refactor(step-generation): openLatch should emit last in heaterShaker… (

#14525) … compound command closes RQA-2361, RESC-195
Opentrons · Feb 21, 2024 · a80df7a · a80df7a
1 parent 6079339
commit a80df7a
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Showing 2 changed files with 76 additions and 9 deletions.
diff --git a/step-generation/src/__tests__/heaterShaker.test.ts b/step-generation/src/__tests__/heaterShaker.test.ts
@@ -127,7 +127,7 @@ describe('heaterShaker compound command creator', () => {
       },
     ])
   })
-  it('should NOT delay and deactivate the heater shaker when a user specificies a timer tthat is 0 seconds', () => {
+  it('should NOT delay and deactivate the heater shaker when a user specificies a timer that is 0 seconds', () => {
     heaterShakerArgs = {
       ...heaterShakerArgs,
       rpm: 444,
@@ -163,6 +163,73 @@ describe('heaterShaker compound command creator', () => {
       },
     ])
   })
+  it('should delay and emit open latch last if open latch is specified', () => {
+    heaterShakerArgs = {
+      module: HEATER_SHAKER_ID,
+      rpm: null,
+      commandCreatorFnName: 'heaterShaker',
+      targetTemperature: null,
+      latchOpen: true,
+      timerMinutes: null,
+      timerSeconds: null,
+    }
+
+    heaterShakerArgs = {
+      ...heaterShakerArgs,
+      rpm: 444,
+      targetTemperature: 80,
+      timerSeconds: 20,
+      timerMinutes: 0,
+    }
+    const result = heaterShaker(heaterShakerArgs, invariantContext, robotState)
+
+    expect(getSuccessResult(result).commands).toEqual([
+      {
+        commandType: 'heaterShaker/setTargetTemperature',
+        key: expect.any(String),
+        params: {
+          celsius: 80,
+          moduleId: 'heaterShakerId',
+        },
+      },
+      {
+        commandType: 'heaterShaker/setAndWaitForShakeSpeed',
+        key: expect.any(String),
+        params: {
+          moduleId: 'heaterShakerId',
+          rpm: 444,
+        },
+      },
+      {
+        commandType: 'waitForDuration',
+        key: expect.any(String),
+        params: {
+          seconds: 20,
+        },
+      },
+      {
+        commandType: 'heaterShaker/deactivateShaker',
+        key: expect.any(String),
+        params: {
+          moduleId: 'heaterShakerId',
+        },
+      },
+      {
+        commandType: 'heaterShaker/deactivateHeater',
+        key: expect.any(String),
+        params: {
+          moduleId: 'heaterShakerId',
+        },
+      },
+      {
+        commandType: 'heaterShaker/openLabwareLatch',
+        key: expect.any(String),
+        params: {
+          moduleId: 'heaterShakerId',
+        },
+      },
+    ])
+  })
   it('should not call deactivateShaker when it is not shaking but call activate temperature when setting target temp', () => {
     heaterShakerArgs = {
       ...heaterShakerArgs,

diff --git a/step-generation/src/commandCreators/compound/heaterShaker.ts b/step-generation/src/commandCreators/compound/heaterShaker.ts
@@ -78,14 +78,6 @@ export const heaterShaker: CommandCreator<HeaterShakerArgs> = (
     )
   }
 
-  if (args.latchOpen) {
-    commandCreators.push(
-      curryCommandCreator(heaterShakerOpenLatch, {
-        moduleId: args.module,
-      })
-    )
-  }
-
   if (
     (args.timerMinutes != null && args.timerMinutes !== 0) ||
     (args.timerSeconds != null && args.timerSeconds !== 0)
@@ -113,6 +105,14 @@ export const heaterShaker: CommandCreator<HeaterShakerArgs> = (
     )
   }
 
+  if (args.latchOpen) {
+    commandCreators.push(
+      curryCommandCreator(heaterShakerOpenLatch, {
+        moduleId: args.module,
+      })
+    )
+  }
+
   return reduceCommandCreators(
     commandCreators,
     invariantContext,