fix(step-generation): h-S collision warning for Flex protocols (#15144)

closes RQA-2596
Opentrons · May 20, 2024 · 7e2409c · 7e2409c
1 parent e9ef396
commit 7e2409c
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Showing 13 changed files with 151 additions and 43 deletions.
diff --git a/shared-data/js/helpers/__tests__/getAreFlexSlotsAdjacent.test.ts b/shared-data/js/helpers/__tests__/getAreFlexSlotsAdjacent.test.ts
@@ -0,0 +1,21 @@
+import { describe, it, expect } from 'vitest'
+import { getAreFlexSlotsAdjacent } from '../getAreFlexSlotsAdjacent'
+
+describe('getAreFlexSlotsAdjacent', () => {
+  it('returns false when slots are apart', () => {
+    const results = getAreFlexSlotsAdjacent('A1', 'A3')
+    expect(results).toStrictEqual(false)
+  })
+  it('returns true when slots are left/right', () => {
+    const results = getAreFlexSlotsAdjacent('A1', 'A2')
+    expect(results).toStrictEqual(true)
+  })
+  it('returns true when slots are north/south', () => {
+    const results = getAreFlexSlotsAdjacent('A1', 'B1')
+    expect(results).toStrictEqual(true)
+  })
+  it('returns true when slots are diagonal', () => {
+    const results = getAreFlexSlotsAdjacent('A1', 'B2')
+    expect(results).toStrictEqual(true)
+  })
+})
diff --git a/shared-data/js/helpers/getAreFlexSlotsAdjacent.ts b/shared-data/js/helpers/getAreFlexSlotsAdjacent.ts
@@ -0,0 +1,36 @@
+import { FLEX_GRID } from './getFlexSurroundingSlots'
+import type { DeckSlotId } from '../types'
+
+export const getAreFlexSlotsAdjacent = (
+  slot1: DeckSlotId,
+  slot2: DeckSlotId
+): boolean => {
+  const findSlotPosition = (slot: DeckSlotId): [number, number] | null => {
+    for (let row = 0; row < FLEX_GRID.length; row++) {
+      const col = FLEX_GRID[row].indexOf(slot)
+      if (col !== -1) {
+        return [row, col]
+      }
+    }
+    return null
+  }
+
+  const pos1 = findSlotPosition(slot1)
+  const pos2 = findSlotPosition(slot2)
+
+  if (pos1 === null || pos2 === null) {
+    return false
+  }
+
+  const [row1, col1] = pos1
+  const [row2, col2] = pos2
+
+  const rowDiff = Math.abs(row1 - row2)
+  const colDiff = Math.abs(col1 - col2)
+
+  if ((rowDiff === 1 && colDiff <= 1) || (rowDiff === 0 && colDiff === 1)) {
+    return true
+  }
+
+  return false
+}
diff --git a/shared-data/js/helpers/getFlexSurroundingSlots.ts b/shared-data/js/helpers/getFlexSurroundingSlots.ts
@@ -1,6 +1,6 @@
 import type { DeckSlotId } from '../types'
 
-const FLEX_GRID = [
+export const FLEX_GRID = [
   ['A1', 'A2', 'A3'],
   ['B1', 'B2', 'B3'],
   ['C1', 'C2', 'C3'],

diff --git a/shared-data/js/helpers/index.ts b/shared-data/js/helpers/index.ts
@@ -20,6 +20,7 @@ export { get96Channel384WellPlateWells } from './get96Channel384WellPlateWells'
 export * from './parseProtocolData'
 export * from './volume'
 export * from './wellSets'
+export * from './getAreFlexSlotsAdjacent'
 export * from './getModuleVizDims'
 export * from './getVectorDifference'
 export * from './getVectorSum'

diff --git a/step-generation/src/__tests__/aspirate.test.ts b/step-generation/src/__tests__/aspirate.test.ts
@@ -3,6 +3,7 @@ import { beforeEach, describe, vi, it, expect, afterEach } from 'vitest'
 import { expectTimelineError } from '../__utils__/testMatchers'
 import { aspirate } from '../commandCreators/atomic/aspirate'
 import {
+  OT2_ROBOT_TYPE,
   getLabwareDefURI,
   getPipetteSpecsV2,
   fixtureTiprack10ul as tip10,
@@ -480,11 +481,12 @@ describe('aspirate', () => {
       type: 'HEATER_SHAKER_EAST_WEST_LATCH_OPEN',
     })
   })
-  it('should return an error when aspirating north/south/east/west of a heater shaker while it is shaking', () => {
+  it('should return an error when aspirating north/south/east/west of a heater shaker while it is shaking for ot-2', () => {
     when(pipetteAdjacentHeaterShakerWhileShaking)
       .calledWith(
         robotStateWithTip.modules,
-        robotStateWithTip.labware[SOURCE_LABWARE].slot
+        robotStateWithTip.labware[SOURCE_LABWARE].slot,
+        OT2_ROBOT_TYPE
       )
       .thenReturn(true)
 

diff --git a/step-generation/src/__tests__/dispense.test.ts b/step-generation/src/__tests__/dispense.test.ts
@@ -1,6 +1,6 @@
 import { when } from 'vitest-when'
 import { beforeEach, describe, it, expect, vi, afterEach } from 'vitest'
-import { getPipetteSpecsV2 } from '@opentrons/shared-data'
+import { OT2_ROBOT_TYPE, getPipetteSpecsV2 } from '@opentrons/shared-data'
 import {
   thermocyclerPipetteCollision,
   pipetteIntoHeaterShakerLatchOpen,
@@ -283,7 +283,8 @@ describe('dispense', () => {
       when(pipetteAdjacentHeaterShakerWhileShaking)
         .calledWith(
           robotStateWithTip.modules,
-          robotStateWithTip.labware[SOURCE_LABWARE].slot
+          robotStateWithTip.labware[SOURCE_LABWARE].slot,
+          OT2_ROBOT_TYPE
         )
         .thenReturn(true)
 

diff --git a/step-generation/src/__tests__/moveToWell.test.ts b/step-generation/src/__tests__/moveToWell.test.ts
@@ -1,6 +1,6 @@
 import { when } from 'vitest-when'
 import { beforeEach, describe, it, expect, afterEach, vi } from 'vitest'
-import { getPipetteSpecsV2 } from '@opentrons/shared-data'
+import { OT2_ROBOT_TYPE, getPipetteSpecsV2 } from '@opentrons/shared-data'
 import { expectTimelineError } from '../__utils__/testMatchers'
 import { moveToWell } from '../commandCreators/atomic/moveToWell'
 import {
@@ -472,7 +472,8 @@ describe('moveToWell', () => {
     when(pipetteAdjacentHeaterShakerWhileShaking)
       .calledWith(
         robotStateWithTip.modules,
-        robotStateWithTip.labware[SOURCE_LABWARE].slot
+        robotStateWithTip.labware[SOURCE_LABWARE].slot,
+        OT2_ROBOT_TYPE
       )
       .thenReturn(true)
 

diff --git a/step-generation/src/__tests__/utils.test.ts b/step-generation/src/__tests__/utils.test.ts
@@ -15,6 +15,7 @@ import {
   fixtureTiprack300ul as _fixtureTiprack300ul,
   fixtureP10SingleV2Specs,
   fixtureP300MultiV2Specs,
+  OT2_ROBOT_TYPE,
 } from '@opentrons/shared-data'
 import { FIXED_TRASH_ID, TEMPERATURE_DEACTIVATED } from '../constants'
 import {
@@ -995,36 +996,50 @@ describe('pipetteAdjacentHeaterShakerWhileShaking', () => {
 
   it('should return false when there are no modules', () => {
     modules = {}
-    expect(pipetteAdjacentHeaterShakerWhileShaking(modules, slot)).toBe(false)
+    expect(
+      pipetteAdjacentHeaterShakerWhileShaking(modules, slot, OT2_ROBOT_TYPE)
+    ).toBe(false)
   })
   it('should return false when there is no heater shaker ajacent to labware', () => {
     slot = '9'
-    expect(pipetteAdjacentHeaterShakerWhileShaking(modules, slot)).toBe(false)
+    expect(
+      pipetteAdjacentHeaterShakerWhileShaking(modules, slot, OT2_ROBOT_TYPE)
+    ).toBe(false)
   })
   it('should return false when the heater shaker is not shaking', () => {
-    expect(pipetteAdjacentHeaterShakerWhileShaking(modules, slot)).toBe(false)
+    expect(
+      pipetteAdjacentHeaterShakerWhileShaking(modules, slot, OT2_ROBOT_TYPE)
+    ).toBe(false)
   })
   it('should return true when there is a heater shaker north of labware shaking', () => {
     modules.heaterShakerId.slot = '5'
     ;(modules.heaterShakerId.moduleState as any).targetSpeed = 300
-    expect(pipetteAdjacentHeaterShakerWhileShaking(modules, slot)).toBe(true)
+    expect(
+      pipetteAdjacentHeaterShakerWhileShaking(modules, slot, OT2_ROBOT_TYPE)
+    ).toBe(true)
   })
   it('should return true when there is a heater shaker south of labware shaking', () => {
     slot = '9'
     modules.heaterShakerId.slot = '6'
     ;(modules.heaterShakerId.moduleState as any).targetSpeed = 300
-    expect(pipetteAdjacentHeaterShakerWhileShaking(modules, slot)).toBe(true)
+    expect(
+      pipetteAdjacentHeaterShakerWhileShaking(modules, slot, OT2_ROBOT_TYPE)
+    ).toBe(true)
   })
   it('should return true when there is a heater shaker east of labware shaking', () => {
     slot = '5'
     modules.heaterShakerId.slot = '6'
     ;(modules.heaterShakerId.moduleState as any).targetSpeed = 300
-    expect(pipetteAdjacentHeaterShakerWhileShaking(modules, slot)).toBe(true)
+    expect(
+      pipetteAdjacentHeaterShakerWhileShaking(modules, slot, OT2_ROBOT_TYPE)
+    ).toBe(true)
   })
   it('should return true when there is a heater shaker west of labware shaking', () => {
     slot = '5'
     modules.heaterShakerId.slot = '4'
     ;(modules.heaterShakerId.moduleState as any).targetSpeed = 300
-    expect(pipetteAdjacentHeaterShakerWhileShaking(modules, slot)).toBe(true)
+    expect(
+      pipetteAdjacentHeaterShakerWhileShaking(modules, slot, OT2_ROBOT_TYPE)
+    ).toBe(true)
   })
 })
diff --git a/step-generation/src/commandCreators/atomic/aspirate.ts b/step-generation/src/commandCreators/atomic/aspirate.ts
@@ -1,3 +1,4 @@
+import { FLEX_ROBOT_TYPE, OT2_ROBOT_TYPE } from '@opentrons/shared-data'
 import * as errorCreators from '../../errorCreators'
 import { getPipetteWithTipMaxVol } from '../../robotStateSelectors'
 import {
@@ -136,12 +137,17 @@ export const aspirate: CommandCreator<ExtendedAspirateParams> = (
   ) {
     errors.push(errorCreators.heaterShakerIsShaking())
   }
+  if (
+    pipetteAdjacentHeaterShakerWhileShaking(
+      prevRobotState.modules,
+      slotName,
+      isFlexPipette ? FLEX_ROBOT_TYPE : OT2_ROBOT_TYPE
+    )
+  ) {
+    errors.push(errorCreators.heaterShakerNorthSouthEastWestShaking())
+  }
+
   if (!isFlexPipette) {
-    if (
-      pipetteAdjacentHeaterShakerWhileShaking(prevRobotState.modules, slotName)
-    ) {
-      errors.push(errorCreators.heaterShakerNorthSouthEastWestShaking())
-    }
     if (
       getIsHeaterShakerEastWestWithLatchOpen(prevRobotState.modules, slotName)
     ) {

diff --git a/step-generation/src/commandCreators/atomic/dispense.ts b/step-generation/src/commandCreators/atomic/dispense.ts
@@ -1,3 +1,4 @@
+import { FLEX_ROBOT_TYPE, OT2_ROBOT_TYPE } from '@opentrons/shared-data'
 import * as errorCreators from '../../errorCreators'
 import {
   modulePipetteCollision,
@@ -132,13 +133,16 @@ export const dispense: CommandCreator<ExtendedDispenseParams> = (
   ) {
     errors.push(errorCreators.heaterShakerIsShaking())
   }
+  if (
+    pipetteAdjacentHeaterShakerWhileShaking(
+      prevRobotState.modules,
+      slotName,
+      isFlexPipette ? FLEX_ROBOT_TYPE : OT2_ROBOT_TYPE
+    )
+  ) {
+    errors.push(errorCreators.heaterShakerNorthSouthEastWestShaking())
+  }
   if (!isFlexPipette) {
-    if (
-      pipetteAdjacentHeaterShakerWhileShaking(prevRobotState.modules, slotName)
-    ) {
-      errors.push(errorCreators.heaterShakerNorthSouthEastWestShaking())
-    }
-
     if (
       getIsHeaterShakerEastWestWithLatchOpen(prevRobotState.modules, slotName)
     ) {

diff --git a/step-generation/src/commandCreators/atomic/moveToWell.ts b/step-generation/src/commandCreators/atomic/moveToWell.ts
@@ -1,3 +1,4 @@
+import { FLEX_ROBOT_TYPE, OT2_ROBOT_TYPE } from '@opentrons/shared-data'
 import * as errorCreators from '../../errorCreators'
 import {
   modulePipetteCollision,
@@ -113,13 +114,16 @@ export const moveToWell: CommandCreator<v5MoveToWellParams> = (
   ) {
     errors.push(errorCreators.heaterShakerIsShaking())
   }
+  if (
+    pipetteAdjacentHeaterShakerWhileShaking(
+      prevRobotState.modules,
+      slotName,
+      isFlexPipette ? FLEX_ROBOT_TYPE : OT2_ROBOT_TYPE
+    )
+  ) {
+    errors.push(errorCreators.heaterShakerNorthSouthEastWestShaking())
+  }
   if (!isFlexPipette) {
-    if (
-      pipetteAdjacentHeaterShakerWhileShaking(prevRobotState.modules, slotName)
-    ) {
-      errors.push(errorCreators.heaterShakerNorthSouthEastWestShaking())
-    }
-
     if (
       getIsHeaterShakerEastWestWithLatchOpen(prevRobotState.modules, slotName)
     ) {

diff --git a/step-generation/src/commandCreators/atomic/replaceTip.ts b/step-generation/src/commandCreators/atomic/replaceTip.ts
@@ -1,4 +1,10 @@
-import { ALL, COLUMN, NozzleConfigurationStyle } from '@opentrons/shared-data'
+import {
+  ALL,
+  COLUMN,
+  NozzleConfigurationStyle,
+  FLEX_ROBOT_TYPE,
+  OT2_ROBOT_TYPE,
+} from '@opentrons/shared-data'
 import { getNextTiprack } from '../../robotStateSelectors'
 import * as errorCreators from '../../errorCreators'
 import { COLUMN_4_SLOTS } from '../../constants'
@@ -200,13 +206,18 @@ export const replaceTip: CommandCreator<ReplaceTipArgs> = (
     prevRobotState.labware,
     prevRobotState.modules
   )
-
-  if (!isFlexPipette) {
-    if (
-      pipetteAdjacentHeaterShakerWhileShaking(prevRobotState.modules, slotName)
-    ) {
-      return { errors: [errorCreators.heaterShakerNorthSouthEastWestShaking()] }
+  if (
+    pipetteAdjacentHeaterShakerWhileShaking(
+      prevRobotState.modules,
+      slotName,
+      isFlexPipette ? FLEX_ROBOT_TYPE : OT2_ROBOT_TYPE
+    )
+  ) {
+    return {
+      errors: [errorCreators.heaterShakerNorthSouthEastWestShaking()],
     }
+  }
+  if (!isFlexPipette) {
     if (
       getIsHeaterShakerEastWestWithLatchOpen(prevRobotState.modules, slotName)
     ) {

diff --git a/step-generation/src/utils/heaterShakerCollision.ts b/step-generation/src/utils/heaterShakerCollision.ts
@@ -1,14 +1,16 @@
 import some from 'lodash/some'
 import {
+  getAreFlexSlotsAdjacent,
   getAreSlotsAdjacent,
   getAreSlotsHorizontallyAdjacent,
   getAreSlotsVerticallyAdjacent,
   getIsLabwareAboveHeight,
   HEATERSHAKER_MODULE_TYPE,
   MAX_LABWARE_HEIGHT_EAST_WEST_HEATER_SHAKER_MM,
+  OT2_ROBOT_TYPE,
 } from '@opentrons/shared-data'
 
-import type { PipetteV2Specs } from '@opentrons/shared-data'
+import type { PipetteV2Specs, RobotType } from '@opentrons/shared-data'
 
 import type {
   LabwareEntities,
@@ -100,16 +102,20 @@ export const pipetteIntoHeaterShakerLatchOpen = (
 
 export const pipetteAdjacentHeaterShakerWhileShaking = (
   hwModules: RobotState['modules'],
-  slot: DeckSlot
-): boolean =>
-  some(
+  slot: DeckSlot,
+  robotType: RobotType
+): boolean => {
+  return some(
     hwModules,
     hwModule =>
       hwModule.moduleState.type === HEATERSHAKER_MODULE_TYPE &&
       hwModule.moduleState.targetSpeed != null &&
       hwModule.moduleState.targetSpeed > 0 &&
-      getAreSlotsAdjacent(hwModule.slot, slot)
+      (robotType === OT2_ROBOT_TYPE
+        ? getAreSlotsAdjacent(hwModule.slot, slot)
+        : getAreFlexSlotsAdjacent(hwModule.slot, slot))
   )
+}
 
 export const pipetteIntoHeaterShakerWhileShaking = (
   modules: RobotState['modules'],