feat(api,robot-server): use deck def v6

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

@@ -1,4 +1,5 @@
 """ProtocolEngine-based Protocol API core implementation."""
+
 from __future__ import annotations
 from typing import Dict, Optional, Type, Union, List, Tuple, TYPE_CHECKING
 
@@ -7,7 +8,7 @@
 from opentrons.protocol_engine import commands as cmd
 from opentrons.protocol_engine.commands import LoadModuleResult
 
-from opentrons_shared_data.deck.types import DeckDefinitionV5, SlotDefV3
+from opentrons_shared_data.deck.types import DeckDefinitionV6, SlotDefV3
 from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 from opentrons_shared_data.labware.types import LabwareDefinition as LabwareDefDict
 from opentrons_shared_data import liquid_classes
@@ -759,7 +760,7 @@ def load_lid_stack(
 
         return labware_core
 
-    def get_deck_definition(self) -> DeckDefinitionV5:
+    def get_deck_definition(self) -> DeckDefinitionV6:
         """Get the geometry definition of the robot's deck."""
         return self._engine_client.state.labware.get_deck_definition()
 

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

@@ -1,7 +1,7 @@
 import logging
 from typing import Dict, List, Optional, Set, Union, cast, Tuple
 
-from opentrons_shared_data.deck.types import DeckDefinitionV5, SlotDefV3
+from opentrons_shared_data.deck.types import DeckDefinitionV6, SlotDefV3
 from opentrons_shared_data.labware.types import LabwareDefinition
 from opentrons_shared_data.pipette.types import PipetteNameType
 from opentrons_shared_data.robot.types import RobotType
@@ -525,7 +525,7 @@ def get_labware_on_labware(
     ) -> Optional[LegacyLabwareCore]:
         assert False, "get_labware_on_labware only supported on engine core"
 
-    def get_deck_definition(self) -> DeckDefinitionV5:
+    def get_deck_definition(self) -> DeckDefinitionV6:
         """Get the geometry definition of the robot's deck."""
         assert False, "get_deck_definition only supported on engine core"
 

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

@@ -5,7 +5,7 @@
 from abc import abstractmethod, ABC
 from typing import Generic, List, Optional, Union, Tuple, Dict, TYPE_CHECKING
 
-from opentrons_shared_data.deck.types import DeckDefinitionV5, SlotDefV3
+from opentrons_shared_data.deck.types import DeckDefinitionV6, SlotDefV3
 from opentrons_shared_data.pipette.types import PipetteNameType
 from opentrons_shared_data.labware.types import LabwareDefinition
 from opentrons_shared_data.robot.types import RobotType
@@ -220,7 +220,7 @@ def load_lid_stack(
         ...
 
     @abstractmethod
-    def get_deck_definition(self) -> DeckDefinitionV5:
+    def get_deck_definition(self) -> DeckDefinitionV6:
         """Get the geometry definition of the robot's deck."""
 
     @abstractmethod

api/src/opentrons/protocol_engine/resources/deck_configuration_provider.py

@@ -1,7 +1,8 @@
 """Deck configuration resource provider."""
+
 from typing import List, Set, Tuple
 
-from opentrons_shared_data.deck.types import DeckDefinitionV5, CutoutFixture
+from opentrons_shared_data.deck.types import DeckDefinitionV6, CutoutFixture
 
 from opentrons.types import DeckSlotName
 
@@ -20,7 +21,7 @@
 )
 
 
-def get_cutout_position(cutout_id: str, deck_definition: DeckDefinitionV5) -> DeckPoint:
+def get_cutout_position(cutout_id: str, deck_definition: DeckDefinitionV6) -> DeckPoint:
     """Get the base position of a cutout on the deck."""
     for cutout in deck_definition["locations"]["cutouts"]:
         if cutout_id == cutout["id"]:
@@ -31,7 +32,7 @@ def get_cutout_position(cutout_id: str, deck_definition: DeckDefinitionV5) -> De
 
 
 def get_cutout_fixture(
-    cutout_fixture_id: str, deck_definition: DeckDefinitionV5
+    cutout_fixture_id: str, deck_definition: DeckDefinitionV6
 ) -> CutoutFixture:
     """Gets cutout fixture from deck that matches the cutout fixture ID provided."""
     for cutout_fixture in deck_definition["cutoutFixtures"]:
@@ -43,7 +44,7 @@ def get_cutout_fixture(
 
 
 def get_provided_addressable_area_names(
-    cutout_fixture_id: str, cutout_id: str, deck_definition: DeckDefinitionV5
+    cutout_fixture_id: str, cutout_id: str, deck_definition: DeckDefinitionV6
 ) -> List[str]:
     """Gets a list of the addressable areas provided by the cutout fixture on the cutout."""
     cutout_fixture = get_cutout_fixture(cutout_fixture_id, deck_definition)
@@ -54,7 +55,7 @@ def get_provided_addressable_area_names(
 
 
 def get_addressable_area_display_name(
-    addressable_area_name: str, deck_definition: DeckDefinitionV5
+    addressable_area_name: str, deck_definition: DeckDefinitionV6
 ) -> str:
     """Get the display name for an addressable area name."""
     for addressable_area in deck_definition["locations"]["addressableAreas"]:
@@ -66,7 +67,7 @@ def get_addressable_area_display_name(
 
 
 def get_potential_cutout_fixtures(
-    addressable_area_name: str, deck_definition: DeckDefinitionV5
+    addressable_area_name: str, deck_definition: DeckDefinitionV6
 ) -> Tuple[str, Set[PotentialCutoutFixture]]:
     """Given an addressable area name, gets the cutout ID associated with it and a set of potential fixtures."""
     potential_fixtures = []
@@ -99,7 +100,7 @@ def get_addressable_area_from_name(
     addressable_area_name: str,
     cutout_position: DeckPoint,
     base_slot: DeckSlotName,
-    deck_definition: DeckDefinitionV5,
+    deck_definition: DeckDefinitionV6,
 ) -> AddressableArea:
     """Given a name and a cutout position, get an addressable area on the deck."""
     for addressable_area in deck_definition["locations"]["addressableAreas"]:

api/src/opentrons/protocol_engine/resources/deck_data_provider.py

@@ -1,4 +1,5 @@
 """Deck data resource provider."""
+
 from dataclasses import dataclass
 from typing import List, Optional, cast
 from typing_extensions import final
@@ -9,7 +10,7 @@
     load as load_deck,
     DEFAULT_DECK_DEFINITION_VERSION,
 )
-from opentrons_shared_data.deck.types import DeckDefinitionV5
+from opentrons_shared_data.deck.types import DeckDefinitionV6
 from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 from opentrons.types import DeckSlotName
 
@@ -44,10 +45,10 @@ def __init__(
         self._deck_type = deck_type
         self._labware_data = labware_data or LabwareDataProvider()
 
-    async def get_deck_definition(self) -> DeckDefinitionV5:
+    async def get_deck_definition(self) -> DeckDefinitionV6:
         """Get a labware definition given the labware's identification."""
 
-        def sync() -> DeckDefinitionV5:
+        def sync() -> DeckDefinitionV6:
             return load_deck(
                 name=self._deck_type.value, version=DEFAULT_DECK_DEFINITION_VERSION
             )
@@ -57,7 +58,7 @@ def sync() -> DeckDefinitionV5:
     async def get_deck_fixed_labware(
         self,
         load_fixed_trash: bool,
-        deck_definition: DeckDefinitionV5,
+        deck_definition: DeckDefinitionV6,
         deck_configuration: Optional[DeckConfigurationType] = None,
     ) -> List[DeckFixedLabware]:
         """Get a list of all labware fixtures from a given deck definition."""

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

@@ -1,11 +1,12 @@
 """Basic addressable area data state and store."""
+
 from dataclasses import dataclass
 from functools import cached_property
 from typing import Dict, List, Optional, Set
 
 from opentrons_shared_data.robot.types import RobotType, RobotDefinition
 from opentrons_shared_data.deck.types import (
-    DeckDefinitionV5,
+    DeckDefinitionV6,
     SlotDefV3,
     CutoutFixture,
 )
@@ -53,7 +54,7 @@ class AddressableAreaState:
 
     potential_cutout_fixtures_by_cutout_id: Dict[str, Set[PotentialCutoutFixture]]
 
-    deck_definition: DeckDefinitionV5
+    deck_definition: DeckDefinitionV6
 
     deck_configuration: Optional[DeckConfigurationType]
     """The host robot's full deck configuration.
@@ -94,7 +95,7 @@ class AddressableAreaState:
 def _get_conflicting_addressable_areas_error_string(
     potential_cutout_fixtures: Set[PotentialCutoutFixture],
     loaded_addressable_areas: Dict[str, AddressableArea],
-    deck_definition: DeckDefinitionV5,
+    deck_definition: DeckDefinitionV6,
 ) -> str:
     loaded_areas_on_cutout = set()
     for fixture in potential_cutout_fixtures:
@@ -158,7 +159,7 @@ def __init__(
         self,
         deck_configuration: DeckConfigurationType,
         config: Config,
-        deck_definition: DeckDefinitionV5,
+        deck_definition: DeckDefinitionV6,
         robot_definition: RobotDefinition,
     ) -> None:
         """Initialize an addressable area store and its state."""
@@ -208,7 +209,7 @@ def handle_action(self, action: Action) -> None:
 
     @staticmethod
     def _get_addressable_areas_from_deck_configuration(
-        deck_config: DeckConfigurationType, deck_definition: DeckDefinitionV5
+        deck_config: DeckConfigurationType, deck_definition: DeckDefinitionV6
     ) -> Dict[str, AddressableArea]:
         """Return all addressable areas provided by the given deck configuration."""
         addressable_areas = []

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

@@ -1,4 +1,5 @@
 """Basic labware data state and store."""
+
 from __future__ import annotations
 
 from dataclasses import dataclass
@@ -17,7 +18,7 @@
 )
 
 from opentrons.protocol_engine.state import update_types
-from opentrons_shared_data.deck.types import DeckDefinitionV5
+from opentrons_shared_data.deck.types import DeckDefinitionV6
 from opentrons_shared_data.gripper.constants import LABWARE_GRIP_FORCE
 from opentrons_shared_data.labware.labware_definition import (
     InnerWellGeometry,
@@ -109,7 +110,7 @@ class LabwareState:
     labware_offsets_by_id: Dict[str, LabwareOffset]
 
     definitions_by_uri: Dict[str, LabwareDefinition]
-    deck_definition: DeckDefinitionV5
+    deck_definition: DeckDefinitionV6
 
 
 class LabwareStore(HasState[LabwareState], HandlesActions):
@@ -119,7 +120,7 @@ class LabwareStore(HasState[LabwareState], HandlesActions):
 
     def __init__(
         self,
-        deck_definition: DeckDefinitionV5,
+        deck_definition: DeckDefinitionV6,
         deck_fixed_labware: Sequence[DeckFixedLabware],
     ) -> None:
         """Initialize a labware store and its state."""
@@ -418,7 +419,7 @@ def get_display_name(self, labware_id: str) -> str:
             or self.get_definition(labware_id).metadata.displayName
         )
 
-    def get_deck_definition(self) -> DeckDefinitionV5:
+    def get_deck_definition(self) -> DeckDefinitionV6:
         """Get the current deck definition."""
         return self._state.deck_definition
 

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

@@ -1,11 +1,12 @@
 """Protocol engine state management."""
+
 from __future__ import annotations
 
 from dataclasses import dataclass
 from typing import Callable, Dict, List, Optional, Sequence, TypeVar
 from typing_extensions import ParamSpec
 
-from opentrons_shared_data.deck.types import DeckDefinitionV5
+from opentrons_shared_data.deck.types import DeckDefinitionV6
 from opentrons_shared_data.robot.types import RobotDefinition
 
 from opentrons.protocol_engine.error_recovery_policy import ErrorRecoveryPolicy
@@ -177,7 +178,7 @@ def __init__(
         self,
         *,
         config: Config,
-        deck_definition: DeckDefinitionV5,
+        deck_definition: DeckDefinitionV6,
         deck_fixed_labware: Sequence[DeckFixedLabware],
         robot_definition: RobotDefinition,
         is_door_open: bool,

api/tests/opentrons/conftest.py

@@ -58,7 +58,7 @@
 from opentrons_shared_data.deck.types import (
     RobotModel,
     DeckDefinitionV3,
-    DeckDefinitionV5,
+    DeckDefinitionV6,
 )
 from opentrons_shared_data.deck import (
     load as load_deck,
@@ -277,7 +277,7 @@ def deck_definition_name(robot_model: RobotModel) -> str:
 
 
 @pytest.fixture
-def deck_definition(deck_definition_name: str) -> DeckDefinitionV5:
+def deck_definition(deck_definition_name: str) -> DeckDefinitionV6:
     return load_deck(deck_definition_name, DEFAULT_DECK_DEFINITION_VERSION)
 
 

api/tests/opentrons/protocol_api/core/engine/test_protocol_core.py

@@ -12,7 +12,7 @@
 
 from opentrons_shared_data.deck import load as load_deck
 from opentrons_shared_data.deck.types import (
-    DeckDefinitionV5,
+    DeckDefinitionV6,
     SlotDefV3,
 )
 from opentrons_shared_data.pipette.types import PipetteNameType
@@ -95,15 +95,15 @@
 
 
 @pytest.fixture(scope="session")
-def ot2_standard_deck_def() -> DeckDefinitionV5:
+def ot2_standard_deck_def() -> DeckDefinitionV6:
     """Get the OT-2 standard deck definition."""
-    return load_deck(STANDARD_OT2_DECK, 5)
+    return load_deck(STANDARD_OT2_DECK, 6)
 
 
 @pytest.fixture(scope="session")
-def ot3_standard_deck_def() -> DeckDefinitionV5:
+def ot3_standard_deck_def() -> DeckDefinitionV6:
     """Get the OT-2 standard deck definition."""
-    return load_deck(STANDARD_OT3_DECK, 5)
+    return load_deck(STANDARD_OT3_DECK, 6)
 
 
 @pytest.fixture(autouse=True)
@@ -199,7 +199,7 @@ def test_api_version(
 
 
 def test_get_slot_definition(
-    ot2_standard_deck_def: DeckDefinitionV5, subject: ProtocolCore, decoy: Decoy
+    ot2_standard_deck_def: DeckDefinitionV6, subject: ProtocolCore, decoy: Decoy
 ) -> None:
     """It should return a deck slot's definition."""
     expected_slot_def = cast(
@@ -1026,9 +1026,9 @@ def test_move_labware(
                 labwareId="labware-id",
                 newLocation=DeckSlotLocation(slotName=DeckSlotName.SLOT_5),
                 strategy=expected_strategy,
-                pickUpOffset=LabwareOffsetVector(x=4, y=5, z=6)
-                if pick_up_offset
-                else None,
+                pickUpOffset=(
+                    LabwareOffsetVector(x=4, y=5, z=6) if pick_up_offset else None
+                ),
                 dropOffset=LabwareOffsetVector(x=4, y=5, z=6) if drop_offset else None,
             )
         ),
@@ -1712,7 +1712,7 @@ def test_get_deck_definition(
     decoy: Decoy, mock_engine_client: EngineClient, subject: ProtocolCore
 ) -> None:
     """It should return the loaded deck definition from engine state."""
-    deck_definition = cast(DeckDefinitionV5, {"schemaVersion": "5"})
+    deck_definition = cast(DeckDefinitionV6, {"schemaVersion": "6"})
 
     decoy.when(mock_engine_client.state.labware.get_deck_definition()).then_return(
         deck_definition

api/tests/opentrons/protocol_api/test_deck.py

@@ -1,11 +1,12 @@
 """Tests for opentrons.legacy.Deck."""
+
 import inspect
 from typing import cast, Dict
 
 import pytest
 from decoy import Decoy
 
-from opentrons_shared_data.deck.types import DeckDefinitionV5, SlotDefV3
+from opentrons_shared_data.deck.types import DeckDefinitionV6, SlotDefV3
 
 from opentrons.motion_planning import adjacent_slots_getters as mock_adjacent_slots
 from opentrons.protocols.api_support.types import APIVersion
@@ -23,10 +24,10 @@
 
 
 @pytest.fixture
-def deck_definition() -> DeckDefinitionV5:
+def deck_definition() -> DeckDefinitionV6:
     """Get a deck definition value object."""
     return cast(
-        DeckDefinitionV5,
+        DeckDefinitionV6,
         {
             "locations": {"addressableAreas": [], "calibrationPoints": []},
             "cutoutFixtures": {},
@@ -81,7 +82,7 @@ def staging_slot_definitions_by_name() -> Dict[str, SlotDefV3]:
 @pytest.fixture
 def subject(
     decoy: Decoy,
-    deck_definition: DeckDefinitionV5,
+    deck_definition: DeckDefinitionV6,
     mock_protocol_core: ProtocolCore,
     mock_core_map: LoadedCoreMap,
     api_version: APIVersion,