Merge back 'chore_release-8.8.0' into 'edge'

.github/workflows/api-test-lint-deploy.yaml

@@ -214,6 +214,10 @@ jobs:
       - uses: './.github/actions/python/setup'
         with:
           project: 'api'
+      - name: 'build api distributables'
+        shell: bash
+        run: make -C api sdist wheel
+
       # creds and repository configuration for deploying python wheels
       - if: ${{ !env.OT_TAG }}
         name: 'upload to test pypi'

.github/workflows/shared-data-test-lint-deploy.yaml

@@ -184,6 +184,10 @@ jobs:
           script: |
             const { buildComplexEnvVars, } = require(`${process.env.GITHUB_WORKSPACE}/.github/workflows/utils.js`)
             buildComplexEnvVars(core, context)
+      - name: 'build shared-data wheel'
+        shell: bash
+        run: make -C shared-data dist-py
+
       # creds and repository configuration for deploying python wheels
       - if: ${{ !env.OT_TAG }}
         name: 'upload to test pypi'

api/src/opentrons/hardware_control/backends/ot3controller.py

@@ -664,11 +664,11 @@ def _build_move_node_axis_runner(
             return None, False
         # Create a target that doesn't incorporate the plunger into a joint axis with the gantry
         plunger_axes = [Axis.P_L, Axis.P_R]
-        move_target = self._move_manager.devectorize_axes(
-            origin, target, speed, plunger_axes
-        )
 
         try:
+            move_target = self._move_manager.devectorize_axes(
+                origin, target, speed, plunger_axes
+            )
             _, movelist = self._move_manager.plan_motion(
                 origin=origin, target_list=[move_target]
             )

api/src/opentrons/protocol_api/labware.py

@@ -822,8 +822,8 @@ def set_calibration(self, delta: Point) -> None:
     def set_offset(self, x: float, y: float, z: float) -> None:
         """Set the labware's position offset.
 
-        The offset is an x, y, z vector in deck coordinates
-        (see :ref:`protocol-api-deck-coords`).
+        An offset of `(x=0, y=0, z=0)` means the labware's uncalibrated position before
+        any offset from Labware Position Check is applied.
 
         How the motion system applies the offset depends on the API level of the protocol.
 
@@ -882,6 +882,9 @@ def set_offset(self, x: float, y: float, z: float) -> None:
     def calibrated_offset(self) -> Point:
         """The front-left-bottom corner of the labware, including its labware offset.
 
+        The offset is an x, y, z vector in deck coordinates
+        (see :ref:`protocol-api-deck-coords`).
+
         When running a protocol in the Opentrons App or on the touchscreen, Labware
         Position Check sets the labware offset.
         """

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

@@ -19,6 +19,7 @@
 from .command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
 from ..errors import (
     CameraDisabledError,
+    CameraSettingsInvalidError,
     FileNameInvalidError,
 )
 from ..errors.error_occurrence import ErrorOccurrence
@@ -193,6 +194,26 @@ async def execute(
                 message=f"Capture image filename cannot contain character(s): {SPECIAL_CHARACTERS.intersection(set(params.fileName))}"
             )
 
+        # Validate the image filter parameters
+        if params.brightness is not None and (
+            params.brightness < 0 or params.brightness > 100
+        ):
+            raise CameraSettingsInvalidError(
+                message="Capture image brightness must be a percentage from 0% to 100%."
+            )
+        if params.contrast is not None and (
+            params.contrast < 0 or params.contrast > 100
+        ):
+            raise CameraSettingsInvalidError(
+                message="Capture image contrast must be a percentage from 0% to 100%."
+            )
+        if params.saturation is not None and (
+            params.saturation < 0 or params.saturation > 100
+        ):
+            raise CameraSettingsInvalidError(
+                message="Capture image saturation must be a percentage from 0% to 100%."
+            )
+
         # Handle capturing an image with the CameraProvider - Engine camera settings take priority
         camera_settings = await self._camera_provider.get_camera_settings()
         engine_camera_settings = self._state_view.camera.get_enablement_settings()

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

@@ -155,6 +155,7 @@ async def execute(self, command_id: str) -> None:
         log.debug(
             f"Executing {running_command.id}, {running_command.commandType}, {running_command.params}"
         )
+        error_occurred = False
         try:
             result = await command_impl.execute(
                 running_command.params  # type: ignore[arg-type]
@@ -191,7 +192,7 @@ async def execute(self, command_id: str) -> None:
                     type=error_recovery_type,
                 )
             )
-            await self.capture_error_image(running_command)
+            error_occurred = True
 
         else:
             if isinstance(result, SuccessData):
@@ -227,6 +228,10 @@ async def execute(self, command_id: str) -> None:
                         type=error_recovery_type,
                     )
                 )
+                error_occurred = True
+        finally:
+            # Handle error image capture if appropriate
+            if error_occurred:
                 await self.capture_error_image(running_command)
 
     def cancel_tasks(self, message: str | None = None) -> None:
@@ -236,7 +241,10 @@ def cancel_tasks(self, message: str | None = None) -> None:
     async def capture_error_image(self, running_command: Command) -> None:
         """Capture an image of an error event."""
         try:
-            camera_enablement = await self._camera_provider.get_camera_settings()
+            camera_enablement = self._state_store.camera.get_enablement_settings()
+            if camera_enablement is None:
+                # Utilize the global camera settings
+                camera_enablement = await self._camera_provider.get_camera_settings()
             # Only capture photos of errors if the setting to do so is enabled
             if (
                 camera_enablement.cameraEnabled

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

@@ -22,7 +22,6 @@
     "<",
     ">",
     "*",
-    " ",
     "$",
     "!",
     "?",

api/src/opentrons/system/camera.py

@@ -37,6 +37,8 @@
 ]
 
 # Camera Parameter Globals
+RESOLUTION_MIN = (320, 240)
+RESOLUTION_MAX = (7680, 4320)
 RESOLUTION_DEFAULT = (1920, 1080)
 ZOOM_MIN = 1.0
 ZOOM_MAX = 2.0
@@ -277,7 +279,7 @@ def write_stream_configuration_file_data(data: Dict[str, str]) -> None:
         fd.writelines(file_lines)
 
 
-async def image_capture(
+async def image_capture(  # noqa: C901
     robot_type: RobotType, parameters: ImageParameters
 ) -> bytes | CameraError:
     """Process an Image Capture request with a Camera utilizing a given set of parameters."""
@@ -305,8 +307,16 @@ async def image_capture(
         parameters.saturation < SATURATION_MIN or parameters.saturation > SATURATION_MAX
     ):
         potential_invalid_param = "Saturation"
+    elif parameters.resolution is not None and (
+        parameters.resolution[0] < RESOLUTION_MIN[0]
+        or parameters.resolution[1] < RESOLUTION_MIN[1]
+        or parameters.resolution[0] > RESOLUTION_MAX[0]
+        or parameters.resolution[1] > RESOLUTION_MAX[1]
+    ):
+        potential_invalid_param = "Resolution"
     else:
         potential_invalid_param = None
+
     if potential_invalid_param is not None:
         return CameraError(
             message=f"{potential_invalid_param} parameter is outside the boundaries allowed for image capture.",
@@ -363,3 +373,9 @@ def get_boot_id() -> str:
         return Path("/proc/sys/kernel/random/boot_id").read_text().strip()
     else:
         return "SIMULATED_BOOT_ID"
+
+
+def camera_exists() -> bool:
+    """Validate whether or not the camera device exists."""
+    return os.path.exists(DEFAULT_SYSTEM_CAMERA)
+    # todo(chb, 2025-11-10): Eventually when we support multiple cameras this should accept a camera parameter to check for

api/tests/opentrons/hardware_control/backends/test_ot3_controller.py

@@ -1454,6 +1454,32 @@ def move_group_run_side_effect(
             },
             None,
         ],
+        [
+            {
+                Axis.X: 0,
+                Axis.Y: 0,
+                Axis.Z_L: 0,
+                Axis.Z_R: 0,
+                Axis.P_L: 0,
+            },
+            {
+                Axis.X: 0,  # Zero Length Move, make sure it doesn't raise an error
+                Axis.Y: 0,
+                Axis.Z_L: 0,
+                Axis.P_L: 0,
+            },
+            {
+                Axis.X: 0,
+                Axis.Y: 0,
+                Axis.Z_L: 0,
+                Axis.Z_R: 0,
+                Axis.P_L: 0,
+                Axis.P_R: 0,
+                Axis.Z_G: 0,
+                Axis.G: 0,
+            },
+            None,
+        ],
     ],
 )
 async def test_controller_move(

api/tests/opentrons/protocol_engine/commands/test_capture_image.py

@@ -240,8 +240,8 @@ async def test_ensure_camera_used_precondition_set(
             50,
         ],
         [
-            (1, 2),
-            (1, 2),
+            (320, 240),
+            (320, 240),
             1.5,
             1.5,
             (3, 4),
@@ -254,8 +254,8 @@ async def test_ensure_camera_used_precondition_set(
             75,
         ],
         [
-            (1, 2),
-            (1, 2),
+            (320, 240),
+            (320, 240),
             2.0,
             2.0,
             (3, 4),
@@ -268,8 +268,8 @@ async def test_ensure_camera_used_precondition_set(
             25,
         ],
         [
-            (9999999, 9999999),
-            (9999999, 9999999),
+            (7680, 4320),
+            (7680, 4320),
             1.0,
             1.0,
             (25, 45),
@@ -389,3 +389,56 @@ async def test_raises_filename_error(
         params = CaptureImageParams(fileName="badname" + char)
         with pytest.raises(FileNameInvalidError):
             await subject.execute(params=params)
+
+
+@pytest.mark.parametrize(
+    argnames=[
+        "zoom",
+        "contrast",
+        "brightness",
+        "saturation",
+        "resolution",
+    ],
+    argvalues=[
+        [0.9, 1, 1, 1, (1920, 1080)],
+        [2.1, 1, 1, 1, (1920, 1080)],
+        [1, -1, 1, 1, (1920, 1080)],
+        [1, 101, 1, 1, (1920, 1080)],
+        [1, 1, -1, 1, (1920, 1080)],
+        [1, 1, 101, 1, (1920, 1080)],
+        [1, 1, 1, -1, (1920, 1080)],
+        [1, 1, 1, 101, (1920, 1080)],
+        [1, 1, 1, 1, (0, 0)],
+        [1, 1, 1, 1, (10000, 10000)],
+    ],
+)
+async def test_raises_image_parameter_error(
+    decoy: Decoy,
+    state_view: StateView,
+    file_provider: FileProvider,
+    camera_provider_image_capture: CameraProvider,
+    zoom: float,
+    contrast: float,
+    brightness: float,
+    saturation: float,
+    resolution: Tuple[int, int],
+) -> None:
+    """It should raise CameraSettingsInvalidError when the capture image command is provided bad filter params."""
+    subject = CaptureImageImpl(
+        state_view=state_view,
+        file_provider=file_provider,
+        camera_provider=camera_provider_image_capture,
+    )
+    params = CaptureImageParams(
+        resolution=resolution,
+        zoom=zoom,
+        contrast=contrast,
+        brightness=brightness,
+        saturation=saturation,
+    )
+
+    decoy.when(state_view.files.get_filecount()).then_return(0)
+
+    with mock.patch("os.path.exists", mock.Mock(return_value=True)):
+        with pytest.raises(CameraSettingsInvalidError):
+            await subject.execute(params=params)

app/src/assets/localization/en/anonymous.json

@@ -25,6 +25,7 @@
   "estop_pressed_description": "First, safely clear the deck of any labware or spills. Then, twist the E-stop button clockwise. Finally, have the robot move the gantry to its home position.",
   "find_your_robot": "Find your robot in the Devices section of the app to install software updates.",
   "firmware_update_download_logs": "Contact support for assistance.",
+  "flex_camera": "Camera",
   "flex_stacker_empty": "Manually empty all labware from robot Stacker",
   "flex_stacker_empty_from_location": "Manually empty all labware from robot {{stackerColumn}}",
   "flex_stacker_fill": "Fill robot Stacker",
@@ -46,8 +47,8 @@
   "labware_offsets_conflict_description": "Your robot's stored labware offsets were updated after the last protocol run on <strong>{{timestamp}}</strong>. Which offsets do you want to use to run this protocol again?",
   "language_preference_description": "The app matches your system language unless you select another language below. You can change the language later in the app settings.",
   "learn_uninstalling": "Learn more about uninstalling the app",
-  "livestream_window_title": "Robot Live Camera",
-  "live_video_description_odd": "View real-time video of the deck in the App while running a protocol.",
+  "livestream_window_title": "Robot {{robotName}} Live Camera",
+  "live_video_description_odd": "View real-time video of the deck in the desktop app while running a protocol.",
   "loosen_screws_and_detach": "Loosen screws and detach gripper",
   "modal_instructions": "For step-by-step instructions on setting up your module, consult the Quickstart Guide that came in its box.",
   "module_calibration_failed": "<block>Module calibration was unsuccessful. Make sure the calibration adapter is fully seated on the module and try again. If you still have trouble, contact support.</block><block>{{error}}</block>",

app/src/assets/localization/en/branded.json

@@ -25,6 +25,7 @@
   "estop_pressed_description": "First, safely clear the deck of any labware or spills. Then, twist the E-stop button clockwise. Finally, have Flex move the gantry to its home position.",
   "find_your_robot": "Find your robot in the Opentrons App to install software updates.",
   "firmware_update_download_logs": "Download the robot logs from the Opentrons App and send them to [email protected] for assistance.",
+  "flex_camera": "Flex Camera",
   "flex_stacker_empty": "Manually empty all labware from Flex Stacker",
   "flex_stacker_empty_from_location": "Manually empty all labware from Flex {{stackerColumn}}",
   "flex_stacker_fill": "Fill Flex Stacker",
@@ -46,7 +47,7 @@
   "labware_offsets_conflict_description": "Your Flex's stored labware offsets were updated after the last protocol run on <strong>{{timestamp}}</strong>. Which offsets do you want to use to run this protocol again?",
   "language_preference_description": "The Opentrons App matches your system language unless you select another language below. You can change the language later in the app settings.",
   "learn_uninstalling": "Learn more about uninstalling the Opentrons App",
-  "livestream_window_title": "Opentrons Live Camera",
+  "livestream_window_title": "Opentrons {{robotName}} Live Camera",
   "live_video_description_odd": "View real-time video of the deck in the Opentrons App while running a protocol.",
   "loosen_screws_and_detach": "Loosen screws and detach Flex Gripper",
   "modal_instructions": "For step-by-step instructions on setting up your module, consult the Quickstart Guide that came in its box. You can also click the link below or scan the QR code to visit the modules section of the Opentrons Help Center.",

app/src/assets/localization/en/device_details.json

@@ -132,6 +132,7 @@
   "offline_recent_protocol_runs": "Robot must be on the network to see protocol runs",
   "on_deck": "On Deck",
   "open_lid": "Open lid",
+  "ot2_camera": "OT-2 Camera",
   "overflow_menu_about": "About module",
   "overflow_menu_deactivate_block": "Deactivate block",
   "overflow_menu_deactivate_lid": "Deactivate lid",

app/src/assets/localization/en/device_settings.json

@@ -149,9 +149,8 @@
   "enter_name_security_type": "Enter the network name and security type.",
   "enter_network_name": "Enter network name",
   "enter_password": "Enter password",
-  "error_recovery": "Error Recovery",
   "error_recovery_camera_description": "Automatically capture an image of the deck on error.",
-  "error_recovery_lc": "Error recovery",
+  "error_recovery_lc": "Error image capture",
   "estop": "E-stop",
   "estop_disengaged": "E-stop Disengaged",
   "estop_engaged": "E-stop Engaged",
@@ -185,7 +184,7 @@
   "historic_offsets_description": "Use stored data when setting up a protocol.",
   "image_preview_timestamp": "Image preview {{timestamp}}",
   "image_storage_almost_full": "Image storage almost full",
-  "image_video_settings": "Image and Video Settings",
+  "image_video_settings": "Image and video settings",
   "image_video_settings_lc": "Image and video settings",
   "incorrect_password_for_ssid": "Oops! Incorrect password for {{ssid}}",
   "increase_deck_appearance": "Increase how close the deck appears.",
@@ -204,7 +203,7 @@
   "launch_jupyter_notebook": "Launch Jupyter Notebook",
   "legacy_settings": "Legacy Settings",
   "likely_incorrect_password": "Likely incorrect network password.",
-  "live_video": "Live Video",
+  "live_video": "Live video",
   "live_video_description": "View real-time video of the deck while a running a protocol",
   "live_video_lc": "Live video",
   "mac_address": "MAC Address",