Merge branch 'chore_release-7.0.0' into app_ODD-analytics-setting-screen

api/src/opentrons/calibration_storage/ot2/pipette_offset.py

@@ -88,12 +88,13 @@ def get_pipette_offset(
             **io.read_cal_file(pipette_calibration_filepath)
         )
     except FileNotFoundError:
-        log.warning(f"Calibrations for {pipette_id} on {mount} does not exist.")
+        log.debug(f"Calibrations for {pipette_id} on {mount} does not exist.")
         return None
     except (json.JSONDecodeError, ValidationError):
         log.warning(
             f"Malformed calibrations for {pipette_id} on {mount}. Please factory reset your calibrations."
         )
+        # TODO: Delete the bad calibration here maybe?
         return None
 
 

api/src/opentrons/calibration_storage/ot2/tip_length.py

@@ -50,7 +50,7 @@ def tip_lengths_for_pipette(
                 pass
         return tip_lengths
     except FileNotFoundError:
-        log.warning(f"Tip length calibrations not found for {pipette_id}")
+        log.debug(f"Tip length calibrations not found for {pipette_id}")
         return tip_lengths
 
 

api/src/opentrons/calibration_storage/ot3/pipette_offset.py

@@ -85,7 +85,7 @@ def get_pipette_offset(
             **io.read_cal_file(pipette_calibration_filepath)
         )
     except FileNotFoundError:
-        log.warning(f"Calibrations for {pipette_id} on {mount} does not exist.")
+        log.debug(f"Calibrations for {pipette_id} on {mount} does not exist.")
         return None
     except (json.JSONDecodeError, ValidationError):
         log.warning(

api/src/opentrons/calibration_storage/ot3/tip_length.py

@@ -37,19 +37,22 @@ def tip_lengths_for_pipette(
 ) -> typing.Dict[str, v1.TipLengthModel]:
     tip_lengths = {}
     try:
+        # While you technically could drop some data in for tip length calibration on the flex,
+        # it is not necessary and there is no UI frontend for it, so this code will mostly be
+        # taking the FileNotFoundError path.
         tip_length_filepath = config.get_tip_length_cal_path() / f"{pipette_id}.json"
         all_tip_lengths_for_pipette = io.read_cal_file(tip_length_filepath)
         for tiprack, data in all_tip_lengths_for_pipette.items():
             try:
                 tip_lengths[tiprack] = v1.TipLengthModel(**data)
             except (json.JSONDecodeError, ValidationError):
-                log.warning(
+                log.debug(
                     f"Tip length calibration is malformed for {tiprack} on {pipette_id}"
                 )
                 pass
         return tip_lengths
     except FileNotFoundError:
-        log.warning(f"Tip length calibrations not found for {pipette_id}")
+        # this is the overwhelmingly common case
         return tip_lengths
 
 

api/src/opentrons/hardware_control/backends/ot3simulator.py

@@ -188,6 +188,7 @@ def _sanitize_attached_instrument(
             nodes.add(NodeId.gripper)
         self._present_nodes = nodes
         self._current_settings: Optional[OT3AxisMap[CurrentConfig]] = None
+        self._sim_jaw_state = GripperJawState.HOMED_READY
 
     @property
     def initialized(self) -> bool:
@@ -369,12 +370,14 @@ async def gripper_grip_jaw(
     ) -> None:
         """Move gripper inward."""
         _ = create_gripper_jaw_grip_group(duty_cycle, stop_condition, stay_engaged)
+        self._sim_jaw_state = GripperJawState.GRIPPING
 
     @ensure_yield
     async def gripper_home_jaw(self, duty_cycle: float) -> None:
         """Move gripper outward."""
         _ = create_gripper_jaw_home_group(duty_cycle)
         self._motor_status[NodeId.gripper_g] = MotorStatus(True, True)
+        self._sim_jaw_state = GripperJawState.HOMED_READY
 
     @ensure_yield
     async def gripper_hold_jaw(
@@ -383,6 +386,7 @@ async def gripper_hold_jaw(
     ) -> None:
         _ = create_gripper_jaw_hold_group(encoder_position_um)
         self._encoder_position[NodeId.gripper_g] = encoder_position_um / 1000.0
+        self._sim_jaw_state = GripperJawState.HOLDING
 
     async def get_tip_present(self, mount: OT3Mount, tip_state: TipStateType) -> None:
         """Raise an error if the given state doesn't match the physical state."""
@@ -394,7 +398,7 @@ async def get_tip_present_state(self, mount: OT3Mount) -> int:
 
     async def get_jaw_state(self) -> GripperJawState:
         """Get the state of the gripper jaw."""
-        return GripperJawState.HOMED_READY
+        return self._sim_jaw_state
 
     async def tip_action(
         self,

api/src/opentrons/hardware_control/instruments/ot3/instrument_calibration.py

@@ -10,10 +10,12 @@
 from opentrons.types import Point, Mount
 
 # TODO change this when imports are fixed
-from opentrons.calibration_storage.ot3.pipette_offset import save_pipette_calibration
+from opentrons.calibration_storage.ot3.pipette_offset import (
+    save_pipette_calibration,
+    get_pipette_offset,
+)
 from opentrons.calibration_storage import (
     types as cal_top_types,
-    get_pipette_offset,
     ot3_gripper_offset,
 )
 from opentrons.hardware_control.types import OT3Mount

api/src/opentrons/protocol_engine/errors/error_occurrence.py

@@ -37,17 +37,55 @@ def from_failed(
         )
 
     id: str = Field(..., description="Unique identifier of this error occurrence.")
-    errorType: str = Field(..., description="Specific error type that occurred.")
     createdAt: datetime = Field(..., description="When the error occurred.")
-    detail: str = Field(..., description="A human-readable message about the error.")
+
     errorCode: str = Field(
         default=ErrorCodes.GENERAL_ERROR.value.code,
-        description="An enumerated error code for the error type.",
+        description=(
+            "An enumerated error code for the error type."
+            " This is intended to be shown to the robot operator to direct them to the"
+            " correct rough area for troubleshooting."
+        ),
+    )
+
+    # TODO(mm, 2023-09-07):
+    # The Opentrons App and Flex ODD use `errorType` in the title of error modals, but it's unclear
+    # if they should. Is this field redundant now that we have `errorCode` and `detail`?
+    #
+    # In practice, this is often the source code name of our Python exception type.
+    # Should we derive this from `errorCode` instead? Like how HTTP code 404 is always "not found."
+    errorType: str = Field(
+        ...,
+        description=(
+            "A short name for the error type that occurred, like `PipetteOverpressure`."
+            " This can be a bit more specific than `errorCode`."
+        ),
     )
+
+    detail: str = Field(
+        ...,
+        description=(
+            "A short human-readable message about the error."
+            "\n\n"
+            "This is intended to provide the robot operator with more specific details than"
+            " `errorCode` alone. It should be no longer than a couple of sentences,"
+            " and it should not contain internal newlines or indentation."
+            "\n\n"
+            " It should not internally repeat `errorCode`, but it may internally repeat `errorType`"
+            " if it helps the message make sense when it's displayed in its own separate block."
+        ),
+    )
+
     errorInfo: Dict[str, str] = Field(
         default={},
-        description="Specific details about the error that may be useful for determining cause.",
+        description=(
+            "Specific details about the error that may be useful for determining cause."
+            " This might contain the same information as `detail`, but in a more structured form."
+            " It might also contain additional information that was too verbose or technical"
+            " to put in `detail`."
+        ),
     )
+
     wrappedErrors: List["ErrorOccurrence"] = Field(
         default=[], description="Errors that may have caused this one."
     )

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

@@ -135,7 +135,7 @@ async def move_labware_with_gripper(
 
             for waypoint_data in movement_waypoints:
                 if waypoint_data.jaw_open:
-                    await ot3api.home_gripper_jaw()
+                    await ot3api.ungrip()
                 else:
                     await ot3api.grip(force_newtons=labware_grip_force)
                 await ot3api.move_to(

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

@@ -82,5 +82,5 @@ def _get_calibrated_tip_length_sync(
                 f"No calibrated tip length found for {pipette_serial},"
                 f" using nominal fallback value of {nominal_fallback}"
             )
-            log.warning(message, exc_info=e)
+            log.debug(message, exc_info=e)
             return nominal_fallback

api/tests/opentrons/hardware_control/test_ot3_api.py

@@ -128,19 +128,6 @@ def mock_move_to(ot3_hardware: ThreadManager[OT3API]) -> Iterator[AsyncMock]:
         yield mock_move
 
 
-@pytest.fixture
-def mock_get_jaw_state(ot3_hardware: ThreadManager[OT3API]) -> Iterator[AsyncMock]:
-    with patch.object(
-        ot3_hardware.managed_obj._backend,
-        "get_jaw_state",
-        AsyncMock(
-            spec=ot3_hardware.managed_obj._backend.get_jaw_state,
-            wraps=ot3_hardware.managed_obj._backend.get_jaw_state,
-        ),
-    ) as mock_get_jaw_state:
-        yield mock_get_jaw_state
-
-
 @pytest.fixture
 def mock_home(ot3_hardware: ThreadManager[OT3API]) -> Iterator[AsyncMock]:
     with patch.object(
@@ -852,14 +839,12 @@ async def test_gripper_capacitive_sweep(
     distance: float,
     ot3_hardware: ThreadManager[OT3API],
     mock_move_to: AsyncMock,
-    mock_get_jaw_state: AsyncMock,
     mock_backend_capacitive_pass: AsyncMock,
     gripper_present: None,
 ) -> None:
     await ot3_hardware.home()
     await ot3_hardware.grip(5)
     ot3_hardware._gripper_handler.get_gripper().current_jaw_displacement = 5
-    mock_get_jaw_state.return_value = GripperJawState.GRIPPING
     ot3_hardware.add_gripper_probe(probe)
     data = await ot3_hardware.capacitive_sweep(OT3Mount.GRIPPER, axis, begin, end, 3)
     assert data == [1, 2, 3, 4, 5, 6, 8]
@@ -1783,7 +1768,6 @@ async def test_estop_event_deactivate_module(
 async def test_stop_only_home_necessary_axes(
     ot3_hardware: ThreadManager[OT3API],
     mock_home: AsyncMock,
-    # mock_get_jaw_state: AsyncMock,
     mock_reset: AsyncMock,
     jaw_state: GripperJawState,
 ):

api/tests/opentrons/protocol_engine/execution/test_labware_movement_handler.py

@@ -167,6 +167,9 @@ async def test_move_labware_with_gripper(
 
     decoy.when(state_store.config.use_virtual_gripper).then_return(False)
     decoy.when(ot3_hardware_api.has_gripper()).then_return(True)
+    decoy.when(ot3_hardware_api._gripper_handler.is_ready_for_jaw_home()).then_return(
+        True
+    )
 
     decoy.when(
         await ot3_hardware_api.gantry_position(mount=OT3Mount.GRIPPER)

app-shell/src/protocol-storage/file-system.ts

@@ -24,8 +24,13 @@ import { analyzeProtocolSource } from '../protocol-analysis'
  *  │  ├─ analysis/
  *  │  │  ├─ 1646303906.json
  */
-
-export const PROTOCOLS_DIRECTORY_NAME = 'protocols'
+// TODO(jh, 2023-09-11): remove OLD_PROTOCOLS_DIRECTORY_PATH after
+// OT-2 parity work is completed and move all protocols back to "protocols" directory.
+export const OLD_PROTOCOLS_DIRECTORY_PATH = path.join(
+  app.getPath('userData'),
+  'protocols'
+)
+export const PROTOCOLS_DIRECTORY_NAME = 'protocols_v7.0-supported'
 export const PROTOCOLS_DIRECTORY_PATH = path.join(
   app.getPath('userData'),
   PROTOCOLS_DIRECTORY_NAME

app-shell/src/protocol-storage/index.ts

@@ -42,11 +42,65 @@ export const getProtocolSrcFilePaths = (
     })
 }
 
+// TODO(jh, 2023-09-11): remove migrateProtocolsToNewDirectory after
+// OT-2 parity work is completed.
+const migrateProtocols = migrateProtocolsToNewDirectory()
+function migrateProtocolsToNewDirectory(): () => Promise<void> {
+  let hasCheckedForMigration = false
+  return function (): Promise<void> {
+    return new Promise((resolve, reject) => {
+      if (hasCheckedForMigration) resolve()
+      hasCheckedForMigration = true
+      console.log(
+        `Performing protocol migration to ${FileSystem.PROTOCOLS_DIRECTORY_NAME}...`
+      )
+      copyProtocols(
+        FileSystem.OLD_PROTOCOLS_DIRECTORY_PATH,
+        FileSystem.PROTOCOLS_DIRECTORY_PATH
+      )
+        .then(() => {
+          console.log('Protocol migration complete.')
+          resolve()
+        })
+        .catch(e => {
+          console.log(
+            `Error migrating protocols to ${FileSystem.PROTOCOLS_DIRECTORY_NAME}: ${e}`
+          )
+          resolve()
+        })
+    })
+  }
+
+  function copyProtocols(src: string, dest: string): Promise<void> {
+    return fse
+      .stat(src)
+      .then(doesSrcExist => {
+        if (!doesSrcExist.isDirectory()) return Promise.resolve()
+
+        return fse.readdir(src).then(items => {
+          const protocols = items.map(item => {
+            const srcItem = path.join(src, item)
+            const destItem = path.join(dest, item)
+
+            return fse.copy(srcItem, destItem, {
+              overwrite: false,
+            })
+          })
+          return Promise.all(protocols).then(() => Promise.resolve())
+        })
+      })
+      .catch(e => {
+        return Promise.reject(e)
+      })
+  }
+}
+
 export const fetchProtocols = (
   dispatch: Dispatch,
   source: ListSource
 ): Promise<void> => {
   return ensureDir(FileSystem.PROTOCOLS_DIRECTORY_PATH)
+    .then(() => migrateProtocols())
     .then(() =>
       FileSystem.readDirectoriesWithinDirectory(
         FileSystem.PROTOCOLS_DIRECTORY_PATH

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

@@ -80,8 +80,6 @@
   "device_reset_slideout_description": "Select individual settings to only clear specific data types.",
   "device_resets_cannot_be_undone": "Resets cannot be undone",
   "directly_connected_to_this_computer": "Directly connected to this computer.",
-  "disable_homing": "Disable homing the gantry when restarting robot",
-  "disable_homing_description": "Prevent robot from homing motors when the robot restarts.",
   "disconnect": "Disconnect",
   "disconnect_from_ssid": "Disconnect from {{ssid}}",
   "disconnect_from_wifi": "Disconnect from Wi-Fi",
@@ -128,15 +126,15 @@
   "finish_setup": "Finish setup",
   "firmware_version": "Firmware Version",
   "fully_calibrate_before_checking_health": "Fully calibrate your robot before checking calibration health",
+  "gantry_homing": "Home Gantry on Restart",
+  "gantry_homing_description": "Homes the gantry along the z-axis.",
   "go_to_advanced_settings": "Go to Advanced App Settings",
   "gripper_calibration_description": "Gripper calibration uses a metal pin to determine the gripper's exact position relative to precision-cut squares on deck slots.",
   "gripper_calibration_title": "Gripper Calibration",
   "gripper_serial": "Gripper Serial",
   "health_check": "Check health",
   "hide": "Hide",
   "historic_offsets_description": "Use stored data when setting up a protocol.",
-  "home_gantry_on_restart": "Home gantry on restart",
-  "home_gantry_subtext": "By default, this setting is turned on.",
   "incorrect_password_for_ssid": "Oops! Incorrect password for {{ssid}}",
   "install_e_stop": "Install the E-stop",
   "installing_software": "Installing software...",

app/src/organisms/Devices/ProtocolRun/RunFailedModal.tsx

@@ -1,5 +1,4 @@
 import * as React from 'react'
-import isEmpty from 'lodash/isEmpty'
 import { useTranslation } from 'react-i18next'
 import {
   ALIGN_CENTER,
@@ -95,11 +94,6 @@ export function RunFailedModal({
           <StyledText as="p" textAlign={TYPOGRAPHY.textAlignLeft}>
             {highestPriorityError.detail}
           </StyledText>
-          {!isEmpty(highestPriorityError.errorInfo) && (
-            <StyledText as="p" textAlign={TYPOGRAPHY.textAlignLeft}>
-              {JSON.stringify(highestPriorityError.errorInfo)}
-            </StyledText>
-          )}
         </Flex>
         <StyledText as="p">
           {t('run_failed_modal_description_desktop')}