float]) -> Location:
-    well = _get_well(loaded_labware, params)
-
-    # Never move to the bottom of the fixed trash
-    if 'fixedTrash' in labware.quirks_from_any_parent(well):
-        return well.top()
-
-    offset_from_bottom = _get_bottom_offset(
-        command_type, params, default_values)
-
-    bot = well.bottom()
-    if offset_from_bottom:
-        with_offs = bot.move(Point(z=offset_from_bottom))
-    else:
-        with_offs = bot
-    MODULE_LOG.debug("offset from bottom for {}: {}->{}"
-                     .format(command_type, bot, with_offs))
-    return with_offs
-
-
-# TODO (Ian 2018-08-22) once Pipette has more sensible way of managing
-# flow rate value (eg as an argument in aspirate/dispense fns), remove this
-def _set_flow_rate(
-        pipette_name, pipette, command_type, params, default_values):
-    """
-    Set flow rate in uL/mm, to value obtained from command's params,
-    or if unspecified in command params, then from protocol's "default-values".
-    """
-    default_aspirate = default_values.get(
-        'aspirate-flow-rate', {}).get(pipette_name)
-
-    default_dispense = default_values.get(
-        'dispense-flow-rate', {}).get(pipette_name)
-
-    flow_rate_param = params.get('flow-rate')
-
-    if flow_rate_param is not None:
-        if command_type == 'aspirate':
-            pipette.flow_rate = {
-                'aspirate': flow_rate_param,
-                'dispense': default_dispense
-            }
-            return
-        if command_type == 'dispense':
-            pipette.flow_rate = {
-                'aspirate': default_aspirate,
-                'dispense': flow_rate_param
-            }
-            return
-
-    pipette.flow_rate = {
-        'aspirate': default_aspirate,
-        'dispense': default_dispense
-    }
-
-
-def dispatch_json(context: ProtocolContext,  # noqa(C901)
-                  protocol_data: Dict[Any, Any],
-                  instruments: Dict[str, InstrumentContext],
-                  labware: Dict[str, labware.Labware]):
-    subprocedures = [
-        p.get('subprocedure', [])
-        for p in protocol_data.get('procedure', [])]
-
-    default_values = protocol_data.get('default-values', {})
-    flat_subs = itertools.chain.from_iterable(subprocedures)
-
-    for command_item in flat_subs:
-        command_type = command_item.get('command')
-        params = command_item.get('params', {})
-        pipette = instruments.get(params.get('pipette'))
-        protocol_pipette_data = protocol_data\
-            .get('pipettes', {})\
-            .get(params.get('pipette'), {})
-        pipette_name = protocol_pipette_data.get('name')
-
-        if (not pipette_name):
-            # TODO: Ian 2018-11-06 remove this fallback to 'model' when
-            # backwards-compatability for JSON protocols with versioned
-            # pipettes is dropped (next JSON protocol schema major bump)
-            pipette_name = protocol_pipette_data.get('model')
-
-        if command_type == 'delay':
-            wait = params.get('wait')
-            if wait is None:
-                raise ValueError('Delay cannot be null')
-            elif wait is True:
-                message = params.get('message', 'Pausing until user resumes')
-                context.pause(msg=message)
-            else:
-                context.delay(seconds=wait)
-
-        elif command_type == 'blowout':
-            well = _get_well(labware, params)
-            pipette.blow_out(well)  # type: ignore
-
-        elif command_type == 'pick-up-tip':
-            well = _get_well(labware, params)
-            pipette.pick_up_tip(well)  # type: ignore
-
-        elif command_type == 'drop-tip':
-            well = _get_well(labware, params)
-            pipette.drop_tip(well)  # type: ignore
-
-        elif command_type == 'aspirate':
-            location = _get_location_with_offset(
-                labware, 'aspirate', params, default_values)
-            volume = params['volume']
-            _set_flow_rate(
-                pipette_name, pipette, command_type, params, default_values)
-            pipette.aspirate(volume, location)  # type: ignore
-
-        elif command_type == 'dispense':
-            location = _get_location_with_offset(
-                labware, 'dispense', params, default_values)
-            volume = params['volume']
-            _set_flow_rate(
-                pipette_name, pipette, command_type, params, default_values)
-            pipette.dispense(volume, location)  # type: ignore
-
-        elif command_type == 'touch-tip':
-            well = _get_well(labware, params)
-            offset = default_values.get('touch-tip-mm-from-top', -1)
-            pipette.touch_tip(location, v_offset=offset)  # type: ignore
-
-        elif command_type == 'move-to-slot':
-            slot = params.get('slot')
-            if slot not in [str(s+1) for s in range(12)]:
-                raise ValueError('Invalid "slot" for "move-to-slot": {}'
-                                 .format(slot))
-            slot_obj = context.deck.position_for(slot)
-
-            offset = params.get('offset', {})
-            offsetPoint = Point(
-                offset.get('x', 0),
-                offset.get('y', 0),
-                offset.get('z', 0))
-
-            pipette.move_to(  # type: ignore
-                slot_obj.move(offsetPoint),
-                force_direct=params.get('force-direct'),
-                minimum_z_height=params.get('minimum-z-height'))
-        else:
-            MODULE_LOG.warning("Bad command type {}".format(command_type))
+def get_protocol_schema_version(protocol_json: Dict[Any, Any]) -> int:
+    # v3 and above uses `schemaVersion: integer`
+    version = protocol_json.get('schemaVersion')
+    if version:
+        return version
+    # v1 uses 1.x.x and v2 uses 2.x.x
+    legacyKebabVersion = protocol_json.get('protocol-schema')
+    # No minor/patch schemas ever were released,
+    # do not permit protocols with nonexistent schema versions to load
+    if legacyKebabVersion == '1.0.0':
+        return 1
+    elif legacyKebabVersion == '2.0.0':
+        return 2
+    elif legacyKebabVersion:
+        raise RuntimeError(
+            f'No such schema version: "{legacyKebabVersion}". Did you mean ' +
+            '"1.0.0" or "2.0.0"?')
+    # no truthy value for schemaVersion or protocol-schema
+    raise RuntimeError(
+        'Could not determine schema version for protocol. ' +
+        'Make sure there is a version number under "schemaVersion"')
 
 
 def run_protocol(protocol_code: Any = None,
@@ -364,8 +161,23 @@ def run_protocol(protocol_code: Any = None,
     if None is not protocol_code:
         _run_python(protocol_code, true_context)
     elif None is not protocol_json:
-        lw = load_labware_from_json(true_context, protocol_json)
-        ins = load_pipettes_from_json(true_context, protocol_json)
-        dispatch_json(true_context, protocol_json, ins, lw)
+        protocol_version = get_protocol_schema_version(protocol_json)
+        if protocol_version > 3:
+            raise RuntimeError(
+                f'JSON Protocol version {protocol_version } is not yet ' +
+                'supported in this version of the API')
+
+        if protocol_version >= 3:
+            ins = execute_v3.load_pipettes_from_json(
+                true_context, protocol_json)
+            lw = execute_v3.load_labware_from_json_defs(
+                true_context, protocol_json)
+            execute_v3.dispatch_json(true_context, protocol_json, ins, lw)
+        else:
+            ins = execute_v1.load_pipettes_from_json(
+                true_context, protocol_json)
+            lw = execute_v1.load_labware_from_json_loadnames(
+                true_context, protocol_json)
+            execute_v1.dispatch_json(true_context, protocol_json, ins, lw)
     else:
         raise RuntimeError("run_protocol must have either code or json")