fix(api): Do not hang if there is an error in pickUpTip planning

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

@@ -1010,15 +1010,15 @@ def get_hardware_state(self) -> PipetteDict:
         return self._sync_hardware_api.get_attached_instrument(self.get_mount())  # type: ignore[no-any-return]
 
     def get_channels(self) -> int:
-        return self._engine_client.state.tips.get_pipette_channels(self._pipette_id)
+        return self._engine_client.state.pipettes.get_channels(self._pipette_id)
 
     def get_active_channels(self) -> int:
-        return self._engine_client.state.tips.get_pipette_active_channels(
-            self._pipette_id
-        )
+        return self._engine_client.state.pipettes.get_active_channels(self._pipette_id)
 
     def get_nozzle_map(self) -> NozzleMapInterface:
-        return self._engine_client.state.tips.get_pipette_nozzle_map(self._pipette_id)
+        return self._engine_client.state.pipettes.get_nozzle_configuration(
+            self._pipette_id
+        )
 
     def has_tip(self) -> bool:
         return (

api/src/opentrons/protocol_engine/commands/get_next_tip.py

@@ -73,8 +73,8 @@ async def execute(self, params: GetNextTipParams) -> SuccessData[GetNextTipResul
         pipette_id = params.pipetteId
         starting_tip_name = params.startingTipWell
 
-        num_tips = self._state_view.tips.get_pipette_active_channels(pipette_id)
-        nozzle_map = self._state_view.tips.get_pipette_nozzle_map(pipette_id)
+        num_tips = self._state_view.pipettes.get_active_channels(pipette_id)
+        nozzle_map = self._state_view.pipettes.get_nozzle_configuration(pipette_id)
 
         if (
             starting_tip_name is not None

api/src/opentrons/protocol_engine/commands/pick_up_tip.py

@@ -121,6 +121,12 @@ async def execute(
         labware_id = params.labwareId
         well_name = params.wellName
 
+        tips_to_mark_as_used = self._state_view.tips.compute_tips_to_mark_as_used(
+            labware_id=labware_id,
+            well_name=well_name,
+            nozzle_map=self._state_view.pipettes.get_nozzle_configuration(pipette_id),
+        )
+
         well_location = self._state_view.geometry.convert_pick_up_tip_well_location(
             well_location=params.wellLocation
         )
@@ -152,15 +158,15 @@ async def execute(
                 )
                 .set_fluid_empty(pipette_id=pipette_id, clean_tip=True)
                 .mark_tips_as_used(
-                    pipette_id=pipette_id, labware_id=labware_id, well_name=well_name
+                    labware_id=labware_id, well_names=tips_to_mark_as_used
                 )
             )
             state_update = (
                 update_types.StateUpdate.reduce(
                     update_types.StateUpdate(), move_result.state_update
                 )
                 .mark_tips_as_used(
-                    pipette_id=pipette_id, labware_id=labware_id, well_name=well_name
+                    labware_id=labware_id, well_names=tips_to_mark_as_used
                 )
                 .set_fluid_unknown(pipette_id=pipette_id)
             )
@@ -186,7 +192,7 @@ async def execute(
                     tip_geometry=tip_geometry,
                 )
                 .mark_tips_as_used(
-                    pipette_id=pipette_id, labware_id=labware_id, well_name=well_name
+                    labware_id=labware_id, well_names=tips_to_mark_as_used
                 )
                 .set_fluid_empty(pipette_id=pipette_id, clean_tip=True)
                 .set_pipette_ready_to_aspirate(

api/src/opentrons/protocol_engine/commands/seal_pipette_to_tip.py

@@ -249,7 +249,7 @@ async def execute(
 
         # Begin relative pickup steps for the resin tips
 
-        channels = self._state_view.tips.get_pipette_active_channels(pipette_id)
+        channels = self._state_view.pipettes.get_active_channels(pipette_id)
         mount = self._state_view.pipettes.get_mount(pipette_id)
         tip_pick_up_params = params.tipPickUpParams
 

api/src/opentrons/protocol_engine/commands/unsafe/unsafe_drop_tip_in_place.py

@@ -81,8 +81,7 @@ async def execute(
             pipette_id=params.pipetteId,
             home_after=params.homeAfter,
             ignore_plunger=(
-                self._state_view.tips.get_pipette_active_channels(params.pipetteId)
-                == 96
+                self._state_view.pipettes.get_active_channels(params.pipetteId) == 96
             ),
         )
 

api/src/opentrons/protocol_engine/execution/movement.py

@@ -105,9 +105,7 @@ async def move_to_well(
         self._hs_movement_flagger.raise_if_movement_restricted(
             hs_movement_restrictors=hs_movement_restrictors,
             destination_slot=dest_slot_int,
-            is_multi_channel=(
-                self._state_store.tips.get_pipette_channels(pipette_id) > 1
-            ),
+            is_multi_channel=(self._state_store.pipettes.get_channels(pipette_id) > 1),
             destination_is_tip_rack=self._state_store.labware.is_tiprack(labware_id),
         )
 
@@ -204,9 +202,7 @@ async def move_to_addressable_area(
         self._hs_movement_flagger.raise_if_movement_restricted(
             hs_movement_restrictors=hs_movement_restrictors,
             destination_slot=dest_slot_int,
-            is_multi_channel=(
-                self._state_store.tips.get_pipette_channels(pipette_id) > 1
-            ),
+            is_multi_channel=(self._state_store.pipettes.get_channels(pipette_id) > 1),
             destination_is_tip_rack=False,
         )
 

api/src/opentrons/protocol_engine/execution/queue_worker.py

@@ -72,7 +72,14 @@ async def _run_commands(self) -> None:
             try:
                 await self._command_executor.execute(command_id=command_id)
             except BaseException:
-                log.exception("Unhandled failure in command executor")
+                log.exception(
+                    # The state can tear if e.g. we've finished updating PipetteStore,
+                    # but the exception came before we could update LabwareStore. Or
+                    # the exception could have interrupted updating a single store.
+                    "Unhandled failure in command executor."
+                    " This is a bug in opentrons.protocol_engine"
+                    " and has probably left the ProtocolEngine in a torn state."
+                )
                 raise
             # Yield to the event loop in case we're executing a long sequence of commands
             # that never yields internally. For example, a long sequence of comment commands.

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

@@ -63,7 +63,7 @@ def wells_covered_dense(  # noqa: C901
     row_downsample = len(target_wells_by_column[0]) // 8
     if column_downsample < 1 or row_downsample < 1:
         raise InvalidStoredData(
-            "This labware cannot be used wells_covered_dense because it is less dense than an SBS 96 standard"
+            "This labware cannot be used with wells_covered_dense() because it is less dense than an SBS 96 standard"
         )
 
     for nozzle_column in range(len(nozzle_map.columns)):
@@ -126,7 +126,7 @@ def wells_covered_sparse(  # noqa: C901
     row_upsample = 8 // len(target_wells_by_column[0])
     if column_upsample < 1 or row_upsample < 1:
         raise InvalidStoredData(
-            "This labware cannot be used with wells_covered_sparse because it is more dense than an SBS 96 standard."
+            "This labware cannot be used with wells_covered_sparse() because it is more dense than an SBS 96 standard."
         )
     for nozzle_column in range(max(1, len(nozzle_map.columns) // column_upsample)):
         for nozzle_row in range(max(1, len(nozzle_map.rows) // row_upsample)):

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

@@ -650,6 +650,10 @@ def get_channels(self, pipette_id: str) -> int:
         """Return the max channels of the pipette."""
         return self.get_config(pipette_id).channels
 
+    def get_active_channels(self, pipette_id: str) -> int:
+        """Get the number of channels being used in the given pipette's configuration."""
+        return self.get_nozzle_configuration(pipette_id).tip_count
+
     def get_minimum_volume(self, pipette_id: str) -> float:
         """Return the given pipette's minimum volume."""
         return self.get_config(pipette_id).min_volume
@@ -727,6 +731,10 @@ def get_primary_nozzle(self, pipette_id: str) -> str:
         nozzle_map = self._state.nozzle_configuration_by_id[pipette_id]
         return nozzle_map.starting_nozzle
 
+    def get_nozzle_configurations(self) -> Dict[str, NozzleMap]:
+        """Get the nozzle maps of all pipettes, keyed by pipette ID."""
+        return self._state.nozzle_configuration_by_id.copy()
+
     def get_nozzle_configuration(self, pipette_id: str) -> NozzleMap:
         """Get the nozzle map of the pipette."""
         return self._state.nozzle_configuration_by_id[pipette_id]