diff --git a/.github/workflows/app-test-build-deploy.yaml b/.github/workflows/app-test-build-deploy.yaml index f50e4c0ad9e..dc93eae9c9a 100644 --- a/.github/workflows/app-test-build-deploy.yaml +++ b/.github/workflows/app-test-build-deploy.yaml @@ -230,7 +230,7 @@ jobs: echo "Configuring project, bucket, and folder for ot3" echo "project=ot3" >> $GITHUB_OUTPUT echo "bucket=${{env._APP_DEPLOY_BUCKET_OT3}}" >> $GITHUB_OUTPUT - echo "folder=${{env._APP_DEPLOY_BUCKET_OT3}}" >> $GITHUB_OUTPUT + echo "folder=${{env._APP_DEPLOY_FOLDER_OT3}}" >> $GITHUB_OUTPUT fi - uses: 'actions/checkout@v3' with: diff --git a/.github/workflows/ll-test-build-deploy.yaml b/.github/workflows/ll-test-build-deploy.yaml index 75e907af97f..e2e33d54146 100644 --- a/.github/workflows/ll-test-build-deploy.yaml +++ b/.github/workflows/ll-test-build-deploy.yaml @@ -116,6 +116,7 @@ jobs: build-ll: name: 'build labware library artifact' needs: ['js-unit-test'] + timeout-minutes: 30 runs-on: 'ubuntu-20.04' if: github.event_name != 'pull_request' steps: diff --git a/api-client/src/deck_configuration/__stubs__/index.ts b/api-client/src/deck_configuration/__stubs__/index.ts deleted file mode 100644 index 5f2bd147a0e..00000000000 --- a/api-client/src/deck_configuration/__stubs__/index.ts +++ /dev/null @@ -1,73 +0,0 @@ -import { v4 as uuidv4 } from 'uuid' - -import { - STAGING_AREA_LOAD_NAME, - STANDARD_SLOT_LOAD_NAME, - TRASH_BIN_LOAD_NAME, - WASTE_CHUTE_LOAD_NAME, -} from '@opentrons/shared-data' - -import type { Fixture } from '@opentrons/shared-data' - -export const DECK_CONFIG_STUB: { [fixtureLocation: string]: Fixture } = { - A1: { - fixtureLocation: 'A1', - loadName: STANDARD_SLOT_LOAD_NAME, - fixtureId: uuidv4(), - }, - B1: { - fixtureLocation: 'B1', - loadName: STANDARD_SLOT_LOAD_NAME, - fixtureId: uuidv4(), - }, - C1: { - fixtureLocation: 'C1', - loadName: STANDARD_SLOT_LOAD_NAME, - fixtureId: uuidv4(), - }, - D1: { - fixtureLocation: 'D1', - loadName: STANDARD_SLOT_LOAD_NAME, - fixtureId: uuidv4(), - }, - A2: { - fixtureLocation: 'A2', - loadName: STANDARD_SLOT_LOAD_NAME, - fixtureId: uuidv4(), - }, - B2: { - fixtureLocation: 'B2', - loadName: STANDARD_SLOT_LOAD_NAME, - fixtureId: uuidv4(), - }, - C2: { - fixtureLocation: 'C2', - loadName: STANDARD_SLOT_LOAD_NAME, - fixtureId: uuidv4(), - }, - D2: { - fixtureLocation: 'D2', - loadName: STANDARD_SLOT_LOAD_NAME, - fixtureId: uuidv4(), - }, - A3: { - fixtureLocation: 'A3', - loadName: TRASH_BIN_LOAD_NAME, - fixtureId: uuidv4(), - }, - B3: { - fixtureLocation: 'B3', - loadName: STANDARD_SLOT_LOAD_NAME, - fixtureId: uuidv4(), - }, - C3: { - fixtureLocation: 'C3', - loadName: STAGING_AREA_LOAD_NAME, - fixtureId: uuidv4(), - }, - D3: { - fixtureLocation: 'D3', - loadName: WASTE_CHUTE_LOAD_NAME, - fixtureId: uuidv4(), - }, -} diff --git a/api-client/src/deck_configuration/createDeckConfiguration.ts b/api-client/src/deck_configuration/createDeckConfiguration.ts deleted file mode 100644 index 09a2f3b73d7..00000000000 --- a/api-client/src/deck_configuration/createDeckConfiguration.ts +++ /dev/null @@ -1,29 +0,0 @@ -// import { POST, request } from '../request' -import { DECK_CONFIG_STUB } from './__stubs__' - -import type { DeckConfiguration } from '@opentrons/shared-data' -// import type { ResponsePromise } from '../request' -import type { HostConfig } from '../types' - -// TODO(bh, 2023-09-26): uncomment and remove deck config stub when backend api is ready -// export function createDeckConfiguration( -// config: HostConfig, -// data: DeckConfiguration -// ): ResponsePromise { -// return request( -// POST, -// `/deck_configuration`, -// { data }, -// config -// ) -// } - -export function createDeckConfiguration( - config: HostConfig, - data: DeckConfiguration -): Promise<{ data: DeckConfiguration }> { - data.forEach(fixture => { - DECK_CONFIG_STUB[fixture.fixtureLocation] = fixture - }) - return Promise.resolve({ data: Object.values(DECK_CONFIG_STUB) }) -} diff --git a/api-client/src/deck_configuration/deleteDeckConfiguration.ts b/api-client/src/deck_configuration/deleteDeckConfiguration.ts deleted file mode 100644 index e3689f01559..00000000000 --- a/api-client/src/deck_configuration/deleteDeckConfiguration.ts +++ /dev/null @@ -1,30 +0,0 @@ -// import { DELETE, request } from '../request' -import { DECK_CONFIG_STUB } from './__stubs__' - -import type { Fixture } from '@opentrons/shared-data' -// import type { ResponsePromise } from '../request' -import type { EmptyResponse, HostConfig } from '../types' - -// TODO(bh, 2023-09-26): uncomment and remove deck config stub when backend api is ready -// export function deleteDeckConfiguration( -// config: HostConfig, -// data: Fixture -// ): ResponsePromise { -// const { fixtureLocation, ...rest } = data -// return request }>( -// DELETE, -// `/deck_configuration/${fixtureLocation}`, -// { data: rest }, -// config -// ) -// } - -export function deleteDeckConfiguration( - config: HostConfig, - data: Fixture -): Promise { - const { fixtureLocation } = data - // eslint-disable-next-line @typescript-eslint/no-dynamic-delete - delete DECK_CONFIG_STUB[fixtureLocation] - return Promise.resolve({ data: null }) -} diff --git a/api-client/src/deck_configuration/getDeckConfiguration.ts b/api-client/src/deck_configuration/getDeckConfiguration.ts index bc8c556e255..900f5e381e9 100644 --- a/api-client/src/deck_configuration/getDeckConfiguration.ts +++ b/api-client/src/deck_configuration/getDeckConfiguration.ts @@ -1,19 +1,16 @@ -// import { GET, request } from '../request' -import { DECK_CONFIG_STUB } from './__stubs__' +import { GET, request } from '../request' -import type { DeckConfiguration } from '@opentrons/shared-data' -// import type { ResponsePromise } from '../request' +import type { ResponsePromise } from '../request' import type { HostConfig } from '../types' - -// TODO(bh, 2023-09-26): uncomment and remove deck config stub when backend api is ready -// export function getDeckConfiguration( -// config: HostConfig -// ): ResponsePromise { -// return request(GET, `/deck_configuration`, null, config) -// } +import type { DeckConfigurationResponse } from './types' export function getDeckConfiguration( config: HostConfig -): Promise<{ data: DeckConfiguration }> { - return Promise.resolve({ data: Object.values(DECK_CONFIG_STUB) }) +): ResponsePromise { + return request( + GET, + `/deck_configuration`, + null, + config + ) } diff --git a/api-client/src/deck_configuration/index.ts b/api-client/src/deck_configuration/index.ts index c22cba0ae78..3da16feea96 100644 --- a/api-client/src/deck_configuration/index.ts +++ b/api-client/src/deck_configuration/index.ts @@ -1,4 +1,7 @@ -export { createDeckConfiguration } from './createDeckConfiguration' -export { deleteDeckConfiguration } from './deleteDeckConfiguration' export { getDeckConfiguration } from './getDeckConfiguration' export { updateDeckConfiguration } from './updateDeckConfiguration' + +export type { + DeckConfigurationResponse, + UpdateDeckConfigurationRequest, +} from './types' diff --git a/api-client/src/deck_configuration/types.ts b/api-client/src/deck_configuration/types.ts new file mode 100644 index 00000000000..8ed7db78658 --- /dev/null +++ b/api-client/src/deck_configuration/types.ts @@ -0,0 +1,14 @@ +import type { DeckConfiguration } from '@opentrons/shared-data' + +export interface UpdateDeckConfigurationRequest { + data: { + cutoutFixtures: DeckConfiguration + } +} + +export interface DeckConfigurationResponse { + data: { + cutoutFixtures: DeckConfiguration + lastModifiedAt: string + } +} diff --git a/api-client/src/deck_configuration/updateDeckConfiguration.ts b/api-client/src/deck_configuration/updateDeckConfiguration.ts index a02fb1af4b0..236aef59904 100644 --- a/api-client/src/deck_configuration/updateDeckConfiguration.ts +++ b/api-client/src/deck_configuration/updateDeckConfiguration.ts @@ -1,32 +1,21 @@ -import { v4 as uuidv4 } from 'uuid' +import { PUT, request } from '../request' -// import { PATCH, request } from '../request' -import { DECK_CONFIG_STUB } from './__stubs__' - -import type { Fixture } from '@opentrons/shared-data' -// import type { ResponsePromise } from '../request' +import type { DeckConfiguration } from '@opentrons/shared-data' +import type { ResponsePromise } from '../request' import type { HostConfig } from '../types' - -// TODO(bh, 2023-09-26): uncomment and remove deck config stub when backend api is ready -// export function updateDeckConfiguration( -// config: HostConfig, -// data: Omit -// ): ResponsePromise { -// const { fixtureLocation, ...rest } = data -// return request }>( -// PATCH, -// `/deck_configuration/${fixtureLocation}`, -// { data: rest }, -// config -// ) -// } +import type { + DeckConfigurationResponse, + UpdateDeckConfigurationRequest, +} from './types' export function updateDeckConfiguration( config: HostConfig, - data: Omit -): Promise<{ data: Fixture }> { - const { fixtureLocation } = data - const fixtureId = uuidv4() - DECK_CONFIG_STUB[fixtureLocation] = { ...data, fixtureId } - return Promise.resolve({ data: DECK_CONFIG_STUB[fixtureLocation] }) + deckConfig: DeckConfiguration +): ResponsePromise { + return request( + PUT, + '/deck_configuration', + { data: { cutoutFixtures: deckConfig } }, + config + ) } diff --git a/api-client/src/protocols/__tests__/utils.test.ts b/api-client/src/protocols/__tests__/utils.test.ts index f86532d7359..c9edcae0068 100644 --- a/api-client/src/protocols/__tests__/utils.test.ts +++ b/api-client/src/protocols/__tests__/utils.test.ts @@ -10,17 +10,10 @@ import { parseLiquidsInLoadOrder, parseLabwareInfoByLiquidId, parseInitialLoadedLabwareByAdapter, - parseInitialLoadedFixturesByCutout, } from '../utils' import { simpleAnalysisFileFixture } from '../__fixtures__' -import { - LoadFixtureRunTimeCommand, - RunTimeCommand, - STAGING_AREA_LOAD_NAME, - STANDARD_SLOT_LOAD_NAME, - WASTE_CHUTE_LOAD_NAME, -} from '@opentrons/shared-data' +import { RunTimeCommand } from '@opentrons/shared-data' const mockRunTimeCommands: RunTimeCommand[] = simpleAnalysisFileFixture.commands as any const mockLoadLiquidRunTimeCommands = [ @@ -366,53 +359,6 @@ describe('parseInitialLoadedModulesBySlot', () => { ) }) }) -describe('parseInitialLoadedFixturesByCutout', () => { - it('returns fixtures loaded in cutouts', () => { - const loadFixtureCommands: LoadFixtureRunTimeCommand[] = [ - { - id: 'fakeId1', - commandType: 'loadFixture', - params: { - loadName: STAGING_AREA_LOAD_NAME, - location: { cutout: 'B3' }, - }, - createdAt: 'fake_timestamp', - startedAt: 'fake_timestamp', - completedAt: 'fake_timestamp', - status: 'succeeded', - }, - { - id: 'fakeId2', - commandType: 'loadFixture', - params: { loadName: WASTE_CHUTE_LOAD_NAME, location: { cutout: 'D3' } }, - createdAt: 'fake_timestamp', - startedAt: 'fake_timestamp', - completedAt: 'fake_timestamp', - status: 'succeeded', - }, - { - id: 'fakeId3', - commandType: 'loadFixture', - params: { - loadName: STANDARD_SLOT_LOAD_NAME, - location: { cutout: 'C3' }, - }, - createdAt: 'fake_timestamp', - startedAt: 'fake_timestamp', - completedAt: 'fake_timestamp', - status: 'succeeded', - }, - ] - const expected = { - B3: loadFixtureCommands[0], - D3: loadFixtureCommands[1], - C3: loadFixtureCommands[2], - } - expect(parseInitialLoadedFixturesByCutout(loadFixtureCommands)).toEqual( - expected - ) - }) -}) describe('parseLiquidsInLoadOrder', () => { it('returns liquids in loaded order', () => { const expected = [ diff --git a/api-client/src/protocols/utils.ts b/api-client/src/protocols/utils.ts index e8f19c42a7e..fefa2fab7f5 100644 --- a/api-client/src/protocols/utils.ts +++ b/api-client/src/protocols/utils.ts @@ -16,6 +16,7 @@ import type { ModuleModel, PipetteName, RunTimeCommand, + AddressableAreaName, } from '@opentrons/shared-data' interface PipetteNamesByMount { @@ -228,6 +229,7 @@ export function parseInitialLoadedModulesBySlot( export interface LoadedFixturesBySlot { [slotName: string]: LoadFixtureRunTimeCommand } +// TODO(bh, 2023-11-09): remove this util, there will be no loadFixture command export function parseInitialLoadedFixturesByCutout( commands: RunTimeCommand[] ): LoadedFixturesBySlot { @@ -244,6 +246,63 @@ export function parseInitialLoadedFixturesByCutout( ) } +export function parseAllAddressableAreas( + commands: RunTimeCommand[] +): AddressableAreaName[] { + return commands.reduce((acc, command) => { + if ( + command.commandType === 'moveLabware' && + command.params.newLocation !== 'offDeck' && + 'slotName' in command.params.newLocation && + !acc.includes(command.params.newLocation.slotName as AddressableAreaName) + ) { + return [ + ...acc, + command.params.newLocation.slotName as AddressableAreaName, + ] + } else if ( + command.commandType === 'moveLabware' && + command.params.newLocation !== 'offDeck' && + 'addressableAreaName' in command.params.newLocation && + !acc.includes( + command.params.newLocation.addressableAreaName as AddressableAreaName + ) + ) { + return [ + ...acc, + command.params.newLocation.addressableAreaName as AddressableAreaName, + ] + } else if ( + (command.commandType === 'loadLabware' || + command.commandType === 'loadModule') && + command.params.location !== 'offDeck' && + 'slotName' in command.params.location && + !acc.includes(command.params.location.slotName as AddressableAreaName) + ) { + return [...acc, command.params.location.slotName as AddressableAreaName] + } else if ( + command.commandType === 'loadLabware' && + command.params.location !== 'offDeck' && + 'addressableAreaName' in command.params.location && + !acc.includes( + command.params.location.addressableAreaName as AddressableAreaName + ) + ) { + return [ + ...acc, + command.params.location.addressableAreaName as AddressableAreaName, + ] + } else if ( + command.commandType === 'moveToAddressableArea' && + !acc.includes(command.params.addressableAreaName as AddressableAreaName) + ) { + return [...acc, command.params.addressableAreaName as AddressableAreaName] + } else { + return acc + } + }, []) +} + export interface LiquidsById { [liquidId: string]: { displayName: string diff --git a/api/docs/v2/conf.py b/api/docs/v2/conf.py index 29524982522..cb896e72d89 100644 --- a/api/docs/v2/conf.py +++ b/api/docs/v2/conf.py @@ -96,13 +96,10 @@ # setup the code block substitution extension to auto-update apiLevel extensions += ['sphinx-prompt', 'sphinx_substitution_extensions'] -# get the max API level -from opentrons.protocol_api import MAX_SUPPORTED_VERSION # noqa -max_apiLevel = str(MAX_SUPPORTED_VERSION) - # use rst_prolog to hold the subsitution +# update the apiLevel value whenever a new minor version is released rst_prolog = f""" -.. |apiLevel| replace:: {max_apiLevel} +.. |apiLevel| replace:: 2.15 .. |release| replace:: {release} """ diff --git a/api/docs/v2/new_protocol_api.rst b/api/docs/v2/new_protocol_api.rst index 9ddd0ca6407..c54434eca8e 100644 --- a/api/docs/v2/new_protocol_api.rst +++ b/api/docs/v2/new_protocol_api.rst @@ -2,41 +2,46 @@ .. _protocol-api-reference: +*********************** API Version 2 Reference -======================= +*********************** .. _protocol_api-protocols-and-instruments: -Protocols and Instruments -------------------------- +Protocols +========= .. module:: opentrons.protocol_api .. autoclass:: opentrons.protocol_api.ProtocolContext :members: - :exclude-members: location_cache, cleanup, clear_commands, load_waste_chute + :exclude-members: location_cache, cleanup, clear_commands +Instruments +=========== .. autoclass:: opentrons.protocol_api.InstrumentContext :members: :exclude-members: delay -.. autoclass:: opentrons.protocol_api.Liquid - .. _protocol-api-labware: -Labware and Wells ------------------ +Labware +======= .. autoclass:: opentrons.protocol_api.Labware :members: :exclude-members: next_tip, use_tips, previous_tip, return_tips +Wells and Liquids +================= .. autoclass:: opentrons.protocol_api.Well :members: :exclude-members: geometry +.. autoclass:: opentrons.protocol_api.Liquid + .. _protocol-api-modules: Modules -------- +======= .. autoclass:: opentrons.protocol_api.HeaterShakerContext :members: @@ -66,8 +71,8 @@ Modules .. _protocol-api-types: -Useful Types and Definitions ----------------------------- +Useful Types +============ .. The opentrons.types module contains a mixture of public Protocol API things and private internal things. @@ -80,7 +85,7 @@ Useful Types and Definitions :no-value: Executing and Simulating Protocols ----------------------------------- +================================== .. automodule:: opentrons.execute :members: diff --git a/api/release-notes-internal.md b/api/release-notes-internal.md index 07c68ac4749..f05cd2e2f1e 100644 --- a/api/release-notes-internal.md +++ b/api/release-notes-internal.md @@ -4,52 +4,31 @@ For more details about this release, please see the full [technical change log][ --- -# Internal Release 0.14.0 +# Internal Release 1.1.0 ## New Stuff In This Release -- Return tip heights and some other pipette behaviors are now properly executed based on the kind of tip being used -- Release Flex robot software builds are now cryptographically signed. If you run a release build, you can only install other properly signed release builds. Note that if the robot was previously on a non-release build this won't latch; remove the update server config file at ``/var/lib/otupdate/config.json`` to go back to signed builds only. -- Error handling has been overhauled; all errors now display with an error code for easier reporting. Many of those error codes are the 4000 catchall still but this will improve over time. -- If there's an error during the post-run cleanup steps, where the robot homes and drops tips, the run should no longer get stuck in a permanent "finishing" state. It should get marked as failed. -- Further updates to Flex motion control parameters from hardware testing for both gantry and plunger speeds and acceleration -- Pipette overpressure detection is now integrated. -- All instrument flows should now show errors if they occur instead of skipping a step -- Fixes to several incorrect status displays in ODD (i.e. protocols skipping the full-color outcome splash) -- Robot can now handle json protocol v7 -- Support for PVT (v1.1) grippers -- Update progress should get displayed after restart for firmware updates -- Removed `use_pick_up_location_lpc_offset` and `use_drop_location_lpc_offset` from `protocol_context.move_labware` arguments. So they should be removed from any protocols that used them. This change also requires resetting the protocol run database on the robot. -- Added 'contextual' gripper offsets to deck, labware and module definitions. So, any labware movement offsets that were previously being specified in the protocol should now be removed or adjusted or they will get added twice. - - -## Big Things That Don't Work Yet So Don't Report Bugs About Them - -### Robot Control -- Pipette pressure sensing for liquid-level sensing purposes -- Labware pick up failure with gripper -- E-stop integrated handling especially with modules - -## Big Things That Do Work Please Do Report Bugs About Them -### Robot Control -- Protocol behavior -- Labware movement between slots/modules, both manual and with gripper, from python protocols -- Labware drop/gripper crash errors, but they're very insensitive -- Pipette and gripper automated offset calibration -- Network connectivity and discoverability -- Firmware update for all devices -- Cancelling a protocol run. We're even more sure we fixed this so definitely tell us if it's not. -- USB connectivity -- Stall detection firing basically ever unless you clearly ran into something - -### ODD -- Protocol execution including end-of-protocol screen -- Protocol run monitoring -- Attach and calibrate -- Network connection management, including viewing IP addresses and connecting to wifi networks -- Automatic updates of robot software when new internal releases are created -- Chrome remote devtools - if you enable them and then use Chrome to go to robotip:9223 you'll get devtools -- After a while, the ODD should go into idle; if you touch it, it will come back online +This is a tracking internal release coming off of the edge branch to contain rapid dev on new features for 7.1.0. Features will change drastically between successive alphas even over the course of the day. For this reason, these release notes will not be in their usual depth. +The biggest new features, however, are +- There is a new protocol API version, 2.16, which changes how the default trash is loaded and gates features like partial tip pickup and waste chute usage: + - Protocols do not load a trash by default. To load the normal trash, load ``opentrons_1_trash_3200ml_fixed`` in slot ``A3``. + - But also you can load it in any other edge slot if you want (columns 1 and 3). + - Protocols can load trash chutes; the details of exactly how this works are still in flux. + - Protocols can configure their 96 and 8 channel pipettes to pick up only a subset of tips using ``configure_nozzle_layout``. +- Support for json protocol V8 and command V8, which adds JSON protocol support for the above features. +- ODD support for rendering the above features in protocols +- ODD support for configuring the loaded deck fixtures like trash chutes +- Labware position check now uses the calibration probe (the same one used for pipette and module calibration) instead of a tip; this should increase the accuracy of LPC. +- Support for P1000S v3.6 +- Updated liquid handling functions for all 96 channel pipettes +## Known Issues +- The ``MoveToAddressableArea`` command will noop. This means that all commands that use the movable trash bin will not "move to the trash bin". The command will analyze successfully. +- The deck configuration on the robot is not persistent, this means that between boots of a robot, you must PUT a deck configuration on the robot via HTTP. + +## Other changes + +- Protocol engine now does not allow loading any items in locations (whether deck slot/ module/ adapter) that are already occupied. +Previously there were gaps in our checks for this in the API. Also, one could write HTTP/ JSON protocols (not PD generated) that loaded multiple items in a given location. Protocols were most likely exploiting this loophole to perform labware movement prior to DSM support. They should now use the correct labware movement API instead. diff --git a/api/src/opentrons/calibration_storage/__init__.py b/api/src/opentrons/calibration_storage/__init__.py index 80b389223a8..1ddbfdd1582 100644 --- a/api/src/opentrons/calibration_storage/__init__.py +++ b/api/src/opentrons/calibration_storage/__init__.py @@ -1,6 +1,11 @@ from .ot3 import gripper_offset from .ot2 import mark_bad_calibration +from .deck_configuration import ( + serialize_deck_configuration, + deserialize_deck_configuration, +) + # TODO these functions are only used in robot server. We should think about moving them and/or # abstracting it away from a robot specific function. We should also check if the tip rack # definition information is still needed. @@ -32,6 +37,9 @@ "save_robot_belt_attitude", "get_robot_belt_attitude", "delete_robot_belt_attitude", + # deck configuration functions + "serialize_deck_configuration", + "deserialize_deck_configuration", # functions only used in robot server "_save_custom_tiprack_definition", "get_custom_tiprack_definition_for_tlc", diff --git a/api/src/opentrons/calibration_storage/deck_configuration.py b/api/src/opentrons/calibration_storage/deck_configuration.py new file mode 100644 index 00000000000..31410403d35 --- /dev/null +++ b/api/src/opentrons/calibration_storage/deck_configuration.py @@ -0,0 +1,57 @@ +from datetime import datetime +from typing import List, Optional, Tuple + +import pydantic + +from .types import CutoutFixturePlacement +from . import file_operators as io + + +class _CutoutFixturePlacementModel(pydantic.BaseModel): + cutoutId: str + cutoutFixtureId: str + + +class _DeckConfigurationModel(pydantic.BaseModel): + """The on-filesystem representation of a deck configuration.""" + + cutoutFixtures: List[_CutoutFixturePlacementModel] + lastModified: datetime + + +def serialize_deck_configuration( + cutout_fixture_placements: List[CutoutFixturePlacement], last_modified: datetime +) -> bytes: + """Serialize a deck configuration for storing on the filesystem.""" + data = _DeckConfigurationModel.construct( + cutoutFixtures=[ + _CutoutFixturePlacementModel.construct( + cutoutId=e.cutout_id, cutoutFixtureId=e.cutout_fixture_id + ) + for e in cutout_fixture_placements + ], + lastModified=last_modified, + ) + return io.serialize_pydantic_model(data) + + +# TODO(mm, 2023-11-21): If the data is corrupt, we should propagate the underlying error. +# And there should be an enumerated "corrupt storage" error in shared-data. +def deserialize_deck_configuration( + serialized: bytes, +) -> Optional[Tuple[List[CutoutFixturePlacement], datetime]]: + """Deserialize bytes previously serialized by `serialize_deck_configuration()`. + + Returns a tuple `(deck_configuration, last_modified_time)`, or `None` if the data is corrupt. + """ + parsed = io.deserialize_pydantic_model(serialized, _DeckConfigurationModel) + if parsed is None: + return None + else: + cutout_fixture_placements = [ + CutoutFixturePlacement( + cutout_id=e.cutoutId, cutout_fixture_id=e.cutoutFixtureId + ) + for e in parsed.cutoutFixtures + ] + return cutout_fixture_placements, parsed.lastModified diff --git a/api/src/opentrons/calibration_storage/file_operators.py b/api/src/opentrons/calibration_storage/file_operators.py index 3ec91cb25b5..70c16297ecd 100644 --- a/api/src/opentrons/calibration_storage/file_operators.py +++ b/api/src/opentrons/calibration_storage/file_operators.py @@ -5,15 +5,20 @@ module, except in the special case of v2 labware support in the v1 API. """ -import json import datetime +import json +import logging import typing -from pydantic import BaseModel from pathlib import Path +import pydantic + from .encoder_decoder import DateTimeEncoder, DateTimeDecoder +_log = logging.getLogger(__name__) + + DecoderType = typing.Type[json.JSONDecoder] EncoderType = typing.Type[json.JSONEncoder] @@ -27,8 +32,9 @@ def delete_file(path: Path) -> None: pass +# TODO: This is private but used by other files. def _remove_json_files_in_directories(p: Path) -> None: - """Delete json file by the path""" + """Delete .json files in the given directory and its subdirectories.""" for item in p.iterdir(): if item.is_dir(): _remove_json_files_in_directories(item) @@ -47,12 +53,12 @@ def _assert_last_modified_value(calibration_dict: typing.Dict[str, typing.Any]) def read_cal_file( - filepath: Path, decoder: DecoderType = DateTimeDecoder + file_path: Path, decoder: DecoderType = DateTimeDecoder ) -> typing.Dict[str, typing.Any]: """ Function used to read data from a file - :param filepath: path to look for data at + :param file_path: path to look for data at :param decoder: if there is any specialized decoder needed. The default decoder is the date time decoder. :return: Data from the file @@ -63,7 +69,7 @@ def read_cal_file( # This can be done when the labware endpoints # are refactored to grab tip length calibration # from the correct locations. - with open(filepath, "r") as f: + with open(file_path, "r", encoding="utf-8") as f: calibration_data = typing.cast( typing.Dict[str, typing.Any], json.load(f, cls=decoder), @@ -76,22 +82,61 @@ def read_cal_file( def save_to_file( - directorypath: Path, + directory_path: Path, + # todo(mm, 2023-11-15): This file_name argument does not include the file + # extension, which is inconsistent with read_cal_file(). The two should match. file_name: str, - data: typing.Union[BaseModel, typing.Dict[str, typing.Any], typing.Any], + data: typing.Union[pydantic.BaseModel, typing.Dict[str, typing.Any], typing.Any], encoder: EncoderType = DateTimeEncoder, ) -> None: """ Function used to save data to a file - :param filepath: path to save data at - :param data: data to save + :param directory_path: path to the directory in which to save the data + :param file_name: name of the file within the directory, *without the extension*. + :param data: The data to save. Either a Pydantic model, or a JSON-like dict to pass to + `json.dumps()`. If you're storing a Pydantic model, prefer `save_pydantic_model_to_file()` + and `read_pydantic_model_from_file()` for new code. :param encoder: if there is any specialized encoder needed. The default encoder is the date time encoder. """ - directorypath.mkdir(parents=True, exist_ok=True) - filepath = directorypath / f"{file_name}.json" + directory_path.mkdir(parents=True, exist_ok=True) + file_path = directory_path / f"{file_name}.json" json_data = ( - data.json() if isinstance(data, BaseModel) else json.dumps(data, cls=encoder) + data.json() + if isinstance(data, pydantic.BaseModel) + else json.dumps(data, cls=encoder) ) - filepath.write_text(json_data, encoding="utf-8") + file_path.write_text(json_data, encoding="utf-8") + + +def serialize_pydantic_model(data: pydantic.BaseModel) -> bytes: + """Safely serialize data from a Pydantic model into a form suitable for storing on disk.""" + return data.json(by_alias=True).encode("utf-8") + + +_ModelT = typing.TypeVar("_ModelT", bound=pydantic.BaseModel) + + +# TODO(mm, 2023-11-20): We probably want to distinguish "missing file" from "corrupt file." +# The caller needs to deal with those cases separately because the appropriate action depends on +# context. For example, when running protocols through robot-server, if the file is corrupt, it's +# safe-ish to fall back to a default because the Opentrons App will let the user confirm everything +# before starting the run. But when running protocols through the non-interactive +# `opentrons_execute`, we don't want it to silently use default data if the file is corrupt. +def deserialize_pydantic_model( + serialized: bytes, + model: typing.Type[_ModelT], +) -> typing.Optional[_ModelT]: + """Safely read bytes from `serialize_pydantic_model()` back into a Pydantic model. + + Returns `None` if the file is missing or corrupt. + """ + try: + return model.parse_raw(serialized) + except json.JSONDecodeError: + _log.warning("Data is not valid JSON.", exc_info=True) + return None + except pydantic.ValidationError: + _log.warning(f"Data is malformed as a {model}.", exc_info=True) + return None diff --git a/api/src/opentrons/calibration_storage/types.py b/api/src/opentrons/calibration_storage/types.py index 03aacab252a..fd1bfbd5e2e 100644 --- a/api/src/opentrons/calibration_storage/types.py +++ b/api/src/opentrons/calibration_storage/types.py @@ -34,3 +34,11 @@ class UriDetails: namespace: str load_name: str version: int + + +# TODO(mm, 2023-11-20): Deduplicate this with similar types in robot_server +# and opentrons.protocol_engine. +@dataclass +class CutoutFixturePlacement: + cutout_fixture_id: str + cutout_id: str diff --git a/api/src/opentrons/cli/analyze.py b/api/src/opentrons/cli/analyze.py index 9f5af67c584..4ee9f6507af 100644 --- a/api/src/opentrons/cli/analyze.py +++ b/api/src/opentrons/cli/analyze.py @@ -79,7 +79,7 @@ async def _analyze( runner = await create_simulating_runner( robot_type=protocol_source.robot_type, protocol_config=protocol_source.config ) - analysis = await runner.run(protocol_source) + analysis = await runner.run(deck_configuration=[], protocol_source=protocol_source) if json_output: results = AnalyzeResults.construct( @@ -145,10 +145,16 @@ class AnalyzeResults(BaseModel): See robot-server's analysis models for field documentation. """ + # We want to unify this local analysis model with the one that robot-server returns. + # Until that happens, we need to keep these fields in sync manually. + + # Fields that are currently unique to this local analysis module, missing from robot-server: createdAt: datetime files: List[ProtocolFile] config: Union[JsonConfig, PythonConfig] metadata: Dict[str, Any] + + # Fields that should match robot-server: robotType: RobotType commands: List[Command] labware: List[LoadedLabware] diff --git a/api/src/opentrons/config/__init__.py b/api/src/opentrons/config/__init__.py index 6429ae154fb..ce867677777 100644 --- a/api/src/opentrons/config/__init__.py +++ b/api/src/opentrons/config/__init__.py @@ -184,7 +184,7 @@ class ConfigElement(NamedTuple): "Deck Calibration", Path("deck_calibration.json"), ConfigElementType.FILE, - "The file storing the deck calibration", + "The file storing the deck calibration. Superseded in v4 by robot_calibration_dir.", ), ConfigElement( "log_dir", diff --git a/api/src/opentrons/config/advanced_settings.py b/api/src/opentrons/config/advanced_settings.py index 97629fcd2e9..d78cc9e5b92 100644 --- a/api/src/opentrons/config/advanced_settings.py +++ b/api/src/opentrons/config/advanced_settings.py @@ -232,8 +232,8 @@ class Setting(NamedTuple): ), SettingDefinition( _id="disableOverpressureDetection", - title="Disable overpressure detection on pipettes.", - description="This setting disables overpressure detection on pipettes, do not turn this feature off unless recommended.", + title="Disable Flex pipette pressure sensing.", + description="When this setting is on, Flex will continue its activities regardless of pressure changes inside the pipette. Do not turn this setting on unless you are intentionally causing pressures over 8 kPa inside the pipette air channel.", robot_type=[RobotTypeEnum.FLEX], ), SettingDefinition( diff --git a/api/src/opentrons/config/containers/__init__.py b/api/src/opentrons/config/containers/__init__.py deleted file mode 100644 index e69de29bb2d..00000000000 diff --git a/api/src/opentrons/config/containers/default-containers.json b/api/src/opentrons/config/containers/default-containers.json deleted file mode 100644 index 44824a024a4..00000000000 --- a/api/src/opentrons/config/containers/default-containers.json +++ /dev/null @@ -1,27097 +0,0 @@ -{ - "containers": { - "temperature-plate": { - "origin-offset": { - "x": 11.24, - "y": 14.34, - "z": 97 - }, - "locations":{} - }, - - "tube-rack-5ml-96": { - "locations": { - "A1": { - "y": 0, - "x": 0, - "z": 0, - "depth": 72, - "diameter": 15, - "total-liquid-volume": 5000 - }, - "B1": { - "y": 0, - "x": 18, - "z": 0, - "depth": 72, - "diameter": 15, - "total-liquid-volume": 5000 - 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"depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "C10": { - "x": 18, - "y": 81, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "D10": { - "x": 27, - "y": 81, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "E10": { - "x": 36, - "y": 81, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "F10": { - "x": 45, - "y": 81, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "G10": { - "x": 54, - "y": 81, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "H10": { - "x": 63, - "y": 81, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "A11": { - "x": 0, - "y": 90, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "B11": { - "x": 9, - "y": 90, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "C11": { - "x": 18, - "y": 90, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "D11": { - "x": 27, - "y": 90, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "E11": { - "x": 36, - "y": 90, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "F11": { - "x": 45, - "y": 90, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "G11": { - "x": 54, - "y": 90, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "H11": { - "x": 63, - "y": 90, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "A12": { - "x": 0, - "y": 99, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "B12": { - "x": 9, - "y": 99, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "C12": { - "x": 18, - "y": 99, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "D12": { - "x": 27, - "y": 99, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "E12": { - "x": 36, - "y": 99, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "F12": { - "x": 45, - "y": 99, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "G12": { - "x": 54, - "y": 99, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "H12": { - "x": 63, - "y": 99, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - } - } - } - } -} diff --git a/api/src/opentrons/config/reset.py b/api/src/opentrons/config/reset.py index 2e71c69aa45..eac5cf26982 100644 --- a/api/src/opentrons/config/reset.py +++ b/api/src/opentrons/config/reset.py @@ -35,6 +35,7 @@ class ResetOptionId(str, Enum): boot_scripts = "bootScripts" deck_calibration = "deckCalibration" + deck_configuration = "deckConfiguration" pipette_offset = "pipetteOffsetCalibrations" gripper_offset = "gripperOffsetCalibrations" tip_length_calibrations = "tipLengthCalibrations" @@ -50,6 +51,7 @@ class ResetOptionId(str, Enum): ResetOptionId.pipette_offset, ResetOptionId.tip_length_calibrations, ResetOptionId.runs_history, + ResetOptionId.deck_configuration, ResetOptionId.authorized_keys, ] _FLEX_RESET_OPTIONS = [ @@ -58,6 +60,7 @@ class ResetOptionId(str, Enum): ResetOptionId.gripper_offset, ResetOptionId.runs_history, ResetOptionId.on_device_display, + ResetOptionId.deck_configuration, ResetOptionId.module_calibration, ResetOptionId.authorized_keys, ] @@ -82,8 +85,8 @@ class ResetOptionId(str, Enum): name="Tip Length Calibrations", description="Clear tip length calibrations (will also clear pipette offset)", ), - # TODO(mm, 2022-05-23): runs_history and on_device_display are robot-server things, - # and are not concepts known to this package (the `opentrons` library). + # TODO(mm, 2022-05-23): runs_history, on_device_display, and deck_configuration are + # robot-server things, and are not concepts known to this package (the `opentrons` library). # This option is defined here only as a convenience for robot-server. # Find a way to split things up and define this in robot-server instead. ResetOptionId.runs_history: CommonResetOption( @@ -94,6 +97,10 @@ class ResetOptionId(str, Enum): name="On-Device Display Configuration", description="Clear the configuration of the on-device display (touchscreen)", ), + ResetOptionId.deck_configuration: CommonResetOption( + name="Deck Configuration", + description="Clear deck configuration", + ), ResetOptionId.module_calibration: CommonResetOption( name="Module Calibrations", description="Clear module offset calibrations" ), diff --git a/api/src/opentrons/execute.py b/api/src/opentrons/execute.py index bd450db8086..fb56e659bd0 100644 --- a/api/src/opentrons/execute.py +++ b/api/src/opentrons/execute.py @@ -360,6 +360,7 @@ def execute( # noqa: C901 stack_logger = logging.getLogger("opentrons") stack_logger.propagate = propagate_logs stack_logger.setLevel(getattr(logging, log_level.upper(), logging.WARNING)) + # TODO(mm, 2023-11-20): We should restore the original log settings when we're done. # TODO(mm, 2023-10-02): Switch this truthy check to `is not None` # to match documented behavior. @@ -627,7 +628,10 @@ async def run(protocol_source: ProtocolSource) -> None: try: # TODO(mm, 2023-06-30): This will home and drop tips at the end, which is not how # things have historically behaved with PAPIv2.13 and older or JSONv5 and older. - result = await protocol_runner.run(protocol_source) + result = await protocol_runner.run( + deck_configuration=entrypoint_util.get_deck_configuration(), + protocol_source=protocol_source, + ) finally: unsubscribe() @@ -653,6 +657,8 @@ def _get_protocol_engine_config() -> Config: # We deliberately omit ignore_pause=True because, in the current implementation of # opentrons.protocol_api.core.engine, that would incorrectly make # ProtocolContext.is_simulating() return True. + use_simulated_deck_config=True, + # TODO the above is not correct for this and it should use the robot's actual config ) diff --git a/api/src/opentrons/hardware_control/instruments/ot2/pipette.py b/api/src/opentrons/hardware_control/instruments/ot2/pipette.py index f5b9aa3fd29..b529956e569 100644 --- a/api/src/opentrons/hardware_control/instruments/ot2/pipette.py +++ b/api/src/opentrons/hardware_control/instruments/ot2/pipette.py @@ -12,7 +12,8 @@ PlungerPositions, MotorConfigurations, SupportedTipsDefinition, - TipHandlingConfigurations, + PickUpTipConfigurations, + DropTipConfigurations, PipetteModelVersionType, PipetteNameType, PipetteLiquidPropertiesDefinition, @@ -109,10 +110,7 @@ def __init__( ) self._nozzle_offset = self._config.nozzle_offset self._nozzle_manager = ( - nozzle_manager.NozzleConfigurationManager.build_from_nozzlemap( - self._config.nozzle_map, - self._config.partial_tip_configurations.per_tip_pickup_current, - ) + nozzle_manager.NozzleConfigurationManager.build_from_config(self._config) ) self._current_volume = 0.0 self._working_volume = float(self._liquid_class.max_volume) @@ -230,17 +228,15 @@ def plunger_motor_current(self) -> MotorConfigurations: return self._config.plunger_motor_configurations @property - def pick_up_configurations(self) -> TipHandlingConfigurations: + def pick_up_configurations(self) -> PickUpTipConfigurations: return self._config.pick_up_tip_configurations @pick_up_configurations.setter - def pick_up_configurations( - self, pick_up_configs: TipHandlingConfigurations - ) -> None: + def pick_up_configurations(self, pick_up_configs: PickUpTipConfigurations) -> None: self._pick_up_configurations = pick_up_configs @property - def drop_configurations(self) -> TipHandlingConfigurations: + def drop_configurations(self) -> DropTipConfigurations: return self._config.drop_tip_configurations @property @@ -292,10 +288,7 @@ def reset_state(self) -> None: self._tip_overlap_lookup = self.liquid_class.tip_overlap_dictionary self._nozzle_manager = ( - nozzle_manager.NozzleConfigurationManager.build_from_nozzlemap( - self._config.nozzle_map, - self._config.partial_tip_configurations.per_tip_pickup_current, - ) + nozzle_manager.NozzleConfigurationManager.build_from_config(self._config) ) def reset_pipette_offset(self, mount: Mount, to_default: bool) -> None: diff --git a/api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py b/api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py index 67596cea790..d2a36f19e85 100644 --- a/api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py +++ b/api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py @@ -768,16 +768,16 @@ def plan_check_pick_up_tip( # type: ignore[no-untyped-def] self._ihp_log.debug(f"Picking up tip on {mount.name}") if presses is None or presses < 0: - checked_presses = instrument.pick_up_configurations.presses + checked_presses = instrument.pick_up_configurations.press_fit.presses else: checked_presses = presses if not increment or increment < 0: - check_incr = instrument.pick_up_configurations.increment + check_incr = instrument.pick_up_configurations.press_fit.increment else: check_incr = increment - pick_up_speed = instrument.pick_up_configurations.speed + pick_up_speed = instrument.pick_up_configurations.press_fit.speed def build_presses() -> Iterator[Tuple[float, float]]: # Press the nozzle into the tip number of times, @@ -785,7 +785,7 @@ def build_presses() -> Iterator[Tuple[float, float]]: for i in range(checked_presses): # move nozzle down into the tip press_dist = ( - -1.0 * instrument.pick_up_configurations.distance + -1.0 * instrument.pick_up_configurations.press_fit.distance + -1.0 * check_incr * i ) # move nozzle back up @@ -808,7 +808,9 @@ def add_tip_to_instr() -> None: current={ Axis.by_mount( mount - ): instrument.nozzle_manager.get_tip_configuration_current() + ): instrument.pick_up_configurations.press_fit.current_by_tip_count[ + instrument.nozzle_manager.current_configuration.tip_count + ] }, speed=pick_up_speed, relative_down=top_types.Point(0, 0, press_dist), @@ -817,7 +819,7 @@ def add_tip_to_instr() -> None: for press_dist, backup_dist in build_presses() ], shake_off_list=self._build_pickup_shakes(instrument), - retract_target=instrument.pick_up_configurations.distance + retract_target=instrument.pick_up_configurations.press_fit.distance + check_incr * checked_presses + 2, ), @@ -837,7 +839,9 @@ def add_tip_to_instr() -> None: current={ Axis.by_mount( mount - ): instrument.nozzle_manager.get_tip_configuration_current() + ): instrument.pick_up_configurations.press_fit.current_by_tip_count[ + instrument.nozzle_manager.current_configuration.tip_count + ] }, speed=pick_up_speed, relative_down=top_types.Point(0, 0, press_dist), @@ -846,7 +850,7 @@ def add_tip_to_instr() -> None: for press_dist, backup_dist in build_presses() ], shake_off_list=self._build_pickup_shakes(instrument), - retract_target=instrument.pick_up_configurations.distance + retract_target=instrument.pick_up_configurations.press_fit.distance + check_incr * checked_presses + 2, ), @@ -923,9 +927,13 @@ def plan_check_drop_tip( # type: ignore[no-untyped-def] ): instrument = self.get_pipette(mount) + if not instrument.drop_configurations.plunger_eject: + raise CommandPreconditionViolated( + f"Pipette {instrument.name} on {mount.name} has no plunger eject configuration" + ) bottom = instrument.plunger_positions.bottom droptip = instrument.plunger_positions.drop_tip - speed = instrument.drop_configurations.speed + speed = instrument.drop_configurations.plunger_eject.speed shakes: List[Tuple[top_types.Point, Optional[float]]] = [] if Quirks.dropTipShake in instrument.config.quirks: diameter = instrument.current_tiprack_diameter @@ -941,7 +949,11 @@ def _remove_tips() -> None: bottom, droptip, {Axis.of_plunger(mount): instrument.plunger_motor_current.run}, - {Axis.of_plunger(mount): instrument.drop_configurations.current}, + { + Axis.of_plunger( + mount + ): instrument.drop_configurations.plunger_eject.current + }, speed, home_after, (Axis.of_plunger(mount),), @@ -971,7 +983,7 @@ def _remove_tips() -> None: { Axis.of_main_tool_actuator( mount - ): instrument.drop_configurations.current + ): instrument.drop_configurations.plunger_eject.current }, speed, home_after, diff --git a/api/src/opentrons/hardware_control/instruments/ot3/pipette.py b/api/src/opentrons/hardware_control/instruments/ot3/pipette.py index 1f6dd0b4b59..a89ba96290e 100644 --- a/api/src/opentrons/hardware_control/instruments/ot3/pipette.py +++ b/api/src/opentrons/hardware_control/instruments/ot3/pipette.py @@ -11,7 +11,10 @@ PlungerPositions, MotorConfigurations, SupportedTipsDefinition, - TipHandlingConfigurations, + PickUpTipConfigurations, + PressFitPickUpTipConfiguration, + CamActionPickUpTipConfiguration, + DropTipConfigurations, PlungerHomingConfigurations, PipetteNameType, PipetteModelVersionType, @@ -95,10 +98,7 @@ def __init__( ) self._nozzle_offset = self._config.nozzle_offset self._nozzle_manager = ( - nozzle_manager.NozzleConfigurationManager.build_from_nozzlemap( - self._config.nozzle_map, - self._config.partial_tip_configurations.per_tip_pickup_current, - ) + nozzle_manager.NozzleConfigurationManager.build_from_config(self._config) ) self._current_volume = 0.0 self._working_volume = float(self._liquid_class.max_volume) @@ -185,13 +185,11 @@ def plunger_motor_current(self) -> MotorConfigurations: return self._plunger_motor_current @property - def pick_up_configurations(self) -> TipHandlingConfigurations: + def pick_up_configurations(self) -> PickUpTipConfigurations: return self._pick_up_configurations @pick_up_configurations.setter - def pick_up_configurations( - self, pick_up_configs: TipHandlingConfigurations - ) -> None: + def pick_up_configurations(self, pick_up_configs: PickUpTipConfigurations) -> None: self._pick_up_configurations = pick_up_configs @property @@ -199,7 +197,7 @@ def plunger_homing_configurations(self) -> PlungerHomingConfigurations: return self._plunger_homing_configurations @property - def drop_configurations(self) -> TipHandlingConfigurations: + def drop_configurations(self) -> DropTipConfigurations: return self._drop_configurations @property @@ -258,10 +256,7 @@ def reset_state(self) -> None: self._tip_overlap_lookup = self.liquid_class.tip_overlap_dictionary self._nozzle_manager = ( - nozzle_manager.NozzleConfigurationManager.build_from_nozzlemap( - self._config.nozzle_map, - self._config.partial_tip_configurations.per_tip_pickup_current, - ) + nozzle_manager.NozzleConfigurationManager.build_from_config(self._config) ) def reset_pipette_offset(self, mount: OT3Mount, to_default: bool) -> None: @@ -510,14 +505,6 @@ def tip_presence_responses(self) -> int: # TODO: put this in shared-data return 2 if self.channels > 8 else 1 - @property - def connect_tiprack_distance_mm(self) -> float: - return self._config.connect_tiprack_distance_mm - - @property - def end_tip_action_retract_distance_mm(self) -> float: - return self._config.end_tip_action_retract_distance_mm - # Cache max is chosen somewhat arbitrarily. With a float is input we don't # want this to unbounded. @functools.lru_cache(maxsize=100) @@ -672,6 +659,21 @@ def set_tip_type(self, tip_type: pip_types.PipetteTipType) -> None: self._tip_overlap_lookup = self.liquid_class.tip_overlap_dictionary self._working_volume = min(tip_type.value, self.liquid_class.max_volume) + def get_pick_up_configuration_for_tip_count( + self, count: int + ) -> Union[CamActionPickUpTipConfiguration, PressFitPickUpTipConfiguration]: + for config in ( + self._config.pick_up_tip_configurations.press_fit, + self._config.pick_up_tip_configurations.cam_action, + ): + if not config: + continue + if count in config.current_by_tip_count: + return config + raise CommandPreconditionViolated( + message=f"No pick up tip configuration for {count} tips", + ) + def _reload_and_check_skip( new_config: PipetteConfigurations, diff --git a/api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py b/api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py index 36b41e3e816..006417484d4 100644 --- a/api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py +++ b/api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py @@ -22,6 +22,8 @@ ) from opentrons_shared_data.pipette.pipette_definition import ( liquid_class_for_volume_between_default_and_defaultlowvolume, + PressFitPickUpTipConfiguration, + CamActionPickUpTipConfiguration, ) from opentrons import types as top_types @@ -729,7 +731,7 @@ def build_one_shake() -> List[Tuple[top_types.Point, Optional[float]]]: return [] - def plan_ht_pick_up_tip(self) -> TipActionSpec: + def plan_ht_pick_up_tip(self, tip_count: int) -> TipActionSpec: # Prechecks: ready for pickup tip and press/increment are valid mount = OT3Mount.LEFT instrument = self.get_pipette(mount) @@ -737,25 +739,32 @@ def plan_ht_pick_up_tip(self) -> TipActionSpec: raise UnexpectedTipAttachError("pick_up_tip", instrument.name, mount.name) self._ihp_log.debug(f"Picking up tip on {mount.name}") + pick_up_config = instrument.get_pick_up_configuration_for_tip_count(tip_count) + if not isinstance(pick_up_config, CamActionPickUpTipConfiguration): + raise CommandPreconditionViolated( + f"Low-throughput pick up tip got wrong config for {instrument.name} on {mount.name}" + ) + tip_motor_moves = self._build_tip_motor_moves( - prep_move_dist=instrument.pick_up_configurations.prep_move_distance, - clamp_move_dist=instrument.pick_up_configurations.distance, - prep_move_speed=instrument.pick_up_configurations.prep_move_speed, - clamp_move_speed=instrument.pick_up_configurations.speed, + prep_move_dist=pick_up_config.prep_move_distance, + clamp_move_dist=pick_up_config.distance, + prep_move_speed=pick_up_config.prep_move_speed, + clamp_move_speed=pick_up_config.speed, plunger_current=instrument.plunger_motor_current.run, - tip_motor_current=instrument.nozzle_manager.get_tip_configuration_current(), + tip_motor_current=pick_up_config.current_by_tip_count[tip_count], ) return TipActionSpec( tip_action_moves=tip_motor_moves, shake_off_moves=[], - z_distance_to_tiprack=(-1 * instrument.connect_tiprack_distance_mm), - ending_z_retract_distance=instrument.end_tip_action_retract_distance_mm, + z_distance_to_tiprack=(-1 * pick_up_config.connect_tiprack_distance_mm), + ending_z_retract_distance=instrument.config.end_tip_action_retract_distance_mm, ) def plan_lt_pick_up_tip( self, mount: OT3Mount, + tip_count: int, presses: Optional[int], increment: Optional[float], ) -> TipActionSpec: @@ -765,17 +774,22 @@ def plan_lt_pick_up_tip( raise UnexpectedTipAttachError("pick_up_tip", instrument.name, mount.name) self._ihp_log.debug(f"Picking up tip on {mount.name}") + pick_up_config = instrument.get_pick_up_configuration_for_tip_count(tip_count) + if not isinstance(pick_up_config, PressFitPickUpTipConfiguration): + raise CommandPreconditionViolated( + f"Low-throughput pick up tip got wrong config for {instrument.name} on {mount.name}" + ) if presses is None or presses < 0: - checked_presses = instrument.pick_up_configurations.presses + checked_presses = pick_up_config.presses else: checked_presses = presses if not increment or increment < 0: - check_incr = instrument.pick_up_configurations.increment + check_incr = pick_up_config.increment else: check_incr = increment - pick_up_speed = instrument.pick_up_configurations.speed + pick_up_speed = pick_up_config.speed def build_presses() -> List[TipActionMoveSpec]: # Press the nozzle into the tip number of times, @@ -783,18 +797,15 @@ def build_presses() -> List[TipActionMoveSpec]: press_moves = [] for i in range(checked_presses): # move nozzle down into the tip - press_dist = ( - -1.0 * instrument.pick_up_configurations.distance - + -1.0 * check_incr * i - ) + press_dist = -1.0 * pick_up_config.distance + -1.0 * check_incr * i press_moves.append( TipActionMoveSpec( distance=press_dist, speed=pick_up_speed, currents={ - Axis.by_mount( - mount - ): instrument.nozzle_manager.get_tip_configuration_current() + Axis.by_mount(mount): pick_up_config.current_by_tip_count[ + tip_count + ] }, ) ) @@ -840,15 +851,17 @@ def plan_lt_drop_tip( mount: OT3Mount, ) -> TipActionSpec: instrument = self.get_pipette(mount) - + config = instrument.drop_configurations.plunger_eject + if not config: + raise CommandPreconditionViolated( + f"No plunger-eject drop tip configurations for {instrument.name} on {mount.name}" + ) drop_seq = [ TipActionMoveSpec( distance=instrument.plunger_positions.drop_tip, - speed=instrument.drop_configurations.speed, + speed=config.speed, currents={ - Axis.of_main_tool_actuator( - mount - ): instrument.drop_configurations.current, + Axis.of_main_tool_actuator(mount): config.current, }, ), TipActionMoveSpec( @@ -870,14 +883,19 @@ def plan_lt_drop_tip( def plan_ht_drop_tip(self) -> TipActionSpec: mount = OT3Mount.LEFT instrument = self.get_pipette(mount) + config = instrument.drop_configurations.cam_action + if not config: + raise CommandPreconditionViolated( + f"No cam-action drop tip configurations for {instrument.name} on {mount.name}" + ) drop_seq = self._build_tip_motor_moves( - prep_move_dist=instrument.drop_configurations.prep_move_distance, - clamp_move_dist=instrument.drop_configurations.distance, - prep_move_speed=instrument.drop_configurations.prep_move_speed, - clamp_move_speed=instrument.drop_configurations.speed, + prep_move_dist=config.prep_move_distance, + clamp_move_dist=config.distance, + prep_move_speed=config.prep_move_speed, + clamp_move_speed=config.speed, plunger_current=instrument.plunger_motor_current.run, - tip_motor_current=instrument.drop_configurations.current, + tip_motor_current=config.current, ) return TipActionSpec( diff --git a/api/src/opentrons/hardware_control/nozzle_manager.py b/api/src/opentrons/hardware_control/nozzle_manager.py index 781d2c55bc8..4841a1fdee8 100644 --- a/api/src/opentrons/hardware_control/nozzle_manager.py +++ b/api/src/opentrons/hardware_control/nozzle_manager.py @@ -1,17 +1,41 @@ -from typing import Dict, List, Optional, Any, Sequence -from typing_extensions import Final +from typing import Dict, List, Optional, Any, Sequence, Iterator, Tuple, cast from dataclasses import dataclass from collections import OrderedDict from enum import Enum +from itertools import chain from opentrons.hardware_control.types import CriticalPoint from opentrons.types import Point -from opentrons_shared_data.errors import ( - ErrorCodes, - GeneralError, +from opentrons_shared_data.pipette.pipette_definition import ( + PipetteGeometryDefinition, + PipetteRowDefinition, ) +from opentrons_shared_data.errors import ErrorCodes, GeneralError, PythonException -INTERNOZZLE_SPACING = 9 + +def _nozzle_names_by_row(rows: List[PipetteRowDefinition]) -> Iterator[str]: + for row in rows: + for nozzle in row.ordered_nozzles: + yield nozzle + + +def _row_or_col_index_for_nozzle( + row_or_col: "OrderedDict[str, List[str]]", nozzle: str +) -> int: + for index, row_or_col_contents in enumerate(row_or_col.values()): + if nozzle in row_or_col_contents: + return index + raise KeyError(nozzle) + + +def _row_col_indices_for_nozzle( + rows: "OrderedDict[str, List[str]]", + cols: "OrderedDict[str, List[str]]", + nozzle: str, +) -> Tuple[int, int]: + return _row_or_col_index_for_nozzle(rows, nozzle), _row_or_col_index_for_nozzle( + cols, nozzle + ) class NozzleConfigurationType(Enum): @@ -24,69 +48,93 @@ class NozzleConfigurationType(Enum): COLUMN = "COLUMN" ROW = "ROW" - QUADRANT = "QUADRANT" SINGLE = "SINGLE" FULL = "FULL" + SUBRECT = "SUBRECT" @classmethod def determine_nozzle_configuration( cls, - nozzle_difference: Point, - physical_nozzlemap_length: int, - current_nozzlemap_length: int, + physical_rows: "OrderedDict[str, List[str]]", + current_rows: "OrderedDict[str, List[str]]", + physical_cols: "OrderedDict[str, List[str]]", + current_cols: "OrderedDict[str, List[str]]", ) -> "NozzleConfigurationType": """ Determine the nozzle configuration based on the starting and ending nozzle. - - :param nozzle_difference: the difference between the back - left and front right nozzle - :param physical_nozzlemap_length: integer representing the - length of the default physical configuration of the pipette. - :param current_nozzlemap_length: integer representing the - length of the current physical configuration of the pipette. - :return : nozzle configuration type """ - if physical_nozzlemap_length == current_nozzlemap_length: + if physical_rows == current_rows and physical_cols == current_cols: return NozzleConfigurationType.FULL - - if nozzle_difference == Point(0, 0, 0): + if len(current_rows) == 1 and len(current_cols) == 1: return NozzleConfigurationType.SINGLE - elif nozzle_difference[0] == 0: - return NozzleConfigurationType.COLUMN - elif nozzle_difference[1] == 0: + if len(current_rows) == 1: return NozzleConfigurationType.ROW - else: - return NozzleConfigurationType.QUADRANT + if len(current_cols) == 1: + return NozzleConfigurationType.COLUMN + return NozzleConfigurationType.SUBRECT @dataclass class NozzleMap: """ - Nozzle Map. + A NozzleMap instance represents a specific configuration of active nozzles on a pipette. - A data store class that can build - and store nozzle configurations - based on the physical default - nozzle map of the pipette and - the requested starting/ending tips. + It exposes properties of the configuration like the configuration's front-right, front-left, + back-left and starting nozzles as well as a map of all the nozzles active in the configuration. + + Because NozzleMaps represent configurations directly, the properties of the NozzleMap may not + match the properties of the physical pipette. For instance, a NozzleMap for a single channel + configuration of an 8-channel pipette - say, A1 only - will have its front left, front right, + and active channels all be A1, while the physical configuration would have the front right + channel be H1. """ - back_left: str - front_right: str starting_nozzle: str + #: The nozzle that automated operations that count nozzles should start at + # these are really ordered dicts but you can't say that even in quotes because pydantic needs to + # evaluate them to generate serdes code so please only use ordered dicts here map_store: Dict[str, Point] + #: A map of all of the nozzles active in this configuration + rows: Dict[str, List[str]] + #: A map of all the rows active in this configuration + columns: Dict[str, List[str]] + #: A map of all the columns active in this configuration configuration: NozzleConfigurationType + #: The kind of configuration this is def __str__(self) -> str: return f"back_left_nozzle: {self.back_left} front_right_nozzle: {self.front_right} configuration: {self.configuration}" + @property + def back_left(self) -> str: + """The backest, leftest (i.e. back if it's a column, left if it's a row) nozzle of the configuration. + + Note: This is the value relevant for this particular configuration, and it may not represent the back left nozzle + of the underlying physical pipette. For instance, the back-left nozzle of a configuration representing nozzles + D7 to H12 of a 96-channel pipette is D7, which is not the back-left nozzle of the physical pipette (A1). + """ + return next(iter(self.rows.values()))[0] + + @property + def front_right(self) -> str: + """The frontest, rightest (i.e. front if it's a column, right if it's a row) nozzle of the configuration. + + Note: This is the value relevant for this configuration, not the physical pipette. See the note on back_left. + """ + return next(reversed(list(self.rows.values())))[-1] + @property def starting_nozzle_offset(self) -> Point: + """The position of the starting nozzle.""" return self.map_store[self.starting_nozzle] @property def xy_center_offset(self) -> Point: + """The position of the geometrical center of all nozzles in the configuration. + + Note: This is the value relevant fro this configuration, not the physical pipette. See the note on back_left. + """ difference = self.map_store[self.front_right] - self.map_store[self.back_left] return self.map_store[self.back_left] + Point( difference[0] / 2, difference[1] / 2, 0 @@ -94,104 +142,83 @@ def xy_center_offset(self) -> Point: @property def front_nozzle_offset(self) -> Point: + """The offset for the front_left nozzle.""" # front left-most nozzle of the 96 channel in a given configuration # and front nozzle of the 8 channel - if self.starting_nozzle == self.front_right: - return self.map_store[self.front_right] - map_store_list = list(self.map_store.values()) - starting_idx = map_store_list.index(self.map_store[self.back_left]) - difference = self.map_store[self.back_left] - self.map_store[self.front_right] - y_rows_length = int(difference[1] // INTERNOZZLE_SPACING) - return map_store_list[starting_idx + y_rows_length] + front_left = next(iter(self.columns.values()))[-1] + return self.map_store[front_left] @property def tip_count(self) -> int: + """The total number of active nozzles in the configuration, and thus the number of tips that will be picked up.""" return len(self.map_store) @classmethod def build( cls, - physical_nozzle_map: Dict[str, Point], + physical_nozzles: "OrderedDict[str, Point]", + physical_rows: "OrderedDict[str, List[str]]", + physical_columns: "OrderedDict[str, List[str]]", starting_nozzle: str, back_left_nozzle: str, front_right_nozzle: str, - origin_nozzle: Optional[str] = None, ) -> "NozzleMap": - difference = ( - physical_nozzle_map[front_right_nozzle] - - physical_nozzle_map[back_left_nozzle] - ) - x_columns_length = int(abs(difference[0] // INTERNOZZLE_SPACING)) + 1 - y_rows_length = int(abs(difference[1] // INTERNOZZLE_SPACING)) + 1 - - map_store_list = list(physical_nozzle_map.items()) - - if origin_nozzle: - origin_difference = ( - physical_nozzle_map[back_left_nozzle] - - physical_nozzle_map[origin_nozzle] + try: + back_left_row_index, back_left_column_index = _row_col_indices_for_nozzle( + physical_rows, physical_columns, back_left_nozzle ) - starting_col = int(abs(origin_difference[0] // INTERNOZZLE_SPACING)) - else: - starting_col = 0 + except KeyError as e: + raise IncompatibleNozzleConfiguration( + message=f"No entry for back left nozzle {e} in pipette", + wrapping=[PythonException(e)], + ) from e + try: + ( + front_right_row_index, + front_right_column_index, + ) = _row_col_indices_for_nozzle( + physical_rows, physical_columns, front_right_nozzle + ) + except KeyError as e: + raise IncompatibleNozzleConfiguration( + message=f"No entry for front right nozzle {e} in pipette", + wrapping=[PythonException(e)], + ) from e + + correct_rows_with_all_columns = list(physical_rows.items())[ + back_left_row_index : front_right_row_index + 1 + ] + correct_rows = [ + ( + row_name, + row_entries[back_left_column_index : front_right_column_index + 1], + ) + for row_name, row_entries in correct_rows_with_all_columns + ] + rows = OrderedDict(correct_rows) + correct_columns_with_all_rows = list(physical_columns.items())[ + back_left_column_index : front_right_column_index + 1 + ] + correct_columns = [ + (col_name, col_entries[back_left_row_index : front_right_row_index + 1]) + for col_name, col_entries in correct_columns_with_all_rows + ] + columns = OrderedDict(correct_columns) + map_store = OrderedDict( - { - k: v - for i in range(x_columns_length) - for k, v in map_store_list[ - (i + starting_col) * 8 : y_rows_length * ((i + starting_col) + 1) - ] - } + (nozzle, physical_nozzles[nozzle]) for nozzle in chain(*rows.values()) ) + return cls( - back_left=back_left_nozzle, - front_right=front_right_nozzle, starting_nozzle=starting_nozzle, map_store=map_store, + rows=rows, + columns=columns, configuration=NozzleConfigurationType.determine_nozzle_configuration( - difference, len(physical_nozzle_map), len(map_store) + physical_rows, rows, physical_columns, columns ), ) - @staticmethod - def validate_nozzle_configuration( - back_left_nozzle: str, - front_right_nozzle: str, - default_configuration: "NozzleMap", - current_configuration: Optional["NozzleMap"] = None, - ) -> None: - """ - Validate nozzle configuration. - """ - if back_left_nozzle > front_right_nozzle: - raise IncompatibleNozzleConfiguration( - message=f"Back left nozzle {back_left_nozzle} provided is not to the back or left of {front_right_nozzle}.", - detail={ - "current_nozzle_configuration": current_configuration, - "requested_back_left_nozzle": back_left_nozzle, - "requested_front_right_nozzle": front_right_nozzle, - }, - ) - if not default_configuration.map_store.get(back_left_nozzle): - raise IncompatibleNozzleConfiguration( - message=f"Starting nozzle {back_left_nozzle} does not exist in the nozzle map.", - detail={ - "current_nozzle_configuration": current_configuration, - "requested_back_left_nozzle": back_left_nozzle, - "requested_front_right_nozzle": front_right_nozzle, - }, - ) - - if not default_configuration.map_store.get(front_right_nozzle): - raise IncompatibleNozzleConfiguration( - message=f"Ending nozzle {front_right_nozzle} does not exist in the nozzle map.", - detail={ - "current_nozzle_configuration": current_configuration, - "requested_back_left_nozzle": back_left_nozzle, - "requested_front_right_nozzle": front_right_nozzle, - }, - ) - class IncompatibleNozzleConfiguration(GeneralError): """Error raised if nozzle configuration is incompatible with the currently loaded pipette.""" @@ -215,33 +242,39 @@ class NozzleConfigurationManager: def __init__( self, nozzle_map: NozzleMap, - pick_up_current_map: Dict[int, float], ) -> None: self._physical_nozzle_map = nozzle_map self._current_nozzle_configuration = nozzle_map - self._pick_up_current_map: Final[Dict[int, float]] = pick_up_current_map @classmethod - def build_from_nozzlemap( - cls, - nozzle_map: Dict[str, List[float]], - pick_up_current_map: Dict[int, float], + def build_from_config( + cls, pipette_geometry: PipetteGeometryDefinition ) -> "NozzleConfigurationManager": - - sorted_nozzlemap = list(nozzle_map.keys()) - sorted_nozzlemap.sort(key=lambda x: int(x[1::])) - nozzle_map_ordereddict: Dict[str, Point] = OrderedDict( - {k: Point(*nozzle_map[k]) for k in sorted_nozzlemap} + sorted_nozzle_map = OrderedDict( + ( + (k, Point(*pipette_geometry.nozzle_map[k])) + for k in _nozzle_names_by_row(pipette_geometry.ordered_rows) + ) ) - first_nozzle = next(iter(list(nozzle_map_ordereddict.keys()))) - last_nozzle = next(reversed(list(nozzle_map_ordereddict.keys()))) + sorted_rows = OrderedDict( + (entry.key, entry.ordered_nozzles) + for entry in pipette_geometry.ordered_rows + ) + sorted_cols = OrderedDict( + (entry.key, entry.ordered_nozzles) + for entry in pipette_geometry.ordered_columns + ) + back_left = next(iter(sorted_rows.values()))[0] + front_right = next(reversed(list(sorted_rows.values())))[-1] starting_nozzle_config = NozzleMap.build( - nozzle_map_ordereddict, - starting_nozzle=first_nozzle, - back_left_nozzle=first_nozzle, - front_right_nozzle=last_nozzle, + physical_nozzles=sorted_nozzle_map, + physical_rows=sorted_rows, + physical_columns=sorted_cols, + starting_nozzle=back_left, + back_left_nozzle=back_left, + front_right_nozzle=front_right, ) - return cls(starting_nozzle_config, pick_up_current_map) + return cls(starting_nozzle_config) @property def starting_nozzle_offset(self) -> Point: @@ -260,29 +293,24 @@ def update_nozzle_configuration( front_right_nozzle: str, starting_nozzle: Optional[str] = None, ) -> None: - if ( - back_left_nozzle == self._physical_nozzle_map.back_left - and front_right_nozzle == self._physical_nozzle_map.front_right - ): - self._current_nozzle_configuration = self._physical_nozzle_map - else: - NozzleMap.validate_nozzle_configuration( - back_left_nozzle, - front_right_nozzle, - self._physical_nozzle_map, - self._current_nozzle_configuration, - ) - - self._current_nozzle_configuration = NozzleMap.build( - self._physical_nozzle_map.map_store, - starting_nozzle=starting_nozzle or back_left_nozzle, - back_left_nozzle=back_left_nozzle, - front_right_nozzle=front_right_nozzle, - origin_nozzle=self._physical_nozzle_map.starting_nozzle, - ) + self._current_nozzle_configuration = NozzleMap.build( + # these casts are because of pydantic in the protocol engine (see above) + physical_nozzles=cast( + "OrderedDict[str, Point]", self._physical_nozzle_map.map_store + ), + physical_rows=cast( + "OrderedDict[str, List[str]]", self._physical_nozzle_map.rows + ), + physical_columns=cast( + "OrderedDict[str, List[str]]", self._physical_nozzle_map.columns + ), + starting_nozzle=starting_nozzle or back_left_nozzle, + back_left_nozzle=back_left_nozzle, + front_right_nozzle=front_right_nozzle, + ) - def get_tip_configuration_current(self) -> float: - return self._pick_up_current_map[self._current_nozzle_configuration.tip_count] + def get_tip_count(self) -> int: + return self._current_nozzle_configuration.tip_count def critical_point_with_tip_length( self, diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py index 20bddbba23e..817f08252c1 100644 --- a/api/src/opentrons/hardware_control/ot3api.py +++ b/api/src/opentrons/hardware_control/ot3api.py @@ -1406,9 +1406,9 @@ async def _retrieve_home_position( self, axis: Axis ) -> Tuple[OT3AxisMap[float], OT3AxisMap[float]]: origin = await self._backend.update_position() - target_pos = {ax: pos for ax, pos in origin.items()} - target_pos.update({axis: self._backend.home_position()[axis]}) - return origin, target_pos + origin_pos = {axis: origin[axis]} + target_pos = {axis: self._backend.home_position()[axis]} + return origin_pos, target_pos @_adjust_high_throughput_z_current async def _home_axis(self, axis: Axis) -> None: @@ -2058,7 +2058,9 @@ def add_tip_to_instr() -> None: and instrument.nozzle_manager.current_configuration.configuration == NozzleConfigurationType.FULL ): - spec = self._pipette_handler.plan_ht_pick_up_tip() + spec = self._pipette_handler.plan_ht_pick_up_tip( + instrument.nozzle_manager.current_configuration.tip_count + ) if spec.z_distance_to_tiprack: await self.move_rel( realmount, top_types.Point(z=spec.z_distance_to_tiprack) @@ -2066,7 +2068,10 @@ def add_tip_to_instr() -> None: await self._tip_motor_action(realmount, spec.tip_action_moves) else: spec = self._pipette_handler.plan_lt_pick_up_tip( - realmount, presses, increment + realmount, + instrument.nozzle_manager.current_configuration.tip_count, + presses, + increment, ) await self._force_pick_up_tip(realmount, spec) diff --git a/api/src/opentrons/motion_planning/types.py b/api/src/opentrons/motion_planning/types.py index 1251d00e18c..2c8ca3211ca 100644 --- a/api/src/opentrons/motion_planning/types.py +++ b/api/src/opentrons/motion_planning/types.py @@ -38,3 +38,5 @@ class GripperMovementWaypointsWithJawStatus: position: Point jaw_open: bool + dropping: bool + """This flag should only be set to True if this waypoint involves dropping a piece of labware.""" diff --git a/api/src/opentrons/motion_planning/waypoints.py b/api/src/opentrons/motion_planning/waypoints.py index 0f3634e449d..5c3981be006 100644 --- a/api/src/opentrons/motion_planning/waypoints.py +++ b/api/src/opentrons/motion_planning/waypoints.py @@ -142,22 +142,30 @@ def get_gripper_labware_movement_waypoints( GripperMovementWaypointsWithJawStatus( position=Point(pick_up_location.x, pick_up_location.y, gripper_home_z), jaw_open=False, + dropping=False, + ), + GripperMovementWaypointsWithJawStatus( + position=pick_up_location, jaw_open=True, dropping=False ), - GripperMovementWaypointsWithJawStatus(position=pick_up_location, jaw_open=True), # Gripper grips the labware here GripperMovementWaypointsWithJawStatus( position=Point(pick_up_location.x, pick_up_location.y, gripper_home_z), jaw_open=False, + dropping=False, ), GripperMovementWaypointsWithJawStatus( position=Point(drop_location.x, drop_location.y, gripper_home_z), jaw_open=False, + dropping=False, + ), + GripperMovementWaypointsWithJawStatus( + position=drop_location, jaw_open=False, dropping=False ), - GripperMovementWaypointsWithJawStatus(position=drop_location, jaw_open=False), # Gripper ungrips here GripperMovementWaypointsWithJawStatus( position=Point(drop_location.x, drop_location.y, gripper_home_z), jaw_open=True, + dropping=True, ), ] return waypoints_with_jaw_status diff --git a/api/src/opentrons/protocol_api/__init__.py b/api/src/opentrons/protocol_api/__init__.py index 0d518bbf5c0..61beba4882f 100644 --- a/api/src/opentrons/protocol_api/__init__.py +++ b/api/src/opentrons/protocol_api/__init__.py @@ -27,7 +27,7 @@ from ._waste_chute import WasteChute from ._nozzle_layout import ( COLUMN, - EMPTY, + ALL, ) from .create_protocol_context import ( @@ -53,7 +53,7 @@ "Well", "Liquid", "COLUMN", - "EMPTY", + "ALL", "OFF_DECK", # For internal Opentrons use only: "create_protocol_context", diff --git a/api/src/opentrons/protocol_api/_nozzle_layout.py b/api/src/opentrons/protocol_api/_nozzle_layout.py index 45cabb24af6..8e8cdf99521 100644 --- a/api/src/opentrons/protocol_api/_nozzle_layout.py +++ b/api/src/opentrons/protocol_api/_nozzle_layout.py @@ -7,11 +7,11 @@ class NozzleLayout(enum.Enum): SINGLE = "SINGLE" ROW = "ROW" QUADRANT = "QUADRANT" - EMPTY = "EMPTY" + ALL = "ALL" COLUMN: Final = NozzleLayout.COLUMN -EMPTY: Final = NozzleLayout.EMPTY +ALL: Final = NozzleLayout.ALL # Set __doc__ manually as a workaround. When this docstring is written the normal way, right after # the constant definition, Sphinx has trouble picking it up. @@ -20,8 +20,8 @@ class NozzleLayout(enum.Enum): See for details on using ``COLUMN`` with :py:obj:`InstrumentContext.configure_nozzle_layout()`. """ -EMPTY.__doc__ = """\ +ALL.__doc__ = """\ A special nozzle configuration type indicating a reset back to default where the pipette will pick up its max capacity of tips. -See for details on using ``RESET`` with :py:obj:`InstrumentContext.configure_nozzle_layout()`. +See for details on using ``ALL`` with :py:obj:`InstrumentContext.configure_nozzle_layout()`. """ diff --git a/api/src/opentrons/protocol_api/_types.py b/api/src/opentrons/protocol_api/_types.py index dea183c2eab..067401cfc8e 100644 --- a/api/src/opentrons/protocol_api/_types.py +++ b/api/src/opentrons/protocol_api/_types.py @@ -1,3 +1,4 @@ +from __future__ import annotations from typing_extensions import Final import enum @@ -16,3 +17,35 @@ class OffDeckType(enum.Enum): See :ref:`off-deck-location` for details on using ``OFF_DECK`` with :py:obj:`ProtocolContext.move_labware()`. """ + + +# TODO(jbl 11-17-2023) move this away from being an Enum and make this a NewType or something similar +class StagingSlotName(enum.Enum): + """Staging slot identifiers.""" + + SLOT_A4 = "A4" + SLOT_B4 = "B4" + SLOT_C4 = "C4" + SLOT_D4 = "D4" + + @classmethod + def from_primitive(cls, value: str) -> StagingSlotName: + str_val = value.upper() + return cls(str_val) + + @property + def id(self) -> str: + """This slot's unique ID, as it appears in the deck definition. + + This can be used to look up slot details in the deck definition. + + This is preferred over `.value` or `.__str__()` for explicitness. + """ + return self.value + + def __str__(self) -> str: + """Stringify to the unique ID. + + For explicitness, prefer using `.id` instead. + """ + return self.id diff --git a/api/src/opentrons/protocol_api/core/engine/deck_conflict.py b/api/src/opentrons/protocol_api/core/engine/deck_conflict.py index 7314d8074cd..cd1c892c953 100644 --- a/api/src/opentrons/protocol_api/core/engine/deck_conflict.py +++ b/api/src/opentrons/protocol_api/core/engine/deck_conflict.py @@ -10,6 +10,7 @@ DeckSlotLocation, ModuleLocation, OnLabwareLocation, + AddressableAreaLocation, OFF_DECK_LOCATION, ) from opentrons.protocol_engine.errors.exceptions import LabwareNotLoadedOnModuleError @@ -111,6 +112,16 @@ def _map_labware( ) -> Optional[Tuple[DeckSlotName, wrapped_deck_conflict.DeckItem]]: location_from_engine = engine_state.labware.get_location(labware_id=labware_id) + if isinstance(location_from_engine, AddressableAreaLocation): + # TODO need to deal with staging slots, which will raise the value error we are returning None with below + try: + deck_slot = DeckSlotName.from_primitive( + location_from_engine.addressableAreaName + ) + except ValueError: + return None + location_from_engine = DeckSlotLocation(slotName=deck_slot) + if isinstance(location_from_engine, DeckSlotLocation): # This labware is loaded directly into a deck slot. # Map it to a wrapped_deck_conflict.Labware. diff --git a/api/src/opentrons/protocol_api/core/engine/instrument.py b/api/src/opentrons/protocol_api/core/engine/instrument.py index 0c762358c14..51b20113007 100644 --- a/api/src/opentrons/protocol_api/core/engine/instrument.py +++ b/api/src/opentrons/protocol_api/core/engine/instrument.py @@ -14,7 +14,7 @@ WellLocation, WellOrigin, WellOffset, - EmptyNozzleLayoutConfiguration, + AllNozzleLayoutConfiguration, SingleNozzleLayoutConfiguration, RowNozzleLayoutConfiguration, ColumnNozzleLayoutConfiguration, @@ -31,6 +31,7 @@ from opentrons_shared_data.pipette.dev_types import PipetteNameType from opentrons.protocol_api._nozzle_layout import NozzleLayout +from opentrons.hardware_control.nozzle_manager import NozzleConfigurationType from ..instrument import AbstractInstrument from .well import WellCore @@ -574,6 +575,11 @@ def get_dispense_flow_rate(self, rate: float = 1.0) -> float: def get_blow_out_flow_rate(self, rate: float = 1.0) -> float: return self._blow_out_flow_rate * rate + def get_nozzle_configuration(self) -> NozzleConfigurationType: + return self._engine_client.state.pipettes.get_nozzle_layout_type( + self._pipette_id + ) + def set_flow_rate( self, aspirate: Optional[float] = None, @@ -626,7 +632,7 @@ def configure_nozzle_layout( primary_nozzle=cast(PRIMARY_NOZZLE_LITERAL, primary_nozzle) ) else: - configuration_model = EmptyNozzleLayoutConfiguration() + configuration_model = AllNozzleLayoutConfiguration() self._engine_client.configure_nozzle_layout( pipette_id=self._pipette_id, configuration_params=configuration_model ) diff --git a/api/src/opentrons/protocol_api/core/engine/protocol.py b/api/src/opentrons/protocol_api/core/engine/protocol.py index d82edf8cee8..9d75681c8a4 100644 --- a/api/src/opentrons/protocol_api/core/engine/protocol.py +++ b/api/src/opentrons/protocol_api/core/engine/protocol.py @@ -20,6 +20,7 @@ from opentrons.protocol_engine import ( DeckSlotLocation, + AddressableAreaLocation, ModuleLocation, OnLabwareLocation, ModuleModel as EngineModuleModel, @@ -41,7 +42,7 @@ ) from ... import validation -from ..._types import OffDeckType, OFF_DECK +from ..._types import OffDeckType, OFF_DECK, StagingSlotName from ..._liquid import Liquid from ..._waste_chute import WasteChute from ..protocol import AbstractProtocol @@ -143,7 +144,12 @@ def load_labware( self, load_name: str, location: Union[ - DeckSlotName, LabwareCore, ModuleCore, NonConnectedModuleCore, OffDeckType + DeckSlotName, + StagingSlotName, + LabwareCore, + ModuleCore, + NonConnectedModuleCore, + OffDeckType, ], label: Optional[str], namespace: Optional[str], @@ -204,7 +210,13 @@ def load_labware( def load_adapter( self, load_name: str, - location: Union[DeckSlotName, ModuleCore, NonConnectedModuleCore, OffDeckType], + location: Union[ + DeckSlotName, + StagingSlotName, + ModuleCore, + NonConnectedModuleCore, + OffDeckType, + ], namespace: Optional[str], version: Optional[int], ) -> LabwareCore: @@ -230,11 +242,11 @@ def load_adapter( deck_conflict.check( engine_state=self._engine_client.state, new_labware_id=load_result.labwareId, - # It's important that we don't fetch these IDs from Protocol Engine, and - # use our own bookkeeping instead. If we fetched these IDs from Protocol - # Engine, it would have leaked state from Labware Position Check in the - # same HTTP run. - # + # TODO (spp, 2023-11-27): We've been using IDs from _labware_cores_by_id + # and _module_cores_by_id instead of getting the lists directly from engine + # because of the chance of engine carrying labware IDs from LPC too. + # But with https://github.com/Opentrons/opentrons/pull/13943, + # & LPC in maintenance runs, we can now rely on engine state for these IDs too. # Wrapping .keys() in list() is just to make Decoy verification easier. existing_labware_ids=list(self._labware_cores_by_id.keys()), existing_module_ids=list(self._module_cores_by_id.keys()), @@ -255,6 +267,7 @@ def move_labware( labware_core: LabwareCore, new_location: Union[ DeckSlotName, + StagingSlotName, LabwareCore, ModuleCore, NonConnectedModuleCore, @@ -403,8 +416,8 @@ def load_module( deck_conflict.check( engine_state=self._engine_client.state, new_module_id=result.moduleId, - # It's important that we don't fetch these IDs from Protocol Engine. - # See comment in self.load_labware(). + # TODO: We can now fetch these IDs from engine too. + # See comment in self.load_labware(). # # Wrapping .keys() in list() is just to make Decoy verification easier. existing_labware_ids=list(self._labware_cores_by_id.keys()), @@ -541,7 +554,7 @@ def get_deck_definition(self) -> DeckDefinitionV4: def get_slot_definition(self, slot: DeckSlotName) -> SlotDefV3: """Get the slot definition from the robot's deck.""" - return self._engine_client.state.labware.get_slot_definition(slot) + return self._engine_client.state.addressable_areas.get_slot_definition(slot) def _ensure_module_location( self, slot: DeckSlotName, module_type: ModuleType @@ -556,9 +569,7 @@ def get_slot_item( ) -> Union[LabwareCore, ModuleCore, NonConnectedModuleCore, None]: """Get the contents of a given slot, if any.""" loaded_item = self._engine_client.state.geometry.get_slot_item( - slot_name=slot_name, - allowed_labware_ids=set(self._labware_cores_by_id.keys()), - allowed_module_ids=set(self._module_cores_by_id.keys()), + slot_name=slot_name ) if isinstance(loaded_item, LoadedLabware): @@ -595,7 +606,9 @@ def get_labware_on_labware( def get_slot_center(self, slot_name: DeckSlotName) -> Point: """Get the absolute coordinate of a slot's center.""" - return self._engine_client.state.labware.get_slot_center_position(slot_name) + return self._engine_client.state.addressable_areas.get_addressable_area_center( + slot_name.id + ) def get_highest_z(self) -> float: """Get the highest Z point of all deck items.""" @@ -650,7 +663,12 @@ def get_labware_location( def _convert_labware_location( self, location: Union[ - DeckSlotName, LabwareCore, ModuleCore, NonConnectedModuleCore, OffDeckType + DeckSlotName, + StagingSlotName, + LabwareCore, + ModuleCore, + NonConnectedModuleCore, + OffDeckType, ], ) -> LabwareLocation: if isinstance(location, LabwareCore): @@ -660,7 +678,13 @@ def _convert_labware_location( @staticmethod def _get_non_stacked_location( - location: Union[DeckSlotName, ModuleCore, NonConnectedModuleCore, OffDeckType] + location: Union[ + DeckSlotName, + StagingSlotName, + ModuleCore, + NonConnectedModuleCore, + OffDeckType, + ] ) -> NonStackedLocation: if isinstance(location, (ModuleCore, NonConnectedModuleCore)): return ModuleLocation(moduleId=location.module_id) @@ -668,3 +692,5 @@ def _get_non_stacked_location( return OFF_DECK_LOCATION elif isinstance(location, DeckSlotName): return DeckSlotLocation(slotName=location) + elif isinstance(location, StagingSlotName): + return AddressableAreaLocation(addressableAreaName=location.id) diff --git a/api/src/opentrons/protocol_api/core/engine/stringify.py b/api/src/opentrons/protocol_api/core/engine/stringify.py index fd4a90817cd..434dde1b08a 100644 --- a/api/src/opentrons/protocol_api/core/engine/stringify.py +++ b/api/src/opentrons/protocol_api/core/engine/stringify.py @@ -4,6 +4,7 @@ LabwareLocation, ModuleLocation, OnLabwareLocation, + AddressableAreaLocation, ) @@ -42,6 +43,10 @@ def _labware_location_string( labware_on_string = _labware_location_string(engine_client, labware_on) return f"{labware_name} on {labware_on_string}" + elif isinstance(location, AddressableAreaLocation): + # In practice this will always be a deck slot or staging slot + return f"slot {location.addressableAreaName}" + elif location == "offDeck": return "[off-deck]" diff --git a/api/src/opentrons/protocol_api/core/legacy/legacy_protocol_core.py b/api/src/opentrons/protocol_api/core/legacy/legacy_protocol_core.py index 01faa63c17b..3b74c3b8051 100644 --- a/api/src/opentrons/protocol_api/core/legacy/legacy_protocol_core.py +++ b/api/src/opentrons/protocol_api/core/legacy/legacy_protocol_core.py @@ -17,7 +17,7 @@ from ...labware import Labware from ..._liquid import Liquid -from ..._types import OffDeckType +from ..._types import OffDeckType, StagingSlotName from ..._waste_chute import WasteChute from ..protocol import AbstractProtocol from ..labware import LabwareLoadParams @@ -152,6 +152,7 @@ def load_labware( DeckSlotName, LegacyLabwareCore, legacy_module_core.LegacyModuleCore, + StagingSlotName, OffDeckType, ], label: Optional[str], @@ -167,6 +168,8 @@ def load_labware( raise APIVersionError( "Loading a labware onto another labware or adapter is only supported with api version 2.15 and above" ) + elif isinstance(location, StagingSlotName): + raise APIVersionError("Using a staging deck slot requires apiLevel 2.16.") deck_slot = ( location if isinstance(location, DeckSlotName) else location.get_deck_slot() @@ -237,7 +240,12 @@ def load_labware( def load_adapter( self, load_name: str, - location: Union[DeckSlotName, legacy_module_core.LegacyModuleCore, OffDeckType], + location: Union[ + DeckSlotName, + StagingSlotName, + legacy_module_core.LegacyModuleCore, + OffDeckType, + ], namespace: Optional[str], version: Optional[int], ) -> LegacyLabwareCore: @@ -250,6 +258,7 @@ def move_labware( labware_core: LegacyLabwareCore, new_location: Union[ DeckSlotName, + StagingSlotName, LegacyLabwareCore, legacy_module_core.LegacyModuleCore, OffDeckType, diff --git a/api/src/opentrons/protocol_api/core/protocol.py b/api/src/opentrons/protocol_api/core/protocol.py index 596cb9c6da4..521e719d228 100644 --- a/api/src/opentrons/protocol_api/core/protocol.py +++ b/api/src/opentrons/protocol_api/core/protocol.py @@ -20,7 +20,7 @@ from .module import ModuleCoreType from .._liquid import Liquid from .._waste_chute import WasteChute -from .._types import OffDeckType +from .._types import OffDeckType, StagingSlotName class AbstractProtocol( @@ -61,7 +61,9 @@ def add_labware_definition( def load_labware( self, load_name: str, - location: Union[DeckSlotName, LabwareCoreType, ModuleCoreType, OffDeckType], + location: Union[ + DeckSlotName, StagingSlotName, LabwareCoreType, ModuleCoreType, OffDeckType + ], label: Optional[str], namespace: Optional[str], version: Optional[int], @@ -73,7 +75,7 @@ def load_labware( def load_adapter( self, load_name: str, - location: Union[DeckSlotName, ModuleCoreType, OffDeckType], + location: Union[DeckSlotName, StagingSlotName, ModuleCoreType, OffDeckType], namespace: Optional[str], version: Optional[int], ) -> LabwareCoreType: @@ -86,7 +88,12 @@ def move_labware( self, labware_core: LabwareCoreType, new_location: Union[ - DeckSlotName, LabwareCoreType, ModuleCoreType, OffDeckType, WasteChute + DeckSlotName, + StagingSlotName, + LabwareCoreType, + ModuleCoreType, + OffDeckType, + WasteChute, ], use_gripper: bool, pause_for_manual_move: bool, diff --git a/api/src/opentrons/protocol_api/deck.py b/api/src/opentrons/protocol_api/deck.py index c5c9fcb2368..1b72e5f3013 100644 --- a/api/src/opentrons/protocol_api/deck.py +++ b/api/src/opentrons/protocol_api/deck.py @@ -42,9 +42,12 @@ def _get_slot_name( slot_key: DeckLocation, api_version: APIVersion, robot_type: RobotType ) -> DeckSlotName: try: - return validation.ensure_and_convert_deck_slot( + slot = validation.ensure_and_convert_deck_slot( slot_key, api_version, robot_type ) + if not isinstance(slot, DeckSlotName): + raise ValueError("Cannot currently load staging slots from Deck.") + return slot except (TypeError, ValueError) as error: raise KeyError(slot_key) from error diff --git a/api/src/opentrons/protocol_api/instrument_context.py b/api/src/opentrons/protocol_api/instrument_context.py index 64cef355d7f..7e44db6c006 100644 --- a/api/src/opentrons/protocol_api/instrument_context.py +++ b/api/src/opentrons/protocol_api/instrument_context.py @@ -2,7 +2,7 @@ import logging from contextlib import nullcontext -from typing import Any, List, Optional, Sequence, Union, cast +from typing import Any, List, Optional, Sequence, Union, cast, Dict from opentrons_shared_data.errors.exceptions import ( CommandPreconditionViolated, CommandParameterLimitViolated, @@ -165,9 +165,15 @@ def aspirate( See :ref:`new-aspirate` for more details and examples. - :param volume: The volume to aspirate, measured in µL. If 0 or unspecified, + :param volume: The volume to aspirate, measured in µL. If unspecified, defaults to the maximum volume for the pipette and its currently attached tip. + + If ``aspirate`` is called with a volume of precisely 0, its behavior + depends on the API level of the protocol. On API levels below 2.16, + it will behave the same as a volume of ``None``/unspecified: aspirate + until the pipette is full. On API levels at or above 2.16, no liquid + will be aspirated. :type volume: int or float :param location: Tells the robot where to aspirate from. The location can be a :py:class:`.Well` or a :py:class:`.Location`. @@ -236,7 +242,10 @@ def aspirate( reject_adapter=self.api_version >= APIVersion(2, 15), ) - c_vol = self._core.get_available_volume() if not volume else volume + if self.api_version >= APIVersion(2, 16): + c_vol = self._core.get_available_volume() if volume is None else volume + else: + c_vol = self._core.get_available_volume() if not volume else volume flow_rate = self._core.get_aspirate_flow_rate(rate) with publisher.publish_context( @@ -260,7 +269,7 @@ def aspirate( return self - @requires_version(2, 0) + @requires_version(2, 0) # noqa: C901 def dispense( self, volume: Optional[float] = None, @@ -273,9 +282,15 @@ def dispense( See :ref:`new-dispense` for more details and examples. - :param volume: The volume to dispense, measured in µL. If 0 or unspecified, + :param volume: The volume to dispense, measured in µL. If unspecified, defaults to :py:attr:`current_volume`. If only a volume is passed, the pipette will dispense from its current position. + + If ``dispense`` is called with a volume of precisely 0, its behavior + depends on the API level of the protocol. On API levels below 2.16, + it will behave the same as a volume of ``None``/unspecified: dispense + all liquid in the pipette. On API levels at or above 2.16, no liquid + will be dispensed. :type volume: int or float :param location: Tells the robot where to dispense liquid held in the pipette. @@ -363,7 +378,10 @@ def dispense( reject_adapter=self.api_version >= APIVersion(2, 15), ) - c_vol = self._core.get_current_volume() if not volume else volume + if self.api_version >= APIVersion(2, 16): + c_vol = self._core.get_current_volume() if volume is None else volume + else: + c_vol = self._core.get_current_volume() if not volume else volume flow_rate = self._core.get_dispense_flow_rate(rate) @@ -403,8 +421,14 @@ def mix( See :ref:`mix` for examples. :param repetitions: Number of times to mix (default is 1). - :param volume: The volume to mix, measured in µL. If 0 or unspecified, defaults + :param volume: The volume to mix, measured in µL. If unspecified, defaults to the maximum volume for the pipette and its attached tip. + + If ``mix`` is called with a volume of precisely 0, its behavior + depends on the API level of the protocol. On API levels below 2.16, + it will behave the same as a volume of ``None``/unspecified: mix + the full working volume of the pipette. On API levels at or above 2.16, + no liquid will be mixed. :param location: The :py:class:`.Well` or :py:class:`~.types.Location` where the pipette will mix. If unspecified, the pipette will mix at its current position. @@ -433,7 +457,14 @@ def mix( if not self._core.has_tip(): raise UnexpectedTipRemovalError("mix", self.name, self.mount) - c_vol = self._core.get_available_volume() if not volume else volume + if self.api_version >= APIVersion(2, 16): + c_vol = self._core.get_available_volume() if volume is None else volume + else: + c_vol = self._core.get_available_volume() if not volume else volume + + dispense_kwargs: Dict[str, Any] = {} + if self.api_version >= APIVersion(2, 16): + dispense_kwargs["push_out"] = 0.0 with publisher.publish_context( broker=self.broker, @@ -446,7 +477,7 @@ def mix( ): self.aspirate(volume, location, rate) while repetitions - 1 > 0: - self.dispense(volume, rate=rate) + self.dispense(volume, rate=rate, **dispense_kwargs) self.aspirate(volume, rate=rate) repetitions -= 1 self.dispense(volume, rate=rate) @@ -1674,7 +1705,7 @@ def configure_nozzle_layout( :param style: The requested nozzle layout should specify the shape that you wish to configure your pipette to. Certain pipettes are restricted to a subset of `NozzleLayout` types. See the note below on the different `NozzleLayout` types. - :type requested_nozzle_layout: `NozzleLayout.COLUMN`, `NozzleLayout.EMPTY` or None. + :type requested_nozzle_layout: `NozzleLayout.COLUMN`, `NozzleLayout.ALL` or None. :param start: Signifies the nozzle that the robot will use to determine how to perform moves to different locations on the deck. :type start: string or None. :param front_right: Signifies the ending nozzle in your partial configuration. It is not required for NozzleLayout.COLUMN, NozzleLayout.ROW, or NozzleLayout.SINGLE @@ -1688,15 +1719,15 @@ def configure_nozzle_layout( .. code-block:: python - from opentrons.protocol_api import COLUMN, EMPTY + from opentrons.protocol_api import COLUMN, ALL # Sets a pipette to a full single column pickup using "A1" as the primary nozzle. Implicitly, "H1" is the ending nozzle. instr.configure_nozzle_layout(style=COLUMN, start="A1") # Resets the pipette configuration to default - instr.configure_nozzle_layout(style=EMPTY) + instr.configure_nozzle_layout(style=ALL) """ - if style != NozzleLayout.EMPTY: + if style != NozzleLayout.ALL: if start is None: raise ValueError( f"Cannot configure a nozzle layout of style {style.value} without a starting nozzle." diff --git a/api/src/opentrons/protocol_api/protocol_context.py b/api/src/opentrons/protocol_api/protocol_context.py index ec1ff432384..be65d8e3020 100644 --- a/api/src/opentrons/protocol_api/protocol_context.py +++ b/api/src/opentrons/protocol_api/protocol_context.py @@ -31,7 +31,7 @@ APIVersionError, ) -from ._types import OffDeckType +from ._types import OffDeckType, StagingSlotName from .core.common import ModuleCore, LabwareCore, ProtocolCore from .core.core_map import LoadedCoreMap from .core.engine.module_core import NonConnectedModuleCore @@ -360,7 +360,7 @@ def load_labware( ) load_name = validation.ensure_lowercase_name(load_name) - load_location: Union[OffDeckType, DeckSlotName, LabwareCore] + load_location: Union[OffDeckType, DeckSlotName, StagingSlotName, LabwareCore] if adapter is not None: if self._api_version < APIVersion(2, 15): raise APIVersionError( @@ -493,7 +493,7 @@ def load_adapter( leave this unspecified to let the implementation choose a good default. """ load_name = validation.ensure_lowercase_name(load_name) - load_location: Union[OffDeckType, DeckSlotName] + load_location: Union[OffDeckType, DeckSlotName, StagingSlotName] if isinstance(location, OffDeckType): load_location = location else: @@ -599,7 +599,14 @@ def move_labware( f"Expected labware of type 'Labware' but got {type(labware)}." ) - location: Union[ModuleCore, LabwareCore, WasteChute, OffDeckType, DeckSlotName] + location: Union[ + ModuleCore, + LabwareCore, + WasteChute, + OffDeckType, + DeckSlotName, + StagingSlotName, + ] if isinstance(new_location, (Labware, ModuleContext)): location = new_location._core elif isinstance(new_location, (OffDeckType, WasteChute)): @@ -709,6 +716,8 @@ def load_module( location, self._api_version, self._core.robot_type ) ) + if isinstance(deck_slot, StagingSlotName): + raise ValueError("Cannot load a module onto a staging slot.") module_core = self._core.load_module( model=requested_model, diff --git a/api/src/opentrons/protocol_api/validation.py b/api/src/opentrons/protocol_api/validation.py index c6767ebc71f..54244c191ee 100644 --- a/api/src/opentrons/protocol_api/validation.py +++ b/api/src/opentrons/protocol_api/validation.py @@ -31,6 +31,7 @@ MagneticBlockModel, ThermocyclerStep, ) +from ._types import StagingSlotName if TYPE_CHECKING: from .labware import Well @@ -39,6 +40,9 @@ # The first APIVersion where Python protocols can specify deck labels like "D1" instead of "1". _COORDINATE_DECK_LABEL_VERSION_GATE = APIVersion(2, 15) +# The first APIVersion where Python protocols can specify staging deck slots (e.g. "D4") +_STAGING_DECK_SLOT_VERSION_GATE = APIVersion(2, 16) + # Mapping of public Python Protocol API pipette load names # to names used by the internal Opentrons system _PIPETTE_NAMES_MAP = { @@ -125,9 +129,12 @@ def ensure_pipette_name(pipette_name: str) -> PipetteNameType: ) from None +# TODO(jbl 11-17-2023) this function's original purpose was ensure a valid deck slot for a given robot type +# With deck configuration, the shape of this should change to better represent it checking if a deck slot +# (and maybe any addressable area) being valid for that deck configuration def ensure_and_convert_deck_slot( deck_slot: Union[int, str], api_version: APIVersion, robot_type: RobotType -) -> DeckSlotName: +) -> Union[DeckSlotName, StagingSlotName]: """Ensure that a primitive value matches a named deck slot. Also, convert the deck slot to match the given `robot_type`. @@ -149,21 +156,29 @@ def ensure_and_convert_deck_slot( if not isinstance(deck_slot, (int, str)): raise TypeError(f"Deck slot must be a string or integer, but got {deck_slot}") - try: - parsed_slot = DeckSlotName.from_primitive(deck_slot) - except ValueError as e: - raise ValueError(f"'{deck_slot}' is not a valid deck slot") from e - - is_ot2_style = parsed_slot.to_ot2_equivalent() == parsed_slot - if not is_ot2_style and api_version < _COORDINATE_DECK_LABEL_VERSION_GATE: - alternative = parsed_slot.to_ot2_equivalent().id - raise APIVersionError( - f'Specifying a deck slot like "{deck_slot}" requires apiLevel' - f" {_COORDINATE_DECK_LABEL_VERSION_GATE}." - f' Increase your protocol\'s apiLevel, or use slot "{alternative}" instead.' - ) + if str(deck_slot).upper() in {"A4", "B4", "C4", "D4"}: + if api_version < APIVersion(2, 16): + raise APIVersionError( + f"Using a staging deck slot requires apiLevel {_STAGING_DECK_SLOT_VERSION_GATE}." + ) + # Don't need a try/except since we're already pre-validating this + parsed_staging_slot = StagingSlotName.from_primitive(str(deck_slot)) + return parsed_staging_slot + else: + try: + parsed_slot = DeckSlotName.from_primitive(deck_slot) + except ValueError as e: + raise ValueError(f"'{deck_slot}' is not a valid deck slot") from e + is_ot2_style = parsed_slot.to_ot2_equivalent() == parsed_slot + if not is_ot2_style and api_version < _COORDINATE_DECK_LABEL_VERSION_GATE: + alternative = parsed_slot.to_ot2_equivalent().id + raise APIVersionError( + f'Specifying a deck slot like "{deck_slot}" requires apiLevel' + f" {_COORDINATE_DECK_LABEL_VERSION_GATE}." + f' Increase your protocol\'s apiLevel, or use slot "{alternative}" instead.' + ) - return parsed_slot.to_equivalent_for_robot_type(robot_type) + return parsed_slot.to_equivalent_for_robot_type(robot_type) def internal_slot_to_public_string( diff --git a/api/src/opentrons/protocol_engine/__init__.py b/api/src/opentrons/protocol_engine/__init__.py index 253e88dc33f..f6737a71432 100644 --- a/api/src/opentrons/protocol_engine/__init__.py +++ b/api/src/opentrons/protocol_engine/__init__.py @@ -30,11 +30,13 @@ LabwareOffsetVector, LabwareOffsetLocation, LabwareMovementStrategy, + AddressableOffsetVector, DeckPoint, DeckType, DeckSlotLocation, ModuleLocation, OnLabwareLocation, + AddressableAreaLocation, OFF_DECK_LOCATION, Dimensions, EngineStatus, @@ -52,7 +54,7 @@ ModuleModel, ModuleDefinition, Liquid, - EmptyNozzleLayoutConfiguration, + AllNozzleLayoutConfiguration, SingleNozzleLayoutConfiguration, RowNozzleLayoutConfiguration, ColumnNozzleLayoutConfiguration, @@ -88,11 +90,13 @@ "LabwareOffsetVector", "LabwareOffsetLocation", "LabwareMovementStrategy", + "AddressableOffsetVector", "DeckSlotLocation", "DeckPoint", "DeckType", "ModuleLocation", "OnLabwareLocation", + "AddressableAreaLocation", "OFF_DECK_LOCATION", "Dimensions", "EngineStatus", @@ -110,7 +114,7 @@ "ModuleModel", "ModuleDefinition", "Liquid", - "EmptyNozzleLayoutConfiguration", + "AllNozzleLayoutConfiguration", "SingleNozzleLayoutConfiguration", "RowNozzleLayoutConfiguration", "ColumnNozzleLayoutConfiguration", diff --git a/api/src/opentrons/protocol_engine/actions/actions.py b/api/src/opentrons/protocol_engine/actions/actions.py index 64e4a5a1fad..8dffc7f012c 100644 --- a/api/src/opentrons/protocol_engine/actions/actions.py +++ b/api/src/opentrons/protocol_engine/actions/actions.py @@ -15,7 +15,7 @@ from opentrons_shared_data.errors import EnumeratedError from ..commands import Command, CommandCreate, CommandPrivateResult -from ..types import LabwareOffsetCreate, ModuleDefinition, Liquid +from ..types import LabwareOffsetCreate, ModuleDefinition, Liquid, DeckConfigurationType @dataclass(frozen=True) @@ -23,6 +23,7 @@ class PlayAction: """Start or resume processing commands in the engine.""" requested_at: datetime + deck_configuration: Optional[DeckConfigurationType] class PauseSource(str, Enum): diff --git a/api/src/opentrons/protocol_engine/clients/sync_client.py b/api/src/opentrons/protocol_engine/clients/sync_client.py index 1982ad66fa1..03e913df077 100644 --- a/api/src/opentrons/protocol_engine/clients/sync_client.py +++ b/api/src/opentrons/protocol_engine/clients/sync_client.py @@ -24,6 +24,7 @@ MotorAxis, Liquid, NozzleLayoutConfigurationType, + AddressableOffsetVector, ) from .transports import ChildThreadTransport @@ -180,6 +181,30 @@ def move_to_well( return cast(commands.MoveToWellResult, result) + def move_to_addressable_area( + self, + pipette_id: str, + addressable_area_name: str, + offset: AddressableOffsetVector, + minimum_z_height: Optional[float], + force_direct: bool, + speed: Optional[float], + ) -> commands.MoveToAddressableAreaResult: + """Execute a MoveToAddressableArea command and return the result.""" + request = commands.MoveToAddressableAreaCreate( + params=commands.MoveToAddressableAreaParams( + pipetteId=pipette_id, + addressableAreaName=addressable_area_name, + offset=offset, + forceDirect=force_direct, + minimumZHeight=minimum_z_height, + speed=speed, + ) + ) + result = self._transport.execute_command(request=request) + + return cast(commands.MoveToAddressableAreaResult, result) + def move_to_coordinates( self, pipette_id: str, diff --git a/api/src/opentrons/protocol_engine/commands/__init__.py b/api/src/opentrons/protocol_engine/commands/__init__.py index 60c5e8350ea..70aa90b3c7a 100644 --- a/api/src/opentrons/protocol_engine/commands/__init__.py +++ b/api/src/opentrons/protocol_engine/commands/__init__.py @@ -177,6 +177,14 @@ MoveToWellCommandType, ) +from .move_to_addressable_area import ( + MoveToAddressableArea, + MoveToAddressableAreaParams, + MoveToAddressableAreaCreate, + MoveToAddressableAreaResult, + MoveToAddressableAreaCommandType, +) + from .wait_for_resume import ( WaitForResume, WaitForResumeParams, @@ -404,6 +412,12 @@ "MoveToWellParams", "MoveToWellResult", "MoveToWellCommandType", + # move to addressable area command models + "MoveToAddressableArea", + "MoveToAddressableAreaParams", + "MoveToAddressableAreaCreate", + "MoveToAddressableAreaResult", + "MoveToAddressableAreaCommandType", # wait for resume command models "WaitForResume", "WaitForResumeParams", diff --git a/api/src/opentrons/protocol_engine/commands/command_unions.py b/api/src/opentrons/protocol_engine/commands/command_unions.py index 4387a9178ec..464ed80f374 100644 --- a/api/src/opentrons/protocol_engine/commands/command_unions.py +++ b/api/src/opentrons/protocol_engine/commands/command_unions.py @@ -154,6 +154,14 @@ MoveToWellCommandType, ) +from .move_to_addressable_area import ( + MoveToAddressableArea, + MoveToAddressableAreaParams, + MoveToAddressableAreaCreate, + MoveToAddressableAreaResult, + MoveToAddressableAreaCommandType, +) + from .wait_for_resume import ( WaitForResume, WaitForResumeParams, @@ -275,6 +283,7 @@ MoveRelative, MoveToCoordinates, MoveToWell, + MoveToAddressableArea, PrepareToAspirate, WaitForResume, WaitForDuration, @@ -333,6 +342,7 @@ MoveRelativeParams, MoveToCoordinatesParams, MoveToWellParams, + MoveToAddressableAreaParams, PrepareToAspirateParams, WaitForResumeParams, WaitForDurationParams, @@ -392,6 +402,7 @@ MoveRelativeCommandType, MoveToCoordinatesCommandType, MoveToWellCommandType, + MoveToAddressableAreaCommandType, PrepareToAspirateCommandType, WaitForResumeCommandType, WaitForDurationCommandType, @@ -450,6 +461,7 @@ MoveRelativeCreate, MoveToCoordinatesCreate, MoveToWellCreate, + MoveToAddressableAreaCreate, PrepareToAspirateCreate, WaitForResumeCreate, WaitForDurationCreate, @@ -508,6 +520,7 @@ MoveRelativeResult, MoveToCoordinatesResult, MoveToWellResult, + MoveToAddressableAreaResult, PrepareToAspirateResult, WaitForResumeResult, WaitForDurationResult, diff --git a/api/src/opentrons/protocol_engine/commands/configure_nozzle_layout.py b/api/src/opentrons/protocol_engine/commands/configure_nozzle_layout.py index 2ad5f38a9a5..96dad6a6bb6 100644 --- a/api/src/opentrons/protocol_engine/commands/configure_nozzle_layout.py +++ b/api/src/opentrons/protocol_engine/commands/configure_nozzle_layout.py @@ -16,7 +16,7 @@ PipetteNozzleLayoutResultMixin, ) from ..types import ( - EmptyNozzleLayoutConfiguration, + AllNozzleLayoutConfiguration, SingleNozzleLayoutConfiguration, RowNozzleLayoutConfiguration, ColumnNozzleLayoutConfiguration, @@ -34,7 +34,7 @@ class ConfigureNozzleLayoutParams(PipetteIdMixin): """Parameters required to configure the nozzle layout for a specific pipette.""" configuration_params: Union[ - EmptyNozzleLayoutConfiguration, + AllNozzleLayoutConfiguration, SingleNozzleLayoutConfiguration, RowNozzleLayoutConfiguration, ColumnNozzleLayoutConfiguration, diff --git a/api/src/opentrons/protocol_engine/commands/drop_tip.py b/api/src/opentrons/protocol_engine/commands/drop_tip.py index 90b0c04484b..923c384e630 100644 --- a/api/src/opentrons/protocol_engine/commands/drop_tip.py +++ b/api/src/opentrons/protocol_engine/commands/drop_tip.py @@ -82,8 +82,14 @@ async def execute(self, params: DropTipParams) -> DropTipResult: else: well_location = params.wellLocation + is_partially_configured = self._state_view.pipettes.get_is_partially_configured( + pipette_id=pipette_id + ) tip_drop_location = self._state_view.geometry.get_checked_tip_drop_location( - pipette_id=pipette_id, labware_id=labware_id, well_location=well_location + pipette_id=pipette_id, + labware_id=labware_id, + well_location=well_location, + partially_configured=is_partially_configured, ) position = await self._movement_handler.move_to_well( diff --git a/api/src/opentrons/protocol_engine/commands/load_labware.py b/api/src/opentrons/protocol_engine/commands/load_labware.py index 614c702df51..81323567d29 100644 --- a/api/src/opentrons/protocol_engine/commands/load_labware.py +++ b/api/src/opentrons/protocol_engine/commands/load_labware.py @@ -7,8 +7,13 @@ from opentrons_shared_data.labware.labware_definition import LabwareDefinition from ..errors import LabwareIsNotAllowedInLocationError -from ..resources import labware_validation -from ..types import LabwareLocation, OnLabwareLocation, DeckSlotLocation +from ..resources import labware_validation, fixture_validation +from ..types import ( + LabwareLocation, + OnLabwareLocation, + DeckSlotLocation, + AddressableAreaLocation, +) from .command import AbstractCommandImpl, BaseCommand, BaseCommandCreate @@ -105,21 +110,30 @@ async def execute(self, params: LoadLabwareParams) -> LoadLabwareResult: f"{params.loadName} is not allowed in slot {params.location.slotName}" ) + if isinstance(params.location, AddressableAreaLocation): + if not fixture_validation.is_deck_slot(params.location.addressableAreaName): + raise LabwareIsNotAllowedInLocationError( + f"Cannot load {params.loadName} onto addressable area {params.location.addressableAreaName}" + ) + + verified_location = self._state_view.geometry.ensure_location_not_occupied( + params.location + ) loaded_labware = await self._equipment.load_labware( load_name=params.loadName, namespace=params.namespace, version=params.version, - location=params.location, + location=verified_location, labware_id=params.labwareId, ) # TODO(jbl 2023-06-23) these validation checks happen after the labware is loaded, because they rely on # on the definition. In practice this will not cause any issues since they will raise protocol ending # exception, but for correctness should be refactored to do this check beforehand. - if isinstance(params.location, OnLabwareLocation): + if isinstance(verified_location, OnLabwareLocation): self._state_view.labware.raise_if_labware_cannot_be_stacked( top_labware_definition=loaded_labware.definition, - bottom_labware_id=params.location.labwareId, + bottom_labware_id=verified_location.labwareId, ) return LoadLabwareResult( diff --git a/api/src/opentrons/protocol_engine/commands/load_module.py b/api/src/opentrons/protocol_engine/commands/load_module.py index 407db1dc93a..bd89e294eba 100644 --- a/api/src/opentrons/protocol_engine/commands/load_module.py +++ b/api/src/opentrons/protocol_engine/commands/load_module.py @@ -8,6 +8,7 @@ from ..types import DeckSlotLocation, ModuleModel, ModuleDefinition if TYPE_CHECKING: + from ..state import StateView from ..execution import EquipmentHandler @@ -95,21 +96,28 @@ class LoadModuleResult(BaseModel): class LoadModuleImplementation(AbstractCommandImpl[LoadModuleParams, LoadModuleResult]): """The implementation of the load module command.""" - def __init__(self, equipment: EquipmentHandler, **kwargs: object) -> None: + def __init__( + self, equipment: EquipmentHandler, state_view: StateView, **kwargs: object + ) -> None: self._equipment = equipment + self._state_view = state_view async def execute(self, params: LoadModuleParams) -> LoadModuleResult: """Check that the requested module is attached and assign its identifier.""" + verified_location = self._state_view.geometry.ensure_location_not_occupied( + params.location + ) + if params.model == ModuleModel.MAGNETIC_BLOCK_V1: loaded_module = await self._equipment.load_magnetic_block( model=params.model, - location=params.location, + location=verified_location, module_id=params.moduleId, ) else: loaded_module = await self._equipment.load_module( model=params.model, - location=params.location, + location=verified_location, module_id=params.moduleId, ) diff --git a/api/src/opentrons/protocol_engine/commands/move_labware.py b/api/src/opentrons/protocol_engine/commands/move_labware.py index 682f2a58a22..1e71072abc6 100644 --- a/api/src/opentrons/protocol_engine/commands/move_labware.py +++ b/api/src/opentrons/protocol_engine/commands/move_labware.py @@ -8,12 +8,13 @@ from ..types import ( LabwareLocation, OnLabwareLocation, + AddressableAreaLocation, LabwareMovementStrategy, LabwareOffsetVector, LabwareMovementOffsetData, ) from ..errors import LabwareMovementNotAllowedError, NotSupportedOnRobotType -from ..resources import labware_validation +from ..resources import labware_validation, fixture_validation from .command import AbstractCommandImpl, BaseCommand, BaseCommandCreate if TYPE_CHECKING: @@ -24,6 +25,10 @@ MoveLabwareCommandType = Literal["moveLabware"] +# Seconds to wait after droppping labware in trash chute +_TRASH_CHUTE_DROP_DELAY = 1.0 + + # TODO (spp, 2022-12-14): https://opentrons.atlassian.net/browse/RLAB-237 class MoveLabwareParams(BaseModel): """Input parameters for a ``moveLabware`` command.""" @@ -83,7 +88,9 @@ def __init__( self._labware_movement = labware_movement self._run_control = run_control - async def execute(self, params: MoveLabwareParams) -> MoveLabwareResult: + async def execute( # noqa: C901 + self, params: MoveLabwareParams + ) -> MoveLabwareResult: """Move a loaded labware to a new location.""" # Allow propagation of LabwareNotLoadedError. current_labware = self._state_view.labware.get(labware_id=params.labwareId) @@ -91,12 +98,24 @@ async def execute(self, params: MoveLabwareParams) -> MoveLabwareResult: labware_id=params.labwareId ) definition_uri = current_labware.definitionUri + delay_after_drop: Optional[float] = None if self._state_view.labware.is_fixed_trash(params.labwareId): raise LabwareMovementNotAllowedError( f"Cannot move fixed trash labware '{current_labware_definition.parameters.loadName}'." ) + if isinstance(params.newLocation, AddressableAreaLocation): + area_name = params.newLocation.addressableAreaName + if not fixture_validation.is_gripper_waste_chute( + area_name + ) and not fixture_validation.is_deck_slot(area_name): + raise LabwareMovementNotAllowedError( + f"Cannot move {current_labware.loadName} to addressable area {area_name}" + ) + if fixture_validation.is_gripper_waste_chute(area_name): + delay_after_drop = _TRASH_CHUTE_DROP_DELAY + available_new_location = self._state_view.geometry.ensure_location_not_occupied( location=params.newLocation ) @@ -163,6 +182,7 @@ async def execute(self, params: MoveLabwareParams) -> MoveLabwareResult: current_location=validated_current_loc, new_location=validated_new_loc, user_offset_data=user_offset_data, + delay_after_drop=delay_after_drop, ) elif params.strategy == LabwareMovementStrategy.MANUAL_MOVE_WITH_PAUSE: # Pause to allow for manual labware movement diff --git a/api/src/opentrons/protocol_engine/commands/move_to_addressable_area.py b/api/src/opentrons/protocol_engine/commands/move_to_addressable_area.py new file mode 100644 index 00000000000..1addd41c789 --- /dev/null +++ b/api/src/opentrons/protocol_engine/commands/move_to_addressable_area.py @@ -0,0 +1,106 @@ +"""Move to well command request, result, and implementation models.""" +from __future__ import annotations +from pydantic import Field +from typing import TYPE_CHECKING, Optional, Type +from typing_extensions import Literal + +from ..types import DeckPoint, AddressableOffsetVector +from .pipetting_common import ( + PipetteIdMixin, + MovementMixin, + DestinationPositionResult, +) +from .command import AbstractCommandImpl, BaseCommand, BaseCommandCreate + +if TYPE_CHECKING: + from ..execution import MovementHandler + +MoveToAddressableAreaCommandType = Literal["moveToAddressableArea"] + + +class MoveToAddressableAreaParams(PipetteIdMixin, MovementMixin): + """Payload required to move a pipette to a specific addressable area. + + An *addressable area* is a space in the robot that may or may not be usable depending on how + the robot's deck is configured. For example, if a Flex is configured with a waste chute, it will + have additional addressable areas representing the opening of the waste chute, where tips and + labware can be dropped. + + This moves the pipette so all of its nozzles are centered over the addressable area. + If the pipette is currently configured with a partial tip layout, this centering is over all + the pipette's physical nozzles, not just the nozzles that are active. + + The z-position will be chosen to put the bottom of the tips---or the bottom of the nozzles, + if there are no tips---level with the top of the addressable area. + + When this command is executed, Protocol Engine will make sure the robot's deck is configured + such that the requested addressable area actually exists. For example, if you request + the addressable area B4, it will make sure the robot is set up with a B3/B4 staging area slot. + If that's not the case, the command will fail. + """ + + addressableAreaName: str = Field( + ..., + description=( + "The name of the addressable area that you want to use." + " Valid values are the `id`s of `addressableArea`s in the" + " [deck definition](https://github.com/Opentrons/opentrons/tree/edge/shared-data/deck)." + ), + ) + offset: AddressableOffsetVector = Field( + AddressableOffsetVector(x=0, y=0, z=0), + description="Relative offset of addressable area to move pipette's critical point.", + ) + + +class MoveToAddressableAreaResult(DestinationPositionResult): + """Result data from the execution of a MoveToAddressableArea command.""" + + pass + + +class MoveToAddressableAreaImplementation( + AbstractCommandImpl[MoveToAddressableAreaParams, MoveToAddressableAreaResult] +): + """Move to addressable area command implementation.""" + + def __init__(self, movement: MovementHandler, **kwargs: object) -> None: + self._movement = movement + + async def execute( + self, params: MoveToAddressableAreaParams + ) -> MoveToAddressableAreaResult: + """Move the requested pipette to the requested addressable area.""" + x, y, z = await self._movement.move_to_addressable_area( + pipette_id=params.pipetteId, + addressable_area_name=params.addressableAreaName, + offset=params.offset, + force_direct=params.forceDirect, + minimum_z_height=params.minimumZHeight, + speed=params.speed, + ) + + return MoveToAddressableAreaResult(position=DeckPoint(x=x, y=y, z=z)) + + +class MoveToAddressableArea( + BaseCommand[MoveToAddressableAreaParams, MoveToAddressableAreaResult] +): + """Move to addressable area command model.""" + + commandType: MoveToAddressableAreaCommandType = "moveToAddressableArea" + params: MoveToAddressableAreaParams + result: Optional[MoveToAddressableAreaResult] + + _ImplementationCls: Type[ + MoveToAddressableAreaImplementation + ] = MoveToAddressableAreaImplementation + + +class MoveToAddressableAreaCreate(BaseCommandCreate[MoveToAddressableAreaParams]): + """Move to addressable area command creation request model.""" + + commandType: MoveToAddressableAreaCommandType = "moveToAddressableArea" + params: MoveToAddressableAreaParams + + _CommandCls: Type[MoveToAddressableArea] = MoveToAddressableArea diff --git a/api/src/opentrons/protocol_engine/create_protocol_engine.py b/api/src/opentrons/protocol_engine/create_protocol_engine.py index adb4657d2af..39268f28bc7 100644 --- a/api/src/opentrons/protocol_engine/create_protocol_engine.py +++ b/api/src/opentrons/protocol_engine/create_protocol_engine.py @@ -10,20 +10,24 @@ from .protocol_engine import ProtocolEngine from .resources import DeckDataProvider, ModuleDataProvider from .state import Config, StateStore -from .types import PostRunHardwareState +from .types import PostRunHardwareState, DeckConfigurationType # TODO(mm, 2023-06-16): Arguably, this not being a context manager makes us prone to forgetting to # clean it up properly, especially in tests. See e.g. https://opentrons.atlassian.net/browse/RSS-222 async def create_protocol_engine( - hardware_api: HardwareControlAPI, config: Config, load_fixed_trash: bool = False + hardware_api: HardwareControlAPI, + config: Config, + load_fixed_trash: bool = False, + deck_configuration: typing.Optional[DeckConfigurationType] = None, ) -> ProtocolEngine: """Create a ProtocolEngine instance. Arguments: hardware_api: Hardware control API to pass down to dependencies. config: ProtocolEngine configuration. - load_fixed_trash: Automatically load fixed trash labware in engine + load_fixed_trash: Automatically load fixed trash labware in engine. + deck_configuration: The initial deck configuration the engine will be instantiated with. """ deck_data = DeckDataProvider(config.deck_type) deck_definition = await deck_data.get_deck_definition() @@ -40,6 +44,7 @@ async def create_protocol_engine( deck_fixed_labware=deck_fixed_labware, is_door_open=hardware_api.door_state is DoorState.OPEN, module_calibration_offsets=module_calibration_offsets, + deck_configuration=deck_configuration, ) return ProtocolEngine(state_store=state_store, hardware_api=hardware_api) @@ -101,6 +106,9 @@ async def _protocol_engine( load_fixed_trash=load_fixed_trash, ) try: + # TODO(mm, 2023-11-21): Callers like opentrons.execute need to be able to pass in + # the deck_configuration argument to ProtocolEngine.play(). + # https://opentrons.atlassian.net/browse/RSS-400 protocol_engine.play() yield protocol_engine finally: diff --git a/api/src/opentrons/protocol_engine/errors/__init__.py b/api/src/opentrons/protocol_engine/errors/__init__.py index 642d4ff6cd8..0e0a4148fec 100644 --- a/api/src/opentrons/protocol_engine/errors/__init__.py +++ b/api/src/opentrons/protocol_engine/errors/__init__.py @@ -27,7 +27,12 @@ ModuleNotOnDeckError, ModuleNotConnectedError, SlotDoesNotExistError, + CutoutDoesNotExistError, FixtureDoesNotExistError, + AddressableAreaDoesNotExistError, + FixtureDoesNotProvideAreasError, + AreaNotInDeckConfigurationError, + IncompatibleAddressableAreaError, FailedToPlanMoveError, MustHomeError, RunStoppedError, @@ -88,7 +93,12 @@ "ModuleNotOnDeckError", "ModuleNotConnectedError", "SlotDoesNotExistError", + "CutoutDoesNotExistError", "FixtureDoesNotExistError", + "AddressableAreaDoesNotExistError", + "FixtureDoesNotProvideAreasError", + "AreaNotInDeckConfigurationError", + "IncompatibleAddressableAreaError", "FailedToPlanMoveError", "MustHomeError", "RunStoppedError", diff --git a/api/src/opentrons/protocol_engine/errors/exceptions.py b/api/src/opentrons/protocol_engine/errors/exceptions.py index 7f4304f8097..2527077f58d 100644 --- a/api/src/opentrons/protocol_engine/errors/exceptions.py +++ b/api/src/opentrons/protocol_engine/errors/exceptions.py @@ -373,8 +373,21 @@ def __init__( super().__init__(ErrorCodes.GENERAL_ERROR, message, details, wrapping) +class CutoutDoesNotExistError(ProtocolEngineError): + """Raised when referencing a cutout that does not exist.""" + + def __init__( + self, + message: Optional[str] = None, + details: Optional[Dict[str, Any]] = None, + wrapping: Optional[Sequence[EnumeratedError]] = None, + ) -> None: + """Build a CutoutDoesNotExistError.""" + super().__init__(ErrorCodes.GENERAL_ERROR, message, details, wrapping) + + class FixtureDoesNotExistError(ProtocolEngineError): - """Raised when referencing an addressable area (aka fixture) that does not exist.""" + """Raised when referencing a cutout fixture that does not exist.""" def __init__( self, @@ -386,6 +399,58 @@ def __init__( super().__init__(ErrorCodes.GENERAL_ERROR, message, details, wrapping) +class AddressableAreaDoesNotExistError(ProtocolEngineError): + """Raised when referencing an addressable area that does not exist.""" + + def __init__( + self, + message: Optional[str] = None, + details: Optional[Dict[str, Any]] = None, + wrapping: Optional[Sequence[EnumeratedError]] = None, + ) -> None: + """Build a AddressableAreaDoesNotExistError.""" + super().__init__(ErrorCodes.GENERAL_ERROR, message, details, wrapping) + + +class FixtureDoesNotProvideAreasError(ProtocolEngineError): + """Raised when a cutout fixture does not provide any addressable areas for a requested cutout.""" + + def __init__( + self, + message: Optional[str] = None, + details: Optional[Dict[str, Any]] = None, + wrapping: Optional[Sequence[EnumeratedError]] = None, + ) -> None: + """Build a FixtureDoesNotProvideAreasError.""" + super().__init__(ErrorCodes.GENERAL_ERROR, message, details, wrapping) + + +class AreaNotInDeckConfigurationError(ProtocolEngineError): + """Raised when an addressable area is referenced that is not provided by a deck configuration.""" + + def __init__( + self, + message: Optional[str] = None, + details: Optional[Dict[str, Any]] = None, + wrapping: Optional[Sequence[EnumeratedError]] = None, + ) -> None: + """Build a AreaNotInDeckConfigurationError.""" + super().__init__(ErrorCodes.GENERAL_ERROR, message, details, wrapping) + + +class IncompatibleAddressableAreaError(ProtocolEngineError): + """Raised when two non-compatible addressable areas are referenced during analysis.""" + + def __init__( + self, + message: Optional[str] = None, + details: Optional[Dict[str, Any]] = None, + wrapping: Optional[Sequence[EnumeratedError]] = None, + ) -> None: + """Build a IncompatibleAddressableAreaError.""" + super().__init__(ErrorCodes.GENERAL_ERROR, message, details, wrapping) + + # TODO(mc, 2020-11-06): flesh out with structured data to replicate # existing LabwareHeightError class FailedToPlanMoveError(ProtocolEngineError): diff --git a/api/src/opentrons/protocol_engine/execution/equipment.py b/api/src/opentrons/protocol_engine/execution/equipment.py index b3361510ec2..c1ac272a64d 100644 --- a/api/src/opentrons/protocol_engine/execution/equipment.py +++ b/api/src/opentrons/protocol_engine/execution/equipment.py @@ -276,10 +276,6 @@ async def load_magnetic_block( model ), f"Expected Magnetic block and got {model.name}" definition = self._module_data_provider.get_definition(model) - # when loading a hardware module select_hardware_module_to_load - # will ensure a module of a different type is not loaded at the same slot. - # this is for non-connected modules. - self._state_store.modules.raise_if_module_in_location(location=location) return LoadedModuleData( module_id=self._model_utils.ensure_id(module_id), serial_number=None, diff --git a/api/src/opentrons/protocol_engine/execution/gantry_mover.py b/api/src/opentrons/protocol_engine/execution/gantry_mover.py index d8e2ea8afc5..be31da77345 100644 --- a/api/src/opentrons/protocol_engine/execution/gantry_mover.py +++ b/api/src/opentrons/protocol_engine/execution/gantry_mover.py @@ -99,7 +99,7 @@ async def get_position( """ pipette_location = self._state_view.motion.get_pipette_location( pipette_id=pipette_id, - current_well=current_well, + current_location=current_well, ) try: return await self._hardware_api.gantry_position( diff --git a/api/src/opentrons/protocol_engine/execution/labware_movement.py b/api/src/opentrons/protocol_engine/execution/labware_movement.py index d3c4fb3619c..544c1cd294a 100644 --- a/api/src/opentrons/protocol_engine/execution/labware_movement.py +++ b/api/src/opentrons/protocol_engine/execution/labware_movement.py @@ -83,6 +83,7 @@ async def move_labware_with_gripper( current_location: OnDeckLabwareLocation, new_location: OnDeckLabwareLocation, user_offset_data: LabwareMovementOffsetData, + delay_after_drop: Optional[float] = None, ) -> None: """Move a loaded labware from one location to another using gripper.""" use_virtual_gripper = self._state_store.config.use_virtual_gripper @@ -134,7 +135,18 @@ async def move_labware_with_gripper( for waypoint_data in movement_waypoints: if waypoint_data.jaw_open: + if waypoint_data.dropping: + # This `disengage_axes` step is important in order to engage + # the electronic brake on the Z axis of the gripper. The brake + # has a stronger holding force on the axis than the hold current, + # and prevents the axis from spuriously dropping when e.g. the notch + # on the side of a falling tiprack catches the jaw. + await ot3api.disengage_axes([Axis.Z_G]) await ot3api.ungrip() + if waypoint_data.dropping: + await ot3api.home_z(OT3Mount.GRIPPER) + if delay_after_drop is not None: + await ot3api.do_delay(delay_after_drop) else: await ot3api.grip(force_newtons=labware_grip_force) await ot3api.move_to( diff --git a/api/src/opentrons/protocol_engine/execution/movement.py b/api/src/opentrons/protocol_engine/execution/movement.py index d0caac1f55a..2b3305caf5f 100644 --- a/api/src/opentrons/protocol_engine/execution/movement.py +++ b/api/src/opentrons/protocol_engine/execution/movement.py @@ -14,6 +14,7 @@ MovementAxis, MotorAxis, CurrentWell, + AddressableOffsetVector, ) from ..state import StateStore from ..resources import ModelUtils @@ -102,7 +103,7 @@ async def move_to_well( # get the pipette's mount and current critical point, if applicable pipette_location = self._state_store.motion.get_pipette_location( pipette_id=pipette_id, - current_well=current_well, + current_location=current_well, ) origin_cp = pipette_location.critical_point @@ -133,6 +134,71 @@ async def move_to_well( return final_point + async def move_to_addressable_area( + self, + pipette_id: str, + addressable_area_name: str, + offset: AddressableOffsetVector, + force_direct: bool = False, + minimum_z_height: Optional[float] = None, + speed: Optional[float] = None, + ) -> Point: + """Move to a specific addressable area.""" + # Check for presence of heater shakers on deck, and if planned + # pipette movement is allowed + hs_movement_restrictors = ( + self._state_store.modules.get_heater_shaker_movement_restrictors() + ) + + dest_slot_int = ( + self._state_store.addressable_areas.get_addressable_area_base_slot( + addressable_area_name + ).as_int() + ) + + 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 + ), + destination_is_tip_rack=False, + ) + + # TODO(jbl 11-28-2023) check if addressable area is a deck slot, and if it is check if there are no labware + # or modules on top. + + # get the pipette's mount and current critical point, if applicable + pipette_location = self._state_store.motion.get_pipette_location( + pipette_id=pipette_id, + current_location=None, + ) + origin_cp = pipette_location.critical_point + + origin = await self._gantry_mover.get_position(pipette_id=pipette_id) + max_travel_z = self._gantry_mover.get_max_travel_z(pipette_id=pipette_id) + + # calculate the movement's waypoints + waypoints = self._state_store.motion.get_movement_waypoints_to_addressable_area( + addressable_area_name=addressable_area_name, + offset=offset, + origin=origin, + origin_cp=origin_cp, + max_travel_z=max_travel_z, + force_direct=force_direct, + minimum_z_height=minimum_z_height, + ) + + speed = self._state_store.pipettes.get_movement_speed( + pipette_id=pipette_id, requested_speed=speed + ) + + final_point = await self._gantry_mover.move_to( + pipette_id=pipette_id, waypoints=waypoints, speed=speed + ) + + return final_point + async def move_relative( self, pipette_id: str, diff --git a/api/src/opentrons/protocol_engine/execution/tip_handler.py b/api/src/opentrons/protocol_engine/execution/tip_handler.py index 4ea54df86fa..34ce1a4ee3c 100644 --- a/api/src/opentrons/protocol_engine/execution/tip_handler.py +++ b/api/src/opentrons/protocol_engine/execution/tip_handler.py @@ -63,6 +63,47 @@ async def add_tip(self, pipette_id: str, tip: TipGeometry) -> None: """Tell the Hardware API that a tip is attached.""" +async def _available_for_nozzle_layout( + channels: int, + style: str, + primary_nozzle: Optional[str], + front_right_nozzle: Optional[str], +) -> Dict[str, str]: + """Check nozzle layout is compatible with the pipette. + + Returns: + A dict of nozzles used to configure the pipette. + """ + if channels == 1: + raise CommandPreconditionViolated( + message=f"Cannot configure nozzle layout with a {channels} channel pipette." + ) + if style == "ALL": + return {} + if style == "ROW" and channels == 8: + raise CommandParameterLimitViolated( + command_name="configure_nozzle_layout", + parameter_name="RowNozzleLayout", + limit_statement="RowNozzleLayout is incompatible with {channels} channel pipettes.", + actual_value=str(primary_nozzle), + ) + if not primary_nozzle: + return {"primary_nozzle": "A1"} + if style == "SINGLE": + return {"primary_nozzle": primary_nozzle} + if not front_right_nozzle: + return { + "primary_nozzle": primary_nozzle, + "front_right_nozzle": PRIMARY_NOZZLE_TO_ENDING_NOZZLE_MAP[primary_nozzle][ + style + ], + } + return { + "primary_nozzle": primary_nozzle, + "front_right_nozzle": front_right_nozzle, + } + + class HardwareTipHandler(TipHandler): """Pick up and drop tips, using the Hardware API.""" @@ -72,9 +113,9 @@ def __init__( hardware_api: HardwareControlAPI, labware_data_provider: Optional[LabwareDataProvider] = None, ) -> None: - self._state_view = state_view self._hardware_api = hardware_api self._labware_data_provider = labware_data_provider or LabwareDataProvider() + self._state_view = state_view async def available_for_nozzle_layout( self, @@ -83,40 +124,15 @@ async def available_for_nozzle_layout( primary_nozzle: Optional[str] = None, front_right_nozzle: Optional[str] = None, ) -> Dict[str, str]: - """Check nozzle layout is compatible with the pipette.""" + """Returns configuration for nozzle layout to pass to configure_nozzle_layout.""" if self._state_view.pipettes.get_attached_tip(pipette_id): raise CommandPreconditionViolated( message=f"Cannot configure nozzle layout of {str(self)} while it has tips attached." ) channels = self._state_view.pipettes.get_channels(pipette_id) - if channels == 1: - raise CommandPreconditionViolated( - message=f"Cannot configure nozzle layout with a {channels} channel pipette." - ) - if style == "EMPTY": - return {} - if style == "ROW" and channels == 8: - raise CommandParameterLimitViolated( - command_name="configure_nozzle_layout", - parameter_name="RowNozzleLayout", - limit_statement="RowNozzleLayout is incompatible with {channels} channel pipettes.", - actual_value=str(primary_nozzle), - ) - if not primary_nozzle: - return {"primary_nozzle": "A1"} - if style == "SINGLE": - return {"primary_nozzle": primary_nozzle} - if not front_right_nozzle: - return { - "primary_nozzle": primary_nozzle, - "front_right_nozzle": PRIMARY_NOZZLE_TO_ENDING_NOZZLE_MAP[ - primary_nozzle - ][style], - } - return { - "primary_nozzle": primary_nozzle, - "front_right_nozzle": front_right_nozzle, - } + return await _available_for_nozzle_layout( + channels, style, primary_nozzle, front_right_nozzle + ) async def pick_up_tip( self, @@ -196,48 +212,6 @@ class VirtualTipHandler(TipHandler): def __init__(self, state_view: StateView) -> None: self._state_view = state_view - async def available_for_nozzle_layout( - self, - pipette_id: str, - style: str, - primary_nozzle: Optional[str] = None, - front_right_nozzle: Optional[str] = None, - ) -> Dict[str, str]: - """Check nozzle layout is compatible with the pipette.""" - if self._state_view.pipettes.get_attached_tip(pipette_id): - raise CommandPreconditionViolated( - message=f"Cannot configure nozzle layout of {str(self)} while it has tips attached." - ) - channels = self._state_view.pipettes.get_channels(pipette_id) - if channels == 1: - raise CommandPreconditionViolated( - message=f"Cannot configure nozzle layout with a {channels} channel pipette." - ) - if style == "EMPTY": - return {} - if style == "ROW" and channels == 8: - raise CommandParameterLimitViolated( - command_name="configure_nozzle_layout", - parameter_name="RowNozzleLayout", - limit_statement="RowNozzleLayout is incompatible with {channels} channel pipettes.", - actual_value=str(primary_nozzle), - ) - if not primary_nozzle: - return {"primary_nozzle": "A1"} - if style == "SINGLE": - return {"primary_nozzle": primary_nozzle} - if not front_right_nozzle: - return { - "primary_nozzle": primary_nozzle, - "front_right_nozzle": PRIMARY_NOZZLE_TO_ENDING_NOZZLE_MAP[ - primary_nozzle - ][style], - } - return { - "primary_nozzle": primary_nozzle, - "front_right_nozzle": front_right_nozzle, - } - async def pick_up_tip( self, pipette_id: str, @@ -262,6 +236,23 @@ async def pick_up_tip( return nominal_tip_geometry + async def available_for_nozzle_layout( + self, + pipette_id: str, + style: str, + primary_nozzle: Optional[str] = None, + front_right_nozzle: Optional[str] = None, + ) -> Dict[str, str]: + """Returns configuration for nozzle layout to pass to configure_nozzle_layout.""" + if self._state_view.pipettes.get_attached_tip(pipette_id): + raise CommandPreconditionViolated( + message=f"Cannot configure nozzle layout of {str(self)} while it has tips attached." + ) + channels = self._state_view.pipettes.get_channels(pipette_id) + return await _available_for_nozzle_layout( + channels, style, primary_nozzle, front_right_nozzle + ) + async def drop_tip( self, pipette_id: str, diff --git a/api/src/opentrons/protocol_engine/protocol_engine.py b/api/src/opentrons/protocol_engine/protocol_engine.py index 857d787dcd4..a04f24d347a 100644 --- a/api/src/opentrons/protocol_engine/protocol_engine.py +++ b/api/src/opentrons/protocol_engine/protocol_engine.py @@ -24,6 +24,7 @@ Liquid, HexColor, PostRunHardwareState, + DeckConfigurationType, ) from .execution import ( QueueWorker, @@ -133,13 +134,13 @@ def add_plugin(self, plugin: AbstractPlugin) -> None: """Add a plugin to the engine to customize behavior.""" self._plugin_starter.start(plugin) - def play(self) -> None: + def play(self, deck_configuration: Optional[DeckConfigurationType] = None) -> None: """Start or resume executing commands in the queue.""" requested_at = self._model_utils.get_timestamp() # TODO(mc, 2021-08-05): if starting, ensure plungers motors are # homed if necessary action = self._state_store.commands.validate_action_allowed( - PlayAction(requested_at=requested_at) + PlayAction(requested_at=requested_at, deck_configuration=deck_configuration) ) self._action_dispatcher.dispatch(action) diff --git a/api/src/opentrons/protocol_engine/resources/deck_configuration_provider.py b/api/src/opentrons/protocol_engine/resources/deck_configuration_provider.py index cc24a572a70..a40de3bd8d5 100644 --- a/api/src/opentrons/protocol_engine/resources/deck_configuration_provider.py +++ b/api/src/opentrons/protocol_engine/resources/deck_configuration_provider.py @@ -1,72 +1,143 @@ """Deck configuration resource provider.""" -from dataclasses import dataclass -from typing import List, Set, Dict +from typing import List, Set, Tuple, Optional -from opentrons_shared_data.deck.dev_types import DeckDefinitionV4, AddressableArea +from opentrons_shared_data.deck.dev_types import DeckDefinitionV4, CutoutFixture +from opentrons.types import Point, DeckSlotName -from ..errors import FixtureDoesNotExistError +from ..types import ( + AddressableArea, + AreaType, + PotentialCutoutFixture, + DeckPoint, + Dimensions, + AddressableOffsetVector, +) +from ..errors import ( + CutoutDoesNotExistError, + FixtureDoesNotExistError, + AddressableAreaDoesNotExistError, + FixtureDoesNotProvideAreasError, +) -@dataclass(frozen=True) -class DeckCutoutFixture: - """Basic cutout fixture data class.""" +def get_cutout_position(cutout_id: str, deck_definition: DeckDefinitionV4) -> DeckPoint: + """Get the base position of a cutout on the deck.""" + for cutout in deck_definition["locations"]["cutouts"]: + if cutout_id == cutout["id"]: + position = cutout["position"] + return DeckPoint(x=position[0], y=position[1], z=position[2]) + else: + raise CutoutDoesNotExistError(f"Could not find cutout with name {cutout_id}") - name: str - # TODO(jbl 10-30-2023) this is in reference to the cutout ID that is supplied in mayMountTo in the definition. - # We might want to make this not a string. - cutout_slot_location: str +def get_cutout_fixture( + cutout_fixture_id: str, deck_definition: DeckDefinitionV4 +) -> CutoutFixture: + """Gets cutout fixture from deck that matches the cutout fixture ID provided.""" + for cutout_fixture in deck_definition["cutoutFixtures"]: + if cutout_fixture["id"] == cutout_fixture_id: + return cutout_fixture + raise FixtureDoesNotExistError( + f"Could not find cutout fixture with name {cutout_fixture_id}" + ) -class DeckConfigurationProvider: - """Provider class to ingest deck configuration data and retrieve relevant deck definition data.""" - _configuration: Dict[str, DeckCutoutFixture] +def get_provided_addressable_area_names( + cutout_fixture_id: str, cutout_id: str, deck_definition: DeckDefinitionV4 +) -> List[str]: + """Gets a list of the addressable areas provided by the cutout fixture on the cutout.""" + cutout_fixture = get_cutout_fixture(cutout_fixture_id, deck_definition) + try: + return cutout_fixture["providesAddressableAreas"][cutout_id] + except KeyError as exception: + raise FixtureDoesNotProvideAreasError( + f"Cutout fixture {cutout_fixture['id']} does not provide addressable areas for {cutout_id}" + ) from exception - def __init__( - self, - deck_definition: DeckDefinitionV4, - deck_configuration: List[DeckCutoutFixture], - ) -> None: - """Initialize a DeckDataProvider.""" - self._deck_definition = deck_definition - self._configuration = { - cutout_fixture.cutout_slot_location: cutout_fixture - for cutout_fixture in deck_configuration - } - def get_addressable_areas_for_cutout_fixture( - self, cutout_fixture_id: str, cutout_id: str - ) -> Set[str]: - """Get the allowable addressable areas for a cutout fixture loaded on a specific cutout slot.""" - for cutout_fixture in self._deck_definition["cutoutFixtures"]: - if cutout_fixture_id == cutout_fixture["id"]: - return set( - cutout_fixture["providesAddressableAreas"].get(cutout_id, []) +def get_potential_cutout_fixtures( + addressable_area_name: str, deck_definition: DeckDefinitionV4 +) -> Tuple[str, Set[PotentialCutoutFixture]]: + """Given an addressable area name, gets the cutout ID associated with it and a set of potential fixtures.""" + potential_fixtures = [] + for cutout_fixture in deck_definition["cutoutFixtures"]: + for cutout_id, provided_areas in cutout_fixture[ + "providesAddressableAreas" + ].items(): + if addressable_area_name in provided_areas: + potential_fixtures.append( + PotentialCutoutFixture( + cutout_id=cutout_id, + cutout_fixture_id=cutout_fixture["id"], + ) ) + # This following logic is making the assumption that every addressable area can only go on one cutout, though + # it may have multiple cutout fixtures that supply it on that cutout. If this assumption changes, some of the + # following logic will have to be readjusted + assert ( + potential_fixtures + ), f"No potential fixtures for addressable area {addressable_area_name}" + cutout_id = potential_fixtures[0].cutout_id + assert all(cutout_id == fixture.cutout_id for fixture in potential_fixtures) + return cutout_id, set(potential_fixtures) - raise FixtureDoesNotExistError( - f'Could not resolve "{cutout_fixture_id}" to a fixture.' - ) - def get_configured_addressable_areas(self) -> Set[str]: - """Get a list of all addressable areas the robot is configured for.""" - configured_addressable_areas = set() - for cutout_id, cutout_fixture in self._configuration.items(): - addressable_areas = self.get_addressable_areas_for_cutout_fixture( - cutout_fixture.name, cutout_id +def get_addressable_area_from_name( + addressable_area_name: str, + cutout_position: DeckPoint, + base_slot: DeckSlotName, + deck_definition: DeckDefinitionV4, +) -> AddressableArea: + """Given a name and a cutout position, get an addressable area on the deck.""" + for addressable_area in deck_definition["locations"]["addressableAreas"]: + if addressable_area["id"] == addressable_area_name: + area_offset = addressable_area["offsetFromCutoutFixture"] + position = AddressableOffsetVector( + x=area_offset[0] + cutout_position.x, + y=area_offset[1] + cutout_position.y, + z=area_offset[2] + cutout_position.z, ) - configured_addressable_areas.update(addressable_areas) - return configured_addressable_areas + bounding_box = Dimensions( + x=addressable_area["boundingBox"]["xDimension"], + y=addressable_area["boundingBox"]["yDimension"], + z=addressable_area["boundingBox"]["zDimension"], + ) + drop_tips_deck_offset = addressable_area.get("dropTipsOffset") + drop_tip_location: Optional[Point] + if drop_tips_deck_offset: + drop_tip_location = Point( + x=drop_tips_deck_offset[0] + cutout_position.x, + y=drop_tips_deck_offset[1] + cutout_position.y, + z=drop_tips_deck_offset[2] + cutout_position.z, + ) + else: + drop_tip_location = None - def get_addressable_area_definition( - self, addressable_area_name: str - ) -> AddressableArea: - """Get the addressable area definition from the relevant deck definition.""" - for addressable_area in self._deck_definition["locations"]["addressableAreas"]: - if addressable_area_name == addressable_area["id"]: - return addressable_area + drop_labware_deck_offset = addressable_area.get("dropLabwareOffset") + drop_labware_location: Optional[Point] + if drop_labware_deck_offset: + drop_labware_location = Point( + x=drop_labware_deck_offset[0] + cutout_position.x, + y=drop_labware_deck_offset[1] + cutout_position.y, + z=drop_labware_deck_offset[2] + cutout_position.z, + ) + else: + drop_labware_location = None - raise FixtureDoesNotExistError( - f'Could not resolve "{addressable_area_name}" to a fixture.' - ) + return AddressableArea( + area_name=addressable_area["id"], + area_type=AreaType(addressable_area["areaType"]), + base_slot=base_slot, + display_name=addressable_area["displayName"], + bounding_box=bounding_box, + position=position, + compatible_module_types=addressable_area.get( + "compatibleModuleTypes", [] + ), + drop_tip_location=drop_tip_location, + drop_labware_location=drop_labware_location, + ) + raise AddressableAreaDoesNotExistError( + f"Could not find addressable area with name {addressable_area_name}" + ) diff --git a/api/src/opentrons/protocol_engine/resources/fixture_validation.py b/api/src/opentrons/protocol_engine/resources/fixture_validation.py index 3eed2f90b22..bee59415d11 100644 --- a/api/src/opentrons/protocol_engine/resources/fixture_validation.py +++ b/api/src/opentrons/protocol_engine/resources/fixture_validation.py @@ -1,69 +1,43 @@ -"""Validation file for fixtures and addressable area reference checking functions.""" +"""Validation file for addressable area reference checking functions.""" -from typing import List +from opentrons.types import DeckSlotName -from opentrons_shared_data.deck.deck_definitions import Locations, CutoutFixture -from opentrons.hardware_control.modules.types import ModuleModel, ModuleType +def is_waste_chute(addressable_area_name: str) -> bool: + """Check if an addressable area is a Waste Chute.""" + return addressable_area_name in { + "1and8ChannelWasteChute", + "96ChannelWasteChute", + "gripperWasteChute", + } -def validate_fixture_id(fixtureList: List[CutoutFixture], load_name: str) -> bool: - """Check that the loaded fixture has an existing definition.""" - for fixture in fixtureList: - if fixture.id == load_name: - return True - return False +def is_gripper_waste_chute(addressable_area_name: str) -> bool: + """Check if an addressable area is a gripper-movement-compatible Waste Chute.""" + return addressable_area_name == "gripperWasteChute" -def validate_fixture_location_is_allowed(fixture: CutoutFixture, location: str) -> bool: - """Validate that the fixture is allowed to load into the provided location according to the deck definitions.""" - return location in fixture.mayMountTo +def is_drop_tip_waste_chute(addressable_area_name: str) -> bool: + """Check if an addressable area is a Waste Chute compatible for dropping tips.""" + return addressable_area_name in {"1and8ChannelWasteChute", "96ChannelWasteChute"} -def validate_is_wastechute(load_name: str) -> bool: - """Check if a fixture is a Waste Chute.""" - return ( - load_name == "wasteChuteRightAdapterCovered" - or load_name == "wasteChuteRightAdapterNoCover" - or load_name == "stagingAreaSlotWithWasteChuteRightAdapterCovered" - or load_name == "stagingAreaSlotWithWasteChuteRightAdapterNoCover" - ) +def is_trash(addressable_area_name: str) -> bool: + """Check if an addressable area is a trash bin.""" + return addressable_area_name in {"movableTrash", "fixedTrash", "shortFixedTrash"} -def validate_module_is_compatible_with_fixture( - locations: Locations, fixture: CutoutFixture, module: ModuleModel -) -> bool: - """Validate that the fixture allows the loading of a specified module.""" - module_name = ModuleType.from_model(module).name - for key in fixture.providesAddressableAreas.keys(): - for area in fixture.providesAddressableAreas[key]: - for l_area in locations.addressableAreas: - if l_area.id == area: - if l_area.compatibleModuleTypes is None: - return False - elif module_name in l_area.compatibleModuleTypes: - return True - return False +def is_staging_slot(addressable_area_name: str) -> bool: + """Check if an addressable area is a staging area slot.""" + return addressable_area_name in {"A4", "B4", "C4", "D4"} -def validate_fixture_allows_drop_tip( - locations: Locations, fixture: CutoutFixture -) -> bool: - """Validate that the fixture allows tips to be dropped in it's addressable areas.""" - for key in fixture.providesAddressableAreas.keys(): - for area in fixture.providesAddressableAreas[key]: - for l_area in locations.addressableAreas: - if l_area.id == area and l_area.ableToDropTips: - return True - return False - -def validate_fixture_allows_drop_labware( - locations: Locations, fixture: CutoutFixture -) -> bool: - """Validate that the fixture allows labware to be dropped in it's addressable areas.""" - for key in fixture.providesAddressableAreas.keys(): - for area in fixture.providesAddressableAreas[key]: - for l_area in locations.addressableAreas: - if l_area.id == area and l_area.ableToDropLabware: - return True - return False +def is_deck_slot(addressable_area_name: str) -> bool: + """Check if an addressable area is a deck slot (including staging area slots).""" + if is_staging_slot(addressable_area_name): + return True + try: + DeckSlotName.from_primitive(addressable_area_name) + except ValueError: + return False + return True diff --git a/api/src/opentrons/protocol_engine/resources/pipette_data_provider.py b/api/src/opentrons/protocol_engine/resources/pipette_data_provider.py index 818566e3691..b3bf334933f 100644 --- a/api/src/opentrons/protocol_engine/resources/pipette_data_provider.py +++ b/api/src/opentrons/protocol_engine/resources/pipette_data_provider.py @@ -59,16 +59,13 @@ def configure_virtual_pipette_nozzle_layout( config = self._get_virtual_pipette_full_config_by_model_string( pipette_model_string ) - new_nozzle_manager = NozzleConfigurationManager.build_from_nozzlemap( - config.nozzle_map, - config.partial_tip_configurations.per_tip_pickup_current, - ) - if back_left_nozzle and front_right_nozzle and starting_nozzle: + new_nozzle_manager = NozzleConfigurationManager.build_from_config(config) + if back_left_nozzle and front_right_nozzle: new_nozzle_manager.update_nozzle_configuration( back_left_nozzle, front_right_nozzle, starting_nozzle ) self._nozzle_manager_layout_by_id[pipette_id] = new_nozzle_manager - elif back_left_nozzle and front_right_nozzle and starting_nozzle: + elif back_left_nozzle and front_right_nozzle: # Need to make sure that we pass all the right nozzles here. self._nozzle_manager_layout_by_id[pipette_id].update_nozzle_configuration( back_left_nozzle, front_right_nozzle, starting_nozzle diff --git a/api/src/opentrons/protocol_engine/slot_standardization.py b/api/src/opentrons/protocol_engine/slot_standardization.py index 9b2e352393a..c4e733b3ca6 100644 --- a/api/src/opentrons/protocol_engine/slot_standardization.py +++ b/api/src/opentrons/protocol_engine/slot_standardization.py @@ -24,7 +24,7 @@ OFF_DECK_LOCATION, DeckSlotLocation, LabwareLocation, - NonStackedLocation, + AddressableAreaLocation, LabwareOffsetCreate, ModuleLocation, OnLabwareLocation, @@ -124,21 +124,14 @@ def _standardize_labware_location( if isinstance(original, DeckSlotLocation): return _standardize_deck_slot_location(original, robot_type) elif ( - isinstance(original, (ModuleLocation, OnLabwareLocation)) + isinstance( + original, (ModuleLocation, OnLabwareLocation, AddressableAreaLocation) + ) or original == OFF_DECK_LOCATION ): return original -def _standardize_adapter_location( - original: NonStackedLocation, robot_type: RobotType -) -> NonStackedLocation: - if isinstance(original, DeckSlotLocation): - return _standardize_deck_slot_location(original, robot_type) - elif isinstance(original, ModuleLocation) or original == OFF_DECK_LOCATION: - return original - - def _standardize_deck_slot_location( original: DeckSlotLocation, robot_type: RobotType ) -> DeckSlotLocation: diff --git a/api/src/opentrons/protocol_engine/state/addressable_areas.py b/api/src/opentrons/protocol_engine/state/addressable_areas.py new file mode 100644 index 00000000000..c7362bd83f5 --- /dev/null +++ b/api/src/opentrons/protocol_engine/state/addressable_areas.py @@ -0,0 +1,406 @@ +"""Basic addressable area data state and store.""" +from dataclasses import dataclass +from typing import Dict, Set, Union, List + +from opentrons_shared_data.deck.dev_types import DeckDefinitionV4, SlotDefV3 + +from opentrons.types import Point, DeckSlotName + +from ..commands import ( + Command, + LoadLabwareResult, + LoadModuleResult, + MoveLabwareResult, + MoveToAddressableAreaResult, +) +from ..errors import ( + IncompatibleAddressableAreaError, + AreaNotInDeckConfigurationError, + SlotDoesNotExistError, +) +from ..resources import deck_configuration_provider +from ..types import ( + DeckSlotLocation, + AddressableAreaLocation, + AddressableArea, + PotentialCutoutFixture, + DeckConfigurationType, +) +from ..actions import Action, UpdateCommandAction, PlayAction +from .config import Config +from .abstract_store import HasState, HandlesActions + + +@dataclass +class AddressableAreaState: + """State of all loaded addressable area resources.""" + + loaded_addressable_areas_by_name: Dict[str, AddressableArea] + potential_cutout_fixtures_by_cutout_id: Dict[str, Set[PotentialCutoutFixture]] + deck_definition: DeckDefinitionV4 + use_simulated_deck_config: bool + + +def _get_conflicting_addressable_areas( + potential_cutout_fixtures: Set[PotentialCutoutFixture], + loaded_addressable_areas: Set[str], + deck_definition: DeckDefinitionV4, +) -> Set[str]: + loaded_areas_on_cutout = set() + for fixture in potential_cutout_fixtures: + loaded_areas_on_cutout.update( + deck_configuration_provider.get_provided_addressable_area_names( + fixture.cutout_fixture_id, + fixture.cutout_id, + deck_definition, + ) + ) + loaded_areas_on_cutout.intersection_update(loaded_addressable_areas) + return loaded_areas_on_cutout + + +# This is a temporary shim while Protocol Engine's conflict-checking code +# can only take deck slots as input. +# Long-term solution: Check for conflicts based on bounding boxes, not slot adjacencies. +# Shorter-term: Change the conflict-checking code to take cutouts instead of deck slots. +CUTOUT_TO_DECK_SLOT_MAP: Dict[str, DeckSlotName] = { + # OT-2 + "cutout1": DeckSlotName.SLOT_1, + "cutout2": DeckSlotName.SLOT_2, + "cutout3": DeckSlotName.SLOT_3, + "cutout4": DeckSlotName.SLOT_4, + "cutout5": DeckSlotName.SLOT_5, + "cutout6": DeckSlotName.SLOT_6, + "cutout7": DeckSlotName.SLOT_7, + "cutout8": DeckSlotName.SLOT_8, + "cutout9": DeckSlotName.SLOT_9, + "cutout10": DeckSlotName.SLOT_10, + "cutout11": DeckSlotName.SLOT_11, + "cutout12": DeckSlotName.FIXED_TRASH, + # Flex + "cutoutA1": DeckSlotName.SLOT_A1, + "cutoutA2": DeckSlotName.SLOT_A2, + "cutoutA3": DeckSlotName.SLOT_A3, + "cutoutB1": DeckSlotName.SLOT_B1, + "cutoutB2": DeckSlotName.SLOT_B2, + "cutoutB3": DeckSlotName.SLOT_B3, + "cutoutC1": DeckSlotName.SLOT_C1, + "cutoutC2": DeckSlotName.SLOT_C2, + "cutoutC3": DeckSlotName.SLOT_C3, + "cutoutD1": DeckSlotName.SLOT_D1, + "cutoutD2": DeckSlotName.SLOT_D2, + "cutoutD3": DeckSlotName.SLOT_D3, +} + + +class AddressableAreaStore(HasState[AddressableAreaState], HandlesActions): + """Addressable area state container.""" + + _state: AddressableAreaState + + def __init__( + self, + deck_configuration: DeckConfigurationType, + config: Config, + deck_definition: DeckDefinitionV4, + ) -> None: + """Initialize an addressable area store and its state.""" + if config.use_simulated_deck_config: + loaded_addressable_areas_by_name = {} + else: + loaded_addressable_areas_by_name = ( + self._get_addressable_areas_from_deck_configuration( + deck_configuration, + deck_definition, + ) + ) + self._state = AddressableAreaState( + loaded_addressable_areas_by_name=loaded_addressable_areas_by_name, + potential_cutout_fixtures_by_cutout_id={}, + deck_definition=deck_definition, + use_simulated_deck_config=config.use_simulated_deck_config, + ) + + def handle_action(self, action: Action) -> None: + """Modify state in reaction to an action.""" + if isinstance(action, UpdateCommandAction): + self._handle_command(action.command) + if isinstance(action, PlayAction): + current_state = self._state + if action.deck_configuration is not None: + self._state.loaded_addressable_areas_by_name = ( + self._get_addressable_areas_from_deck_configuration( + deck_config=action.deck_configuration, + deck_definition=current_state.deck_definition, + ) + ) + + def _handle_command(self, command: Command) -> None: + """Modify state in reaction to a command.""" + if isinstance(command.result, LoadLabwareResult): + location = command.params.location + if isinstance(location, (DeckSlotLocation, AddressableAreaLocation)): + self._check_location_is_addressable_area(location) + + elif isinstance(command.result, MoveLabwareResult): + location = command.params.newLocation + if isinstance(location, (DeckSlotLocation, AddressableAreaLocation)): + self._check_location_is_addressable_area(location) + + elif isinstance(command.result, LoadModuleResult): + self._check_location_is_addressable_area(command.params.location) + + elif isinstance(command.result, MoveToAddressableAreaResult): + addressable_area_name = command.params.addressableAreaName + self._check_location_is_addressable_area(addressable_area_name) + + @staticmethod + def _get_addressable_areas_from_deck_configuration( + deck_config: DeckConfigurationType, deck_definition: DeckDefinitionV4 + ) -> Dict[str, AddressableArea]: + """Load all provided addressable areas with a valid deck configuration.""" + # TODO uncomment once execute is hooked up with this properly + # assert ( + # len(deck_config) == 12 + # ), f"{len(deck_config)} cutout fixture ids provided." + addressable_areas = [] + for cutout_id, cutout_fixture_id in deck_config: + provided_addressable_areas = ( + deck_configuration_provider.get_provided_addressable_area_names( + cutout_fixture_id, cutout_id, deck_definition + ) + ) + cutout_position = deck_configuration_provider.get_cutout_position( + cutout_id, deck_definition + ) + base_slot = CUTOUT_TO_DECK_SLOT_MAP[cutout_id] + for addressable_area_name in provided_addressable_areas: + addressable_areas.append( + deck_configuration_provider.get_addressable_area_from_name( + addressable_area_name=addressable_area_name, + cutout_position=cutout_position, + base_slot=base_slot, + deck_definition=deck_definition, + ) + ) + return {area.area_name: area for area in addressable_areas} + + def _check_location_is_addressable_area( + self, location: Union[DeckSlotLocation, AddressableAreaLocation, str] + ) -> None: + if isinstance(location, DeckSlotLocation): + addressable_area_name = location.slotName.id + elif isinstance(location, AddressableAreaLocation): + addressable_area_name = location.addressableAreaName + else: + addressable_area_name = location + + if addressable_area_name not in self._state.loaded_addressable_areas_by_name: + # TODO Uncomment this out once robot server side stuff is hooked up + # if not self._state.use_simulated_deck_config: + # raise AreaNotInDeckConfigurationError( + # f"{addressable_area_name} not provided by deck configuration." + # ) + cutout_id = self._validate_addressable_area_for_simulation( + addressable_area_name + ) + cutout_position = deck_configuration_provider.get_cutout_position( + cutout_id, self._state.deck_definition + ) + base_slot = CUTOUT_TO_DECK_SLOT_MAP[cutout_id] + addressable_area = ( + deck_configuration_provider.get_addressable_area_from_name( + addressable_area_name=addressable_area_name, + cutout_position=cutout_position, + base_slot=base_slot, + deck_definition=self._state.deck_definition, + ) + ) + self._state.loaded_addressable_areas_by_name[ + addressable_area.area_name + ] = addressable_area + + def _validate_addressable_area_for_simulation( + self, addressable_area_name: str + ) -> str: + """Given an addressable area name, validate it can exist on the deck and return cutout id associated with it.""" + ( + cutout_id, + potential_fixtures, + ) = deck_configuration_provider.get_potential_cutout_fixtures( + addressable_area_name, self._state.deck_definition + ) + + if cutout_id in self._state.potential_cutout_fixtures_by_cutout_id: + existing_potential_fixtures = ( + self._state.potential_cutout_fixtures_by_cutout_id[cutout_id] + ) + remaining_fixtures = existing_potential_fixtures.intersection( + set(potential_fixtures) + ) + if not remaining_fixtures: + loaded_areas_on_cutout = _get_conflicting_addressable_areas( + existing_potential_fixtures, + set(self.state.loaded_addressable_areas_by_name), + self._state.deck_definition, + ) + raise IncompatibleAddressableAreaError( + f"Cannot load {addressable_area_name}, not compatible with one or more of" + f" the following areas: {loaded_areas_on_cutout}" + ) + self._state.potential_cutout_fixtures_by_cutout_id[ + cutout_id + ] = remaining_fixtures + else: + self._state.potential_cutout_fixtures_by_cutout_id[cutout_id] = set( + potential_fixtures + ) + return cutout_id + + +class AddressableAreaView(HasState[AddressableAreaState]): + """Read-only addressable area state view.""" + + _state: AddressableAreaState + + def __init__(self, state: AddressableAreaState) -> None: + """Initialize the computed view of addressable area state. + + Arguments: + state: Addressable area state dataclass used for all calculations. + """ + self._state = state + + def get_addressable_area(self, addressable_area_name: str) -> AddressableArea: + """Get addressable area.""" + if not self._state.use_simulated_deck_config: + return self._get_loaded_addressable_area(addressable_area_name) + else: + return self._get_addressable_area_for_simulation(addressable_area_name) + + def get_all(self) -> List[str]: + """Get a list of all loaded addressable area names.""" + return list(self._state.loaded_addressable_areas_by_name) + + def _get_loaded_addressable_area( + self, addressable_area_name: str + ) -> AddressableArea: + """Get an addressable area that has been loaded into state. Will raise error if it does not exist.""" + try: + return self._state.loaded_addressable_areas_by_name[addressable_area_name] + except KeyError: + raise AreaNotInDeckConfigurationError( + f"{addressable_area_name} not provided by deck configuration." + ) + + def _get_addressable_area_for_simulation( + self, addressable_area_name: str + ) -> AddressableArea: + """Get an addressable area that may not have been already loaded for a simulated run. + + Since this may be the first time this addressable area has been called, and it might not exist in the store + yet (and if not won't until the result completes), we have to check if it is theoretically possible and then + get the area data from the deck configuration provider. + """ + if addressable_area_name in self._state.loaded_addressable_areas_by_name: + return self._state.loaded_addressable_areas_by_name[addressable_area_name] + + ( + cutout_id, + potential_fixtures, + ) = deck_configuration_provider.get_potential_cutout_fixtures( + addressable_area_name, self._state.deck_definition + ) + + if cutout_id in self._state.potential_cutout_fixtures_by_cutout_id: + if not self._state.potential_cutout_fixtures_by_cutout_id[ + cutout_id + ].intersection(potential_fixtures): + loaded_areas_on_cutout = _get_conflicting_addressable_areas( + self._state.potential_cutout_fixtures_by_cutout_id[cutout_id], + set(self._state.loaded_addressable_areas_by_name), + self.state.deck_definition, + ) + raise IncompatibleAddressableAreaError( + f"Cannot load {addressable_area_name}, not compatible with one or more of" + f" the following areas: {loaded_areas_on_cutout}" + ) + + cutout_position = deck_configuration_provider.get_cutout_position( + cutout_id, self._state.deck_definition + ) + base_slot = CUTOUT_TO_DECK_SLOT_MAP[cutout_id] + return deck_configuration_provider.get_addressable_area_from_name( + addressable_area_name=addressable_area_name, + cutout_position=cutout_position, + base_slot=base_slot, + deck_definition=self._state.deck_definition, + ) + + def get_addressable_area_base_slot( + self, addressable_area_name: str + ) -> DeckSlotName: + """Get the base slot the addressable area is associated with.""" + addressable_area = self.get_addressable_area(addressable_area_name) + return addressable_area.base_slot + + def get_addressable_area_position(self, addressable_area_name: str) -> Point: + """Get the position of an addressable area.""" + # TODO This should be the regular `get_addressable_area` once Robot Server deck config and tests is hooked up + addressable_area = self._get_addressable_area_for_simulation( + addressable_area_name + ) + position = addressable_area.position + return Point(x=position.x, y=position.y, z=position.z) + + def get_addressable_area_move_to_location( + self, addressable_area_name: str + ) -> Point: + """Get the move-to position (top center) for an addressable area.""" + addressable_area = self.get_addressable_area(addressable_area_name) + position = addressable_area.position + bounding_box = addressable_area.bounding_box + return Point( + x=position.x + bounding_box.x / 2, + y=position.y + bounding_box.y / 2, + z=position.z + bounding_box.z, + ) + + def get_addressable_area_center(self, addressable_area_name: str) -> Point: + """Get the (x, y, z) position of the center of the area.""" + addressable_area = self.get_addressable_area(addressable_area_name) + position = addressable_area.position + bounding_box = addressable_area.bounding_box + return Point( + x=position.x + bounding_box.x / 2, + y=position.y + bounding_box.y / 2, + z=position.z, + ) + + def get_addressable_area_height(self, addressable_area_name: str) -> float: + """Get the z height of an addressable area.""" + addressable_area = self.get_addressable_area(addressable_area_name) + return addressable_area.bounding_box.z + + def get_slot_definition(self, slot: DeckSlotName) -> SlotDefV3: + """Get the definition of a slot in the deck.""" + try: + # TODO This should be the regular `get_addressable_area` once Robot Server deck config and tests is hooked up + addressable_area = self._get_addressable_area_for_simulation(slot.id) + except (AreaNotInDeckConfigurationError, IncompatibleAddressableAreaError): + raise SlotDoesNotExistError( + f"Slot ID {slot.id} does not exist in deck {self._state.deck_definition['otId']}" + ) + position = addressable_area.position + bounding_box = addressable_area.bounding_box + return { + "id": addressable_area.area_name, + "position": [position.x, position.y, position.z], + "boundingBox": { + "xDimension": bounding_box.x, + "yDimension": bounding_box.y, + "zDimension": bounding_box.z, + }, + "displayName": addressable_area.display_name, + "compatibleModuleTypes": addressable_area.compatible_module_types, + } diff --git a/api/src/opentrons/protocol_engine/state/config.py b/api/src/opentrons/protocol_engine/state/config.py index f1ba812bb8f..c5ba5fb07db 100644 --- a/api/src/opentrons/protocol_engine/state/config.py +++ b/api/src/opentrons/protocol_engine/state/config.py @@ -17,10 +17,14 @@ class Config: or pretending to control. ignore_pause: The engine should no-op instead of waiting for pauses and delays to complete. + use_virtual_pipettes: The engine should no-op instead of calling + instruments' hardware control API use_virtual_modules: The engine should no-op instead of calling modules' hardware control API. use_virtual_gripper: The engine should no-op instead of calling gripper hardware control API. + use_simulated_deck_config: The engine should lazily populate the deck + configuration instead of loading a provided configuration block_on_door_open: Protocol execution should pause if the front door is opened. """ @@ -31,4 +35,5 @@ class Config: use_virtual_pipettes: bool = False use_virtual_modules: bool = False use_virtual_gripper: bool = False + use_simulated_deck_config: bool = False block_on_door_open: bool = False diff --git a/api/src/opentrons/protocol_engine/state/geometry.py b/api/src/opentrons/protocol_engine/state/geometry.py index 7c26be23098..922ed92e223 100644 --- a/api/src/opentrons/protocol_engine/state/geometry.py +++ b/api/src/opentrons/protocol_engine/state/geometry.py @@ -1,12 +1,13 @@ """Geometry state getters.""" import enum from numpy import array, dot -from typing import Optional, List, Set, Tuple, Union, cast +from typing import Optional, List, Tuple, Union, cast, TypeVar from opentrons.types import Point, DeckSlotName, MountType from opentrons_shared_data.labware.constants import WELL_NAME_PATTERN from .. import errors +from ..resources import fixture_validation from ..types import ( OFF_DECK_LOCATION, LoadedLabware, @@ -25,14 +26,17 @@ ModuleOffsetData, DeckType, CurrentWell, + CurrentPipetteLocation, TipGeometry, LabwareMovementOffsetData, OnDeckLabwareLocation, + AddressableAreaLocation, ) from .config import Config from .labware import LabwareView from .modules import ModuleView from .pipettes import PipetteView +from .addressable_areas import AddressableAreaView from opentrons_shared_data.pipette import PIPETTE_X_SPAN from opentrons_shared_data.pipette.dev_types import ChannelCount @@ -55,6 +59,9 @@ class _GripperMoveType(enum.Enum): DROP_LABWARE = enum.auto() +_LabwareLocation = TypeVar("_LabwareLocation", bound=LabwareLocation) + + # TODO(mc, 2021-06-03): continue evaluation of which selectors should go here # vs which selectors should be in LabwareView class GeometryView: @@ -66,12 +73,14 @@ def __init__( labware_view: LabwareView, module_view: ModuleView, pipette_view: PipetteView, + addressable_area_view: AddressableAreaView, ) -> None: """Initialize a GeometryView instance.""" self._config = config self._labware = labware_view self._modules = module_view self._pipettes = pipette_view + self._addressable_areas = addressable_area_view self._last_drop_tip_location_spot: Optional[_TipDropSection] = None def get_labware_highest_z(self, labware_id: str) -> float: @@ -100,18 +109,26 @@ def get_all_labware_highest_z(self) -> float: default=0.0, ) - return max(highest_labware_z, highest_module_z) + highest_addressable_area_z = max( + ( + self._addressable_areas.get_addressable_area_height(area_name) + for area_name in self._addressable_areas.get_all() + ), + default=0.0, + ) + + return max(highest_labware_z, highest_module_z, highest_addressable_area_z) def get_min_travel_z( self, pipette_id: str, labware_id: str, - location: Optional[CurrentWell], + location: Optional[CurrentPipetteLocation], minimum_z_height: Optional[float], ) -> float: """Get the minimum allowed travel height of an arc move.""" if ( - location is not None + isinstance(location, CurrentWell) and pipette_id == location.pipette_id and labware_id == location.labware_id ): @@ -125,7 +142,7 @@ def get_min_travel_z( def get_labware_parent_nominal_position(self, labware_id: str) -> Point: """Get the position of the labware's uncalibrated parent slot (deck, module, or another labware).""" slot_name = self.get_ancestor_slot_name(labware_id) - slot_pos = self._labware.get_slot_position(slot_name) + slot_pos = self._addressable_areas.get_addressable_area_position(slot_name.id) labware_data = self._labware.get(labware_id) offset = self._get_labware_position_offset(labware_id, labware_data.location) @@ -151,7 +168,7 @@ def _get_labware_position_offset( on modules as well as stacking overlaps. Does not include module calibration offset or LPC offset. """ - if isinstance(labware_location, DeckSlotLocation): + if isinstance(labware_location, (AddressableAreaLocation, DeckSlotLocation)): return LabwareOffsetVector(x=0, y=0, z=0) elif isinstance(labware_location, ModuleLocation): module_id = labware_location.moduleId @@ -227,7 +244,9 @@ def _get_calibrated_module_offset( return self._normalize_module_calibration_offset( module_location, offset_data ) - elif isinstance(location, DeckSlotLocation): + elif isinstance(location, (DeckSlotLocation, AddressableAreaLocation)): + # TODO we might want to do a check here to make sure addressable area location is a standard deck slot + # and raise if its not (or maybe we don't actually care since modules will never be loaded elsewhere) return ModuleOffsetVector(x=0, y=0, z=0) elif isinstance(location, OnLabwareLocation): labware_data = self._labware.get(location.labwareId) @@ -401,12 +420,20 @@ def get_checked_tip_drop_location( pipette_id: str, labware_id: str, well_location: DropTipWellLocation, + partially_configured: bool = False, ) -> WellLocation: """Get tip drop location given labware and hardware pipette. This makes sure that the well location has an appropriate origin & offset if one is not already set previously. """ + if ( + self._labware.get_definition(labware_id).parameters.isTiprack + and partially_configured + ): + raise errors.UnexpectedProtocolError( + "Cannot return tip to a tiprack while the pipette is configured for partial tip." + ) if well_location.origin != DropTipWellOrigin.DEFAULT: return WellLocation( origin=WellOrigin(well_location.origin.value), @@ -445,6 +472,15 @@ def get_ancestor_slot_name(self, labware_id: str) -> DeckSlotName: elif isinstance(labware.location, OnLabwareLocation): below_labware_id = labware.location.labwareId slot_name = self.get_ancestor_slot_name(below_labware_id) + elif isinstance(labware.location, AddressableAreaLocation): + area_name = labware.location.addressableAreaName + # TODO we might want to eventually return some sort of staging slot name when we're ready to work through + # the linting nightmare it will create + if fixture_validation.is_staging_slot(area_name): + raise ValueError( + "Cannot get ancestor slot name for labware on staging slot." + ) + slot_name = DeckSlotName.from_primitive(area_name) elif labware.location == OFF_DECK_LOCATION: raise errors.LabwareNotOnDeckError( f"Labware {labware_id} does not have a slot associated with it" @@ -454,18 +490,33 @@ def get_ancestor_slot_name(self, labware_id: str) -> DeckSlotName: return slot_name def ensure_location_not_occupied( - self, location: LabwareLocation - ) -> LabwareLocation: - """Ensure that the location does not already have equipment in it.""" - if isinstance(location, (DeckSlotLocation, ModuleLocation)): + self, location: _LabwareLocation + ) -> _LabwareLocation: + """Ensure that the location does not already have either Labware or a Module in it.""" + # TODO (spp, 2023-11-27): Slot locations can also be addressable areas + # so we will need to cross-check against items loaded in both location types. + # Something like 'check if an item is in lists of both- labware on addressable areas + # as well as labware on slots'. Same for modules. + if isinstance( + location, + ( + DeckSlotLocation, + ModuleLocation, + OnLabwareLocation, + AddressableAreaLocation, + ), + ): self._labware.raise_if_labware_in_location(location) + if isinstance(location, DeckSlotLocation): self._modules.raise_if_module_in_location(location) - return location + return cast(_LabwareLocation, location) def get_labware_grip_point( self, labware_id: str, - location: Union[DeckSlotLocation, ModuleLocation, OnLabwareLocation], + location: Union[ + DeckSlotLocation, ModuleLocation, OnLabwareLocation, AddressableAreaLocation + ], ) -> Point: """Get the grip point of the labware as placed on the given location. @@ -480,16 +531,33 @@ def get_labware_grip_point( grip_height_from_labware_bottom = ( self._labware.get_grip_height_from_labware_bottom(labware_id) ) - location_slot: DeckSlotName + location_name: str if isinstance(location, DeckSlotLocation): - location_slot = location.slotName + location_name = location.slotName.id offset = LabwareOffsetVector(x=0, y=0, z=0) + elif isinstance(location, AddressableAreaLocation): + location_name = location.addressableAreaName + if fixture_validation.is_gripper_waste_chute(location_name): + gripper_waste_chute = self._addressable_areas.get_addressable_area( + location_name + ) + drop_labware_location = gripper_waste_chute.drop_labware_location + if drop_labware_location is None: + raise ValueError( + f"{location_name} does not have a drop labware location associated with it" + ) + return drop_labware_location + Point(z=grip_height_from_labware_bottom) + # Location should have been pre-validated so this will be a deck/staging area slot + else: + offset = LabwareOffsetVector(x=0, y=0, z=0) else: if isinstance(location, ModuleLocation): - location_slot = self._modules.get_location(location.moduleId).slotName + location_name = self._modules.get_location( + location.moduleId + ).slotName.id else: # OnLabwareLocation - location_slot = self.get_ancestor_slot_name(location.labwareId) + location_name = self.get_ancestor_slot_name(location.labwareId).id labware_offset = self._get_labware_position_offset(labware_id, location) # Get the calibrated offset if the on labware location is on top of a module, otherwise return empty one cal_offset = self._get_calibrated_module_offset(location) @@ -499,47 +567,50 @@ def get_labware_grip_point( z=labware_offset.z + cal_offset.z, ) - slot_center = self._labware.get_slot_center_position(location_slot) + location_center = self._addressable_areas.get_addressable_area_center( + location_name + ) return Point( - slot_center.x + offset.x, - slot_center.y + offset.y, - slot_center.z + offset.z + grip_height_from_labware_bottom, + location_center.x + offset.x, + location_center.y + offset.y, + location_center.z + offset.z + grip_height_from_labware_bottom, ) def get_extra_waypoints( - self, labware_id: str, location: Optional[CurrentWell] + self, location: Optional[CurrentPipetteLocation], to_slot: DeckSlotName ) -> List[Tuple[float, float]]: """Get extra waypoints for movement if thermocycler needs to be dodged.""" - if location is not None and self._modules.should_dodge_thermocycler( - from_slot=self.get_ancestor_slot_name(location.labware_id), - to_slot=self.get_ancestor_slot_name(labware_id), - ): - middle_slot = DeckSlotName.SLOT_5.to_equivalent_for_robot_type( - self._config.robot_type - ) - middle_slot_center = self._labware.get_slot_center_position( - slot=middle_slot, - ) - return [(middle_slot_center.x, middle_slot_center.y)] + if location is not None: + if isinstance(location, CurrentWell): + from_slot = self.get_ancestor_slot_name(location.labware_id) + else: + from_slot = self._addressable_areas.get_addressable_area_base_slot( + location.addressable_area_name + ) + if self._modules.should_dodge_thermocycler( + from_slot=from_slot, to_slot=to_slot + ): + middle_slot = DeckSlotName.SLOT_5.to_equivalent_for_robot_type( + self._config.robot_type + ) + middle_slot_center = ( + self._addressable_areas.get_addressable_area_center( + addressable_area_name=middle_slot.id, + ) + ) + return [(middle_slot_center.x, middle_slot_center.y)] return [] - # TODO(mc, 2022-12-09): enforce data integrity (e.g. one module per slot) - # rather than shunting this work to callers via `allowed_ids`. - # This has larger implications and is tied up in splitting LPC out of the protocol run def get_slot_item( self, slot_name: DeckSlotName, - allowed_labware_ids: Set[str], - allowed_module_ids: Set[str], ) -> Union[LoadedLabware, LoadedModule, None]: """Get the item present in a deck slot, if any.""" maybe_labware = self._labware.get_by_slot( slot_name=slot_name, - allowed_ids=allowed_labware_ids, ) maybe_module = self._modules.get_by_slot( slot_name=slot_name, - allowed_ids=allowed_module_ids, ) return maybe_labware or maybe_module or None @@ -706,10 +777,18 @@ def get_final_labware_movement_offset_vectors( @staticmethod def ensure_valid_gripper_location( location: LabwareLocation, - ) -> Union[DeckSlotLocation, ModuleLocation, OnLabwareLocation]: + ) -> Union[ + DeckSlotLocation, ModuleLocation, OnLabwareLocation, AddressableAreaLocation + ]: """Ensure valid on-deck location for gripper, otherwise raise error.""" if not isinstance( - location, (DeckSlotLocation, ModuleLocation, OnLabwareLocation) + location, + ( + DeckSlotLocation, + ModuleLocation, + OnLabwareLocation, + AddressableAreaLocation, + ), ): raise errors.LabwareMovementNotAllowedError( "Off-deck labware movements are not supported using the gripper." @@ -721,7 +800,9 @@ def get_total_nominal_gripper_offset_for_move_type( ) -> LabwareOffsetVector: """Get the total of the offsets to be used to pick up labware in its current location.""" if move_type == _GripperMoveType.PICK_UP_LABWARE: - if isinstance(location, (ModuleLocation, DeckSlotLocation)): + if isinstance( + location, (ModuleLocation, DeckSlotLocation, AddressableAreaLocation) + ): return self._nominal_gripper_offsets_for_location(location).pickUpOffset else: # If it's a labware on a labware (most likely an adapter), @@ -741,7 +822,9 @@ def get_total_nominal_gripper_offset_for_move_type( ).pickUpOffset ) else: - if isinstance(location, (ModuleLocation, DeckSlotLocation)): + if isinstance( + location, (ModuleLocation, DeckSlotLocation, AddressableAreaLocation) + ): return self._nominal_gripper_offsets_for_location(location).dropOffset else: # If it's a labware on a labware (most likely an adapter), @@ -765,7 +848,9 @@ def _nominal_gripper_offsets_for_location( self, location: OnDeckLabwareLocation ) -> LabwareMovementOffsetData: """Provide the default gripper offset data for the given location type.""" - if isinstance(location, DeckSlotLocation): + if isinstance(location, (DeckSlotLocation, AddressableAreaLocation)): + # TODO we might need a separate type of gripper offset for addressable areas but that also might just + # be covered by the drop labware offset/location offsets = self._labware.get_deck_default_gripper_offsets() elif isinstance(location, ModuleLocation): offsets = self._modules.get_default_gripper_offsets(location.moduleId) diff --git a/api/src/opentrons/protocol_engine/state/labware.py b/api/src/opentrons/protocol_engine/state/labware.py index b40a00c7b65..67c6d0063de 100644 --- a/api/src/opentrons/protocol_engine/state/labware.py +++ b/api/src/opentrons/protocol_engine/state/labware.py @@ -9,25 +9,23 @@ Mapping, Optional, Sequence, - Set, - Union, Tuple, NamedTuple, cast, ) -from opentrons_shared_data.deck.dev_types import DeckDefinitionV4, SlotDefV3 +from opentrons_shared_data.deck.dev_types import DeckDefinitionV4 from opentrons_shared_data.gripper.constants import LABWARE_GRIP_FORCE from opentrons_shared_data.labware.labware_definition import LabwareRole from opentrons_shared_data.pipette.dev_types import LabwareUri -from opentrons.types import DeckSlotName, Point, MountType +from opentrons.types import DeckSlotName, MountType from opentrons.protocols.api_support.constants import OPENTRONS_NAMESPACE from opentrons.protocols.models import LabwareDefinition, WellDefinition from opentrons.calibration_storage.helpers import uri_from_details from .. import errors -from ..resources import DeckFixedLabware, labware_validation +from ..resources import DeckFixedLabware, labware_validation, fixture_validation from ..commands import ( Command, LoadLabwareResult, @@ -36,6 +34,7 @@ from ..types import ( DeckSlotLocation, OnLabwareLocation, + AddressableAreaLocation, NonStackedLocation, Dimensions, LabwareOffset, @@ -47,6 +46,8 @@ ModuleModel, OverlapOffset, LabwareMovementOffsetData, + OnDeckLabwareLocation, + OFF_DECK_LOCATION, ) from ..actions import ( Action, @@ -203,6 +204,13 @@ def _handle_command(self, command: Command) -> None: new_offset_id = command.result.offsetId self._state.labware_by_id[labware_id].offsetId = new_offset_id + if isinstance( + new_location, AddressableAreaLocation + ) and fixture_validation.is_gripper_waste_chute( + new_location.addressableAreaName + ): + # If a labware has been moved into a waste chute it's been chuted away and is now technically off deck + new_location = OFF_DECK_LOCATION self._state.labware_by_id[labware_id].location = new_location def _add_labware_offset(self, labware_offset: LabwareOffset) -> None: @@ -275,20 +283,17 @@ def raise_if_labware_has_labware_on_top(self, labware_id: str) -> None: f"Cannot move to labware {labware_id}, labware has other labware stacked on top." ) - # TODO(mc, 2022-12-09): enforce data integrity (e.g. one labware per slot) - # rather than shunting this work to callers via `allowed_ids`. - # This has larger implications and is tied up in splitting LPC out of the protocol run def get_by_slot( - self, slot_name: DeckSlotName, allowed_ids: Set[str] + self, + slot_name: DeckSlotName, ) -> Optional[LoadedLabware]: """Get the labware located in a given slot, if any.""" - loaded_labware = reversed(list(self._state.labware_by_id.values())) + loaded_labware = list(self._state.labware_by_id.values()) for labware in loaded_labware: if ( isinstance(labware.location, DeckSlotLocation) and labware.location.slotName == slot_name - and labware.id in allowed_ids ): return labware @@ -308,82 +313,6 @@ def get_deck_definition(self) -> DeckDefinitionV4: """Get the current deck definition.""" return self._state.deck_definition - def get_slot_definition(self, slot: DeckSlotName) -> SlotDefV3: - """Get the definition of a slot in the deck.""" - deck_def = self.get_deck_definition() - - # TODO(jbl 2023-10-19 this is all incredibly hacky and ultimately we should get rid of SlotDefV3, and maybe - # move all this to another store/provider. However for now, this can be more or less equivalent and not break - # things TM TM TM - - for cutout in deck_def["locations"]["cutouts"]: - if cutout["id"].endswith(slot.id): - base_position = cutout["position"] - break - else: - raise errors.SlotDoesNotExistError( - f"Slot ID {slot.id} does not exist in deck {deck_def['otId']}" - ) - - slot_def: SlotDefV3 - # Slot 12/fixed trash for ot2 is a little weird so if its that just return some hardcoded stuff - if slot.id == "12": - slot_def = { - "id": "12", - "position": base_position, - "boundingBox": { - "xDimension": 128.0, - "yDimension": 86.0, - "zDimension": 0, - }, - "displayName": "Slot 12", - "compatibleModuleTypes": [], - } - return slot_def - - for area in deck_def["locations"]["addressableAreas"]: - if area["id"] == slot.id: - offset = area["offsetFromCutoutFixture"] - position = [ - offset[0] + base_position[0], - offset[1] + base_position[1], - offset[2] + base_position[2], - ] - slot_def = { - "id": area["id"], - "position": position, - "boundingBox": area["boundingBox"], - "displayName": area["displayName"], - "compatibleModuleTypes": area["compatibleModuleTypes"], - } - if area.get("matingSurfaceUnitVector"): - slot_def["matingSurfaceUnitVector"] = area[ - "matingSurfaceUnitVector" - ] - return slot_def - - raise errors.SlotDoesNotExistError( - f"Slot ID {slot.id} does not exist in deck {deck_def['otId']}" - ) - - def get_slot_position(self, slot: DeckSlotName) -> Point: - """Get the position of a deck slot.""" - slot_def = self.get_slot_definition(slot) - position = slot_def["position"] - - return Point(x=position[0], y=position[1], z=position[2]) - - def get_slot_center_position(self, slot: DeckSlotName) -> Point: - """Get the (x, y, z) position of the center of the slot.""" - slot_def = self.get_slot_definition(slot) - position = slot_def["position"] - - return Point( - x=position[0] + slot_def["boundingBox"]["xDimension"] / 2, - y=position[1] + slot_def["boundingBox"]["yDimension"] / 2, - z=position[2] + slot_def["boundingBox"]["zDimension"] / 2, - ) - def get_definition_by_uri(self, uri: LabwareUri) -> LabwareDefinition: """Get the labware definition matching loadName namespace and version.""" try: @@ -730,7 +659,8 @@ def is_fixed_trash(self, labware_id: str) -> bool: return self.get_fixed_trash_id() == labware_id def raise_if_labware_in_location( - self, location: Union[DeckSlotLocation, ModuleLocation] + self, + location: OnDeckLabwareLocation, ) -> None: """Raise an error if the specified location has labware in it.""" for labware in self.get_all(): diff --git a/api/src/opentrons/protocol_engine/state/modules.py b/api/src/opentrons/protocol_engine/state/modules.py index 6ac289a6b79..1239feab138 100644 --- a/api/src/opentrons/protocol_engine/state/modules.py +++ b/api/src/opentrons/protocol_engine/state/modules.py @@ -9,7 +9,6 @@ NamedTuple, Optional, Sequence, - Set, Type, TypeVar, Union, @@ -43,7 +42,6 @@ LabwareOffsetVector, HeaterShakerLatchStatus, HeaterShakerMovementRestrictors, - ModuleLocation, DeckType, LabwareMovementOffsetData, ) @@ -493,17 +491,15 @@ def get_all(self) -> List[LoadedModule]: """Get a list of all module entries in state.""" return [self.get(mod_id) for mod_id in self._state.slot_by_module_id.keys()] - # TODO(mc, 2022-12-09): enforce data integrity (e.g. one module per slot) - # rather than shunting this work to callers via `allowed_ids`. - # This has larger implications and is tied up in splitting LPC out of the protocol run def get_by_slot( - self, slot_name: DeckSlotName, allowed_ids: Set[str] + self, + slot_name: DeckSlotName, ) -> Optional[LoadedModule]: """Get the module located in a given slot, if any.""" slots_by_id = reversed(list(self._state.slot_by_module_id.items())) for module_id, module_slot in slots_by_id: - if module_slot == slot_name and module_id in allowed_ids: + if module_slot == slot_name: return self.get(module_id) return None @@ -932,7 +928,8 @@ def get_heater_shaker_movement_restrictors( return hs_restrictors def raise_if_module_in_location( - self, location: Union[DeckSlotLocation, ModuleLocation] + self, + location: DeckSlotLocation, ) -> None: """Raise if the given location has a module in it.""" for module in self.get_all(): diff --git a/api/src/opentrons/protocol_engine/state/motion.py b/api/src/opentrons/protocol_engine/state/motion.py index 08195901af6..310ead69c6f 100644 --- a/api/src/opentrons/protocol_engine/state/motion.py +++ b/api/src/opentrons/protocol_engine/state/motion.py @@ -12,10 +12,17 @@ from . import move_types from .. import errors -from ..types import WellLocation, CurrentWell, MotorAxis +from ..types import ( + MotorAxis, + WellLocation, + CurrentWell, + CurrentPipetteLocation, + AddressableOffsetVector, +) from .config import Config from .labware import LabwareView from .pipettes import PipetteView +from .addressable_areas import AddressableAreaView from .geometry import GeometryView from .modules import ModuleView from .module_substates import HeaterShakerModuleId @@ -37,6 +44,7 @@ def __init__( config: Config, labware_view: LabwareView, pipette_view: PipetteView, + addressable_area_view: AddressableAreaView, geometry_view: GeometryView, module_view: ModuleView, ) -> None: @@ -44,16 +52,17 @@ def __init__( self._config = config self._labware = labware_view self._pipettes = pipette_view + self._addressable_areas = addressable_area_view self._geometry = geometry_view self._modules = module_view def get_pipette_location( self, pipette_id: str, - current_well: Optional[CurrentWell] = None, + current_location: Optional[CurrentPipetteLocation] = None, ) -> PipetteLocationData: """Get the critical point of a pipette given the current location.""" - current_well = current_well or self._pipettes.get_current_well() + current_location = current_location or self._pipettes.get_current_location() pipette_data = self._pipettes.get(pipette_id) mount = pipette_data.mount @@ -62,10 +71,10 @@ def get_pipette_location( # if the pipette was last used to move to a labware that requires # centering, set the critical point to XY_CENTER if ( - current_well is not None - and current_well.pipette_id == pipette_id + isinstance(current_location, CurrentWell) + and current_location.pipette_id == pipette_id and self._labware.get_has_quirk( - current_well.labware_id, + current_location.labware_id, "centerMultichannelOnWells", ) ): @@ -86,7 +95,8 @@ def get_movement_waypoints_to_well( minimum_z_height: Optional[float] = None, ) -> List[motion_planning.Waypoint]: """Calculate waypoints to a destination that's specified as a well.""" - location = current_well or self._pipettes.get_current_well() + location = current_well or self._pipettes.get_current_location() + center_destination = self._labware.get_has_quirk( labware_id, "centerMultichannelOnWells", @@ -105,9 +115,70 @@ def get_movement_waypoints_to_well( min_travel_z = self._geometry.get_min_travel_z( pipette_id, labware_id, location, minimum_z_height ) + + destination_slot = self._geometry.get_ancestor_slot_name(labware_id) + # TODO (spp, 11-29-2021): Should log some kind of warning that pipettes + # could crash onto the thermocycler if current well or addressable area is not known. + extra_waypoints = self._geometry.get_extra_waypoints( + location=location, to_slot=destination_slot + ) + + try: + return motion_planning.get_waypoints( + move_type=move_type, + origin=origin, + origin_cp=origin_cp, + dest=destination, + dest_cp=destination_cp, + min_travel_z=min_travel_z, + max_travel_z=max_travel_z, + xy_waypoints=extra_waypoints, + ) + except motion_planning.MotionPlanningError as error: + raise errors.FailedToPlanMoveError(str(error)) + + def get_movement_waypoints_to_addressable_area( + self, + addressable_area_name: str, + offset: AddressableOffsetVector, + origin: Point, + origin_cp: Optional[CriticalPoint], + max_travel_z: float, + force_direct: bool = False, + minimum_z_height: Optional[float] = None, + ) -> List[motion_planning.Waypoint]: + """Calculate waypoints to a destination that's specified as an addressable area.""" + location = self._pipettes.get_current_location() + + base_destination = ( + self._addressable_areas.get_addressable_area_move_to_location( + addressable_area_name + ) + ) + destination = base_destination + Point(x=offset.x, y=offset.y, z=offset.z) + + # TODO(jbl 11-28-2023) This may need to change for partial tip configurations on a 96 + destination_cp = CriticalPoint.XY_CENTER + + all_labware_highest_z = self._geometry.get_all_labware_highest_z() + if minimum_z_height is None: + minimum_z_height = float("-inf") + min_travel_z = max(all_labware_highest_z, minimum_z_height) + + move_type = ( + motion_planning.MoveType.DIRECT + if force_direct + else motion_planning.MoveType.GENERAL_ARC + ) + + destination_slot = self._addressable_areas.get_addressable_area_base_slot( + addressable_area_name + ) # TODO (spp, 11-29-2021): Should log some kind of warning that pipettes - # could crash onto the thermocycler if current well is not known. - extra_waypoints = self._geometry.get_extra_waypoints(labware_id, location) + # could crash onto the thermocycler if current well or addressable area is not known. + extra_waypoints = self._geometry.get_extra_waypoints( + location=location, to_slot=destination_slot + ) try: return motion_planning.get_waypoints( @@ -173,11 +244,18 @@ def check_pipette_blocking_hs_latch( ) -> bool: """Check if pipette would block h/s latch from opening if it is east, west or on module.""" pipette_blocking = True - current_well = self._pipettes.get_current_well() - if current_well is not None: - pipette_deck_slot = self._geometry.get_ancestor_slot_name( - current_well.labware_id - ).as_int() + current_location = self._pipettes.get_current_location() + if current_location is not None: + if isinstance(current_location, CurrentWell): + pipette_deck_slot = self._geometry.get_ancestor_slot_name( + current_location.labware_id + ).as_int() + else: + pipette_deck_slot = ( + self._addressable_areas.get_addressable_area_base_slot( + current_location.addressable_area_name + ).as_int() + ) hs_deck_slot = self._modules.get_location(hs_module_id).slotName.as_int() conflicting_slots = get_east_west_slots(hs_deck_slot) + [hs_deck_slot] pipette_blocking = pipette_deck_slot in conflicting_slots @@ -188,11 +266,18 @@ def check_pipette_blocking_hs_shaker( ) -> bool: """Check if pipette would block h/s latch from starting shake if it is adjacent or on module.""" pipette_blocking = True - current_well = self._pipettes.get_current_well() - if current_well is not None: - pipette_deck_slot = self._geometry.get_ancestor_slot_name( - current_well.labware_id - ).as_int() + current_location = self._pipettes.get_current_location() + if current_location is not None: + if isinstance(current_location, CurrentWell): + pipette_deck_slot = self._geometry.get_ancestor_slot_name( + current_location.labware_id + ).as_int() + else: + pipette_deck_slot = ( + self._addressable_areas.get_addressable_area_base_slot( + current_location.addressable_area_name + ).as_int() + ) hs_deck_slot = self._modules.get_location(hs_module_id).slotName.as_int() conflicting_slots = get_adjacent_slots(hs_deck_slot) + [hs_deck_slot] pipette_blocking = pipette_deck_slot in conflicting_slots diff --git a/api/src/opentrons/protocol_engine/state/move_types.py b/api/src/opentrons/protocol_engine/state/move_types.py index b28c0d0be94..b8dcb28bd8d 100644 --- a/api/src/opentrons/protocol_engine/state/move_types.py +++ b/api/src/opentrons/protocol_engine/state/move_types.py @@ -6,7 +6,7 @@ from opentrons.types import Point from opentrons.motion_planning.types import MoveType -from ..types import CurrentWell +from ..types import CurrentWell, CurrentPipetteLocation @dataclass @@ -32,14 +32,14 @@ def get_move_type_to_well( pipette_id: str, labware_id: str, well_name: str, - location: Optional[CurrentWell], + location: Optional[CurrentPipetteLocation], force_direct: bool, ) -> MoveType: """Get the move type for a move to well command.""" if force_direct: return MoveType.DIRECT if ( - location is not None + isinstance(location, CurrentWell) and pipette_id == location.pipette_id and labware_id == location.labware_id ): diff --git a/api/src/opentrons/protocol_engine/state/pipettes.py b/api/src/opentrons/protocol_engine/state/pipettes.py index 4d1f7278971..73d88df37be 100644 --- a/api/src/opentrons/protocol_engine/state/pipettes.py +++ b/api/src/opentrons/protocol_engine/state/pipettes.py @@ -19,6 +19,8 @@ FlowRates, DeckPoint, CurrentWell, + CurrentAddressableArea, + CurrentPipetteLocation, TipGeometry, ) from ..commands import ( @@ -31,6 +33,7 @@ MoveToCoordinatesResult, MoveToWellResult, MoveRelativeResult, + MoveToAddressableAreaResult, PickUpTipResult, DropTipResult, DropTipInPlaceResult, @@ -95,7 +98,7 @@ class PipetteState: pipettes_by_id: Dict[str, LoadedPipette] aspirated_volume_by_id: Dict[str, Optional[float]] - current_well: Optional[CurrentWell] + current_location: Optional[CurrentPipetteLocation] current_deck_point: CurrentDeckPoint attached_tip_by_id: Dict[str, Optional[TipGeometry]] movement_speed_by_id: Dict[str, Optional[float]] @@ -115,7 +118,7 @@ def __init__(self) -> None: pipettes_by_id={}, aspirated_volume_by_id={}, attached_tip_by_id={}, - current_well=None, + current_location=None, current_deck_point=CurrentDeckPoint(mount=None, deck_point=None), movement_speed_by_id={}, static_config_by_id={}, @@ -133,7 +136,7 @@ def handle_action(self, action: Action) -> None: def _handle_command( # noqa: C901 self, command: Command, private_result: CommandPrivateResult ) -> None: - self._update_current_well(command) + self._update_current_location(command) self._update_deck_point(command) if isinstance(private_result, PipetteConfigUpdateResultMixin): @@ -240,9 +243,9 @@ def _handle_command( # noqa: C901 pipette_id = command.params.pipetteId self._state.aspirated_volume_by_id[pipette_id] = 0 - def _update_current_well(self, command: Command) -> None: - # These commands leave the pipette in a new well. - # Update current_well to reflect that. + def _update_current_location(self, command: Command) -> None: + # These commands leave the pipette in a new location. + # Update current_location to reflect that. if isinstance( command.result, ( @@ -255,17 +258,23 @@ def _update_current_well(self, command: Command) -> None: TouchTipResult, ), ): - self._state.current_well = CurrentWell( + self._state.current_location = CurrentWell( pipette_id=command.params.pipetteId, labware_id=command.params.labwareId, well_name=command.params.wellName, ) + elif isinstance(command.result, MoveToAddressableAreaResult): + self._state.current_location = CurrentAddressableArea( + pipette_id=command.params.pipetteId, + addressable_area_name=command.params.addressableAreaName, + ) + # These commands leave the pipette in a place that we can't logically associate - # with a well. Clear current_well to reflect the fact that it's now unknown. + # with a well. Clear current_location to reflect the fact that it's now unknown. # - # TODO(mc, 2021-11-12): Wipe out current_well on movement failures, too. - # TODO(jbl 2023-02-14): Need to investigate whether move relative should clear current well + # TODO(mc, 2021-11-12): Wipe out current_location on movement failures, too. + # TODO(jbl 2023-02-14): Need to investigate whether move relative should clear current location elif isinstance( command.result, ( @@ -276,7 +285,7 @@ def _update_current_well(self, command: Command) -> None: thermocycler.CloseLidResult, ), ): - self._state.current_well = None + self._state.current_location = None # Heater-Shaker commands may have left the pipette in a place that we can't # associate with a logical location, depending on their result. @@ -288,10 +297,10 @@ def _update_current_well(self, command: Command) -> None: ), ): if command.result.pipetteRetracted: - self._state.current_well = None + self._state.current_location = None # A moveLabware command may have moved the labware that contains the current - # well out from under the pipette. Clear the current well to reflect the + # well out from under the pipette. Clear the current location to reflect the # fact that the pipette is no longer over any labware. # # This is necessary for safe motion planning in case the next movement @@ -300,12 +309,12 @@ def _update_current_well(self, command: Command) -> None: moved_labware_id = command.params.labwareId if command.params.strategy == "usingGripper": # All mounts will have been retracted. - self._state.current_well = None + self._state.current_location = None elif ( - self._state.current_well is not None - and self._state.current_well.labware_id == moved_labware_id + isinstance(self._state.current_location, CurrentWell) + and self._state.current_location.labware_id == moved_labware_id ): - self._state.current_well = None + self._state.current_location = None def _update_deck_point(self, command: Command) -> None: if isinstance( @@ -314,6 +323,7 @@ def _update_deck_point(self, command: Command) -> None: MoveToWellResult, MoveToCoordinatesResult, MoveRelativeResult, + MoveToAddressableAreaResult, PickUpTipResult, DropTipResult, AspirateResult, @@ -427,9 +437,9 @@ def get_hardware_pipette( return HardwarePipette(mount=hw_mount, config=hw_config) - def get_current_well(self) -> Optional[CurrentWell]: - """Get the last accessed well and which pipette accessed it.""" - return self._state.current_well + def get_current_location(self) -> Optional[CurrentPipetteLocation]: + """Get the last accessed location and which pipette accessed it.""" + return self._state.current_location def get_deck_point(self, pipette_id: str) -> Optional[DeckPoint]: """Get the deck point of a pipette by ID, or None if it was not associated with the last move operation.""" @@ -623,3 +633,7 @@ def get_nozzle_layout_type(self, pipette_id: str) -> NozzleConfigurationType: return nozzle_map_for_pipette.configuration else: return NozzleConfigurationType.FULL + + def get_is_partially_configured(self, pipette_id: str) -> bool: + """Determine if the provided pipette is partially configured.""" + return self.get_nozzle_layout_type(pipette_id) != NozzleConfigurationType.FULL diff --git a/api/src/opentrons/protocol_engine/state/state.py b/api/src/opentrons/protocol_engine/state/state.py index 3c402701810..001f79fda1f 100644 --- a/api/src/opentrons/protocol_engine/state/state.py +++ b/api/src/opentrons/protocol_engine/state/state.py @@ -14,6 +14,11 @@ from .abstract_store import HasState, HandlesActions from .change_notifier import ChangeNotifier from .commands import CommandState, CommandStore, CommandView +from .addressable_areas import ( + AddressableAreaState, + AddressableAreaStore, + AddressableAreaView, +) from .labware import LabwareState, LabwareStore, LabwareView from .pipettes import PipetteState, PipetteStore, PipetteView from .modules import ModuleState, ModuleStore, ModuleView @@ -23,6 +28,7 @@ from .motion import MotionView from .config import Config from .state_summary import StateSummary +from ..types import DeckConfigurationType ReturnT = TypeVar("ReturnT") @@ -32,6 +38,7 @@ class State: """Underlying engine state.""" commands: CommandState + addressable_areas: AddressableAreaState labware: LabwareState pipettes: PipetteState modules: ModuleState @@ -44,6 +51,7 @@ class StateView(HasState[State]): _state: State _commands: CommandView + _addressable_areas: AddressableAreaView _labware: LabwareView _pipettes: PipetteView _modules: ModuleView @@ -58,6 +66,11 @@ def commands(self) -> CommandView: """Get state view selectors for commands state.""" return self._commands + @property + def addressable_areas(self) -> AddressableAreaView: + """Get state view selectors for addressable area state.""" + return self._addressable_areas + @property def labware(self) -> LabwareView: """Get state view selectors for labware state.""" @@ -101,6 +114,7 @@ def config(self) -> Config: def get_summary(self) -> StateSummary: """Get protocol run data.""" error = self._commands.get_error() + # TODO maybe add summary here for AA return StateSummary.construct( status=self._commands.get_status(), errors=[] if error is None else [error], @@ -131,6 +145,7 @@ def __init__( is_door_open: bool, change_notifier: Optional[ChangeNotifier] = None, module_calibration_offsets: Optional[Dict[str, ModuleOffsetData]] = None, + deck_configuration: Optional[DeckConfigurationType] = None, ) -> None: """Initialize a StateStore and its substores. @@ -143,9 +158,17 @@ def __init__( is_door_open: Whether the robot's door is currently open. change_notifier: Internal state change notifier. module_calibration_offsets: Module offsets to preload. + deck_configuration: The initial deck configuration the addressable area store will be instantiated with. """ self._command_store = CommandStore(config=config, is_door_open=is_door_open) self._pipette_store = PipetteStore() + if deck_configuration is None: + deck_configuration = [] + self._addressable_area_store = AddressableAreaStore( + deck_configuration=deck_configuration, + config=config, + deck_definition=deck_definition, + ) self._labware_store = LabwareStore( deck_fixed_labware=deck_fixed_labware, deck_definition=deck_definition, @@ -159,6 +182,7 @@ def __init__( self._substores: List[HandlesActions] = [ self._command_store, self._pipette_store, + self._addressable_area_store, self._labware_store, self._module_store, self._liquid_store, @@ -243,6 +267,7 @@ def _get_next_state(self) -> State: """Get a new instance of the state value object.""" return State( commands=self._command_store.state, + addressable_areas=self._addressable_area_store.state, labware=self._labware_store.state, pipettes=self._pipette_store.state, modules=self._module_store.state, @@ -257,6 +282,7 @@ def _initialize_state(self) -> None: # Base states self._state = state self._commands = CommandView(state.commands) + self._addressable_areas = AddressableAreaView(state.addressable_areas) self._labware = LabwareView(state.labware) self._pipettes = PipetteView(state.pipettes) self._modules = ModuleView(state.modules) @@ -269,11 +295,13 @@ def _initialize_state(self) -> None: labware_view=self._labware, module_view=self._modules, pipette_view=self._pipettes, + addressable_area_view=self._addressable_areas, ) self._motion = MotionView( config=self._config, labware_view=self._labware, pipette_view=self._pipettes, + addressable_area_view=self._addressable_areas, geometry_view=self._geometry, module_view=self._modules, ) @@ -283,6 +311,7 @@ def _update_state_views(self) -> None: next_state = self._get_next_state() self._state = next_state self._commands._state = next_state.commands + self._addressable_areas._state = next_state.addressable_areas self._labware._state = next_state.labware self._pipettes._state = next_state.pipettes self._modules._state = next_state.modules diff --git a/api/src/opentrons/protocol_engine/types.py b/api/src/opentrons/protocol_engine/types.py index b00e8ee1af6..e7fbb8285eb 100644 --- a/api/src/opentrons/protocol_engine/types.py +++ b/api/src/opentrons/protocol_engine/types.py @@ -5,11 +5,11 @@ from enum import Enum from dataclasses import dataclass from pydantic import BaseModel, Field, validator -from typing import Optional, Union, List, Dict, Any, NamedTuple +from typing import Optional, Union, List, Dict, Any, NamedTuple, Tuple from typing_extensions import Literal, TypeGuard from opentrons_shared_data.pipette.dev_types import PipetteNameType -from opentrons.types import MountType, DeckSlotName +from opentrons.types import MountType, DeckSlotName, Point from opentrons.hardware_control.modules import ( ModuleType as ModuleType, ) @@ -18,6 +18,7 @@ # convenience re-export of LabwareUri type LabwareUri as LabwareUri, ) +from opentrons_shared_data.module.dev_types import ModuleType as SharedDataModuleType class EngineStatus(str, Enum): @@ -54,6 +55,19 @@ class DeckSlotLocation(BaseModel): ) +class AddressableAreaLocation(BaseModel): + """The location of something place in an addressable area. This is a superset of deck slots.""" + + addressableAreaName: str = Field( + ..., + description=( + "The name of the addressable area that you want to use." + " Valid values are the `id`s of `addressableArea`s in the" + " [deck definition](https://github.com/Opentrons/opentrons/tree/edge/shared-data/deck)." + ), + ) + + class ModuleLocation(BaseModel): """The location of something placed atop a hardware module.""" @@ -76,13 +90,21 @@ class OnLabwareLocation(BaseModel): OFF_DECK_LOCATION: _OffDeckLocationType = "offDeck" LabwareLocation = Union[ - DeckSlotLocation, ModuleLocation, OnLabwareLocation, _OffDeckLocationType + DeckSlotLocation, + ModuleLocation, + OnLabwareLocation, + _OffDeckLocationType, + AddressableAreaLocation, ] """Union of all locations where it's legal to keep a labware.""" -OnDeckLabwareLocation = Union[DeckSlotLocation, ModuleLocation, OnLabwareLocation] +OnDeckLabwareLocation = Union[ + DeckSlotLocation, ModuleLocation, OnLabwareLocation, AddressableAreaLocation +] -NonStackedLocation = Union[DeckSlotLocation, ModuleLocation, _OffDeckLocationType] +NonStackedLocation = Union[ + DeckSlotLocation, AddressableAreaLocation, ModuleLocation, _OffDeckLocationType +] """Union of all locations where it's legal to keep a labware that can't be stacked on another labware""" @@ -199,6 +221,17 @@ class CurrentWell: well_name: str +@dataclass(frozen=True) +class CurrentAddressableArea: + """The latest addressable area the robot has accessed.""" + + pipette_id: str + addressable_area_name: str + + +CurrentPipetteLocation = Union[CurrentWell, CurrentAddressableArea] + + @dataclass(frozen=True) class TipGeometry: """Tip geometry data. @@ -390,6 +423,10 @@ class OverlapOffset(Vec3f): """Offset representing overlap space of one labware on top of another labware or module.""" +class AddressableOffsetVector(Vec3f): + """Offset, in deck coordinates, from nominal to actual position of an addressable area.""" + + class LabwareMovementOffsetData(BaseModel): """Offsets to be used during labware movement.""" @@ -637,6 +674,39 @@ class LabwareMovementStrategy(str, Enum): MANUAL_MOVE_WITHOUT_PAUSE = "manualMoveWithoutPause" +@dataclass(frozen=True) +class PotentialCutoutFixture: + """Cutout and cutout fixture id associated with a potential cutout fixture that can be on the deck.""" + + cutout_id: str + cutout_fixture_id: str + + +class AreaType(Enum): + """The type of addressable area.""" + + SLOT = "slot" + STAGING_SLOT = "stagingSlot" + MOVABLE_TRASH = "movableTrash" + FIXED_TRASH = "fixedTrash" + WASTE_CHUTE = "wasteChute" + + +@dataclass(frozen=True) +class AddressableArea: + """Addressable area that has been loaded.""" + + area_name: str + area_type: AreaType + base_slot: DeckSlotName + display_name: str + bounding_box: Dimensions + position: AddressableOffsetVector + compatible_module_types: List[SharedDataModuleType] + drop_tip_location: Optional[Point] + drop_labware_location: Optional[Point] + + class PostRunHardwareState(Enum): """State of robot gantry & motors after a stop is performed and the hardware API is reset. @@ -668,10 +738,10 @@ class PostRunHardwareState(Enum): PRIMARY_NOZZLE_LITERAL = Literal["A1", "H1", "A12", "H12"] -class EmptyNozzleLayoutConfiguration(BaseModel): - """Empty basemodel to represent a reset to the nozzle configuration. Sending no parameters resets to default.""" +class AllNozzleLayoutConfiguration(BaseModel): + """All basemodel to represent a reset to the nozzle configuration. Sending no parameters resets to default.""" - style: Literal["EMPTY"] = "EMPTY" + style: Literal["ALL"] = "ALL" class SingleNozzleLayoutConfiguration(BaseModel): @@ -720,9 +790,12 @@ class QuadrantNozzleLayoutConfiguration(BaseModel): NozzleLayoutConfigurationType = Union[ - EmptyNozzleLayoutConfiguration, + AllNozzleLayoutConfiguration, SingleNozzleLayoutConfiguration, ColumnNozzleLayoutConfiguration, RowNozzleLayoutConfiguration, QuadrantNozzleLayoutConfiguration, ] + +# TODO make the below some sort of better type +DeckConfigurationType = List[Tuple[str, str]] # cutout_id, cutout_fixture_id diff --git a/api/src/opentrons/protocol_runner/create_simulating_runner.py b/api/src/opentrons/protocol_runner/create_simulating_runner.py index ff4df1020f7..0c60af3a45c 100644 --- a/api/src/opentrons/protocol_runner/create_simulating_runner.py +++ b/api/src/opentrons/protocol_runner/create_simulating_runner.py @@ -57,6 +57,7 @@ async def create_simulating_runner( ignore_pause=True, use_virtual_modules=True, use_virtual_gripper=True, + use_simulated_deck_config=True, use_virtual_pipettes=(not feature_flags.disable_fast_protocol_upload()), ), load_fixed_trash=should_load_fixed_trash(protocol_config), diff --git a/api/src/opentrons/protocol_runner/protocol_runner.py b/api/src/opentrons/protocol_runner/protocol_runner.py index 56669077efb..eb4225a02b9 100644 --- a/api/src/opentrons/protocol_runner/protocol_runner.py +++ b/api/src/opentrons/protocol_runner/protocol_runner.py @@ -35,7 +35,7 @@ LegacyExecutor, LegacyLoadInfo, ) -from ..protocol_engine.types import PostRunHardwareState +from ..protocol_engine.types import PostRunHardwareState, DeckConfigurationType class RunResult(NamedTuple): @@ -82,9 +82,9 @@ def was_started(self) -> bool: """ return self._protocol_engine.state_view.commands.has_been_played() - def play(self) -> None: + def play(self, deck_configuration: Optional[DeckConfigurationType] = None) -> None: """Start or resume the run.""" - self._protocol_engine.play() + self._protocol_engine.play(deck_configuration=deck_configuration) def pause(self) -> None: """Pause the run.""" @@ -104,6 +104,7 @@ async def stop(self) -> None: @abstractmethod async def run( self, + deck_configuration: DeckConfigurationType, protocol_source: Optional[ProtocolSource] = None, ) -> RunResult: """Run a given protocol to completion.""" @@ -183,6 +184,7 @@ async def load( async def run( # noqa: D102 self, + deck_configuration: DeckConfigurationType, protocol_source: Optional[ProtocolSource] = None, python_parse_mode: PythonParseMode = PythonParseMode.NORMAL, ) -> RunResult: @@ -193,7 +195,7 @@ async def run( # noqa: D102 protocol_source=protocol_source, python_parse_mode=python_parse_mode ) - self.play() + self.play(deck_configuration=deck_configuration) self._task_queue.start() await self._task_queue.join() @@ -278,6 +280,7 @@ async def load(self, protocol_source: ProtocolSource) -> None: async def run( # noqa: D102 self, + deck_configuration: DeckConfigurationType, protocol_source: Optional[ProtocolSource] = None, ) -> RunResult: # TODO(mc, 2022-01-11): move load to runner creation, remove from `run` @@ -285,7 +288,7 @@ async def run( # noqa: D102 if protocol_source: await self.load(protocol_source) - self.play() + self.play(deck_configuration=deck_configuration) self._task_queue.start() await self._task_queue.join() @@ -318,11 +321,12 @@ def prepare(self) -> None: async def run( # noqa: D102 self, + deck_configuration: DeckConfigurationType, protocol_source: Optional[ProtocolSource] = None, ) -> RunResult: assert protocol_source is None await self._hardware_api.home() - self.play() + self.play(deck_configuration=deck_configuration) self._task_queue.start() await self._task_queue.join() diff --git a/api/src/opentrons/protocols/models/__init__.py b/api/src/opentrons/protocols/models/__init__.py index d5104e6dcea..62eccdf44ff 100644 --- a/api/src/opentrons/protocols/models/__init__.py +++ b/api/src/opentrons/protocols/models/__init__.py @@ -12,14 +12,10 @@ LabwareDefinition, WellDefinition, ) -from opentrons_shared_data.deck.deck_definitions import ( - DeckDefinitionV4, -) from .json_protocol import Model as JsonProtocol __all__ = [ "LabwareDefinition", "WellDefinition", - "DeckDefinitionV4", "JsonProtocol", ] diff --git a/api/src/opentrons/simulate.py b/api/src/opentrons/simulate.py index 2dc744432c0..6eb1c679141 100644 --- a/api/src/opentrons/simulate.py +++ b/api/src/opentrons/simulate.py @@ -189,7 +189,7 @@ def handle_command(message: command_types.CommandMessage) -> None: # # TODO(mm, 2023-10-03): This is a bit too intrusive for something whose job is just to # "scrape." The entry point function should be responsible for setting the underlying - # logger's level. + # logger's level. Also, we should probably restore the original level when we're done. level = getattr(logging, self._level.upper(), logging.WARNING) self._logger.setLevel(level) @@ -900,7 +900,12 @@ async def run(protocol_source: ProtocolSource) -> _SimulateResult: scraper = _CommandScraper(stack_logger, log_level, protocol_runner.broker) with scraper.scrape(): - result = await protocol_runner.run(protocol_source) + result = await protocol_runner.run( + # deck_configuration=[] is a placeholder value, ignored because + # the Protocol Engine config specifies use_simulated_deck_config=True. + deck_configuration=[], + protocol_source=protocol_source, + ) if result.state_summary.status != EngineStatus.SUCCEEDED: raise entrypoint_util.ProtocolEngineExecuteError( @@ -927,6 +932,7 @@ def _get_protocol_engine_config(robot_type: RobotType) -> Config: use_virtual_pipettes=True, use_virtual_modules=True, use_virtual_gripper=True, + use_simulated_deck_config=True, ) diff --git a/api/src/opentrons/util/entrypoint_util.py b/api/src/opentrons/util/entrypoint_util.py index 442b0686ebe..90236f568f7 100644 --- a/api/src/opentrons/util/entrypoint_util.py +++ b/api/src/opentrons/util/entrypoint_util.py @@ -27,6 +27,7 @@ from opentrons.protocol_engine.errors.error_occurrence import ( ErrorOccurrence as ProtocolEngineErrorOccurrence, ) +from opentrons.protocol_engine.types import DeckConfigurationType from opentrons.protocol_reader import ProtocolReader, ProtocolSource from opentrons.protocols.types import JsonProtocol, Protocol, PythonProtocol @@ -123,6 +124,15 @@ def datafiles_from_paths(paths: Sequence[Union[str, pathlib.Path]]) -> Dict[str, return datafiles +def get_deck_configuration() -> DeckConfigurationType: + """Return the host robot's current deck configuration.""" + # TODO: Search for the file where robot-server stores it. + # Flex: /var/lib/opentrons-robot-server/deck_configuration.json + # OT-2: /data/opentrons_robot_server/deck_configuration.json + # https://opentrons.atlassian.net/browse/RSS-400 + return [] + + @contextlib.contextmanager def adapt_protocol_source(protocol: Protocol) -> Generator[ProtocolSource, None, None]: """Convert a `Protocol` to a `ProtocolSource`. diff --git a/api/tests/opentrons/calibration_storage/test_deck_configuration.py b/api/tests/opentrons/calibration_storage/test_deck_configuration.py new file mode 100644 index 00000000000..3cb8d59535f --- /dev/null +++ b/api/tests/opentrons/calibration_storage/test_deck_configuration.py @@ -0,0 +1,34 @@ +from datetime import datetime, timezone + +import pytest + +from opentrons.calibration_storage import deck_configuration as subject +from opentrons.calibration_storage.types import CutoutFixturePlacement + + +def test_deck_configuration_serdes() -> None: + """Test that deck configuration serialization/deserialization survives a round trip.""" + + dummy_cutout_fixture_placements = [ + CutoutFixturePlacement(cutout_fixture_id="a", cutout_id="b"), + CutoutFixturePlacement(cutout_fixture_id="c", cutout_id="d"), + ] + dummy_datetime = datetime(year=1961, month=5, day=6, tzinfo=timezone.utc) + + serialized = subject.serialize_deck_configuration( + dummy_cutout_fixture_placements, dummy_datetime + ) + deserialized = subject.deserialize_deck_configuration(serialized) + assert deserialized == (dummy_cutout_fixture_placements, dummy_datetime) + + +@pytest.mark.parametrize( + "input", + [ + b'{"hello": "world"}', # Valid JSON, but not valid for the model. + "😾".encode("utf-8"), # Not valid JSON. + ], +) +def test_deserialize_deck_configuration_error_handling(input: bytes) -> None: + """Test that deserialization handles errors gracefully.""" + assert subject.deserialize_deck_configuration(input) is None diff --git a/api/tests/opentrons/calibration_storage/test_file_operators.py b/api/tests/opentrons/calibration_storage/test_file_operators.py index c608b7619f1..5a95f225fe3 100644 --- a/api/tests/opentrons/calibration_storage/test_file_operators.py +++ b/api/tests/opentrons/calibration_storage/test_file_operators.py @@ -1,10 +1,18 @@ -import pytest import json import typing from pathlib import Path + +import pydantic +import pytest + from opentrons.calibration_storage import file_operators as io +class DummyModel(pydantic.BaseModel): + integer_field: int + aliased_field: str = pydantic.Field(alias="! aliased field !") + + @pytest.fixture def calibration() -> typing.Dict[str, typing.Any]: return { @@ -70,3 +78,26 @@ def test_malformed_calibration( ) with pytest.raises(AssertionError): io.read_cal_file(malformed_calibration_path) + + +def test_deserialize_pydantic_model_valid() -> None: + serialized = b'{"integer_field": 123, "! aliased field !": "abc"}' + assert io.deserialize_pydantic_model( + serialized, DummyModel + ) == DummyModel.construct(integer_field=123, aliased_field="abc") + + +def test_deserialize_pydantic_model_invalid_as_json() -> None: + serialized = "😾".encode("utf-8") + assert io.deserialize_pydantic_model(serialized, DummyModel) is None + # Ideally we would assert that the subject logged a message saying "not valid JSON", + # but the opentrons.simulate and opentrons.execute tests interfere with the process's logger + # settings and prevent that message from showing up in pytest's caplog fixture. + + +def test_read_pydantic_model_from_file_invalid_model(tmp_path: Path) -> None: + serialized = b'{"integer_field": "not an integer"}' + assert io.deserialize_pydantic_model(serialized, DummyModel) is None + # Ideally we would assert that the subject logged a message saying "does not match model", + # but the opentrons.simulate and opentrons.execute tests interfere with the process's logger + # settings and prevent that message from showing up in pytest's caplog fixture. diff --git a/api/tests/opentrons/config/test_reset.py b/api/tests/opentrons/config/test_reset.py index 3561412bdb0..aacea130e1f 100644 --- a/api/tests/opentrons/config/test_reset.py +++ b/api/tests/opentrons/config/test_reset.py @@ -123,6 +123,7 @@ def test_reset_all_set( mock_reset_boot_scripts.assert_called_once() mock_reset_pipette_offset.assert_called_once() mock_reset_deck_calibration.assert_called_once() + mock_reset_deck_calibration.assert_called_once() mock_reset_tip_length_calibrations.assert_called_once() diff --git a/api/tests/opentrons/conftest.py b/api/tests/opentrons/conftest.py index 979fe9b936a..f28a0723b01 100755 --- a/api/tests/opentrons/conftest.py +++ b/api/tests/opentrons/conftest.py @@ -308,6 +308,8 @@ def _make_ot3_pe_ctx( use_virtual_pipettes=True, use_virtual_modules=True, use_virtual_gripper=True, + # TODO figure out if we will want to use a "real" deck config here or if we are fine with simulated + use_simulated_deck_config=True, block_on_door_open=False, ), drop_tips_after_run=False, diff --git a/api/tests/opentrons/hardware_control/instruments/test_nozzle_manager.py b/api/tests/opentrons/hardware_control/instruments/test_nozzle_manager.py index 1761e59a6ec..ca963355cb2 100644 --- a/api/tests/opentrons/hardware_control/instruments/test_nozzle_manager.py +++ b/api/tests/opentrons/hardware_control/instruments/test_nozzle_manager.py @@ -1,199 +1,837 @@ import pytest -from typing import Dict, List, ContextManager, Tuple +from typing import Dict, List, Tuple, Union, Iterator -from contextlib import nullcontext as does_not_raise from opentrons.hardware_control import nozzle_manager from opentrons.types import Point -from opentrons.hardware_control.types import CriticalPoint - - -def build_nozzle_manger( - nozzle_map: Dict[str, List[float]] -) -> nozzle_manager.NozzleConfigurationManager: - return nozzle_manager.NozzleConfigurationManager.build_from_nozzlemap( - nozzle_map, pick_up_current_map={1: 0.1} - ) - - -NINETY_SIX_CHANNEL_MAP = { - "A1": [-36.0, -25.5, -259.15], - "A2": [-27.0, -25.5, -259.15], - "A3": [-18.0, -25.5, -259.15], - "A4": [-9.0, -25.5, -259.15], - "A5": [0.0, -25.5, -259.15], - "A6": [9.0, -25.5, -259.15], - "A7": [18.0, -25.5, -259.15], - "A8": [27.0, -25.5, -259.15], - "A9": [36.0, -25.5, -259.15], - "A10": [45.0, -25.5, -259.15], - "A11": [54.0, -25.5, -259.15], - "A12": [63.0, -25.5, -259.15], - "B1": [-36.0, -34.5, -259.15], - "B2": [-27.0, -34.5, -259.15], - "B3": [-18.0, -34.5, -259.15], - "B4": [-9.0, -34.5, -259.15], - "B5": [0.0, -34.5, -259.15], - "B6": [9.0, -34.5, -259.15], - "B7": [18.0, -34.5, -259.15], - "B8": [27.0, -34.5, -259.15], - "B9": [36.0, -34.5, -259.15], - "B10": [45.0, -34.5, -259.15], - "B11": [54.0, -34.5, -259.15], - "B12": [63.0, -34.5, -259.15], - "C1": [-36.0, -43.5, -259.15], - "C2": [-27.0, -43.5, -259.15], - "C3": [-18.0, -43.5, -259.15], - "C4": [-9.0, -43.5, -259.15], - "C5": [0.0, -43.5, -259.15], - "C6": [9.0, -43.5, -259.15], - "C7": [18.0, -43.5, -259.15], - "C8": [27.0, -43.5, -259.15], - "C9": [36.0, -43.5, -259.15], - "C10": [45.0, -43.5, -259.15], - "C11": [54.0, -43.5, -259.15], - "C12": [63.0, -43.5, -259.15], - "D1": [-36.0, -52.5, -259.15], - "D2": [-27.0, -52.5, -259.15], - "D3": [-18.0, -52.5, -259.15], - "D4": [-9.0, -52.5, -259.15], - "D5": [0.0, -52.5, -259.15], - "D6": [9.0, -52.5, -259.15], - "D7": [18.0, -52.5, -259.15], - "D8": [27.0, -52.5, -259.15], - "D9": [36.0, -52.5, -259.15], - "D10": [45.0, -52.5, -259.15], - "D11": [54.0, -52.5, -259.15], - "D12": [63.0, -52.5, -259.15], - "E1": [-36.0, -61.5, -259.15], - "E2": [-27.0, -61.5, -259.15], - "E3": [-18.0, -61.5, -259.15], - "E4": [-9.0, -61.5, -259.15], - "E5": [0.0, -61.5, -259.15], - "E6": [9.0, -61.5, -259.15], - "E7": [18.0, -61.5, -259.15], - "E8": [27.0, -61.5, -259.15], - "E9": [36.0, -61.5, -259.15], - "E10": [45.0, -61.5, -259.15], - "E11": [54.0, -61.5, -259.15], - "E12": [63.0, -61.5, -259.15], - "F1": [-36.0, -70.5, -259.15], - "F2": [-27.0, -70.5, -259.15], - "F3": [-18.0, -70.5, -259.15], - "F4": [-9.0, -70.5, -259.15], - "F5": [0.0, -70.5, -259.15], - "F6": [9.0, -70.5, -259.15], - "F7": [18.0, -70.5, -259.15], - "F8": [27.0, -70.5, -259.15], - "F9": [36.0, -70.5, -259.15], - "F10": [45.0, -70.5, -259.15], - "F11": [54.0, -70.5, -259.15], - "F12": [63.0, -70.5, -259.15], - "G1": [-36.0, -79.5, -259.15], - "G2": [-27.0, -79.5, -259.15], - "G3": [-18.0, -79.5, -259.15], - "G4": [-9.0, -79.5, -259.15], - "G5": [0.0, -79.5, -259.15], - "G6": [9.0, -79.5, -259.15], - "G7": [18.0, -79.5, -259.15], - "G8": [27.0, -79.5, -259.15], - "G9": [36.0, -79.5, -259.15], - "G10": [45.0, -79.5, -259.15], - "G11": [54.0, -79.5, -259.15], - "G12": [63.0, -79.5, -259.15], - "H1": [-36.0, -88.5, -259.15], - "H2": [-27.0, -88.5, -259.15], - "H3": [-18.0, -88.5, -259.15], - "H4": [-9.0, -88.5, -259.15], - "H5": [0.0, -88.5, -259.15], - "H6": [9.0, -88.5, -259.15], - "H7": [18.0, -88.5, -259.15], - "H8": [27.0, -88.5, -259.15], - "H9": [36.0, -88.5, -259.15], - "H10": [45.0, -88.5, -259.15], - "H11": [54.0, -88.5, -259.15], - "H12": [63.0, -88.5, -259.15], -} + +from opentrons_shared_data.pipette.load_data import load_definition +from opentrons_shared_data.pipette.types import ( + PipetteModelType, + PipetteChannelType, + PipetteVersionType, +) +from opentrons_shared_data.pipette.pipette_definition import PipetteConfigurations + + +@pytest.mark.parametrize( + "pipette_details", + [ + (PipetteModelType.p10, PipetteVersionType(major=1, minor=3)), + (PipetteModelType.p20, PipetteVersionType(major=2, minor=0)), + (PipetteModelType.p50, PipetteVersionType(major=3, minor=4)), + (PipetteModelType.p300, PipetteVersionType(major=2, minor=1)), + (PipetteModelType.p1000, PipetteVersionType(major=3, minor=5)), + ], +) +def test_single_pipettes_always_full( + pipette_details: Tuple[PipetteModelType, PipetteVersionType] +) -> None: + config = load_definition( + pipette_details[0], PipetteChannelType.SINGLE_CHANNEL, pipette_details[1] + ) + subject = nozzle_manager.NozzleConfigurationManager.build_from_config(config) + assert ( + subject.current_configuration.configuration + == nozzle_manager.NozzleConfigurationType.FULL + ) + + subject.update_nozzle_configuration("A1", "A1", "A1") + assert ( + subject.current_configuration.configuration + == nozzle_manager.NozzleConfigurationType.FULL + ) + + subject.reset_to_default_configuration() + assert ( + subject.current_configuration.configuration + == nozzle_manager.NozzleConfigurationType.FULL + ) + + +@pytest.mark.parametrize( + "pipette_details", + [ + (PipetteModelType.p10, PipetteVersionType(major=1, minor=3)), + (PipetteModelType.p20, PipetteVersionType(major=2, minor=0)), + (PipetteModelType.p50, PipetteVersionType(major=3, minor=4)), + (PipetteModelType.p300, PipetteVersionType(major=2, minor=1)), + (PipetteModelType.p1000, PipetteVersionType(major=3, minor=5)), + ], +) +def test_single_pipette_map_entries( + pipette_details: Tuple[PipetteModelType, PipetteVersionType] +) -> None: + config = load_definition( + pipette_details[0], PipetteChannelType.SINGLE_CHANNEL, pipette_details[1] + ) + subject = nozzle_manager.NozzleConfigurationManager.build_from_config(config) + + def test_map_entries(nozzlemap: nozzle_manager.NozzleMap) -> None: + assert nozzlemap.back_left == "A1" + assert nozzlemap.front_right == "A1" + assert list(nozzlemap.map_store.keys()) == ["A1"] + assert list(nozzlemap.rows.keys()) == ["A"] + assert list(nozzlemap.columns.keys()) == ["1"] + assert nozzlemap.rows["A"] == ["A1"] + assert nozzlemap.columns["1"] == ["A1"] + assert nozzlemap.tip_count == 1 + + test_map_entries(subject.current_configuration) + subject.update_nozzle_configuration("A1", "A1", "A1") + test_map_entries(subject.current_configuration) + subject.reset_to_default_configuration() + test_map_entries(subject.current_configuration) @pytest.mark.parametrize( - argnames=["nozzle_map", "critical_point_configuration", "expected"], - argvalues=[ - [ - { - "A1": [-8.0, -16.0, -259.15], - "B1": [-8.0, -25.0, -259.15], - "C1": [-8.0, -34.0, -259.15], - "D1": [-8.0, -43.0, -259.15], - "E1": [-8.0, -52.0, -259.15], - "F1": [-8.0, -61.0, -259.15], - "G1": [-8.0, -70.0, -259.15], - "H1": [-8.0, -79.0, -259.15], - }, - CriticalPoint.XY_CENTER, - Point(-8.0, -47.5, -259.15), - ], - [ - NINETY_SIX_CHANNEL_MAP, - CriticalPoint.XY_CENTER, - Point(13.5, -57.0, -259.15), - ], - [ - {"A1": [1, 1, 1]}, - CriticalPoint.FRONT_NOZZLE, - Point(1, 1, 1), - ], + "pipette_details", + [ + (PipetteModelType.p10, PipetteVersionType(major=1, minor=3)), + (PipetteModelType.p20, PipetteVersionType(major=2, minor=0)), + (PipetteModelType.p50, PipetteVersionType(major=3, minor=4)), + (PipetteModelType.p300, PipetteVersionType(major=2, minor=1)), + (PipetteModelType.p1000, PipetteVersionType(major=3, minor=5)), ], ) -def test_update_nozzles_with_critical_points( - nozzle_map: Dict[str, List[float]], - critical_point_configuration: CriticalPoint, - expected: List[float], +def test_single_pipette_map_geometry( + pipette_details: Tuple[PipetteModelType, PipetteVersionType] ) -> None: - subject = build_nozzle_manger(nozzle_map) - new_cp = subject.critical_point_with_tip_length(critical_point_configuration) - assert new_cp == expected + config = load_definition( + pipette_details[0], PipetteChannelType.SINGLE_CHANNEL, pipette_details[1] + ) + subject = nozzle_manager.NozzleConfigurationManager.build_from_config(config) + + def test_map_geometry(nozzlemap: nozzle_manager.NozzleMap) -> None: + assert nozzlemap.xy_center_offset == Point(*config.nozzle_map["A1"]) + assert nozzlemap.front_nozzle_offset == Point(*config.nozzle_map["A1"]) + assert nozzlemap.starting_nozzle_offset == Point(*config.nozzle_map["A1"]) + + test_map_geometry(subject.current_configuration) + subject.update_nozzle_configuration("A1", "A1", "A1") + test_map_geometry(subject.current_configuration) + subject.reset_to_default_configuration() + test_map_geometry(subject.current_configuration) @pytest.mark.parametrize( - argnames=["nozzle_map", "updated_nozzle_configuration", "exception", "expected_cp"], - argvalues=[ - [ - { - "A1": [0.0, 31.5, 0.8], - "B1": [0.0, 22.5, 0.8], - "C1": [0.0, 13.5, 0.8], - "D1": [0.0, 4.5, 0.8], - "E1": [0.0, -4.5, 0.8], - "F1": [0.0, -13.5, 0.8], - "G1": [0.0, -22.5, 0.8], - "H1": [0.0, -31.5, 0.8], - }, - ("D1", "H1"), - does_not_raise(), - Point(0.0, 4.5, 0.8), - ], - [ - {"A1": [1, 1, 1]}, - ("A1", "D1"), - pytest.raises(nozzle_manager.IncompatibleNozzleConfiguration), - Point(1, 1, 1), - ], - [ - NINETY_SIX_CHANNEL_MAP, - ("A12", "H12"), - does_not_raise(), - Point(x=63.0, y=-25.5, z=-259.15), - ], + "pipette_details", + [ + (PipetteModelType.p10, PipetteVersionType(major=1, minor=3)), + (PipetteModelType.p20, PipetteVersionType(major=2, minor=0)), + (PipetteModelType.p50, PipetteVersionType(major=3, minor=4)), + (PipetteModelType.p300, PipetteVersionType(major=2, minor=1)), + (PipetteModelType.p1000, PipetteVersionType(major=3, minor=5)), ], ) -def test_update_nozzle_configuration( - nozzle_map: Dict[str, List[float]], - updated_nozzle_configuration: Tuple[str, str], - exception: ContextManager[None], - expected_cp: List[float], +def test_multi_config_identification( + pipette_details: Tuple[PipetteModelType, PipetteVersionType] +) -> None: + config = load_definition( + pipette_details[0], PipetteChannelType.EIGHT_CHANNEL, pipette_details[1] + ) + subject = nozzle_manager.NozzleConfigurationManager.build_from_config(config) + assert ( + subject.current_configuration.configuration + == nozzle_manager.NozzleConfigurationType.FULL + ) + + subject.update_nozzle_configuration("A1", "H1", "A1") + assert ( + subject.current_configuration.configuration + == nozzle_manager.NozzleConfigurationType.FULL + ) + + subject.reset_to_default_configuration() + assert ( + subject.current_configuration.configuration + == nozzle_manager.NozzleConfigurationType.FULL + ) + + subject.update_nozzle_configuration("A1", "D1", "A1") + assert ( + subject.current_configuration.configuration + == nozzle_manager.NozzleConfigurationType.COLUMN + ) + + subject.update_nozzle_configuration("A1", "A1", "A1") + assert ( + subject.current_configuration.configuration + == nozzle_manager.NozzleConfigurationType.SINGLE + ) + + subject.update_nozzle_configuration("H1", "H1", "H1") + assert ( + subject.current_configuration.configuration + == nozzle_manager.NozzleConfigurationType.SINGLE + ) + + subject.update_nozzle_configuration("C1", "F1", "C1") + assert ( + subject.current_configuration.configuration + == nozzle_manager.NozzleConfigurationType.COLUMN + ) + + subject.reset_to_default_configuration() + assert ( + subject.current_configuration.configuration + == nozzle_manager.NozzleConfigurationType.FULL + ) + + +@pytest.mark.parametrize( + "pipette_details", + [ + (PipetteModelType.p10, PipetteVersionType(major=1, minor=3)), + (PipetteModelType.p20, PipetteVersionType(major=2, minor=0)), + (PipetteModelType.p50, PipetteVersionType(major=3, minor=4)), + (PipetteModelType.p300, PipetteVersionType(major=2, minor=1)), + (PipetteModelType.p1000, PipetteVersionType(major=3, minor=5)), + ], +) +def test_multi_config_map_entries( + pipette_details: Tuple[PipetteModelType, PipetteVersionType] +) -> None: + config = load_definition( + pipette_details[0], PipetteChannelType.EIGHT_CHANNEL, pipette_details[1] + ) + subject = nozzle_manager.NozzleConfigurationManager.build_from_config(config) + + def test_map_entries( + nozzlemap: nozzle_manager.NozzleMap, nozzles: List[str] + ) -> None: + assert nozzlemap.back_left == nozzles[0] + assert nozzlemap.front_right == nozzles[-1] + assert list(nozzlemap.map_store.keys()) == nozzles + assert list(nozzlemap.rows.keys()) == [nozzle[0] for nozzle in nozzles] + assert list(nozzlemap.columns.keys()) == ["1"] + for rowname, row_elements in nozzlemap.rows.items(): + assert row_elements == [f"{rowname}1"] + + assert nozzlemap.columns["1"] == nozzles + assert nozzlemap.tip_count == len(nozzles) + + test_map_entries( + subject.current_configuration, ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"] + ) + subject.update_nozzle_configuration("A1", "H1", "A1") + test_map_entries( + subject.current_configuration, ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"] + ) + subject.update_nozzle_configuration("A1", "D1", "A1") + test_map_entries(subject.current_configuration, ["A1", "B1", "C1", "D1"]) + subject.update_nozzle_configuration("A1", "A1", "A1") + test_map_entries(subject.current_configuration, ["A1"]) + subject.update_nozzle_configuration("H1", "H1", "H1") + test_map_entries(subject.current_configuration, ["H1"]) + subject.update_nozzle_configuration("C1", "F1", "C1") + test_map_entries(subject.current_configuration, ["C1", "D1", "E1", "F1"]) + + +@pytest.mark.parametrize( + "pipette_details", + [ + (PipetteModelType.p10, PipetteVersionType(major=1, minor=3)), + (PipetteModelType.p20, PipetteVersionType(major=2, minor=0)), + (PipetteModelType.p50, PipetteVersionType(major=3, minor=4)), + (PipetteModelType.p300, PipetteVersionType(major=2, minor=1)), + (PipetteModelType.p1000, PipetteVersionType(major=3, minor=5)), + ], +) +def test_multi_config_geometry( + pipette_details: Tuple[PipetteModelType, PipetteVersionType] +) -> None: + config = load_definition( + pipette_details[0], PipetteChannelType.EIGHT_CHANNEL, pipette_details[1] + ) + subject = nozzle_manager.NozzleConfigurationManager.build_from_config(config) + + def test_map_geometry( + nozzlemap: nozzle_manager.NozzleMap, + front_nozzle: str, + starting_nozzle: str, + xy_center_in_center_of: Union[Tuple[str, str], str], + ) -> None: + if isinstance(xy_center_in_center_of, str): + assert nozzlemap.xy_center_offset == Point( + *config.nozzle_map[xy_center_in_center_of] + ) + else: + assert nozzlemap.xy_center_offset == ( + ( + Point(*config.nozzle_map[xy_center_in_center_of[0]]) + + Point(*config.nozzle_map[xy_center_in_center_of[1]]) + ) + * 0.5 + ) + assert nozzlemap.front_nozzle_offset == Point(*config.nozzle_map[front_nozzle]) + assert nozzlemap.starting_nozzle_offset == Point( + *config.nozzle_map[starting_nozzle] + ) + + test_map_geometry(subject.current_configuration, "H1", "A1", ("A1", "H1")) + + subject.update_nozzle_configuration("A1", "A1", "A1") + test_map_geometry(subject.current_configuration, "A1", "A1", "A1") + + subject.update_nozzle_configuration("D1", "D1", "D1") + test_map_geometry(subject.current_configuration, "D1", "D1", "D1") + + subject.update_nozzle_configuration("C1", "G1", "C1") + test_map_geometry(subject.current_configuration, "G1", "C1", "E1") + + subject.update_nozzle_configuration("E1", "H1", "E1") + test_map_geometry(subject.current_configuration, "H1", "E1", ("E1", "H1")) + + subject.reset_to_default_configuration() + test_map_geometry(subject.current_configuration, "H1", "A1", ("A1", "H1")) + + +@pytest.mark.parametrize( + "pipette_details", [(PipetteModelType.p1000, PipetteVersionType(major=3, minor=5))] +) +def test_96_config_identification( + pipette_details: Tuple[PipetteModelType, PipetteVersionType] +) -> None: + config = load_definition( + pipette_details[0], PipetteChannelType.NINETY_SIX_CHANNEL, pipette_details[1] + ) + subject = nozzle_manager.NozzleConfigurationManager.build_from_config(config) + + assert ( + subject.current_configuration.configuration + == nozzle_manager.NozzleConfigurationType.FULL + ) + subject.update_nozzle_configuration("A1", "H12") + assert ( + subject.current_configuration.configuration + == nozzle_manager.NozzleConfigurationType.FULL + ) + subject.update_nozzle_configuration("A1", "H1") + assert ( + subject.current_configuration.configuration + == nozzle_manager.NozzleConfigurationType.COLUMN + ) + subject.update_nozzle_configuration("A12", "H12") + assert ( + subject.current_configuration.configuration + == nozzle_manager.NozzleConfigurationType.COLUMN + ) + subject.update_nozzle_configuration("A8", "H8") + assert ( + subject.current_configuration.configuration + == nozzle_manager.NozzleConfigurationType.COLUMN + ) + + subject.update_nozzle_configuration("A1", "A12") + assert ( + subject.current_configuration.configuration + == nozzle_manager.NozzleConfigurationType.ROW + ) + subject.update_nozzle_configuration("H1", "H12") + assert ( + subject.current_configuration.configuration + == nozzle_manager.NozzleConfigurationType.ROW + ) + subject.update_nozzle_configuration("D1", "D12") + assert ( + subject.current_configuration.configuration + == nozzle_manager.NozzleConfigurationType.ROW + ) + + subject.update_nozzle_configuration("E1", "H6") + assert ( + subject.current_configuration.configuration + == nozzle_manager.NozzleConfigurationType.SUBRECT + ) + subject.update_nozzle_configuration("E7", "H12") + assert ( + subject.current_configuration.configuration + == nozzle_manager.NozzleConfigurationType.SUBRECT + ) + + subject.update_nozzle_configuration("C4", "F9") + assert ( + subject.current_configuration.configuration + == nozzle_manager.NozzleConfigurationType.SUBRECT + ) + subject.update_nozzle_configuration("A1", "D12") + assert ( + subject.current_configuration.configuration + == nozzle_manager.NozzleConfigurationType.SUBRECT + ) + subject.update_nozzle_configuration("E1", "H12") + assert ( + subject.current_configuration.configuration + == nozzle_manager.NozzleConfigurationType.SUBRECT + ) + subject.update_nozzle_configuration("A1", "H6") + assert ( + subject.current_configuration.configuration + == nozzle_manager.NozzleConfigurationType.SUBRECT + ) + subject.update_nozzle_configuration("A7", "H12") + assert ( + subject.current_configuration.configuration + == nozzle_manager.NozzleConfigurationType.SUBRECT + ) + + +@pytest.mark.parametrize( + "pipette_details", [(PipetteModelType.p1000, PipetteVersionType(major=3, minor=5))] +) +def test_96_config_map_entries( + pipette_details: Tuple[PipetteModelType, PipetteVersionType] ) -> None: - subject = build_nozzle_manger(nozzle_map) - with exception: - subject.update_nozzle_configuration(*updated_nozzle_configuration) - assert subject.starting_nozzle_offset == expected_cp + config = load_definition( + pipette_details[0], PipetteChannelType.NINETY_SIX_CHANNEL, pipette_details[1] + ) + subject = nozzle_manager.NozzleConfigurationManager.build_from_config(config) + + def test_map_entries( + nozzlemap: nozzle_manager.NozzleMap, + rows: Dict[str, List[str]], + cols: Dict[str, List[str]], + ) -> None: + assert nozzlemap.back_left == next(iter(rows.values()))[0] + assert nozzlemap.front_right == next(reversed(list(rows.values())))[-1] + + def _nozzles() -> Iterator[str]: + for row in rows.values(): + for nozzle in row: + yield nozzle + + assert list(nozzlemap.map_store.keys()) == list(_nozzles()) + assert nozzlemap.rows == rows + assert nozzlemap.columns == cols + assert nozzlemap.tip_count == sum(len(row) for row in rows.values()) + + test_map_entries( + subject.current_configuration, + { + "A": [ + "A1", + "A2", + "A3", + "A4", + "A5", + "A6", + "A7", + "A8", + "A9", + "A10", + "A11", + "A12", + ], + "B": [ + "B1", + "B2", + "B3", + "B4", + "B5", + "B6", + "B7", + "B8", + "B9", + "B10", + "B11", + "B12", + ], + "C": [ + "C1", + "C2", + "C3", + "C4", + "C5", + "C6", + "C7", + "C8", + "C9", + "C10", + "C11", + "C12", + ], + "D": [ + "D1", + "D2", + "D3", + "D4", + "D5", + "D6", + "D7", + "D8", + "D9", + "D10", + "D11", + "D12", + ], + "E": [ + "E1", + "E2", + "E3", + "E4", + "E5", + "E6", + "E7", + "E8", + "E9", + "E10", + "E11", + "E12", + ], + "F": [ + "F1", + "F2", + "F3", + "F4", + "F5", + "F6", + "F7", + "F8", + "F9", + "F10", + "F11", + "F12", + ], + "G": [ + "G1", + "G2", + "G3", + "G4", + "G5", + "G6", + "G7", + "G8", + "G9", + "G10", + "G11", + "G12", + ], + "H": [ + "H1", + "H2", + "H3", + "H4", + "H5", + "H6", + "H7", + "H8", + "H9", + "H10", + "H11", + "H12", + ], + }, + { + "1": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"], + "2": ["A2", "B2", "C2", "D2", "E2", "F2", "G2", "H2"], + "3": ["A3", "B3", "C3", "D3", "E3", "F3", "G3", "H3"], + "4": ["A4", "B4", "C4", "D4", "E4", "F4", "G4", "H4"], + "5": ["A5", "B5", "C5", "D5", "E5", "F5", "G5", "H5"], + "6": ["A6", "B6", "C6", "D6", "E6", "F6", "G6", "H6"], + "7": ["A7", "B7", "C7", "D7", "E7", "F7", "G7", "H7"], + "8": ["A8", "B8", "C8", "D8", "E8", "F8", "G8", "H8"], + "9": ["A9", "B9", "C9", "D9", "E9", "F9", "G9", "H9"], + "10": ["A10", "B10", "C10", "D10", "E10", "F10", "G10", "H10"], + "11": ["A11", "B11", "C11", "D11", "E11", "F11", "G11", "H11"], + "12": ["A12", "B12", "C12", "D12", "E12", "F12", "G12", "H12"], + }, + ) + + subject.update_nozzle_configuration("A1", "H1") + test_map_entries( + subject.current_configuration, + { + "A": ["A1"], + "B": ["B1"], + "C": ["C1"], + "D": ["D1"], + "E": ["E1"], + "F": ["F1"], + "G": ["G1"], + "H": ["H1"], + }, + {"1": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"]}, + ) + + subject.update_nozzle_configuration("A12", "H12") + test_map_entries( + subject.current_configuration, + { + "A": ["A12"], + "B": ["B12"], + "C": ["C12"], + "D": ["D12"], + "E": ["E12"], + "F": ["F12"], + "G": ["G12"], + "H": ["H12"], + }, + {"12": ["A12", "B12", "C12", "D12", "E12", "F12", "G12", "H12"]}, + ) + + subject.update_nozzle_configuration("A8", "H8") + test_map_entries( + subject.current_configuration, + { + "A": ["A8"], + "B": ["B8"], + "C": ["C8"], + "D": ["D8"], + "E": ["E8"], + "F": ["F8"], + "G": ["G8"], + "H": ["H8"], + }, + {"8": ["A8", "B8", "C8", "D8", "E8", "F8", "G8", "H8"]}, + ) + + subject.update_nozzle_configuration("A1", "A12") + test_map_entries( + subject.current_configuration, + { + "A": [ + "A1", + "A2", + "A3", + "A4", + "A5", + "A6", + "A7", + "A8", + "A9", + "A10", + "A11", + "A12", + ] + }, + { + "1": ["A1"], + "2": ["A2"], + "3": ["A3"], + "4": ["A4"], + "5": ["A5"], + "6": ["A6"], + "7": ["A7"], + "8": ["A8"], + "9": ["A9"], + "10": ["A10"], + "11": ["A11"], + "12": ["A12"], + }, + ) + + subject.update_nozzle_configuration("H1", "H12") + test_map_entries( + subject.current_configuration, + { + "H": [ + "H1", + "H2", + "H3", + "H4", + "H5", + "H6", + "H7", + "H8", + "H9", + "H10", + "H11", + "H12", + ] + }, + { + "1": ["H1"], + "2": ["H2"], + "3": ["H3"], + "4": ["H4"], + "5": ["H5"], + "6": ["H6"], + "7": ["H7"], + "8": ["H8"], + "9": ["H9"], + "10": ["H10"], + "11": ["H11"], + "12": ["H12"], + }, + ) + subject.update_nozzle_configuration("D1", "D12") + test_map_entries( + subject.current_configuration, + { + "D": [ + "D1", + "D2", + "D3", + "D4", + "D5", + "D6", + "D7", + "D8", + "D9", + "D10", + "D11", + "D12", + ] + }, + { + "1": ["D1"], + "2": ["D2"], + "3": ["D3"], + "4": ["D4"], + "5": ["D5"], + "6": ["D6"], + "7": ["D7"], + "8": ["D8"], + "9": ["D9"], + "10": ["D10"], + "11": ["D11"], + "12": ["D12"], + }, + ) + + subject.update_nozzle_configuration("A1", "D6") + test_map_entries( + subject.current_configuration, + { + "A": ["A1", "A2", "A3", "A4", "A5", "A6"], + "B": ["B1", "B2", "B3", "B4", "B5", "B6"], + "C": ["C1", "C2", "C3", "C4", "C5", "C6"], + "D": ["D1", "D2", "D3", "D4", "D5", "D6"], + }, + { + "1": ["A1", "B1", "C1", "D1"], + "2": ["A2", "B2", "C2", "D2"], + "3": ["A3", "B3", "C3", "D3"], + "4": ["A4", "B4", "C4", "D4"], + "5": ["A5", "B5", "C5", "D5"], + "6": ["A6", "B6", "C6", "D6"], + }, + ) + + subject.update_nozzle_configuration("A7", "D12") + test_map_entries( + subject.current_configuration, + { + "A": ["A7", "A8", "A9", "A10", "A11", "A12"], + "B": ["B7", "B8", "B9", "B10", "B11", "B12"], + "C": ["C7", "C8", "C9", "C10", "C11", "C12"], + "D": ["D7", "D8", "D9", "D10", "D11", "D12"], + }, + { + "7": ["A7", "B7", "C7", "D7"], + "8": ["A8", "B8", "C8", "D8"], + "9": ["A9", "B9", "C9", "D9"], + "10": ["A10", "B10", "C10", "D10"], + "11": ["A11", "B11", "C11", "D11"], + "12": ["A12", "B12", "C12", "D12"], + }, + ) + + subject.update_nozzle_configuration("E1", "H6") + test_map_entries( + subject.current_configuration, + { + "E": ["E1", "E2", "E3", "E4", "E5", "E6"], + "F": ["F1", "F2", "F3", "F4", "F5", "F6"], + "G": ["G1", "G2", "G3", "G4", "G5", "G6"], + "H": ["H1", "H2", "H3", "H4", "H5", "H6"], + }, + { + "1": ["E1", "F1", "G1", "H1"], + "2": ["E2", "F2", "G2", "H2"], + "3": ["E3", "F3", "G3", "H3"], + "4": ["E4", "F4", "G4", "H4"], + "5": ["E5", "F5", "G5", "H5"], + "6": ["E6", "F6", "G6", "H6"], + }, + ) + + subject.update_nozzle_configuration("E7", "H12") + test_map_entries( + subject.current_configuration, + { + "E": ["E7", "E8", "E9", "E10", "E11", "E12"], + "F": ["F7", "F8", "F9", "F10", "F11", "F12"], + "G": ["G7", "G8", "G9", "G10", "G11", "G12"], + "H": ["H7", "H8", "H9", "H10", "H11", "H12"], + }, + { + "7": ["E7", "F7", "G7", "H7"], + "8": ["E8", "F8", "G8", "H8"], + "9": ["E9", "F9", "G9", "H9"], + "10": ["E10", "F10", "G10", "H10"], + "11": ["E11", "F11", "G11", "H11"], + "12": ["E12", "F12", "G12", "H12"], + }, + ) + + subject.update_nozzle_configuration("C4", "D5") + test_map_entries( + subject.current_configuration, + {"C": ["C4", "C5"], "D": ["D4", "D5"]}, + {"4": ["C4", "D4"], "5": ["C5", "D5"]}, + ) + + +@pytest.mark.parametrize( + "pipette_details", [(PipetteModelType.p1000, PipetteVersionType(major=3, minor=5))] +) +def test_96_config_geometry( + pipette_details: Tuple[PipetteModelType, PipetteVersionType] +) -> None: + config = load_definition( + pipette_details[0], PipetteChannelType.NINETY_SIX_CHANNEL, pipette_details[1] + ) + subject = nozzle_manager.NozzleConfigurationManager.build_from_config(config) + + def test_map_geometry( + config: PipetteConfigurations, + nozzlemap: nozzle_manager.NozzleMap, + starting_nozzle: str, + front_nozzle: str, + center_between: Union[str, Tuple[str, str]], + ) -> None: + if isinstance(center_between, str): + assert nozzlemap.xy_center_offset == Point( + *config.nozzle_map[center_between] + ) + else: + assert ( + nozzlemap.xy_center_offset + == ( + Point(*config.nozzle_map[center_between[0]]) + + Point(*config.nozzle_map[center_between[1]]) + ) + * 0.5 + ) + + assert nozzlemap.front_nozzle_offset == Point(*config.nozzle_map[front_nozzle]) + assert nozzlemap.starting_nozzle_offset == Point( + *config.nozzle_map[starting_nozzle] + ) + + test_map_geometry(config, subject.current_configuration, "A1", "H1", ("A1", "H12")) + + subject.update_nozzle_configuration("A1", "H1") + test_map_geometry(config, subject.current_configuration, "A1", "H1", ("A1", "H1")) + + subject.update_nozzle_configuration("A12", "H12") + test_map_geometry( + config, subject.current_configuration, "A12", "H12", ("A12", "H12") + ) + + subject.update_nozzle_configuration("A1", "A12") + test_map_geometry(config, subject.current_configuration, "A1", "A1", ("A1", "A12")) + + subject.update_nozzle_configuration("H1", "H12") + test_map_geometry(config, subject.current_configuration, "H1", "H1", ("H1", "H12")) + + subject.update_nozzle_configuration("A1", "D6") + test_map_geometry(config, subject.current_configuration, "A1", "D1", ("A1", "D6")) + + subject.update_nozzle_configuration("E7", "H12") + test_map_geometry(config, subject.current_configuration, "E7", "H7", ("E7", "H12")) + + subject.update_nozzle_configuration("C4", "D5") + test_map_geometry(config, subject.current_configuration, "C4", "D4", ("C4", "D5")) diff --git a/api/tests/opentrons/hardware_control/test_pipette_handler.py b/api/tests/opentrons/hardware_control/test_pipette_handler.py index c962fc592c5..3bd855024f6 100644 --- a/api/tests/opentrons/hardware_control/test_pipette_handler.py +++ b/api/tests/opentrons/hardware_control/test_pipette_handler.py @@ -16,6 +16,11 @@ TipActionMoveSpec, ) +from opentrons_shared_data.pipette.pipette_definition import ( + PressFitPickUpTipConfiguration, + CamActionPickUpTipConfiguration, +) + @pytest.fixture def mock_pipette(decoy: Decoy) -> Pipette: @@ -106,15 +111,19 @@ def test_plan_check_pick_up_tip_with_presses_argument( decoy.when(mock_pipette.has_tip).then_return(False) decoy.when(mock_pipette.config.quirks).then_return([]) - decoy.when(mock_pipette.pick_up_configurations.distance).then_return(0) - decoy.when(mock_pipette.pick_up_configurations.increment).then_return(0) - decoy.when(mock_pipette.connect_tiprack_distance_mm).then_return(8) - decoy.when(mock_pipette.end_tip_action_retract_distance_mm).then_return(2) - - if presses_input is None: - decoy.when(mock_pipette.pick_up_configurations.presses).then_return( - expected_array_length - ) + decoy.when(mock_pipette.pick_up_configurations.press_fit.presses).then_return( + expected_array_length + ) + decoy.when(mock_pipette.pick_up_configurations.press_fit.distance).then_return(5) + decoy.when(mock_pipette.pick_up_configurations.press_fit.increment).then_return(0) + decoy.when(mock_pipette.pick_up_configurations.press_fit.speed).then_return(10) + decoy.when(mock_pipette.config.end_tip_action_retract_distance_mm).then_return(0) + decoy.when( + mock_pipette.pick_up_configurations.press_fit.current_by_tip_count + ).then_return({1: 1.0}) + decoy.when(mock_pipette.nozzle_manager.current_configuration.tip_count).then_return( + 1 + ) spec, _add_tip_to_instrs = subject.plan_check_pick_up_tip( mount, tip_length, presses, increment @@ -147,32 +156,37 @@ def test_plan_check_pick_up_tip_with_presses_argument_ot3( increment = 1 decoy.when(mock_pipette_ot3.has_tip).then_return(False) - decoy.when(mock_pipette_ot3.pick_up_configurations.presses).then_return(2) - decoy.when(mock_pipette_ot3.pick_up_configurations.increment).then_return(increment) - decoy.when(mock_pipette_ot3.pick_up_configurations.speed).then_return(5.5) - decoy.when(mock_pipette_ot3.pick_up_configurations.distance).then_return(10) decoy.when( - mock_pipette_ot3.nozzle_manager.get_tip_configuration_current() - ).then_return(1) + mock_pipette_ot3.get_pick_up_configuration_for_tip_count(channels) + ).then_return( + CamActionPickUpTipConfiguration( + distance=10, + speed=5.5, + prep_move_distance=19.0, + prep_move_speed=10, + currentByTipCount={96: 1.0}, + connectTiprackDistanceMM=8, + ) + if channels == 96 + else PressFitPickUpTipConfiguration( + presses=2, + increment=increment, + distance=10, + speed=5.5, + currentByTipCount={channels: 1.0}, + ) + ) decoy.when(mock_pipette_ot3.plunger_motor_current.run).then_return(1) decoy.when(mock_pipette_ot3.config.quirks).then_return([]) decoy.when(mock_pipette_ot3.channels).then_return(channels) - decoy.when(mock_pipette_ot3.pick_up_configurations.prep_move_distance).then_return( - 19.0 + decoy.when(mock_pipette_ot3.config.end_tip_action_retract_distance_mm).then_return( + 2 ) - decoy.when(mock_pipette_ot3.pick_up_configurations.prep_move_speed).then_return(10) - decoy.when(mock_pipette_ot3.connect_tiprack_distance_mm).then_return(8) - decoy.when(mock_pipette_ot3.end_tip_action_retract_distance_mm).then_return(2) - - if presses_input is None: - decoy.when(mock_pipette_ot3.config.pick_up_presses).then_return( - expected_array_length - ) if channels == 96: - spec = subject_ot3.plan_ht_pick_up_tip() + spec = subject_ot3.plan_ht_pick_up_tip(96) else: - spec = subject_ot3.plan_lt_pick_up_tip(mount, presses, increment) + spec = subject_ot3.plan_lt_pick_up_tip(mount, channels, presses, increment) assert len(spec.tip_action_moves) == expected_array_length assert spec.tip_action_moves == request.getfixturevalue( expected_pick_up_motor_actions diff --git a/api/tests/opentrons/motion_planning/test_waypoints.py b/api/tests/opentrons/motion_planning/test_waypoints.py index 4930d9a1e70..2ffb79aee09 100644 --- a/api/tests/opentrons/motion_planning/test_waypoints.py +++ b/api/tests/opentrons/motion_planning/test_waypoints.py @@ -278,15 +278,15 @@ def test_get_gripper_labware_movement_waypoints() -> None: ) assert result == [ # move to above "from" slot - GripperMovementWaypointsWithJawStatus(Point(100, 100, 999), False), + GripperMovementWaypointsWithJawStatus(Point(100, 100, 999), False, False), # with jaw open, move to labware on "from" slot - GripperMovementWaypointsWithJawStatus(Point(100, 100, 116.5), True), + GripperMovementWaypointsWithJawStatus(Point(100, 100, 116.5), True, False), # grip labware and retract in place - GripperMovementWaypointsWithJawStatus(Point(100, 100, 999), False), + GripperMovementWaypointsWithJawStatus(Point(100, 100, 999), False, False), # with labware gripped, move to above "to" slot - GripperMovementWaypointsWithJawStatus(Point(202.0, 204.0, 999), False), + GripperMovementWaypointsWithJawStatus(Point(202.0, 204.0, 999), False, False), # with labware gripped, move down to labware drop height on "to" slot - GripperMovementWaypointsWithJawStatus(Point(202.0, 204.0, 222.5), False), + GripperMovementWaypointsWithJawStatus(Point(202.0, 204.0, 222.5), False, False), # ungrip labware and retract in place - GripperMovementWaypointsWithJawStatus(Point(202.0, 204.0, 999), True), + GripperMovementWaypointsWithJawStatus(Point(202.0, 204.0, 999), True, True), ] diff --git a/api/tests/opentrons/protocol_api/core/engine/test_protocol_core.py b/api/tests/opentrons/protocol_api/core/engine/test_protocol_core.py index 749f6cc4f60..6cf46c88839 100644 --- a/api/tests/opentrons/protocol_api/core/engine/test_protocol_core.py +++ b/api/tests/opentrons/protocol_api/core/engine/test_protocol_core.py @@ -33,6 +33,7 @@ DeckSlotLocation, ModuleLocation, OnLabwareLocation, + AddressableAreaLocation, ModuleDefinition, LabwareMovementStrategy, LoadedLabware, @@ -65,6 +66,7 @@ load_labware_params, ) from opentrons.protocol_api._liquid import Liquid +from opentrons.protocol_api._types import StagingSlotName from opentrons.protocol_api.core.engine.exceptions import InvalidModuleLocationError from opentrons.protocol_api.core.engine.module_core import ( TemperatureModuleCore, @@ -203,8 +205,6 @@ def test_get_slot_item_empty( decoy.when( mock_engine_client.state.geometry.get_slot_item( slot_name=DeckSlotName.SLOT_1, - allowed_labware_ids={"fixed-trash-123"}, - allowed_module_ids=set(), ) ).then_return(None) @@ -305,8 +305,6 @@ def test_load_labware( decoy.when( mock_engine_client.state.geometry.get_slot_item( slot_name=DeckSlotName.SLOT_5, - allowed_labware_ids={"fixed-trash-123", "abc123"}, - allowed_module_ids=set(), ) ).then_return( LoadedLabware.construct(id="abc123") # type: ignore[call-arg] @@ -315,6 +313,80 @@ def test_load_labware( assert subject.get_slot_item(DeckSlotName.SLOT_5) is result +def test_load_labware_on_staging_slot( + decoy: Decoy, + mock_engine_client: EngineClient, + subject: ProtocolCore, +) -> None: + """It should issue a LoadLabware command for a labware on a staging slot.""" + decoy.when( + mock_engine_client.state.labware.find_custom_labware_load_params() + ).then_return([EngineLabwareLoadParams("hello", "world", 654)]) + + decoy.when( + load_labware_params.resolve( + "some_labware", + "a_namespace", + 456, + [EngineLabwareLoadParams("hello", "world", 654)], + ) + ).then_return(("some_namespace", 9001)) + + decoy.when( + mock_engine_client.load_labware( + location=AddressableAreaLocation(addressableAreaName="B4"), + load_name="some_labware", + display_name="some_display_name", + namespace="some_namespace", + version=9001, + ) + ).then_return( + commands.LoadLabwareResult( + labwareId="abc123", + definition=LabwareDefinition.construct(), # type: ignore[call-arg] + offsetId=None, + ) + ) + + decoy.when(mock_engine_client.state.labware.get_definition("abc123")).then_return( + LabwareDefinition.construct(ordering=[]) # type: ignore[call-arg] + ) + + result = subject.load_labware( + load_name="some_labware", + location=StagingSlotName.SLOT_B4, + label="some_display_name", # maps to optional display name + namespace="a_namespace", + version=456, + ) + + assert isinstance(result, LabwareCore) + assert result.labware_id == "abc123" + assert subject.get_labware_cores() == [subject.fixed_trash, result] + + decoy.verify( + deck_conflict.check( + engine_state=mock_engine_client.state, + existing_labware_ids=["fixed-trash-123"], + existing_module_ids=[], + new_labware_id="abc123", + ) + ) + + # TODO(jbl 11-17-2023) this is not hooked up yet to staging slots/addressable areas + # decoy.when( + # mock_engine_client.state.geometry.get_slot_item( + # slot_name=StagingSlotName.SLOT_B4, + # allowed_labware_ids={"fixed-trash-123", "abc123"}, + # allowed_module_ids=set(), + # ) + # ).then_return( + # LoadedLabware.construct(id="abc123") # type: ignore[call-arg] + # ) + # + # assert subject.get_slot_item(StagingSlotName.SLOT_B4) is result + + def test_load_labware_on_labware( decoy: Decoy, mock_engine_client: EngineClient, @@ -507,8 +579,6 @@ def test_load_adapter( decoy.when( mock_engine_client.state.geometry.get_slot_item( slot_name=DeckSlotName.SLOT_5, - allowed_labware_ids={"fixed-trash-123", "abc123"}, - allowed_module_ids=set(), ) ).then_return( LoadedLabware.construct(id="abc123") # type: ignore[call-arg] @@ -517,6 +587,78 @@ def test_load_adapter( assert subject.get_slot_item(DeckSlotName.SLOT_5) is result +def test_load_adapter_on_staging_slot( + decoy: Decoy, + mock_engine_client: EngineClient, + subject: ProtocolCore, +) -> None: + """It should issue a LoadLabware command for an adapter.""" + decoy.when( + mock_engine_client.state.labware.find_custom_labware_load_params() + ).then_return([EngineLabwareLoadParams("hello", "world", 654)]) + + decoy.when( + load_labware_params.resolve( + "some_adapter", + "a_namespace", + 456, + [EngineLabwareLoadParams("hello", "world", 654)], + ) + ).then_return(("some_namespace", 9001)) + + decoy.when( + mock_engine_client.load_labware( + location=AddressableAreaLocation(addressableAreaName="B4"), + load_name="some_adapter", + namespace="some_namespace", + version=9001, + ) + ).then_return( + commands.LoadLabwareResult( + labwareId="abc123", + definition=LabwareDefinition.construct(), # type: ignore[call-arg] + offsetId=None, + ) + ) + + decoy.when(mock_engine_client.state.labware.get_definition("abc123")).then_return( + LabwareDefinition.construct(ordering=[]) # type: ignore[call-arg] + ) + + result = subject.load_adapter( + load_name="some_adapter", + location=StagingSlotName.SLOT_B4, + namespace="a_namespace", + version=456, + ) + + assert isinstance(result, LabwareCore) + assert result.labware_id == "abc123" + assert subject.get_labware_cores() == [subject.fixed_trash, result] + + decoy.verify( + deck_conflict.check( + engine_state=mock_engine_client.state, + existing_labware_ids=["fixed-trash-123"], + existing_module_ids=[], + new_labware_id="abc123", + ) + ) + + # TODO(jbl 11-17-2023) this is not hooked up yet to staging slots/addressable areas + # decoy.when( + # mock_engine_client.state.geometry.get_slot_item( + # slot_name=StagingSlotName.SLOT_B4, + # allowed_labware_ids={"fixed-trash-123", "abc123"}, + # allowed_module_ids=set(), + # ) + # ).then_return( + # LoadedLabware.construct(id="abc123") # type: ignore[call-arg] + # ) + # + # assert subject.get_slot_item(StagingSlotName.SLOT_B4) is result + + @pytest.mark.parametrize( argnames=["use_gripper", "pause_for_manual_move", "expected_strategy"], argvalues=[ @@ -572,6 +714,38 @@ def test_move_labware( ) +def test_move_labware_on_staging_slot( + decoy: Decoy, + subject: ProtocolCore, + mock_engine_client: EngineClient, + api_version: APIVersion, +) -> None: + """It should issue a move labware command to the engine.""" + decoy.when( + mock_engine_client.state.labware.get_definition("labware-id") + ).then_return( + LabwareDefinition.construct(ordering=[]) # type: ignore[call-arg] + ) + labware = LabwareCore(labware_id="labware-id", engine_client=mock_engine_client) + subject.move_labware( + labware_core=labware, + new_location=StagingSlotName.SLOT_B4, + use_gripper=False, + pause_for_manual_move=True, + pick_up_offset=None, + drop_offset=None, + ) + decoy.verify( + mock_engine_client.move_labware( + labware_id="labware-id", + new_location=AddressableAreaLocation(addressableAreaName="B4"), + strategy=LabwareMovementStrategy.MANUAL_MOVE_WITH_PAUSE, + pick_up_offset=None, + drop_offset=None, + ) + ) + + def test_move_labware_on_non_connected_module( decoy: Decoy, subject: ProtocolCore, @@ -938,8 +1112,6 @@ def test_load_module( decoy.when( mock_engine_client.state.geometry.get_slot_item( slot_name=slot_name, - allowed_labware_ids={"fixed-trash-123"}, - allowed_module_ids={"abc123"}, ) ).then_return( LoadedModule.construct(id="abc123") # type: ignore[call-arg] @@ -1102,8 +1274,6 @@ def test_load_mag_block( decoy.when( mock_engine_client.state.geometry.get_slot_item( slot_name=DeckSlotName.SLOT_1, - allowed_labware_ids={"fixed-trash-123"}, - allowed_module_ids={"abc123"}, ) ).then_return( LoadedModule.construct(id="abc123") # type: ignore[call-arg] @@ -1367,7 +1537,9 @@ def test_get_slot_center( ) -> None: """It should return a slot center from engine state.""" decoy.when( - mock_engine_client.state.labware.get_slot_center_position(DeckSlotName.SLOT_2) + mock_engine_client.state.addressable_areas.get_addressable_area_center( + DeckSlotName.SLOT_2.id + ) ).then_return(Point(1, 2, 3)) result = subject.get_slot_center(DeckSlotName.SLOT_2) diff --git a/api/tests/opentrons/protocol_api/core/legacy/test_protocol_context_implementation.py b/api/tests/opentrons/protocol_api/core/legacy/test_protocol_context_implementation.py index 6961658b712..1af1bb9d691 100644 --- a/api/tests/opentrons/protocol_api/core/legacy/test_protocol_context_implementation.py +++ b/api/tests/opentrons/protocol_api/core/legacy/test_protocol_context_implementation.py @@ -19,6 +19,7 @@ from opentrons.protocols import labware as mock_labware from opentrons.protocols.api_support.util import APIVersionError +from opentrons.protocol_api._types import StagingSlotName from opentrons.protocol_api.core.legacy.module_geometry import ModuleGeometry from opentrons.protocol_api import MAX_SUPPORTED_VERSION, OFF_DECK from opentrons.protocol_api.core.labware import LabwareLoadParams @@ -179,6 +180,20 @@ def test_load_labware_off_deck_raises( ) +def test_load_labware_on_staging_slot_raises( + subject: LegacyProtocolCore, +) -> None: + """It should raise an api error when loading onto a staging slot.""" + with pytest.raises(APIVersionError): + subject.load_labware( + load_name="cool load name", + location=StagingSlotName.SLOT_B4, + label="cool label", + namespace="cool namespace", + version=1337, + ) + + def test_load_labware( decoy: Decoy, mock_deck: Deck, diff --git a/api/tests/opentrons/protocol_api/test_protocol_context.py b/api/tests/opentrons/protocol_api/test_protocol_context.py index d31d0c43ed8..714754b0fa4 100644 --- a/api/tests/opentrons/protocol_api/test_protocol_context.py +++ b/api/tests/opentrons/protocol_api/test_protocol_context.py @@ -28,6 +28,7 @@ validation as mock_validation, Liquid, ) +from opentrons.protocol_api._types import StagingSlotName from opentrons.protocol_api.core.core_map import LoadedCoreMap from opentrons.protocol_api.core.labware import LabwareLoadParams from opentrons.protocol_api.core.common import ( @@ -383,6 +384,52 @@ def test_load_labware_off_deck_raises( ) +def test_load_labware_on_staging_slot( + decoy: Decoy, + mock_core: ProtocolCore, + mock_core_map: LoadedCoreMap, + api_version: APIVersion, + subject: ProtocolContext, +) -> None: + """It should create a labware on a staging slot using its execution core.""" + mock_labware_core = decoy.mock(cls=LabwareCore) + + decoy.when(mock_validation.ensure_lowercase_name("UPPERCASE_LABWARE")).then_return( + "lowercase_labware" + ) + decoy.when(mock_core.robot_type).then_return("OT-3 Standard") + decoy.when( + mock_validation.ensure_and_convert_deck_slot(42, api_version, "OT-3 Standard") + ).then_return(StagingSlotName.SLOT_B4) + + decoy.when( + mock_core.load_labware( + load_name="lowercase_labware", + location=StagingSlotName.SLOT_B4, + label="some_display_name", + namespace="some_namespace", + version=1337, + ) + ).then_return(mock_labware_core) + + decoy.when(mock_labware_core.get_name()).then_return("Full Name") + decoy.when(mock_labware_core.get_display_name()).then_return("Display Name") + decoy.when(mock_labware_core.get_well_columns()).then_return([]) + + result = subject.load_labware( + load_name="UPPERCASE_LABWARE", + location=42, + label="some_display_name", + namespace="some_namespace", + version=1337, + ) + + assert isinstance(result, Labware) + assert result.name == "Full Name" + + decoy.verify(mock_core_map.add(mock_labware_core, result), times=1) + + def test_load_labware_from_definition( decoy: Decoy, mock_core: ProtocolCore, @@ -468,6 +515,47 @@ def test_load_adapter( decoy.verify(mock_core_map.add(mock_labware_core, result), times=1) +def test_load_adapter_on_staging_slot( + decoy: Decoy, + mock_core: ProtocolCore, + mock_core_map: LoadedCoreMap, + api_version: APIVersion, + subject: ProtocolContext, +) -> None: + """It should create an adapter on a staging slot using its execution core.""" + mock_labware_core = decoy.mock(cls=LabwareCore) + + decoy.when(mock_validation.ensure_lowercase_name("UPPERCASE_ADAPTER")).then_return( + "lowercase_adapter" + ) + decoy.when(mock_core.robot_type).then_return("OT-3 Standard") + decoy.when( + mock_validation.ensure_and_convert_deck_slot(42, api_version, "OT-3 Standard") + ).then_return(StagingSlotName.SLOT_B4) + + decoy.when( + mock_core.load_adapter( + load_name="lowercase_adapter", + location=StagingSlotName.SLOT_B4, + namespace="some_namespace", + version=1337, + ) + ).then_return(mock_labware_core) + + decoy.when(mock_labware_core.get_well_columns()).then_return([]) + + result = subject.load_adapter( + load_name="UPPERCASE_ADAPTER", + location=42, + namespace="some_namespace", + version=1337, + ) + + assert isinstance(result, Labware) + + decoy.verify(mock_core_map.add(mock_labware_core, result), times=1) + + def test_load_labware_on_adapter( decoy: Decoy, mock_core: ProtocolCore, @@ -599,6 +687,50 @@ def test_move_labware_to_slot( ) +def test_move_labware_to_staging_slot( + decoy: Decoy, + mock_core: ProtocolCore, + mock_core_map: LoadedCoreMap, + api_version: APIVersion, + subject: ProtocolContext, +) -> None: + """It should move labware to new slot location.""" + drop_offset = {"x": 4, "y": 5, "z": 6} + mock_labware_core = decoy.mock(cls=LabwareCore) + + decoy.when(mock_core.robot_type).then_return("OT-3 Standard") + decoy.when( + mock_validation.ensure_and_convert_deck_slot(42, api_version, "OT-3 Standard") + ).then_return(StagingSlotName.SLOT_B4) + decoy.when(mock_labware_core.get_well_columns()).then_return([]) + + movable_labware = Labware( + core=mock_labware_core, + api_version=MAX_SUPPORTED_VERSION, + protocol_core=mock_core, + core_map=mock_core_map, + ) + decoy.when( + mock_validation.ensure_valid_labware_offset_vector(drop_offset) + ).then_return((1, 2, 3)) + subject.move_labware( + labware=movable_labware, + new_location=42, + drop_offset=drop_offset, + ) + + decoy.verify( + mock_core.move_labware( + labware_core=mock_labware_core, + new_location=StagingSlotName.SLOT_B4, + use_gripper=False, + pause_for_manual_move=True, + pick_up_offset=None, + drop_offset=(1, 2, 3), + ) + ) + + def test_move_labware_to_module( decoy: Decoy, mock_core: ProtocolCore, @@ -785,6 +917,26 @@ def test_load_module_with_mag_block_raises(subject: ProtocolContext) -> None: ) +def test_load_module_on_staging_slot_raises( + decoy: Decoy, + mock_core: ProtocolCore, + mock_core_map: LoadedCoreMap, + api_version: APIVersion, + subject: ProtocolContext, +) -> None: + """It should raise when attempting to load a module onto a staging slot.""" + decoy.when(mock_validation.ensure_module_model("spline reticulator")).then_return( + TemperatureModuleModel.TEMPERATURE_V1 + ) + decoy.when(mock_core.robot_type).then_return("OT-3 Standard") + decoy.when( + mock_validation.ensure_and_convert_deck_slot(42, api_version, "OT-3 Standard") + ).then_return(StagingSlotName.SLOT_B4) + + with pytest.raises(ValueError, match="Cannot load a module onto a staging slot."): + subject.load_module(module_name="spline reticulator", location=42) + + def test_loaded_modules( decoy: Decoy, mock_core_map: LoadedCoreMap, diff --git a/api/tests/opentrons/protocol_api/test_validation.py b/api/tests/opentrons/protocol_api/test_validation.py index 13ec1d77db6..ccc418d8159 100644 --- a/api/tests/opentrons/protocol_api/test_validation.py +++ b/api/tests/opentrons/protocol_api/test_validation.py @@ -25,6 +25,7 @@ from opentrons.protocols.api_support.types import APIVersion from opentrons.protocols.api_support.util import APIVersionError from opentrons.protocol_api import validation as subject, Well, Labware +from opentrons.protocol_api._types import StagingSlotName @pytest.mark.parametrize( @@ -131,6 +132,11 @@ def test_ensure_pipette_input_invalid(input_value: str) -> None: ("a3", APIVersion(2, 15), "OT-3 Standard", DeckSlotName.SLOT_A3), ("A3", APIVersion(2, 15), "OT-2 Standard", DeckSlotName.FIXED_TRASH), ("A3", APIVersion(2, 15), "OT-3 Standard", DeckSlotName.SLOT_A3), + # Staging slots: + ("A4", APIVersion(2, 16), "OT-3 Standard", StagingSlotName.SLOT_A4), + ("b4", APIVersion(2, 16), "OT-3 Standard", StagingSlotName.SLOT_B4), + ("C4", APIVersion(2, 16), "OT-3 Standard", StagingSlotName.SLOT_C4), + ("d4", APIVersion(2, 16), "OT-3 Standard", StagingSlotName.SLOT_D4), ], ) def test_ensure_and_convert_deck_slot( @@ -162,6 +168,7 @@ def test_ensure_and_convert_deck_slot( APIVersionError, '"A1" requires apiLevel 2.15. Increase your protocol\'s apiLevel, or use slot "10" instead.', ), + ("A4", APIVersion(2, 15), APIVersionError, "Using a staging deck slot"), ], ) @pytest.mark.parametrize("input_robot_type", ["OT-2 Standard", "OT-3 Standard"]) diff --git a/api/tests/opentrons/protocol_engine/clients/test_sync_client.py b/api/tests/opentrons/protocol_engine/clients/test_sync_client.py index f172b93cab1..f57fbfddf38 100644 --- a/api/tests/opentrons/protocol_engine/clients/test_sync_client.py +++ b/api/tests/opentrons/protocol_engine/clients/test_sync_client.py @@ -31,6 +31,7 @@ Liquid, LabwareMovementStrategy, LabwareOffsetVector, + AddressableOffsetVector, ) @@ -267,6 +268,38 @@ def test_move_to_well( assert result == response +def test_move_to_addressable_area( + decoy: Decoy, + transport: ChildThreadTransport, + subject: SyncClient, +) -> None: + """It should execute a move to addressable area command.""" + request = commands.MoveToAddressableAreaCreate( + params=commands.MoveToAddressableAreaParams( + pipetteId="123", + addressableAreaName="abc", + offset=AddressableOffsetVector(x=3, y=2, z=1), + forceDirect=True, + minimumZHeight=4.56, + speed=7.89, + ) + ) + response = commands.MoveToAddressableAreaResult(position=DeckPoint(x=4, y=5, z=6)) + + decoy.when(transport.execute_command(request=request)).then_return(response) + + result = subject.move_to_addressable_area( + pipette_id="123", + addressable_area_name="abc", + offset=AddressableOffsetVector(x=3, y=2, z=1), + force_direct=True, + minimum_z_height=4.56, + speed=7.89, + ) + + assert result == response + + def test_move_to_coordinates( decoy: Decoy, transport: ChildThreadTransport, diff --git a/api/tests/opentrons/protocol_engine/commands/test_configure_nozzle_layout.py b/api/tests/opentrons/protocol_engine/commands/test_configure_nozzle_layout.py index 44fc10530e5..8a7ec6cb8ba 100644 --- a/api/tests/opentrons/protocol_engine/commands/test_configure_nozzle_layout.py +++ b/api/tests/opentrons/protocol_engine/commands/test_configure_nozzle_layout.py @@ -2,6 +2,7 @@ import pytest from decoy import Decoy from typing import Union, Optional, Dict +from collections import OrderedDict from opentrons.protocol_engine.execution import ( EquipmentHandler, @@ -19,111 +20,271 @@ ) from opentrons.protocol_engine.types import ( - EmptyNozzleLayoutConfiguration, + AllNozzleLayoutConfiguration, ColumnNozzleLayoutConfiguration, QuadrantNozzleLayoutConfiguration, SingleNozzleLayoutConfiguration, ) +NINETY_SIX_ROWS = OrderedDict( + ( + ( + "A", + [ + "A1", + "A2", + "A3", + "A4", + "A5", + "A6", + "A7", + "A8", + "A9", + "A10", + "A11", + "A12", + ], + ), + ( + "B", + [ + "B1", + "B2", + "B3", + "B4", + "B5", + "B6", + "B7", + "B8", + "B9", + "B10", + "B11", + "B12", + ], + ), + ( + "C", + [ + "C1", + "C2", + "C3", + "C4", + "C5", + "C6", + "C7", + "C8", + "C9", + "C10", + "C11", + "C12", + ], + ), + ( + "D", + [ + "D1", + "D2", + "D3", + "D4", + "D5", + "D6", + "D7", + "D8", + "D9", + "D10", + "D11", + "D12", + ], + ), + ( + "E", + [ + "E1", + "E2", + "E3", + "E4", + "E5", + "E6", + "E7", + "E8", + "E9", + "E10", + "E11", + "E12", + ], + ), + ( + "F", + [ + "F1", + "F2", + "F3", + "F4", + "F5", + "F6", + "F7", + "F8", + "F9", + "F10", + "F11", + "F12", + ], + ), + ( + "G", + [ + "G1", + "G2", + "G3", + "G4", + "G5", + "G6", + "G7", + "G8", + "G9", + "G10", + "G11", + "G12", + ], + ), + ( + "H", + [ + "H1", + "H2", + "H3", + "H4", + "H5", + "H6", + "H7", + "H8", + "H9", + "H10", + "H11", + "H12", + ], + ), + ) +) + + +NINETY_SIX_COLS = OrderedDict( + ( + ("1", ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"]), + ("2", ["A2", "B2", "C2", "D2", "E2", "F2", "G2", "H2"]), + ("3", ["A3", "B3", "C3", "D3", "E3", "F3", "G3", "H3"]), + ("4", ["A4", "B4", "C4", "D4", "E4", "F4", "G4", "H4"]), + ("5", ["A5", "B5", "C5", "D5", "E5", "F5", "G5", "H5"]), + ("6", ["A6", "B6", "C6", "D6", "E6", "F6", "G6", "H6"]), + ("7", ["A7", "B7", "C7", "D7", "E7", "F7", "G7", "H7"]), + ("8", ["A8", "B8", "C8", "D8", "E8", "F8", "G8", "H8"]), + ("9", ["A9", "B9", "C9", "D9", "E9", "F9", "G9", "H9"]), + ("10", ["A10", "B10", "C10", "D10", "E10", "F10", "G10", "H10"]), + ("11", ["A11", "B11", "C11", "D11", "E11", "F11", "G11", "H11"]), + ("12", ["A12", "B12", "C12", "D12", "E12", "F12", "G12", "H12"]), + ) +) -NINETY_SIX_MAP = { - "A1": Point(-36.0, -25.5, -259.15), - "A2": Point(-27.0, -25.5, -259.15), - "A3": Point(-18.0, -25.5, -259.15), - "A4": Point(-9.0, -25.5, -259.15), - "A5": Point(0.0, -25.5, -259.15), - "A6": Point(9.0, -25.5, -259.15), - "A7": Point(18.0, -25.5, -259.15), - "A8": Point(27.0, -25.5, -259.15), - "A9": Point(36.0, -25.5, -259.15), - "A10": Point(45.0, -25.5, -259.15), - "A11": Point(54.0, -25.5, -259.15), - "A12": Point(63.0, -25.5, -259.15), - "B1": Point(-36.0, -34.5, -259.15), - "B2": Point(-27.0, -34.5, -259.15), - "B3": Point(-18.0, -34.5, -259.15), - "B4": Point(-9.0, -34.5, -259.15), - "B5": Point(0.0, -34.5, -259.15), - "B6": Point(9.0, -34.5, -259.15), - "B7": Point(18.0, -34.5, -259.15), - "B8": Point(27.0, -34.5, -259.15), - "B9": Point(36.0, -34.5, -259.15), - "B10": Point(45.0, -34.5, -259.15), - "B11": Point(54.0, -34.5, -259.15), - "B12": Point(63.0, -34.5, -259.15), - "C1": Point(-36.0, -43.5, -259.15), - "C2": Point(-27.0, -43.5, -259.15), - "C3": Point(-18.0, -43.5, -259.15), - "C4": Point(-9.0, -43.5, -259.15), - "C5": Point(0.0, -43.5, -259.15), - "C6": Point(9.0, -43.5, -259.15), - "C7": Point(18.0, -43.5, -259.15), - "C8": Point(27.0, -43.5, -259.15), - "C9": Point(36.0, -43.5, -259.15), - "C10": Point(45.0, -43.5, -259.15), - "C11": Point(54.0, -43.5, -259.15), - "C12": Point(63.0, -43.5, -259.15), - "D1": Point(-36.0, -52.5, -259.15), - "D2": Point(-27.0, -52.5, -259.15), - "D3": Point(-18.0, -52.5, -259.15), - "D4": Point(-9.0, -52.5, -259.15), - "D5": Point(0.0, -52.5, -259.15), - "D6": Point(9.0, -52.5, -259.15), - "D7": Point(18.0, -52.5, -259.15), - "D8": Point(27.0, -52.5, -259.15), - "D9": Point(36.0, -52.5, -259.15), - "D10": Point(45.0, -52.5, -259.15), - "D11": Point(54.0, -52.5, -259.15), - "D12": Point(63.0, -52.5, -259.15), - "E1": Point(-36.0, -61.5, -259.15), - "E2": Point(-27.0, -61.5, -259.15), - "E3": Point(-18.0, -61.5, -259.15), - "E4": Point(-9.0, -61.5, -259.15), - "E5": Point(0.0, -61.5, -259.15), - "E6": Point(9.0, -61.5, -259.15), - "E7": Point(18.0, -61.5, -259.15), - "E8": Point(27.0, -61.5, -259.15), - "E9": Point(36.0, -61.5, -259.15), - "E10": Point(45.0, -61.5, -259.15), - "E11": Point(54.0, -61.5, -259.15), - "E12": Point(63.0, -61.5, -259.15), - "F1": Point(-36.0, -70.5, -259.15), - "F2": Point(-27.0, -70.5, -259.15), - "F3": Point(-18.0, -70.5, -259.15), - "F4": Point(-9.0, -70.5, -259.15), - "F5": Point(0.0, -70.5, -259.15), - "F6": Point(9.0, -70.5, -259.15), - "F7": Point(18.0, -70.5, -259.15), - "F8": Point(27.0, -70.5, -259.15), - "F9": Point(36.0, -70.5, -259.15), - "F10": Point(45.0, -70.5, -259.15), - "F11": Point(54.0, -70.5, -259.15), - "F12": Point(63.0, -70.5, -259.15), - "G1": Point(-36.0, -79.5, -259.15), - "G2": Point(-27.0, -79.5, -259.15), - "G3": Point(-18.0, -79.5, -259.15), - "G4": Point(-9.0, -79.5, -259.15), - "G5": Point(0.0, -79.5, -259.15), - "G6": Point(9.0, -79.5, -259.15), - "G7": Point(18.0, -79.5, -259.15), - "G8": Point(27.0, -79.5, -259.15), - "G9": Point(36.0, -79.5, -259.15), - "G10": Point(45.0, -79.5, -259.15), - "G11": Point(54.0, -79.5, -259.15), - "G12": Point(63.0, -79.5, -259.15), - "H1": Point(-36.0, -88.5, -259.15), - "H2": Point(-27.0, -88.5, -259.15), - "H3": Point(-18.0, -88.5, -259.15), - "H4": Point(-9.0, -88.5, -259.15), - "H5": Point(0.0, -88.5, -259.15), - "H6": Point(9.0, -88.5, -259.15), - "H7": Point(18.0, -88.5, -259.15), - "H8": Point(27.0, -88.5, -259.15), - "H9": Point(36.0, -88.5, -259.15), - "H10": Point(45.0, -88.5, -259.15), - "H11": Point(54.0, -88.5, -259.15), - "H12": Point(63.0, -88.5, -259.15), -} +NINETY_SIX_MAP = OrderedDict( + ( + ("A1", Point(-36.0, -25.5, -259.15)), + ("A2", Point(-27.0, -25.5, -259.15)), + ("A3", Point(-18.0, -25.5, -259.15)), + ("A4", Point(-9.0, -25.5, -259.15)), + ("A5", Point(0.0, -25.5, -259.15)), + ("A6", Point(9.0, -25.5, -259.15)), + ("A7", Point(18.0, -25.5, -259.15)), + ("A8", Point(27.0, -25.5, -259.15)), + ("A9", Point(36.0, -25.5, -259.15)), + ("A10", Point(45.0, -25.5, -259.15)), + ("A11", Point(54.0, -25.5, -259.15)), + ("A12", Point(63.0, -25.5, -259.15)), + ("B1", Point(-36.0, -34.5, -259.15)), + ("B2", Point(-27.0, -34.5, -259.15)), + ("B3", Point(-18.0, -34.5, -259.15)), + ("B4", Point(-9.0, -34.5, -259.15)), + ("B5", Point(0.0, -34.5, -259.15)), + ("B6", Point(9.0, -34.5, -259.15)), + ("B7", Point(18.0, -34.5, -259.15)), + ("B8", Point(27.0, -34.5, -259.15)), + ("B9", Point(36.0, -34.5, -259.15)), + ("B10", Point(45.0, -34.5, -259.15)), + ("B11", Point(54.0, -34.5, -259.15)), + ("B12", Point(63.0, -34.5, -259.15)), + ("C1", Point(-36.0, -43.5, -259.15)), + ("C2", Point(-27.0, -43.5, -259.15)), + ("C3", Point(-18.0, -43.5, -259.15)), + ("C4", Point(-9.0, -43.5, -259.15)), + ("C5", Point(0.0, -43.5, -259.15)), + ("C6", Point(9.0, -43.5, -259.15)), + ("C7", Point(18.0, -43.5, -259.15)), + ("C8", Point(27.0, -43.5, -259.15)), + ("C9", Point(36.0, -43.5, -259.15)), + ("C10", Point(45.0, -43.5, -259.15)), + ("C11", Point(54.0, -43.5, -259.15)), + ("C12", Point(63.0, -43.5, -259.15)), + ("D1", Point(-36.0, -52.5, -259.15)), + ("D2", Point(-27.0, -52.5, -259.15)), + ("D3", Point(-18.0, -52.5, -259.15)), + ("D4", Point(-9.0, -52.5, -259.15)), + ("D5", Point(0.0, -52.5, -259.15)), + ("D6", Point(9.0, -52.5, -259.15)), + ("D7", Point(18.0, -52.5, -259.15)), + ("D8", Point(27.0, -52.5, -259.15)), + ("D9", Point(36.0, -52.5, -259.15)), + ("D10", Point(45.0, -52.5, -259.15)), + ("D11", Point(54.0, -52.5, -259.15)), + ("D12", Point(63.0, -52.5, -259.15)), + ("E1", Point(-36.0, -61.5, -259.15)), + ("E2", Point(-27.0, -61.5, -259.15)), + ("E3", Point(-18.0, -61.5, -259.15)), + ("E4", Point(-9.0, -61.5, -259.15)), + ("E5", Point(0.0, -61.5, -259.15)), + ("E6", Point(9.0, -61.5, -259.15)), + ("E7", Point(18.0, -61.5, -259.15)), + ("E8", Point(27.0, -61.5, -259.15)), + ("E9", Point(36.0, -61.5, -259.15)), + ("E10", Point(45.0, -61.5, -259.15)), + ("E11", Point(54.0, -61.5, -259.15)), + ("E12", Point(63.0, -61.5, -259.15)), + ("F1", Point(-36.0, -70.5, -259.15)), + ("F2", Point(-27.0, -70.5, -259.15)), + ("F3", Point(-18.0, -70.5, -259.15)), + ("F4", Point(-9.0, -70.5, -259.15)), + ("F5", Point(0.0, -70.5, -259.15)), + ("F6", Point(9.0, -70.5, -259.15)), + ("F7", Point(18.0, -70.5, -259.15)), + ("F8", Point(27.0, -70.5, -259.15)), + ("F9", Point(36.0, -70.5, -259.15)), + ("F10", Point(45.0, -70.5, -259.15)), + ("F11", Point(54.0, -70.5, -259.15)), + ("F12", Point(63.0, -70.5, -259.15)), + ("G1", Point(-36.0, -79.5, -259.15)), + ("G2", Point(-27.0, -79.5, -259.15)), + ("G3", Point(-18.0, -79.5, -259.15)), + ("G4", Point(-9.0, -79.5, -259.15)), + ("G5", Point(0.0, -79.5, -259.15)), + ("G6", Point(9.0, -79.5, -259.15)), + ("G7", Point(18.0, -79.5, -259.15)), + ("G8", Point(27.0, -79.5, -259.15)), + ("G9", Point(36.0, -79.5, -259.15)), + ("G10", Point(45.0, -79.5, -259.15)), + ("G11", Point(54.0, -79.5, -259.15)), + ("G12", Point(63.0, -79.5, -259.15)), + ("H1", Point(-36.0, -88.5, -259.15)), + ("H2", Point(-27.0, -88.5, -259.15)), + ("H3", Point(-18.0, -88.5, -259.15)), + ("H4", Point(-9.0, -88.5, -259.15)), + ("H5", Point(0.0, -88.5, -259.15)), + ("H6", Point(9.0, -88.5, -259.15)), + ("H7", Point(18.0, -88.5, -259.15)), + ("H8", Point(27.0, -88.5, -259.15)), + ("H9", Point(36.0, -88.5, -259.15)), + ("H10", Point(45.0, -88.5, -259.15)), + ("H11", Point(54.0, -88.5, -259.15)), + ("H12", Point(63.0, -88.5, -259.15)), + ) +) @pytest.mark.parametrize( @@ -132,7 +293,9 @@ [ SingleNozzleLayoutConfiguration(primary_nozzle="A1"), NozzleMap.build( - physical_nozzle_map={"A1": Point(0, 0, 0)}, + physical_nozzles=OrderedDict({"A1": Point(0, 0, 0)}), + physical_rows=OrderedDict({"A": ["A1"]}), + physical_columns=OrderedDict({"1": ["A1"]}), starting_nozzle="A1", back_left_nozzle="A1", front_right_nozzle="A1", @@ -142,7 +305,9 @@ [ ColumnNozzleLayoutConfiguration(primary_nozzle="A1"), NozzleMap.build( - physical_nozzle_map=NINETY_SIX_MAP, + physical_nozzles=NINETY_SIX_MAP, + physical_rows=NINETY_SIX_ROWS, + physical_columns=NINETY_SIX_COLS, starting_nozzle="A1", back_left_nozzle="A1", front_right_nozzle="H1", @@ -154,7 +319,9 @@ primary_nozzle="A1", front_right_nozzle="E1" ), NozzleMap.build( - physical_nozzle_map=NINETY_SIX_MAP, + physical_nozzles=NINETY_SIX_MAP, + physical_rows=NINETY_SIX_ROWS, + physical_columns=NINETY_SIX_COLS, starting_nozzle="A1", back_left_nozzle="A1", front_right_nozzle="E1", @@ -162,7 +329,7 @@ {"primary_nozzle": "A1", "front_right_nozzle": "E1"}, ], [ - EmptyNozzleLayoutConfiguration(), + AllNozzleLayoutConfiguration(), None, {}, ], @@ -173,7 +340,7 @@ async def test_configure_nozzle_layout_implementation( equipment: EquipmentHandler, tip_handler: TipHandler, request_model: Union[ - EmptyNozzleLayoutConfiguration, + AllNozzleLayoutConfiguration, ColumnNozzleLayoutConfiguration, QuadrantNozzleLayoutConfiguration, SingleNozzleLayoutConfiguration, diff --git a/api/tests/opentrons/protocol_engine/commands/test_drop_tip.py b/api/tests/opentrons/protocol_engine/commands/test_drop_tip.py index 7551c67ea25..4a3c547c07a 100644 --- a/api/tests/opentrons/protocol_engine/commands/test_drop_tip.py +++ b/api/tests/opentrons/protocol_engine/commands/test_drop_tip.py @@ -86,11 +86,16 @@ async def test_drop_tip_implementation( homeAfter=True, ) + decoy.when( + mock_state_view.pipettes.get_is_partially_configured(pipette_id="abc") + ).then_return(False) + decoy.when( mock_state_view.geometry.get_checked_tip_drop_location( pipette_id="abc", labware_id="123", well_location=DropTipWellLocation(offset=WellOffset(x=1, y=2, z=3)), + partially_configured=False, ) ).then_return(WellLocation(offset=WellOffset(x=4, y=5, z=6))) @@ -142,9 +147,16 @@ async def test_drop_tip_with_alternating_locations( ) ).then_return(drop_location) + decoy.when( + mock_state_view.pipettes.get_is_partially_configured(pipette_id="abc") + ).then_return(False) + decoy.when( mock_state_view.geometry.get_checked_tip_drop_location( - pipette_id="abc", labware_id="123", well_location=drop_location + pipette_id="abc", + labware_id="123", + well_location=drop_location, + partially_configured=False, ) ).then_return(WellLocation(offset=WellOffset(x=4, y=5, z=6))) diff --git a/api/tests/opentrons/protocol_engine/commands/test_load_labware.py b/api/tests/opentrons/protocol_engine/commands/test_load_labware.py index 9444a3df5ec..7ca9d112e27 100644 --- a/api/tests/opentrons/protocol_engine/commands/test_load_labware.py +++ b/api/tests/opentrons/protocol_engine/commands/test_load_labware.py @@ -9,6 +9,7 @@ from opentrons.protocol_engine.errors import ( LabwareIsNotAllowedInLocationError, + LocationIsOccupiedError, ) from opentrons.protocol_engine.types import ( @@ -52,9 +53,14 @@ async def test_load_labware_implementation( displayName="My custom display name", ) + decoy.when( + state_view.geometry.ensure_location_not_occupied( + DeckSlotLocation(slotName=DeckSlotName.SLOT_3) + ) + ).then_return(DeckSlotLocation(slotName=DeckSlotName.SLOT_4)) decoy.when( await equipment.load_labware( - location=DeckSlotLocation(slotName=DeckSlotName.SLOT_3), + location=DeckSlotLocation(slotName=DeckSlotName.SLOT_4), load_name="some-load-name", namespace="opentrons-test", version=1, @@ -120,9 +126,14 @@ async def test_load_labware_on_labware( displayName="My custom display name", ) + decoy.when( + state_view.geometry.ensure_location_not_occupied( + OnLabwareLocation(labwareId="other-labware-id") + ) + ).then_return(OnLabwareLocation(labwareId="another-labware-id")) decoy.when( await equipment.load_labware( - location=OnLabwareLocation(labwareId="other-labware-id"), + location=OnLabwareLocation(labwareId="another-labware-id"), load_name="some-load-name", namespace="opentrons-test", version=1, @@ -150,6 +161,33 @@ async def test_load_labware_on_labware( decoy.verify( state_view.labware.raise_if_labware_cannot_be_stacked( - well_plate_def, "other-labware-id" + well_plate_def, "another-labware-id" ) ) + + +async def test_load_labware_raises_if_location_occupied( + decoy: Decoy, + well_plate_def: LabwareDefinition, + equipment: EquipmentHandler, + state_view: StateView, +) -> None: + """A LoadLabware command should have an execution implementation.""" + subject = LoadLabwareImplementation(equipment=equipment, state_view=state_view) + + data = LoadLabwareParams( + location=DeckSlotLocation(slotName=DeckSlotName.SLOT_3), + loadName="some-load-name", + namespace="opentrons-test", + version=1, + displayName="My custom display name", + ) + + decoy.when( + state_view.geometry.ensure_location_not_occupied( + DeckSlotLocation(slotName=DeckSlotName.SLOT_3) + ) + ).then_raise(LocationIsOccupiedError("Get your own spot!")) + + with pytest.raises(LocationIsOccupiedError): + await subject.execute(data) diff --git a/api/tests/opentrons/protocol_engine/commands/test_load_module.py b/api/tests/opentrons/protocol_engine/commands/test_load_module.py index e86d402058c..84be22d4661 100644 --- a/api/tests/opentrons/protocol_engine/commands/test_load_module.py +++ b/api/tests/opentrons/protocol_engine/commands/test_load_module.py @@ -1,6 +1,9 @@ """Test load module command.""" +import pytest from decoy import Decoy +from opentrons.protocol_engine.errors import LocationIsOccupiedError +from opentrons.protocol_engine.state import StateView from opentrons.types import DeckSlotName from opentrons.protocol_engine.types import ( DeckSlotLocation, @@ -19,21 +22,27 @@ async def test_load_module_implementation( decoy: Decoy, equipment: EquipmentHandler, + state_view: StateView, tempdeck_v2_def: ModuleDefinition, ) -> None: """A loadModule command should have an execution implementation.""" - subject = LoadModuleImplementation(equipment=equipment) + subject = LoadModuleImplementation(equipment=equipment, state_view=state_view) data = LoadModuleParams( model=ModuleModel.TEMPERATURE_MODULE_V1, location=DeckSlotLocation(slotName=DeckSlotName.SLOT_1), moduleId="some-id", ) + decoy.when( + state_view.geometry.ensure_location_not_occupied( + DeckSlotLocation(slotName=DeckSlotName.SLOT_1) + ) + ).then_return(DeckSlotLocation(slotName=DeckSlotName.SLOT_2)) decoy.when( await equipment.load_module( model=ModuleModel.TEMPERATURE_MODULE_V1, - location=DeckSlotLocation(slotName=DeckSlotName.SLOT_1), + location=DeckSlotLocation(slotName=DeckSlotName.SLOT_2), module_id="some-id", ) ).then_return( @@ -56,21 +65,27 @@ async def test_load_module_implementation( async def test_load_module_implementation_mag_block( decoy: Decoy, equipment: EquipmentHandler, + state_view: StateView, mag_block_v1_def: ModuleDefinition, ) -> None: """A loadModule command for mag block should have an execution implementation.""" - subject = LoadModuleImplementation(equipment=equipment) + subject = LoadModuleImplementation(equipment=equipment, state_view=state_view) data = LoadModuleParams( model=ModuleModel.MAGNETIC_BLOCK_V1, location=DeckSlotLocation(slotName=DeckSlotName.SLOT_1), moduleId="some-id", ) + decoy.when( + state_view.geometry.ensure_location_not_occupied( + DeckSlotLocation(slotName=DeckSlotName.SLOT_1) + ) + ).then_return(DeckSlotLocation(slotName=DeckSlotName.SLOT_2)) decoy.when( await equipment.load_magnetic_block( model=ModuleModel.MAGNETIC_BLOCK_V1, - location=DeckSlotLocation(slotName=DeckSlotName.SLOT_1), + location=DeckSlotLocation(slotName=DeckSlotName.SLOT_2), module_id="some-id", ) ).then_return( @@ -88,3 +103,27 @@ async def test_load_module_implementation_mag_block( model=ModuleModel.MAGNETIC_BLOCK_V1, definition=mag_block_v1_def, ) + + +async def test_load_module_raises_if_location_occupied( + decoy: Decoy, + equipment: EquipmentHandler, + state_view: StateView, +) -> None: + """A loadModule command should have an execution implementation.""" + subject = LoadModuleImplementation(equipment=equipment, state_view=state_view) + + data = LoadModuleParams( + model=ModuleModel.TEMPERATURE_MODULE_V1, + location=DeckSlotLocation(slotName=DeckSlotName.SLOT_1), + moduleId="some-id", + ) + + decoy.when( + state_view.geometry.ensure_location_not_occupied( + DeckSlotLocation(slotName=DeckSlotName.SLOT_1) + ) + ).then_raise(LocationIsOccupiedError("Get your own spot!")) + + with pytest.raises(LocationIsOccupiedError): + await subject.execute(data) diff --git a/api/tests/opentrons/protocol_engine/commands/test_move_labware.py b/api/tests/opentrons/protocol_engine/commands/test_move_labware.py index 0b76e8a2b56..239a275514f 100644 --- a/api/tests/opentrons/protocol_engine/commands/test_move_labware.py +++ b/api/tests/opentrons/protocol_engine/commands/test_move_labware.py @@ -18,6 +18,7 @@ LabwareOffsetVector, LabwareMovementOffsetData, DeckType, + AddressableAreaLocation, ) from opentrons.protocol_engine.state import StateView from opentrons.protocol_engine.commands.move_labware import ( @@ -241,6 +242,88 @@ async def test_gripper_move_labware_implementation( pickUpOffset=LabwareOffsetVector(x=1, y=2, z=3), dropOffset=LabwareOffsetVector(x=0, y=0, z=0), ), + delay_after_drop=None, + ), + ) + assert result == MoveLabwareResult( + offsetId="wowzers-a-new-offset-id", + ) + + +async def test_gripper_move_to_waste_chute_implementation( + decoy: Decoy, + equipment: EquipmentHandler, + labware_movement: LabwareMovementHandler, + state_view: StateView, + run_control: RunControlHandler, +) -> None: + """It should drop the labware with a delay added.""" + subject = MoveLabwareImplementation( + state_view=state_view, + equipment=equipment, + labware_movement=labware_movement, + run_control=run_control, + ) + from_location = DeckSlotLocation(slotName=DeckSlotName.SLOT_1) + new_location = AddressableAreaLocation(addressableAreaName="gripperWasteChute") + + data = MoveLabwareParams( + labwareId="my-cool-labware-id", + newLocation=new_location, + strategy=LabwareMovementStrategy.USING_GRIPPER, + pickUpOffset=LabwareOffsetVector(x=1, y=2, z=3), + dropOffset=None, + ) + decoy.when( + state_view.labware.get_definition(labware_id="my-cool-labware-id") + ).then_return( + LabwareDefinition.construct(namespace="my-cool-namespace") # type: ignore[call-arg] + ) + decoy.when(state_view.labware.get(labware_id="my-cool-labware-id")).then_return( + LoadedLabware( + id="my-cool-labware-id", + loadName="load-name", + definitionUri="opentrons-test/load-name/1", + location=from_location, + offsetId=None, + ) + ) + decoy.when( + state_view.geometry.ensure_location_not_occupied( + location=new_location, + ) + ).then_return(new_location) + decoy.when( + equipment.find_applicable_labware_offset_id( + labware_definition_uri="opentrons-test/load-name/1", + labware_location=new_location, + ) + ).then_return("wowzers-a-new-offset-id") + + decoy.when( + state_view.geometry.ensure_valid_gripper_location(from_location) + ).then_return(from_location) + decoy.when( + state_view.geometry.ensure_valid_gripper_location(new_location) + ).then_return(new_location) + decoy.when( + labware_validation.validate_gripper_compatible( + LabwareDefinition.construct(namespace="my-cool-namespace") # type: ignore[call-arg] + ) + ).then_return(True) + + result = await subject.execute(data) + decoy.verify( + state_view.labware.raise_if_labware_has_labware_on_top("my-cool-labware-id"), + await labware_movement.move_labware_with_gripper( + labware_id="my-cool-labware-id", + current_location=from_location, + new_location=new_location, + user_offset_data=LabwareMovementOffsetData( + pickUpOffset=LabwareOffsetVector(x=1, y=2, z=3), + dropOffset=LabwareOffsetVector(x=0, y=0, z=0), + ), + delay_after_drop=1.0, ), ) assert result == MoveLabwareResult( diff --git a/api/tests/opentrons/protocol_engine/commands/test_move_to_addressable_area.py b/api/tests/opentrons/protocol_engine/commands/test_move_to_addressable_area.py new file mode 100644 index 00000000000..5b2db28b501 --- /dev/null +++ b/api/tests/opentrons/protocol_engine/commands/test_move_to_addressable_area.py @@ -0,0 +1,44 @@ +"""Test move to addressable area commands.""" +from decoy import Decoy + +from opentrons.protocol_engine import DeckPoint, AddressableOffsetVector +from opentrons.protocol_engine.execution import MovementHandler +from opentrons.types import Point + +from opentrons.protocol_engine.commands.move_to_addressable_area import ( + MoveToAddressableAreaParams, + MoveToAddressableAreaResult, + MoveToAddressableAreaImplementation, +) + + +async def test_move_to_addressable_area_implementation( + decoy: Decoy, + movement: MovementHandler, +) -> None: + """A MoveToAddressableArea command should have an execution implementation.""" + subject = MoveToAddressableAreaImplementation(movement=movement) + + data = MoveToAddressableAreaParams( + pipetteId="abc", + addressableAreaName="123", + offset=AddressableOffsetVector(x=1, y=2, z=3), + forceDirect=True, + minimumZHeight=4.56, + speed=7.89, + ) + + decoy.when( + await movement.move_to_addressable_area( + pipette_id="abc", + addressable_area_name="123", + offset=AddressableOffsetVector(x=1, y=2, z=3), + force_direct=True, + minimum_z_height=4.56, + speed=7.89, + ) + ).then_return(Point(x=9, y=8, z=7)) + + result = await subject.execute(data) + + assert result == MoveToAddressableAreaResult(position=DeckPoint(x=9, y=8, z=7)) diff --git a/api/tests/opentrons/protocol_engine/execution/test_labware_movement_handler.py b/api/tests/opentrons/protocol_engine/execution/test_labware_movement_handler.py index 0934b6d1c10..28346bd7f07 100644 --- a/api/tests/opentrons/protocol_engine/execution/test_labware_movement_handler.py +++ b/api/tests/opentrons/protocol_engine/execution/test_labware_movement_handler.py @@ -5,7 +5,7 @@ import pytest from decoy import Decoy, matchers -from typing import TYPE_CHECKING, Union +from typing import TYPE_CHECKING, Union, Optional from opentrons.protocol_engine.execution import EquipmentHandler, MovementHandler from opentrons.hardware_control import HardwareControlAPI @@ -120,23 +120,27 @@ def subject( # 1. Should write an acceptance test w/ real labware on ot3 deck. # 2. This test will be split once waypoints generation is moved to motion planning. @pytest.mark.parametrize( - argnames=["from_location", "to_location"], + argnames=["from_location", "to_location", "delay"], argvalues=[ ( DeckSlotLocation(slotName=DeckSlotName.SLOT_1), DeckSlotLocation(slotName=DeckSlotName.SLOT_3), + None, ), ( DeckSlotLocation(slotName=DeckSlotName.SLOT_1), ModuleLocation(moduleId="module-id"), + 1.5, ), ( OnLabwareLocation(labwareId="a-labware-id"), OnLabwareLocation(labwareId="another-labware-id"), + None, ), ( ModuleLocation(moduleId="a-module-id"), DeckSlotLocation(slotName=DeckSlotName.SLOT_1), + 5.3, ), ], ) @@ -149,6 +153,7 @@ async def test_move_labware_with_gripper( subject: LabwareMovementHandler, from_location: Union[DeckSlotLocation, ModuleLocation, OnLabwareLocation], to_location: Union[DeckSlotLocation, ModuleLocation, OnLabwareLocation], + delay: Optional[float], ) -> None: """It should perform a labware movement with gripper by delegating to OT3API.""" # TODO (spp, 2023-07-26): this test does NOT stub out movement waypoints in order to @@ -229,9 +234,19 @@ async def test_move_labware_with_gripper( current_location=from_location, new_location=to_location, user_offset_data=user_offset_data, + delay_after_drop=delay, ) gripper = OT3Mount.GRIPPER + if delay is None: + decoy.verify( + await ot3_hardware_api.do_delay(), # type:ignore[call-arg] + times=0, + ignore_extra_args=True, + ) + else: + decoy.verify(await ot3_hardware_api.do_delay(delay)) + decoy.verify( await ot3_hardware_api.home(axes=[Axis.Z_L, Axis.Z_R, Axis.Z_G]), await mock_tc_context_manager.__aenter__(), @@ -255,7 +270,9 @@ async def test_move_labware_with_gripper( await ot3_hardware_api.move_to( mount=gripper, abs_position=expected_waypoints[4] ), + await ot3_hardware_api.disengage_axes([Axis.Z_G]), await ot3_hardware_api.ungrip(), + await ot3_hardware_api.home_z(OT3Mount.GRIPPER), await ot3_hardware_api.move_to( mount=gripper, abs_position=expected_waypoints[5] ), diff --git a/api/tests/opentrons/protocol_engine/execution/test_movement_handler.py b/api/tests/opentrons/protocol_engine/execution/test_movement_handler.py index e53242c93e7..13d7da9f9e5 100644 --- a/api/tests/opentrons/protocol_engine/execution/test_movement_handler.py +++ b/api/tests/opentrons/protocol_engine/execution/test_movement_handler.py @@ -17,6 +17,7 @@ DeckSlotLocation, CurrentWell, MotorAxis, + AddressableOffsetVector, ) from opentrons.protocol_engine.state import ( StateStore, @@ -111,7 +112,7 @@ async def test_move_to_well( decoy.when( state_store.motion.get_pipette_location( pipette_id="pipette-id", - current_well=None, + current_location=None, ) ).then_return( PipetteLocationData( @@ -225,7 +226,7 @@ async def test_move_to_well_from_starting_location( decoy.when( state_store.motion.get_pipette_location( pipette_id="pipette-id", - current_well=current_well, + current_location=current_well, ) ).then_return( PipetteLocationData( @@ -296,6 +297,99 @@ async def test_move_to_well_from_starting_location( ) +async def test_move_to_addressable_area( + decoy: Decoy, + state_store: StateStore, + thermocycler_movement_flagger: ThermocyclerMovementFlagger, + heater_shaker_movement_flagger: HeaterShakerMovementFlagger, + mock_gantry_mover: GantryMover, + subject: MovementHandler, +) -> None: + """Move requests should call hardware controller with movement data.""" + decoy.when( + state_store.modules.get_heater_shaker_movement_restrictors() + ).then_return([]) + + decoy.when( + state_store.addressable_areas.get_addressable_area_base_slot("area-name") + ).then_return(DeckSlotName.SLOT_1) + + decoy.when(state_store.tips.get_pipette_channels("pipette-id")).then_return(1) + + decoy.when( + state_store.motion.get_pipette_location( + pipette_id="pipette-id", + current_location=None, + ) + ).then_return( + PipetteLocationData( + mount=MountType.LEFT, + critical_point=CriticalPoint.FRONT_NOZZLE, + ) + ) + + decoy.when( + await mock_gantry_mover.get_position( + pipette_id="pipette-id", + ) + ).then_return(Point(1, 1, 1)) + + decoy.when(mock_gantry_mover.get_max_travel_z(pipette_id="pipette-id")).then_return( + 42.0 + ) + + decoy.when( + state_store.pipettes.get_movement_speed( + pipette_id="pipette-id", requested_speed=45.6 + ) + ).then_return(39339.5) + + decoy.when( + state_store.motion.get_movement_waypoints_to_addressable_area( + addressable_area_name="area-name", + offset=AddressableOffsetVector(x=9, y=8, z=7), + origin=Point(1, 1, 1), + origin_cp=CriticalPoint.FRONT_NOZZLE, + max_travel_z=42.0, + force_direct=True, + minimum_z_height=12.3, + ) + ).then_return( + [Waypoint(Point(1, 2, 3), CriticalPoint.XY_CENTER), Waypoint(Point(4, 5, 6))] + ) + + decoy.when( + await mock_gantry_mover.move_to( + pipette_id="pipette-id", + waypoints=[ + Waypoint(Point(1, 2, 3), CriticalPoint.XY_CENTER), + Waypoint(Point(4, 5, 6)), + ], + speed=39339.5, + ), + ).then_return(Point(4, 5, 6)) + + result = await subject.move_to_addressable_area( + pipette_id="pipette-id", + addressable_area_name="area-name", + offset=AddressableOffsetVector(x=9, y=8, z=7), + force_direct=True, + minimum_z_height=12.3, + speed=45.6, + ) + + assert result == Point(x=4, y=5, z=6) + + decoy.verify( + heater_shaker_movement_flagger.raise_if_movement_restricted( + hs_movement_restrictors=[], + destination_slot=1, + is_multi_channel=False, + destination_is_tip_rack=False, + ) + ) + + class MoveRelativeSpec(NamedTuple): """Test data for move_relative.""" diff --git a/api/tests/opentrons/protocol_engine/resources/test_deck_configuration_provider.py b/api/tests/opentrons/protocol_engine/resources/test_deck_configuration_provider.py new file mode 100644 index 00000000000..fe10600bee4 --- /dev/null +++ b/api/tests/opentrons/protocol_engine/resources/test_deck_configuration_provider.py @@ -0,0 +1,353 @@ +"""Test deck configuration provider.""" +from typing import List, Set + +import pytest +from pytest_lazyfixture import lazy_fixture # type: ignore[import] + +from opentrons_shared_data.deck import load as load_deck +from opentrons_shared_data.deck.dev_types import DeckDefinitionV4 + +from opentrons.types import Point, DeckSlotName + +from opentrons.protocol_engine.errors import ( + FixtureDoesNotExistError, + CutoutDoesNotExistError, + AddressableAreaDoesNotExistError, + FixtureDoesNotProvideAreasError, +) +from opentrons.protocol_engine.types import ( + AddressableArea, + AreaType, + PotentialCutoutFixture, + DeckPoint, + Dimensions, + AddressableOffsetVector, +) +from opentrons.protocols.api_support.deck_type import ( + SHORT_TRASH_DECK, + STANDARD_OT2_DECK, + STANDARD_OT3_DECK, +) + +from opentrons.protocol_engine.resources import deck_configuration_provider as subject + + +@pytest.fixture(scope="session") +def ot2_standard_deck_def() -> DeckDefinitionV4: + """Get the OT-2 standard deck definition.""" + return load_deck(STANDARD_OT2_DECK, 4) + + +@pytest.fixture(scope="session") +def ot2_short_trash_deck_def() -> DeckDefinitionV4: + """Get the OT-2 standard deck definition.""" + return load_deck(SHORT_TRASH_DECK, 4) + + +@pytest.fixture(scope="session") +def ot3_standard_deck_def() -> DeckDefinitionV4: + """Get the OT-2 standard deck definition.""" + return load_deck(STANDARD_OT3_DECK, 4) + + +@pytest.mark.parametrize( + ("cutout_id", "expected_deck_point", "deck_def"), + [ + ( + "cutout5", + DeckPoint(x=132.5, y=90.5, z=0.0), + lazy_fixture("ot2_standard_deck_def"), + ), + ( + "cutout5", + DeckPoint(x=132.5, y=90.5, z=0.0), + lazy_fixture("ot2_short_trash_deck_def"), + ), + ( + "cutoutC2", + DeckPoint(x=164.0, y=107, z=0.0), + lazy_fixture("ot3_standard_deck_def"), + ), + ], +) +def test_get_cutout_position( + cutout_id: str, + expected_deck_point: DeckPoint, + deck_def: DeckDefinitionV4, +) -> None: + """It should get the deck position for the requested cutout id.""" + cutout_position = subject.get_cutout_position(cutout_id, deck_def) + assert cutout_position == expected_deck_point + + +def test_get_cutout_position_raises( + ot3_standard_deck_def: DeckDefinitionV4, +) -> None: + """It should raise if there is no cutout with that ID in the deck definition.""" + with pytest.raises(CutoutDoesNotExistError): + subject.get_cutout_position("theFunCutout", ot3_standard_deck_def) + + +@pytest.mark.parametrize( + ("cutout_fixture_id", "expected_display_name", "deck_def"), + [ + ("singleStandardSlot", "Standard Slot", lazy_fixture("ot2_standard_deck_def")), + ( + "singleStandardSlot", + "Standard Slot", + lazy_fixture("ot2_short_trash_deck_def"), + ), + ( + "singleRightSlot", + "Standard Slot Right", + lazy_fixture("ot3_standard_deck_def"), + ), + ], +) +def test_get_cutout_fixture( + cutout_fixture_id: str, + expected_display_name: str, + deck_def: DeckDefinitionV4, +) -> None: + """It should get the cutout fixture given the cutout fixture id.""" + cutout_fixture = subject.get_cutout_fixture(cutout_fixture_id, deck_def) + assert cutout_fixture["displayName"] == expected_display_name + + +def test_get_cutout_fixture_raises( + ot3_standard_deck_def: DeckDefinitionV4, +) -> None: + """It should raise if the given cutout fixture id does not exist.""" + with pytest.raises(FixtureDoesNotExistError): + subject.get_cutout_fixture("theFunFixture", ot3_standard_deck_def) + + +@pytest.mark.parametrize( + ("cutout_fixture_id", "cutout_id", "expected_areas", "deck_def"), + [ + ( + "singleStandardSlot", + "cutout1", + ["1"], + lazy_fixture("ot2_standard_deck_def"), + ), + ( + "singleStandardSlot", + "cutout1", + ["1"], + lazy_fixture("ot2_short_trash_deck_def"), + ), + ( + "stagingAreaRightSlot", + "cutoutD3", + ["D3", "D4"], + lazy_fixture("ot3_standard_deck_def"), + ), + ], +) +def test_get_provided_addressable_area_names( + cutout_fixture_id: str, + cutout_id: str, + expected_areas: List[str], + deck_def: DeckDefinitionV4, +) -> None: + """It should get the provided addressable area for the cutout fixture and cutout.""" + provided_addressable_areas = subject.get_provided_addressable_area_names( + cutout_fixture_id, cutout_id, deck_def + ) + assert provided_addressable_areas == expected_areas + + +def test_get_provided_addressable_area_raises( + ot3_standard_deck_def: DeckDefinitionV4, +) -> None: + """It should raise if the cutout fixture does not provide areas for the given cutout id.""" + with pytest.raises(FixtureDoesNotProvideAreasError): + subject.get_provided_addressable_area_names( + "singleRightSlot", "theFunCutout", ot3_standard_deck_def + ) + + +@pytest.mark.parametrize( + ( + "addressable_area_name", + "expected_cutout_id", + "expected_potential_fixtures", + "deck_def", + ), + [ + ( + "3", + "cutout3", + { + PotentialCutoutFixture( + cutout_id="cutout3", + cutout_fixture_id="singleStandardSlot", + ) + }, + lazy_fixture("ot2_standard_deck_def"), + ), + ( + "3", + "cutout3", + { + PotentialCutoutFixture( + cutout_id="cutout3", + cutout_fixture_id="singleStandardSlot", + ) + }, + lazy_fixture("ot2_short_trash_deck_def"), + ), + ( + "D3", + "cutoutD3", + { + PotentialCutoutFixture( + cutout_id="cutoutD3", cutout_fixture_id="singleRightSlot" + ), + PotentialCutoutFixture( + cutout_id="cutoutD3", cutout_fixture_id="stagingAreaRightSlot" + ), + }, + lazy_fixture("ot3_standard_deck_def"), + ), + ], +) +def test_get_potential_cutout_fixtures( + addressable_area_name: str, + expected_cutout_id: str, + expected_potential_fixtures: Set[PotentialCutoutFixture], + deck_def: DeckDefinitionV4, +) -> None: + """It should get a cutout id and a set of potential cutout fixtures for an addressable area name.""" + cutout_id, potential_fixtures = subject.get_potential_cutout_fixtures( + addressable_area_name, deck_def + ) + assert cutout_id == expected_cutout_id + assert potential_fixtures == expected_potential_fixtures + + +def test_get_potential_cutout_fixtures_raises( + ot3_standard_deck_def: DeckDefinitionV4, +) -> None: + """It should raise if there is no fixtures that provide the requested area.""" + with pytest.raises(AssertionError): + subject.get_potential_cutout_fixtures("theFunArea", ot3_standard_deck_def) + + +# TODO put in fixed trash for OT2 decks +@pytest.mark.parametrize( + ("addressable_area_name", "expected_addressable_area", "deck_def"), + [ + ( + "1", + AddressableArea( + area_name="1", + area_type=AreaType.SLOT, + base_slot=DeckSlotName.SLOT_A1, + display_name="Slot 1", + bounding_box=Dimensions(x=128.0, y=86.0, z=0), + position=AddressableOffsetVector(x=1, y=2, z=3), + compatible_module_types=[ + "magneticModuleType", + "temperatureModuleType", + "heaterShakerModuleType", + ], + drop_tip_location=None, + drop_labware_location=None, + ), + lazy_fixture("ot2_standard_deck_def"), + ), + ( + "1", + AddressableArea( + area_name="1", + area_type=AreaType.SLOT, + base_slot=DeckSlotName.SLOT_A1, + display_name="Slot 1", + bounding_box=Dimensions(x=128.0, y=86.0, z=0), + position=AddressableOffsetVector(x=1, y=2, z=3), + compatible_module_types=[ + "magneticModuleType", + "temperatureModuleType", + "heaterShakerModuleType", + ], + drop_tip_location=None, + drop_labware_location=None, + ), + lazy_fixture("ot2_short_trash_deck_def"), + ), + ( + "D1", + AddressableArea( + area_name="D1", + area_type=AreaType.SLOT, + base_slot=DeckSlotName.SLOT_A1, + display_name="Slot D1", + bounding_box=Dimensions(x=128.0, y=86.0, z=0), + position=AddressableOffsetVector(x=1, y=2, z=3), + compatible_module_types=[ + "temperatureModuleType", + "heaterShakerModuleType", + "magneticBlockType", + ], + drop_tip_location=None, + drop_labware_location=None, + ), + lazy_fixture("ot3_standard_deck_def"), + ), + ( + "movableTrashB3", + AddressableArea( + area_name="movableTrashB3", + area_type=AreaType.MOVABLE_TRASH, + base_slot=DeckSlotName.SLOT_A1, + display_name="Trash Bin", + bounding_box=Dimensions(x=246.5, y=91.5, z=40), + position=AddressableOffsetVector(x=-16, y=-0.75, z=3), + compatible_module_types=[], + drop_tip_location=Point(x=124.25, y=47.75, z=43.0), + drop_labware_location=None, + ), + lazy_fixture("ot3_standard_deck_def"), + ), + ( + "gripperWasteChute", + AddressableArea( + area_name="gripperWasteChute", + area_type=AreaType.WASTE_CHUTE, + base_slot=DeckSlotName.SLOT_A1, + display_name="Gripper Waste Chute", + bounding_box=Dimensions(x=155.0, y=86.0, z=154.0), + position=AddressableOffsetVector(x=-12.5, y=2, z=3), + compatible_module_types=[], + drop_tip_location=None, + drop_labware_location=Point(x=65, y=31, z=139.5), + ), + lazy_fixture("ot3_standard_deck_def"), + ), + ], +) +def test_get_addressable_area_from_name( + addressable_area_name: str, + expected_addressable_area: AddressableArea, + deck_def: DeckDefinitionV4, +) -> None: + """It should get the deck position for the requested cutout id.""" + addressable_area = subject.get_addressable_area_from_name( + addressable_area_name, DeckPoint(x=1, y=2, z=3), DeckSlotName.SLOT_A1, deck_def + ) + assert addressable_area == expected_addressable_area + + +def test_get_addressable_area_from_name_raises( + ot3_standard_deck_def: DeckDefinitionV4, +) -> None: + """It should raise if there is no addressable area by that name in the deck.""" + with pytest.raises(AddressableAreaDoesNotExistError): + subject.get_addressable_area_from_name( + "theFunArea", + DeckPoint(x=1, y=2, z=3), + DeckSlotName.SLOT_A1, + ot3_standard_deck_def, + ) diff --git a/api/tests/opentrons/protocol_engine/resources/test_pipette_data_provider.py b/api/tests/opentrons/protocol_engine/resources/test_pipette_data_provider.py index c3cf10449fc..444ced17857 100644 --- a/api/tests/opentrons/protocol_engine/resources/test_pipette_data_provider.py +++ b/api/tests/opentrons/protocol_engine/resources/test_pipette_data_provider.py @@ -138,6 +138,30 @@ def test_load_virtual_pipette_nozzle_layout( assert result.front_right == "E1" assert result.back_left == "A1" + subject_instance.configure_virtual_pipette_nozzle_layout( + "my-pipette", "p300_multi_v2.1" + ) + result = subject_instance.get_nozzle_layout_for_pipette("my-pipette") + assert result.configuration.value == "FULL" + + subject_instance.configure_virtual_pipette_nozzle_layout( + "my-96-pipette", "p1000_96_v3.5", "A1", "A12", "A1" + ) + result = subject_instance.get_nozzle_layout_for_pipette("my-96-pipette") + assert result.configuration.value == "ROW" + + subject_instance.configure_virtual_pipette_nozzle_layout( + "my-96-pipette", "p1000_96_v3.5", "A1", "A1" + ) + result = subject_instance.get_nozzle_layout_for_pipette("my-96-pipette") + assert result.configuration.value == "SINGLE" + + subject_instance.configure_virtual_pipette_nozzle_layout( + "my-96-pipette", "p1000_96_v3.5", "A1", "H1" + ) + result = subject_instance.get_nozzle_layout_for_pipette("my-96-pipette") + assert result.configuration.value == "COLUMN" + def test_get_pipette_static_config( supported_tip_fixture: pipette_definition.SupportedTipsDefinition, diff --git a/api/tests/opentrons/protocol_engine/state/command_fixtures.py b/api/tests/opentrons/protocol_engine/state/command_fixtures.py index ef548377a3e..fc576d5c683 100644 --- a/api/tests/opentrons/protocol_engine/state/command_fixtures.py +++ b/api/tests/opentrons/protocol_engine/state/command_fixtures.py @@ -9,9 +9,12 @@ from opentrons.protocol_engine import ErrorOccurrence, commands as cmd from opentrons.protocol_engine.types import ( DeckPoint, + ModuleModel, + ModuleDefinition, MovementAxis, WellLocation, LabwareLocation, + DeckSlotLocation, LabwareMovementStrategy, ) @@ -159,6 +162,30 @@ def create_load_pipette_command( ) +def create_load_module_command( + module_id: str, + location: DeckSlotLocation, + model: ModuleModel, +) -> cmd.LoadModule: + """Get a completed LoadModule command.""" + params = cmd.LoadModuleParams(moduleId=module_id, location=location, model=model) + result = cmd.LoadModuleResult( + moduleId=module_id, + model=model, + serialNumber=None, + definition=ModuleDefinition.construct(), # type: ignore[call-arg] + ) + + return cmd.LoadModule( + id="command-id", + key="command-key", + status=cmd.CommandStatus.SUCCEEDED, + createdAt=datetime.now(), + params=params, + result=result, + ) + + def create_aspirate_command( pipette_id: str, volume: float, diff --git a/api/tests/opentrons/protocol_engine/state/conftest.py b/api/tests/opentrons/protocol_engine/state/conftest.py index 9188101b05b..f657a9c3ed9 100644 --- a/api/tests/opentrons/protocol_engine/state/conftest.py +++ b/api/tests/opentrons/protocol_engine/state/conftest.py @@ -4,6 +4,7 @@ from opentrons.protocol_engine.state.labware import LabwareView from opentrons.protocol_engine.state.pipettes import PipetteView +from opentrons.protocol_engine.state.addressable_areas import AddressableAreaView from opentrons.protocol_engine.state.geometry import GeometryView @@ -19,6 +20,12 @@ def pipette_view(decoy: Decoy) -> PipetteView: return decoy.mock(cls=PipetteView) +@pytest.fixture +def addressable_area_view(decoy: Decoy) -> AddressableAreaView: + """Get a mock in the shape of a AddressableAreaView.""" + return decoy.mock(cls=AddressableAreaView) + + @pytest.fixture def geometry_view(decoy: Decoy) -> GeometryView: """Get a mock in the shape of a GeometryView.""" diff --git a/api/tests/opentrons/protocol_engine/state/test_addressable_area_store.py b/api/tests/opentrons/protocol_engine/state/test_addressable_area_store.py new file mode 100644 index 00000000000..f568b3eebac --- /dev/null +++ b/api/tests/opentrons/protocol_engine/state/test_addressable_area_store.py @@ -0,0 +1,319 @@ +"""Addressable area state store tests.""" +import pytest + +from opentrons_shared_data.deck.dev_types import DeckDefinitionV4 +from opentrons_shared_data.labware.labware_definition import Parameters +from opentrons.protocols.models import LabwareDefinition +from opentrons.types import DeckSlotName + +from opentrons.protocol_engine.commands import Command +from opentrons.protocol_engine.actions import UpdateCommandAction +from opentrons.protocol_engine.errors import ( + # AreaNotInDeckConfigurationError, + IncompatibleAddressableAreaError, +) +from opentrons.protocol_engine.state import Config +from opentrons.protocol_engine.state.addressable_areas import ( + AddressableAreaStore, + AddressableAreaState, +) +from opentrons.protocol_engine.types import ( + DeckType, + DeckConfigurationType, + ModuleModel, + LabwareMovementStrategy, + DeckSlotLocation, + AddressableAreaLocation, +) + +from .command_fixtures import ( + create_load_labware_command, + create_load_module_command, + create_move_labware_command, +) + + +def _make_deck_config() -> DeckConfigurationType: + return [ + ("cutoutA1", "singleLeftSlot"), + ("cutoutB1", "singleLeftSlot"), + ("cutoutC1", "singleLeftSlot"), + ("cutoutD1", "singleLeftSlot"), + ("cutoutA2", "singleCenterSlot"), + ("cutoutB2", "singleCenterSlot"), + ("cutoutC2", "singleCenterSlot"), + ("cutoutD2", "singleCenterSlot"), + ("cutoutA3", "trashBinAdapter"), + ("cutoutB3", "singleRightSlot"), + ("cutoutC3", "stagingAreaRightSlot"), + ("cutoutD3", "wasteChuteRightAdapterNoCover"), + ] + + +@pytest.fixture +def simulated_subject( + ot3_standard_deck_def: DeckDefinitionV4, +) -> AddressableAreaStore: + """Get an AddressableAreaStore test subject, under simulated deck conditions.""" + return AddressableAreaStore( + deck_configuration=[], + config=Config( + use_simulated_deck_config=True, + robot_type="OT-3 Standard", + deck_type=DeckType.OT3_STANDARD, + ), + deck_definition=ot3_standard_deck_def, + ) + + +@pytest.fixture +def subject( + ot3_standard_deck_def: DeckDefinitionV4, +) -> AddressableAreaStore: + """Get an AddressableAreaStore test subject.""" + return AddressableAreaStore( + deck_configuration=_make_deck_config(), + config=Config( + use_simulated_deck_config=False, + robot_type="OT-3 Standard", + deck_type=DeckType.OT3_STANDARD, + ), + deck_definition=ot3_standard_deck_def, + ) + + +def test_initial_state_simulated( + ot3_standard_deck_def: DeckDefinitionV4, + simulated_subject: AddressableAreaStore, +) -> None: + """It should create the Addressable Area store with no loaded addressable areas.""" + assert simulated_subject.state == AddressableAreaState( + loaded_addressable_areas_by_name={}, + potential_cutout_fixtures_by_cutout_id={}, + deck_definition=ot3_standard_deck_def, + use_simulated_deck_config=True, + ) + + +def test_initial_state( + ot3_standard_deck_def: DeckDefinitionV4, + subject: AddressableAreaStore, +) -> None: + """It should create the Addressable Area store with loaded addressable areas.""" + assert subject.state.potential_cutout_fixtures_by_cutout_id == {} + assert not subject.state.use_simulated_deck_config + assert subject.state.deck_definition == ot3_standard_deck_def + # Loading 9 regular slots, 1 trash, 2 Staging Area slots and 3 waste chute types + assert len(subject.state.loaded_addressable_areas_by_name) == 15 + + +@pytest.mark.parametrize( + ("command", "expected_area"), + ( + ( + create_load_labware_command( + location=DeckSlotLocation(slotName=DeckSlotName.SLOT_A1), + labware_id="test-labware-id", + definition=LabwareDefinition.construct( # type: ignore[call-arg] + parameters=Parameters.construct(loadName="blah"), # type: ignore[call-arg] + namespace="bleh", + version=123, + ), + offset_id="offset-id", + display_name="display-name", + ), + "A1", + ), + ( + create_load_labware_command( + location=AddressableAreaLocation(addressableAreaName="A4"), + labware_id="test-labware-id", + definition=LabwareDefinition.construct( # type: ignore[call-arg] + parameters=Parameters.construct(loadName="blah"), # type: ignore[call-arg] + namespace="bleh", + version=123, + ), + offset_id="offset-id", + display_name="display-name", + ), + "A4", + ), + ( + create_load_module_command( + location=DeckSlotLocation(slotName=DeckSlotName.SLOT_A1), + module_id="test-module-id", + model=ModuleModel.TEMPERATURE_MODULE_V2, + ), + "A1", + ), + ( + create_move_labware_command( + new_location=DeckSlotLocation(slotName=DeckSlotName.SLOT_A1), + strategy=LabwareMovementStrategy.USING_GRIPPER, + ), + "A1", + ), + ( + create_move_labware_command( + new_location=AddressableAreaLocation(addressableAreaName="A4"), + strategy=LabwareMovementStrategy.USING_GRIPPER, + ), + "A4", + ), + ), +) +def test_addressable_area_referencing_commands_load_on_simulated_deck( + command: Command, + expected_area: str, + simulated_subject: AddressableAreaStore, +) -> None: + """It should check and store the addressable area when referenced in a command.""" + simulated_subject.handle_action( + UpdateCommandAction(private_result=None, command=command) + ) + assert expected_area in simulated_subject.state.loaded_addressable_areas_by_name + + +@pytest.mark.parametrize( + "command", + ( + create_load_labware_command( + location=DeckSlotLocation(slotName=DeckSlotName.SLOT_D3), + labware_id="test-labware-id", + definition=LabwareDefinition.construct( # type: ignore[call-arg] + parameters=Parameters.construct(loadName="blah"), # type: ignore[call-arg] + namespace="bleh", + version=123, + ), + offset_id="offset-id", + display_name="display-name", + ), + create_load_module_command( + location=DeckSlotLocation(slotName=DeckSlotName.SLOT_D3), + module_id="test-module-id", + model=ModuleModel.TEMPERATURE_MODULE_V2, + ), + create_move_labware_command( + new_location=DeckSlotLocation(slotName=DeckSlotName.SLOT_D3), + strategy=LabwareMovementStrategy.USING_GRIPPER, + ), + ), +) +def test_handles_command_simulated_raises( + command: Command, + simulated_subject: AddressableAreaStore, +) -> None: + """It should raise when two incompatible areas are referenced.""" + initial_command = create_move_labware_command( + new_location=AddressableAreaLocation(addressableAreaName="gripperWasteChute"), + strategy=LabwareMovementStrategy.USING_GRIPPER, + ) + + simulated_subject.handle_action( + UpdateCommandAction(private_result=None, command=initial_command) + ) + + with pytest.raises(IncompatibleAddressableAreaError): + simulated_subject.handle_action( + UpdateCommandAction(private_result=None, command=command) + ) + + +@pytest.mark.parametrize( + ("command", "expected_area"), + ( + ( + create_load_labware_command( + location=DeckSlotLocation(slotName=DeckSlotName.SLOT_A1), + labware_id="test-labware-id", + definition=LabwareDefinition.construct( # type: ignore[call-arg] + parameters=Parameters.construct(loadName="blah"), # type: ignore[call-arg] + namespace="bleh", + version=123, + ), + offset_id="offset-id", + display_name="display-name", + ), + "A1", + ), + ( + create_load_labware_command( + location=AddressableAreaLocation(addressableAreaName="C4"), + labware_id="test-labware-id", + definition=LabwareDefinition.construct( # type: ignore[call-arg] + parameters=Parameters.construct(loadName="blah"), # type: ignore[call-arg] + namespace="bleh", + version=123, + ), + offset_id="offset-id", + display_name="display-name", + ), + "C4", + ), + ( + create_load_module_command( + location=DeckSlotLocation(slotName=DeckSlotName.SLOT_A1), + module_id="test-module-id", + model=ModuleModel.TEMPERATURE_MODULE_V2, + ), + "A1", + ), + ( + create_move_labware_command( + new_location=DeckSlotLocation(slotName=DeckSlotName.SLOT_A1), + strategy=LabwareMovementStrategy.USING_GRIPPER, + ), + "A1", + ), + ( + create_move_labware_command( + new_location=AddressableAreaLocation(addressableAreaName="C4"), + strategy=LabwareMovementStrategy.USING_GRIPPER, + ), + "C4", + ), + ), +) +def test_addressable_area_referencing_commands_load( + command: Command, + expected_area: str, + subject: AddressableAreaStore, +) -> None: + """It should check that the addressable area is in the deck config.""" + subject.handle_action(UpdateCommandAction(private_result=None, command=command)) + assert expected_area in subject.state.loaded_addressable_areas_by_name + + +# TODO Uncomment this out once this check is back in +# @pytest.mark.parametrize( +# "command", +# ( +# create_load_labware_command( +# location=DeckSlotLocation(slotName=DeckSlotName.SLOT_D3), +# labware_id="test-labware-id", +# definition=LabwareDefinition.construct( # type: ignore[call-arg] +# parameters=Parameters.construct(loadName="blah"), # type: ignore[call-arg] +# namespace="bleh", +# version=123, +# ), +# offset_id="offset-id", +# display_name="display-name", +# ), +# create_load_module_command( +# location=DeckSlotLocation(slotName=DeckSlotName.SLOT_D3), +# module_id="test-module-id", +# model=ModuleModel.TEMPERATURE_MODULE_V2, +# ), +# create_move_labware_command( +# new_location=DeckSlotLocation(slotName=DeckSlotName.SLOT_D3), +# strategy=LabwareMovementStrategy.USING_GRIPPER, +# ), +# ), +# ) +# def test_handles_load_labware_raises( +# command: Command, +# subject: AddressableAreaStore, +# ) -> None: +# """It should raise when referencing an addressable area not in the deck config.""" +# with pytest.raises(AreaNotInDeckConfigurationError): +# subject.handle_action(UpdateCommandAction(private_result=None, command=command)) diff --git a/api/tests/opentrons/protocol_engine/state/test_addressable_area_view.py b/api/tests/opentrons/protocol_engine/state/test_addressable_area_view.py new file mode 100644 index 00000000000..2a7c819a882 --- /dev/null +++ b/api/tests/opentrons/protocol_engine/state/test_addressable_area_view.py @@ -0,0 +1,293 @@ +"""Addressable area state view tests.""" +import inspect + +import pytest +from decoy import Decoy +from typing import Dict, Set, Optional, cast + +from opentrons_shared_data.deck.dev_types import DeckDefinitionV4 +from opentrons.types import Point, DeckSlotName + +from opentrons.protocol_engine.errors import ( + AreaNotInDeckConfigurationError, + IncompatibleAddressableAreaError, + # SlotDoesNotExistError, +) +from opentrons.protocol_engine.resources import deck_configuration_provider +from opentrons.protocol_engine.state.addressable_areas import ( + AddressableAreaState, + AddressableAreaView, +) +from opentrons.protocol_engine.types import ( + AddressableArea, + AreaType, + PotentialCutoutFixture, + Dimensions, + DeckPoint, + AddressableOffsetVector, +) + + +@pytest.fixture(autouse=True) +def patch_mock_move_types(decoy: Decoy, monkeypatch: pytest.MonkeyPatch) -> None: + """Mock out move_types.py functions.""" + for name, func in inspect.getmembers( + deck_configuration_provider, inspect.isfunction + ): + monkeypatch.setattr(deck_configuration_provider, name, decoy.mock(func=func)) + + +def get_addressable_area_view( + loaded_addressable_areas_by_name: Optional[Dict[str, AddressableArea]] = None, + potential_cutout_fixtures_by_cutout_id: Optional[ + Dict[str, Set[PotentialCutoutFixture]] + ] = None, + deck_definition: Optional[DeckDefinitionV4] = None, + use_simulated_deck_config: bool = False, +) -> AddressableAreaView: + """Get a labware view test subject.""" + state = AddressableAreaState( + loaded_addressable_areas_by_name=loaded_addressable_areas_by_name or {}, + potential_cutout_fixtures_by_cutout_id=potential_cutout_fixtures_by_cutout_id + or {}, + deck_definition=deck_definition or cast(DeckDefinitionV4, {"otId": "fake"}), + use_simulated_deck_config=use_simulated_deck_config, + ) + + return AddressableAreaView(state=state) + + +def test_get_loaded_addressable_area() -> None: + """It should get the loaded addressable area.""" + addressable_area = AddressableArea( + area_name="area", + area_type=AreaType.SLOT, + base_slot=DeckSlotName.SLOT_D3, + display_name="fancy name", + bounding_box=Dimensions(x=1, y=2, z=3), + position=AddressableOffsetVector(x=7, y=8, z=9), + compatible_module_types=["magneticModuleType"], + drop_tip_location=Point(11, 22, 33), + drop_labware_location=None, + ) + subject = get_addressable_area_view( + loaded_addressable_areas_by_name={"abc": addressable_area} + ) + + assert subject.get_addressable_area("abc") is addressable_area + + +def test_get_loaded_addressable_area_raises() -> None: + """It should raise if the addressable area does not exist.""" + subject = get_addressable_area_view() + + with pytest.raises(AreaNotInDeckConfigurationError): + subject.get_addressable_area("abc") + + +def test_get_addressable_area_for_simulation_already_loaded() -> None: + """It should get the addressable area for a simulation that has not been loaded yet.""" + addressable_area = AddressableArea( + area_name="area", + area_type=AreaType.SLOT, + base_slot=DeckSlotName.SLOT_D3, + display_name="fancy name", + bounding_box=Dimensions(x=1, y=2, z=3), + position=AddressableOffsetVector(x=7, y=8, z=9), + compatible_module_types=["magneticModuleType"], + drop_tip_location=Point(11, 22, 33), + drop_labware_location=None, + ) + subject = get_addressable_area_view( + loaded_addressable_areas_by_name={"abc": addressable_area}, + use_simulated_deck_config=True, + ) + + assert subject.get_addressable_area("abc") is addressable_area + + +def test_get_addressable_area_for_simulation_not_loaded(decoy: Decoy) -> None: + """It should get the addressable area for a simulation that has not been loaded yet.""" + subject = get_addressable_area_view( + potential_cutout_fixtures_by_cutout_id={ + "cutoutA1": { + PotentialCutoutFixture(cutout_id="cutoutA1", cutout_fixture_id="blah") + } + }, + use_simulated_deck_config=True, + ) + + addressable_area = AddressableArea( + area_name="area", + area_type=AreaType.SLOT, + base_slot=DeckSlotName.SLOT_D3, + display_name="fancy name", + bounding_box=Dimensions(x=1, y=2, z=3), + position=AddressableOffsetVector(x=7, y=8, z=9), + compatible_module_types=["magneticModuleType"], + drop_tip_location=Point(11, 22, 33), + drop_labware_location=None, + ) + + decoy.when( + deck_configuration_provider.get_potential_cutout_fixtures( + "abc", subject.state.deck_definition + ) + ).then_return( + ( + "cutoutA1", + {PotentialCutoutFixture(cutout_id="cutoutA1", cutout_fixture_id="blah")}, + ) + ) + + decoy.when( + deck_configuration_provider.get_cutout_position( + "cutoutA1", subject.state.deck_definition + ) + ).then_return(DeckPoint(x=1, y=2, z=3)) + + decoy.when( + deck_configuration_provider.get_addressable_area_from_name( + "abc", + DeckPoint(x=1, y=2, z=3), + DeckSlotName.SLOT_A1, + subject.state.deck_definition, + ) + ).then_return(addressable_area) + + assert subject.get_addressable_area("abc") is addressable_area + + +def test_get_addressable_area_for_simulation_raises(decoy: Decoy) -> None: + """It should raise if the requested addressable area is incompatible with loaded ones.""" + subject = get_addressable_area_view( + potential_cutout_fixtures_by_cutout_id={ + "123": {PotentialCutoutFixture(cutout_id="789", cutout_fixture_id="bleh")} + }, + use_simulated_deck_config=True, + ) + + decoy.when( + deck_configuration_provider.get_potential_cutout_fixtures( + "abc", subject.state.deck_definition + ) + ).then_return( + ("123", {PotentialCutoutFixture(cutout_id="123", cutout_fixture_id="blah")}) + ) + + decoy.when( + deck_configuration_provider.get_provided_addressable_area_names( + "bleh", "789", subject.state.deck_definition + ) + ).then_return([]) + + with pytest.raises(IncompatibleAddressableAreaError): + subject.get_addressable_area("abc") + + +def test_get_addressable_area_position() -> None: + """It should get the absolute location of the addressable area.""" + subject = get_addressable_area_view( + loaded_addressable_areas_by_name={ + "abc": AddressableArea( + area_name="area", + area_type=AreaType.SLOT, + base_slot=DeckSlotName.SLOT_D3, + display_name="fancy name", + bounding_box=Dimensions(x=10, y=20, z=30), + position=AddressableOffsetVector(x=1, y=2, z=3), + compatible_module_types=[], + drop_tip_location=None, + drop_labware_location=None, + ) + } + ) + + result = subject.get_addressable_area_position("abc") + assert result == Point(1, 2, 3) + + +def test_get_addressable_area_move_to_location() -> None: + """It should get the absolute location of an addressable area's move to location.""" + subject = get_addressable_area_view( + loaded_addressable_areas_by_name={ + "abc": AddressableArea( + area_name="area", + area_type=AreaType.SLOT, + base_slot=DeckSlotName.SLOT_D3, + display_name="fancy name", + bounding_box=Dimensions(x=10, y=20, z=30), + position=AddressableOffsetVector(x=1, y=2, z=3), + compatible_module_types=[], + drop_tip_location=None, + drop_labware_location=None, + ) + } + ) + + result = subject.get_addressable_area_move_to_location("abc") + assert result == Point(6, 12, 33) + + +def test_get_addressable_area_center() -> None: + """It should get the absolute location of an addressable area's center.""" + subject = get_addressable_area_view( + loaded_addressable_areas_by_name={ + "abc": AddressableArea( + area_name="area", + area_type=AreaType.SLOT, + base_slot=DeckSlotName.SLOT_D3, + display_name="fancy name", + bounding_box=Dimensions(x=10, y=20, z=30), + position=AddressableOffsetVector(x=1, y=2, z=3), + compatible_module_types=[], + drop_tip_location=None, + drop_labware_location=None, + ) + } + ) + + result = subject.get_addressable_area_center("abc") + assert result == Point(6, 12, 3) + + +def test_get_slot_definition() -> None: + """It should return a deck slot's definition.""" + subject = get_addressable_area_view( + loaded_addressable_areas_by_name={ + "6": AddressableArea( + area_name="area", + area_type=AreaType.SLOT, + base_slot=DeckSlotName.SLOT_D3, + display_name="fancy name", + bounding_box=Dimensions(x=1, y=2, z=3), + position=AddressableOffsetVector(x=7, y=8, z=9), + compatible_module_types=["magneticModuleType"], + drop_tip_location=None, + drop_labware_location=None, + ) + } + ) + + result = subject.get_slot_definition(DeckSlotName.SLOT_6) + + assert result == { + "id": "area", + "position": [7, 8, 9], + "boundingBox": { + "xDimension": 1, + "yDimension": 2, + "zDimension": 3, + }, + "displayName": "fancy name", + "compatibleModuleTypes": ["magneticModuleType"], + } + + +# TODO Uncomment once Robot Server deck config and tests is hooked up +# def test_get_slot_definition_raises_with_bad_slot_name() -> None: +# """It should raise a SlotDoesNotExistError if a bad slot name is given.""" +# subject = get_addressable_area_view() +# +# with pytest.raises(SlotDoesNotExistError): +# subject.get_slot_definition(DeckSlotName.SLOT_A1) diff --git a/api/tests/opentrons/protocol_engine/state/test_command_store.py b/api/tests/opentrons/protocol_engine/state/test_command_store.py index 6a53ce46a61..a017df3b362 100644 --- a/api/tests/opentrons/protocol_engine/state/test_command_store.py +++ b/api/tests/opentrons/protocol_engine/state/test_command_store.py @@ -681,7 +681,11 @@ def test_command_store_handles_pause_action(pause_source: PauseSource) -> None: def test_command_store_handles_play_action(pause_source: PauseSource) -> None: """It should set the running flag on play.""" subject = CommandStore(is_door_open=False, config=_make_config()) - subject.handle_action(PlayAction(requested_at=datetime(year=2021, month=1, day=1))) + subject.handle_action( + PlayAction( + requested_at=datetime(year=2021, month=1, day=1), deck_configuration=[] + ) + ) assert subject.state == CommandState( queue_status=QueueStatus.RUNNING, @@ -705,7 +709,11 @@ def test_command_store_handles_finish_action() -> None: """It should change to a succeeded state with FinishAction.""" subject = CommandStore(is_door_open=False, config=_make_config()) - subject.handle_action(PlayAction(requested_at=datetime(year=2021, month=1, day=1))) + subject.handle_action( + PlayAction( + requested_at=datetime(year=2021, month=1, day=1), deck_configuration=[] + ) + ) subject.handle_action(FinishAction()) assert subject.state == CommandState( @@ -730,7 +738,11 @@ def test_command_store_handles_finish_action_with_stopped() -> None: """It should change to a stopped state if FinishAction has set_run_status=False.""" subject = CommandStore(is_door_open=False, config=_make_config()) - subject.handle_action(PlayAction(requested_at=datetime(year=2021, month=1, day=1))) + subject.handle_action( + PlayAction( + requested_at=datetime(year=2021, month=1, day=1), deck_configuration=[] + ) + ) subject.handle_action(FinishAction(set_run_status=False)) assert subject.state.run_result == RunResult.STOPPED @@ -741,7 +753,11 @@ def test_command_store_handles_stop_action(from_estop: bool) -> None: """It should mark the engine as non-gracefully stopped on StopAction.""" subject = CommandStore(is_door_open=False, config=_make_config()) - subject.handle_action(PlayAction(requested_at=datetime(year=2021, month=1, day=1))) + subject.handle_action( + PlayAction( + requested_at=datetime(year=2021, month=1, day=1), deck_configuration=[] + ) + ) subject.handle_action(StopAction(from_estop=from_estop)) assert subject.state == CommandState( @@ -766,7 +782,11 @@ def test_command_store_cannot_restart_after_should_stop() -> None: """It should reject a play action after finish.""" subject = CommandStore(is_door_open=False, config=_make_config()) subject.handle_action(FinishAction()) - subject.handle_action(PlayAction(requested_at=datetime(year=2021, month=1, day=1))) + subject.handle_action( + PlayAction( + requested_at=datetime(year=2021, month=1, day=1), deck_configuration=[] + ) + ) assert subject.state == CommandState( queue_status=QueueStatus.PAUSED, @@ -792,7 +812,7 @@ def test_command_store_save_started_completed_run_timestamp() -> None: start_time = datetime(year=2021, month=1, day=1) hardware_stopped_time = datetime(year=2022, month=2, day=2) - subject.handle_action(PlayAction(requested_at=start_time)) + subject.handle_action(PlayAction(requested_at=start_time, deck_configuration=[])) subject.handle_action( HardwareStoppedAction( completed_at=hardware_stopped_time, finish_error_details=None @@ -812,9 +832,9 @@ def test_timestamps_are_latched() -> None: stop_time_1 = datetime(year=2023, month=3, day=3) stop_time_2 = datetime(year=2024, month=4, day=4) - subject.handle_action(PlayAction(requested_at=play_time_1)) + subject.handle_action(PlayAction(requested_at=play_time_1, deck_configuration=[])) subject.handle_action(PauseAction(source=PauseSource.CLIENT)) - subject.handle_action(PlayAction(requested_at=play_time_2)) + subject.handle_action(PlayAction(requested_at=play_time_2, deck_configuration=[])) subject.handle_action( HardwareStoppedAction(completed_at=stop_time_1, finish_error_details=None) ) @@ -979,7 +999,11 @@ def test_command_store_ignores_stop_after_graceful_finish() -> None: """It should no-op on stop if already gracefully finished.""" subject = CommandStore(is_door_open=False, config=_make_config()) - subject.handle_action(PlayAction(requested_at=datetime(year=2021, month=1, day=1))) + subject.handle_action( + PlayAction( + requested_at=datetime(year=2021, month=1, day=1), deck_configuration=[] + ) + ) subject.handle_action(FinishAction()) subject.handle_action(StopAction()) @@ -1005,7 +1029,11 @@ def test_command_store_ignores_finish_after_non_graceful_stop() -> None: """It should no-op on finish if already ungracefully stopped.""" subject = CommandStore(is_door_open=False, config=_make_config()) - subject.handle_action(PlayAction(requested_at=datetime(year=2021, month=1, day=1))) + subject.handle_action( + PlayAction( + requested_at=datetime(year=2021, month=1, day=1), deck_configuration=[] + ) + ) subject.handle_action(StopAction()) subject.handle_action(FinishAction()) @@ -1119,7 +1147,7 @@ def test_command_store_handles_play_according_to_initial_door_state( """It should set command queue state on play action according to door state.""" subject = CommandStore(is_door_open=is_door_open, config=config) start_time = datetime(year=2021, month=1, day=1) - subject.handle_action(PlayAction(requested_at=start_time)) + subject.handle_action(PlayAction(requested_at=start_time, deck_configuration=[])) assert subject.state.queue_status == expected_queue_status assert subject.state.run_started_at == start_time @@ -1162,7 +1190,11 @@ def test_handles_door_open_and_close_event_after_play( """It should update state when door opened and closed after run is played.""" subject = CommandStore(is_door_open=False, config=config) - subject.handle_action(PlayAction(requested_at=datetime(year=2021, month=1, day=1))) + subject.handle_action( + PlayAction( + requested_at=datetime(year=2021, month=1, day=1), deck_configuration=[] + ) + ) subject.handle_action(DoorChangeAction(door_state=DoorState.OPEN)) assert subject.state.queue_status == expected_queue_status diff --git a/api/tests/opentrons/protocol_engine/state/test_command_view.py b/api/tests/opentrons/protocol_engine/state/test_command_view.py index c52180996f1..985ae5050f9 100644 --- a/api/tests/opentrons/protocol_engine/state/test_command_view.py +++ b/api/tests/opentrons/protocol_engine/state/test_command_view.py @@ -326,19 +326,25 @@ class ActionAllowedSpec(NamedTuple): # play is allowed if the engine is idle ActionAllowedSpec( subject=get_command_view(queue_status=QueueStatus.SETUP), - action=PlayAction(requested_at=datetime(year=2021, month=1, day=1)), + action=PlayAction( + requested_at=datetime(year=2021, month=1, day=1), deck_configuration=[] + ), expected_error=None, ), # play is allowed if engine is idle, even if door is blocking ActionAllowedSpec( subject=get_command_view(is_door_blocking=True, queue_status=QueueStatus.SETUP), - action=PlayAction(requested_at=datetime(year=2021, month=1, day=1)), + action=PlayAction( + requested_at=datetime(year=2021, month=1, day=1), deck_configuration=[] + ), expected_error=None, ), # play is allowed if the engine is paused ActionAllowedSpec( subject=get_command_view(queue_status=QueueStatus.PAUSED), - action=PlayAction(requested_at=datetime(year=2021, month=1, day=1)), + action=PlayAction( + requested_at=datetime(year=2021, month=1, day=1), deck_configuration=[] + ), expected_error=None, ), # pause is allowed if the engine is running @@ -369,13 +375,17 @@ class ActionAllowedSpec(NamedTuple): subject=get_command_view( is_door_blocking=True, queue_status=QueueStatus.PAUSED ), - action=PlayAction(requested_at=datetime(year=2021, month=1, day=1)), + action=PlayAction( + requested_at=datetime(year=2021, month=1, day=1), deck_configuration=[] + ), expected_error=errors.RobotDoorOpenError, ), # play is disallowed if stop has been requested ActionAllowedSpec( subject=get_command_view(run_result=RunResult.STOPPED), - action=PlayAction(requested_at=datetime(year=2021, month=1, day=1)), + action=PlayAction( + requested_at=datetime(year=2021, month=1, day=1), deck_configuration=[] + ), expected_error=errors.RunStoppedError, ), # pause is disallowed if stop has been requested diff --git a/api/tests/opentrons/protocol_engine/state/test_geometry_view.py b/api/tests/opentrons/protocol_engine/state/test_geometry_view.py index e46dd87d58a..d32d60304ce 100644 --- a/api/tests/opentrons/protocol_engine/state/test_geometry_view.py +++ b/api/tests/opentrons/protocol_engine/state/test_geometry_view.py @@ -33,6 +33,8 @@ OverlapOffset, DeckType, CurrentWell, + CurrentAddressableArea, + CurrentPipetteLocation, LabwareMovementOffsetData, ) from opentrons.protocol_engine.state import move_types @@ -40,6 +42,7 @@ from opentrons.protocol_engine.state.labware import LabwareView from opentrons.protocol_engine.state.modules import ModuleView from opentrons.protocol_engine.state.pipettes import PipetteView, StaticPipetteConfig +from opentrons.protocol_engine.state.addressable_areas import AddressableAreaView from opentrons.protocol_engine.state.geometry import GeometryView, _GripperMoveType @@ -61,6 +64,12 @@ def mock_pipette_view(decoy: Decoy) -> PipetteView: return decoy.mock(cls=PipetteView) +@pytest.fixture +def addressable_area_view(decoy: Decoy) -> AddressableAreaView: + """Get a mock in the shape of a AddressableAreaView.""" + return decoy.mock(cls=AddressableAreaView) + + @pytest.fixture(autouse=True) def patch_mock_move_types(decoy: Decoy, monkeypatch: pytest.MonkeyPatch) -> None: """Mock out move_types.py functions.""" @@ -70,7 +79,10 @@ def patch_mock_move_types(decoy: Decoy, monkeypatch: pytest.MonkeyPatch) -> None @pytest.fixture def subject( - labware_view: LabwareView, module_view: ModuleView, mock_pipette_view: PipetteView + labware_view: LabwareView, + module_view: ModuleView, + mock_pipette_view: PipetteView, + addressable_area_view: AddressableAreaView, ) -> GeometryView: """Get a GeometryView with its store dependencies mocked out.""" return GeometryView( @@ -81,12 +93,14 @@ def subject( labware_view=labware_view, module_view=module_view, pipette_view=mock_pipette_view, + addressable_area_view=addressable_area_view, ) def test_get_labware_parent_position( decoy: Decoy, labware_view: LabwareView, + addressable_area_view: AddressableAreaView, subject: GeometryView, ) -> None: """It should return a deck slot position for labware in a deck slot.""" @@ -98,9 +112,9 @@ def test_get_labware_parent_position( offsetId=None, ) decoy.when(labware_view.get("labware-id")).then_return(labware_data) - decoy.when(labware_view.get_slot_position(DeckSlotName.SLOT_3)).then_return( - Point(1, 2, 3) - ) + decoy.when( + addressable_area_view.get_addressable_area_position(DeckSlotName.SLOT_3.id) + ).then_return(Point(1, 2, 3)) result = subject.get_labware_parent_position("labware-id") @@ -129,6 +143,7 @@ def test_get_labware_parent_position_on_module( decoy: Decoy, labware_view: LabwareView, module_view: ModuleView, + addressable_area_view: AddressableAreaView, ot2_standard_deck_def: DeckDefinitionV4, subject: GeometryView, ) -> None: @@ -145,9 +160,9 @@ def test_get_labware_parent_position_on_module( decoy.when(module_view.get_location("module-id")).then_return( DeckSlotLocation(slotName=DeckSlotName.SLOT_3) ) - decoy.when(labware_view.get_slot_position(DeckSlotName.SLOT_3)).then_return( - Point(1, 2, 3) - ) + decoy.when( + addressable_area_view.get_addressable_area_position(DeckSlotName.SLOT_3.id) + ).then_return(Point(1, 2, 3)) decoy.when(labware_view.get_deck_definition()).then_return(ot2_standard_deck_def) decoy.when( module_view.get_nominal_module_offset( @@ -178,6 +193,7 @@ def test_get_labware_parent_position_on_labware( decoy: Decoy, labware_view: LabwareView, module_view: ModuleView, + addressable_area_view: AddressableAreaView, ot2_standard_deck_def: DeckDefinitionV4, subject: GeometryView, ) -> None: @@ -200,9 +216,9 @@ def test_get_labware_parent_position_on_labware( decoy.when(module_view.get_location("module-id")).then_return( DeckSlotLocation(slotName=DeckSlotName.SLOT_3) ) - decoy.when(labware_view.get_slot_position(DeckSlotName.SLOT_3)).then_return( - Point(1, 2, 3) - ) + decoy.when( + addressable_area_view.get_addressable_area_position(DeckSlotName.SLOT_3.id) + ).then_return(Point(1, 2, 3)) decoy.when(labware_view.get("adapter-id")).then_return(adapter_data) decoy.when(labware_view.get_dimensions("adapter-id")).then_return( Dimensions(x=123, y=456, z=5) @@ -299,6 +315,7 @@ def test_get_labware_origin_position( decoy: Decoy, well_plate_def: LabwareDefinition, labware_view: LabwareView, + addressable_area_view: AddressableAreaView, subject: GeometryView, ) -> None: """It should return a deck slot position with the labware's offset as its origin.""" @@ -312,9 +329,9 @@ def test_get_labware_origin_position( decoy.when(labware_view.get("labware-id")).then_return(labware_data) decoy.when(labware_view.get_definition("labware-id")).then_return(well_plate_def) - decoy.when(labware_view.get_slot_position(DeckSlotName.SLOT_3)).then_return( - Point(1, 2, 3) - ) + decoy.when( + addressable_area_view.get_addressable_area_position(DeckSlotName.SLOT_3.id) + ).then_return(Point(1, 2, 3)) expected_parent = Point(1, 2, 3) expected_offset = Point( @@ -333,6 +350,7 @@ def test_get_labware_highest_z( decoy: Decoy, well_plate_def: LabwareDefinition, labware_view: LabwareView, + addressable_area_view: AddressableAreaView, subject: GeometryView, ) -> None: """It should get the absolute location of a labware's highest Z point.""" @@ -351,9 +369,9 @@ def test_get_labware_highest_z( decoy.when(labware_view.get_labware_offset_vector("labware-id")).then_return( calibration_offset ) - decoy.when(labware_view.get_slot_position(DeckSlotName.SLOT_3)).then_return( - slot_pos - ) + decoy.when( + addressable_area_view.get_addressable_area_position(DeckSlotName.SLOT_3.id) + ).then_return(slot_pos) highest_z = subject.get_labware_highest_z("labware-id") @@ -365,6 +383,7 @@ def test_get_module_labware_highest_z( well_plate_def: LabwareDefinition, labware_view: LabwareView, module_view: ModuleView, + addressable_area_view: AddressableAreaView, ot2_standard_deck_def: DeckDefinitionV4, subject: GeometryView, ) -> None: @@ -384,9 +403,9 @@ def test_get_module_labware_highest_z( decoy.when(labware_view.get_labware_offset_vector("labware-id")).then_return( calibration_offset ) - decoy.when(labware_view.get_slot_position(DeckSlotName.SLOT_3)).then_return( - slot_pos - ) + decoy.when( + addressable_area_view.get_addressable_area_position(DeckSlotName.SLOT_3.id) + ).then_return(slot_pos) decoy.when(module_view.get_location("module-id")).then_return( DeckSlotLocation(slotName=DeckSlotName.SLOT_3) ) @@ -421,11 +440,13 @@ def test_get_all_labware_highest_z_no_equipment( decoy: Decoy, labware_view: LabwareView, module_view: ModuleView, + addressable_area_view: AddressableAreaView, subject: GeometryView, ) -> None: """It should return 0 if no loaded equipment.""" decoy.when(module_view.get_all()).then_return([]) decoy.when(labware_view.get_all()).then_return([]) + decoy.when(addressable_area_view.get_all()).then_return([]) result = subject.get_all_labware_highest_z() @@ -439,6 +460,7 @@ def test_get_all_labware_highest_z( falcon_tuberack_def: LabwareDefinition, labware_view: LabwareView, module_view: ModuleView, + addressable_area_view: AddressableAreaView, subject: GeometryView, ) -> None: """It should get the highest Z amongst all labware.""" @@ -469,6 +491,7 @@ def test_get_all_labware_highest_z( reservoir_offset = LabwareOffsetVector(x=1, y=-2, z=3) decoy.when(module_view.get_all()).then_return([]) + decoy.when(addressable_area_view.get_all()).then_return([]) decoy.when(labware_view.get_all()).then_return([plate, off_deck_lw, reservoir]) decoy.when(labware_view.get("plate-id")).then_return(plate) @@ -491,12 +514,12 @@ def test_get_all_labware_highest_z( reservoir_offset ) - decoy.when(labware_view.get_slot_position(DeckSlotName.SLOT_3)).then_return( - Point(1, 2, 3) - ) - decoy.when(labware_view.get_slot_position(DeckSlotName.SLOT_4)).then_return( - Point(4, 5, 6) - ) + decoy.when( + addressable_area_view.get_addressable_area_position(DeckSlotName.SLOT_3.id) + ).then_return(Point(1, 2, 3)) + decoy.when( + addressable_area_view.get_addressable_area_position(DeckSlotName.SLOT_4.id) + ).then_return(Point(4, 5, 6)) plate_z = subject.get_labware_highest_z("plate-id") reservoir_z = subject.get_labware_highest_z("reservoir-id") @@ -510,6 +533,7 @@ def test_get_all_labware_highest_z_with_modules( decoy: Decoy, labware_view: LabwareView, module_view: ModuleView, + addressable_area_view: AddressableAreaView, subject: GeometryView, ) -> None: """It should get the highest Z including modules.""" @@ -517,6 +541,8 @@ def test_get_all_labware_highest_z_with_modules( module_2 = LoadedModule.construct(id="module-id-2") # type: ignore[call-arg] decoy.when(labware_view.get_all()).then_return([]) + decoy.when(addressable_area_view.get_all()).then_return([]) + decoy.when(module_view.get_all()).then_return([module_1, module_2]) decoy.when(module_view.get_overall_height("module-id-1")).then_return(42.0) decoy.when(module_view.get_overall_height("module-id-2")).then_return(1337.0) @@ -526,6 +552,30 @@ def test_get_all_labware_highest_z_with_modules( assert result == 1337.0 +def test_get_all_labware_highest_z_with_addressable_area( + decoy: Decoy, + labware_view: LabwareView, + module_view: ModuleView, + addressable_area_view: AddressableAreaView, + subject: GeometryView, +) -> None: + """It should get the highest Z including addressable areas.""" + decoy.when(labware_view.get_all()).then_return([]) + decoy.when(module_view.get_all()).then_return([]) + + decoy.when(addressable_area_view.get_all()).then_return(["abc", "xyz"]) + decoy.when(addressable_area_view.get_addressable_area_height("abc")).then_return( + 42.0 + ) + decoy.when(addressable_area_view.get_addressable_area_height("xyz")).then_return( + 1337.0 + ) + + result = subject.get_all_labware_highest_z() + + assert result == 1337.0 + + @pytest.mark.parametrize( ["location", "min_z_height", "expected_min_z"], [ @@ -543,6 +593,7 @@ def test_get_min_travel_z( well_plate_def: LabwareDefinition, labware_view: LabwareView, module_view: ModuleView, + addressable_area_view: AddressableAreaView, location: Optional[CurrentWell], min_z_height: Optional[float], expected_min_z: float, @@ -562,12 +613,13 @@ def test_get_min_travel_z( decoy.when(labware_view.get_labware_offset_vector("labware-id")).then_return( LabwareOffsetVector(x=0, y=0, z=3) ) - decoy.when(labware_view.get_slot_position(DeckSlotName.SLOT_3)).then_return( - Point(0, 0, 3) - ) + decoy.when( + addressable_area_view.get_addressable_area_position(DeckSlotName.SLOT_3.id) + ).then_return(Point(0, 0, 3)) decoy.when(module_view.get_all()).then_return([]) decoy.when(labware_view.get_all()).then_return([]) + decoy.when(addressable_area_view.get_all()).then_return([]) min_travel_z = subject.get_min_travel_z( "pipette-id", "labware-id", location, min_z_height @@ -580,6 +632,7 @@ def test_get_labware_position( decoy: Decoy, well_plate_def: LabwareDefinition, labware_view: LabwareView, + addressable_area_view: AddressableAreaView, subject: GeometryView, ) -> None: """It should return the slot position plus calibrated offset.""" @@ -598,9 +651,9 @@ def test_get_labware_position( decoy.when(labware_view.get_labware_offset_vector("labware-id")).then_return( calibration_offset ) - decoy.when(labware_view.get_slot_position(DeckSlotName.SLOT_4)).then_return( - slot_pos - ) + decoy.when( + addressable_area_view.get_addressable_area_position(DeckSlotName.SLOT_4.id) + ).then_return(slot_pos) position = subject.get_labware_position(labware_id="labware-id") @@ -615,6 +668,7 @@ def test_get_well_position( decoy: Decoy, well_plate_def: LabwareDefinition, labware_view: LabwareView, + addressable_area_view: AddressableAreaView, subject: GeometryView, ) -> None: """It should be able to get the position of a well top in a labware.""" @@ -634,9 +688,9 @@ def test_get_well_position( decoy.when(labware_view.get_labware_offset_vector("labware-id")).then_return( calibration_offset ) - decoy.when(labware_view.get_slot_position(DeckSlotName.SLOT_4)).then_return( - slot_pos - ) + decoy.when( + addressable_area_view.get_addressable_area_position(DeckSlotName.SLOT_4.id) + ).then_return(slot_pos) decoy.when(labware_view.get_well_definition("labware-id", "B2")).then_return( well_def ) @@ -669,6 +723,7 @@ def test_get_module_labware_well_position( well_plate_def: LabwareDefinition, labware_view: LabwareView, module_view: ModuleView, + addressable_area_view: AddressableAreaView, ot2_standard_deck_def: DeckDefinitionV4, subject: GeometryView, ) -> None: @@ -689,9 +744,9 @@ def test_get_module_labware_well_position( decoy.when(labware_view.get_labware_offset_vector("labware-id")).then_return( calibration_offset ) - decoy.when(labware_view.get_slot_position(DeckSlotName.SLOT_4)).then_return( - slot_pos - ) + decoy.when( + addressable_area_view.get_addressable_area_position(DeckSlotName.SLOT_4.id) + ).then_return(slot_pos) decoy.when(labware_view.get_well_definition("labware-id", "B2")).then_return( well_def ) @@ -731,6 +786,7 @@ def test_get_well_position_with_top_offset( decoy: Decoy, well_plate_def: LabwareDefinition, labware_view: LabwareView, + addressable_area_view: AddressableAreaView, subject: GeometryView, ) -> None: """It should be able to get the position of a well top in a labware.""" @@ -750,9 +806,9 @@ def test_get_well_position_with_top_offset( decoy.when(labware_view.get_labware_offset_vector("labware-id")).then_return( calibration_offset ) - decoy.when(labware_view.get_slot_position(DeckSlotName.SLOT_4)).then_return( - slot_pos - ) + decoy.when( + addressable_area_view.get_addressable_area_position(DeckSlotName.SLOT_4.id) + ).then_return(slot_pos) decoy.when(labware_view.get_well_definition("labware-id", "B2")).then_return( well_def ) @@ -777,6 +833,7 @@ def test_get_well_position_with_bottom_offset( decoy: Decoy, well_plate_def: LabwareDefinition, labware_view: LabwareView, + addressable_area_view: AddressableAreaView, subject: GeometryView, ) -> None: """It should be able to get the position of a well bottom in a labware.""" @@ -796,9 +853,9 @@ def test_get_well_position_with_bottom_offset( decoy.when(labware_view.get_labware_offset_vector("labware-id")).then_return( calibration_offset ) - decoy.when(labware_view.get_slot_position(DeckSlotName.SLOT_4)).then_return( - slot_pos - ) + decoy.when( + addressable_area_view.get_addressable_area_position(DeckSlotName.SLOT_4.id) + ).then_return(slot_pos) decoy.when(labware_view.get_well_definition("labware-id", "B2")).then_return( well_def ) @@ -823,6 +880,7 @@ def test_get_well_position_with_center_offset( decoy: Decoy, well_plate_def: LabwareDefinition, labware_view: LabwareView, + addressable_area_view: AddressableAreaView, subject: GeometryView, ) -> None: """It should be able to get the position of a well center in a labware.""" @@ -842,9 +900,9 @@ def test_get_well_position_with_center_offset( decoy.when(labware_view.get_labware_offset_vector("labware-id")).then_return( calibration_offset ) - decoy.when(labware_view.get_slot_position(DeckSlotName.SLOT_4)).then_return( - slot_pos - ) + decoy.when( + addressable_area_view.get_addressable_area_position(DeckSlotName.SLOT_4.id) + ).then_return(slot_pos) decoy.when(labware_view.get_well_definition("labware-id", "B2")).then_return( well_def ) @@ -869,6 +927,7 @@ def test_get_relative_well_location( decoy: Decoy, well_plate_def: LabwareDefinition, labware_view: LabwareView, + addressable_area_view: AddressableAreaView, subject: GeometryView, ) -> None: """It should get the relative location of a well given an absolute position.""" @@ -888,9 +947,9 @@ def test_get_relative_well_location( decoy.when(labware_view.get_labware_offset_vector("labware-id")).then_return( calibration_offset ) - decoy.when(labware_view.get_slot_position(DeckSlotName.SLOT_4)).then_return( - slot_pos - ) + decoy.when( + addressable_area_view.get_addressable_area_position(DeckSlotName.SLOT_4.id) + ).then_return(slot_pos) decoy.when(labware_view.get_well_definition("labware-id", "B2")).then_return( well_def ) @@ -1059,15 +1118,22 @@ def test_get_tip_drop_location_with_non_tiprack( ) -def test_get_tip_drop_explicit_location(subject: GeometryView) -> None: +def test_get_tip_drop_explicit_location( + decoy: Decoy, + labware_view: LabwareView, + subject: GeometryView, + tip_rack_def: LabwareDefinition, +) -> None: """It should pass the location through if origin is not WellOrigin.DROP_TIP.""" + decoy.when(labware_view.get_definition("tip-rack-id")).then_return(tip_rack_def) + input_location = DropTipWellLocation( origin=DropTipWellOrigin.TOP, offset=WellOffset(x=1, y=2, z=3), ) result = subject.get_checked_tip_drop_location( - pipette_id="pipette-id", labware_id="labware-id", well_location=input_location + pipette_id="pipette-id", labware_id="tip-rack-id", well_location=input_location ) assert result == WellLocation( @@ -1126,7 +1192,7 @@ def test_ensure_location_not_occupied_raises( subject.ensure_location_not_occupied(location=slot_location) # Raise if module in location - module_location = ModuleLocation(moduleId="module-id") + module_location = DeckSlotLocation(slotName=DeckSlotName.SLOT_1) decoy.when(labware_view.raise_if_labware_in_location(module_location)).then_return( None ) @@ -1147,6 +1213,7 @@ def test_get_labware_grip_point( decoy: Decoy, labware_view: LabwareView, module_view: ModuleView, + addressable_area_view: AddressableAreaView, ot2_standard_deck_def: DeckDefinitionV4, subject: GeometryView, ) -> None: @@ -1155,9 +1222,9 @@ def test_get_labware_grip_point( labware_view.get_grip_height_from_labware_bottom("labware-id") ).then_return(100) - decoy.when(labware_view.get_slot_center_position(DeckSlotName.SLOT_1)).then_return( - Point(x=101, y=102, z=103) - ) + decoy.when( + addressable_area_view.get_addressable_area_center(DeckSlotName.SLOT_1.id) + ).then_return(Point(x=101, y=102, z=103)) labware_center = subject.get_labware_grip_point( labware_id="labware-id", location=DeckSlotLocation(slotName=DeckSlotName.SLOT_1) ) @@ -1169,6 +1236,7 @@ def test_get_labware_grip_point_on_labware( decoy: Decoy, labware_view: LabwareView, module_view: ModuleView, + addressable_area_view: AddressableAreaView, ot2_standard_deck_def: DeckDefinitionV4, subject: GeometryView, ) -> None: @@ -1200,9 +1268,9 @@ def test_get_labware_grip_point_on_labware( labware_view.get_labware_overlap_offsets("labware-id", "below-name") ).then_return(OverlapOffset(x=0, y=1, z=6)) - decoy.when(labware_view.get_slot_center_position(DeckSlotName.SLOT_4)).then_return( - Point(x=5, y=9, z=10) - ) + decoy.when( + addressable_area_view.get_addressable_area_center(DeckSlotName.SLOT_4.id) + ).then_return(Point(x=5, y=9, z=10)) grip_point = subject.get_labware_grip_point( labware_id="labware-id", location=OnLabwareLocation(labwareId="below-id") @@ -1215,6 +1283,7 @@ def test_get_labware_grip_point_for_labware_on_module( decoy: Decoy, labware_view: LabwareView, module_view: ModuleView, + addressable_area_view: AddressableAreaView, ot2_standard_deck_def: DeckDefinitionV4, subject: GeometryView, ) -> None: @@ -1245,9 +1314,9 @@ def test_get_labware_grip_point_for_labware_on_module( location=DeckSlotLocation(slotName=DeckSlotName.SLOT_4), ) ) - decoy.when(labware_view.get_slot_center_position(DeckSlotName.SLOT_4)).then_return( - Point(100, 200, 300) - ) + decoy.when( + addressable_area_view.get_addressable_area_center(DeckSlotName.SLOT_4.id) + ).then_return(Point(100, 200, 300)) result_grip_point = subject.get_labware_grip_point( labware_id="labware-id", location=ModuleLocation(moduleId="module-id") ) @@ -1259,15 +1328,19 @@ def test_get_labware_grip_point_for_labware_on_module( argnames=["location", "should_dodge", "expected_waypoints"], argvalues=[ (None, True, []), + (None, False, []), (CurrentWell("pipette-id", "from-labware-id", "well-name"), False, []), (CurrentWell("pipette-id", "from-labware-id", "well-name"), True, [(11, 22)]), + (CurrentAddressableArea("pipette-id", "area-name"), False, []), + (CurrentAddressableArea("pipette-id", "area-name"), True, [(11, 22)]), ], ) def test_get_extra_waypoints( decoy: Decoy, labware_view: LabwareView, module_view: ModuleView, - location: Optional[CurrentWell], + addressable_area_view: AddressableAreaView, + location: Optional[CurrentPipetteLocation], should_dodge: bool, expected_waypoints: List[Tuple[float, float]], subject: GeometryView, @@ -1281,14 +1354,10 @@ def test_get_extra_waypoints( location=DeckSlotLocation(slotName=DeckSlotName.SLOT_1), ) ) - decoy.when(labware_view.get("to-labware-id")).then_return( - LoadedLabware( - id="labware2", - loadName="load-name2", - definitionUri="4567", - location=DeckSlotLocation(slotName=DeckSlotName.SLOT_2), - ) - ) + + decoy.when( + addressable_area_view.get_addressable_area_base_slot("area-name") + ).then_return(DeckSlotName.SLOT_1) decoy.when( module_view.should_dodge_thermocycler( @@ -1297,10 +1366,12 @@ def test_get_extra_waypoints( ).then_return(should_dodge) decoy.when( # Assume the subject's Config is for an OT-3, so use an OT-3 slot name. - labware_view.get_slot_center_position(slot=DeckSlotName.SLOT_C2) + addressable_area_view.get_addressable_area_center( + addressable_area_name=DeckSlotName.SLOT_C2.id + ) ).then_return(Point(x=11, y=22, z=33)) - extra_waypoints = subject.get_extra_waypoints("to-labware-id", location) + extra_waypoints = subject.get_extra_waypoints(location, DeckSlotName.SLOT_2) assert extra_waypoints == expected_waypoints @@ -1312,49 +1383,25 @@ def test_get_slot_item( subject: GeometryView, ) -> None: """It should get items in certain slots.""" - allowed_labware_ids = {"foo", "bar"} - allowed_module_ids = {"fizz", "buzz"} labware = LoadedLabware.construct(id="cool-labware") # type: ignore[call-arg] module = LoadedModule.construct(id="cool-module") # type: ignore[call-arg] - decoy.when( - labware_view.get_by_slot(DeckSlotName.SLOT_1, allowed_labware_ids) - ).then_return(None) - decoy.when( - labware_view.get_by_slot(DeckSlotName.SLOT_2, allowed_labware_ids) - ).then_return(labware) - decoy.when( - labware_view.get_by_slot(DeckSlotName.SLOT_3, allowed_labware_ids) - ).then_return(None) + decoy.when(labware_view.get_by_slot(DeckSlotName.SLOT_1)).then_return(None) + decoy.when(labware_view.get_by_slot(DeckSlotName.SLOT_2)).then_return(labware) + decoy.when(labware_view.get_by_slot(DeckSlotName.SLOT_3)).then_return(None) - decoy.when( - module_view.get_by_slot(DeckSlotName.SLOT_1, allowed_module_ids) - ).then_return(None) - decoy.when( - module_view.get_by_slot(DeckSlotName.SLOT_2, allowed_module_ids) - ).then_return(None) - decoy.when( - module_view.get_by_slot(DeckSlotName.SLOT_3, allowed_module_ids) - ).then_return(module) + decoy.when(module_view.get_by_slot(DeckSlotName.SLOT_1)).then_return(None) + decoy.when(module_view.get_by_slot(DeckSlotName.SLOT_2)).then_return(None) + decoy.when(module_view.get_by_slot(DeckSlotName.SLOT_3)).then_return(module) assert ( subject.get_slot_item( - DeckSlotName.SLOT_1, allowed_labware_ids, allowed_module_ids + DeckSlotName.SLOT_1, ) is None ) - assert ( - subject.get_slot_item( - DeckSlotName.SLOT_2, allowed_labware_ids, allowed_module_ids - ) - == labware - ) - assert ( - subject.get_slot_item( - DeckSlotName.SLOT_3, allowed_labware_ids, allowed_module_ids - ) - == module - ) + assert subject.get_slot_item(DeckSlotName.SLOT_2) == labware + assert subject.get_slot_item(DeckSlotName.SLOT_3) == module @pytest.mark.parametrize( diff --git a/api/tests/opentrons/protocol_engine/state/test_labware_view.py b/api/tests/opentrons/protocol_engine/state/test_labware_view.py index 494b92ed548..f708958fc43 100644 --- a/api/tests/opentrons/protocol_engine/state/test_labware_view.py +++ b/api/tests/opentrons/protocol_engine/state/test_labware_view.py @@ -20,7 +20,7 @@ STANDARD_OT3_DECK, ) from opentrons.protocols.models import LabwareDefinition -from opentrons.types import DeckSlotName, Point, MountType +from opentrons.types import DeckSlotName, MountType from opentrons.protocol_engine import errors from opentrons.protocol_engine.types import ( @@ -805,45 +805,6 @@ def test_get_deck_definition(ot2_standard_deck_def: DeckDefinitionV4) -> None: assert subject.get_deck_definition() == ot2_standard_deck_def -def test_get_slot_definition(ot2_standard_deck_def: DeckDefinitionV4) -> None: - """It should return a deck slot's definition.""" - subject = get_labware_view(deck_definition=ot2_standard_deck_def) - - result = subject.get_slot_definition(DeckSlotName.SLOT_6) - - assert result["id"] == "6" - assert result["displayName"] == "Slot 6" - - -def test_get_slot_definition_raises_with_bad_slot_name( - ot2_standard_deck_def: DeckDefinitionV4, -) -> None: - """It should raise a SlotDoesNotExistError if a bad slot name is given.""" - subject = get_labware_view(deck_definition=ot2_standard_deck_def) - - with pytest.raises(errors.SlotDoesNotExistError): - subject.get_slot_definition(DeckSlotName.SLOT_A1) - - -def test_get_slot_position(ot2_standard_deck_def: DeckDefinitionV4) -> None: - """It should get the absolute location of a deck slot's origin.""" - subject = get_labware_view(deck_definition=ot2_standard_deck_def) - - expected_position = Point(x=132.5, y=90.5, z=0.0) - result = subject.get_slot_position(DeckSlotName.SLOT_5) - - assert result == expected_position - - -def test_get_slot_center_position(ot2_standard_deck_def: DeckDefinitionV4) -> None: - """It should get the absolute location of a deck slot's center.""" - subject = get_labware_view(deck_definition=ot2_standard_deck_def) - - expected_center = Point(x=196.5, y=43.0, z=0.0) - result = subject.get_slot_center_position(DeckSlotName.SLOT_2) - assert result == expected_center - - def test_get_labware_offset_vector() -> None: """It should get a labware's offset vector.""" labware_without_offset = LoadedLabware( @@ -1144,41 +1105,9 @@ def test_get_by_slot() -> None: labware_by_id={"1": labware_1, "2": labware_2, "3": labware_3} ) - assert subject.get_by_slot(DeckSlotName.SLOT_1, {"1", "2"}) == labware_1 - assert subject.get_by_slot(DeckSlotName.SLOT_2, {"1", "2"}) == labware_2 - assert subject.get_by_slot(DeckSlotName.SLOT_3, {"1", "2"}) is None - - -def test_get_by_slot_prefers_later() -> None: - """It should get the labware in a slot, preferring later items if locations match.""" - labware_1 = LoadedLabware.construct( # type: ignore[call-arg] - id="1", location=DeckSlotLocation(slotName=DeckSlotName.SLOT_1) - ) - labware_1_again = LoadedLabware.construct( # type: ignore[call-arg] - id="1-again", location=DeckSlotLocation(slotName=DeckSlotName.SLOT_1) - ) - - subject = get_labware_view( - labware_by_id={"1": labware_1, "1-again": labware_1_again} - ) - - assert subject.get_by_slot(DeckSlotName.SLOT_1, {"1", "1-again"}) == labware_1_again - - -def test_get_by_slot_filter_ids() -> None: - """It should filter labwares in the same slot using IDs.""" - labware_1 = LoadedLabware.construct( # type: ignore[call-arg] - id="1", location=DeckSlotLocation(slotName=DeckSlotName.SLOT_1) - ) - labware_1_again = LoadedLabware.construct( # type: ignore[call-arg] - id="1-again", location=DeckSlotLocation(slotName=DeckSlotName.SLOT_1) - ) - - subject = get_labware_view( - labware_by_id={"1": labware_1, "1-again": labware_1_again} - ) - - assert subject.get_by_slot(DeckSlotName.SLOT_1, {"1"}) == labware_1 + assert subject.get_by_slot(DeckSlotName.SLOT_1) == labware_1 + assert subject.get_by_slot(DeckSlotName.SLOT_2) == labware_2 + assert subject.get_by_slot(DeckSlotName.SLOT_3) is None @pytest.mark.parametrize( @@ -1388,7 +1317,7 @@ def test_get_deck_gripper_offsets(ot3_standard_deck_def: DeckDefinitionV4) -> No assert subject.get_deck_default_gripper_offsets() == LabwareMovementOffsetData( pickUpOffset=LabwareOffsetVector(x=0, y=0, z=0), - dropOffset=LabwareOffsetVector(x=0, y=0, z=-0.25), + dropOffset=LabwareOffsetVector(x=0, y=0, z=-0.75), ) diff --git a/api/tests/opentrons/protocol_engine/state/test_module_view.py b/api/tests/opentrons/protocol_engine/state/test_module_view.py index 5b83cda94f0..e4498c0ec7d 100644 --- a/api/tests/opentrons/protocol_engine/state/test_module_view.py +++ b/api/tests/opentrons/protocol_engine/state/test_module_view.py @@ -13,7 +13,6 @@ DeckSlotLocation, ModuleDefinition, ModuleModel, - ModuleLocation, LabwareOffsetVector, DeckType, ModuleOffsetData, @@ -1595,11 +1594,10 @@ def test_get_overall_height( ), (DeckSlotLocation(slotName=DeckSlotName.SLOT_2), does_not_raise()), (DeckSlotLocation(slotName=DeckSlotName.FIXED_TRASH), does_not_raise()), - (ModuleLocation(moduleId="module-id-1"), does_not_raise()), ], ) def test_raise_if_labware_in_location( - location: Union[DeckSlotLocation, ModuleLocation], + location: DeckSlotLocation, expected_raise: ContextManager[Any], thermocycler_v1_def: ModuleDefinition, ) -> None: @@ -1648,19 +1646,19 @@ def test_get_by_slot() -> None: }, ) - assert subject.get_by_slot(DeckSlotName.SLOT_1, {"1", "2"}) == LoadedModule( + assert subject.get_by_slot(DeckSlotName.SLOT_1) == LoadedModule( id="1", location=DeckSlotLocation(slotName=DeckSlotName.SLOT_1), model=ModuleModel.TEMPERATURE_MODULE_V1, serialNumber="serial-number-1", ) - assert subject.get_by_slot(DeckSlotName.SLOT_2, {"1", "2"}) == LoadedModule( + assert subject.get_by_slot(DeckSlotName.SLOT_2) == LoadedModule( id="2", location=DeckSlotLocation(slotName=DeckSlotName.SLOT_2), model=ModuleModel.TEMPERATURE_MODULE_V2, serialNumber="serial-number-2", ) - assert subject.get_by_slot(DeckSlotName.SLOT_3, {"1", "2"}) is None + assert subject.get_by_slot(DeckSlotName.SLOT_3) is None def test_get_by_slot_prefers_later() -> None: @@ -1686,7 +1684,7 @@ def test_get_by_slot_prefers_later() -> None: }, ) - assert subject.get_by_slot(DeckSlotName.SLOT_1, {"1", "1-again"}) == LoadedModule( + assert subject.get_by_slot(DeckSlotName.SLOT_1) == LoadedModule( id="1-again", location=DeckSlotLocation(slotName=DeckSlotName.SLOT_1), model=ModuleModel.TEMPERATURE_MODULE_V1, @@ -1694,37 +1692,6 @@ def test_get_by_slot_prefers_later() -> None: ) -def test_get_by_slot_filter_ids() -> None: - """It should filter modules by ID in addition to checking the slot.""" - subject = make_module_view( - slot_by_module_id={ - "1": DeckSlotName.SLOT_1, - "1-again": DeckSlotName.SLOT_1, - }, - hardware_by_module_id={ - "1": HardwareModule( - serial_number="serial-number-1", - definition=ModuleDefinition.construct( # type: ignore[call-arg] - model=ModuleModel.TEMPERATURE_MODULE_V1 - ), - ), - "1-again": HardwareModule( - serial_number="serial-number-1-again", - definition=ModuleDefinition.construct( # type: ignore[call-arg] - model=ModuleModel.TEMPERATURE_MODULE_V1 - ), - ), - }, - ) - - assert subject.get_by_slot(DeckSlotName.SLOT_1, {"1"}) == LoadedModule( - id="1", - location=DeckSlotLocation(slotName=DeckSlotName.SLOT_1), - model=ModuleModel.TEMPERATURE_MODULE_V1, - serialNumber="serial-number-1", - ) - - @pytest.mark.parametrize( argnames=["mount", "target_slot", "expected_result"], argvalues=[ @@ -1756,14 +1723,14 @@ def test_is_edge_move_unsafe( lazy_fixture("thermocycler_v2_def"), LabwareMovementOffsetData( pickUpOffset=LabwareOffsetVector(x=0, y=0, z=4.6), - dropOffset=LabwareOffsetVector(x=0, y=0, z=4.6), + dropOffset=LabwareOffsetVector(x=0, y=0, z=5.6), ), ), ( lazy_fixture("heater_shaker_v1_def"), LabwareMovementOffsetData( pickUpOffset=LabwareOffsetVector(x=0, y=0, z=0), - dropOffset=LabwareOffsetVector(x=0, y=0, z=0.5), + dropOffset=LabwareOffsetVector(x=0, y=0, z=1.0), ), ), ( diff --git a/api/tests/opentrons/protocol_engine/state/test_motion_view.py b/api/tests/opentrons/protocol_engine/state/test_motion_view.py index 19680688644..f1da69aa1e4 100644 --- a/api/tests/opentrons/protocol_engine/state/test_motion_view.py +++ b/api/tests/opentrons/protocol_engine/state/test_motion_view.py @@ -16,12 +16,15 @@ LoadedPipette, DeckSlotLocation, CurrentWell, + CurrentAddressableArea, MotorAxis, + AddressableOffsetVector, ) from opentrons.protocol_engine.state import PipetteLocationData, move_types from opentrons.protocol_engine.state.config import Config from opentrons.protocol_engine.state.labware import LabwareView from opentrons.protocol_engine.state.pipettes import PipetteView +from opentrons.protocol_engine.state.addressable_areas import AddressableAreaView from opentrons.protocol_engine.state.geometry import GeometryView from opentrons.protocol_engine.state.motion import MotionView from opentrons.protocol_engine.state.modules import ModuleView @@ -60,6 +63,7 @@ def subject( mock_engine_config: Config, labware_view: LabwareView, pipette_view: PipetteView, + addressable_area_view: AddressableAreaView, geometry_view: GeometryView, mock_module_view: ModuleView, ) -> MotionView: @@ -68,6 +72,7 @@ def subject( config=mock_engine_config, labware_view=labware_view, pipette_view=pipette_view, + addressable_area_view=addressable_area_view, geometry_view=geometry_view, module_view=mock_module_view, ) @@ -79,7 +84,7 @@ def test_get_pipette_location_with_no_current_location( subject: MotionView, ) -> None: """It should return mount and critical_point=None if no location.""" - decoy.when(pipette_view.get_current_well()).then_return(None) + decoy.when(pipette_view.get_current_location()).then_return(None) decoy.when(pipette_view.get("pipette-id")).then_return( LoadedPipette( @@ -101,7 +106,7 @@ def test_get_pipette_location_with_current_location_with_quirks( subject: MotionView, ) -> None: """It should return cp=XY_CENTER if location labware has center quirk.""" - decoy.when(pipette_view.get_current_well()).then_return( + decoy.when(pipette_view.get_current_location()).then_return( CurrentWell(pipette_id="pipette-id", labware_id="reservoir-id", well_name="A1") ) @@ -135,7 +140,7 @@ def test_get_pipette_location_with_current_location_different_pipette( subject: MotionView, ) -> None: """It should return mount and cp=None if location used other pipette.""" - decoy.when(pipette_view.get_current_well()).then_return( + decoy.when(pipette_view.get_current_location()).then_return( CurrentWell( pipette_id="other-pipette-id", labware_id="reservoir-id", @@ -196,7 +201,7 @@ def test_get_pipette_location_override_current_location( result = subject.get_pipette_location( pipette_id="pipette-id", - current_well=current_well, + current_location=current_well, ) assert result == PipetteLocationData( @@ -216,7 +221,7 @@ def test_get_movement_waypoints_to_well( """It should call get_waypoints() with the correct args to move to a well.""" location = CurrentWell(pipette_id="123", labware_id="456", well_name="abc") - decoy.when(pipette_view.get_current_well()).then_return(location) + decoy.when(pipette_view.get_current_location()).then_return(location) decoy.when( labware_view.get_has_quirk("labware-id", "centerMultichannelOnWells") ).then_return(True) @@ -233,10 +238,15 @@ def test_get_movement_waypoints_to_well( decoy.when( geometry_view.get_min_travel_z("pipette-id", "labware-id", location, 123) ).then_return(42.0) - decoy.when(geometry_view.get_extra_waypoints("labware-id", location)).then_return( - [(456, 789)] + + decoy.when(geometry_view.get_ancestor_slot_name("labware-id")).then_return( + DeckSlotName.SLOT_2 ) + decoy.when( + geometry_view.get_extra_waypoints(location, DeckSlotName.SLOT_2) + ).then_return([(456, 789)]) + waypoints = [ motion_planning.Waypoint( position=Point(1, 2, 3), critical_point=CriticalPoint.XY_CENTER @@ -288,7 +298,7 @@ def test_get_movement_waypoints_to_well_raises( well_location=None, ) ).then_return(Point(x=4, y=5, z=6)) - decoy.when(pipette_view.get_current_well()).then_return(None) + decoy.when(pipette_view.get_current_location()).then_return(None) decoy.when( geometry_view.get_min_travel_z("pipette-id", "labware-id", None, None) ).then_return(456) @@ -326,6 +336,67 @@ def test_get_movement_waypoints_to_well_raises( ) +def test_get_movement_waypoints_to_addressable_area( + decoy: Decoy, + labware_view: LabwareView, + pipette_view: PipetteView, + addressable_area_view: AddressableAreaView, + geometry_view: GeometryView, + mock_module_view: ModuleView, + subject: MotionView, +) -> None: + """It should call get_waypoints() with the correct args to move to an addressable area.""" + location = CurrentAddressableArea(pipette_id="123", addressable_area_name="abc") + + decoy.when(pipette_view.get_current_location()).then_return(location) + decoy.when( + addressable_area_view.get_addressable_area_move_to_location("area-name") + ).then_return(Point(x=3, y=3, z=3)) + decoy.when(geometry_view.get_all_labware_highest_z()).then_return(42) + + decoy.when( + addressable_area_view.get_addressable_area_base_slot("area-name") + ).then_return(DeckSlotName.SLOT_2) + + decoy.when( + geometry_view.get_extra_waypoints(location, DeckSlotName.SLOT_2) + ).then_return([]) + + waypoints = [ + motion_planning.Waypoint( + position=Point(1, 2, 3), critical_point=CriticalPoint.XY_CENTER + ), + motion_planning.Waypoint( + position=Point(4, 5, 6), critical_point=CriticalPoint.MOUNT + ), + ] + + decoy.when( + motion_planning.get_waypoints( + move_type=motion_planning.MoveType.DIRECT, + origin=Point(x=1, y=2, z=3), + origin_cp=CriticalPoint.MOUNT, + max_travel_z=1337, + min_travel_z=123, + dest=Point(x=4, y=5, z=6), + dest_cp=CriticalPoint.XY_CENTER, + xy_waypoints=[], + ) + ).then_return(waypoints) + + result = subject.get_movement_waypoints_to_addressable_area( + addressable_area_name="area-name", + offset=AddressableOffsetVector(x=1, y=2, z=3), + origin=Point(x=1, y=2, z=3), + origin_cp=CriticalPoint.MOUNT, + max_travel_z=1337, + force_direct=True, + minimum_z_height=123, + ) + + assert result == waypoints + + @pytest.mark.parametrize( ("direct", "expected_move_type"), [ @@ -455,7 +526,7 @@ def test_check_pipette_blocking_hs_latch( expected_result: bool, ) -> None: """It should return True if pipette is blocking opening the latch.""" - decoy.when(pipette_view.get_current_well()).then_return( + decoy.when(pipette_view.get_current_location()).then_return( CurrentWell(pipette_id="pipette-id", labware_id="labware-id", well_name="A1") ) @@ -495,7 +566,7 @@ def test_check_pipette_blocking_hs_shake( expected_result: bool, ) -> None: """It should return True if pipette is blocking the h/s from shaking.""" - decoy.when(pipette_view.get_current_well()).then_return( + decoy.when(pipette_view.get_current_location()).then_return( CurrentWell(pipette_id="pipette-id", labware_id="labware-id", well_name="A1") ) diff --git a/api/tests/opentrons/protocol_engine/state/test_pipette_store.py b/api/tests/opentrons/protocol_engine/state/test_pipette_store.py index 3f638991c95..9490b95f7f9 100644 --- a/api/tests/opentrons/protocol_engine/state/test_pipette_store.py +++ b/api/tests/opentrons/protocol_engine/state/test_pipette_store.py @@ -63,7 +63,7 @@ def test_sets_initial_state(subject: PipetteStore) -> None: assert result == PipetteState( pipettes_by_id={}, aspirated_volume_by_id={}, - current_well=None, + current_location=None, current_deck_point=CurrentDeckPoint(mount=None, deck_point=None), attached_tip_by_id={}, movement_speed_by_id={}, @@ -207,7 +207,7 @@ def test_handles_blow_out(subject: PipetteStore) -> None: assert result.aspirated_volume_by_id["pipette-id"] is None - assert result.current_well == CurrentWell( + assert result.current_location == CurrentWell( pipette_id="pipette-id", labware_id="labware-id", well_name="well-name", @@ -364,7 +364,7 @@ def test_movement_commands_update_current_well( ) subject.handle_action(UpdateCommandAction(private_result=None, command=command)) - assert subject.state.current_well == expected_location + assert subject.state.current_location == expected_location @pytest.mark.parametrize( @@ -451,7 +451,7 @@ def test_movement_commands_without_well_clear_current_well( ) subject.handle_action(UpdateCommandAction(private_result=None, command=command)) - assert subject.state.current_well is None + assert subject.state.current_location is None @pytest.mark.parametrize( @@ -504,7 +504,7 @@ def test_heater_shaker_command_without_movement( ) subject.handle_action(UpdateCommandAction(private_result=None, command=command)) - assert subject.state.current_well == CurrentWell( + assert subject.state.current_location == CurrentWell( pipette_id="pipette-id", labware_id="labware-id", well_name="well-name", @@ -617,7 +617,7 @@ def test_move_labware_clears_current_well( subject.handle_action( UpdateCommandAction(private_result=None, command=move_labware_command) ) - assert subject.state.current_well == expected_current_well + assert subject.state.current_location == expected_current_well def test_set_movement_speed(subject: PipetteStore) -> None: diff --git a/api/tests/opentrons/protocol_engine/state/test_pipette_view.py b/api/tests/opentrons/protocol_engine/state/test_pipette_view.py index 5721beb5b18..4ddee00d410 100644 --- a/api/tests/opentrons/protocol_engine/state/test_pipette_view.py +++ b/api/tests/opentrons/protocol_engine/state/test_pipette_view.py @@ -14,7 +14,7 @@ MotorAxis, FlowRates, DeckPoint, - CurrentWell, + CurrentPipetteLocation, TipGeometry, ) from opentrons.protocol_engine.state.pipettes import ( @@ -31,7 +31,7 @@ def get_pipette_view( pipettes_by_id: Optional[Dict[str, LoadedPipette]] = None, aspirated_volume_by_id: Optional[Dict[str, Optional[float]]] = None, - current_well: Optional[CurrentWell] = None, + current_well: Optional[CurrentPipetteLocation] = None, current_deck_point: CurrentDeckPoint = CurrentDeckPoint( mount=None, deck_point=None ), @@ -45,7 +45,7 @@ def get_pipette_view( state = PipetteState( pipettes_by_id=pipettes_by_id or {}, aspirated_volume_by_id=aspirated_volume_by_id or {}, - current_well=current_well, + current_location=current_well, current_deck_point=current_deck_point, attached_tip_by_id=attached_tip_by_id or {}, movement_speed_by_id=movement_speed_by_id or {}, diff --git a/api/tests/opentrons/protocol_engine/state/test_state_store.py b/api/tests/opentrons/protocol_engine/state/test_state_store.py index 44c42fe50b2..41148eb006c 100644 --- a/api/tests/opentrons/protocol_engine/state/test_state_store.py +++ b/api/tests/opentrons/protocol_engine/state/test_state_store.py @@ -55,7 +55,11 @@ def test_has_state(subject: StateStore) -> None: def test_state_is_immutable(subject: StateStore) -> None: """It should treat the state as immutable.""" result_1 = subject.state - subject.handle_action(PlayAction(requested_at=datetime(year=2021, month=1, day=1))) + subject.handle_action( + PlayAction( + requested_at=datetime(year=2021, month=1, day=1), deck_configuration=[] + ) + ) result_2 = subject.state assert result_1 is not result_2 @@ -68,7 +72,11 @@ def test_notify_on_state_change( ) -> None: """It should notify state changes when actions are handled.""" decoy.verify(change_notifier.notify(), times=0) - subject.handle_action(PlayAction(requested_at=datetime(year=2021, month=1, day=1))) + subject.handle_action( + PlayAction( + requested_at=datetime(year=2021, month=1, day=1), deck_configuration=[] + ) + ) decoy.verify(change_notifier.notify(), times=1) diff --git a/api/tests/opentrons/protocol_engine/test_plugins.py b/api/tests/opentrons/protocol_engine/test_plugins.py index 0da44ab62bc..471a689e265 100644 --- a/api/tests/opentrons/protocol_engine/test_plugins.py +++ b/api/tests/opentrons/protocol_engine/test_plugins.py @@ -29,7 +29,9 @@ def test_configure( decoy: Decoy, state_view: StateView, action_dispatcher: ActionDispatcher ) -> None: """The engine should be able to configure the plugin.""" - action = PlayAction(requested_at=datetime(year=2021, month=1, day=1)) + action = PlayAction( + requested_at=datetime(year=2021, month=1, day=1), deck_configuration=[] + ) subject = _MyPlugin() subject._configure( diff --git a/api/tests/opentrons/protocol_engine/test_protocol_engine.py b/api/tests/opentrons/protocol_engine/test_protocol_engine.py index d8928126495..156c68aee8b 100644 --- a/api/tests/opentrons/protocol_engine/test_protocol_engine.py +++ b/api/tests/opentrons/protocol_engine/test_protocol_engine.py @@ -343,15 +343,23 @@ def test_play( ) decoy.when( state_store.commands.validate_action_allowed( - PlayAction(requested_at=datetime(year=2021, month=1, day=1)) + PlayAction( + requested_at=datetime(year=2021, month=1, day=1), deck_configuration=[] + ) ), - ).then_return(PlayAction(requested_at=datetime(year=2022, month=2, day=2))) + ).then_return( + PlayAction( + requested_at=datetime(year=2022, month=2, day=2), deck_configuration=[] + ) + ) - subject.play() + subject.play(deck_configuration=[]) decoy.verify( action_dispatcher.dispatch( - PlayAction(requested_at=datetime(year=2022, month=2, day=2)) + PlayAction( + requested_at=datetime(year=2022, month=2, day=2), deck_configuration=[] + ) ), hardware_api.resume(HardwarePauseType.PAUSE), ) @@ -371,17 +379,25 @@ def test_play_blocked_by_door( ) decoy.when( state_store.commands.validate_action_allowed( - PlayAction(requested_at=datetime(year=2021, month=1, day=1)) + PlayAction( + requested_at=datetime(year=2021, month=1, day=1), deck_configuration=[] + ) ), - ).then_return(PlayAction(requested_at=datetime(year=2022, month=2, day=2))) + ).then_return( + PlayAction( + requested_at=datetime(year=2022, month=2, day=2), deck_configuration=[] + ) + ) decoy.when(state_store.commands.get_is_door_blocking()).then_return(True) - subject.play() + subject.play(deck_configuration=[]) decoy.verify(hardware_api.resume(HardwarePauseType.PAUSE), times=0) decoy.verify( action_dispatcher.dispatch( - PlayAction(requested_at=datetime(year=2022, month=2, day=2)) + PlayAction( + requested_at=datetime(year=2022, month=2, day=2), deck_configuration=[] + ) ), hardware_api.pause(HardwarePauseType.PAUSE), ) diff --git a/api/tests/opentrons/protocol_runner/smoke_tests/test_legacy_command_mapper.py b/api/tests/opentrons/protocol_runner/smoke_tests/test_legacy_command_mapper.py index c5e381e56a1..5baf821ca91 100644 --- a/api/tests/opentrons/protocol_runner/smoke_tests/test_legacy_command_mapper.py +++ b/api/tests/opentrons/protocol_runner/smoke_tests/test_legacy_command_mapper.py @@ -36,7 +36,7 @@ async def simulate_and_get_commands(protocol_file: Path) -> List[commands.Comman robot_type="OT-2 Standard", protocol_config=protocol_source.config, ) - result = await subject.run(protocol_source) + result = await subject.run(deck_configuration=[], protocol_source=protocol_source) assert result.state_summary.errors == [] assert result.state_summary.status == EngineStatus.SUCCEEDED return result.commands diff --git a/api/tests/opentrons/protocol_runner/smoke_tests/test_legacy_custom_labware.py b/api/tests/opentrons/protocol_runner/smoke_tests/test_legacy_custom_labware.py index 32456b98af1..e9c9371fe2a 100644 --- a/api/tests/opentrons/protocol_runner/smoke_tests/test_legacy_custom_labware.py +++ b/api/tests/opentrons/protocol_runner/smoke_tests/test_legacy_custom_labware.py @@ -56,7 +56,7 @@ async def test_legacy_custom_labware(custom_labware_protocol_files: List[Path]) robot_type="OT-2 Standard", protocol_config=protocol_source.config, ) - result = await subject.run(protocol_source) + result = await subject.run(deck_configuration=[], protocol_source=protocol_source) expected_labware = LoadedLabware.construct( id=matchers.Anything(), diff --git a/api/tests/opentrons/protocol_runner/smoke_tests/test_legacy_module_commands.py b/api/tests/opentrons/protocol_runner/smoke_tests/test_legacy_module_commands.py index dd7d74885fe..b7f80506593 100644 --- a/api/tests/opentrons/protocol_runner/smoke_tests/test_legacy_module_commands.py +++ b/api/tests/opentrons/protocol_runner/smoke_tests/test_legacy_module_commands.py @@ -64,7 +64,7 @@ async def test_runner_with_modules_in_legacy_python( robot_type="OT-2 Standard", protocol_config=protocol_source.config, ) - result = await subject.run(protocol_source) + result = await subject.run(deck_configuration=[], protocol_source=protocol_source) commands_result = result.commands assert len(commands_result) == 6 diff --git a/api/tests/opentrons/protocol_runner/smoke_tests/test_protocol_runner.py b/api/tests/opentrons/protocol_runner/smoke_tests/test_protocol_runner.py index 459361a5972..d1925e3f93c 100644 --- a/api/tests/opentrons/protocol_runner/smoke_tests/test_protocol_runner.py +++ b/api/tests/opentrons/protocol_runner/smoke_tests/test_protocol_runner.py @@ -43,7 +43,7 @@ async def test_runner_with_python( robot_type="OT-2 Standard", protocol_config=protocol_source.config, ) - result = await subject.run(protocol_source) + result = await subject.run(deck_configuration=[], protocol_source=protocol_source) commands_result = result.commands pipettes_result = result.state_summary.pipettes labware_result = result.state_summary.labware @@ -114,7 +114,7 @@ async def test_runner_with_json(json_protocol_file: Path) -> None: subject = await create_simulating_runner( robot_type="OT-2 Standard", protocol_config=protocol_source.config ) - result = await subject.run(protocol_source) + result = await subject.run(deck_configuration=[], protocol_source=protocol_source) commands_result = result.commands pipettes_result = result.state_summary.pipettes @@ -176,7 +176,7 @@ async def test_runner_with_legacy_python(legacy_python_protocol_file: Path) -> N robot_type="OT-2 Standard", protocol_config=protocol_source.config, ) - result = await subject.run(protocol_source) + result = await subject.run(deck_configuration=[], protocol_source=protocol_source) commands_result = result.commands pipettes_result = result.state_summary.pipettes @@ -235,7 +235,7 @@ async def test_runner_with_legacy_json(legacy_json_protocol_file: Path) -> None: subject = await create_simulating_runner( robot_type="OT-2 Standard", protocol_config=protocol_source.config ) - result = await subject.run(protocol_source) + result = await subject.run(deck_configuration=[], protocol_source=protocol_source) commands_result = result.commands pipettes_result = result.state_summary.pipettes diff --git a/api/tests/opentrons/protocol_runner/test_protocol_runner.py b/api/tests/opentrons/protocol_runner/test_protocol_runner.py index 7965fc3bc1f..0e4f4ec31ca 100644 --- a/api/tests/opentrons/protocol_runner/test_protocol_runner.py +++ b/api/tests/opentrons/protocol_runner/test_protocol_runner.py @@ -210,9 +210,9 @@ async def test_play_starts_run( subject: AnyRunner, ) -> None: """It should start a protocol run with play.""" - subject.play() + subject.play(deck_configuration=[]) - decoy.verify(protocol_engine.play(), times=1) + decoy.verify(protocol_engine.play(deck_configuration=[]), times=1) @pytest.mark.parametrize( @@ -299,11 +299,11 @@ async def test_run_json_runner( ) assert json_runner_subject.was_started() is False - await json_runner_subject.run() + await json_runner_subject.run(deck_configuration=[]) assert json_runner_subject.was_started() is True decoy.verify( - protocol_engine.play(), + protocol_engine.play(deck_configuration=[]), task_queue.start(), await task_queue.join(), ) @@ -616,11 +616,11 @@ async def test_run_python_runner( ) assert legacy_python_runner_subject.was_started() is False - await legacy_python_runner_subject.run() + await legacy_python_runner_subject.run(deck_configuration=[]) assert legacy_python_runner_subject.was_started() is True decoy.verify( - protocol_engine.play(), + protocol_engine.play(deck_configuration=[]), task_queue.start(), await task_queue.join(), ) @@ -639,12 +639,12 @@ async def test_run_live_runner( ) assert live_runner_subject.was_started() is False - await live_runner_subject.run() + await live_runner_subject.run(deck_configuration=[]) assert live_runner_subject.was_started() is True decoy.verify( await hardware_api.home(), - protocol_engine.play(), + protocol_engine.play(deck_configuration=[]), task_queue.start(), await task_queue.join(), ) diff --git a/app-shell-odd/src/system-update/index.ts b/app-shell-odd/src/system-update/index.ts index c0ea2f49ee3..15f64186e0d 100644 --- a/app-shell-odd/src/system-update/index.ts +++ b/app-shell-odd/src/system-update/index.ts @@ -212,7 +212,9 @@ const getVersionFromZipIfValid = (path: string): Promise => const fakeReleaseNotesForMassStorage = (version: string): string => ` # Opentrons Robot Software Version ${version} -This update is from a USB mass storage device connected to your flex, and release notes cannot be shown. +This update is from a USB mass storage device connected to your Flex, and release notes cannot be shown. + +Don't remove the USB mass storage device while the update is in progress. ` export const getLatestMassStorageUpdateFiles = ( diff --git a/app-shell/build/release-notes-internal.md b/app-shell/build/release-notes-internal.md index 08663572808..a15d877c0ab 100644 --- a/app-shell/build/release-notes-internal.md +++ b/app-shell/build/release-notes-internal.md @@ -3,26 +3,21 @@ For more details about this release, please see the full [technical changelog][] --- -# Internal Release 0.14.0 +# Internal Release 1.1.0 -This is 0.14.0, an internal release for the app supporting the Opentrons Flex. +This is 1.0.0, an internal release for the app supporting the Opentrons Flex. This is still pretty early in the process, so some things are known not to work, and are listed below. Some things that may surprise you do work, and are also listed below. There may also be some littler things of note, and those are at the bottom. ## New Stuff In This Release -- All instrument flows should display errors properly now -- Update robot flows don't say OT-2s anymore -- There should be fewer surprise scroll bars on Windows -- The configuration of the on-device display can be factory-reset, which lets you go back to the first-time setup flow +- There is now UI for configuring the loaded deck fixtures such as trash chutes on your Flex. +- Support for analyzing python protocol API 2.16 and JSON protocol V8 +- Labware position check now uses the calibration (the same one used for pipette and module calibration) instead of a tip; this should increase the accuracy of LPC. +- Connecting a Flex to a wifi network while the app is connected to it with USB should work now +- The app should generally be better about figuring out what kind of robot a protocol is for, and displaying the correct deck layout accordingly +## Known Issues -## Big Things That Do Work Please Do Report Bugs About Them -- Connecting to a Flex, including via USB -- Running protocols on those Flexs including simulate, play/pause, labware position check - - Except for gripper; no LPC for gripper -- Attach, detach, and calibration flows for pipettes and gripper when started from the device page -- Automatic updates of app and robot when new internal-releases are created - - +- Labware Renders are slightly askew towards the top right. diff --git a/app-shell/src/dialogs/index.ts b/app-shell/src/dialogs/index.ts index 5b2ef9f2b24..92e59defb39 100644 --- a/app-shell/src/dialogs/index.ts +++ b/app-shell/src/dialogs/index.ts @@ -11,6 +11,17 @@ interface BaseDialogOptions { interface FileDialogOptions extends BaseDialogOptions { filters: Array<{ name: string; extensions: string[] }> + properties: Array< + | 'openDirectory' + | 'createDirectory' + | 'openFile' + | 'multiSelections' + | 'showHiddenFiles' + | 'promptToCreate' + | 'noResolveAliases' + | 'treatPackageAsDirectory' + | 'dontAddToRecent' + > } const BASE_DIRECTORY_OPTS = { @@ -55,6 +66,13 @@ export function showOpenFileDialog( openDialogOpts = { ...openDialogOpts, filters: options.filters } } + if (options.properties != null) { + openDialogOpts = { + ...openDialogOpts, + properties: [...(openDialogOpts.properties ?? []), ...options.properties], + } + } + return dialog .showOpenDialog(browserWindow, openDialogOpts) .then((result: OpenDialogReturnValue) => { diff --git a/app-shell/src/labware/__tests__/dispatch.test.ts b/app-shell/src/labware/__tests__/dispatch.test.ts index c7a8e9198d5..f88f271956d 100644 --- a/app-shell/src/labware/__tests__/dispatch.test.ts +++ b/app-shell/src/labware/__tests__/dispatch.test.ts @@ -229,7 +229,13 @@ describe('labware module dispatches', () => { return flush().then(() => { expect(showOpenFileDialog).toHaveBeenCalledWith(mockMainWindow, { defaultPath: '__mock-app-path__', - filters: [{ name: 'JSON Labware Definitions', extensions: ['json'] }], + filters: [ + { + name: 'JSON Labware Definitions', + extensions: ['json'], + }, + ], + properties: ['multiSelections'], }) expect(dispatch).not.toHaveBeenCalled() }) diff --git a/app-shell/src/labware/index.ts b/app-shell/src/labware/index.ts index e7adcc1e4ae..f46f9134527 100644 --- a/app-shell/src/labware/index.ts +++ b/app-shell/src/labware/index.ts @@ -158,6 +158,7 @@ export function registerLabware( filters: [ { name: 'JSON Labware Definitions', extensions: ['json'] }, ], + properties: ['multiSelections' as const], } addLabwareTask = showOpenFileDialog(mainWindow, dialogOptions).then( diff --git a/app/src/assets/images/lpc_level_probe_with_labware.svg b/app/src/assets/images/lpc_level_probe_with_labware.svg new file mode 100644 index 00000000000..5e75128d9fc --- /dev/null +++ b/app/src/assets/images/lpc_level_probe_with_labware.svg @@ -0,0 +1,315 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/app/src/assets/images/lpc_level_probe_with_tip.svg b/app/src/assets/images/lpc_level_probe_with_tip.svg new file mode 100644 index 00000000000..799e78dd3d1 --- /dev/null +++ b/app/src/assets/images/lpc_level_probe_with_tip.svg @@ -0,0 +1,127 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/app/src/assets/localization/en/app_settings.json b/app/src/assets/localization/en/app_settings.json index f717a04bac9..0f5ea5a8609 100644 --- a/app/src/assets/localization/en/app_settings.json +++ b/app/src/assets/localization/en/app_settings.json @@ -70,6 +70,7 @@ "problem_during_update": "This update is taking longer than usual.", "prompt": "Always show the prompt to choose calibration block or trash bin", "receive_alert": "Receive an alert when an Opentrons software update is available.", + "release_notes": "Release notes", "remind_later": "Remind me later", "reset_to_default": "Reset to default", "restart_touchscreen": "Restart touchscreen", diff --git a/app/src/assets/localization/en/device_details.json b/app/src/assets/localization/en/device_details.json index 517b24894f0..71df492e080 100644 --- a/app/src/assets/localization/en/device_details.json +++ b/app/src/assets/localization/en/device_details.json @@ -33,8 +33,8 @@ "current_temp": "Current: {{temp}} °C", "current_version": "Current Version", "deck_cal_missing": "Pipette Offset calibration missing. Calibrate deck first.", - "deck_configuration_is_not_available_when_run_is_in_progress": "Deck configuration is not available when run is in progress", "deck_configuration_is_not_available_when_robot_is_busy": "Deck configuration is not available when the robot is busy", + "deck_configuration_is_not_available_when_run_is_in_progress": "Deck configuration is not available when run is in progress", "deck_configuration": "deck configuration", "deck_fixture_setup_instructions": "Deck fixture setup instructions", "deck_fixture_setup_modal_bottom_description_desktop": "For detailed instructions for different types of fixtures, scan the QR code or go to the link below.", @@ -79,13 +79,13 @@ "magdeck_gen1_height": "Height: {{height}}", "magdeck_gen2_height": "Height: {{height}} mm", "max_engage_height": "Max Engage Height", + "missing_fixture": "missing {{num}} fixture", + "missing_fixtures_plural": "missing {{count}} fixtures", "missing_hardware": "missing hardware", - "missing_module_plural": "missing {{count}} modules", - "missing_module": "missing {{num}} module", "missing_instrument": "missing {{num}} instrument", "missing_instruments_plural": "missing {{count}} instruments", - "missing_fixture": "missing {{num}} fixture", - "missing_fixtures_plural": "missing {{count}} fixtures", + "missing_module_plural": "missing {{count}} modules", + "missing_module": "missing {{num}} module", "module_actions_unavailable": "Module actions unavailable while protocol is running", "module_calibration_required_no_pipette_attached": "Module calibration required. Attach a pipette before running module calibration.", "module_calibration_required_update_pipette_FW": "Update pipette firmware before proceeding with required module calibration.", @@ -98,6 +98,7 @@ "mount": "{{side}} Mount", "na_speed": "Target: N/A", "na_temp": "Target: N/A", + "no_deck_fixtures": "No deck fixtures", "no_protocol_runs": "No protocol runs yet!", "no_protocols_found": "No protocols found", "no_recent_runs_description": "After you run some protocols, they will appear here.", @@ -141,6 +142,7 @@ "run_again": "Run again", "run_duration": "Run duration", "run": "Run", + "select_options": "Select options", "serial_number": "Serial Number", "set_block_temp": "Set temperature", "set_block_temperature": "Set block temperature", diff --git a/app/src/assets/localization/en/device_settings.json b/app/src/assets/localization/en/device_settings.json index 2335abe9bd4..f530ad9f711 100644 --- a/app/src/assets/localization/en/device_settings.json +++ b/app/src/assets/localization/en/device_settings.json @@ -83,6 +83,7 @@ "device_reset_description": "Reset labware calibration, boot scripts, and/or robot calibration to factory settings.", "device_reset_slideout_description": "Select individual settings to only clear specific data types.", "device_resets_cannot_be_undone": "Resets cannot be undone", + "release_notes": "Release notes", "directly_connected_to_this_computer": "Directly connected to this computer.", "disconnect": "Disconnect", "disconnect_from_ssid": "Disconnect from {{ssid}}", diff --git a/app/src/assets/localization/en/labware_position_check.json b/app/src/assets/localization/en/labware_position_check.json index be73b09f6b9..f08c465f7fa 100644 --- a/app/src/assets/localization/en/labware_position_check.json +++ b/app/src/assets/localization/en/labware_position_check.json @@ -6,21 +6,27 @@ "applied_offset_data": "Applied Labware Offset data", "apply_offset_data": "Apply labware offset data", "apply_offsets": "apply offsets", - "attach_probe": "Attach probe to pipette", + "attach_probe": "Attach calibration probe", + "backmost": "backmost", + "calibration_probe": "calibration probe", "check_item_in_location": "Check {{item}} in {{location}}", "check_labware_in_slot_title": "Check Labware {{labware_display_name}} in slot {{slot}}", "check_remaining_labware_with_primary_pipette_section": "Check remaining labware with {{primary_mount}} Pipette and tip", + "check_tip_location": "the top of the tip in the A1 position", + "check_well_location": "well A1 on the labware", "clear_all_slots": "Clear all deck slots of labware, leaving modules in place", + "clear_all_slots_odd": "Clear all deck slots of labware", "cli_ssh": "Command Line Interface (SSH)", "close_and_apply_offset_data": "Close and apply labware offset data", + "confirm_detached": "Confirm removal", "confirm_pick_up_tip_modal_title": "Did the pipette pick up a tip successfully?", "confirm_pick_up_tip_modal_try_again_text": "No, try again", "confirm_position_and_move": "Confirm position, move to slot {{next_slot}}", "confirm_position_and_pick_up_tip": "Confirm position, pick up tip", "confirm_position_and_return_tip": "Confirm position, return tip to Slot {{next_slot}} and home", - "ensure_nozzle_is_above_tip_odd": "Ensure that the pipette nozzle furthest from you is centered above and level with the top of the tip in the A1 position. If it isn't, tap Move pipette and then jog the pipette until it is properly aligned.", - "ensure_nozzle_is_above_tip_desktop": "Ensure that the pipette nozzle furthest from you is centered above and level with the top of the tip in the A1 position. If it isn't, use the controls below or your keyboard to jog the pipette until it is properly aligned.", - "ensure_tip_is_above_well": "Ensure that the pipette tip furthest from you is centered above and level with well A1 on the labware.", + "detach_probe": "Remove calibration probe", + "ensure_nozzle_position_odd": "Ensure that the {{tip_type}} is centered above and level with {{item_location}}. If it isn't, tap Move pipette and then jog the pipette until it is properly aligned.", + "ensure_nozzle_position_desktop": "Ensure that the {{tip_type}} is centered above and level with {{item_location}}. If it isn't, use the controls below or your keyboard to jog the pipette until it is properly aligned.", "error_modal_header": "Something went wrong", "error_modal_problem_in_app": "There was an error performing Labware Position Check. Please restart the app. If the problem persists, please contact Opentrons Support", "error_modal_problem_on_robot": "There was an error processing your request on the robot", @@ -29,8 +35,7 @@ "exit_screen_subtitle": "If you exit now, all labware offsets will be discarded. This cannot be undone.", "exit_screen_title": "Exit before completing Labware Position Check?", "get_labware_offset_data": "Get Labware Offset Data", - "install_probe_8_channel": "Take the calibration probe from its storage location. Ensure its collar is unlocked. Push the pipette ejector up and press the probe firmly onto the backmost pipette nozzle. Twist the collar to lock the probe. Test that the probe is secure by gently pulling it back and forth.", - "install_probe_96_channel": "Take the calibration probe from its storage location. Ensure its collar is unlocked. Push the pipette ejector up and press the probe firmly onto the A1 (back left corner) pipette nozzle. Twist the collar to lock the probe. Test that the probe is secure by gently pulling it back and forth.", + "install_probe": "Take the calibration probe from its storage location. Ensure its collar is fully unlocked. Push the pipette ejector up and press the probe firmly onto the {{location}} pipette nozzle as far as it can go. Twist the collar to lock the probe. Test that the probe is secure by gently pulling it back and forth.", "jog_controls_adjustment": "Need to make an adjustment?", "jupyter_notebook": "Jupyter Notebook", "labware_display_location_text": "Deck Slot {{slot}}", @@ -69,6 +74,7 @@ "move_to_a1_position": "Move the pipette to line up in the A1 position", "moving_to_slot_title": "Moving to slot {{slot}}", "new_labware_offset_data": "New labware offset data", + "ninety_six_probe_location": "A1 (back left corner)", "no_labware_offsets": "No Labware Offset", "no_offset_data_available": "No labware offset data available", "no_offset_data_on_robot": "This robot has no useable labware offset data for this run.", @@ -76,6 +82,7 @@ "offsets": "offsets", "pick_up_tip_from_rack_in_location": "Pick up tip from tip rack in {{location}}", "picking_up_tip_title": "Picking up tip in slot {{slot}}", + "pipette_nozzle": "pipette nozzle furthest from you", "place_a_full_tip_rack_in_location": "Place a full {{tip_rack}} into {{location}}", "place_labware_in_adapter_in_location": "Place a {{adapter}} followed by a {{labware}} into {{location}}", "place_labware_in_location": "Place a {{labware}} into {{location}}", @@ -84,6 +91,9 @@ "position_check_description": "Labware Position Check is a guided workflow that checks every labware on the deck for an added degree of precision in your protocol.When you check a labware, the OT-2’s pipette nozzle or attached tip will stop at the center of the A1 well. If the pipette nozzle or tip is not centered, you can reveal the OT-2’s jog controls to make an adjustment. This Labware Offset will be applied to the entire labware. Offset data is measured to the nearest 1/10th mm and can be made in the X, Y and/or Z directions.", "prepare_item_in_location": "Prepare {{item}} in {{location}}", "primary_pipette_tipracks_section": "Check tip racks with {{primary_mount}} Pipette and pick up a tip", + "remove_calibration_probe": "Remove calibration probe", + "remove_probe": "Unlock the calibraiton probe, remove it from the nozzle, and return it to its storage location.", + "remove_probe_before_exit": "Remove the calibration probe before exiting", "return_tip_rack_to_location": "Return tip rack to {{location}}", "return_tip_section": "Return tip", "returning_tip_title": "Returning tip in slot {{slot}}", diff --git a/app/src/assets/localization/en/module_wizard_flows.json b/app/src/assets/localization/en/module_wizard_flows.json index cdddab2057d..958f3576503 100644 --- a/app/src/assets/localization/en/module_wizard_flows.json +++ b/app/src/assets/localization/en/module_wizard_flows.json @@ -1,6 +1,6 @@ { "attach_probe": "Attach probe to pipette", - "begin_calibration": "Begin automated calibration", + "begin_calibration": "Begin calibration", "calibrate_pipette": "Calibrate pipettes before proceeding to module calibration", "calibrate": "Calibrate", "calibration_adapter_heatershaker": "Calibration Adapter", @@ -22,9 +22,6 @@ "firmware_updated": "{{module}} firmware updated!", "firmware_up_to_date": "{{module}} firmware up to date.", "get_started": "To get started, remove labware from the deck and clean up the working area to make the calibration easier. Also gather the needed equipment shown to the right.The calibration adapter came with your module. The pipette probe came with your Flex pipette.", - "install_probe_8_channel": "Take the calibration probe from its storage location. Ensure its collar is unlocked. Push the pipette ejector up and press the probe firmly onto the backmost pipette nozzle. Twist the collar to lock the probe. Test that the probe is secure by gently pulling it back and forth.", - "install_probe_96_channel": "Take the calibration probe from its storage location. Ensure its collar is unlocked. Push the pipette ejector up and press the probe firmly onto the A1 (back left corner) pipette nozzle. Twist the collar to lock the probe. Test that the probe is secure by gently pulling it back and forth.", - "install_probe": "Take the calibration probe from its storage location. Ensure its collar is unlocked. Push the pipette ejector up and press the probe firmly onto the pipette nozzle. Twist the collar to lock the probe. Test that the probe is secure by gently pulling it back and forth.", "module_calibrating": "Stand back, {{moduleName}} is calibrating", "module_calibration_failed": "The module calibration could not be completed. Contact customer support for assistance.", "module_calibration": "Module calibration", diff --git a/app/src/assets/localization/en/pipette_wizard_flows.json b/app/src/assets/localization/en/pipette_wizard_flows.json index f55223f2232..908c74901dd 100644 --- a/app/src/assets/localization/en/pipette_wizard_flows.json +++ b/app/src/assets/localization/en/pipette_wizard_flows.json @@ -46,7 +46,7 @@ "hold_and_loosen": "Hold the pipette in place and loosen the pipette screws. (The screws are captive and will not come apart from the pipette.) Then carefully remove the pipette.", "hold_pipette_carefully": "Hold onto the pipette so it does not fall. Connect the pipette by aligning the two protruding rods on the mounting plate. Ensure a secure attachment by screwing in the four front screws with the provided screwdriver.", "how_to_reattach": "Push the right pipette mount up to the top of the z-axis. Then tighten the captive screw at the top right of the gantry carriage.When reattached, the right mount should no longer freely move up and down.", - "install_probe": "Take the calibration probe from its storage location. Ensure its collar is fully unlocked. Push the pipette ejector up and press the probe firmly onto the {{location}} pipette nozzle as far as it can go. Twist the collar to lock the probe. Test that the probe is secure by gently pulling it back and forth.", + "install_probe": "Take the calibration probe from its storage location. Ensure its collar is unlocked. Push the pipette ejector up and press the probe firmly onto the {{location}} pipette nozzle. Twist the collar to lock the probe. Test that the probe is secure by gently pulling it back and forth.", "loose_detach": "Loosen screws and detach ", "move_gantry_to_front": "Move gantry to front", "must_detach_mounting_plate": "You must detach the mounting plate and reattach the z-axis carraige before using other pipettes. We do not recommend exiting this process before completion.", @@ -84,6 +84,8 @@ "unscrew_and_detach": "Loosen Screws and Detach Mounting Plate", "unscrew_at_top": "Loosen the captive screw on the top right of the carriage. This releases the right pipette mount, which should then freely move up and down.", "unscrew_carriage": "unscrew z-axis carriage", + "waste_chute_error": "Remove the waste chute from the deck plate adapter before proceeding.", + "waste_chute_warning": "If the waste chute is installed, remove it from the deck plate adapter before proceeding.", "wrong_pip": "wrong instrument installed", "z_axis_still_attached": "z-axis screw still secure" } diff --git a/app/src/assets/localization/en/protocol_command_text.json b/app/src/assets/localization/en/protocol_command_text.json index 8d84b9e341f..daeafa3f647 100644 --- a/app/src/assets/localization/en/protocol_command_text.json +++ b/app/src/assets/localization/en/protocol_command_text.json @@ -2,10 +2,13 @@ "adapter_in_mod_in_slot": "{{adapter}} on {{module}} in {{slot}}", "adapter_in_slot": "{{adapter}} in {{slot}}", "aspirate": "Aspirating {{volume}} µL from well {{well_name}} of {{labware}} in {{labware_location}} at {{flow_rate}} µL/sec", + "aspirate_in_place": "Aspirating {{volume}} µL in place at {{flow_rate}} µL/sec ", "blowout": "Blowing out at well {{well_name}} of {{labware}} in {{labware_location}} at {{flow_rate}} µL/sec", + "blowout_in_place": "Blowing out in place at {{flow_rate}} µL/sec", "closing_tc_lid": "Closing Thermocycler lid", "comment": "Comment", "configure_for_volume": "Configure {{pipette}} to aspirate {{volume}} µL", + "configure_nozzle_layout": "Configure {{pipette}} to use {{amount}} nozzles", "confirm_and_resume": "Confirm and resume", "deactivate_hs_shake": "Deactivating shaker", "deactivate_temperature_module": "Deactivating Temperature Module", @@ -16,7 +19,9 @@ "disengaging_magnetic_module": "Disengaging Magnetic Module", "dispense_push_out": "Dispensing {{volume}} µL into well {{well_name}} of {{labware}} in {{labware_location}} at {{flow_rate}} µL/sec and pushing out {{push_out_volume}} µL", "dispense": "Dispensing {{volume}} µL into well {{well_name}} of {{labware}} in {{labware_location}} at {{flow_rate}} µL/sec", + "dispense_in_place": "Dispensing {{volume}} µL in place at {{flow_rate}} µL/sec", "drop_tip": "Dropping tip in {{well_name}} of {{labware}}", + "drop_tip_in_place": "Dropping tip in place", "engaging_magnetic_module": "Engaging Magnetic Module", "fixed_trash": "Fixed Trash", "home_gantry": "Homing all gantry, pipette, and plunger axes", @@ -31,13 +36,14 @@ "move_to_coordinates": "Moving to (X: {{x}}, Y: {{y}}, Z: {{z}})", "move_to_slot": "Moving to Slot {{slot_name}}", "move_to_well": "Moving to well {{well_name}} of {{labware}} in {{labware_location}}", + "move_to_addressable_area": "Moving to {{addressable_area}} at {{speed}} mm/s at {{height}} mm high", "notes": "notes", "off_deck": "off deck", "offdeck": "offdeck", "opening_tc_lid": "Opening Thermocycler lid", "pause_on": "Pause on {{robot_name}}", "pause": "Pause", - "pickup_tip": "Picking up tip from {{well_name}} of {{labware}} in {{labware_location}}", + "pickup_tip": "Picking up tip(s) from {{well_range}} of {{labware}} in {{labware_location}}", "prepare_to_aspirate": "Preparing {{pipette}} to aspirate", "return_tip": "Returning tip to {{well_name}} of {{labware}} in {{labware_location}}", "save_position": "Saving position", diff --git a/app/src/assets/localization/en/protocol_info.json b/app/src/assets/localization/en/protocol_info.json index 0fc225e6f65..bbaac1ce9c2 100644 --- a/app/src/assets/localization/en/protocol_info.json +++ b/app/src/assets/localization/en/protocol_info.json @@ -3,7 +3,6 @@ "browse_protocol_library": "Open Protocol Library", "cancel_run": "Cancel Run", "choose_file": "Choose File...", - "choose_protocol_file": "Choose File", "choose_snippet_type": "Choose the Labware Offset Data Python Snippet based on target execution environment.", "continue_proceed_to_calibrate": "Proceed to Calibrate", "continue_verify_calibrations": "Verify pipette and labware calibrations", @@ -86,6 +85,7 @@ "unpin_protocol": "Unpin protocol", "unpinned_protocol": "Unpinned protocol", "update_robot_for_custom_labware": "You have custom labware definitions saved to your app, but this robot needs to be updated before you can use these definitions with Python protocols", + "upload": "Upload", "upload_and_simulate": "Open a protocol to run on {{robot_name}}", "valid_file_types": "Valid file types: Python files (.py) or Protocol Designer files (.json)" } diff --git a/app/src/assets/localization/en/protocol_setup.json b/app/src/assets/localization/en/protocol_setup.json index ef4fd0f3a66..b3cda3f232b 100644 --- a/app/src/assets/localization/en/protocol_setup.json +++ b/app/src/assets/localization/en/protocol_setup.json @@ -1,5 +1,6 @@ { "96_mount": "left + right mount", + "action_needed": "Action needed", "adapter_slot_location_module": "Slot {{slotName}}, {{adapterName}} on {{moduleName}}", "adapter_slot_location": "Slot {{slotName}}, {{adapterName}}", "add_fixture_to_deck": "Add this fixture to your deck configuration. It will be referenced during protocol analysis.", @@ -118,11 +119,11 @@ "magnetic_module_attention_warning": "Opentrons recommends securing labware with the module’s bracket. See how to secure labware to the Magnetic Module", "magnetic_module_extra_attention": "Opentrons recommends securing labware with the module’s bracket", "map_view": "Map View", - "missing": "Missing", "missing_gripper": "Missing gripper", "missing_instruments": "Missing {{count}}", "missing_pipettes_plural": "Missing {{count}} pipettes", "missing_pipettes": "Missing {{count}} pipette", + "missing": "Missing", "modal_instructions_title": "{{moduleName}} Setup Instructions", "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.", "module_and_deck_setup": "Modules & deck", diff --git a/app/src/atoms/StepMeter/__tests__/StepMeter.test.tsx b/app/src/atoms/StepMeter/__tests__/StepMeter.test.tsx index 50aa54e4343..faa688df6f1 100644 --- a/app/src/atoms/StepMeter/__tests__/StepMeter.test.tsx +++ b/app/src/atoms/StepMeter/__tests__/StepMeter.test.tsx @@ -51,4 +51,21 @@ describe('StepMeter', () => { const bar = getByTestId('StepMeter_StepMeterBar') expect(bar).toHaveStyle('width: 100%') }) + + it('should transition with style when progressing forward and no style if progressing backward', () => { + props = { + ...props, + currentStep: 2, + } + const { getByTestId } = render(props) + getByTestId('StepMeter_StepMeterContainer') + const bar = getByTestId('StepMeter_StepMeterBar') + expect(bar).toHaveStyle('transition: width 0.5s ease-in-out;') + + props = { + ...props, + currentStep: 1, + } + expect(bar).not.toHaveStyle('transition: ;') + }) }) diff --git a/app/src/atoms/StepMeter/index.tsx b/app/src/atoms/StepMeter/index.tsx index ddaf52565cf..0d9774bd363 100644 --- a/app/src/atoms/StepMeter/index.tsx +++ b/app/src/atoms/StepMeter/index.tsx @@ -16,13 +16,13 @@ interface StepMeterProps { export const StepMeter = (props: StepMeterProps): JSX.Element => { const { totalSteps, currentStep } = props + const prevPercentComplete = React.useRef(0) const progress = currentStep != null ? currentStep : 0 - const percentComplete = `${ + const percentComplete = // this logic puts a cap at 100% percentComplete which we should never run into currentStep != null && currentStep > totalSteps ? 100 : (progress / totalSteps) * 100 - }%` const StepMeterContainer = css` position: ${POSITION_RELATIVE}; @@ -45,11 +45,15 @@ export const StepMeter = (props: StepMeterProps): JSX.Element => { top: 0; height: 100%; background-color: ${COLORS.blueEnabled}; - width: ${percentComplete}; + width: ${percentComplete}%; transform: translateX(0); - transition: width 0.5s ease-in-out; + transition: ${prevPercentComplete.current <= percentComplete + ? 'width 0.5s ease-in-out' + : ''}; ` + prevPercentComplete.current = percentComplete + return ( diff --git a/app/src/molecules/DeckThumbnail/__tests__/DeckThumbnail.test.tsx b/app/src/molecules/DeckThumbnail/__tests__/DeckThumbnail.test.tsx index d1d5fe35282..cdc21a8b41b 100644 --- a/app/src/molecules/DeckThumbnail/__tests__/DeckThumbnail.test.tsx +++ b/app/src/molecules/DeckThumbnail/__tests__/DeckThumbnail.test.tsx @@ -3,15 +3,13 @@ import { when, resetAllWhenMocks } from 'jest-when' import { FLEX_ROBOT_TYPE, getDeckDefFromRobotType, - getRobotTypeFromLoadedLabware, OT2_ROBOT_TYPE, } from '@opentrons/shared-data' -import ot2StandardDeckDef from '@opentrons/shared-data/deck/definitions/3/ot2_standard.json' -import ot3StandardDeckDef from '@opentrons/shared-data/deck/definitions/3/ot3_standard.json' +import ot2StandardDeckDef from '@opentrons/shared-data/deck/definitions/4/ot2_standard.json' +import ot3StandardDeckDef from '@opentrons/shared-data/deck/definitions/4/ot3_standard.json' import fixture_tiprack_300_ul from '@opentrons/shared-data/labware/fixtures/2/fixture_tiprack_300_ul.json' import { BaseDeck, - EXTENDED_DECK_CONFIG_FIXTURE, partialComponentPropsMatcher, renderWithProviders, } from '@opentrons/components' @@ -24,7 +22,7 @@ import { import { i18n } from '../../../i18n' import { useAttachedModules } from '../../../organisms/Devices/hooks' import { getStandardDeckViewLayerBlockList } from '../utils/getStandardDeckViewLayerBlockList' -import { getDeckConfigFromProtocolCommands } from '../../../resources/deck_configuration/utils' +import { getSimplestDeckConfigForProtocolCommands } from '../../../resources/deck_configuration/utils' import { getAttachedProtocolModuleMatches } from '../../../organisms/ProtocolSetupModulesAndDeck/utils' import { getProtocolModulesInfo } from '../../../organisms/Devices/ProtocolRun/utils/getProtocolModulesInfo' import { getLabwareRenderInfo } from '../../../organisms/Devices/ProtocolRun/utils/getLabwareRenderInfo' @@ -34,7 +32,6 @@ import { DeckThumbnail } from '../' import type { LabwareDefinition2, - LoadedLabware, ModuleModel, ModuleType, RunTimeCommand, @@ -50,10 +47,6 @@ jest.mock('../../../organisms/Devices/ProtocolRun/utils/getProtocolModulesInfo') jest.mock('../../../organisms/Devices/hooks') jest.mock('../../../organisms/Devices/ProtocolRun/utils/getLabwareRenderInfo') -const mockGetRobotTypeFromLoadedLabware = getRobotTypeFromLoadedLabware as jest.MockedFunction< - typeof getRobotTypeFromLoadedLabware -> - const mockGetDeckDefFromRobotType = getDeckDefFromRobotType as jest.MockedFunction< typeof getDeckDefFromRobotType > @@ -66,8 +59,8 @@ const mockParseLabwareInfoByLiquidId = parseLabwareInfoByLiquidId as jest.Mocked const mockUseAttachedModules = useAttachedModules as jest.MockedFunction< typeof useAttachedModules > -const mockGetDeckConfigFromProtocolCommands = getDeckConfigFromProtocolCommands as jest.MockedFunction< - typeof getDeckConfigFromProtocolCommands +const mockGetSimplestDeckConfigForProtocolCommands = getSimplestDeckConfigForProtocolCommands as jest.MockedFunction< + typeof getSimplestDeckConfigForProtocolCommands > const mockGetLabwareRenderInfo = getLabwareRenderInfo as jest.MockedFunction< typeof getLabwareRenderInfo @@ -80,9 +73,11 @@ const mockGetAttachedProtocolModuleMatches = getAttachedProtocolModuleMatches as > const mockBaseDeck = BaseDeck as jest.MockedFunction -const protocolAnalysis = simpleAnalysisFileFixture as any +const protocolAnalysis = { + ...simpleAnalysisFileFixture, + robotType: OT2_ROBOT_TYPE, +} as any const commands: RunTimeCommand[] = simpleAnalysisFileFixture.commands as any -const labware: LoadedLabware[] = simpleAnalysisFileFixture.labware as any const MOCK_300_UL_TIPRACK_ID = '300_ul_tiprack_id' const MOCK_MAGNETIC_MODULE_COORDS = [10, 20, 0] const MOCK_SECOND_MAGNETIC_MODULE_COORDS = [100, 200, 0] @@ -112,9 +107,6 @@ const render = (props: React.ComponentProps) => { describe('DeckThumbnail', () => { beforeEach(() => { - when(mockGetRobotTypeFromLoadedLabware) - .calledWith(labware) - .mockReturnValue(OT2_ROBOT_TYPE) when(mockGetDeckDefFromRobotType) .calledWith(OT2_ROBOT_TYPE) .mockReturnValue(ot2StandardDeckDef as any) @@ -127,9 +119,11 @@ describe('DeckThumbnail', () => { mockUseAttachedModules.mockReturnValue( mockFetchModulesSuccessActionPayloadModules ) - when(mockGetDeckConfigFromProtocolCommands) + when(mockGetSimplestDeckConfigForProtocolCommands) .calledWith(commands) - .mockReturnValue(EXTENDED_DECK_CONFIG_FIXTURE) + .mockReturnValue([]) + // TODO(bh, 2023-11-13): mock the cutout config protocol spec + // .mockReturnValue(EXTENDED_DECK_CONFIG_FIXTURE) when(mockGetLabwareRenderInfo).mockReturnValue({}) when(mockGetProtocolModulesInfo) .calledWith(protocolAnalysis, ot2StandardDeckDef as any) @@ -188,6 +182,21 @@ describe('DeckThumbnail', () => { getByText('mock BaseDeck') }) + it('returns null when there is no protocolAnalysis or the protocolAnalysis contains an error', () => { + const { queryByText } = render({ + protocolAnalysis: null, + }) + expect(queryByText('mock BaseDeck')).not.toBeInTheDocument() + + render({ + protocolAnalysis: { + ...protocolAnalysis, + errors: 'test error', + }, + }) + expect(queryByText('mock BaseDeck')).not.toBeInTheDocument() + }) + it('renders an OT-3 deck view when the protocol is an OT-3 protocol', () => { // ToDo (kk:11/06/2023) update this test later // const mockLabwareLocations = [ @@ -212,9 +221,6 @@ describe('DeckThumbnail', () => { // nestedLabwareDef: null, // }, // ] - when(mockGetRobotTypeFromLoadedLabware) - .calledWith(labware) - .mockReturnValue(FLEX_ROBOT_TYPE) when(mockGetDeckDefFromRobotType) .calledWith(FLEX_ROBOT_TYPE) .mockReturnValue(ot3StandardDeckDef as any) @@ -224,9 +230,11 @@ describe('DeckThumbnail', () => { mockUseAttachedModules.mockReturnValue( mockFetchModulesSuccessActionPayloadModules ) - when(mockGetDeckConfigFromProtocolCommands) + when(mockGetSimplestDeckConfigForProtocolCommands) .calledWith(commands) - .mockReturnValue(EXTENDED_DECK_CONFIG_FIXTURE) + .mockReturnValue([]) + // TODO(bh, 2023-11-13): mock the cutout config protocol spec + // .mockReturnValue(EXTENDED_DECK_CONFIG_FIXTURE) when(mockGetLabwareRenderInfo).mockReturnValue({ [MOCK_300_UL_TIPRACK_ID]: { labwareDef: fixture_tiprack_300_ul as LabwareDefinition2, @@ -280,7 +288,6 @@ describe('DeckThumbnail', () => { deckLayerBlocklist: getStandardDeckViewLayerBlockList( FLEX_ROBOT_TYPE ), - deckConfig: EXTENDED_DECK_CONFIG_FIXTURE, labwareLocations: expect.anything(), moduleLocations: expect.anything(), }) diff --git a/app/src/molecules/DeckThumbnail/index.tsx b/app/src/molecules/DeckThumbnail/index.tsx index a1d0fd06dc6..8fa85c62604 100644 --- a/app/src/molecules/DeckThumbnail/index.tsx +++ b/app/src/molecules/DeckThumbnail/index.tsx @@ -3,8 +3,8 @@ import map from 'lodash/map' import { BaseDeck } from '@opentrons/components' import { + FLEX_ROBOT_TYPE, getDeckDefFromRobotType, - getRobotTypeFromLoadedLabware, THERMOCYCLER_MODULE_V1, } from '@opentrons/shared-data' import { @@ -13,7 +13,7 @@ import { } from '@opentrons/api-client' import { getStandardDeckViewLayerBlockList } from './utils/getStandardDeckViewLayerBlockList' -import { getDeckConfigFromProtocolCommands } from '../../resources/deck_configuration/utils' +import { getSimplestDeckConfigForProtocolCommands } from '../../resources/deck_configuration/utils' import { getLabwareRenderInfo } from '../../organisms/Devices/ProtocolRun/utils/getLabwareRenderInfo' import { getProtocolModulesInfo } from '../../organisms/Devices/ProtocolRun/utils/getProtocolModulesInfo' import { useAttachedModules } from '../../organisms/Devices/hooks' @@ -35,15 +35,14 @@ export function DeckThumbnail(props: DeckThumbnailProps): JSX.Element | null { const { protocolAnalysis, showSlotLabels = false, ...styleProps } = props const attachedModules = useAttachedModules() - if (protocolAnalysis == null) return null - - const robotType = getRobotTypeFromLoadedLabware(protocolAnalysis.labware) + if (protocolAnalysis == null || protocolAnalysis.errors.length) return null + const robotType = protocolAnalysis.robotType ?? FLEX_ROBOT_TYPE const deckDef = getDeckDefFromRobotType(robotType) const initialLoadedLabwareByAdapter = parseInitialLoadedLabwareByAdapter( protocolAnalysis.commands ) - const deckConfig = getDeckConfigFromProtocolCommands( + const deckConfig = getSimplestDeckConfigForProtocolCommands( protocolAnalysis.commands ) const liquids = protocolAnalysis.liquids @@ -87,7 +86,7 @@ export function DeckThumbnail(props: DeckThumbnailProps): JSX.Element | null { const labwareLocations = map( labwareRenderInfo, - ({ labwareDef, displayName, slotName }, labwareId) => { + ({ labwareDef, slotName }, labwareId) => { const labwareInAdapter = initialLoadedLabwareByAdapter[labwareId] // only rendering the labware on top most layer so // either the adapter or the labware are rendered but not both diff --git a/app/src/molecules/GenericWizardTile/index.tsx b/app/src/molecules/GenericWizardTile/index.tsx index 9e6d15074bd..17ebc46a595 100644 --- a/app/src/molecules/GenericWizardTile/index.tsx +++ b/app/src/molecules/GenericWizardTile/index.tsx @@ -130,7 +130,7 @@ export function GenericWizardTile(props: GenericWizardTileProps): JSX.Element { {typeof header === 'string' ? {header} : header} diff --git a/app/src/molecules/ReleaseNotes/index.tsx b/app/src/molecules/ReleaseNotes/index.tsx index 3d54e195783..537763bdc94 100644 --- a/app/src/molecules/ReleaseNotes/index.tsx +++ b/app/src/molecules/ReleaseNotes/index.tsx @@ -26,7 +26,6 @@ const DEFAULT_RELEASE_NOTES = 'We recommend upgrading to the latest version.' export function ReleaseNotes(props: ReleaseNotesProps): JSX.Element { const { source } = props - console.log(DEFAULT_RELEASE_NOTES) return (
{source != null ? ( diff --git a/app/src/molecules/UploadInput/__tests__/UploadInput.test.tsx b/app/src/molecules/UploadInput/__tests__/UploadInput.test.tsx index 945dfe756be..9da307296b0 100644 --- a/app/src/molecules/UploadInput/__tests__/UploadInput.test.tsx +++ b/app/src/molecules/UploadInput/__tests__/UploadInput.test.tsx @@ -30,12 +30,12 @@ describe('UploadInput', () => { it('renders correct contents for empty state', () => { const { getByRole } = render() - expect(getByRole('button', { name: 'Choose File' })).toBeTruthy() + expect(getByRole('button', { name: 'Upload' })).toBeTruthy() }) it('opens file select on button click', () => { const { getByRole, getByTestId } = render() - const button = getByRole('button', { name: 'Choose File' }) + const button = getByRole('button', { name: 'Upload' }) const input = getByTestId('file_input') input.click = jest.fn() fireEvent.click(button) diff --git a/app/src/molecules/UploadInput/index.tsx b/app/src/molecules/UploadInput/index.tsx index 81c52e244ec..d3fe7571d93 100644 --- a/app/src/molecules/UploadInput/index.tsx +++ b/app/src/molecules/UploadInput/index.tsx @@ -1,5 +1,5 @@ import * as React from 'react' -import { css } from 'styled-components' +import styled, { css } from 'styled-components' import { useTranslation } from 'react-i18next' import { Icon, @@ -16,7 +16,7 @@ import { } from '@opentrons/components' import { StyledText } from '../../atoms/text' -const DROP_ZONE_STYLES = css` +const StyledLabel = styled.label` display: flex; cursor: pointer; flex-direction: ${DIRECTION_COLUMN}; @@ -39,7 +39,7 @@ const DRAG_OVER_STYLES = css` border: 2px dashed ${COLORS.blueEnabled}; ` -const INPUT_STYLES = css` +const StyledInput = styled.input` position: fixed; clip: rect(1px 1px 1px 1px); ` @@ -61,8 +61,7 @@ export function UploadInput(props: UploadInputProps): JSX.Element | null { const handleDrop: React.DragEventHandler = e => { e.preventDefault() e.stopPropagation() - const { files = [] } = 'dataTransfer' in e ? e.dataTransfer : {} - props.onUpload(files[0]) + Array.from(e.dataTransfer.files).forEach(f => props.onUpload(f)) setIsFileOverDropZone(false) } const handleDragEnter: React.DragEventHandler = e => { @@ -85,17 +84,10 @@ export function UploadInput(props: UploadInputProps): JSX.Element | null { } const onChange: React.ChangeEventHandler = event => { - const { files = [] } = event.target ?? {} - files?.[0] != null && props.onUpload(files?.[0]) + ;[...(event.target.files ?? [])].forEach(f => props.onUpload(f)) if ('value' in event.currentTarget) event.currentTarget.value = '' } - const dropZoneStyles = isFileOverDropZone - ? css` - ${DROP_ZONE_STYLES} ${DRAG_OVER_STYLES} - ` - : DROP_ZONE_STYLES - return ( - {t('choose_protocol_file')} + {t('upload')} - + ) } diff --git a/app/src/molecules/WizardRequiredEquipmentList/index.tsx b/app/src/molecules/WizardRequiredEquipmentList/index.tsx index 35b87750b4b..4d295203b5c 100644 --- a/app/src/molecules/WizardRequiredEquipmentList/index.tsx +++ b/app/src/molecules/WizardRequiredEquipmentList/index.tsx @@ -83,12 +83,11 @@ export function WizardRequiredEquipmentList( > {t('you_will_need')} - {equipmentList.length > 1 ? : null} - {equipmentList.map((requiredEquipmentProps, index) => ( + + {equipmentList.map(requiredEquipmentProps => ( ))} {footer != null ? ( diff --git a/app/src/molecules/modals/ErrorModal.tsx b/app/src/molecules/modals/ErrorModal.tsx index b31952b9f2a..3951eb132a9 100644 --- a/app/src/molecules/modals/ErrorModal.tsx +++ b/app/src/molecules/modals/ErrorModal.tsx @@ -11,7 +11,7 @@ interface Props { description: string close?: () => unknown closeUrl?: string - error: { message?: string; [key: string]: unknown } + error: { message?: string; [key: string]: unknown } | null } const DEFAULT_HEADING = 'Unexpected Error' @@ -37,7 +37,7 @@ export function ErrorModal(props: Props): JSX.Element {

- {error.message ?? AN_UNKNOWN_ERROR_OCCURRED} + {error?.message ?? AN_UNKNOWN_ERROR_OCCURRED}

{description}

diff --git a/app/src/organisms/AddCustomLabwareSlideout/__tests__/AddCustomLabwareSlideout.test.tsx b/app/src/organisms/AddCustomLabwareSlideout/__tests__/AddCustomLabwareSlideout.test.tsx index a5efa4a80e7..7bf3f23675f 100644 --- a/app/src/organisms/AddCustomLabwareSlideout/__tests__/AddCustomLabwareSlideout.test.tsx +++ b/app/src/organisms/AddCustomLabwareSlideout/__tests__/AddCustomLabwareSlideout.test.tsx @@ -46,7 +46,7 @@ describe('AddCustomLabwareSlideout', () => { const [{ getByText, getByRole }] = render(props) getByText('Import a Custom Labware Definition') getByText('Or choose a file from your computer to upload.') - const btn = getByRole('button', { name: 'Choose File' }) + const btn = getByRole('button', { name: 'Upload' }) fireEvent.click(btn) expect(mockTrackEvent).toHaveBeenCalledWith({ name: ANALYTICS_ADD_CUSTOM_LABWARE, diff --git a/app/src/organisms/ApplyHistoricOffsets/hooks/getLabwareLocationCombos.ts b/app/src/organisms/ApplyHistoricOffsets/hooks/getLabwareLocationCombos.ts index b297775880f..2555c5e8441 100644 --- a/app/src/organisms/ApplyHistoricOffsets/hooks/getLabwareLocationCombos.ts +++ b/app/src/organisms/ApplyHistoricOffsets/hooks/getLabwareLocationCombos.ts @@ -59,7 +59,12 @@ export function getLabwareLocationCombos( }) } else { return appendLocationComboIfUniq(acc, { - location: command.params.location, + location: { + slotName: + 'addressableAreaName' in command.params.location + ? command.params.location.addressableAreaName + : command.params.location.slotName, + }, definitionUri, labwareId: command.result.labwareId, }) @@ -107,7 +112,12 @@ export function getLabwareLocationCombos( }) } else { return appendLocationComboIfUniq(acc, { - location: command.params.newLocation, + location: { + slotName: + 'addressableAreaName' in command.params.newLocation + ? command.params.newLocation.addressableAreaName + : command.params.newLocation.slotName, + }, definitionUri: labwareEntity.definitionUri, labwareId: command.params.labwareId, }) @@ -191,7 +201,10 @@ function resolveAdapterLocation( } else { adapterOffsetLocation = { definitionUri: labwareDefUri, - slotName: labwareEntity.location.slotName, + slotName: + 'addressableAreaName' in labwareEntity.location + ? labwareEntity.location.addressableAreaName + : labwareEntity.location.slotName, } } return { diff --git a/app/src/organisms/CalibrateDeck/index.tsx b/app/src/organisms/CalibrateDeck/index.tsx index 5beac8275f3..87d0a65f432 100644 --- a/app/src/organisms/CalibrateDeck/index.tsx +++ b/app/src/organisms/CalibrateDeck/index.tsx @@ -175,6 +175,7 @@ export function CalibrateDeck( supportedCommands={supportedCommands} defaultTipracks={instrument?.defaultTipracks} calInvalidationHandler={offsetInvalidationHandler} + allowChangeTipRack /> )} diff --git a/app/src/organisms/CalibrateTipLength/index.tsx b/app/src/organisms/CalibrateTipLength/index.tsx index bc63d34f134..21016afa1de 100644 --- a/app/src/organisms/CalibrateTipLength/index.tsx +++ b/app/src/organisms/CalibrateTipLength/index.tsx @@ -71,8 +71,10 @@ export function CalibrateTipLength( dispatchRequests, isJogging, offsetInvalidationHandler, + allowChangeTipRack = false, } = props - const { currentStep, instrument, labware } = session?.details ?? {} + const { currentStep, instrument, labware, supportedCommands } = + session?.details ?? {} const queryClient = useQueryClient() const host = useHost() @@ -171,7 +173,9 @@ export function CalibrateTipLength( calBlock={calBlock} currentStep={currentStep} sessionType={session.sessionType} + supportedCommands={supportedCommands} calInvalidationHandler={offsetInvalidationHandler} + allowChangeTipRack={allowChangeTipRack} /> )} diff --git a/app/src/organisms/CalibrateTipLength/types.ts b/app/src/organisms/CalibrateTipLength/types.ts index 48f685343e1..bcb791c5f5d 100644 --- a/app/src/organisms/CalibrateTipLength/types.ts +++ b/app/src/organisms/CalibrateTipLength/types.ts @@ -7,5 +7,6 @@ export interface CalibrateTipLengthParentProps { dispatchRequests: DispatchRequestsType showSpinner: boolean isJogging: boolean + allowChangeTipRack?: boolean offsetInvalidationHandler?: () => void } diff --git a/app/src/organisms/CalibrationPanels/CalibrationLabwareRender.tsx b/app/src/organisms/CalibrationPanels/CalibrationLabwareRender.tsx index 26b8c52461a..b82b79d5dd6 100644 --- a/app/src/organisms/CalibrationPanels/CalibrationLabwareRender.tsx +++ b/app/src/organisms/CalibrationPanels/CalibrationLabwareRender.tsx @@ -14,28 +14,32 @@ import { import { getLabwareDisplayName, getIsTiprack } from '@opentrons/shared-data' import styles from './styles.css' -import type { LabwareDefinition2, DeckSlot } from '@opentrons/shared-data' +import type { + LabwareDefinition2, + CoordinateTuple, +} from '@opentrons/shared-data' const SHORT = 'SHORT' const TALL = 'TALL' interface CalibrationLabwareRenderProps { labwareDef: LabwareDefinition2 - slotDef: DeckSlot + slotDefPosition: CoordinateTuple | null } export function CalibrationLabwareRender( props: CalibrationLabwareRenderProps ): JSX.Element { - const { labwareDef, slotDef } = props + const { labwareDef, slotDefPosition } = props + const title = getLabwareDisplayName(labwareDef) const isTiprack = getIsTiprack(labwareDef) // TODO: we can change this boolean to check to isCalibrationBlock instead of isTiprack to render any labware return isTiprack ? ( @@ -52,21 +56,24 @@ export function CalibrationLabwareRender( ) : ( - + ) } export function CalibrationBlockRender( props: CalibrationLabwareRenderProps ): JSX.Element | null { - const { labwareDef, slotDef } = props + const { labwareDef, slotDefPosition } = props switch (labwareDef.parameters.loadName) { case 'opentrons_calibrationblock_short_side_right': { return ( {({ deckSlotsById }) => - map( - deckSlotsById, - ( - slot: typeof deckSlotsById[keyof typeof deckSlotsById], - slotId - ) => { - if (!slot.matingSurfaceUnitVector) return null // if slot has no mating surface, don't render anything in it - let labwareDef = null - if (String(tipRack?.slot) === slotId) { - labwareDef = tipRack?.definition - } else if ( - calBlock != null && - String(calBlock?.slot) === slotId - ) { - labwareDef = calBlock?.definition - } - - return labwareDef != null ? ( - - ) : null + map(deckSlotsById, (slot: AddressableArea, slotId) => { + if (!slot.matingSurfaceUnitVector) return null // if slot has no mating surface, don't render anything in it + let labwareDef = null + if (String(tipRack?.slot) === slotId) { + labwareDef = tipRack?.definition + } else if ( + calBlock != null && + String(calBlock?.slot) === slotId + ) { + labwareDef = calBlock?.definition } - ) + + const slotDefPosition = getPositionFromSlotId(slot.id, deckDef) + + return labwareDef != null ? ( + + ) : null + }) } diff --git a/app/src/organisms/CalibrationPanels/Introduction/__tests__/Introduction.test.tsx b/app/src/organisms/CalibrationPanels/Introduction/__tests__/Introduction.test.tsx index bccf4a9202b..8b0cb221597 100644 --- a/app/src/organisms/CalibrationPanels/Introduction/__tests__/Introduction.test.tsx +++ b/app/src/organisms/CalibrationPanels/Introduction/__tests__/Introduction.test.tsx @@ -52,9 +52,10 @@ describe('Introduction', () => { getByRole('link', { name: 'Need help?' }) expect(queryByRole('button', { name: 'Change tip rack' })).toBe(null) }) - it('renders change tip rack button if deck calibration', () => { + it('renders change tip rack button if allowChangeTipRack', () => { const { getByRole, getByText, queryByRole } = render({ sessionType: Sessions.SESSION_TYPE_DECK_CALIBRATION, + allowChangeTipRack: true, })[0] const button = getByRole('button', { name: 'Change tip rack' }) button.click() diff --git a/app/src/organisms/CalibrationPanels/Introduction/index.tsx b/app/src/organisms/CalibrationPanels/Introduction/index.tsx index 9a70d1ea0ad..5bdc25ce51c 100644 --- a/app/src/organisms/CalibrationPanels/Introduction/index.tsx +++ b/app/src/organisms/CalibrationPanels/Introduction/index.tsx @@ -35,6 +35,7 @@ export function Introduction(props: CalibrationPanelProps): JSX.Element { instruments, supportedCommands, calInvalidationHandler, + allowChangeTipRack = false, } = props const { t } = useTranslation('robot_calibration') @@ -167,7 +168,7 @@ export function Introduction(props: CalibrationPanelProps): JSX.Element { > - {sessionType === Sessions.SESSION_TYPE_DECK_CALIBRATION ? ( + {allowChangeTipRack ? ( setShowChooseTipRack(true)}> {t('change_tip_rack')} diff --git a/app/src/organisms/CalibrationPanels/types.ts b/app/src/organisms/CalibrationPanels/types.ts index 16d9f9d60fd..cc8700aa8be 100644 --- a/app/src/organisms/CalibrationPanels/types.ts +++ b/app/src/organisms/CalibrationPanels/types.ts @@ -32,4 +32,5 @@ export interface CalibrationPanelProps { supportedCommands?: SessionCommandString[] | null defaultTipracks?: LabwareDefinition2[] | null calInvalidationHandler?: () => void + allowChangeTipRack?: boolean } diff --git a/app/src/organisms/ChooseProtocolSlideout/index.tsx b/app/src/organisms/ChooseProtocolSlideout/index.tsx index 67a4148d54e..ab3b201318b 100644 --- a/app/src/organisms/ChooseProtocolSlideout/index.tsx +++ b/app/src/organisms/ChooseProtocolSlideout/index.tsx @@ -36,7 +36,6 @@ import { useCreateRunFromProtocol } from '../ChooseRobotToRunProtocolSlideout/us import { ApplyHistoricOffsets } from '../ApplyHistoricOffsets' import { useOffsetCandidatesForAnalysis } from '../ApplyHistoricOffsets/hooks/useOffsetCandidatesForAnalysis' -import { ProtocolAnalysisOutput } from '@opentrons/shared-data' import type { Robot } from '../../redux/discovery/types' import type { StoredProtocolData } from '../../redux/protocol-storage' import type { State } from '../../redux/types' @@ -163,7 +162,6 @@ export function ChooseProtocolSlideoutComponent( }} robotName={robot.name} {...{ selectedProtocol, runCreationError, runCreationErrorCode }} - protocolAnalysis={selectedProtocol?.mostRecentAnalysis} /> ) : null} @@ -182,7 +180,6 @@ interface StoredProtocolListProps { runCreationError: string | null runCreationErrorCode: number | null robotName: string - protocolAnalysis?: ProtocolAnalysisOutput | null } function StoredProtocolList(props: StoredProtocolListProps): JSX.Element { @@ -192,7 +189,6 @@ function StoredProtocolList(props: StoredProtocolListProps): JSX.Element { runCreationError, runCreationErrorCode, robotName, - protocolAnalysis, } = props const { t } = useTranslation(['device_details', 'shared']) const storedProtocols = useSelector((state: State) => @@ -227,8 +223,10 @@ function StoredProtocolList(props: StoredProtocolListProps): JSX.Element { height="4.25rem" width="4.75rem" > - {protocolAnalysis != null ? ( - + {storedProtocol.mostRecentAnalysis != null ? ( + ) : null} { const { t } = useTranslation('protocol_command_text') - const { labwareId, wellName } = command.params + const labwareId = + 'labwareId' in command.params ? command.params.labwareId : '' + const wellName = 'wellName' in command.params ? command.params.wellName : '' + const allPreviousCommands = robotSideAnalysis.commands.slice( 0, robotSideAnalysis.commands.findIndex(c => c.id === command.id) @@ -95,13 +92,6 @@ export const PipettingCommandText = ({ flow_rate: flowRate, }) } - case 'moveToWell': { - return t('move_to_well', { - well_name: wellName, - labware: getLabwareName(robotSideAnalysis, labwareId), - labware_location: displayLocation, - }) - } case 'dropTip': { const loadedLabware = getLoadedLabware(robotSideAnalysis, labwareId) const labwareDefinitions = getLabwareDefinitionsFromCommands( @@ -122,12 +112,39 @@ export const PipettingCommandText = ({ }) } case 'pickUpTip': { + const pipetteId = command.params.pipetteId + const pipetteName: + | PipetteName + | undefined = robotSideAnalysis.pipettes.find( + pip => pip.id === pipetteId + )?.pipetteName + return t('pickup_tip', { - well_name: wellName, + well_range: getWellRange( + pipetteId, + allPreviousCommands, + wellName, + pipetteName + ), labware: getLabwareName(robotSideAnalysis, labwareId), labware_location: displayLocation, }) } + case 'dropTipInPlace': { + return t('drop_tip_in_place') + } + case 'dispenseInPlace': { + const { volume, flowRate } = command.params + return t('dispense_in_place', { volume: volume, flow_rate: flowRate }) + } + case 'blowOutInPlace': { + const { flowRate } = command.params + return t('blowout_in_place', { flow_rate: flowRate }) + } + case 'aspirateInPlace': { + const { flowRate, volume } = command.params + return t('aspirate_in_place', { volume, flow_rate: flowRate }) + } default: { console.warn( 'PipettingCommandText encountered a command with an unrecognized commandType: ', diff --git a/app/src/organisms/CommandText/__tests__/CommandText.test.tsx b/app/src/organisms/CommandText/__tests__/CommandText.test.tsx index 28ef08f940f..8a481d8b60b 100644 --- a/app/src/organisms/CommandText/__tests__/CommandText.test.tsx +++ b/app/src/organisms/CommandText/__tests__/CommandText.test.tsx @@ -1,7 +1,12 @@ import * as React from 'react' import { renderWithProviders } from '@opentrons/components' import { + AspirateInPlaceRunTimeCommand, + BlowoutInPlaceRunTimeCommand, + DispenseInPlaceRunTimeCommand, + DropTipInPlaceRunTimeCommand, FLEX_ROBOT_TYPE, + MoveToAddressableAreaRunTimeCommand, PrepareToAspirateRunTimeCommand, } from '@opentrons/shared-data' import { i18n } from '../../../i18n' @@ -85,6 +90,26 @@ describe('CommandText', () => { ) } }) + it('renders correct text for dispenseInPlace', () => { + const { getByText } = renderWithProviders( + , + { i18nInstance: i18n } + )[0] + getByText('Dispensing 50 µL in place at 300 µL/sec') + }) it('renders correct text for blowout', () => { const dispenseCommand = mockRobotSideAnalysis.commands.find( c => c.commandType === 'dispense' @@ -108,6 +133,45 @@ describe('CommandText', () => { ) } }) + it('renders correct text for blowOutInPlace', () => { + const { getByText } = renderWithProviders( + , + { i18nInstance: i18n } + )[0] + getByText('Blowing out in place at 300 µL/sec') + }) + it('renders correct text for aspirateInPlace', () => { + const { getByText } = renderWithProviders( + , + { i18nInstance: i18n } + )[0] + getByText('Aspirating 10 µL in place at 300 µL/sec') + }) it('renders correct text for moveToWell', () => { const dispenseCommand = mockRobotSideAnalysis.commands.find( c => c.commandType === 'aspirate' @@ -129,6 +193,27 @@ describe('CommandText', () => { getByText('Moving to well A1 of NEST 1 Well Reservoir 195 mL in Slot 5') } }) + it('renders correct text for moveToAddressableArea', () => { + const { getByText } = renderWithProviders( + , + { i18nInstance: i18n } + )[0] + getByText('Moving to D3 at 200 mm/s at 100 mm high') + }) it('renders correct text for configureForVolume', () => { const command = { commandType: 'configureForVolume', @@ -204,6 +289,24 @@ describe('CommandText', () => { )[0] getByText('Returning tip to A1 of Opentrons 96 Tip Rack 300 µL in Slot 9') }) + it('renders correct text for dropTipInPlace', () => { + const { getByText } = renderWithProviders( + , + { i18nInstance: i18n } + )[0] + getByText('Dropping tip in place') + }) it('renders correct text for pickUpTip', () => { const command = mockRobotSideAnalysis.commands.find( c => c.commandType === 'pickUpTip' @@ -219,7 +322,7 @@ describe('CommandText', () => { { i18nInstance: i18n } )[0] getByText( - 'Picking up tip from A1 of Opentrons 96 Tip Rack 300 µL in Slot 9' + 'Picking up tip(s) from A1 of Opentrons 96 Tip Rack 300 µL in Slot 9' ) } }) diff --git a/app/src/organisms/CommandText/index.tsx b/app/src/organisms/CommandText/index.tsx index 67e76526ab1..f39b43299bd 100644 --- a/app/src/organisms/CommandText/index.tsx +++ b/app/src/organisms/CommandText/index.tsx @@ -3,6 +3,11 @@ import { useTranslation } from 'react-i18next' import { Flex, DIRECTION_COLUMN, SPACING } from '@opentrons/components' import { getPipetteNameSpecs, RunTimeCommand } from '@opentrons/shared-data' +import { + getLabwareName, + getLabwareDisplayLocation, + getFinalLabwareLocation, +} from './utils' import { StyledText } from '../../atoms/text' import { LoadCommandText } from './LoadCommandText' import { PipettingCommandText } from './PipettingCommandText' @@ -49,10 +54,13 @@ export function CommandText(props: Props): JSX.Element | null { switch (command.commandType) { case 'aspirate': + case 'aspirateInPlace': case 'dispense': + case 'dispenseInPlace': case 'blowout': - case 'moveToWell': + case 'blowOutInPlace': case 'dropTip': + case 'dropTipInPlace': case 'pickUpTip': { return ( @@ -138,6 +146,31 @@ export function CommandText(props: Props): JSX.Element | null { ) } + case 'moveToWell': { + const { wellName, labwareId } = command.params + const allPreviousCommands = robotSideAnalysis.commands.slice( + 0, + robotSideAnalysis.commands.findIndex(c => c.id === command.id) + ) + const labwareLocation = getFinalLabwareLocation( + labwareId, + allPreviousCommands + ) + const displayLocation = + labwareLocation != null + ? getLabwareDisplayLocation( + robotSideAnalysis, + labwareLocation, + t, + robotType + ) + : '' + return t('move_to_well', { + well_name: wellName, + labware: getLabwareName(robotSideAnalysis, labwareId), + labware_location: displayLocation, + }) + } case 'moveLabware': { return ( @@ -165,6 +198,25 @@ export function CommandText(props: Props): JSX.Element | null { ) } + case 'configureNozzleLayout': { + const { configuration_params, pipetteId } = command.params + const pipetteName = robotSideAnalysis.pipettes.find( + pip => pip.id === pipetteId + )?.pipetteName + + // TODO (sb, 11/9/23): Add support for other configurations when needed + return ( + + {t('configure_nozzle_layout', { + amount: configuration_params.style === 'COLUMN' ? '8' : 'all', + pipette: + pipetteName != null + ? getPipetteNameSpecs(pipetteName)?.displayName + : '', + })} + + ) + } case 'prepareToAspirate': { const { pipetteId } = command.params const pipetteName = robotSideAnalysis.pipettes.find( @@ -182,6 +234,18 @@ export function CommandText(props: Props): JSX.Element | null { ) } + case 'moveToAddressableArea': { + const { addressableAreaName, speed, minimumZHeight } = command.params + return ( + + {t('move_to_addressable_area', { + addressable_area: addressableAreaName, + speed: speed, + height: minimumZHeight, + })} + + ) + } case 'touchTip': case 'home': case 'savePosition': diff --git a/app/src/organisms/CommandText/utils/getWellRange.ts b/app/src/organisms/CommandText/utils/getWellRange.ts new file mode 100644 index 00000000000..8baa6c0b709 --- /dev/null +++ b/app/src/organisms/CommandText/utils/getWellRange.ts @@ -0,0 +1,46 @@ +import { + getPipetteNameSpecs, + PipetteName, + RunTimeCommand, +} from '@opentrons/shared-data' + +/** + * @param pipetteName name of pipette being used + * @param commands list of commands to search within + * @param wellName the target well for pickup tip + * @returns WellRange string of wells pipette will pickup tips from + */ +export function getWellRange( + pipetteId: string, + commands: RunTimeCommand[], + wellName: string, + pipetteName?: PipetteName +): string { + const pipetteChannels = pipetteName + ? getPipetteNameSpecs(pipetteName)?.channels ?? 1 + : 1 + let usedChannels = pipetteChannels + if (pipetteChannels === 96) { + for (const c of commands.reverse()) { + if ( + c.commandType === 'configureNozzleLayout' && + c.params?.pipetteId === pipetteId + ) { + // TODO(sb, 11/9/23): add support for quadrant and row configurations when needed + if (c.params.configuration_params.style === 'SINGLE') { + usedChannels = 1 + } else if (c.params.configuration_params.style === 'COLUMN') { + usedChannels = 8 + } + break + } + } + } + if (usedChannels === 96) { + return 'A1 - H12' + } else if (usedChannels === 8) { + const column = wellName.substr(1) + return `A${column} - H${column}` + } + return wellName +} diff --git a/app/src/organisms/CommandText/utils/index.ts b/app/src/organisms/CommandText/utils/index.ts index 0b7a5c24124..5435a292d11 100644 --- a/app/src/organisms/CommandText/utils/index.ts +++ b/app/src/organisms/CommandText/utils/index.ts @@ -5,3 +5,4 @@ export * from './getModuleDisplayLocation' export * from './getLiquidDisplayName' export * from './getLabwareDisplayLocation' export * from './getFinalLabwareLocation' +export * from './getWellRange' diff --git a/app/src/organisms/DeviceDetailsDeckConfiguration/AddFixtureModal.stories.tsx b/app/src/organisms/DeviceDetailsDeckConfiguration/AddFixtureModal.stories.tsx index 6b618c0fc1e..cc5ddd4f4e7 100644 --- a/app/src/organisms/DeviceDetailsDeckConfiguration/AddFixtureModal.stories.tsx +++ b/app/src/organisms/DeviceDetailsDeckConfiguration/AddFixtureModal.stories.tsx @@ -25,7 +25,7 @@ const Template: Story> = args => ( export const Default = Template.bind({}) Default.args = { - fixtureLocation: 'D3', + fixtureLocation: 'cutoutD3', setShowAddFixtureModal: () => {}, isOnDevice: true, } diff --git a/app/src/organisms/DeviceDetailsDeckConfiguration/AddFixtureModal.tsx b/app/src/organisms/DeviceDetailsDeckConfiguration/AddFixtureModal.tsx index a1cb43abb46..6e20cd5bd83 100644 --- a/app/src/organisms/DeviceDetailsDeckConfiguration/AddFixtureModal.tsx +++ b/app/src/organisms/DeviceDetailsDeckConfiguration/AddFixtureModal.tsx @@ -14,12 +14,18 @@ import { SPACING, TYPOGRAPHY, } from '@opentrons/components' -import { useUpdateDeckConfigurationMutation } from '@opentrons/react-api-client' import { + useDeckConfigurationQuery, + useUpdateDeckConfigurationMutation, +} from '@opentrons/react-api-client' +import { + getCutoutDisplayName, getFixtureDisplayName, - STAGING_AREA_LOAD_NAME, - TRASH_BIN_LOAD_NAME, - WASTE_CHUTE_LOAD_NAME, + STAGING_AREA_CUTOUTS, + STAGING_AREA_RIGHT_SLOT_FIXTURE, + TRASH_BIN_ADAPTER_FIXTURE, + WASTE_CHUTE_CUTOUT, + WASTE_CHUTE_FIXTURES, } from '@opentrons/shared-data' import { StyledText } from '../../atoms/text' @@ -29,66 +35,68 @@ import { Modal } from '../../molecules/Modal' import { LegacyModal } from '../../molecules/LegacyModal' import type { - Cutout, + CutoutConfig, + CutoutId, + CutoutFixtureId, DeckConfiguration, - Fixture, - FixtureLoadName, } from '@opentrons/shared-data' import type { ModalHeaderBaseProps } from '../../molecules/Modal/types' import type { LegacyModalProps } from '../../molecules/LegacyModal' +const GENERIC_WASTE_CHUTE_OPTION = 'WASTE_CHUTE' + interface AddFixtureModalProps { - fixtureLocation: Cutout + cutoutId: CutoutId setShowAddFixtureModal: (showAddFixtureModal: boolean) => void - setCurrentDeckConfig?: React.Dispatch> - providedFixtureOptions?: FixtureLoadName[] + setCurrentDeckConfig?: React.Dispatch> + providedFixtureOptions?: CutoutFixtureId[] isOnDevice?: boolean } export function AddFixtureModal({ - fixtureLocation, + cutoutId, setShowAddFixtureModal, setCurrentDeckConfig, providedFixtureOptions, isOnDevice = false, }: AddFixtureModalProps): JSX.Element { - const { t } = useTranslation('device_details') + const { t } = useTranslation(['device_details', 'shared']) const { updateDeckConfiguration } = useUpdateDeckConfigurationMutation() + const deckConfig = useDeckConfigurationQuery()?.data ?? [] + const [showWasteChuteOptions, setShowWasteChuteOptions] = React.useState( + false + ) const modalHeader: ModalHeaderBaseProps = { - title: t('add_to_slot', { slotName: fixtureLocation }), + title: t('add_to_slot', { + slotName: getCutoutDisplayName(cutoutId), + }), hasExitIcon: true, onClick: () => setShowAddFixtureModal(false), } const modalProps: LegacyModalProps = { - title: t('add_to_slot', { slotName: fixtureLocation }), + title: t('add_to_slot', { + slotName: getCutoutDisplayName(cutoutId), + }), onClose: () => setShowAddFixtureModal(false), closeOnOutsideClick: true, childrenPadding: SPACING.spacing24, - width: '23.125rem', + width: '26.75rem', } - const availableFixtures: FixtureLoadName[] = [TRASH_BIN_LOAD_NAME] - if ( - fixtureLocation === 'A3' || - fixtureLocation === 'B3' || - fixtureLocation === 'C3' - ) { - availableFixtures.push(STAGING_AREA_LOAD_NAME) - } - if (fixtureLocation === 'D3') { - availableFixtures.push(STAGING_AREA_LOAD_NAME, WASTE_CHUTE_LOAD_NAME) + const availableFixtures: CutoutFixtureId[] = [TRASH_BIN_ADAPTER_FIXTURE] + if (STAGING_AREA_CUTOUTS.includes(cutoutId)) { + availableFixtures.push(STAGING_AREA_RIGHT_SLOT_FIXTURE) } - // For Touchscreen app - const handleTapAdd = (fixtureLoadName: FixtureLoadName): void => { + const handleAddODD = (requiredFixtureId: CutoutFixtureId): void => { if (setCurrentDeckConfig != null) setCurrentDeckConfig( (prevDeckConfig: DeckConfiguration): DeckConfiguration => - prevDeckConfig.map((fixture: Fixture) => - fixture.fixtureLocation === fixtureLocation - ? { ...fixture, loadName: fixtureLoadName } + prevDeckConfig.map((fixture: CutoutConfig) => + fixture.cutoutId === cutoutId + ? { ...fixture, cutoutFixtureId: requiredFixtureId } : fixture ) ) @@ -96,14 +104,37 @@ export function AddFixtureModal({ setShowAddFixtureModal(false) } - // For Desktop app const fixtureOptions = providedFixtureOptions ?? availableFixtures + const fixtureOptionsWithDisplayNames: Array< + [CutoutFixtureId | 'WASTE_CHUTE', string] + > = fixtureOptions.map(fixture => [fixture, getFixtureDisplayName(fixture)]) + + const showSelectWasteChuteOptions = cutoutId === WASTE_CHUTE_CUTOUT + if (showSelectWasteChuteOptions) { + fixtureOptionsWithDisplayNames.push([ + GENERIC_WASTE_CHUTE_OPTION, + t('waste_chute'), + ]) + } - const handleClickAdd = (fixtureLoadName: FixtureLoadName): void => { - updateDeckConfiguration({ - fixtureLocation, - loadName: fixtureLoadName, - }) + fixtureOptionsWithDisplayNames.sort((a, b) => a[1].localeCompare(b[1])) + + const wasteChuteOptionsWithDisplayNames = WASTE_CHUTE_FIXTURES.map( + fixture => [fixture, getFixtureDisplayName(fixture)] + ).sort((a, b) => a[1].localeCompare(b[1])) as Array<[CutoutFixtureId, string]> + + const displayedFixtureOptions = showWasteChuteOptions + ? wasteChuteOptionsWithDisplayNames + : fixtureOptionsWithDisplayNames + + const handleAddDesktop = (requiredFixtureId: CutoutFixtureId): void => { + const newDeckConfig = deckConfig.map(fixture => + fixture.cutoutId === cutoutId + ? { ...fixture, cutoutFixtureId: requiredFixtureId } + : fixture + ) + + updateDeckConfiguration(newDeckConfig) setShowAddFixtureModal(false) } @@ -117,14 +148,40 @@ export function AddFixtureModal({ {t('add_to_slot_description')} - {fixtureOptions.map(fixture => ( - - - - ))} + {displayedFixtureOptions.map( + ([cutoutFixtureOption, fixtureDisplayName]) => { + const onClickHandler = + cutoutFixtureOption === GENERIC_WASTE_CHUTE_OPTION + ? () => setShowWasteChuteOptions(true) + : () => handleAddODD(cutoutFixtureOption) + const buttonText = + cutoutFixtureOption === GENERIC_WASTE_CHUTE_OPTION + ? t('select_options') + : t('add') + + return ( + + + + {fixtureDisplayName} + + {buttonText} + + + ) + } + )} @@ -133,61 +190,59 @@ export function AddFixtureModal({ {t('add_fixture_description')} - {fixtureOptions.map(fixture => ( - - - - {getFixtureDisplayName(fixture)} - - handleClickAdd(fixture)}> - {t('add')} - - - - ))} + {displayedFixtureOptions.map( + ([cutoutFixtureOption, fixtureDisplayName]) => { + const onClickHandler = + cutoutFixtureOption === GENERIC_WASTE_CHUTE_OPTION + ? () => setShowWasteChuteOptions(true) + : () => handleAddDesktop(cutoutFixtureOption) + const buttonText = + cutoutFixtureOption === GENERIC_WASTE_CHUTE_OPTION + ? t('select_options') + : t('add') + + return ( + + + + {fixtureDisplayName} + + + {buttonText} + + + + ) + } + )} + {showWasteChuteOptions ? ( + setShowWasteChuteOptions(false)} + aria-label="back" + paddingX={SPACING.spacing16} + marginTop={'1.44rem'} + marginBottom={'0.56rem'} + > + + {t('shared:go_back')} + + + ) : null} )} ) } -interface AddFixtureButtonProps { - fixtureLoadName: FixtureLoadName - handleClickAdd: (fixtureLoadName: FixtureLoadName) => void -} -function AddFixtureButton({ - fixtureLoadName, - handleClickAdd, -}: AddFixtureButtonProps): JSX.Element { - const { t } = useTranslation('device_details') - - return ( - handleClickAdd(fixtureLoadName)} - display="flex" - justifyContent={JUSTIFY_SPACE_BETWEEN} - flexDirection={DIRECTION_ROW} - alignItems={ALIGN_CENTER} - padding={`${SPACING.spacing16} ${SPACING.spacing24}`} - css={FIXTURE_BUTTON_STYLE} - > - - {getFixtureDisplayName(fixtureLoadName)} - - {t('add')} - - ) -} - const FIXTURE_BUTTON_STYLE = css` background-color: ${COLORS.light1}; cursor: default; @@ -219,3 +274,11 @@ const FIXTURE_BUTTON_STYLE = css` color: ${COLORS.darkBlack60}; } ` +const GO_BACK_BUTTON_STYLE = css` + ${TYPOGRAPHY.pSemiBold}; + color: ${COLORS.darkGreyEnabled}; + + &:hover { + opacity: 70%; + } +` diff --git a/app/src/organisms/DeviceDetailsDeckConfiguration/__tests__/AddFixtureModal.test.tsx b/app/src/organisms/DeviceDetailsDeckConfiguration/__tests__/AddFixtureModal.test.tsx index e497050c353..a83e151844c 100644 --- a/app/src/organisms/DeviceDetailsDeckConfiguration/__tests__/AddFixtureModal.test.tsx +++ b/app/src/organisms/DeviceDetailsDeckConfiguration/__tests__/AddFixtureModal.test.tsx @@ -1,12 +1,21 @@ import * as React from 'react' import { renderWithProviders } from '@opentrons/components' -import { useUpdateDeckConfigurationMutation } from '@opentrons/react-api-client' -import { TRASH_BIN_LOAD_NAME } from '@opentrons/shared-data' +import { + useDeckConfigurationQuery, + useUpdateDeckConfigurationMutation, +} from '@opentrons/react-api-client' +import { + getFixtureDisplayName, + WASTE_CHUTE_FIXTURES, +} from '@opentrons/shared-data' import { i18n } from '../../../i18n' import { AddFixtureModal } from '../AddFixtureModal' +import type { UseQueryResult } from 'react-query' +import type { DeckConfiguration } from '@opentrons/shared-data' + jest.mock('@opentrons/react-api-client') const mockSetShowAddFixtureModal = jest.fn() const mockUpdateDeckConfiguration = jest.fn() @@ -15,6 +24,9 @@ const mockSetCurrentDeckConfig = jest.fn() const mockUseUpdateDeckConfigurationMutation = useUpdateDeckConfigurationMutation as jest.MockedFunction< typeof useUpdateDeckConfigurationMutation > +const mockUseDeckConfigurationQuery = useDeckConfigurationQuery as jest.MockedFunction< + typeof useDeckConfigurationQuery +> const render = (props: React.ComponentProps) => { return renderWithProviders(, { @@ -27,7 +39,7 @@ describe('Touchscreen AddFixtureModal', () => { beforeEach(() => { props = { - fixtureLocation: 'D3', + cutoutId: 'cutoutD3', setShowAddFixtureModal: mockSetShowAddFixtureModal, setCurrentDeckConfig: mockSetCurrentDeckConfig, isOnDevice: true, @@ -35,6 +47,9 @@ describe('Touchscreen AddFixtureModal', () => { mockUseUpdateDeckConfigurationMutation.mockReturnValue({ updateDeckConfiguration: mockUpdateDeckConfiguration, } as any) + mockUseDeckConfigurationQuery.mockReturnValue(({ + data: [], + } as unknown) as UseQueryResult) }) it('should render text and buttons', () => { @@ -43,10 +58,11 @@ describe('Touchscreen AddFixtureModal', () => { getByText( 'Choose a fixture below to add to your deck configuration. It will be referenced during protocol analysis.' ) - getByText('Staging Area Slot') - getByText('Trash Bin') - getByText('Waste Chute') - expect(getAllByText('Add').length).toBe(3) + getByText('Staging area slot') + getByText('Trash bin') + getByText('Waste chute') + expect(getAllByText('Add').length).toBe(2) + expect(getAllByText('Select options').length).toBe(1) }) it('should a mock function when tapping app button', () => { @@ -61,7 +77,7 @@ describe('Desktop AddFixtureModal', () => { beforeEach(() => { props = { - fixtureLocation: 'D3', + cutoutId: 'cutoutD3', setShowAddFixtureModal: mockSetShowAddFixtureModal, } mockUseUpdateDeckConfigurationMutation.mockReturnValue({ @@ -79,42 +95,65 @@ describe('Desktop AddFixtureModal', () => { getByText( 'Add this fixture to your deck configuration. It will be referenced during protocol analysis.' ) - getByText('Staging Area Slot') - getByText('Trash Bin') - getByText('Waste Chute') - expect(getAllByRole('button', { name: 'Add' }).length).toBe(3) + getByText('Staging area slot') + getByText('Trash bin') + getByText('Waste chute') + expect(getAllByRole('button', { name: 'Add' }).length).toBe(2) + expect(getAllByRole('button', { name: 'Select options' }).length).toBe(1) }) it('should render text and buttons slot A1', () => { - props = { ...props, fixtureLocation: 'A1' } + props = { ...props, cutoutId: 'cutoutA1' } const [{ getByText, getByRole }] = render(props) getByText('Add to slot A1') getByText( 'Add this fixture to your deck configuration. It will be referenced during protocol analysis.' ) - getByText('Trash Bin') + getByText('Trash bin') getByRole('button', { name: 'Add' }) }) it('should render text and buttons slot B3', () => { - props = { ...props, fixtureLocation: 'B3' } + props = { ...props, cutoutId: 'cutoutB3' } const [{ getByText, getAllByRole }] = render(props) getByText('Add to slot B3') getByText( 'Add this fixture to your deck configuration. It will be referenced during protocol analysis.' ) - getByText('Staging Area Slot') - getByText('Trash Bin') + getByText('Staging area slot') + getByText('Trash bin') expect(getAllByRole('button', { name: 'Add' }).length).toBe(2) }) it('should call a mock function when clicking add button', () => { - props = { ...props, fixtureLocation: 'A1' } + props = { ...props, cutoutId: 'cutoutA1' } const [{ getByRole }] = render(props) getByRole('button', { name: 'Add' }).click() - expect(mockUpdateDeckConfiguration).toHaveBeenCalledWith({ - fixtureLocation: 'A1', - loadName: TRASH_BIN_LOAD_NAME, + expect(mockUpdateDeckConfiguration).toHaveBeenCalled() + }) + + it('should display appropriate Waste Chute options when the generic Waste Chute button is clicked', () => { + const [{ getByText, getByRole, getAllByRole }] = render(props) + getByRole('button', { name: 'Select options' }).click() + expect(getAllByRole('button', { name: 'Add' }).length).toBe( + WASTE_CHUTE_FIXTURES.length + ) + + WASTE_CHUTE_FIXTURES.forEach(cutoutId => { + const displayText = getFixtureDisplayName(cutoutId) + getByText(displayText) }) }) + + it('should allow a user to exit the Waste Chute submenu by clicking "go back"', () => { + const [{ getByText, getByRole, getAllByRole }] = render(props) + getByRole('button', { name: 'Select options' }).click() + + getByText('Go back').click() + getByText('Staging area slot') + getByText('Trash bin') + getByText('Waste chute') + expect(getAllByRole('button', { name: 'Add' }).length).toBe(2) + expect(getAllByRole('button', { name: 'Select options' }).length).toBe(1) + }) }) diff --git a/app/src/organisms/DeviceDetailsDeckConfiguration/__tests__/DeviceDetailsDeckConfiguration.test.tsx b/app/src/organisms/DeviceDetailsDeckConfiguration/__tests__/DeviceDetailsDeckConfiguration.test.tsx index 3965297c1a3..77101c421ce 100644 --- a/app/src/organisms/DeviceDetailsDeckConfiguration/__tests__/DeviceDetailsDeckConfiguration.test.tsx +++ b/app/src/organisms/DeviceDetailsDeckConfiguration/__tests__/DeviceDetailsDeckConfiguration.test.tsx @@ -125,4 +125,12 @@ describe('DeviceDetailsDeckConfiguration', () => { getByText('Deck configuration is not available when the robot is busy') getByText('disabled mock DeckConfigurator') }) + + it('should render no deck fixtures, if deck configs are not set', () => { + when(mockUseDeckConfigurationQuery) + .calledWith() + .mockReturnValue([] as any) + const [{ getByText }] = render(props) + getByText('No deck fixtures') + }) }) diff --git a/app/src/organisms/DeviceDetailsDeckConfiguration/index.tsx b/app/src/organisms/DeviceDetailsDeckConfiguration/index.tsx index 69206f577db..efb04233d0c 100644 --- a/app/src/organisms/DeviceDetailsDeckConfiguration/index.tsx +++ b/app/src/organisms/DeviceDetailsDeckConfiguration/index.tsx @@ -1,5 +1,6 @@ import * as React from 'react' import { useTranslation } from 'react-i18next' +import { css } from 'styled-components' import { ALIGN_CENTER, @@ -12,7 +13,6 @@ import { Flex, JUSTIFY_SPACE_BETWEEN, Link, - SIZE_5, SPACING, TYPOGRAPHY, } from '@opentrons/components' @@ -22,8 +22,12 @@ import { useUpdateDeckConfigurationMutation, } from '@opentrons/react-api-client' import { + getCutoutDisplayName, getFixtureDisplayName, - STANDARD_SLOT_LOAD_NAME, + SINGLE_RIGHT_CUTOUTS, + SINGLE_SLOT_FIXTURES, + SINGLE_LEFT_SLOT_FIXTURE, + SINGLE_RIGHT_SLOT_FIXTURE, } from '@opentrons/shared-data' import { StyledText } from '../../atoms/text' @@ -32,7 +36,7 @@ import { DeckFixtureSetupInstructionsModal } from './DeckFixtureSetupInstruction import { AddFixtureModal } from './AddFixtureModal' import { useRunStatuses } from '../Devices/hooks' -import type { Cutout } from '@opentrons/shared-data' +import type { CutoutId } from '@opentrons/shared-data' const RUN_REFETCH_INTERVAL = 5000 @@ -51,10 +55,9 @@ export function DeviceDetailsDeckConfiguration({ const [showAddFixtureModal, setShowAddFixtureModal] = React.useState( false ) - const [ - targetFixtureLocation, - setTargetFixtureLocation, - ] = React.useState(null) + const [targetCutoutId, setTargetCutoutId] = React.useState( + null + ) const deckConfig = useDeckConfigurationQuery().data ?? [] const { updateDeckConfiguration } = useUpdateDeckConfigurationMutation() @@ -64,28 +67,38 @@ export function DeviceDetailsDeckConfiguration({ }) const isMaintenanceRunExisting = maintenanceRunData?.data?.id != null - const handleClickAdd = (fixtureLocation: Cutout): void => { - setTargetFixtureLocation(fixtureLocation) + const handleClickAdd = (cutoutId: CutoutId): void => { + setTargetCutoutId(cutoutId) setShowAddFixtureModal(true) } - const handleClickRemove = (fixtureLocation: Cutout): void => { - updateDeckConfiguration({ - fixtureLocation, - loadName: STANDARD_SLOT_LOAD_NAME, - }) + const handleClickRemove = (cutoutId: CutoutId): void => { + const isRightCutout = SINGLE_RIGHT_CUTOUTS.includes(cutoutId) + const singleSlotFixture = isRightCutout + ? SINGLE_RIGHT_SLOT_FIXTURE + : SINGLE_LEFT_SLOT_FIXTURE + + const newDeckConfig = deckConfig.map(fixture => + fixture.cutoutId === cutoutId + ? { ...fixture, cutoutFixtureId: singleSlotFixture } + : fixture + ) + + updateDeckConfiguration(newDeckConfig) } // do not show standard slot in fixture display list const fixtureDisplayList = deckConfig.filter( - fixture => fixture.loadName !== STANDARD_SLOT_LOAD_NAME + fixture => + fixture.cutoutFixtureId != null && + !SINGLE_SLOT_FIXTURES.includes(fixture.cutoutFixtureId) ) return ( <> - {showAddFixtureModal && targetFixtureLocation != null ? ( + {showAddFixtureModal && targetCutoutId != null ? ( ) : null} @@ -149,7 +162,7 @@ export function DeviceDetailsDeckConfiguration({ {t('deck_configuration_is_not_available_when_robot_is_busy')} ) : null} - + {t('location')} {t('fixture')} - {fixtureDisplayList.map(fixture => { - return ( + {fixtureDisplayList.length > 0 ? ( + fixtureDisplayList.map(fixture => ( - {fixture.fixtureLocation} - {getFixtureDisplayName(fixture.loadName)} + {getCutoutDisplayName(fixture.cutoutId)} + + + {getFixtureDisplayName(fixture.cutoutFixtureId)} - ) - })} + )) + ) : ( + + {t('no_deck_fixtures')} + + )} @@ -201,3 +226,13 @@ export function DeviceDetailsDeckConfiguration({ ) } + +const DECK_CONFIG_SECTION_STYLE = css` + flex-direction: ${DIRECTION_ROW}; + grid-gap: ${SPACING.spacing40}; + @media screen and (max-width: 1024px) { + flex-direction: ${DIRECTION_COLUMN}; + align-items: ${ALIGN_CENTER}; + grid-gap: ${SPACING.spacing32}; + } +` diff --git a/app/src/organisms/Devices/InstrumentsAndModules.tsx b/app/src/organisms/Devices/InstrumentsAndModules.tsx index 523c1cd3510..ef6cb2a7f60 100644 --- a/app/src/organisms/Devices/InstrumentsAndModules.tsx +++ b/app/src/organisms/Devices/InstrumentsAndModules.tsx @@ -105,7 +105,8 @@ export function InstrumentsAndModules({ attachedPipettes?.left ?? null ) const attachPipetteRequired = - attachedLeftPipette == null && attachedRightPipette == null + attachedLeftPipette?.data?.calibratedOffset?.last_modified == null && + attachedRightPipette?.data?.calibratedOffset?.last_modified == null const updatePipetteFWRequired = badLeftPipette != null || badRightPipette != null diff --git a/app/src/organisms/Devices/ProtocolRun/ProtocolRunHeader.tsx b/app/src/organisms/Devices/ProtocolRun/ProtocolRunHeader.tsx index b48bebe60d6..9e9d35b3518 100644 --- a/app/src/organisms/Devices/ProtocolRun/ProtocolRunHeader.tsx +++ b/app/src/organisms/Devices/ProtocolRun/ProtocolRunHeader.tsx @@ -103,6 +103,9 @@ import { EMPTY_TIMESTAMP } from '../constants' import { getHighestPriorityError } from '../../OnDeviceDisplay/RunningProtocol' import { RunFailedModal } from './RunFailedModal' import { RunProgressMeter } from '../../RunProgressMeter' +import { getIsFixtureMismatch } from '../../../resources/deck_configuration/utils' +import { useDeckConfigurationCompatibility } from '../../../resources/deck_configuration/hooks' +import { useMostRecentCompletedAnalysis } from '../../LabwarePositionCheck/useMostRecentCompletedAnalysis' import type { Run, RunError } from '@opentrons/api-client' import type { State } from '../../../redux/types' @@ -175,10 +178,18 @@ export function ProtocolRunHeader({ const robotSettings = useSelector((state: State) => getRobotSettings(state, robotName) ) + const isFlex = useIsFlex(robotName) + const robotProtocolAnalysis = useMostRecentCompletedAnalysis(runId) + const robotType = isFlex ? FLEX_ROBOT_TYPE : OT2_ROBOT_TYPE + const deckConfigCompatibility = useDeckConfigurationCompatibility( + robotType, + robotProtocolAnalysis?.commands ?? [] + ) + const isFixtureMismatch = getIsFixtureMismatch(deckConfigCompatibility) + const doorSafetySetting = robotSettings.find( setting => setting.id === 'enableDoorSafetySwitch' ) - const isFlex = useIsFlex(robotName) const { data: doorStatus } = useDoorQuery({ refetchInterval: EQUIPMENT_POLL_MS, }) @@ -390,6 +401,7 @@ export function ProtocolRunHeader({ protocolData == null || !!isProtocolAnalyzing } isDoorOpen={isDoorOpen} + isFixtureMismatch={isFixtureMismatch} /> @@ -531,9 +543,17 @@ interface ActionButtonProps { runStatus: RunStatus | null isProtocolAnalyzing: boolean isDoorOpen: boolean + isFixtureMismatch: boolean } function ActionButton(props: ActionButtonProps): JSX.Element { - const { runId, robotName, runStatus, isProtocolAnalyzing, isDoorOpen } = props + const { + runId, + robotName, + runStatus, + isProtocolAnalyzing, + isDoorOpen, + isFixtureMismatch, + } = props const history = useHistory() const { t } = useTranslation(['run_details', 'shared']) const attachedModules = @@ -588,6 +608,7 @@ function ActionButton(props: ActionButtonProps): JSX.Element { isResetRunLoading || isOtherRunCurrent || isProtocolAnalyzing || + isFixtureMismatch || (runStatus != null && DISABLED_STATUSES.includes(runStatus)) || isRobotOnWrongVersionOfSoftware || (isDoorOpen && @@ -630,7 +651,7 @@ function ActionButton(props: ActionButtonProps): JSX.Element { let buttonIconName: IconName | null = null let disableReason = null - if (currentRunId === runId && !isSetupComplete) { + if (currentRunId === runId && (!isSetupComplete || isFixtureMismatch)) { disableReason = t('setup_incomplete') } else if (isOtherRunCurrent) { disableReason = t('shared:robot_is_busy') diff --git a/app/src/organisms/Devices/ProtocolRun/ProtocolRunModuleControls.tsx b/app/src/organisms/Devices/ProtocolRun/ProtocolRunModuleControls.tsx index 8e2d67fd238..f8dcee3d93b 100644 --- a/app/src/organisms/Devices/ProtocolRun/ProtocolRunModuleControls.tsx +++ b/app/src/organisms/Devices/ProtocolRun/ProtocolRunModuleControls.tsx @@ -70,7 +70,6 @@ export const ProtocolRunModuleControls = ({ const { attachPipetteRequired, updatePipetteFWRequired } = usePipetteIsReady() const moduleRenderInfoForProtocolById = useModuleRenderInfoForProtocolById( - robotName, runId ) const attachedModules = Object.values(moduleRenderInfoForProtocolById).filter( diff --git a/app/src/organisms/Devices/ProtocolRun/ProtocolRunSetup.tsx b/app/src/organisms/Devices/ProtocolRun/ProtocolRunSetup.tsx index 27ca12cdd7c..00fd64857a2 100644 --- a/app/src/organisms/Devices/ProtocolRun/ProtocolRunSetup.tsx +++ b/app/src/organisms/Devices/ProtocolRun/ProtocolRunSetup.tsx @@ -1,40 +1,38 @@ import * as React from 'react' import { useTranslation } from 'react-i18next' +import { parseAllRequiredModuleModels } from '@opentrons/api-client' import { - LoadedFixturesBySlot, - parseAllRequiredModuleModels, -} from '@opentrons/api-client' -import { - Flex, ALIGN_CENTER, COLORS, DIRECTION_COLUMN, - SPACING, - Icon, - SIZE_1, DIRECTION_ROW, - TYPOGRAPHY, + Flex, + Icon, Link, + SPACING, + TYPOGRAPHY, } from '@opentrons/components' -import { - STAGING_AREA_LOAD_NAME, - TRASH_BIN_LOAD_NAME, - WASTE_CHUTE_LOAD_NAME, -} from '@opentrons/shared-data' +import { FLEX_ROBOT_TYPE, OT2_ROBOT_TYPE } from '@opentrons/shared-data' import { Line } from '../../../atoms/structure' import { StyledText } from '../../../atoms/text' import { InfoMessage } from '../../../molecules/InfoMessage' +import { + getIsFixtureMismatch, + getRequiredDeckConfig, + getSimplestDeckConfigForProtocolCommands, +} from '../../../resources/deck_configuration/utils' +import { useDeckConfigurationCompatibility } from '../../../resources/deck_configuration/hooks' import { useIsFlex, + useModuleCalibrationStatus, + useProtocolAnalysisErrors, useRobot, useRunCalibrationStatus, useRunHasStarted, - useProtocolAnalysisErrors, useStoredProtocolAnalysis, - useModuleCalibrationStatus, - ProtocolCalibrationStatus, + useUnmatchedModulesForProtocol, } from '../hooks' import { useMostRecentCompletedAnalysis } from '../../LabwarePositionCheck/useMostRecentCompletedAnalysis' import { SetupLabware } from './SetupLabware' @@ -46,6 +44,8 @@ import { SetupLiquids } from './SetupLiquids' import { EmptySetupStep } from './EmptySetupStep' import { HowLPCWorksModal } from './SetupLabwarePositionCheck/HowLPCWorksModal' +import type { ProtocolCalibrationStatus } from '../hooks' + const ROBOT_CALIBRATION_STEP_KEY = 'robot_calibration_step' as const const MODULE_SETUP_KEY = 'module_setup_step' as const const LPC_KEY = 'labware_position_check_step' as const @@ -73,67 +73,31 @@ export function ProtocolRunSetup({ const { t, i18n } = useTranslation('protocol_setup') const robotProtocolAnalysis = useMostRecentCompletedAnalysis(runId) const storedProtocolAnalysis = useStoredProtocolAnalysis(runId) - const protocolData = robotProtocolAnalysis ?? storedProtocolAnalysis - const modules = parseAllRequiredModuleModels(protocolData?.commands ?? []) + const protocolAnalysis = robotProtocolAnalysis ?? storedProtocolAnalysis + const modules = parseAllRequiredModuleModels(protocolAnalysis?.commands ?? []) - // TODO(Jr, 10/4/23): stubbed in the fixtures for now - delete IMMEDIATELY - // const loadedFixturesBySlot = parseInitialLoadedFixturesByCutout( - // protocolData?.commands ?? [] - // ) - - const STUBBED_LOAD_FIXTURE_BY_SLOT: LoadedFixturesBySlot = { - D3: { - id: 'stubbed_load_fixture', - commandType: 'loadFixture', - params: { - fixtureId: 'stubbedFixtureId', - loadName: WASTE_CHUTE_LOAD_NAME, - location: { cutout: 'D3' }, - }, - createdAt: 'fakeTimestamp', - startedAt: 'fakeTimestamp', - completedAt: 'fakeTimestamp', - status: 'succeeded', - }, - B3: { - id: 'stubbed_load_fixture_2', - commandType: 'loadFixture', - params: { - fixtureId: 'stubbedFixtureId_2', - loadName: STAGING_AREA_LOAD_NAME, - location: { cutout: 'B3' }, - }, - createdAt: 'fakeTimestamp', - startedAt: 'fakeTimestamp', - completedAt: 'fakeTimestamp', - status: 'succeeded', - }, - C3: { - id: 'stubbed_load_fixture_3', - commandType: 'loadFixture', - params: { - fixtureId: 'stubbedFixtureId_3', - loadName: TRASH_BIN_LOAD_NAME, - location: { cutout: 'C3' }, - }, - createdAt: 'fakeTimestamp', - startedAt: 'fakeTimestamp', - completedAt: 'fakeTimestamp', - status: 'succeeded', - }, - } const robot = useRobot(robotName) const calibrationStatusRobot = useRunCalibrationStatus(robotName, runId) const calibrationStatusModules = useModuleCalibrationStatus(robotName, runId) + const { missingModuleIds } = useUnmatchedModulesForProtocol(robotName, runId) const isFlex = useIsFlex(robotName) const runHasStarted = useRunHasStarted(runId) const { analysisErrors } = useProtocolAnalysisErrors(runId) const [expandedStepKey, setExpandedStepKey] = React.useState( null ) + const robotType = isFlex ? FLEX_ROBOT_TYPE : OT2_ROBOT_TYPE + const deckConfigCompatibility = useDeckConfigurationCompatibility( + robotType, + protocolAnalysis?.commands ?? [] + ) + + const isFixtureMismatch = getIsFixtureMismatch(deckConfigCompatibility) + + const isMissingModule = missingModuleIds.length > 0 const stepsKeysInOrder = - protocolData != null + protocolAnalysis != null ? [ ROBOT_CALIBRATION_STEP_KEY, MODULE_SETUP_KEY, @@ -144,32 +108,39 @@ export function ProtocolRunSetup({ : [ROBOT_CALIBRATION_STEP_KEY, LPC_KEY, LABWARE_SETUP_KEY] const targetStepKeyInOrder = stepsKeysInOrder.filter((stepKey: StepKey) => { - if (protocolData == null) { + if (protocolAnalysis == null) { return stepKey !== MODULE_SETUP_KEY && stepKey !== LIQUID_SETUP_KEY } if ( - protocolData.modules.length === 0 && - protocolData.liquids.length === 0 + protocolAnalysis.modules.length === 0 && + protocolAnalysis.liquids.length === 0 ) { return stepKey !== MODULE_SETUP_KEY && stepKey !== LIQUID_SETUP_KEY } - if (protocolData.modules.length === 0) { + if (protocolAnalysis.modules.length === 0) { return stepKey !== MODULE_SETUP_KEY } - if (protocolData.liquids.length === 0) { + if (protocolAnalysis.liquids.length === 0) { return stepKey !== LIQUID_SETUP_KEY } return true }) if (robot == null) return null - const hasLiquids = protocolData != null && protocolData.liquids?.length > 0 - const hasModules = protocolData != null && modules.length > 0 - const hasFixtures = - protocolData != null && Object.keys(STUBBED_LOAD_FIXTURE_BY_SLOT).length > 0 + const hasLiquids = + protocolAnalysis != null && protocolAnalysis.liquids?.length > 0 + const hasModules = protocolAnalysis != null && modules.length > 0 + + const protocolDeckConfig = getSimplestDeckConfigForProtocolCommands( + protocolAnalysis?.commands ?? [] + ) + + const requiredDeckConfig = getRequiredDeckConfig(protocolDeckConfig) + + const hasFixtures = requiredDeckConfig.length > 0 let moduleDescription: string = t(`${MODULE_SETUP_KEY}_description`, { count: modules.length, @@ -213,8 +184,8 @@ export function ProtocolRunSetup({ expandLabwarePositionCheckStep={() => setExpandedStepKey(LPC_KEY)} robotName={robotName} runId={runId} - loadedFixturesBySlot={STUBBED_LOAD_FIXTURE_BY_SLOT} hasModules={hasModules} + commands={protocolAnalysis?.commands ?? []} /> ), description: moduleDescription, @@ -251,7 +222,7 @@ export function ProtocolRunSetup({ protocolRunHeaderRef={protocolRunHeaderRef} robotName={robotName} runId={runId} - protocolAnalysis={protocolData} + protocolAnalysis={protocolAnalysis} /> ), description: hasLiquids @@ -266,7 +237,7 @@ export function ProtocolRunSetup({ gridGap={SPACING.spacing16} margin={SPACING.spacing16} > - {protocolData != null ? ( + {protocolAnalysis != null ? ( <> {runHasStarted ? ( @@ -315,6 +286,8 @@ export function ProtocolRunSetup({ calibrationStatusRobot, calibrationStatusModules, isFlex, + isMissingModule, + isFixtureMismatch, }} /> } @@ -345,6 +318,8 @@ interface StepRightElementProps { calibrationStatusModules?: ProtocolCalibrationStatus runHasStarted: boolean isFlex: boolean + isMissingModule: boolean + isFixtureMismatch: boolean } function StepRightElement(props: StepRightElementProps): JSX.Element | null { const { @@ -353,23 +328,39 @@ function StepRightElement(props: StepRightElementProps): JSX.Element | null { calibrationStatusRobot, calibrationStatusModules, isFlex, + isMissingModule, + isFixtureMismatch, } = props const { t } = useTranslation('protocol_setup') + const isActionNeeded = isMissingModule || isFixtureMismatch if ( !runHasStarted && (stepKey === ROBOT_CALIBRATION_STEP_KEY || (stepKey === MODULE_SETUP_KEY && isFlex)) ) { + const moduleAndDeckStatus = isActionNeeded + ? { complete: false } + : calibrationStatusModules const calibrationStatus = stepKey === ROBOT_CALIBRATION_STEP_KEY ? calibrationStatusRobot - : calibrationStatusModules + : moduleAndDeckStatus + + let statusText = t('calibration_ready') + if ( + stepKey === ROBOT_CALIBRATION_STEP_KEY && + !calibrationStatusRobot.complete + ) { + statusText = t('calibration_needed') + } else if (stepKey === MODULE_SETUP_KEY && !calibrationStatus?.complete) { + statusText = isActionNeeded ? t('action_needed') : t('calibration_needed') + } return ( - {calibrationStatus?.complete - ? t('calibration_ready') - : t('calibration_needed')} + {statusText} ) diff --git a/app/src/organisms/Devices/ProtocolRun/SetupInstrumentCalibration.tsx b/app/src/organisms/Devices/ProtocolRun/SetupInstrumentCalibration.tsx index 23d4079b744..f83fed73fe6 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupInstrumentCalibration.tsx +++ b/app/src/organisms/Devices/ProtocolRun/SetupInstrumentCalibration.tsx @@ -53,7 +53,7 @@ export function SetupInstrumentCalibration({ ) const attachedGripperMatch = usesGripper ? (instrumentsQueryData?.data ?? []).find( - (i): i is GripperData => i.instrumentType === 'gripper' + (i): i is GripperData => i.instrumentType === 'gripper' && i.ok ) ?? null : null diff --git a/app/src/organisms/Devices/ProtocolRun/SetupLabware/LabwareListItem.tsx b/app/src/organisms/Devices/ProtocolRun/SetupLabware/LabwareListItem.tsx index d91a0673d32..b82c3d7b302 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupLabware/LabwareListItem.tsx +++ b/app/src/organisms/Devices/ProtocolRun/SetupLabware/LabwareListItem.tsx @@ -93,10 +93,18 @@ export function LabwareListItem( const { createLiveCommand } = useCreateLiveCommandMutation() const [isLatchLoading, setIsLatchLoading] = React.useState(false) const [isLatchClosed, setIsLatchClosed] = React.useState(false) - let slotInfo: string | null = - initialLocation !== 'offDeck' && 'slotName' in initialLocation - ? initialLocation.slotName - : null + + let slotInfo: string | null = null + + if (initialLocation !== 'offDeck' && 'slotName' in initialLocation) { + slotInfo = initialLocation.slotName + } else if ( + initialLocation !== 'offDeck' && + 'addressableAreaName' in initialLocation + ) { + slotInfo = initialLocation.addressableAreaName + } + let moduleDisplayName: string | null = null let extraAttentionText: JSX.Element | null = null let isCorrectHeaterShakerAttached: boolean = false diff --git a/app/src/organisms/Devices/ProtocolRun/SetupLabware/SetupLabwareMap.tsx b/app/src/organisms/Devices/ProtocolRun/SetupLabware/SetupLabwareMap.tsx index 0225ff8e575..528b293a390 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupLabware/SetupLabwareMap.tsx +++ b/app/src/organisms/Devices/ProtocolRun/SetupLabware/SetupLabwareMap.tsx @@ -12,12 +12,11 @@ import { import { FLEX_ROBOT_TYPE, getDeckDefFromRobotType, - getRobotTypeFromLoadedLabware, THERMOCYCLER_MODULE_V1, } from '@opentrons/shared-data' import { getLabwareSetupItemGroups } from '../../../../pages/Protocols/utils' -import { getDeckConfigFromProtocolCommands } from '../../../../resources/deck_configuration/utils' +import { getSimplestDeckConfigForProtocolCommands } from '../../../../resources/deck_configuration/utils' import { getAttachedProtocolModuleMatches } from '../../../ProtocolSetupModulesAndDeck/utils' import { useAttachedModules } from '../../hooks' import { LabwareInfoOverlay } from '../LabwareInfoOverlay' @@ -52,7 +51,7 @@ export function SetupLabwareMap({ const commands = protocolAnalysis.commands - const robotType = getRobotTypeFromLoadedLabware(protocolAnalysis.labware) + const robotType = protocolAnalysis.robotType ?? FLEX_ROBOT_TYPE const deckDef = getDeckDefFromRobotType(robotType) const protocolModulesInfo = getProtocolModulesInfo(protocolAnalysis, deckDef) @@ -107,7 +106,7 @@ export function SetupLabwareMap({ const { offDeckItems } = getLabwareSetupItemGroups(commands) - const deckConfig = getDeckConfigFromProtocolCommands( + const deckConfig = getSimplestDeckConfigForProtocolCommands( protocolAnalysis.commands ) diff --git a/app/src/organisms/Devices/ProtocolRun/SetupLabware/__tests__/SetupLabwareMap.test.tsx b/app/src/organisms/Devices/ProtocolRun/SetupLabware/__tests__/SetupLabwareMap.test.tsx index 079ef1fcdb3..e6fabcac8ad 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupLabware/__tests__/SetupLabwareMap.test.tsx +++ b/app/src/organisms/Devices/ProtocolRun/SetupLabware/__tests__/SetupLabwareMap.test.tsx @@ -3,12 +3,11 @@ import { when, resetAllWhenMocks } from 'jest-when' import { StaticRouter } from 'react-router-dom' import { renderWithProviders, - componentPropsMatcher, partialComponentPropsMatcher, LabwareRender, Module, } from '@opentrons/components' -import { getModuleDef2 } from '@opentrons/shared-data' +import { OT2_ROBOT_TYPE, getModuleDef2 } from '@opentrons/shared-data' import fixture_tiprack_300_ul from '@opentrons/shared-data/labware/fixtures/2/fixture_tiprack_300_ul.json' import { i18n } from '../../../../../i18n' @@ -111,7 +110,7 @@ describe('SetupLabwareMap', () => { when(mockLabwareRender) .mockReturnValue(

) // this (default) empty div will be returned when LabwareRender isn't called with expected labware definition .calledWith( - componentPropsMatcher({ + partialComponentPropsMatcher({ definition: fixture_tiprack_300_ul, }) ) @@ -160,6 +159,7 @@ describe('SetupLabwareMap', () => { protocolAnalysis: ({ commands: [], labware: [], + robotType: OT2_ROBOT_TYPE, } as unknown) as CompletedProtocolAnalysis, }) @@ -237,6 +237,7 @@ describe('SetupLabwareMap', () => { protocolAnalysis: ({ commands: [], labware: [], + robotType: OT2_ROBOT_TYPE, } as unknown) as CompletedProtocolAnalysis, }) diff --git a/app/src/organisms/Devices/ProtocolRun/SetupLabware/index.tsx b/app/src/organisms/Devices/ProtocolRun/SetupLabware/index.tsx index 6ee3657de84..82dba6c6cc6 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupLabware/index.tsx +++ b/app/src/organisms/Devices/ProtocolRun/SetupLabware/index.tsx @@ -42,10 +42,7 @@ export function SetupLabware(props: SetupLabwareProps): JSX.Element { ) const isFlex = useIsFlex(robotName) - const moduleRenderInfoById = useModuleRenderInfoForProtocolById( - robotName, - runId - ) + const moduleRenderInfoById = useModuleRenderInfoForProtocolById(runId) const moduleModels = map( moduleRenderInfoById, ({ moduleDef }) => moduleDef.model diff --git a/app/src/organisms/Devices/ProtocolRun/SetupLiquids/SetupLiquidsMap.tsx b/app/src/organisms/Devices/ProtocolRun/SetupLiquids/SetupLiquidsMap.tsx index d639664bdbb..679a7afed6c 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupLiquids/SetupLiquidsMap.tsx +++ b/app/src/organisms/Devices/ProtocolRun/SetupLiquids/SetupLiquidsMap.tsx @@ -15,8 +15,8 @@ import { LabwareRender, } from '@opentrons/components' import { + FLEX_ROBOT_TYPE, getDeckDefFromRobotType, - getRobotTypeFromLoadedLabware, THERMOCYCLER_MODULE_V1, } from '@opentrons/shared-data' @@ -25,7 +25,7 @@ import { LabwareInfoOverlay } from '../LabwareInfoOverlay' import { LiquidsLabwareDetailsModal } from './LiquidsLabwareDetailsModal' import { getWellFillFromLabwareId } from './utils' import { getLabwareRenderInfo } from '../utils/getLabwareRenderInfo' -import { getDeckConfigFromProtocolCommands } from '../../../../resources/deck_configuration/utils' +import { getSimplestDeckConfigForProtocolCommands } from '../../../../resources/deck_configuration/utils' import { getStandardDeckViewLayerBlockList } from '../utils/getStandardDeckViewLayerBlockList' import { getAttachedProtocolModuleMatches } from '../../../ProtocolSetupModulesAndDeck/utils' import { getProtocolModulesInfo } from '../utils/getProtocolModulesInfo' @@ -64,13 +64,13 @@ export function SetupLiquidsMap( const initialLoadedLabwareByAdapter = parseInitialLoadedLabwareByAdapter( protocolAnalysis.commands ?? [] ) - const robotType = getRobotTypeFromLoadedLabware(protocolAnalysis.labware) + const robotType = protocolAnalysis.robotType ?? FLEX_ROBOT_TYPE const deckDef = getDeckDefFromRobotType(robotType) const labwareRenderInfo = getLabwareRenderInfo(protocolAnalysis, deckDef) const labwareByLiquidId = parseLabwareInfoByLiquidId( protocolAnalysis.commands ?? [] ) - const deckConfig = getDeckConfigFromProtocolCommands( + const deckConfig = getSimplestDeckConfigForProtocolCommands( protocolAnalysis.commands ) const deckLayerBlocklist = getStandardDeckViewLayerBlockList(robotType) @@ -96,6 +96,12 @@ export function SetupLiquidsMap( const topLabwareDisplayName = labwareInAdapterInMod?.params.displayName ?? module.nestedLabwareDisplayName + const nestedLabwareWellFill = getWellFillFromLabwareId( + module.nestedLabwareId ?? '', + liquids, + labwareByLiquidId + ) + const labwareHasLiquid = !isEmpty(nestedLabwareWellFill) return { moduleModel: module.moduleDef.model, @@ -106,18 +112,28 @@ export function SetupLiquidsMap( : {}, nestedLabwareDef: topLabwareDefinition, - moduleChildren: ( - <> - {topLabwareDefinition != null && topLabwareId != null ? ( + nestedLabwareWellFill, + moduleChildren: + topLabwareDefinition != null && topLabwareId != null ? ( + setHoverLabwareId(topLabwareId)} + onMouseLeave={() => setHoverLabwareId('')} + onClick={() => + labwareHasLiquid ? setLiquidDetailsLabwareId(topLabwareId) : null + } + cursor={labwareHasLiquid ? 'pointer' : ''} + > - ) : null} - - ), + + ) : null, } }) @@ -171,7 +187,7 @@ export function SetupLiquidsMap( const mockGetDeckDefFromRobotType = getDeckDefFromRobotType as jest.MockedFunction< typeof getDeckDefFromRobotType > -const mockGetRobotTypeFromLoadedLabware = getRobotTypeFromLoadedLabware as jest.MockedFunction< - typeof getRobotTypeFromLoadedLabware -> const mockParseInitialLoadedLabwareByAdapter = parseInitialLoadedLabwareByAdapter as jest.MockedFunction< typeof parseInitialLoadedLabwareByAdapter > @@ -97,8 +92,8 @@ const mockGetAttachedProtocolModuleMatches = getAttachedProtocolModuleMatches as const mockGetProtocolModulesInfo = getProtocolModulesInfo as jest.MockedFunction< typeof getProtocolModulesInfo > -const mockGetDeckConfigFromProtocolCommands = getDeckConfigFromProtocolCommands as jest.MockedFunction< - typeof getDeckConfigFromProtocolCommands +const mockGetSimplestDeckConfigForProtocolCommands = getSimplestDeckConfigForProtocolCommands as jest.MockedFunction< + typeof getSimplestDeckConfigForProtocolCommands > const RUN_ID = '1' @@ -132,13 +127,17 @@ const render = (props: React.ComponentProps) => { i18nInstance: i18n, }) } +const mockProtocolAnalysis = { + ...simpleAnalysisFileFixture, + robotType: OT2_ROBOT_TYPE, +} as any describe('SetupLiquidsMap', () => { let props: React.ComponentProps beforeEach(() => { props = { runId: RUN_ID, - protocolAnalysis: simpleAnalysisFileFixture as any, + protocolAnalysis: mockProtocolAnalysis, } when(mockLabwareRender) .mockReturnValue(
) // this (default) empty div will be returned when LabwareRender isn't called with expected labware definition @@ -162,22 +161,20 @@ describe('SetupLiquidsMap', () => { when(mockUseAttachedModules).calledWith().mockReturnValue([]) when(mockGetAttachedProtocolModuleMatches).mockReturnValue([]) when(mockGetLabwareRenderInfo) - .calledWith(simpleAnalysisFileFixture as any, ot2StandardDeckDef as any) + .calledWith(mockProtocolAnalysis, ot2StandardDeckDef as any) .mockReturnValue({}) - when(mockGetDeckConfigFromProtocolCommands) - .calledWith(simpleAnalysisFileFixture.commands as RunTimeCommand[]) - .mockReturnValue(EXTENDED_DECK_CONFIG_FIXTURE) - when(mockGetRobotTypeFromLoadedLabware) - .calledWith(simpleAnalysisFileFixture.labware as any) - .mockReturnValue(FLEX_ROBOT_TYPE) + when(mockGetSimplestDeckConfigForProtocolCommands) + .calledWith(mockProtocolAnalysis.commands as RunTimeCommand[]) + // TODO(bh, 2023-11-13): mock the cutout config protocol spec + .mockReturnValue([]) when(mockParseLiquidsInLoadOrder) .calledWith( - simpleAnalysisFileFixture.liquids as any, - simpleAnalysisFileFixture.commands as any + mockProtocolAnalysis.liquids as any, + mockProtocolAnalysis.commands as any ) .mockReturnValue([]) when(mockParseInitialLoadedLabwareByAdapter) - .calledWith(simpleAnalysisFileFixture.commands as any) + .calledWith(mockProtocolAnalysis.commands as any) .mockReturnValue({}) when(mockLabwareInfoOverlay) .mockReturnValue(
) // this (default) empty div will be returned when LabwareInfoOverlay isn't called with expected props @@ -208,21 +205,18 @@ describe('SetupLiquidsMap', () => { }) it('should render base deck - robot type is OT-2', () => { - when(mockGetRobotTypeFromLoadedLabware) - .calledWith(simpleAnalysisFileFixture.labware as any) - .mockReturnValue(OT2_ROBOT_TYPE) when(mockGetDeckDefFromRobotType) .calledWith(OT2_ROBOT_TYPE) .mockReturnValue(ot2StandardDeckDef as any) when(mockParseLabwareInfoByLiquidId) - .calledWith(simpleAnalysisFileFixture.commands as any) + .calledWith(mockProtocolAnalysis.commands as any) .mockReturnValue({}) mockUseAttachedModules.mockReturnValue( mockFetchModulesSuccessActionPayloadModules ) when(mockGetLabwareRenderInfo).mockReturnValue({}) when(mockGetProtocolModulesInfo) - .calledWith(simpleAnalysisFileFixture as any, ot2StandardDeckDef as any) + .calledWith(mockProtocolAnalysis, ot2StandardDeckDef as any) .mockReturnValue(mockProtocolModuleInfo) when(mockGetAttachedProtocolModuleMatches) .calledWith( @@ -271,12 +265,23 @@ describe('SetupLiquidsMap', () => { }) it('should render base deck - robot type is Flex', () => { + const mockFlexAnalysis = { + ...mockProtocolAnalysis, + robotType: FLEX_ROBOT_TYPE, + } + props = { + ...props, + protocolAnalysis: { + ...mockProtocolAnalysis, + robotType: FLEX_ROBOT_TYPE, + }, + } when(mockGetDeckDefFromRobotType) .calledWith(FLEX_ROBOT_TYPE) .mockReturnValue(ot3StandardDeckDef as any) when(mockGetLabwareRenderInfo) - .calledWith(simpleAnalysisFileFixture as any, ot3StandardDeckDef as any) + .calledWith(mockFlexAnalysis, ot3StandardDeckDef as any) .mockReturnValue({ [MOCK_300_UL_TIPRACK_ID]: { labwareDef: fixture_tiprack_300_ul as LabwareDefinition2, @@ -289,14 +294,14 @@ describe('SetupLiquidsMap', () => { }) when(mockParseLabwareInfoByLiquidId) - .calledWith(simpleAnalysisFileFixture.commands as any) + .calledWith(mockFlexAnalysis.commands as any) .mockReturnValue({}) mockUseAttachedModules.mockReturnValue( mockFetchModulesSuccessActionPayloadModules ) when(mockGetProtocolModulesInfo) - .calledWith(simpleAnalysisFileFixture as any, ot3StandardDeckDef as any) + .calledWith(mockFlexAnalysis, ot3StandardDeckDef as any) .mockReturnValue(mockProtocolModuleInfo) when(mockGetAttachedProtocolModuleMatches) .calledWith( @@ -335,7 +340,6 @@ describe('SetupLiquidsMap', () => { when(mockBaseDeck) .calledWith( partialComponentPropsMatcher({ - deckConfig: EXTENDED_DECK_CONFIG_FIXTURE, deckLayerBlocklist: getStandardDeckViewLayerBlockList( FLEX_ROBOT_TYPE ), diff --git a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/LocationConflictModal.tsx b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/LocationConflictModal.tsx index c2ac2721c19..0551b9fc22d 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/LocationConflictModal.tsx +++ b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/LocationConflictModal.tsx @@ -21,9 +21,12 @@ import { BORDERS, } from '@opentrons/components' import { + getCutoutDisplayName, getFixtureDisplayName, getModuleDisplayName, - STANDARD_SLOT_LOAD_NAME, + SINGLE_RIGHT_CUTOUTS, + SINGLE_LEFT_SLOT_FIXTURE, + SINGLE_RIGHT_SLOT_FIXTURE, } from '@opentrons/shared-data' import { Portal } from '../../../../App/portal' import { LegacyModal } from '../../../../molecules/LegacyModal' @@ -32,16 +35,16 @@ import { Modal } from '../../../../molecules/Modal' import { SmallButton } from '../../../../atoms/buttons/SmallButton' import type { - Cutout, - Fixture, - FixtureLoadName, + CutoutConfig, + CutoutId, + CutoutFixtureId, ModuleModel, } from '@opentrons/shared-data' interface LocationConflictModalProps { onCloseClick: () => void - cutout: Cutout - requiredFixture?: FixtureLoadName + cutoutId: CutoutId + requiredFixtureId?: CutoutFixtureId requiredModule?: ModuleModel isOnDevice?: boolean } @@ -51,33 +54,44 @@ export const LocationConflictModal = ( ): JSX.Element => { const { onCloseClick, - cutout, - requiredFixture, + cutoutId, + requiredFixtureId, requiredModule, isOnDevice = false, } = props const { t, i18n } = useTranslation(['protocol_setup', 'shared']) const deckConfig = useDeckConfigurationQuery().data ?? [] const { updateDeckConfiguration } = useUpdateDeckConfigurationMutation() - const deckConfigurationAtLocationLoadName = deckConfig.find( - (deckFixture: Fixture) => deckFixture.fixtureLocation === cutout - )?.loadName + const deckConfigurationAtLocationFixtureId = deckConfig.find( + (deckFixture: CutoutConfig) => deckFixture.cutoutId === cutoutId + )?.cutoutFixtureId const currentFixtureDisplayName = - deckConfigurationAtLocationLoadName != null - ? getFixtureDisplayName(deckConfigurationAtLocationLoadName) + deckConfigurationAtLocationFixtureId != null + ? getFixtureDisplayName(deckConfigurationAtLocationFixtureId) : '' const handleUpdateDeck = (): void => { - if (requiredFixture != null) { - updateDeckConfiguration({ - fixtureLocation: cutout, - loadName: requiredFixture, - }) + if (requiredFixtureId != null) { + const newRequiredFixtureDeckConfig = deckConfig.map(fixture => + fixture.cutoutId === cutoutId + ? { ...fixture, cutoutFixtureId: requiredFixtureId } + : fixture + ) + + updateDeckConfiguration(newRequiredFixtureDeckConfig) } else { - updateDeckConfiguration({ - fixtureLocation: cutout, - loadName: STANDARD_SLOT_LOAD_NAME, - }) + const isRightCutout = SINGLE_RIGHT_CUTOUTS.includes(cutoutId) + const singleSlotFixture = isRightCutout + ? SINGLE_RIGHT_SLOT_FIXTURE + : SINGLE_LEFT_SLOT_FIXTURE + + const newSingleSlotDeckConfig = deckConfig.map(fixture => + fixture.cutoutId === cutoutId + ? { ...fixture, cutoutFixtureId: singleSlotFixture } + : fixture + ) + + updateDeckConfiguration(newSingleSlotDeckConfig) } onCloseClick() } @@ -101,7 +115,7 @@ export const LocationConflictModal = ( i18nKey="deck_conflict_info" values={{ currentFixture: currentFixtureDisplayName, - cutout, + cutout: getCutoutDisplayName(cutoutId), }} components={{ block: , @@ -114,7 +128,9 @@ export const LocationConflictModal = ( fontWeight={TYPOGRAPHY.fontWeightBold} paddingBottom={SPACING.spacing8} > - {t('slot_location', { slotName: cutout })} + {t('slot_location', { + slotName: getCutoutDisplayName(cutoutId), + })} - {requiredFixture != null && - getFixtureDisplayName(requiredFixture)} + {requiredFixtureId != null && + getFixtureDisplayName(requiredFixtureId)} {requiredModule != null && getModuleDisplayName(requiredModule)} @@ -198,7 +214,7 @@ export const LocationConflictModal = ( i18nKey="deck_conflict_info" values={{ currentFixture: currentFixtureDisplayName, - cutout, + cutout: getCutoutDisplayName(cutoutId), }} components={{ block: , @@ -210,7 +226,9 @@ export const LocationConflictModal = ( fontSize={TYPOGRAPHY.fontSizeH4} fontWeight={TYPOGRAPHY.fontWeightBold} > - {t('slot_location', { slotName: cutout })} + {t('slot_location', { + slotName: getCutoutDisplayName(cutoutId), + })} - {requiredFixture != null && - getFixtureDisplayName(requiredFixture)} + {requiredFixtureId != null && + getFixtureDisplayName(requiredFixtureId)} {requiredModule != null && getModuleDisplayName(requiredModule)} @@ -264,7 +282,9 @@ export const LocationConflictModal = ( {i18n.format(t('shared:cancel'), 'capitalize')} - {t('update_deck')} + {requiredModule != null + ? t('confirm_removal') + : t('update_deck')} diff --git a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/NotConfiguredModal.tsx b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/NotConfiguredModal.tsx index c568ef1fe95..dbed3152c1a 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/NotConfiguredModal.tsx +++ b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/NotConfiguredModal.tsx @@ -1,6 +1,9 @@ import * as React from 'react' import { useTranslation } from 'react-i18next' -import { useUpdateDeckConfigurationMutation } from '@opentrons/react-api-client/src/deck_configuration' +import { + useDeckConfigurationQuery, + useUpdateDeckConfigurationMutation, +} from '@opentrons/react-api-client/src/deck_configuration' import { Flex, DIRECTION_COLUMN, @@ -17,26 +20,30 @@ import { Portal } from '../../../../App/portal' import { LegacyModal } from '../../../../molecules/LegacyModal' import { StyledText } from '../../../../atoms/text' -import type { Cutout, FixtureLoadName } from '@opentrons/shared-data' +import type { CutoutFixtureId, CutoutId } from '@opentrons/shared-data' interface NotConfiguredModalProps { onCloseClick: () => void - requiredFixture: FixtureLoadName - cutout: Cutout + requiredFixtureId: CutoutFixtureId + cutoutId: CutoutId } export const NotConfiguredModal = ( props: NotConfiguredModalProps ): JSX.Element => { - const { onCloseClick, cutout, requiredFixture } = props + const { onCloseClick, cutoutId, requiredFixtureId } = props const { t, i18n } = useTranslation(['protocol_setup', 'shared']) const { updateDeckConfiguration } = useUpdateDeckConfigurationMutation() + const deckConfig = useDeckConfigurationQuery()?.data ?? [] const handleUpdateDeck = (): void => { - updateDeckConfiguration({ - fixtureLocation: cutout, - loadName: requiredFixture, - }) + const newDeckConfig = deckConfig.map(fixture => + fixture.cutoutId === cutoutId + ? { ...fixture, cutoutFixtureId: requiredFixtureId } + : fixture + ) + + updateDeckConfiguration(newDeckConfig) onCloseClick() } @@ -46,7 +53,7 @@ export const NotConfiguredModal = ( title={ {t('add_fixture', { - fixtureName: getFixtureDisplayName(requiredFixture), + fixtureName: getFixtureDisplayName(requiredFixtureId), })} } @@ -64,7 +71,7 @@ export const NotConfiguredModal = ( justifyContent={JUSTIFY_SPACE_BETWEEN} > - {getFixtureDisplayName(requiredFixture)} + {getFixtureDisplayName(requiredFixtureId)} {i18n.format(t('add'), 'capitalize')} diff --git a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/SetupFixtureList.tsx b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/SetupFixtureList.tsx index 4817fc8ca09..c2c29fdcbea 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/SetupFixtureList.tsx +++ b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/SetupFixtureList.tsx @@ -1,5 +1,4 @@ import * as React from 'react' -import map from 'lodash/map' import { css } from 'styled-components' import { useTranslation } from 'react-i18next' import { @@ -16,32 +15,26 @@ import { TYPOGRAPHY, } from '@opentrons/components' import { - FixtureLoadName, + SINGLE_SLOT_FIXTURES, + getCutoutDisplayName, getFixtureDisplayName, - LoadFixtureRunTimeCommand, } from '@opentrons/shared-data' -import { - useLoadedFixturesConfigStatus, - CONFIGURED, - CONFLICTING, - NOT_CONFIGURED, -} from '../../../../resources/deck_configuration/hooks' import { StyledText } from '../../../../atoms/text' import { StatusLabel } from '../../../../atoms/StatusLabel' import { TertiaryButton } from '../../../../atoms/buttons/TertiaryButton' import { LocationConflictModal } from './LocationConflictModal' import { NotConfiguredModal } from './NotConfiguredModal' import { getFixtureImage } from './utils' +import { DeckFixtureSetupInstructionsModal } from '../../../DeviceDetailsDeckConfiguration/DeckFixtureSetupInstructionsModal' -import type { LoadedFixturesBySlot } from '@opentrons/api-client' -import type { Cutout } from '@opentrons/shared-data' +import type { CutoutConfigAndCompatibility } from '../../../../resources/deck_configuration/hooks' interface SetupFixtureListProps { - loadedFixturesBySlot: LoadedFixturesBySlot + deckConfigCompatibility: CutoutConfigAndCompatibility[] } export const SetupFixtureList = (props: SetupFixtureListProps): JSX.Element => { - const { loadedFixturesBySlot } = props + const { deckConfigCompatibility } = props const { t, i18n } = useTranslation('protocol_setup') return ( <> @@ -81,15 +74,11 @@ export const SetupFixtureList = (props: SetupFixtureListProps): JSX.Element => { gridGap={SPACING.spacing4} marginBottom={SPACING.spacing24} > - {map(loadedFixturesBySlot, ({ params, id }) => { - const { loadName, location } = params + {deckConfigCompatibility.map(cutoutConfigAndCompatibility => { return ( ) })} @@ -98,54 +87,43 @@ export const SetupFixtureList = (props: SetupFixtureListProps): JSX.Element => { ) } -interface FixtureListItemProps { - loadedFixtures: LoadFixtureRunTimeCommand[] - loadName: FixtureLoadName - cutout: Cutout - commandId: string -} +interface FixtureListItemProps extends CutoutConfigAndCompatibility {} export function FixtureListItem({ - loadedFixtures, - loadName, - cutout, - commandId, + cutoutId, + cutoutFixtureId, + compatibleCutoutFixtureIds, }: FixtureListItemProps): JSX.Element { const { t } = useTranslation('protocol_setup') - const configuration = useLoadedFixturesConfigStatus(loadedFixtures) - const configurationStatus = configuration.find( - config => config.id === commandId - )?.configurationStatus + const isCurrentFixtureCompatible = + cutoutFixtureId != null && + compatibleCutoutFixtureIds.includes(cutoutFixtureId) + const isConflictingFixtureConfigured = + cutoutFixtureId != null && !SINGLE_SLOT_FIXTURES.includes(cutoutFixtureId) let statusLabel - if ( - configurationStatus === CONFLICTING || - configurationStatus === NOT_CONFIGURED - ) { + if (!isCurrentFixtureCompatible) { statusLabel = ( ) - } else if (configurationStatus === CONFIGURED) { + } else { statusLabel = ( ) - // shouldn't run into this case - } else { - statusLabel = 'status label unknown' } const [ @@ -157,20 +135,30 @@ export function FixtureListItem({ setShowNotConfiguredModal, ] = React.useState(false) + const [ + showSetupInstructionsModal, + setShowSetupInstructionsModal, + ] = React.useState(false) + return ( <> {showNotConfiguredModal ? ( setShowNotConfiguredModal(false)} - cutout={cutout} - requiredFixture={loadName} + cutoutId={cutoutId} + requiredFixtureId={compatibleCutoutFixtureIds[0]} /> ) : null} {showLocationConflictModal ? ( setShowLocationConflictModal(false)} - cutout={cutout} - requiredFixture={loadName} + cutoutId={cutoutId} + requiredFixtureId={compatibleCutoutFixtureIds[0]} + /> + ) : null} + {showSetupInstructionsModal ? ( + ) : null} - + {cutoutFixtureId != null ? ( + + ) : null} - {getFixtureDisplayName(loadName)} + {isCurrentFixtureCompatible + ? getFixtureDisplayName(cutoutFixtureId) + : getFixtureDisplayName(compatibleCutoutFixtureIds?.[0])} console.log('wire this up')} + onClick={() => setShowSetupInstructionsModal(true)} > {t('view_setup_instructions')} @@ -215,7 +214,7 @@ export function FixtureListItem({ - {cutout} + {getCutoutDisplayName(cutoutId)} {statusLabel} - {configurationStatus !== CONFIGURED ? ( + {!isCurrentFixtureCompatible ? ( - configurationStatus === CONFLICTING + isConflictingFixtureConfigured ? setShowLocationConflictModal(true) : setShowNotConfiguredModal(true) } diff --git a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/SetupModulesList.tsx b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/SetupModulesList.tsx index 0f52f417742..07c943e8341 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/SetupModulesList.tsx +++ b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/SetupModulesList.tsx @@ -20,6 +20,8 @@ import { TOOLTIP_LEFT, } from '@opentrons/components' import { + FLEX_ROBOT_TYPE, + getDeckDefFromRobotType, getModuleType, HEATERSHAKER_MODULE_TYPE, HEATERSHAKER_MODULE_V1, @@ -33,6 +35,7 @@ import { TertiaryButton } from '../../../../atoms/buttons' import { StatusLabel } from '../../../../atoms/StatusLabel' import { StyledText } from '../../../../atoms/text' import { Tooltip } from '../../../../atoms/Tooltip' +import { getCutoutIdForSlotName } from '../../../../resources/deck_configuration/utils' import { useChainLiveCommands } from '../../../../resources/runs/hooks' import { ModuleSetupModal } from '../../../ModuleCard/ModuleSetupModal' import { ModuleWizardFlows } from '../../../ModuleWizardFlows' @@ -42,6 +45,7 @@ import { ModuleRenderInfoForProtocol, useIsFlex, useModuleRenderInfoForProtocolById, + useRobot, useUnmatchedModulesForProtocol, useRunCalibrationStatus, } from '../../hooks' @@ -50,7 +54,11 @@ import { MultipleModulesModal } from './MultipleModulesModal' import { UnMatchedModuleWarning } from './UnMatchedModuleWarning' import { getModuleImage } from './utils' -import type { Cutout, ModuleModel, Fixture } from '@opentrons/shared-data' +import type { + CutoutConfig, + DeckDefinition, + ModuleModel, +} from '@opentrons/shared-data' import type { AttachedModule } from '../../../../redux/modules/types' import type { ProtocolCalibrationStatus } from '../../hooks' @@ -63,7 +71,6 @@ export const SetupModulesList = (props: SetupModulesListProps): JSX.Element => { const { robotName, runId } = props const { t } = useTranslation('protocol_setup') const moduleRenderInfoForProtocolById = useModuleRenderInfoForProtocolById( - robotName, runId ) const { @@ -72,6 +79,8 @@ export const SetupModulesList = (props: SetupModulesListProps): JSX.Element => { } = useUnmatchedModulesForProtocol(robotName, runId) const isFlex = useIsFlex(robotName) + const { robotModel } = useRobot(robotName) ?? {} + const deckDef = getDeckDefFromRobotType(robotModel ?? FLEX_ROBOT_TYPE) const calibrationStatus = useRunCalibrationStatus(robotName, runId) @@ -188,6 +197,7 @@ export const SetupModulesList = (props: SetupModulesListProps): JSX.Element => { isFlex={isFlex} calibrationStatus={calibrationStatus} conflictedFixture={conflictedFixture} + deckDef={deckDef} /> ) } @@ -205,7 +215,8 @@ interface ModulesListItemProps { heaterShakerModuleFromProtocol: ModuleRenderInfoForProtocol | null isFlex: boolean calibrationStatus: ProtocolCalibrationStatus - conflictedFixture?: Fixture + deckDef: DeckDefinition + conflictedFixture?: CutoutConfig } export function ModulesListItem({ @@ -217,6 +228,7 @@ export function ModulesListItem({ isFlex, calibrationStatus, conflictedFixture, + deckDef, }: ModulesListItemProps): JSX.Element { const { t } = useTranslation(['protocol_setup', 'module_wizard_flows']) const moduleConnectionStatus = @@ -346,13 +358,16 @@ export function ModulesListItem({ ) } + // convert slot name to cutout id + const cutoutIdForSlotName = getCutoutIdForSlotName(slotName, deckDef) + return ( <> - {showLocationConflictModal ? ( + {showLocationConflictModal && cutoutIdForSlotName != null ? ( setShowLocationConflictModal(false)} // TODO(bh, 2023-10-10): when module caddies are fixtures, narrow slotName to Cutout and remove type assertion - cutout={slotName as Cutout} + cutoutId={cutoutIdForSlotName} requiredModule={moduleModel} /> ) : null} diff --git a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/SetupModulesMap.tsx b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/SetupModulesMap.tsx index 6d24f7b6eee..0a555112c8c 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/SetupModulesMap.tsx +++ b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/SetupModulesMap.tsx @@ -8,11 +8,11 @@ import { SPACING, } from '@opentrons/components' import { + FLEX_ROBOT_TYPE, getDeckDefFromRobotType, - getRobotTypeFromLoadedLabware, } from '@opentrons/shared-data' -import { getDeckConfigFromProtocolCommands } from '../../../../resources/deck_configuration/utils' +import { getSimplestDeckConfigForProtocolCommands } from '../../../../resources/deck_configuration/utils' import { useMostRecentCompletedAnalysis } from '../../../LabwarePositionCheck/useMostRecentCompletedAnalysis' import { getAttachedProtocolModuleMatches } from '../../../ProtocolSetupModulesAndDeck/utils' import { ModuleInfo } from '../../ModuleInfo' @@ -42,7 +42,7 @@ export const SetupModulesMap = ({ // early return null if no protocol analysis if (protocolAnalysis == null) return null - const robotType = getRobotTypeFromLoadedLabware(protocolAnalysis.labware) + const robotType = protocolAnalysis.robotType ?? FLEX_ROBOT_TYPE const deckDef = getDeckDefFromRobotType(robotType) const protocolModulesInfo = getProtocolModulesInfo(protocolAnalysis, deckDef) @@ -64,7 +64,7 @@ export const SetupModulesMap = ({ ), })) - const deckConfig = getDeckConfigFromProtocolCommands( + const deckConfig = getSimplestDeckConfigForProtocolCommands( protocolAnalysis.commands ) @@ -77,7 +77,10 @@ export const SetupModulesMap = ({ > ({ + cutoutId, + cutoutFixtureId, + }))} deckLayerBlocklist={getStandardDeckViewLayerBlockList(robotType)} robotType={robotType} labwareLocations={[]} diff --git a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/LocationConflictModal.test.tsx b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/LocationConflictModal.test.tsx index aeca0634478..882ece03a2c 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/LocationConflictModal.test.tsx +++ b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/LocationConflictModal.test.tsx @@ -2,10 +2,8 @@ import * as React from 'react' import { UseQueryResult } from 'react-query' import { renderWithProviders } from '@opentrons/components' import { - DeckConfiguration, - STAGING_AREA_LOAD_NAME, - Fixture, - TRASH_BIN_LOAD_NAME, + STAGING_AREA_RIGHT_SLOT_FIXTURE, + TRASH_BIN_ADAPTER_FIXTURE, } from '@opentrons/shared-data' import { useDeckConfigurationQuery, @@ -14,6 +12,8 @@ import { import { i18n } from '../../../../../i18n' import { LocationConflictModal } from '../LocationConflictModal' +import type { DeckConfiguration } from '@opentrons/shared-data' + jest.mock('@opentrons/react-api-client/src/deck_configuration') const mockUseDeckConfigurationQuery = useDeckConfigurationQuery as jest.MockedFunction< @@ -24,10 +24,9 @@ const mockUseUpdateDeckConfigurationMutation = useUpdateDeckConfigurationMutatio > const mockFixture = { - fixtureId: 'mockId', - fixtureLocation: 'B3', - loadName: STAGING_AREA_LOAD_NAME, -} as Fixture + cutoutId: 'cutoutB3', + cutoutFixtureId: STAGING_AREA_RIGHT_SLOT_FIXTURE, +} const render = (props: React.ComponentProps) => { return renderWithProviders(, { @@ -41,8 +40,8 @@ describe('LocationConflictModal', () => { beforeEach(() => { props = { onCloseClick: jest.fn(), - cutout: 'B3', - requiredFixture: TRASH_BIN_LOAD_NAME, + cutoutId: 'cutoutB3', + requiredFixtureId: TRASH_BIN_ADAPTER_FIXTURE, } mockUseDeckConfigurationQuery.mockReturnValue({ data: [mockFixture], @@ -57,8 +56,8 @@ describe('LocationConflictModal', () => { getByText('Slot B3') getByText('Protocol specifies') getByText('Currently configured') - getAllByText('Staging Area Slot') - getByText('Trash Bin') + getAllByText('Staging area slot') + getByText('Trash bin') getByRole('button', { name: 'Cancel' }).click() expect(props.onCloseClick).toHaveBeenCalled() getByRole('button', { name: 'Update deck' }).click() @@ -67,7 +66,7 @@ describe('LocationConflictModal', () => { it('should render the modal information for a module fixture conflict', () => { props = { onCloseClick: jest.fn(), - cutout: 'B3', + cutoutId: 'cutoutB3', requiredModule: 'heaterShakerModuleV1', } const { getByText, getByRole } = render(props) @@ -76,7 +75,7 @@ describe('LocationConflictModal', () => { getByText('Heater-Shaker Module GEN1') getByRole('button', { name: 'Cancel' }).click() expect(props.onCloseClick).toHaveBeenCalled() - getByRole('button', { name: 'Update deck' }).click() + getByRole('button', { name: 'Confirm removal' }).click() expect(mockUpdate).toHaveBeenCalled() }) it('should render correct info for a odd', () => { @@ -89,8 +88,8 @@ describe('LocationConflictModal', () => { getByText('Slot B3') getByText('Protocol specifies') getByText('Currently configured') - getAllByText('Staging Area Slot') - getByText('Trash Bin') + getAllByText('Staging area slot') + getByText('Trash bin') getByText('Cancel').click() expect(props.onCloseClick).toHaveBeenCalled() getByText('Confirm removal').click() diff --git a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/NotConfiguredModal.test.tsx b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/NotConfiguredModal.test.tsx index d18bee369a8..f2d5fb5ca38 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/NotConfiguredModal.test.tsx +++ b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/NotConfiguredModal.test.tsx @@ -1,15 +1,24 @@ import * as React from 'react' import { renderWithProviders } from '@opentrons/components' -import { TRASH_BIN_LOAD_NAME } from '@opentrons/shared-data' -import { useUpdateDeckConfigurationMutation } from '@opentrons/react-api-client/src/deck_configuration' +import { TRASH_BIN_ADAPTER_FIXTURE } from '@opentrons/shared-data' +import { + useDeckConfigurationQuery, + useUpdateDeckConfigurationMutation, +} from '@opentrons/react-api-client/src/deck_configuration' import { i18n } from '../../../../../i18n' import { NotConfiguredModal } from '../NotConfiguredModal' +import type { UseQueryResult } from 'react-query' +import type { DeckConfiguration } from '@opentrons/shared-data' + jest.mock('@opentrons/react-api-client/src/deck_configuration') const mockUseUpdateDeckConfigurationMutation = useUpdateDeckConfigurationMutation as jest.MockedFunction< typeof useUpdateDeckConfigurationMutation > +const mockUseDeckConfigurationQuery = useDeckConfigurationQuery as jest.MockedFunction< + typeof useDeckConfigurationQuery +> const render = (props: React.ComponentProps) => { return renderWithProviders(, { @@ -23,20 +32,23 @@ describe('NotConfiguredModal', () => { beforeEach(() => { props = { onCloseClick: jest.fn(), - cutout: 'B3', - requiredFixture: TRASH_BIN_LOAD_NAME, + cutoutId: 'cutoutB3', + requiredFixtureId: TRASH_BIN_ADAPTER_FIXTURE, } mockUseUpdateDeckConfigurationMutation.mockReturnValue({ updateDeckConfiguration: mockUpdate, } as any) + mockUseDeckConfigurationQuery.mockReturnValue(({ + data: [], + } as unknown) as UseQueryResult) }) it('renders the correct text and button works as expected', () => { const { getByText, getByRole } = render(props) - getByText('Add Trash Bin to deck configuration') + getByText('Add Trash bin to deck configuration') getByText( 'Add this fixture to your deck configuration. It will be referenced during protocol analysis.' ) - getByText('Trash Bin') + getByText('Trash bin') getByRole('button', { name: 'Add' }).click() expect(mockUpdate).toHaveBeenCalled() }) diff --git a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/SetupFixtureList.test.tsx b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/SetupFixtureList.test.tsx index 8da24a61675..d9245a370e4 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/SetupFixtureList.test.tsx +++ b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/SetupFixtureList.test.tsx @@ -1,47 +1,41 @@ import * as React from 'react' import { renderWithProviders } from '@opentrons/components' -import { - LoadFixtureRunTimeCommand, - WASTE_CHUTE_LOAD_NAME, - WASTE_CHUTE_SLOT, -} from '@opentrons/shared-data' +import { STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE } from '@opentrons/shared-data' import { i18n } from '../../../../../i18n' -import { useLoadedFixturesConfigStatus } from '../../../../../resources/deck_configuration/hooks' import { SetupFixtureList } from '../SetupFixtureList' import { NotConfiguredModal } from '../NotConfiguredModal' import { LocationConflictModal } from '../LocationConflictModal' -import type { LoadedFixturesBySlot } from '@opentrons/api-client' +import { DeckFixtureSetupInstructionsModal } from '../../../../DeviceDetailsDeckConfiguration/DeckFixtureSetupInstructionsModal' + +import type { CutoutConfigAndCompatibility } from '../../../../../resources/deck_configuration/hooks' jest.mock('../../../../../resources/deck_configuration/hooks') jest.mock('../LocationConflictModal') jest.mock('../NotConfiguredModal') +jest.mock( + '../../../../DeviceDetailsDeckConfiguration/DeckFixtureSetupInstructionsModal' +) -const mockUseLoadedFixturesConfigStatus = useLoadedFixturesConfigStatus as jest.MockedFunction< - typeof useLoadedFixturesConfigStatus -> const mockLocationConflictModal = LocationConflictModal as jest.MockedFunction< typeof LocationConflictModal > const mockNotConfiguredModal = NotConfiguredModal as jest.MockedFunction< typeof NotConfiguredModal > -const mockLoadedFixture = { - id: 'stubbed_load_fixture', - commandType: 'loadFixture', - params: { - fixtureId: 'stubbedFixtureId', - loadName: WASTE_CHUTE_LOAD_NAME, - location: { cutout: 'D3' }, - }, - createdAt: 'fakeTimestamp', - startedAt: 'fakeTimestamp', - completedAt: 'fakeTimestamp', - status: 'succeeded', -} as LoadFixtureRunTimeCommand +const mockDeckFixtureSetupInstructionsModal = DeckFixtureSetupInstructionsModal as jest.MockedFunction< + typeof DeckFixtureSetupInstructionsModal +> -const mockLoadedFixturesBySlot: LoadedFixturesBySlot = { - D3: mockLoadedFixture, -} +const mockDeckConfigCompatibility: CutoutConfigAndCompatibility[] = [ + { + cutoutId: 'cutoutD3', + cutoutFixtureId: STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, + requiredAddressableAreas: ['D4'], + compatibleCutoutFixtureIds: [ + STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, + ], + }, +] const render = (props: React.ComponentProps) => { return renderWithProviders(, { @@ -53,18 +47,15 @@ describe('SetupFixtureList', () => { let props: React.ComponentProps beforeEach(() => { props = { - loadedFixturesBySlot: mockLoadedFixturesBySlot, + deckConfigCompatibility: mockDeckConfigCompatibility, } - mockUseLoadedFixturesConfigStatus.mockReturnValue([ - { - ...mockLoadedFixture, - configurationStatus: 'configured', - }, - ]) mockLocationConflictModal.mockReturnValue(
mock location conflict modal
) mockNotConfiguredModal.mockReturnValue(
mock not configured modal
) + mockDeckFixtureSetupInstructionsModal.mockReturnValue( +
mock DeckFixtureSetupInstructionsModal
+ ) }) it('should render the headers and a fixture with configured status', () => { @@ -72,33 +63,29 @@ describe('SetupFixtureList', () => { getByText('Fixture') getByText('Location') getByText('Status') - getByText('Waste Chute') + getByText('Waste chute with staging area slot') getByRole('button', { name: 'View setup instructions' }) - getByText(WASTE_CHUTE_SLOT) + getByText('D3') getByText('Configured') }) - it('should render the headers and a fixture with conflicted status', () => { - mockUseLoadedFixturesConfigStatus.mockReturnValue([ - { - ...mockLoadedFixture, - configurationStatus: 'conflicting', - }, - ]) - const { getByText, getByRole } = render(props)[0] - getByText('Location conflict') - getByRole('button', { name: 'Update deck' }).click() - getByText('mock location conflict modal') - }) - it('should render the headers and a fixture with not configured status and button', () => { - mockUseLoadedFixturesConfigStatus.mockReturnValue([ - { - ...mockLoadedFixture, - configurationStatus: 'not configured', - }, - ]) + + it('should render the mock setup instructions modal, when clicking view setup instructions', () => { const { getByText, getByRole } = render(props)[0] - getByText('Not configured') - getByRole('button', { name: 'Update deck' }).click() - getByText('mock not configured modal') + getByRole('button', { name: 'View setup instructions' }).click() + getByText('mock DeckFixtureSetupInstructionsModal') }) + + // TODO(bh, 2023-11-14): implement test cases when example JSON protocol fixtures exist + // it('should render the headers and a fixture with conflicted status', () => { + // const { getByText, getByRole } = render(props)[0] + // getByText('Location conflict') + // getByRole('button', { name: 'Update deck' }).click() + // getByText('mock location conflict modal') + // }) + // it('should render the headers and a fixture with not configured status and button', () => { + // const { getByText, getByRole } = render(props)[0] + // getByText('Not configured') + // getByRole('button', { name: 'Update deck' }).click() + // getByText('mock not configured modal') + // }) }) diff --git a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/SetupModulesAndDeck.test.tsx b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/SetupModulesAndDeck.test.tsx index fa44f9b124c..1651a56c6d9 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/SetupModulesAndDeck.test.tsx +++ b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/SetupModulesAndDeck.test.tsx @@ -2,8 +2,12 @@ import * as React from 'react' import { fireEvent } from '@testing-library/react' import { when } from 'jest-when' import { renderWithProviders } from '@opentrons/components' -import { WASTE_CHUTE_LOAD_NAME } from '@opentrons/shared-data' import { i18n } from '../../../../../i18n' +import { mockTemperatureModule } from '../../../../../redux/modules/__fixtures__' +import { + getIsFixtureMismatch, + getRequiredDeckConfig, +} from '../../../../../resources/deck_configuration/utils' import { useIsFlex, useRunHasStarted, @@ -14,30 +18,13 @@ import { SetupModuleAndDeck } from '../index' import { SetupModulesList } from '../SetupModulesList' import { SetupModulesMap } from '../SetupModulesMap' import { SetupFixtureList } from '../SetupFixtureList' -import { mockTemperatureModule } from '../../../../../redux/modules/__fixtures__' -import { LoadedFixturesBySlot } from '@opentrons/api-client' - -const mockLoadedFixturesBySlot: LoadedFixturesBySlot = { - D3: { - id: 'stubbed_load_fixture', - commandType: 'loadFixture', - params: { - fixtureId: 'stubbedFixtureId', - loadName: WASTE_CHUTE_LOAD_NAME, - location: { cutout: 'D3' }, - }, - createdAt: 'fakeTimestamp', - startedAt: 'fakeTimestamp', - completedAt: 'fakeTimestamp', - status: 'succeeded', - }, -} jest.mock('../../../hooks') jest.mock('../SetupModulesList') jest.mock('../SetupModulesMap') jest.mock('../SetupFixtureList') jest.mock('../../../../../redux/config') +jest.mock('../../../../../resources/deck_configuration/utils') const mockUseIsFlex = useIsFlex as jest.MockedFunction const mockUseRunHasStarted = useRunHasStarted as jest.MockedFunction< @@ -58,6 +45,12 @@ const mockSetupFixtureList = SetupFixtureList as jest.MockedFunction< const mockSetupModulesMap = SetupModulesMap as jest.MockedFunction< typeof SetupModulesMap > +const mockGetRequiredDeckConfig = getRequiredDeckConfig as jest.MockedFunction< + typeof getRequiredDeckConfig +> +const mockGetIsFixtureMismatch = getIsFixtureMismatch as jest.MockedFunction< + typeof getIsFixtureMismatch +> const MOCK_ROBOT_NAME = 'otie' const MOCK_RUN_ID = '1' @@ -75,7 +68,7 @@ describe('SetupModuleAndDeck', () => { runId: MOCK_RUN_ID, expandLabwarePositionCheckStep: () => jest.fn(), hasModules: true, - loadedFixturesBySlot: {}, + commands: [], } mockSetupFixtureList.mockReturnValue(
Mock setup fixture list
) mockSetupModulesList.mockReturnValue(
Mock setup modules list
) @@ -91,6 +84,8 @@ describe('SetupModuleAndDeck', () => { .calledWith(MOCK_ROBOT_NAME, MOCK_RUN_ID) .mockReturnValue({ complete: true }) when(mockUseIsFlex).calledWith(MOCK_ROBOT_NAME).mockReturnValue(false) + when(mockGetRequiredDeckConfig).mockReturnValue([]) + when(mockGetIsFixtureMismatch).mockReturnValue(false) }) it('renders the list and map view buttons', () => { @@ -141,7 +136,13 @@ describe('SetupModuleAndDeck', () => { it('should render the SetupModulesList and SetupFixtureList component when clicking List View for Flex', () => { when(mockUseIsFlex).calledWith(MOCK_ROBOT_NAME).mockReturnValue(true) - props.loadedFixturesBySlot = mockLoadedFixturesBySlot + when(mockGetRequiredDeckConfig).mockReturnValue([ + { + cutoutId: 'cutoutA1', + cutoutFixtureId: 'trashBinAdapter', + requiredAddressableAreas: ['movableTrashA1'], + }, + ]) const { getByRole, getByText } = render(props) const button = getByRole('button', { name: 'List View' }) fireEvent.click(button) @@ -149,10 +150,28 @@ describe('SetupModuleAndDeck', () => { getByText('Mock setup fixture list') }) + it('should not render the SetupFixtureList component when there are no required fixtures', () => { + when(mockUseIsFlex).calledWith(MOCK_ROBOT_NAME).mockReturnValue(true) + const { getByRole, getByText, queryByText } = render(props) + const button = getByRole('button', { name: 'List View' }) + fireEvent.click(button) + getByText('Mock setup modules list') + expect(queryByText('Mock setup fixture list')).toBeNull() + }) + it('should render the SetupModulesMap component when clicking Map View', () => { const { getByRole, getByText } = render(props) const button = getByRole('button', { name: 'Map View' }) fireEvent.click(button) getByText('Mock setup modules map') }) + + it('should render disabled button when deck config is not configured or there is a conflict', () => { + when(mockGetIsFixtureMismatch).mockReturnValue(true) + const { getByRole } = render(props) + const button = getByRole('button', { + name: 'Proceed to labware position check', + }) + expect(button).toBeDisabled() + }) }) diff --git a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/SetupModulesList.test.tsx b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/SetupModulesList.test.tsx index 4e2fc01c73c..7dc10b9d8ef 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/SetupModulesList.test.tsx +++ b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/SetupModulesList.test.tsx @@ -2,6 +2,7 @@ import * as React from 'react' import { when, resetAllWhenMocks } from 'jest-when' import { fireEvent, waitFor } from '@testing-library/react' import { renderWithProviders } from '@opentrons/components' +import { STAGING_AREA_RIGHT_SLOT_FIXTURE } from '@opentrons/shared-data' import { i18n } from '../../../../../i18n' import { mockMagneticModule as mockMagneticModuleFixture, @@ -27,11 +28,7 @@ import { UnMatchedModuleWarning } from '../UnMatchedModuleWarning' import { SetupModulesList } from '../SetupModulesList' import { LocationConflictModal } from '../LocationConflictModal' -import { - ModuleModel, - ModuleType, - STAGING_AREA_LOAD_NAME, -} from '@opentrons/shared-data' +import type { ModuleModel, ModuleType } from '@opentrons/shared-data' jest.mock('@opentrons/react-api-client') jest.mock('../../../hooks') @@ -156,7 +153,7 @@ describe('SetupModulesList', () => { it('should render the list view headers', () => { when(mockUseRunHasStarted).calledWith(RUN_ID).mockReturnValue(false) when(mockUseModuleRenderInfoForProtocolById) - .calledWith(ROBOT_NAME, RUN_ID) + .calledWith(RUN_ID) .mockReturnValue({}) const { getByText } = render(props) getByText('Module') @@ -352,7 +349,7 @@ describe('SetupModulesList', () => { const dupModPort = 10 const dupModHub = 2 when(mockUseModuleRenderInfoForProtocolById) - .calledWith(ROBOT_NAME, RUN_ID) + .calledWith(RUN_ID) .mockReturnValue({ [mockMagneticModule.moduleId]: { moduleId: mockMagneticModule.moduleId, @@ -446,7 +443,7 @@ describe('SetupModulesList', () => { fireEvent.click(moduleSetup) getByText('mockModuleSetupModal') }) - it('shoulde render a magnetic block with a conflicted fixture', () => { + it('should render a magnetic block with a conflicted fixture', () => { when(mockUseIsFlex).calledWith(ROBOT_NAME).mockReturnValue(true) mockUseModuleRenderInfoForProtocolById.mockReturnValue({ [mockMagneticBlock.id]: { @@ -463,12 +460,11 @@ describe('SetupModulesList', () => { nestedLabwareDef: null, nestedLabwareId: null, protocolLoadOrder: 0, - slotName: '1', + slotName: 'B3', attachedModuleMatch: null, conflictedFixture: { - fixtureId: 'mockId', - fixtureLocation: '1', - loadName: STAGING_AREA_LOAD_NAME, + cutoutId: 'cutoutB3', + cutoutFixtureId: STAGING_AREA_RIGHT_SLOT_FIXTURE, }, }, } as any) diff --git a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/SetupModulesMap.test.tsx b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/SetupModulesMap.test.tsx index 429ba4d9145..f2e1e01e4a3 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/SetupModulesMap.test.tsx +++ b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/SetupModulesMap.test.tsx @@ -2,6 +2,7 @@ import * as React from 'react' import '@testing-library/jest-dom' import { when, resetAllWhenMocks } from 'jest-when' import { StaticRouter } from 'react-router-dom' +import { OT2_ROBOT_TYPE } from '@opentrons/shared-data' import { renderWithProviders, @@ -113,6 +114,7 @@ describe('SetupModulesMap', () => { .mockReturnValue(({ commands: [], labware: [], + robotType: OT2_ROBOT_TYPE, } as unknown) as CompletedProtocolAnalysis) when(mockGetAttachedProtocolModuleMatches).mockReturnValue([]) }) diff --git a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/utils.test.ts b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/utils.test.ts index 96e1470f78f..2388de2b936 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/utils.test.ts +++ b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/utils.test.ts @@ -44,15 +44,15 @@ describe('getModuleImage', () => { describe('getFixtureImage', () => { it('should render the staging area image', () => { - const result = getFixtureImage('stagingArea') + const result = getFixtureImage('stagingAreaRightSlot') expect(result).toEqual('staging_area_slot.png') }) it('should render the waste chute image', () => { - const result = getFixtureImage('wasteChute') + const result = getFixtureImage('wasteChuteRightAdapterNoCover') expect(result).toEqual('waste_chute.png') }) it('should render the trash binimage', () => { - const result = getFixtureImage('trashBin') + const result = getFixtureImage('trashBinAdapter') expect(result).toEqual('flex_trash_bin.png') }) // TODO(jr, 10/17/23): add rest of the test cases when we add the assets diff --git a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/index.tsx b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/index.tsx index 3ef1a8c7603..6a781bdcadb 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/index.tsx +++ b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/index.tsx @@ -8,33 +8,41 @@ import { useHoverTooltip, PrimaryButton, } from '@opentrons/components' + import { useToggleGroup } from '../../../../molecules/ToggleGroup/useToggleGroup' +import { useDeckConfigurationCompatibility } from '../../../../resources/deck_configuration/hooks' +import { + getIsFixtureMismatch, + getRequiredDeckConfig, + // getUnmatchedSingleSlotFixtures, +} from '../../../../resources/deck_configuration/utils' import { Tooltip } from '../../../../atoms/Tooltip' import { - useIsFlex, useRunHasStarted, useUnmatchedModulesForProtocol, useModuleCalibrationStatus, + useRobotType, } from '../../hooks' import { SetupModulesMap } from './SetupModulesMap' import { SetupModulesList } from './SetupModulesList' import { SetupFixtureList } from './SetupFixtureList' -import type { LoadedFixturesBySlot } from '@opentrons/api-client' + +import type { RunTimeCommand } from '@opentrons/shared-data' interface SetupModuleAndDeckProps { expandLabwarePositionCheckStep: () => void robotName: string runId: string - loadedFixturesBySlot: LoadedFixturesBySlot hasModules: boolean + commands: RunTimeCommand[] } export const SetupModuleAndDeck = ({ expandLabwarePositionCheckStep, robotName, runId, - loadedFixturesBySlot, hasModules, + commands, }: SetupModuleAndDeckProps): JSX.Element => { const { t } = useTranslation('protocol_setup') const [selectedValue, toggleGroup] = useToggleGroup( @@ -42,12 +50,28 @@ export const SetupModuleAndDeck = ({ t('map_view') ) - const isFlex = useIsFlex(robotName) + const robotType = useRobotType(robotName) const { missingModuleIds } = useUnmatchedModulesForProtocol(robotName, runId) const runHasStarted = useRunHasStarted(runId) const [targetProps, tooltipProps] = useHoverTooltip() const moduleCalibrationStatus = useModuleCalibrationStatus(robotName, runId) + const deckConfigCompatibility = useDeckConfigurationCompatibility( + robotType, + commands + ) + + const isFixtureMismatch = getIsFixtureMismatch(deckConfigCompatibility) + + // TODO(bh, 2023-11-28): there is an unimplemented scenario where unmatched single slot fixtures need to be updated + // will need to additionally filter out module conflict unmatched fixtures, as these are represented in SetupModulesList + // const unmatchedSingleSlotFixtures = getUnmatchedSingleSlotFixtures( + // deckConfigCompatibility + // ) + + const requiredDeckConfigCompatibility = getRequiredDeckConfig( + deckConfigCompatibility + ) return ( <> @@ -58,8 +82,10 @@ export const SetupModuleAndDeck = ({ {hasModules ? ( ) : null} - {Object.keys(loadedFixturesBySlot).length > 0 && isFlex ? ( - + {requiredDeckConfigCompatibility.length > 0 ? ( + ) : null} ) : ( @@ -70,6 +96,7 @@ export const SetupModuleAndDeck = ({ 0 || + isFixtureMismatch || runHasStarted || !moduleCalibrationStatus.complete } diff --git a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/utils.ts b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/utils.ts index 171a26199f4..ee5b72efee5 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/utils.ts +++ b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/utils.ts @@ -1,3 +1,10 @@ +import { + SINGLE_SLOT_FIXTURES, + STAGING_AREA_RIGHT_SLOT_FIXTURE, + TRASH_BIN_ADAPTER_FIXTURE, + WASTE_CHUTE_FIXTURES, +} from '@opentrons/shared-data' + import magneticModule from '../../../../assets/images/magnetic_module_gen_2_transparent.png' import temperatureModule from '../../../../assets/images/temp_deck_gen_2_transparent.png' import thermoModuleGen1 from '../../../../assets/images/thermocycler_closed.png' @@ -9,7 +16,13 @@ import stagingArea from '../../../../assets/images/staging_area_slot.png' import wasteChute from '../../../../assets/images/waste_chute.png' // TODO(jr, 10/17/23): figure out if we need this asset, I'm stubbing it in for now // import wasteChuteStagingArea from '../../../../assets/images/waste_chute_with_staging_area.png' -import type { FixtureLoadName, ModuleModel } from '@opentrons/shared-data' + +import type { + CutoutFixtureId, + ModuleModel, + SingleSlotCutoutFixtureId, + WasteChuteCutoutFixtureId, +} from '@opentrons/shared-data' export function getModuleImage(model: ModuleModel): string { switch (model) { @@ -33,21 +46,21 @@ export function getModuleImage(model: ModuleModel): string { } // TODO(jr, 10/4/23): add correct assets for trashBin, standardSlot, wasteChuteAndStagingArea -export function getFixtureImage(fixture: FixtureLoadName): string { - switch (fixture) { - case 'stagingArea': { - return stagingArea - } - case 'wasteChute': { - return wasteChute - } - case 'standardSlot': { - return stagingArea - } - case 'trashBin': { - return trashBin - } - default: - return 'Error: unknown fixture' +export function getFixtureImage(fixture: CutoutFixtureId): string { + if (fixture === STAGING_AREA_RIGHT_SLOT_FIXTURE) { + return stagingArea + } else if ( + WASTE_CHUTE_FIXTURES.includes(fixture as WasteChuteCutoutFixtureId) + ) { + return wasteChute + } else if ( + // TODO(bh, 2023-11-13): this asset probably won't exist + SINGLE_SLOT_FIXTURES.includes(fixture as SingleSlotCutoutFixtureId) + ) { + return stagingArea + } else if (fixture === TRASH_BIN_ADAPTER_FIXTURE) { + return trashBin + } else { + return 'Error: unknown fixture' } } diff --git a/app/src/organisms/Devices/ProtocolRun/__tests__/ProtocolRunHeader.test.tsx b/app/src/organisms/Devices/ProtocolRun/__tests__/ProtocolRunHeader.test.tsx index 9a0da54219e..f0d0534c583 100644 --- a/app/src/organisms/Devices/ProtocolRun/__tests__/ProtocolRunHeader.test.tsx +++ b/app/src/organisms/Devices/ProtocolRun/__tests__/ProtocolRunHeader.test.tsx @@ -27,8 +27,12 @@ import { useDoorQuery, useInstrumentsQuery, } from '@opentrons/react-api-client' -import { getPipetteModelSpecs } from '@opentrons/shared-data' +import { + getPipetteModelSpecs, + STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, +} from '@opentrons/shared-data' import _uncastedSimpleV6Protocol from '@opentrons/shared-data/protocol/fixtures/6/simpleV6.json' +import noModulesProtocol from '@opentrons/shared-data/protocol/fixtures/4/simpleV4.json' import { i18n } from '../../../../i18n' import { @@ -85,6 +89,9 @@ import { HeaterShakerIsRunningModal } from '../../HeaterShakerIsRunningModal' import { RunFailedModal } from '../RunFailedModal' import { DISENGAGED, NOT_PRESENT } from '../../../EmergencyStop' import { getPipettesWithTipAttached } from '../../../DropTipWizard/getPipettesWithTipAttached' +import { getIsFixtureMismatch } from '../../../../resources/deck_configuration/utils' +import { useDeckConfigurationCompatibility } from '../../../../resources/deck_configuration/hooks' +import { useMostRecentCompletedAnalysis } from '../../../LabwarePositionCheck/useMostRecentCompletedAnalysis' import type { UseQueryResult } from 'react-query' import type { Run } from '@opentrons/api-client' @@ -130,6 +137,9 @@ jest.mock('../RunFailedModal') jest.mock('../../../../redux/robot-update/selectors') jest.mock('../../../../redux/robot-settings/selectors') jest.mock('../../../DropTipWizard/getPipettesWithTipAttached') +jest.mock('../../../../resources/deck_configuration/utils') +jest.mock('../../../../resources/deck_configuration/hooks') +jest.mock('../../../LabwarePositionCheck/useMostRecentCompletedAnalysis') const mockGetIsHeaterShakerAttached = getIsHeaterShakerAttached as jest.MockedFunction< typeof getIsHeaterShakerAttached @@ -227,6 +237,15 @@ const mockGetPipettesWithTipAttached = getPipettesWithTipAttached as jest.Mocked const mockGetPipetteModelSpecs = getPipetteModelSpecs as jest.MockedFunction< typeof getPipetteModelSpecs > +const mockGetIsFixtureMismatch = getIsFixtureMismatch as jest.MockedFunction< + typeof getIsFixtureMismatch +> +const mockUseDeckConfigurationCompatibility = useDeckConfigurationCompatibility as jest.MockedFunction< + typeof useDeckConfigurationCompatibility +> +const mockUseMostRecentCompletedAnalysis = useMostRecentCompletedAnalysis as jest.MockedFunction< + typeof useMostRecentCompletedAnalysis +> const ROBOT_NAME = 'otie' const RUN_ID = '95e67900-bc9f-4fbf-92c6-cc4d7226a51b' @@ -241,6 +260,7 @@ const mockSettings = { value: true, restart_required: false, } +const MOCK_ROTOCOL_LIQUID_KEY = { liquids: [] } const simpleV6Protocol = (_uncastedSimpleV6Protocol as unknown) as CompletedProtocolAnalysis @@ -410,6 +430,14 @@ describe('ProtocolRunHeader', () => { ]) as any ) mockGetPipetteModelSpecs.mockReturnValue('p10_single_v1' as any) + when(mockUseMostRecentCompletedAnalysis) + .calledWith(RUN_ID) + .mockReturnValue({ + ...noModulesProtocol, + ...MOCK_ROTOCOL_LIQUID_KEY, + } as any) + mockUseDeckConfigurationCompatibility.mockReturnValue([]) + when(mockGetIsFixtureMismatch).mockReturnValue(false) }) afterEach(() => { @@ -544,6 +572,23 @@ describe('ProtocolRunHeader', () => { ) }) + it('disables the Start Run button when a fixture is not configured or conflicted', () => { + mockUseDeckConfigurationCompatibility.mockReturnValue([ + { + cutoutId: 'cutoutA1', + cutoutFixtureId: STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, + requiredAddressableAreas: ['D4'], + compatibleCutoutFixtureIds: [ + STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, + ], + }, + ]) + when(mockGetIsFixtureMismatch).mockReturnValue(true) + const [{ getByRole }] = render() + const button = getByRole('button', { name: 'Start run' }) + expect(button).toBeDisabled() + }) + it('renders a pause run button, start time, and end time when run is running, and calls trackProtocolRunEvent when button clicked', () => { when(mockUseRunQuery) .calledWith(RUN_ID) diff --git a/app/src/organisms/Devices/ProtocolRun/__tests__/ProtocolRunModuleControls.test.tsx b/app/src/organisms/Devices/ProtocolRun/__tests__/ProtocolRunModuleControls.test.tsx index b4d2be4862f..877ae596328 100644 --- a/app/src/organisms/Devices/ProtocolRun/__tests__/ProtocolRunModuleControls.test.tsx +++ b/app/src/organisms/Devices/ProtocolRun/__tests__/ProtocolRunModuleControls.test.tsx @@ -39,7 +39,6 @@ const mockUseInstrumentsQuery = useInstrumentsQuery as jest.MockedFunction< const _fixtureAnalysis = (fixtureAnalysis as unknown) as CompletedProtocolAnalysis -const ROBOT_NAME = 'otie' const RUN_ID = 'test123' const mockTempMod = { @@ -97,7 +96,7 @@ describe('ProtocolRunModuleControls', () => { it('renders a magnetic module card', () => { when(mockUseModuleRenderInfoForProtocolById) - .calledWith(ROBOT_NAME, RUN_ID) + .calledWith(RUN_ID) .mockReturnValue({ [mockMagMod.moduleId]: { moduleId: 'magModModuleId', @@ -122,7 +121,7 @@ describe('ProtocolRunModuleControls', () => { it('renders a temperature module card', () => { when(mockUseModuleRenderInfoForProtocolById) - .calledWith(ROBOT_NAME, RUN_ID) + .calledWith(RUN_ID) .mockReturnValue({ [mockTempMod.moduleId]: { moduleId: 'temperatureModuleId', @@ -149,7 +148,7 @@ describe('ProtocolRunModuleControls', () => { it('renders a thermocycler module card', () => { when(mockUseModuleRenderInfoForProtocolById) - .calledWith(ROBOT_NAME, RUN_ID) + .calledWith(RUN_ID) .mockReturnValue({ [mockTCModule.moduleId]: { moduleId: mockTCModule.moduleId, @@ -178,7 +177,7 @@ describe('ProtocolRunModuleControls', () => { it('renders a heater-shaker module card', () => { when(mockUseModuleRenderInfoForProtocolById) - .calledWith(ROBOT_NAME, RUN_ID) + .calledWith(RUN_ID) .mockReturnValue({ [mockHeaterShakerDef.moduleId]: { moduleId: 'heaterShakerModuleId', @@ -206,7 +205,7 @@ describe('ProtocolRunModuleControls', () => { it('renders correct text when module is not attached but required for protocol', () => { when(mockUseModuleRenderInfoForProtocolById) - .calledWith(ROBOT_NAME, RUN_ID) + .calledWith(RUN_ID) .mockReturnValue({ [mockHeaterShakerDef.moduleId]: { moduleId: 'heaterShakerModuleId', diff --git a/app/src/organisms/Devices/ProtocolRun/__tests__/ProtocolRunSetup.test.tsx b/app/src/organisms/Devices/ProtocolRun/__tests__/ProtocolRunSetup.test.tsx index 63aafc70d1d..43433667f00 100644 --- a/app/src/organisms/Devices/ProtocolRun/__tests__/ProtocolRunSetup.test.tsx +++ b/app/src/organisms/Devices/ProtocolRun/__tests__/ProtocolRunSetup.test.tsx @@ -6,28 +6,38 @@ import { partialComponentPropsMatcher, renderWithProviders, } from '@opentrons/components' -import { ProtocolAnalysisOutput } from '@opentrons/shared-data' +import { + ProtocolAnalysisOutput, + STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, +} from '@opentrons/shared-data' import noModulesProtocol from '@opentrons/shared-data/protocol/fixtures/4/simpleV4.json' import withModulesProtocol from '@opentrons/shared-data/protocol/fixtures/4/testModulesProtocol.json' import { i18n } from '../../../../i18n' import { mockConnectedRobot } from '../../../../redux/discovery/__fixtures__' +import { + getIsFixtureMismatch, + getRequiredDeckConfig, + getSimplestDeckConfigForProtocolCommands, +} from '../../../../resources/deck_configuration/utils' import { useMostRecentCompletedAnalysis } from '../../../LabwarePositionCheck/useMostRecentCompletedAnalysis' +import { useDeckConfigurationCompatibility } from '../../../../resources/deck_configuration/hooks' import { useIsFlex, + useModuleCalibrationStatus, + useProtocolAnalysisErrors, useRobot, useRunCalibrationStatus, - useModuleCalibrationStatus, useRunHasStarted, - useProtocolAnalysisErrors, useStoredProtocolAnalysis, + useUnmatchedModulesForProtocol, } from '../../hooks' import { SetupLabware } from '../SetupLabware' import { SetupRobotCalibration } from '../SetupRobotCalibration' import { SetupLiquids } from '../SetupLiquids' -import { ProtocolRunSetup } from '../ProtocolRunSetup' import { SetupModuleAndDeck } from '../SetupModuleAndDeck' import { EmptySetupStep } from '../EmptySetupStep' +import { ProtocolRunSetup } from '../ProtocolRunSetup' jest.mock('@opentrons/api-client') jest.mock('../../hooks') @@ -39,6 +49,8 @@ jest.mock('../EmptySetupStep') jest.mock('../../../LabwarePositionCheck/useMostRecentCompletedAnalysis') jest.mock('@opentrons/shared-data/js/helpers/parseProtocolData') jest.mock('../../../../redux/config') +jest.mock('../../../../resources/deck_configuration/utils') +jest.mock('../../../../resources/deck_configuration/hooks') const mockUseIsFlex = useIsFlex as jest.MockedFunction const mockUseMostRecentCompletedAnalysis = useMostRecentCompletedAnalysis as jest.MockedFunction< @@ -78,6 +90,22 @@ const mockSetupLiquids = SetupLiquids as jest.MockedFunction< const mockEmptySetupStep = EmptySetupStep as jest.MockedFunction< typeof EmptySetupStep > +const mockGetSimplestDeckConfigForProtocolCommands = getSimplestDeckConfigForProtocolCommands as jest.MockedFunction< + typeof getSimplestDeckConfigForProtocolCommands +> +const mockGetRequiredDeckConfig = getRequiredDeckConfig as jest.MockedFunction< + typeof getRequiredDeckConfig +> +const mockUseUnmatchedModulesForProtocol = useUnmatchedModulesForProtocol as jest.MockedFunction< + typeof useUnmatchedModulesForProtocol +> +const mockUseDeckConfigurationCompatibility = useDeckConfigurationCompatibility as jest.MockedFunction< + typeof useDeckConfigurationCompatibility +> +const mockGetIsFixtureMismatch = getIsFixtureMismatch as jest.MockedFunction< + typeof getIsFixtureMismatch +> + const ROBOT_NAME = 'otie' const RUN_ID = '1' const MOCK_ROTOCOL_LIQUID_KEY = { liquids: [] } @@ -140,6 +168,13 @@ describe('ProtocolRunSetup', () => { when(mockSetupModuleAndDeck).mockReturnValue(
Mock SetupModules
) when(mockSetupLiquids).mockReturnValue(
Mock SetupLiquids
) when(mockEmptySetupStep).mockReturnValue(
Mock EmptySetupStep
) + when(mockGetSimplestDeckConfigForProtocolCommands).mockReturnValue([]) + when(mockUseDeckConfigurationCompatibility).mockReturnValue([]) + when(mockGetRequiredDeckConfig).mockReturnValue([]) + when(mockUseUnmatchedModulesForProtocol) + .calledWith(ROBOT_NAME, RUN_ID) + .mockReturnValue({ missingModuleIds: [], remainingAttachedModules: [] }) + when(mockGetIsFixtureMismatch).mockReturnValue(false) }) afterEach(() => { resetAllWhenMocks() @@ -283,6 +318,57 @@ describe('ProtocolRunSetup', () => { expect(getAllByText('Calibration ready').length).toEqual(1) }) + it('renders action needed if robot is Flex and modules are not connected', () => { + when(mockUseUnmatchedModulesForProtocol) + .calledWith(ROBOT_NAME, RUN_ID) + .mockReturnValue({ + missingModuleIds: ['temperatureModuleV1'], + remainingAttachedModules: [], + }) + when(mockUseIsFlex).calledWith(ROBOT_NAME).mockReturnValue(true) + when(mockUseModuleCalibrationStatus) + .calledWith(ROBOT_NAME, RUN_ID) + .mockReturnValue({ complete: false }) + + const { getByText } = render() + getByText('STEP 2') + getByText('Modules & deck') + getByText('Action needed') + }) + + it('renders action needed if robot is Flex and deck config is not configured', () => { + mockUseDeckConfigurationCompatibility.mockReturnValue([ + { + cutoutId: 'cutoutA1', + cutoutFixtureId: STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, + requiredAddressableAreas: ['D4'], + compatibleCutoutFixtureIds: [ + STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, + ], + }, + ]) + when(mockGetRequiredDeckConfig).mockReturnValue([ + { + cutoutId: 'cutoutA1', + cutoutFixtureId: STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, + requiredAddressableAreas: ['D4'], + compatibleCutoutFixtureIds: [ + STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, + ], + }, + ] as any) + when(mockGetIsFixtureMismatch).mockReturnValue(true) + when(mockUseIsFlex).calledWith(ROBOT_NAME).mockReturnValue(true) + when(mockUseModuleCalibrationStatus) + .calledWith(ROBOT_NAME, RUN_ID) + .mockReturnValue({ complete: false }) + + const { getByText } = render() + getByText('STEP 2') + getByText('Modules & deck') + getByText('Action needed') + }) + it('renders module setup and allows the user to proceed to labware setup', () => { const { getByText } = render() const moduleSetup = getByText('Modules') diff --git a/app/src/organisms/Devices/ProtocolRun/utils/__tests__/getLabwareRenderInfo.test.ts b/app/src/organisms/Devices/ProtocolRun/utils/__tests__/getLabwareRenderInfo.test.ts index f865b679b0c..359e4faad3f 100644 --- a/app/src/organisms/Devices/ProtocolRun/utils/__tests__/getLabwareRenderInfo.test.ts +++ b/app/src/organisms/Devices/ProtocolRun/utils/__tests__/getLabwareRenderInfo.test.ts @@ -1,5 +1,5 @@ import _protocolWithMagTempTC from '@opentrons/shared-data/protocol/fixtures/6/transferSettings.json' -import _standardDeckDef from '@opentrons/shared-data/deck/definitions/3/ot2_standard.json' +import _standardDeckDef from '@opentrons/shared-data/deck/definitions/4/ot2_standard.json' import { getLabwareRenderInfo } from '../getLabwareRenderInfo' import type { CompletedProtocolAnalysis, diff --git a/app/src/organisms/Devices/ProtocolRun/utils/__tests__/getProtocolModulesInfo.test.ts b/app/src/organisms/Devices/ProtocolRun/utils/__tests__/getProtocolModulesInfo.test.ts index 7b7c2362eb0..f23a369d359 100644 --- a/app/src/organisms/Devices/ProtocolRun/utils/__tests__/getProtocolModulesInfo.test.ts +++ b/app/src/organisms/Devices/ProtocolRun/utils/__tests__/getProtocolModulesInfo.test.ts @@ -1,6 +1,6 @@ import _protocolWithMagTempTC from '@opentrons/shared-data/protocol/fixtures/6/transferSettings.json' import _protocolWithMultipleTemps from '@opentrons/shared-data/protocol/fixtures/6/multipleTempModules.json' -import _standardDeckDef from '@opentrons/shared-data/deck/definitions/3/ot2_standard.json' +import _standardDeckDef from '@opentrons/shared-data/deck/definitions/4/ot2_standard.json' import { getProtocolModulesInfo } from '../getProtocolModulesInfo' import { getModuleDef2, diff --git a/app/src/organisms/Devices/ProtocolRun/utils/getLabwareOffsetLocation.ts b/app/src/organisms/Devices/ProtocolRun/utils/getLabwareOffsetLocation.ts index e831be067d9..287c5ef1338 100644 --- a/app/src/organisms/Devices/ProtocolRun/utils/getLabwareOffsetLocation.ts +++ b/app/src/organisms/Devices/ProtocolRun/utils/getLabwareOffsetLocation.ts @@ -39,6 +39,11 @@ export const getLabwareOffsetLocation = ( slotName: adapter.location.slotName, definitionUri: adapter.definitionUri, } + } else if ('addressableAreaName' in adapter.location) { + return { + slotName: adapter.location.addressableAreaName, + definitionUri: adapter.definitionUri, + } } else if ('moduleId' in adapter.location) { const moduleIdUnderAdapter = adapter.location.moduleId const moduleModel = modules.find( @@ -52,7 +57,12 @@ export const getLabwareOffsetLocation = ( return { slotName, moduleModel, definitionUri: adapter.definitionUri } } } else { - return { slotName: labwareLocation.slotName } + return { + slotName: + 'addressableAreaName' in labwareLocation + ? labwareLocation.addressableAreaName + : labwareLocation.slotName, + } } return null } diff --git a/app/src/organisms/Devices/ProtocolRun/utils/getLabwareRenderInfo.ts b/app/src/organisms/Devices/ProtocolRun/utils/getLabwareRenderInfo.ts index 86ae0ec6146..5d750e6d7e8 100644 --- a/app/src/organisms/Devices/ProtocolRun/utils/getLabwareRenderInfo.ts +++ b/app/src/organisms/Devices/ProtocolRun/utils/getLabwareRenderInfo.ts @@ -1,4 +1,4 @@ -import { getSlotHasMatingSurfaceUnitVector } from '@opentrons/shared-data' +import { getPositionFromSlotId } from '@opentrons/shared-data' import type { CompletedProtocolAnalysis, DeckDefinition, @@ -7,32 +7,6 @@ import type { ProtocolAnalysisOutput, } from '@opentrons/shared-data' -const getSlotPosition = ( - deckDef: DeckDefinition, - slotName: string -): [number, number, number] => { - let x = 0 - let y = 0 - let z = 0 - const slotPosition = deckDef.locations.orderedSlots.find( - orderedSlot => orderedSlot.id === slotName - )?.position - - if (slotPosition == null) { - console.error( - `expected to find a slot position for slot ${slotName} in ${String( - deckDef.metadata.displayName - )}, but could not` - ) - } else { - x = slotPosition[0] - y = slotPosition[1] - z = slotPosition[2] - } - - return [x, y, z] -} - export interface LabwareRenderInfoById { [labwareId: string]: { x: number @@ -74,17 +48,24 @@ export const getLabwareRenderInfo = ( )} but could not` ) } - // TODO(bh, 2023-10-19): convert this to deck definition v4 addressableAreas - const slotName = location.slotName.toString() - // TODO(bh, 2023-10-19): remove slotPosition when render info no longer relies on directly - const slotPosition = getSlotPosition(deckDef, slotName) - const slotHasMatingSurfaceVector = getSlotHasMatingSurfaceUnitVector( - deckDef, - slotName + const slotName = + 'addressableAreaName' in location + ? location.addressableAreaName + : location.slotName + const slotPosition = getPositionFromSlotId(slotName, deckDef) + + if (slotPosition == null) { + console.warn( + `expected to find a position for slot ${slotName} in the standard deck definition, but could not` + ) + return acc + } + const isSlot = deckDef.locations.addressableAreas.some( + aa => aa.id === slotName && aa.areaType === 'slot' ) - return slotHasMatingSurfaceVector + return isSlot ? { ...acc, [labwareId]: { @@ -96,5 +77,5 @@ export const getLabwareRenderInfo = ( slotName, }, } - : { ...acc } + : acc }, {}) diff --git a/app/src/organisms/Devices/ProtocolRun/utils/getLocationInfoNames.ts b/app/src/organisms/Devices/ProtocolRun/utils/getLocationInfoNames.ts index ee49db3573e..594d5d37f97 100644 --- a/app/src/organisms/Devices/ProtocolRun/utils/getLocationInfoNames.ts +++ b/app/src/organisms/Devices/ProtocolRun/utils/getLocationInfoNames.ts @@ -46,6 +46,8 @@ export function getLocationInfoNames( return { slotName: 'Off deck', labwareName } } else if ('slotName' in labwareLocation) { return { slotName: labwareLocation.slotName, labwareName } + } else if ('addressableAreaName' in labwareLocation) { + return { slotName: labwareLocation.addressableAreaName, labwareName } } else if ('moduleId' in labwareLocation) { const loadModuleCommandUnderLabware = loadModuleCommands?.find( command => command.result?.moduleId === labwareLocation.moduleId diff --git a/app/src/organisms/Devices/ProtocolRun/utils/getProtocolModulesInfo.ts b/app/src/organisms/Devices/ProtocolRun/utils/getProtocolModulesInfo.ts index 0b0f3bc23b0..37a5ca93a26 100644 --- a/app/src/organisms/Devices/ProtocolRun/utils/getProtocolModulesInfo.ts +++ b/app/src/organisms/Devices/ProtocolRun/utils/getProtocolModulesInfo.ts @@ -2,6 +2,7 @@ import { SPAN7_8_10_11_SLOT, getModuleDef2, getLoadedLabwareDefinitionsByUri, + getPositionFromSlotId, } from '@opentrons/shared-data' import { getModuleInitialLoadInfo } from './getModuleInitialLoadInfo' import type { @@ -68,13 +69,14 @@ export const getProtocolModulesInfo = ( if (slotName === SPAN7_8_10_11_SLOT) { slotName = '7' } - const slotPosition = - deckDef.locations.orderedSlots.find(slot => slot.id === slotName) - ?.position ?? [] - if (slotPosition.length === 0) { + + const slotPosition = getPositionFromSlotId(slotName, deckDef) + + if (slotPosition == null) { console.warn( - `expected to find a slot position for slot ${slotName} in the standard OT-2 deck definition, but could not` + `expected to find a position for slot ${slotName} in the standard deck definition, but could not` ) + return acc } return [ ...acc, diff --git a/app/src/organisms/Devices/RobotSettings/ConnectNetwork/ResultModal.tsx b/app/src/organisms/Devices/RobotSettings/ConnectNetwork/ResultModal.tsx index 82b35f2b04a..1a043507912 100644 --- a/app/src/organisms/Devices/RobotSettings/ConnectNetwork/ResultModal.tsx +++ b/app/src/organisms/Devices/RobotSettings/ConnectNetwork/ResultModal.tsx @@ -1,25 +1,28 @@ import * as React from 'react' import { AlertModal, SpinnerModal } from '@opentrons/components' + +import * as Copy from './i18n' import { ErrorModal } from '../../../../molecules/modals' import { DISCONNECT } from './constants' -import * as Copy from './i18n' +import { PENDING, FAILURE } from '../../../../redux/robot-api' import type { NetworkChangeType } from './types' +import type { RequestStatus } from '../../../../redux/robot-api/types' export interface ResultModalProps { type: NetworkChangeType ssid: string | null - isPending: boolean + requestStatus: RequestStatus error: { message?: string; [key: string]: unknown } | null onClose: () => unknown } export const ResultModal = (props: ResultModalProps): JSX.Element => { - const { type, ssid, isPending, error, onClose } = props + const { type, ssid, requestStatus, error, onClose } = props const isDisconnect = type === DISCONNECT - if (isPending) { + if (requestStatus === PENDING) { const message = isDisconnect ? Copy.DISCONNECTING_FROM_NETWORK(ssid) : Copy.CONNECTING_TO_NETWORK(ssid) @@ -27,7 +30,7 @@ export const ResultModal = (props: ResultModalProps): JSX.Element => { return } - if (error) { + if (error || requestStatus === FAILURE) { const heading = isDisconnect ? Copy.UNABLE_TO_DISCONNECT : Copy.UNABLE_TO_CONNECT @@ -38,11 +41,15 @@ export const ResultModal = (props: ResultModalProps): JSX.Element => { const retryMessage = !isDisconnect ? ` ${Copy.CHECK_YOUR_CREDENTIALS}.` : '' + const placeholderError = { + message: `Likely incorrect network password. ${Copy.CHECK_YOUR_CREDENTIALS}.`, + } + return ( ) diff --git a/app/src/organisms/Devices/RobotSettings/ConnectNetwork/__tests__/ResultModal.test.tsx b/app/src/organisms/Devices/RobotSettings/ConnectNetwork/__tests__/ResultModal.test.tsx index 3cf51d805b4..00f7e9ce389 100644 --- a/app/src/organisms/Devices/RobotSettings/ConnectNetwork/__tests__/ResultModal.test.tsx +++ b/app/src/organisms/Devices/RobotSettings/ConnectNetwork/__tests__/ResultModal.test.tsx @@ -5,6 +5,7 @@ import { AlertModal, SpinnerModal } from '@opentrons/components' import { ErrorModal } from '../../../../../molecules/modals' import { ResultModal } from '../ResultModal' import { DISCONNECT, CONNECT, JOIN_OTHER } from '../constants' +import { PENDING, FAILURE, SUCCESS } from '../../../../../redux/robot-api' import type { ShallowWrapper } from 'enzyme' import type { ResultModalProps } from '../ResultModal' @@ -31,7 +32,7 @@ describe("SelectNetwork's ResultModal", () => { type, ssid, error: null, - isPending: true, + requestStatus: PENDING, onClose: handleClose, }} /> @@ -99,7 +100,7 @@ describe("SelectNetwork's ResultModal", () => { type, ssid, error: null, - isPending: false, + requestStatus: SUCCESS, onClose: handleClose, }} /> @@ -188,7 +189,7 @@ describe("SelectNetwork's ResultModal", () => { type, ssid, error, - isPending: false, + requestStatus: FAILURE, onClose: handleClose, }} /> @@ -249,5 +250,41 @@ describe("SelectNetwork's ResultModal", () => { expect(alert.prop('close')).toEqual(handleClose) expect(alert.prop('error')).toEqual(error) }) + + it('displays an ErrorModal with appropriate failure message if the status is failure and no error message is given', () => { + const render: ( + type: ResultModalProps['type'], + ssid?: ResultModalProps['ssid'] + ) => ShallowWrapper> = ( + type, + ssid = mockSsid + ) => { + return shallow( + + ) + } + + const wrapper = render(JOIN_OTHER, null) + const alert = wrapper.find(ErrorModal) + + expect(alert).toHaveLength(1) + expect(alert.prop('heading')).toEqual('Unable to connect to Wi-Fi') + expect(alert.prop('description')).toEqual( + expect.stringContaining('unable to connect to Wi-Fi') + ) + expect(alert.prop('close')).toEqual(handleClose) + expect(alert.prop('error')).toEqual({ + message: + 'Likely incorrect network password. Please double-check your network credentials.', + }) + }) }) }) diff --git a/app/src/organisms/Devices/RobotSettings/SelectNetwork.tsx b/app/src/organisms/Devices/RobotSettings/SelectNetwork.tsx index b3151d0418e..600b4c186d6 100644 --- a/app/src/organisms/Devices/RobotSettings/SelectNetwork.tsx +++ b/app/src/organisms/Devices/RobotSettings/SelectNetwork.tsx @@ -104,7 +104,7 @@ export const SelectNetwork = ({ { + return getRobotUpdateVersion(state, robotName) ?? '' + }) + const isRobotBusy = useIsRobotBusy() const updateDisabled = updateFromFileDisabledReason !== null || isRobotBusy @@ -98,28 +108,40 @@ export function UpdateRobotModal({ } const robotUpdateFooter = ( - - + - {updateType === UPGRADE ? t('remind_me_later') : t('not_now')} - - dispatchStartRobotUpdate(robotName)} - marginRight={SPACING.spacing12} - css={FOOTER_BUTTON_STYLE} - disabled={updateDisabled} - {...updateButtonProps} - > - {t('update_robot_now')} - - {updateDisabled && ( - - {disabledReason} - - )} + {t('release_notes')} + + + + {updateType === UPGRADE ? t('remind_me_later') : t('not_now')} + + dispatchStartRobotUpdate(robotName)} + marginRight={SPACING.spacing12} + css={FOOTER_BUTTON_STYLE} + disabled={updateDisabled} + {...updateButtonProps} + > + {t('update_robot_now')} + + {updateDisabled && ( + + {disabledReason} + + )} + ) diff --git a/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/ViewUpdateModal.tsx b/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/ViewUpdateModal.tsx index 7b2207f0bb2..1010313bb1d 100644 --- a/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/ViewUpdateModal.tsx +++ b/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/ViewUpdateModal.tsx @@ -27,6 +27,7 @@ export function ViewUpdateModal( props: ViewUpdateModalProps ): JSX.Element | null { const { robotName, robot, closeModal } = props + const [showAppUpdateModal, setShowAppUpdateModal] = React.useState(true) const updateInfo = useSelector((state: State) => getRobotUpdateInfo(state, robotName) @@ -38,7 +39,9 @@ export function ViewUpdateModal( getRobotUpdateAvailable(state, robot) ) const robotSystemType = getRobotSystemType(robot) - const availableAppUpdateVersion = useSelector(getAvailableShellUpdate) + const availableAppUpdateVersion = Boolean( + useSelector(getAvailableShellUpdate) + ) const [ showMigrationWarning, @@ -51,12 +54,12 @@ export function ViewUpdateModal( } let releaseNotes = '' - if (updateInfo?.releaseNotes) releaseNotes = updateInfo.releaseNotes + if (updateInfo?.releaseNotes != null) releaseNotes = updateInfo.releaseNotes - if (availableAppUpdateVersion) + if (availableAppUpdateVersion && showAppUpdateModal) return ( - + setShowAppUpdateModal(false)} /> ) diff --git a/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/__tests__/UpdateRobotModal.test.tsx b/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/__tests__/UpdateRobotModal.test.tsx index d36aab3d057..7af9f5169f3 100644 --- a/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/__tests__/UpdateRobotModal.test.tsx +++ b/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/__tests__/UpdateRobotModal.test.tsx @@ -6,9 +6,12 @@ import { fireEvent } from '@testing-library/react' import { renderWithProviders } from '@opentrons/components' import { i18n } from '../../../../../i18n' -import { getRobotUpdateDisplayInfo } from '../../../../../redux/robot-update' +import { + getRobotUpdateDisplayInfo, + getRobotUpdateVersion, +} from '../../../../../redux/robot-update' import { getDiscoverableRobotByName } from '../../../../../redux/discovery' -import { UpdateRobotModal } from '../UpdateRobotModal' +import { UpdateRobotModal, RELEASE_NOTES_URL_BASE } from '../UpdateRobotModal' import type { Store } from 'redux' import type { State } from '../../../../../redux/types' @@ -25,6 +28,9 @@ const mockGetRobotUpdateDisplayInfo = getRobotUpdateDisplayInfo as jest.MockedFu const mockGetDiscoverableRobotByName = getDiscoverableRobotByName as jest.MockedFunction< typeof getDiscoverableRobotByName > +const mockGetRobotUpdateVersion = getRobotUpdateVersion as jest.MockedFunction< + typeof getRobotUpdateVersion +> const render = (props: React.ComponentProps) => { return renderWithProviders(, { @@ -51,6 +57,7 @@ describe('UpdateRobotModal', () => { updateFromFileDisabledReason: 'test', }) when(mockGetDiscoverableRobotByName).mockReturnValue(null) + when(mockGetRobotUpdateVersion).mockReturnValue('7.0.0') }) afterEach(() => { @@ -93,6 +100,13 @@ describe('UpdateRobotModal', () => { expect(props.closeModal).toHaveBeenCalled() }) + it('renders a release notes link pointing to the Github releases page', () => { + const [{ getByText }] = render(props) + + const link = getByText('Release notes') + expect(link).toHaveAttribute('href', RELEASE_NOTES_URL_BASE + '7.0.0') + }) + it('renders proper text when reinstalling', () => { props = { ...props, diff --git a/app/src/organisms/Devices/RobotSettings/__tests__/SelectNetwork.test.tsx b/app/src/organisms/Devices/RobotSettings/__tests__/SelectNetwork.test.tsx index f236c74046b..9223b07ddd5 100644 --- a/app/src/organisms/Devices/RobotSettings/__tests__/SelectNetwork.test.tsx +++ b/app/src/organisms/Devices/RobotSettings/__tests__/SelectNetwork.test.tsx @@ -17,9 +17,10 @@ import { ConnectModal } from '../ConnectNetwork/ConnectModal' import { ResultModal } from '../ConnectNetwork/ResultModal' import { SelectNetwork } from '../SelectNetwork' +import { RequestState } from '../../../../redux/robot-api/types' +import { PENDING, SUCCESS, FAILURE } from '../../../../redux/robot-api' import type { ReactWrapper } from 'enzyme' -import { RequestState } from '../../../../redux/robot-api/types' jest.mock('../../../../resources/networking/hooks') jest.mock('../../../../redux/networking/selectors') @@ -260,7 +261,7 @@ describe('', () => { expect(resultModal.props()).toEqual({ type: Constants.CONNECT, ssid: mockConfigure.ssid, - isPending: true, + requestStatus: PENDING, error: null, onClose: expect.any(Function), }) @@ -278,7 +279,7 @@ describe('', () => { expect(resultModal.props()).toEqual({ type: Constants.CONNECT, ssid: mockConfigure.ssid, - isPending: false, + requestStatus: SUCCESS, error: null, onClose: expect.any(Function), }) @@ -307,7 +308,7 @@ describe('', () => { expect(resultModal.props()).toEqual({ type: Constants.CONNECT, ssid: mockConfigure.ssid, - isPending: false, + requestStatus: FAILURE, error: { message: 'oh no!' }, onClose: expect.any(Function), }) diff --git a/app/src/organisms/Devices/hooks/__tests__/useLabwareRenderInfoForRunById.test.tsx b/app/src/organisms/Devices/hooks/__tests__/useLabwareRenderInfoForRunById.test.tsx index 2f596a43c23..fa6e2ed8996 100644 --- a/app/src/organisms/Devices/hooks/__tests__/useLabwareRenderInfoForRunById.test.tsx +++ b/app/src/organisms/Devices/hooks/__tests__/useLabwareRenderInfoForRunById.test.tsx @@ -1,7 +1,7 @@ import { renderHook } from '@testing-library/react-hooks' import { when, resetAllWhenMocks } from 'jest-when' -import standardDeckDef from '@opentrons/shared-data/deck/definitions/3/ot2_standard.json' +import standardDeckDef from '@opentrons/shared-data/deck/definitions/4/ot2_standard.json' import _heaterShakerCommandsWithResultsKey from '@opentrons/shared-data/protocol/fixtures/6/heaterShakerCommandsWithResultsKey.json' import { useMostRecentCompletedAnalysis } from '../../../LabwarePositionCheck/useMostRecentCompletedAnalysis' diff --git a/app/src/organisms/Devices/hooks/__tests__/useModuleCalibrationStatus.test.tsx b/app/src/organisms/Devices/hooks/__tests__/useModuleCalibrationStatus.test.tsx index d9915af41c6..56e0feec2e5 100644 --- a/app/src/organisms/Devices/hooks/__tests__/useModuleCalibrationStatus.test.tsx +++ b/app/src/organisms/Devices/hooks/__tests__/useModuleCalibrationStatus.test.tsx @@ -86,7 +86,7 @@ describe('useModuleCalibrationStatus hook', () => { it('should return calibration complete if OT-2', () => { when(mockUseIsFlex).calledWith('otie').mockReturnValue(false) when(mockUseModuleRenderInfoForProtocolById) - .calledWith('otie', '1') + .calledWith('1') .mockReturnValue({}) const { result } = renderHook( @@ -100,7 +100,7 @@ describe('useModuleCalibrationStatus hook', () => { it('should return calibration complete if no modules needed', () => { when(mockUseIsFlex).calledWith('otie').mockReturnValue(true) when(mockUseModuleRenderInfoForProtocolById) - .calledWith('otie', '1') + .calledWith('1') .mockReturnValue({}) const { result } = renderHook( @@ -114,7 +114,7 @@ describe('useModuleCalibrationStatus hook', () => { it('should return calibration complete if offset date exists', () => { when(mockUseIsFlex).calledWith('otie').mockReturnValue(true) when(mockUseModuleRenderInfoForProtocolById) - .calledWith('otie', '1') + .calledWith('1') .mockReturnValue({ magneticModuleId: { attachedModuleMatch: { @@ -136,7 +136,7 @@ describe('useModuleCalibrationStatus hook', () => { it('should return calibration needed if offset date does not exist', () => { when(mockUseIsFlex).calledWith('otie').mockReturnValue(true) when(mockUseModuleRenderInfoForProtocolById) - .calledWith('otie', '1') + .calledWith('1') .mockReturnValue({ magneticModuleId: { attachedModuleMatch: { diff --git a/app/src/organisms/Devices/hooks/__tests__/useModuleRenderInfoForProtocolById.test.tsx b/app/src/organisms/Devices/hooks/__tests__/useModuleRenderInfoForProtocolById.test.tsx index 4946e81aa7d..575e349a5a8 100644 --- a/app/src/organisms/Devices/hooks/__tests__/useModuleRenderInfoForProtocolById.test.tsx +++ b/app/src/organisms/Devices/hooks/__tests__/useModuleRenderInfoForProtocolById.test.tsx @@ -2,13 +2,7 @@ import { renderHook } from '@testing-library/react-hooks' import { when, resetAllWhenMocks } from 'jest-when' import { UseQueryResult } from 'react-query' -import { - getDeckDefFromRobotType, - getRobotTypeFromLoadedLabware, - FLEX_ROBOT_TYPE, - STAGING_AREA_LOAD_NAME, -} from '@opentrons/shared-data' -import standardDeckDef from '@opentrons/shared-data/deck/definitions/3/ot3_standard.json' +import { STAGING_AREA_RIGHT_SLOT_FIXTURE } from '@opentrons/shared-data' import _heaterShakerCommandsWithResultsKey from '@opentrons/shared-data/protocol/fixtures/6/heaterShakerCommandsWithResultsKey.json' import { useMostRecentCompletedAnalysis } from '../../../LabwarePositionCheck/useMostRecentCompletedAnalysis' import { useDeckConfigurationQuery } from '@opentrons/react-api-client/src/deck_configuration' @@ -27,16 +21,14 @@ import { } from '..' import type { + CutoutConfig, DeckConfiguration, - DeckDefinition, - Fixture, ModuleModel, ModuleType, ProtocolAnalysisOutput, } from '@opentrons/shared-data' jest.mock('@opentrons/react-api-client/src/deck_configuration') -jest.mock('@opentrons/shared-data/js/helpers') jest.mock('../../ProtocolRun/utils/getProtocolModulesInfo') jest.mock('../useAttachedModules') jest.mock('../useProtocolDetailsForRun') @@ -49,12 +41,6 @@ const mockGetProtocolModulesInfo = getProtocolModulesInfo as jest.MockedFunction const mockUseAttachedModules = useAttachedModules as jest.MockedFunction< typeof useAttachedModules > -const mockGetDeckDefFromRobotType = getDeckDefFromRobotType as jest.MockedFunction< - typeof getDeckDefFromRobotType -> -const mockGetRobotTypeFromLoadedLabware = getRobotTypeFromLoadedLabware as jest.MockedFunction< - typeof getRobotTypeFromLoadedLabware -> const mockUseStoredProtocolAnalysis = useStoredProtocolAnalysis as jest.MockedFunction< typeof useStoredProtocolAnalysis > @@ -68,7 +54,15 @@ const heaterShakerCommandsWithResultsKey = (_heaterShakerCommandsWithResultsKey const PROTOCOL_DETAILS = { displayName: 'fake protocol', - protocolData: heaterShakerCommandsWithResultsKey, + protocolData: { + ...heaterShakerCommandsWithResultsKey, + labware: [ + { + displayName: 'Trash', + definitionId: 'opentrons/opentrons_1_trash_3200ml_fixed/1', + }, + ], + }, protocolKey: 'fakeProtocolKey', } @@ -132,16 +126,15 @@ const TEMPERATURE_MODULE_INFO = { slotName: 'D1', } -const mockFixture = { - fixtureId: 'mockId', - fixtureLocation: 'D1', - loadName: STAGING_AREA_LOAD_NAME, -} as Fixture +const mockCutoutConfig: CutoutConfig = { + cutoutId: 'cutoutD1', + cutoutFixtureId: STAGING_AREA_RIGHT_SLOT_FIXTURE, +} describe('useModuleRenderInfoForProtocolById hook', () => { beforeEach(() => { when(mockUseDeckConfigurationQuery).mockReturnValue({ - data: [mockFixture], + data: [mockCutoutConfig], } as UseQueryResult) when(mockUseAttachedModules) .calledWith() @@ -150,22 +143,16 @@ describe('useModuleRenderInfoForProtocolById hook', () => { mockTemperatureModuleGen2, mockThermocycler, ]) - when(mockGetDeckDefFromRobotType) - .calledWith(FLEX_ROBOT_TYPE) - .mockReturnValue((standardDeckDef as unknown) as DeckDefinition) - when(mockGetRobotTypeFromLoadedLabware).mockReturnValue(FLEX_ROBOT_TYPE) when(mockUseStoredProtocolAnalysis) .calledWith('1') .mockReturnValue((PROTOCOL_DETAILS as unknown) as ProtocolAnalysisOutput) when(mockUseMostRecentCompletedAnalysis) .calledWith('1') .mockReturnValue(PROTOCOL_DETAILS.protocolData as any) - when(mockGetProtocolModulesInfo) - .calledWith( - heaterShakerCommandsWithResultsKey, - (standardDeckDef as unknown) as DeckDefinition - ) - .mockReturnValue([TEMPERATURE_MODULE_INFO, MAGNETIC_MODULE_INFO]) + mockGetProtocolModulesInfo.mockReturnValue([ + TEMPERATURE_MODULE_INFO, + MAGNETIC_MODULE_INFO, + ]) }) afterEach(() => { @@ -176,23 +163,19 @@ describe('useModuleRenderInfoForProtocolById hook', () => { .calledWith('1') .mockReturnValue(null) when(mockUseStoredProtocolAnalysis).calledWith('1').mockReturnValue(null) - const { result } = renderHook(() => - useModuleRenderInfoForProtocolById('otie', '1') - ) + const { result } = renderHook(() => useModuleRenderInfoForProtocolById('1')) expect(result.current).toStrictEqual({}) }) it('should return module render info', () => { - const { result } = renderHook(() => - useModuleRenderInfoForProtocolById('otie', '1') - ) + const { result } = renderHook(() => useModuleRenderInfoForProtocolById('1')) expect(result.current).toStrictEqual({ magneticModuleId: { - conflictedFixture: mockFixture, + conflictedFixture: mockCutoutConfig, attachedModuleMatch: mockMagneticModuleGen2, ...MAGNETIC_MODULE_INFO, }, temperatureModuleId: { - conflictedFixture: mockFixture, + conflictedFixture: mockCutoutConfig, attachedModuleMatch: mockTemperatureModuleGen2, ...TEMPERATURE_MODULE_INFO, }, diff --git a/app/src/organisms/Devices/hooks/__tests__/useProtocolDetailsForRun.test.tsx b/app/src/organisms/Devices/hooks/__tests__/useProtocolDetailsForRun.test.tsx index 2c94afeedf1..84329276960 100644 --- a/app/src/organisms/Devices/hooks/__tests__/useProtocolDetailsForRun.test.tsx +++ b/app/src/organisms/Devices/hooks/__tests__/useProtocolDetailsForRun.test.tsx @@ -13,7 +13,10 @@ import { useProtocolDetailsForRun } from '..' import { RUN_ID_2 } from '../../../../organisms/RunTimeControl/__fixtures__' import type { Protocol, Run } from '@opentrons/api-client' -import { CompletedProtocolAnalysis } from '@opentrons/shared-data' +import { + CompletedProtocolAnalysis, + OT2_ROBOT_TYPE, +} from '@opentrons/shared-data' jest.mock('@opentrons/react-api-client') @@ -39,6 +42,7 @@ const PROTOCOL_RESPONSE = { metadata: { protocolName: 'fake protocol' }, analysisSummaries: [{ id: PROTOCOL_ANALYSIS.id, status: 'completed' }], key: 'fakeProtocolKey', + robotType: OT2_ROBOT_TYPE, }, } as Protocol @@ -68,7 +72,7 @@ describe('useProtocolDetailsForRun hook', () => { protocolData: null, protocolKey: null, isProtocolAnalyzing: false, - robotType: 'OT-2 Standard', + robotType: 'OT-3 Standard', }) }) diff --git a/app/src/organisms/Devices/hooks/__tests__/useUnmatchedModulesForProtocol.test.tsx b/app/src/organisms/Devices/hooks/__tests__/useUnmatchedModulesForProtocol.test.tsx index e524aa53d5a..971df5dc939 100644 --- a/app/src/organisms/Devices/hooks/__tests__/useUnmatchedModulesForProtocol.test.tsx +++ b/app/src/organisms/Devices/hooks/__tests__/useUnmatchedModulesForProtocol.test.tsx @@ -51,7 +51,7 @@ describe('useModuleMatchResults', () => { .calledWith(mockConnectedRobot.name) .mockReturnValue(mockConnectedRobot) when(mockUseModuleRenderInfoForProtocolById) - .calledWith(mockConnectedRobot.name, '1') + .calledWith('1') .mockReturnValue({}) when(mockUseAttachedModules) @@ -67,7 +67,7 @@ describe('useModuleMatchResults', () => { when(mockUseAttachedModules).calledWith().mockReturnValue([]) const moduleId = 'fakeMagBlockId' when(mockUseModuleRenderInfoForProtocolById) - .calledWith(mockConnectedRobot.name, '1') + .calledWith('1') .mockReturnValue({ [moduleId]: { moduleId: moduleId, @@ -94,7 +94,7 @@ describe('useModuleMatchResults', () => { it('should return 1 missing moduleId if requested model not attached', () => { const moduleId = 'fakeMagModuleId' when(mockUseModuleRenderInfoForProtocolById) - .calledWith(mockConnectedRobot.name, '1') + .calledWith('1') .mockReturnValue({ [moduleId]: { moduleId: moduleId, @@ -121,7 +121,7 @@ describe('useModuleMatchResults', () => { it('should return no missing moduleId if compatible model is attached', () => { const moduleId = 'someTempModule' when(mockUseModuleRenderInfoForProtocolById) - .calledWith(mockConnectedRobot.name, '1') + .calledWith('1') .mockReturnValue({ [moduleId]: { moduleId: moduleId, @@ -147,7 +147,7 @@ describe('useModuleMatchResults', () => { it('should return one missing moduleId if nocompatible model is attached', () => { const moduleId = 'someTempModule' when(mockUseModuleRenderInfoForProtocolById) - .calledWith(mockConnectedRobot.name, '1') + .calledWith('1') .mockReturnValue({ [moduleId]: { moduleId: moduleId, diff --git a/app/src/organisms/Devices/hooks/useModuleCalibrationStatus.ts b/app/src/organisms/Devices/hooks/useModuleCalibrationStatus.ts index a484e0cd7a0..e8bddaaeadb 100644 --- a/app/src/organisms/Devices/hooks/useModuleCalibrationStatus.ts +++ b/app/src/organisms/Devices/hooks/useModuleCalibrationStatus.ts @@ -11,7 +11,7 @@ export function useModuleCalibrationStatus( const isFlex = useIsFlex(robotName) // TODO: can probably use getProtocolModulesInfo but in a rush to get out 7.0.1 const moduleRenderInfoForProtocolById = omitBy( - useModuleRenderInfoForProtocolById(robotName, runId), + useModuleRenderInfoForProtocolById(runId), moduleRenderInfo => moduleRenderInfo.moduleDef.moduleType === MAGNETIC_BLOCK_TYPE ) diff --git a/app/src/organisms/Devices/hooks/useModuleRenderInfoForProtocolById.ts b/app/src/organisms/Devices/hooks/useModuleRenderInfoForProtocolById.ts index 3c5d9404f74..1c9570dfcde 100644 --- a/app/src/organisms/Devices/hooks/useModuleRenderInfoForProtocolById.ts +++ b/app/src/organisms/Devices/hooks/useModuleRenderInfoForProtocolById.ts @@ -1,23 +1,24 @@ import { checkModuleCompatibility, - Fixture, + FLEX_ROBOT_TYPE, getDeckDefFromRobotType, - getRobotTypeFromLoadedLabware, - STANDARD_SLOT_LOAD_NAME, + SINGLE_SLOT_FIXTURES, } from '@opentrons/shared-data' import { useDeckConfigurationQuery } from '@opentrons/react-api-client/src/deck_configuration' +import { getCutoutIdForSlotName } from '../../../resources/deck_configuration/utils' import { getProtocolModulesInfo } from '../ProtocolRun/utils/getProtocolModulesInfo' import { useMostRecentCompletedAnalysis } from '../../LabwarePositionCheck/useMostRecentCompletedAnalysis' import { useAttachedModules } from './useAttachedModules' import { useStoredProtocolAnalysis } from './useStoredProtocolAnalysis' +import type { CutoutConfig } from '@opentrons/shared-data' import type { AttachedModule } from '../../../redux/modules/types' import type { ProtocolModuleInfo } from '../ProtocolRun/utils/getProtocolModulesInfo' export interface ModuleRenderInfoForProtocol extends ProtocolModuleInfo { attachedModuleMatch: AttachedModule | null - conflictedFixture?: Fixture + conflictedFixture?: CutoutConfig } export interface ModuleRenderInfoById { @@ -25,20 +26,20 @@ export interface ModuleRenderInfoById { } export function useModuleRenderInfoForProtocolById( - robotName: string, runId: string ): ModuleRenderInfoById { const robotProtocolAnalysis = useMostRecentCompletedAnalysis(runId) const { data: deckConfig } = useDeckConfigurationQuery() const storedProtocolAnalysis = useStoredProtocolAnalysis(runId) - const protocolData = robotProtocolAnalysis ?? storedProtocolAnalysis - const robotType = getRobotTypeFromLoadedLabware(protocolData?.labware ?? []) + const protocolAnalysis = robotProtocolAnalysis ?? storedProtocolAnalysis const attachedModules = useAttachedModules() - if (protocolData == null) return {} + if (protocolAnalysis == null) return {} - const deckDef = getDeckDefFromRobotType(robotType) + const deckDef = getDeckDefFromRobotType( + protocolAnalysis.robotType ?? FLEX_ROBOT_TYPE + ) - const protocolModulesInfo = getProtocolModulesInfo(protocolData, deckDef) + const protocolModulesInfo = getProtocolModulesInfo(protocolAnalysis, deckDef) const protocolModulesInfoInLoadOrder = protocolModulesInfo.sort( (modA, modB) => modA.protocolLoadOrder - modB.protocolLoadOrder @@ -54,26 +55,31 @@ export function useModuleRenderInfoForProtocolById( protocolMod.moduleDef.model ) && !matchedAmod.find(m => m === attachedMod) ) ?? null + + const cutoutIdForSlotName = getCutoutIdForSlotName( + protocolMod.slotName, + deckDef + ) + + const conflictedFixture = deckConfig?.find( + fixture => + fixture.cutoutId === cutoutIdForSlotName && + fixture.cutoutFixtureId != null && + !SINGLE_SLOT_FIXTURES.includes(fixture.cutoutFixtureId) + ) + if (compatibleAttachedModule !== null) { matchedAmod = [...matchedAmod, compatibleAttachedModule] return { ...protocolMod, attachedModuleMatch: compatibleAttachedModule, - conflictedFixture: deckConfig?.find( - fixture => - fixture.fixtureLocation === protocolMod.slotName && - fixture.loadName !== STANDARD_SLOT_LOAD_NAME - ), + conflictedFixture, } } return { ...protocolMod, attachedModuleMatch: null, - conflictedFixture: deckConfig?.find( - fixture => - fixture.fixtureLocation === protocolMod.slotName && - fixture.loadName !== STANDARD_SLOT_LOAD_NAME - ), + conflictedFixture, } } ) diff --git a/app/src/organisms/Devices/hooks/useProtocolDetailsForRun.ts b/app/src/organisms/Devices/hooks/useProtocolDetailsForRun.ts index ec61b88967f..c8c7b3c9b36 100644 --- a/app/src/organisms/Devices/hooks/useProtocolDetailsForRun.ts +++ b/app/src/organisms/Devices/hooks/useProtocolDetailsForRun.ts @@ -1,6 +1,6 @@ import * as React from 'react' import last from 'lodash/last' -import { getRobotTypeFromLoadedLabware } from '@opentrons/shared-data' +import { FLEX_ROBOT_TYPE } from '@opentrons/shared-data' import { useProtocolQuery, useRunQuery, @@ -61,10 +61,10 @@ export function useProtocolDetailsForRun( protocolData: mostRecentAnalysis ?? null, protocolKey: protocolRecord?.data.key ?? null, isProtocolAnalyzing: protocolRecord != null && mostRecentAnalysis == null, - // this should be deleted as soon as analysis tells us intended robot type robotType: - mostRecentAnalysis?.status === 'completed' - ? getRobotTypeFromLoadedLabware(mostRecentAnalysis.labware) - : 'OT-2 Standard', + protocolRecord?.data.robotType ?? + (mostRecentAnalysis?.status === 'completed' + ? mostRecentAnalysis?.robotType ?? FLEX_ROBOT_TYPE + : FLEX_ROBOT_TYPE), } } diff --git a/app/src/organisms/Devices/hooks/useRobotAnalyticsData.ts b/app/src/organisms/Devices/hooks/useRobotAnalyticsData.ts index c1289e0da83..6ca8c95fbca 100644 --- a/app/src/organisms/Devices/hooks/useRobotAnalyticsData.ts +++ b/app/src/organisms/Devices/hooks/useRobotAnalyticsData.ts @@ -4,7 +4,6 @@ import { useSelector, useDispatch } from 'react-redux' import { useRobot } from './' import { getAttachedPipettes } from '../../../redux/pipettes' import { getRobotSettings, fetchSettings } from '../../../redux/robot-settings' -import { FF_PREFIX } from '../../../redux/analytics' import { getRobotApiVersion, getRobotFirmwareVersion, @@ -13,6 +12,8 @@ import { import type { State, Dispatch } from '../../../redux/types' import type { RobotAnalyticsData } from '../../../redux/analytics/types' +const FF_PREFIX = 'robotFF_' + /** * * @param {string} robotName @@ -45,10 +46,10 @@ export function useRobotAnalyticsData( }), // @ts-expect-error RobotAnalyticsData type needs boolean values should it be boolean | string { - robotApiServerVersion: getRobotApiVersion(robot) || '', - robotSmoothieVersion: getRobotFirmwareVersion(robot) || '', - robotLeftPipette: pipettes.left?.model || '', - robotRightPipette: pipettes.right?.model || '', + robotApiServerVersion: getRobotApiVersion(robot) ?? '', + robotSmoothieVersion: getRobotFirmwareVersion(robot) ?? '', + robotLeftPipette: pipettes.left?.model ?? '', + robotRightPipette: pipettes.right?.model ?? '', } ) } diff --git a/app/src/organisms/Devices/hooks/useUnmatchedModulesForProtocol.ts b/app/src/organisms/Devices/hooks/useUnmatchedModulesForProtocol.ts index 5e6d52e292d..9c76e899c45 100644 --- a/app/src/organisms/Devices/hooks/useUnmatchedModulesForProtocol.ts +++ b/app/src/organisms/Devices/hooks/useUnmatchedModulesForProtocol.ts @@ -23,10 +23,7 @@ export function useUnmatchedModulesForProtocol( runId: string ): UnmatchedModuleResults { const robot = useRobot(robotName) - const moduleRenderInfoById = useModuleRenderInfoForProtocolById( - robotName, - runId - ) + const moduleRenderInfoById = useModuleRenderInfoForProtocolById(runId) const attachedModules = useAttachedModules() if (robot === null) { return { missingModuleIds: [], remainingAttachedModules: [] } diff --git a/app/src/organisms/DropTipWizard/ChooseLocation.tsx b/app/src/organisms/DropTipWizard/ChooseLocation.tsx index deaedcc7b0a..72bdf5c1d85 100644 --- a/app/src/organisms/DropTipWizard/ChooseLocation.tsx +++ b/app/src/organisms/DropTipWizard/ChooseLocation.tsx @@ -1,6 +1,7 @@ import * as React from 'react' import { css } from 'styled-components' import { useTranslation } from 'react-i18next' + import { Flex, DIRECTION_COLUMN, @@ -14,13 +15,19 @@ import { SPACING, TYPOGRAPHY, } from '@opentrons/components' +import { + getDeckDefFromRobotType, + getPositionFromSlotId, +} from '@opentrons/shared-data' + +import { SmallButton } from '../../atoms/buttons' import { StyledText } from '../../atoms/text' +import { InProgressModal } from '../../molecules/InProgressModal/InProgressModal' // import { NeedHelpLink } from '../CalibrationPanels' import { TwoUpTileLayout } from '../LabwarePositionCheck/TwoUpTileLayout' -import { InProgressModal } from '../../molecules/InProgressModal/InProgressModal' -import { RobotType, getDeckDefFromRobotType } from '@opentrons/shared-data' + import type { CommandData } from '@opentrons/api-client' -import { SmallButton } from '../../atoms/buttons' +import type { RobotType } from '@opentrons/shared-data' // TODO: get help link article URL // const NEED_HELP_URL = '' @@ -56,13 +63,19 @@ export const ChooseLocation = ( ) const handleConfirmPosition: React.MouseEventHandler = () => { - const deckLocation = deckDef.locations.orderedSlots.find( + const deckSlot = deckDef.locations.addressableAreas.find( l => l.id === selectedLocation.slotName ) - const slotX = deckLocation?.position[0] - const slotY = deckLocation?.position[1] - const xDimension = deckLocation?.boundingBox.xDimension - const yDimension = deckLocation?.boundingBox.yDimension + + const slotPosition = getPositionFromSlotId( + selectedLocation.slotName, + deckDef + ) + + const slotX = slotPosition?.[0] + const slotY = slotPosition?.[1] + const xDimension = deckSlot?.boundingBox.xDimension + const yDimension = deckSlot?.boundingBox.yDimension if ( slotX != null && slotY != null && diff --git a/app/src/organisms/InterventionModal/MoveLabwareInterventionContent.tsx b/app/src/organisms/InterventionModal/MoveLabwareInterventionContent.tsx index aab4b2b359d..8d4925ce73b 100644 --- a/app/src/organisms/InterventionModal/MoveLabwareInterventionContent.tsx +++ b/app/src/organisms/InterventionModal/MoveLabwareInterventionContent.tsx @@ -33,7 +33,6 @@ import { getModuleDisplayName, getModuleType, getOccludedSlotCountForModule, - getRobotTypeFromLoadedLabware, } from '@opentrons/shared-data' import { getRunLabwareRenderInfo, @@ -49,6 +48,7 @@ import { getLoadedModule, } from '../CommandText/utils/accessors' import type { RunData } from '@opentrons/api-client' +import { useDeckConfigurationQuery } from '@opentrons/react-api-client' const LABWARE_DESCRIPTION_STYLE = css` flex-direction: ${DIRECTION_COLUMN}; @@ -103,6 +103,7 @@ export interface MoveLabwareInterventionProps { command: MoveLabwareRunTimeCommand analysis: CompletedProtocolAnalysis | null run: RunData + robotType: RobotType isOnDevice: boolean } @@ -110,14 +111,15 @@ export function MoveLabwareInterventionContent({ command, analysis, run, + robotType, isOnDevice, }: MoveLabwareInterventionProps): JSX.Element | null { const { t } = useTranslation(['protocol_setup', 'protocol_command_text']) const analysisCommands = analysis?.commands ?? [] const labwareDefsByUri = getLoadedLabwareDefinitionsByUri(analysisCommands) - const robotType = getRobotTypeFromLoadedLabware(run.labware) const deckDef = getDeckDefFromRobotType(robotType) + const deckConfig = useDeckConfigurationQuery().data ?? [] const moduleRenderInfo = getRunModuleRenderInfo( run, @@ -196,8 +198,7 @@ export function MoveLabwareInterventionContent({ movedLabwareDef={movedLabwareDef} loadedModules={run.modules} loadedLabware={run.labware} - // TODO(bh, 2023-07-19): read trash slot name from protocol - trashLocation={robotType === 'OT-3 Standard' ? 'A3' : undefined} + deckConfig={deckConfig} backgroundItems={ <> {moduleRenderInfo.map( diff --git a/app/src/organisms/InterventionModal/__tests__/InterventionModal.test.tsx b/app/src/organisms/InterventionModal/__tests__/InterventionModal.test.tsx index 2c937472b64..cd320a21058 100644 --- a/app/src/organisms/InterventionModal/__tests__/InterventionModal.test.tsx +++ b/app/src/organisms/InterventionModal/__tests__/InterventionModal.test.tsx @@ -15,11 +15,16 @@ import { truncatedCommandMessage, } from '../__fixtures__' import { mockTipRackDefinition } from '../../../redux/custom-labware/__fixtures__' +import { useIsFlex } from '../../Devices/hooks' const ROBOT_NAME = 'Otie' const mockOnResumeHandler = jest.fn() +jest.mock('../../Devices/hooks') + +const mockUseIsFlex = useIsFlex as jest.MockedFunction + const render = (props: React.ComponentProps) => { return renderWithProviders(, { i18nInstance: i18n, @@ -43,6 +48,7 @@ describe('InterventionModal', () => { ], } as CompletedProtocolAnalysis, } + mockUseIsFlex.mockReturnValue(true) }) it('renders an InterventionModal with the robot name in the header and confirm button', () => { diff --git a/app/src/organisms/InterventionModal/__tests__/utils.test.ts b/app/src/organisms/InterventionModal/__tests__/utils.test.ts index 8aa5b57b6bb..2e27af4bbac 100644 --- a/app/src/organisms/InterventionModal/__tests__/utils.test.ts +++ b/app/src/organisms/InterventionModal/__tests__/utils.test.ts @@ -1,7 +1,7 @@ import deepClone from 'lodash/cloneDeep' import { getSlotHasMatingSurfaceUnitVector } from '@opentrons/shared-data' -import deckDefFixture from '@opentrons/shared-data/deck/fixtures/3/deckExample.json' +import standardDeckDef from '@opentrons/shared-data/deck/definitions/4/ot2_standard.json' import { mockLabwareDefinition, @@ -141,7 +141,7 @@ describe('getRunLabwareRenderInfo', () => { const res = getRunLabwareRenderInfo( mockRunData, mockLabwareDefinitionsByUri, - deckDefFixture as any + standardDeckDef as any ) const labwareInfo = res[0] expect(labwareInfo).toBeTruthy() @@ -158,7 +158,7 @@ describe('getRunLabwareRenderInfo', () => { const res = getRunLabwareRenderInfo( mockRunData, mockLabwareDefinitionsByUri, - deckDefFixture as any + standardDeckDef as any ) expect(res).toHaveLength(1) // the offdeck labware still gets added because the mating surface doesn't exist for offdeck labware }) @@ -167,7 +167,7 @@ describe('getRunLabwareRenderInfo', () => { const res = getRunLabwareRenderInfo( mockRunData, mockLabwareDefinitionsByUri, - deckDefFixture as any + standardDeckDef as any ) expect(res).toHaveLength(2) const labwareInfo = res.find( @@ -176,7 +176,7 @@ describe('getRunLabwareRenderInfo', () => { expect(labwareInfo).toBeTruthy() expect(labwareInfo?.x).toEqual(0) expect(labwareInfo?.y).toEqual( - deckDefFixture.cornerOffsetFromOrigin[1] - + standardDeckDef.cornerOffsetFromOrigin[1] - mockLabwareDefinition.dimensions.yDimension ) }) @@ -193,7 +193,7 @@ describe('getRunLabwareRenderInfo', () => { const res = getRunLabwareRenderInfo( { labware: [mockBadSlotLabware] } as any, mockLabwareDefinitionsByUri, - deckDefFixture as any + standardDeckDef as any ) expect(res[0].x).toEqual(0) @@ -211,7 +211,7 @@ describe('getCurrentRunModuleRenderInfo', () => { it('returns run module render info with nested labware', () => { const res = getRunModuleRenderInfo( mockRunData, - deckDefFixture as any, + standardDeckDef as any, mockLabwareDefinitionsByUri ) const moduleInfo = res[0] @@ -232,7 +232,7 @@ describe('getCurrentRunModuleRenderInfo', () => { const res = getRunModuleRenderInfo( mockRunDataNoNesting, - deckDefFixture as any, + standardDeckDef as any, mockLabwareDefinitionsByUri ) @@ -249,7 +249,7 @@ describe('getCurrentRunModuleRenderInfo', () => { const res = getRunModuleRenderInfo( mockRunDataWithTC, - deckDefFixture as any, + standardDeckDef as any, mockLabwareDefinitionsByUri ) @@ -274,7 +274,7 @@ describe('getCurrentRunModuleRenderInfo', () => { const res = getRunModuleRenderInfo( mockRunDataWithBadModuleSlot, - deckDefFixture as any, + standardDeckDef as any, mockLabwareDefinitionsByUri ) diff --git a/app/src/organisms/InterventionModal/index.tsx b/app/src/organisms/InterventionModal/index.tsx index b5b23666ba5..39c6c3cb4d7 100644 --- a/app/src/organisms/InterventionModal/index.tsx +++ b/app/src/organisms/InterventionModal/index.tsx @@ -35,6 +35,7 @@ import { MoveLabwareInterventionContent } from './MoveLabwareInterventionContent import type { RunCommandSummary, RunData } from '@opentrons/api-client' import type { IconName } from '@opentrons/components' import type { CompletedProtocolAnalysis } from '@opentrons/shared-data' +import { useRobotType } from '../Devices/hooks' const LEARN_ABOUT_MANUAL_STEPS_URL = 'https://support.opentrons.com/s/article/Manual-protocol-steps' @@ -108,6 +109,7 @@ export function InterventionModal({ const { t } = useTranslation(['protocol_command_text', 'protocol_info']) const isOnDevice = useSelector(getIsOnDevice) + const robotType = useRobotType(robotName) const childContent = React.useMemo(() => { if ( command.commandType === 'waitForResume' || @@ -122,7 +124,7 @@ export function InterventionModal({ } else if (command.commandType === 'moveLabware') { return ( ) diff --git a/app/src/organisms/InterventionModal/utils/getRunLabwareRenderInfo.ts b/app/src/organisms/InterventionModal/utils/getRunLabwareRenderInfo.ts index 12718b07411..1634e12cc2b 100644 --- a/app/src/organisms/InterventionModal/utils/getRunLabwareRenderInfo.ts +++ b/app/src/organisms/InterventionModal/utils/getRunLabwareRenderInfo.ts @@ -1,4 +1,7 @@ -import { getSlotHasMatingSurfaceUnitVector } from '@opentrons/shared-data' +import { + getPositionFromSlotId, + getSlotHasMatingSurfaceUnitVector, +} from '@opentrons/shared-data' import type { RunData } from '@opentrons/api-client' import type { @@ -36,20 +39,22 @@ export function getRunLabwareRenderInfo( } if (location !== 'offDeck') { - const slotName = location.slotName - const slotPosition = - deckDef.locations.orderedSlots.find(slot => slot.id === slotName) - ?.position ?? [] + const slotName = + 'addressableAreaName' in location + ? location.addressableAreaName + : location.slotName + const slotPosition = getPositionFromSlotId(slotName, deckDef) const slotHasMatingSurfaceVector = getSlotHasMatingSurfaceUnitVector( deckDef, slotName ) + return slotHasMatingSurfaceVector ? [ ...acc, { - x: slotPosition[0] ?? 0, - y: slotPosition[1] ?? 0, + x: slotPosition?.[0] ?? 0, + y: slotPosition?.[1] ?? 0, labwareId: labware.id, labwareDef, }, diff --git a/app/src/organisms/InterventionModal/utils/getRunModuleRenderInfo.ts b/app/src/organisms/InterventionModal/utils/getRunModuleRenderInfo.ts index 0413f60db7e..46c8a04869e 100644 --- a/app/src/organisms/InterventionModal/utils/getRunModuleRenderInfo.ts +++ b/app/src/organisms/InterventionModal/utils/getRunModuleRenderInfo.ts @@ -1,4 +1,8 @@ -import { SPAN7_8_10_11_SLOT, getModuleDef2 } from '@opentrons/shared-data' +import { + SPAN7_8_10_11_SLOT, + getModuleDef2, + getPositionFromSlotId, +} from '@opentrons/shared-data' import type { RunData } from '@opentrons/api-client' import type { @@ -37,16 +41,14 @@ export function getRunModuleRenderInfo( if (slotName === SPAN7_8_10_11_SLOT) { slotName = '7' } - const slotPosition = - deckDef.locations.orderedSlots.find(slot => slot.id === slotName) - ?.position ?? [] + const slotPosition = getPositionFromSlotId(slotName, deckDef) return [ ...acc, { moduleId: module.id, - x: slotPosition[0] ?? 0, - y: slotPosition[1] ?? 0, + x: slotPosition?.[0] ?? 0, + y: slotPosition?.[1] ?? 0, moduleDef, nestedLabwareDef, nestedLabwareId: nestedLabware?.id ?? null, diff --git a/app/src/organisms/LabwarePositionCheck/AttachProbe.tsx b/app/src/organisms/LabwarePositionCheck/AttachProbe.tsx index 5381c23aed5..48f9353147e 100644 --- a/app/src/organisms/LabwarePositionCheck/AttachProbe.tsx +++ b/app/src/organisms/LabwarePositionCheck/AttachProbe.tsx @@ -1,15 +1,18 @@ import * as React from 'react' import { Trans, useTranslation } from 'react-i18next' import { RESPONSIVENESS, SPACING, TYPOGRAPHY } from '@opentrons/components' -import { css } from 'styled-components' -import { StyledText } from '../../atoms/text' -import { RobotMotionLoader } from './RobotMotionLoader' +import { useInstrumentsQuery } from '@opentrons/react-api-client' import { CompletedProtocolAnalysis, getPipetteNameSpecs, } from '@opentrons/shared-data' +import { css } from 'styled-components' +import { StyledText } from '../../atoms/text' +import { ProbeNotAttached } from '../PipetteWizardFlows/ProbeNotAttached' +import { RobotMotionLoader } from './RobotMotionLoader' import attachProbe1 from '../../assets/videos/pipette-wizard-flows/Pipette_Attach_Probe_1.webm' import attachProbe8 from '../../assets/videos/pipette-wizard-flows/Pipette_Attach_Probe_8.webm' +import attachProbe96 from '../../assets/videos/pipette-wizard-flows/Pipette_Attach_Probe_96.webm' import { useChainRunCommands } from '../../resources/runs/hooks' import { GenericWizardTile } from '../../molecules/GenericWizardTile' @@ -19,7 +22,7 @@ import type { RegisterPositionAction, WorkingOffset, } from './types' -import type { LabwareOffset } from '@opentrons/api-client' +import type { LabwareOffset, PipetteData } from '@opentrons/api-client' interface AttachProbeProps extends AttachProbeStep { protocolData: CompletedProtocolAnalysis @@ -31,7 +34,9 @@ interface AttachProbeProps extends AttachProbeStep { existingOffsets: LabwareOffset[] handleJog: Jog isRobotMoving: boolean + isOnDevice: boolean } + export const AttachProbe = (props: AttachProbeProps): JSX.Element | null => { const { t, i18n } = useTranslation(['labware_position_check', 'shared']) const { @@ -41,43 +46,97 @@ export const AttachProbe = (props: AttachProbeProps): JSX.Element | null => { chainRunCommands, isRobotMoving, setFatalError, + isOnDevice, } = props + const [isPending, setIsPending] = React.useState(false) + const [showUnableToDetect, setShowUnableToDetect] = React.useState( + false + ) const pipette = protocolData.pipettes.find(p => p.id === pipetteId) const pipetteName = pipette?.pipetteName const pipetteChannels = pipetteName != null ? getPipetteNameSpecs(pipetteName)?.channels ?? 1 : 1 - const pipetteMount = pipette?.mount - if (pipetteName == null || pipetteMount == null) return null + let probeVideoSrc = attachProbe1 + let probeLocation = '' + if (pipetteChannels === 8) { + probeLocation = t('backmost') + probeVideoSrc = attachProbe8 + } else if (pipetteChannels === 96) { + probeLocation = t('ninety_six_probe_location') + probeVideoSrc = attachProbe96 + } - const pipetteZMotorAxis: 'leftZ' | 'rightZ' = - pipetteMount === 'left' ? 'leftZ' : 'rightZ' + const pipetteMount = pipette?.mount + const { refetch, data: attachedInstrumentsData } = useInstrumentsQuery({ + enabled: false, + onSettled: () => { + setIsPending(false) + }, + }) + const attachedPipette = attachedInstrumentsData?.data.find( + (instrument): instrument is PipetteData => + instrument.ok && instrument.mount === pipetteMount + ) + const is96Channel = attachedPipette?.data.channels === 96 - const handleProbeAttached = (): void => { + React.useEffect(() => { + // move into correct position for probe attach on mount chainRunCommands( [ { - commandType: 'retractAxis' as const, + commandType: 'calibration/moveToMaintenancePosition' as const, params: { - axis: pipetteZMotorAxis, + mount: pipetteMount ?? 'left', }, }, - { - commandType: 'retractAxis' as const, - params: { axis: 'x' }, - }, - { - commandType: 'retractAxis' as const, - params: { axis: 'y' }, - }, ], false - ) - .then(() => proceed()) - .catch((e: Error) => { - setFatalError( - `AttachProbe failed to move to safe location after probe attach with message: ${e.message}` - ) + ).catch(error => setFatalError(error.message)) + }, []) + + if (pipetteName == null || pipetteMount == null) return null + + const pipetteZMotorAxis: 'leftZ' | 'rightZ' = + pipetteMount === 'left' ? 'leftZ' : 'rightZ' + + const handleProbeAttached = (): void => { + setIsPending(true) + refetch() + .then(() => { + if (is96Channel || attachedPipette?.state?.tipDetected) { + chainRunCommands( + [ + { commandType: 'home', params: { axes: [pipetteZMotorAxis] } }, + { + commandType: 'retractAxis' as const, + params: { + axis: pipetteZMotorAxis, + }, + }, + { + commandType: 'retractAxis' as const, + params: { axis: 'x' }, + }, + { + commandType: 'retractAxis' as const, + params: { axis: 'y' }, + }, + ], + false + ) + .then(() => proceed()) + .catch((e: Error) => { + setFatalError( + `AttachProbe failed to move to safe location after probe attach with message: ${e.message}` + ) + }) + } else { + setShowUnableToDetect(true) + } + }) + .catch(error => { + setFatalError(error.message) }) } @@ -85,11 +144,19 @@ export const AttachProbe = (props: AttachProbeProps): JSX.Element | null => { return ( ) + else if (showUnableToDetect) + return ( + + ) return ( { loop={true} controls={false} > - 1 ? attachProbe8 : attachProbe1} /> + } bodyText={ - pipetteChannels > 1 ? ( + , - block: , + bold: , }} /> - ) : ( - {t('install_probe')} - ) + } - proceedButtonText={t('begin_calibration')} + proceedButtonText={i18n.format(t('shared:continue'), 'capitalize')} proceed={handleProbeAttached} /> ) diff --git a/app/src/organisms/LabwarePositionCheck/CheckItem.tsx b/app/src/organisms/LabwarePositionCheck/CheckItem.tsx index 7cfb76e79d0..97fe3137690 100644 --- a/app/src/organisms/LabwarePositionCheck/CheckItem.tsx +++ b/app/src/organisms/LabwarePositionCheck/CheckItem.tsx @@ -55,6 +55,7 @@ interface CheckItemProps extends Omit { handleJog: Jog isRobotMoving: boolean robotType: RobotType + shouldUseMetalProbe: boolean } export const CheckItem = (props: CheckItemProps): JSX.Element | null => { const { @@ -73,6 +74,7 @@ export const CheckItem = (props: CheckItemProps): JSX.Element | null => { existingOffsets, setFatalError, robotType, + shouldUseMetalProbe, } = props const { t, i18n } = useTranslation(['labware_position_check', 'shared']) const isOnDevice = useSelector(getIsOnDevice) @@ -431,9 +433,17 @@ export const CheckItem = (props: CheckItemProps): JSX.Element | null => { t={t} i18nKey={ isOnDevice - ? 'ensure_nozzle_is_above_tip_odd' - : 'ensure_nozzle_is_above_tip_desktop' + ? 'ensure_nozzle_position_odd' + : 'ensure_nozzle_position_desktop' } + values={{ + tip_type: shouldUseMetalProbe + ? t('calibration_probe') + : t('pipette_nozzle'), + item_location: isTiprack + ? t('check_tip_location') + : t('check_well_location'), + }} components={{ block: , bold: }} /> } @@ -444,6 +454,7 @@ export const CheckItem = (props: CheckItemProps): JSX.Element | null => { handleJog={handleJog} initialPosition={initialPosition} existingOffset={existingOffset} + shouldUseMetalProbe={shouldUseMetalProbe} /> ) : ( { })} body={ } labwareDef={labwareDef} diff --git a/app/src/organisms/LabwarePositionCheck/DetachProbe.tsx b/app/src/organisms/LabwarePositionCheck/DetachProbe.tsx index ab1c4f4898f..a1681d90e17 100644 --- a/app/src/organisms/LabwarePositionCheck/DetachProbe.tsx +++ b/app/src/organisms/LabwarePositionCheck/DetachProbe.tsx @@ -10,6 +10,7 @@ import { } from '@opentrons/shared-data' import detachProbe1 from '../../assets/videos/pipette-wizard-flows/Pipette_Detach_Probe_1.webm' import detachProbe8 from '../../assets/videos/pipette-wizard-flows/Pipette_Detach_Probe_8.webm' +import detachProbe96 from '../../assets/videos/pipette-wizard-flows/Pipette_Detach_Probe_96.webm' import { useChainRunCommands } from '../../resources/runs/hooks' import { GenericWizardTile } from '../../molecules/GenericWizardTile' @@ -47,7 +48,29 @@ export const DetachProbe = (props: DetachProbeProps): JSX.Element | null => { const pipetteName = pipette?.pipetteName const pipetteChannels = pipetteName != null ? getPipetteNameSpecs(pipetteName)?.channels ?? 1 : 1 + let probeVideoSrc = detachProbe1 + if (pipetteChannels === 8) { + probeVideoSrc = detachProbe8 + } else if (pipetteChannels === 96) { + probeVideoSrc = detachProbe96 + } const pipetteMount = pipette?.mount + + React.useEffect(() => { + // move into correct position for probe detach on mount + chainRunCommands( + [ + { + commandType: 'calibration/moveToMaintenancePosition' as const, + params: { + mount: pipetteMount ?? 'left', + }, + }, + ], + false + ).catch(error => setFatalError(error.message)) + }, []) + if (pipetteName == null || pipetteMount == null) return null const pipetteZMotorAxis: 'leftZ' | 'rightZ' = @@ -76,7 +99,7 @@ export const DetachProbe = (props: DetachProbeProps): JSX.Element | null => { .then(() => proceed()) .catch((e: Error) => { setFatalError( - `DetachProbe failed to move to safe location after probe attach with message: ${e.message}` + `DetachProbe failed to move to safe location after probe detach with message: ${e.message}` ) }) } @@ -101,7 +124,7 @@ export const DetachProbe = (props: DetachProbeProps): JSX.Element | null => { loop={true} controls={false} > - 1 ? detachProbe8 : detachProbe1} /> + } bodyText={ diff --git a/app/src/organisms/LabwarePositionCheck/ExitConfirmation.tsx b/app/src/organisms/LabwarePositionCheck/ExitConfirmation.tsx index 5bdb7911af7..7934e1f61b8 100644 --- a/app/src/organisms/LabwarePositionCheck/ExitConfirmation.tsx +++ b/app/src/organisms/LabwarePositionCheck/ExitConfirmation.tsx @@ -5,7 +5,6 @@ import { Flex, Icon, ALIGN_CENTER, - JUSTIFY_SPACE_BETWEEN, DIRECTION_COLUMN, SPACING, SIZE_3, @@ -16,23 +15,22 @@ import { RESPONSIVENESS, SecondaryButton, JUSTIFY_FLEX_END, + TEXT_ALIGN_CENTER, } from '@opentrons/components' import { StyledText } from '../../atoms/text' -import { NeedHelpLink } from '../CalibrationPanels' import { useSelector } from 'react-redux' import { getIsOnDevice } from '../../redux/config' import { SmallButton } from '../../atoms/buttons' -const LPC_HELP_LINK_URL = - 'https://support.opentrons.com/s/article/How-Labware-Offsets-work-on-the-OT-2' interface ExitConfirmationProps { onGoBack: () => void onConfirmExit: () => void + shouldUseMetalProbe: boolean } export const ExitConfirmation = (props: ExitConfirmationProps): JSX.Element => { const { i18n, t } = useTranslation(['labware_position_check', 'shared']) - const { onGoBack, onConfirmExit } = props + const { onGoBack, onConfirmExit, shouldUseMetalProbe } = props const isOnDevice = useSelector(getIsOnDevice) return ( { flexDirection={DIRECTION_COLUMN} justifyContent={JUSTIFY_CENTER} alignItems={ALIGN_CENTER} + paddingX={SPACING.spacing32} > - {t('exit_screen_title')} - - {t('exit_screen_subtitle')} - + {isOnDevice ? ( + <> + + {shouldUseMetalProbe + ? t('remove_probe_before_exit') + : t('exit_screen_title')} + + + + {t('exit_screen_subtitle')} + + + + ) : ( + <> + + {shouldUseMetalProbe + ? t('remove_probe_before_exit') + : t('exit_screen_title')} + + + {t('exit_screen_subtitle')} + + + )} {isOnDevice ? ( { /> @@ -74,10 +98,9 @@ export const ExitConfirmation = (props: ExitConfirmationProps): JSX.Element => { - {t('shared:go_back')} @@ -86,7 +109,9 @@ export const ExitConfirmation = (props: ExitConfirmationProps): JSX.Element => { onClick={onConfirmExit} textTransform={TYPOGRAPHY.textTransformCapitalize} > - {t('shared:exit')} + {shouldUseMetalProbe + ? t('remove_calibration_probe') + : i18n.format(t('shared:exit'), 'capitalize')} @@ -102,3 +127,18 @@ const ConfirmationHeader = styled.h1` ${TYPOGRAPHY.level4HeaderSemiBold} } ` + +const ConfirmationHeaderODD = styled.h1` + margin-top: ${SPACING.spacing24}; + ${TYPOGRAPHY.level3HeaderBold} + @media ${RESPONSIVENESS.touchscreenMediaQuerySpecs} { + ${TYPOGRAPHY.level4HeaderSemiBold} + } +` +const ConfirmationBodyODD = styled.h1` + ${TYPOGRAPHY.level4HeaderRegular} + @media ${RESPONSIVENESS.touchscreenMediaQuerySpecs} { + ${TYPOGRAPHY.level4HeaderRegular} + } + color: ${COLORS.darkBlack70}; +` diff --git a/app/src/organisms/LabwarePositionCheck/IntroScreen/index.tsx b/app/src/organisms/LabwarePositionCheck/IntroScreen/index.tsx index b0e112154fe..d5cf8dc0ee6 100644 --- a/app/src/organisms/LabwarePositionCheck/IntroScreen/index.tsx +++ b/app/src/organisms/LabwarePositionCheck/IntroScreen/index.tsx @@ -34,6 +34,7 @@ import { css } from 'styled-components' import { Portal } from '../../../App/portal' import { LegacyModalShell } from '../../../molecules/LegacyModal' import { SmallButton } from '../../../atoms/buttons' +import { CALIBRATION_PROBE } from '../../PipetteWizardFlows/constants' import { TerseOffsetTable } from '../ResultsSummary' import { getLabwareDefinitionsFromCommands } from '../utils/labware' @@ -52,6 +53,7 @@ export const IntroScreen = (props: { isRobotMoving: boolean existingOffsets: LabwareOffset[] protocolName: string + shouldUseMetalProbe: boolean }): JSX.Element | null => { const { proceed, @@ -61,6 +63,7 @@ export const IntroScreen = (props: { setFatalError, existingOffsets, protocolName, + shouldUseMetalProbe, } = props const isOnDevice = useSelector(getIsOnDevice) const { t, i18n } = useTranslation(['labware_position_check', 'shared']) @@ -74,6 +77,19 @@ export const IntroScreen = (props: { ) }) } + const requiredEquipmentList = [ + { + loadName: t('all_modules_and_labware_from_protocol', { + protocol_name: protocolName, + }), + displayName: t('all_modules_and_labware_from_protocol', { + protocol_name: protocolName, + }), + }, + ] + if (shouldUseMetalProbe) { + requiredEquipmentList.push(CALIBRATION_PROBE) + } if (isRobotMoving) { return ( @@ -91,18 +107,7 @@ export const IntroScreen = (props: { /> } rightElement={ - + } footer={ diff --git a/app/src/organisms/LabwarePositionCheck/JogToWell.tsx b/app/src/organisms/LabwarePositionCheck/JogToWell.tsx index c634a2edb3e..4e91343b85a 100644 --- a/app/src/organisms/LabwarePositionCheck/JogToWell.tsx +++ b/app/src/organisms/LabwarePositionCheck/JogToWell.tsx @@ -29,6 +29,8 @@ import { import levelWithTip from '../../assets/images/lpc_level_with_tip.svg' import levelWithLabware from '../../assets/images/lpc_level_with_labware.svg' +import levelProbeWithTip from '../../assets/images/lpc_level_probe_with_tip.svg' +import levelProbeWithLabware from '../../assets/images/lpc_level_probe_with_labware.svg' import { getIsOnDevice } from '../../redux/config' import { Portal } from '../../App/portal' import { LegacyModalShell } from '../../molecules/LegacyModal' @@ -57,6 +59,7 @@ interface JogToWellProps { body: React.ReactNode initialPosition: VectorOffset existingOffset: VectorOffset + shouldUseMetalProbe: boolean } export const JogToWell = (props: JogToWellProps): JSX.Element | null => { const { t } = useTranslation(['labware_position_check', 'shared']) @@ -70,6 +73,7 @@ export const JogToWell = (props: JogToWellProps): JSX.Element | null => { handleJog, initialPosition, existingOffset, + shouldUseMetalProbe, } = props const [joggedPosition, setJoggedPosition] = React.useState( @@ -109,6 +113,10 @@ export const JogToWell = (props: JogToWellProps): JSX.Element | null => { getVectorDifference(joggedPosition, initialPosition) ) const isTipRack = getIsTiprack(labwareDef) + let levelSrc = isTipRack ? levelWithTip : levelWithLabware + if (shouldUseMetalProbe) { + levelSrc = isTipRack ? levelProbeWithTip : levelProbeWithLabware + } return ( { {`level diff --git a/app/src/organisms/LabwarePositionCheck/LabwarePositionCheckComponent.tsx b/app/src/organisms/LabwarePositionCheck/LabwarePositionCheckComponent.tsx index 4a96d8bc2e3..8df5ad42bfa 100644 --- a/app/src/organisms/LabwarePositionCheck/LabwarePositionCheckComponent.tsx +++ b/app/src/organisms/LabwarePositionCheck/LabwarePositionCheckComponent.tsx @@ -261,6 +261,8 @@ export const LabwarePositionCheckComponent = ( const currentStep = LPCSteps?.[currentStepIndex] if (currentStep == null) return null + const protocolHasModules = protocolData.modules.length > 0 + const handleJog = ( axis: Axis, dir: Sign, @@ -336,6 +338,7 @@ export const LabwarePositionCheckComponent = ( ) } else if (currentStep.section === 'BEFORE_BEGINNING') { @@ -344,6 +347,7 @@ export const LabwarePositionCheckComponent = ( {...movementStepProps} {...{ existingOffsets }} protocolName={protocolName} + shouldUseMetalProbe={shouldUseMetalProbe} /> ) } else if ( @@ -351,13 +355,32 @@ export const LabwarePositionCheckComponent = ( currentStep.section === 'CHECK_TIP_RACKS' || currentStep.section === 'CHECK_LABWARE' ) { - modalContent = + modalContent = ( + + ) } else if (currentStep.section === 'ATTACH_PROBE') { - modalContent = + modalContent = ( + + ) } else if (currentStep.section === 'DETACH_PROBE') { modalContent = } else if (currentStep.section === 'PICK_UP_TIP') { - modalContent = + modalContent = ( + + ) } else if (currentStep.section === 'RETURN_TIP') { modalContent = ( { const { t, i18n } = useTranslation(['labware_position_check', 'shared']) @@ -67,6 +69,8 @@ export const PickUpTip = (props: PickUpTipProps): JSX.Element | null => { setFatalError, adapterId, robotType, + protocolHasModules, + currentStepIndex, } = props const [showTipConfirmation, setShowTipConfirmation] = React.useState(false) const isOnDevice = useSelector(getIsOnDevice) @@ -87,7 +91,10 @@ export const PickUpTip = (props: PickUpTipProps): JSX.Element | null => { ) const labwareDisplayName = getLabwareDisplayName(labwareDef) const instructions = [ - t('clear_all_slots'), + ...(protocolHasModules && currentStepIndex === 1 + ? [t('place_modules')] + : []), + isOnDevice ? t('clear_all_slots_odd') : t('clear_all_slots'), { t={t} i18nKey={ isOnDevice - ? 'ensure_nozzle_is_above_tip_odd' - : 'ensure_nozzle_is_above_tip_desktop' + ? 'ensure_nozzle_position_odd' + : 'ensure_nozzle_position_desktop' } components={{ block: , bold: }} + values={{ + tip_type: t('pipette_nozzle'), + item_location: t('check_tip_location'), + }} /> } labwareDef={labwareDef} @@ -413,6 +424,7 @@ export const PickUpTip = (props: PickUpTipProps): JSX.Element | null => { handleJog={handleJog} initialPosition={initialPosition} existingOffset={existingOffset} + shouldUseMetalProbe={false} /> ) : ( { labwareLocation: location, definition: labwareDef, }, - ]} + ].filter( + () => !('moduleModel' in location && location.moduleModel != null) + )} deckConfig={deckConfig} /> diff --git a/app/src/organisms/LabwarePositionCheck/ReturnTip.tsx b/app/src/organisms/LabwarePositionCheck/ReturnTip.tsx index c751d65a3b8..a0c31074a5c 100644 --- a/app/src/organisms/LabwarePositionCheck/ReturnTip.tsx +++ b/app/src/organisms/LabwarePositionCheck/ReturnTip.tsx @@ -20,6 +20,8 @@ import { import { getDisplayLocation } from './utils/getDisplayLocation' import { RobotMotionLoader } from './RobotMotionLoader' import { PrepareSpace } from './PrepareSpace' +import { useSelector } from 'react-redux' +import { getIsOnDevice } from '../../redux/config' import type { VectorOffset } from '@opentrons/api-client' import type { ReturnTipStep } from './types' @@ -48,6 +50,8 @@ export const ReturnTip = (props: ReturnTipProps): JSX.Element | null => { adapterId, } = props + const isOnDevice = useSelector(getIsOnDevice) + const labwareDef = getLabwareDef(labwareId, protocolData) if (labwareDef == null) return null @@ -60,7 +64,7 @@ export const ReturnTip = (props: ReturnTipProps): JSX.Element | null => { const labwareDisplayName = getLabwareDisplayName(labwareDef) const instructions = [ - t('clear_all_slots'), + isOnDevice ? t('clear_all_slots_odd') : t('clear_all_slots'), - + { existingOffsets: mockExistingOffsets, isRobotMoving: false, robotType: FLEX_ROBOT_TYPE, + shouldUseMetalProbe: false, } }) afterEach(() => { diff --git a/app/src/organisms/LabwarePositionCheck/__tests__/ExitConfirmation.test.tsx b/app/src/organisms/LabwarePositionCheck/__tests__/ExitConfirmation.test.tsx index 61552a0f1cb..3263e098e22 100644 --- a/app/src/organisms/LabwarePositionCheck/__tests__/ExitConfirmation.test.tsx +++ b/app/src/organisms/LabwarePositionCheck/__tests__/ExitConfirmation.test.tsx @@ -17,6 +17,7 @@ describe('ExitConfirmation', () => { props = { onGoBack: jest.fn(), onConfirmExit: jest.fn(), + shouldUseMetalProbe: false, } }) afterEach(() => { @@ -29,14 +30,26 @@ describe('ExitConfirmation', () => { getByText( 'If you exit now, all labware offsets will be discarded. This cannot be undone.' ) - getByRole('button', { name: 'exit' }) + getByRole('button', { name: 'Exit' }) getByRole('button', { name: 'Go back' }) }) it('should invoke callback props when ctas are clicked', () => { const { getByRole } = render(props) getByRole('button', { name: 'Go back' }).click() expect(props.onGoBack).toHaveBeenCalled() - getByRole('button', { name: 'exit' }).click() + getByRole('button', { name: 'Exit' }).click() expect(props.onConfirmExit).toHaveBeenCalled() }) + it('should render correct copy for golden tip LPC', () => { + const { getByText, getByRole } = render({ + ...props, + shouldUseMetalProbe: true, + }) + getByText('Remove the calibration probe before exiting') + getByText( + 'If you exit now, all labware offsets will be discarded. This cannot be undone.' + ) + getByRole('button', { name: 'Remove calibration probe' }) + getByRole('button', { name: 'Go back' }) + }) }) diff --git a/app/src/organisms/LabwarePositionCheck/__tests__/PickUpTip.test.tsx b/app/src/organisms/LabwarePositionCheck/__tests__/PickUpTip.test.tsx index f6fc45a0a2c..b67107ec005 100644 --- a/app/src/organisms/LabwarePositionCheck/__tests__/PickUpTip.test.tsx +++ b/app/src/organisms/LabwarePositionCheck/__tests__/PickUpTip.test.tsx @@ -62,6 +62,8 @@ describe('PickUpTip', () => { existingOffsets: mockExistingOffsets, isRobotMoving: false, robotType: FLEX_ROBOT_TYPE, + protocolHasModules: false, + currentStepIndex: 1, } mockUseProtocolMetaData.mockReturnValue({ robotType: 'OT-3 Standard' }) }) @@ -69,16 +71,46 @@ describe('PickUpTip', () => { jest.resetAllMocks() resetAllWhenMocks() }) - it('renders correct copy when preparing space', () => { + it('renders correct copy when preparing space on desktop if protocol has modules', () => { + props.protocolHasModules = true const { getByText, getByRole } = render(props) getByRole('heading', { name: 'Prepare tip rack in Slot D1' }) + getByText('Place modules on deck') getByText('Clear all deck slots of labware, leaving modules in place') getByText( matchTextWithSpans('Place a full Mock TipRack Definition into Slot D1') ) - getByRole('link', { name: 'Need help?' }) getByRole('button', { name: 'Confirm placement' }) }) + it('renders correct copy when preparing space on touchscreen if protocol has modules', () => { + mockGetIsOnDevice.mockReturnValue(true) + props.protocolHasModules = true + const { getByText, getByRole } = render(props) + getByRole('heading', { name: 'Prepare tip rack in Slot D1' }) + getByText('Place modules on deck') + getByText('Clear all deck slots of labware') + getByText( + matchTextWithSpans('Place a full Mock TipRack Definition into Slot D1') + ) + }) + it('renders correct copy when preparing space on desktop if protocol has no modules', () => { + const { getByText, getByRole } = render(props) + getByRole('heading', { name: 'Prepare tip rack in Slot D1' }) + getByText('Clear all deck slots of labware, leaving modules in place') + getByText( + matchTextWithSpans('Place a full Mock TipRack Definition into Slot D1') + ) + getByRole('button', { name: 'Confirm placement' }) + }) + it('renders correct copy when preparing space on touchscreen if protocol has no modules', () => { + mockGetIsOnDevice.mockReturnValue(true) + const { getByText, getByRole } = render(props) + getByRole('heading', { name: 'Prepare tip rack in Slot D1' }) + getByText('Clear all deck slots of labware') + getByText( + matchTextWithSpans('Place a full Mock TipRack Definition into Slot D1') + ) + }) it('renders correct copy when confirming position on desktop', () => { const { getByText, getByRole } = render({ ...props, diff --git a/app/src/organisms/LabwarePositionCheck/__tests__/ReturnTip.test.tsx b/app/src/organisms/LabwarePositionCheck/__tests__/ReturnTip.test.tsx index 465609db8c4..037d171579a 100644 --- a/app/src/organisms/LabwarePositionCheck/__tests__/ReturnTip.test.tsx +++ b/app/src/organisms/LabwarePositionCheck/__tests__/ReturnTip.test.tsx @@ -7,12 +7,17 @@ import { ReturnTip } from '../ReturnTip' import { SECTIONS } from '../constants' import { mockCompletedAnalysis } from '../__fixtures__' import { useProtocolMetadata } from '../../Devices/hooks' +import { getIsOnDevice } from '../../../redux/config' jest.mock('../../Devices/hooks') +jest.mock('../../../redux/config') const mockUseProtocolMetaData = useProtocolMetadata as jest.MockedFunction< typeof useProtocolMetadata > +const mockGetIsOnDevice = getIsOnDevice as jest.MockedFunction< + typeof getIsOnDevice +> const matchTextWithSpans: (text: string) => MatcherFunction = ( text: string @@ -37,6 +42,7 @@ describe('ReturnTip', () => { beforeEach(() => { mockChainRunCommands = jest.fn().mockImplementation(() => Promise.resolve()) + mockGetIsOnDevice.mockReturnValue(false) props = { section: SECTIONS.RETURN_TIP, pipetteId: mockCompletedAnalysis.pipettes[0].id, @@ -55,7 +61,7 @@ describe('ReturnTip', () => { afterEach(() => { jest.restoreAllMocks() }) - it('renders correct copy', () => { + it('renders correct copy on desktop', () => { const { getByText, getByRole } = render(props) getByRole('heading', { name: 'Return tip rack to Slot D1' }) getByText('Clear all deck slots of labware, leaving modules in place') @@ -66,6 +72,17 @@ describe('ReturnTip', () => { ) getByRole('link', { name: 'Need help?' }) }) + it('renders correct copy on device', () => { + mockGetIsOnDevice.mockReturnValue(true) + const { getByText, getByRole } = render(props) + getByRole('heading', { name: 'Return tip rack to Slot D1' }) + getByText('Clear all deck slots of labware') + getByText( + matchTextWithSpans( + 'Place the Mock TipRack Definition that you used before back into Slot D1. The pipette will return tips to their original location in the rack.' + ) + ) + }) it('executes correct chained commands when CTA is clicked', async () => { const { getByRole } = render(props) await getByRole('button', { name: 'Confirm placement' }).click() diff --git a/app/src/organisms/LabwarePositionCheck/useMostRecentCompletedAnalysis.ts b/app/src/organisms/LabwarePositionCheck/useMostRecentCompletedAnalysis.ts index 4d0ece68dc0..16f8dcc4478 100644 --- a/app/src/organisms/LabwarePositionCheck/useMostRecentCompletedAnalysis.ts +++ b/app/src/organisms/LabwarePositionCheck/useMostRecentCompletedAnalysis.ts @@ -20,5 +20,11 @@ export function useMostRecentCompletedAnalysis( { enabled: protocolData != null } ) - return analysis ?? null + return analysis != null + ? { + ...analysis, + // NOTE: this is accounting for pre 7.1 robot-side protocol analysis that may not include the robotType key + robotType: analysis.robotType ?? protocolData?.data.robotType, + } + : null } diff --git a/app/src/organisms/LabwarePositionCheck/utils/labware.ts b/app/src/organisms/LabwarePositionCheck/utils/labware.ts index fdaa37ba2ee..bdd6f019aaf 100644 --- a/app/src/organisms/LabwarePositionCheck/utils/labware.ts +++ b/app/src/organisms/LabwarePositionCheck/utils/labware.ts @@ -192,7 +192,10 @@ export const getLabwareIdsInOrder = ( ).location.slotName } } else { - slot = loc.slotName + slot = + 'addressableAreaName' in loc + ? loc.addressableAreaName + : loc.slotName } return [ ...innerAcc, diff --git a/app/src/organisms/ModuleCard/__tests__/hooks.test.tsx b/app/src/organisms/ModuleCard/__tests__/hooks.test.tsx index fc96e7ae506..0ec0c27de50 100644 --- a/app/src/organisms/ModuleCard/__tests__/hooks.test.tsx +++ b/app/src/organisms/ModuleCard/__tests__/hooks.test.tsx @@ -7,9 +7,7 @@ import { I18nextProvider } from 'react-i18next' import { renderHook } from '@testing-library/react-hooks' import { i18n } from '../../../i18n' import { useCreateLiveCommandMutation } from '@opentrons/react-api-client' -import { ModuleModel, ModuleType } from '@opentrons/shared-data' import heaterShakerCommandsWithResultsKey from '@opentrons/shared-data/protocol/fixtures/6/heaterShakerCommandsWithResultsKey.json' -import { getProtocolModulesInfo } from '../../Devices/ProtocolRun/utils/getProtocolModulesInfo' import { useCurrentRunId } from '../../ProtocolUpload/hooks' import { useIsRobotBusy, useRunStatuses } from '../../Devices/hooks' import { @@ -31,7 +29,6 @@ import type { Store } from 'redux' import type { State } from '../../../redux/types' jest.mock('@opentrons/react-api-client') -jest.mock('../../Devices/ProtocolRun/utils/getProtocolModulesInfo') jest.mock('../../LabwarePositionCheck/useMostRecentCompletedAnalysis') jest.mock('../../ProtocolUpload/hooks') jest.mock('../../Devices/hooks') @@ -39,9 +36,6 @@ jest.mock('../../Devices/hooks') const mockUseMostRecentCompletedAnalysis = useMostRecentCompletedAnalysis as jest.MockedFunction< typeof useMostRecentCompletedAnalysis > -const mockGetProtocolModulesInfo = getProtocolModulesInfo as jest.MockedFunction< - typeof getProtocolModulesInfo -> const mockUseLiveCommandMutation = useCreateLiveCommandMutation as jest.MockedFunction< typeof useCreateLiveCommandMutation @@ -608,49 +602,27 @@ describe('useModuleOverflowMenu', () => { }) }) -const mockHeaterShakerDefinition = { - moduleId: 'someHeaterShakerModule', - model: 'heaterShakerModuleV1' as ModuleModel, - type: 'heaterShakerModuleType' as ModuleType, - displayName: 'Heater Shaker Module', - labwareOffset: { x: 5, y: 5, z: 5 }, - cornerOffsetFromSlot: { x: 1, y: 1, z: 1 }, - dimensions: { - xDimension: 100, - yDimension: 100, - footprintXDimension: 50, - footprintYDimension: 50, - labwareInterfaceXDimension: 80, - labwareInterfaceYDimension: 120, - }, - twoDimensionalRendering: { children: [] }, -} - -const HEATER_SHAKER_MODULE_INFO = { - moduleId: 'heaterShakerModuleId', - x: 0, - y: 0, - z: 0, - moduleDef: mockHeaterShakerDefinition as any, - nestedLabwareDef: null, - nestedLabwareId: null, - nestedLabwareDisplayName: null, - protocolLoadOrder: 0, - slotName: '1', -} - describe('useIsHeaterShakerInProtocol', () => { const store: Store = createStore(jest.fn(), {}) beforeEach(() => { when(mockUseCurrentRunId).calledWith().mockReturnValue('1') store.dispatch = jest.fn() - mockGetProtocolModulesInfo.mockReturnValue([HEATER_SHAKER_MODULE_INFO]) when(mockUseMostRecentCompletedAnalysis) .calledWith('1') .mockReturnValue({ ...heaterShakerCommandsWithResultsKey, + modules: [ + { + id: 'fake_module_id', + model: 'heaterShakerModuleV1', + location: { + slotName: '1', + }, + serialNumber: 'fake_serial', + }, + ], labware: Object.keys(heaterShakerCommandsWithResultsKey.labware).map( id => ({ location: 'offDeck', @@ -677,8 +649,20 @@ describe('useIsHeaterShakerInProtocol', () => { }) it('should return false when a heater shaker is NOT in the protocol', () => { - mockGetProtocolModulesInfo.mockReturnValue([]) - + when(mockUseMostRecentCompletedAnalysis) + .calledWith('1') + .mockReturnValue({ + ...heaterShakerCommandsWithResultsKey, + modules: [], + labware: Object.keys(heaterShakerCommandsWithResultsKey.labware).map( + id => ({ + location: 'offDeck', + loadName: id, + definitionUrui: id, + id, + }) + ), + } as any) const wrapper: React.FunctionComponent<{}> = ({ children }) => ( {children} ) diff --git a/app/src/organisms/ModuleCard/hooks.tsx b/app/src/organisms/ModuleCard/hooks.tsx index eb5e835de7c..5f2f7622f2e 100644 --- a/app/src/organisms/ModuleCard/hooks.tsx +++ b/app/src/organisms/ModuleCard/hooks.tsx @@ -3,14 +3,11 @@ import { useCreateLiveCommandMutation } from '@opentrons/react-api-client' import { useTranslation } from 'react-i18next' import { useHoverTooltip } from '@opentrons/components' import { - getDeckDefFromRobotType, - getRobotTypeFromLoadedLabware, HEATERSHAKER_MODULE_TYPE, MAGNETIC_MODULE_TYPE, TEMPERATURE_MODULE_TYPE, THERMOCYCLER_MODULE_TYPE, } from '@opentrons/shared-data' -import { getProtocolModulesInfo } from '../Devices/ProtocolRun/utils/getProtocolModulesInfo' import { useMostRecentCompletedAnalysis } from '../LabwarePositionCheck/useMostRecentCompletedAnalysis' import { MenuItem } from '../../atoms/MenuList/MenuItem' import { Tooltip } from '../../atoms/Tooltip' @@ -35,15 +32,9 @@ export function useIsHeaterShakerInProtocol(): boolean { const currentRunId = useCurrentRunId() const robotProtocolAnalysis = useMostRecentCompletedAnalysis(currentRunId) if (robotProtocolAnalysis == null) return false - const robotType = getRobotTypeFromLoadedLabware(robotProtocolAnalysis.labware) - const deckDef = getDeckDefFromRobotType(robotType) - const protocolModulesInfo = getProtocolModulesInfo( - robotProtocolAnalysis, - deckDef - ) - return protocolModulesInfo.some( - module => module.moduleDef.model === 'heaterShakerModuleV1' + return robotProtocolAnalysis.modules.some( + module => module.model === 'heaterShakerModuleV1' ) } interface LatchControls { diff --git a/app/src/organisms/ModuleWizardFlows/AttachProbe.tsx b/app/src/organisms/ModuleWizardFlows/AttachProbe.tsx index 99e90b52799..6caa3f36623 100644 --- a/app/src/organisms/ModuleWizardFlows/AttachProbe.tsx +++ b/app/src/organisms/ModuleWizardFlows/AttachProbe.tsx @@ -4,6 +4,8 @@ import attachProbe1 from '../../assets/videos/pipette-wizard-flows/Pipette_Attac import attachProbe8 from '../../assets/videos/pipette-wizard-flows/Pipette_Attach_Probe_8.webm' import attachProbe96 from '../../assets/videos/pipette-wizard-flows/Pipette_Attach_Probe_96.webm' import { Trans, useTranslation } from 'react-i18next' +import { useDeckConfigurationQuery } from '@opentrons/react-api-client' +import { WASTE_CHUTE_CUTOUT } from '@opentrons/shared-data' import { LEFT, THERMOCYCLER_MODULE_MODELS, @@ -17,6 +19,7 @@ import { TYPOGRAPHY, } from '@opentrons/components' +import { Banner } from '../../atoms/Banner' import { StyledText } from '../../atoms/text' import { GenericWizardTile } from '../../molecules/GenericWizardTile' @@ -59,26 +62,35 @@ export const AttachProbe = (props: AttachProbeProps): JSX.Element | null => { isOnDevice, slotName, } = props - const { t, i18n } = useTranslation('module_wizard_flows') + const { t, i18n } = useTranslation([ + 'module_wizard_flows', + 'pipette_wizard_flows', + ]) const moduleDisplayName = getModuleDisplayName(attachedModule.moduleModel) const attachedPipetteChannels = attachedPipette.data.channels - let pipetteAttachProbeVideoSource, i18nKey + let pipetteAttachProbeVideoSource, probeLocation switch (attachedPipetteChannels) { case 1: pipetteAttachProbeVideoSource = attachProbe1 - i18nKey = 'install_probe' + probeLocation = '' break case 8: pipetteAttachProbeVideoSource = attachProbe8 - i18nKey = 'install_probe_8_channel' + probeLocation = t('pipette_wizard_flows:backmost') break case 96: pipetteAttachProbeVideoSource = attachProbe96 - i18nKey = 'install_probe_96_channel' + probeLocation = t('pipette_wizard_flows:ninety_six_probe_location') break } + const wasteChuteConflict = + slotName === 'C3' && attachedPipette.data.channels === 96 + const deckConfig = useDeckConfigurationQuery().data + const isWasteChuteOnDeck = + deckConfig?.find(fixture => fixture.cutoutId === WASTE_CHUTE_CUTOUT) ?? + false const pipetteAttachProbeVid = ( @@ -135,19 +147,30 @@ export const AttachProbe = (props: AttachProbeProps): JSX.Element | null => { ) - const bodyText = - attachedPipetteChannels === 8 || attachedPipetteChannels === 96 ? ( + const bodyText = ( + <> , block: , }} /> - ) : ( - {t('install_probe')} - ) + {wasteChuteConflict && ( + + {isWasteChuteOnDeck + ? t('pipette_wizard_flows:waste_chute_error') + : t('pipette_wizard_flows:waste_chute_warning')} + + )} + + ) const handleBeginCalibration = (): void => { if (adapterId == null) { diff --git a/app/src/organisms/ModuleWizardFlows/SelectLocation.tsx b/app/src/organisms/ModuleWizardFlows/SelectLocation.tsx index eb78f2b63aa..107813567e2 100644 --- a/app/src/organisms/ModuleWizardFlows/SelectLocation.tsx +++ b/app/src/organisms/ModuleWizardFlows/SelectLocation.tsx @@ -66,7 +66,7 @@ export const SelectLocation = ( deckDef={deckDef} selectedLocation={{ slotName }} setSelectedLocation={loc => setSlotName(loc.slotName)} - disabledLocations={deckDef.locations.orderedSlots.reduce< + disabledLocations={deckDef.locations.addressableAreas.reduce< ModuleLocation[] >((acc, slot) => { if (availableSlotNames.some(slotName => slotName === slot.id)) diff --git a/app/src/organisms/ModuleWizardFlows/index.tsx b/app/src/organisms/ModuleWizardFlows/index.tsx index 65fa45f855e..5361380b226 100644 --- a/app/src/organisms/ModuleWizardFlows/index.tsx +++ b/app/src/organisms/ModuleWizardFlows/index.tsx @@ -60,7 +60,11 @@ export const ModuleWizardFlows = ( const isOnDevice = useSelector(getIsOnDevice) const { t } = useTranslation('module_wizard_flows') const attachedPipettes = useAttachedPipettesFromInstrumentsQuery() - const attachedPipette = attachedPipettes.left ?? attachedPipettes.right + const attachedPipette = + attachedPipettes.left?.data.calibratedOffset?.last_modified != null + ? attachedPipettes.left + : attachedPipettes.right + const moduleCalibrationSteps = getModuleCalibrationSteps() const availableSlotNames = FLEX_SLOT_NAMES_BY_MOD_TYPE[getModuleType(attachedModule.moduleModel)] ?? [] @@ -193,7 +197,11 @@ export const ModuleWizardFlows = ( continuePastCommandFailure ) } - if (currentStep == null || attachedPipette == null) return null + if ( + currentStep == null || + attachedPipette?.data.calibratedOffset?.last_modified == null + ) + return null const maintenanceRunId = maintenanceRunData?.data.id != null && diff --git a/app/src/organisms/OnDeviceDisplay/RobotDashboard/__tests__/RecentRunProtocolCard.test.tsx b/app/src/organisms/OnDeviceDisplay/RobotDashboard/__tests__/RecentRunProtocolCard.test.tsx index f478f76364b..111573f954a 100644 --- a/app/src/organisms/OnDeviceDisplay/RobotDashboard/__tests__/RecentRunProtocolCard.test.tsx +++ b/app/src/organisms/OnDeviceDisplay/RobotDashboard/__tests__/RecentRunProtocolCard.test.tsx @@ -177,7 +177,7 @@ describe('RecentRunProtocolCard', () => { mockUseMissingProtocolHardware.mockReturnValue({ missingProtocolHardware: [], isLoading: false, - conflictedSlots: ['D3'], + conflictedSlots: ['cutoutD3'], }) mockUseHardwareStatusText.mockReturnValue('Location conflicts') const [{ getByText }] = render(props) diff --git a/app/src/organisms/PipetteWizardFlows/AttachProbe.tsx b/app/src/organisms/PipetteWizardFlows/AttachProbe.tsx index 881d8e04631..7545b3424a8 100644 --- a/app/src/organisms/PipetteWizardFlows/AttachProbe.tsx +++ b/app/src/organisms/PipetteWizardFlows/AttachProbe.tsx @@ -3,20 +3,18 @@ import { css } from 'styled-components' import { Trans, useTranslation } from 'react-i18next' import { Flex, - Btn, - PrimaryButton, TYPOGRAPHY, COLORS, SPACING, RESPONSIVENESS, - JUSTIFY_SPACE_BETWEEN, - ALIGN_FLEX_END, - ALIGN_CENTER, } from '@opentrons/components' -import { LEFT, MotorAxes } from '@opentrons/shared-data' -import { useInstrumentsQuery } from '@opentrons/react-api-client' -import { SmallButton } from '../../atoms/buttons' +import { LEFT, MotorAxes, WASTE_CHUTE_CUTOUT } from '@opentrons/shared-data' +import { + useDeckConfigurationQuery, + useInstrumentsQuery, +} from '@opentrons/react-api-client' import { StyledText } from '../../atoms/text' +import { Banner } from '../../atoms/Banner' import { GenericWizardTile } from '../../molecules/GenericWizardTile' import { SimpleWizardBody } from '../../molecules/SimpleWizardBody' import { InProgressModal } from '../../molecules/InProgressModal/InProgressModal' @@ -25,6 +23,7 @@ import pipetteProbe8 from '../../assets/videos/pipette-wizard-flows/Pipette_Prob import probing96 from '../../assets/videos/pipette-wizard-flows/Pipette_Probing_96.webm' import { BODY_STYLE, SECTIONS, FLOWS } from './constants' import { getPipetteAnimations } from './utils' +import { ProbeNotAttached } from './ProbeNotAttached' import type { PipetteData } from '@opentrons/api-client' import type { PipetteWizardStepProps } from './types' @@ -43,32 +42,6 @@ const IN_PROGRESS_STYLE = css` } ` -const ALIGN_BUTTONS = css` - align-items: ${ALIGN_FLEX_END}; - - @media ${RESPONSIVENESS.touchscreenMediaQuerySpecs} { - align-items: ${ALIGN_CENTER}; - } -` -const GO_BACK_BUTTON_STYLE = css` - ${TYPOGRAPHY.pSemiBold}; - color: ${COLORS.darkGreyEnabled}; - padding-left: ${SPACING.spacing32}; - - &:hover { - opacity: 70%; - } - - @media ${RESPONSIVENESS.touchscreenMediaQuerySpecs} { - font-weight: ${TYPOGRAPHY.fontWeightSemiBold}; - font-size: ${TYPOGRAPHY.fontSize22}; - padding-left: 0rem; - &:hover { - opacity: 100%; - } - } -` - export const AttachProbe = (props: AttachProbeProps): JSX.Element | null => { const { proceed, @@ -89,7 +62,6 @@ export const AttachProbe = (props: AttachProbeProps): JSX.Element | null => { const [showUnableToDetect, setShowUnableToDetect] = React.useState( false ) - const [numberOfTryAgains, setNumberOfTryAgains] = React.useState(0) const pipetteId = attachedPipettes[mount]?.serialNumber const displayName = attachedPipettes[mount]?.displayName @@ -107,13 +79,17 @@ export const AttachProbe = (props: AttachProbeProps): JSX.Element | null => { (instrument): instrument is PipetteData => instrument.ok && instrument.mount === mount ) + const deckConfig = useDeckConfigurationQuery().data + const isWasteChuteOnDeck = + deckConfig?.find(fixture => fixture.cutoutId === WASTE_CHUTE_CUTOUT) ?? + false if (pipetteId == null) return null const handleOnClick = (): void => { setIsPending(true) refetch() .then(() => { - if (attachedPipette?.state?.tipDetected) { + if (is96Channel || attachedPipette?.state?.tipDetected) { chainRunCommands?.( [ { @@ -211,41 +187,12 @@ export const AttachProbe = (props: AttachProbeProps): JSX.Element | null => { ) else if (showUnableToDetect) return ( - 2 ? t('something_seems_wrong') : undefined - } - iconColor={COLORS.errorEnabled} - isSuccess={false} - > - - setShowUnableToDetect(false)}> - - {t('shared:go_back')} - - - {isOnDevice ? ( - { - setNumberOfTryAgains(numberOfTryAgains + 1) - handleOnClick() - }} - /> - ) : ( - - {t('try_again')} - - )} - - + ) return errorMessage != null ? ( @@ -275,16 +222,29 @@ export const AttachProbe = (props: AttachProbeProps): JSX.Element | null => { channel: attachedPipettes[mount]?.data.channels, })} bodyText={ - - , - }} - /> - + <> + + , + }} + /> + + {is96Channel && ( + + {isWasteChuteOnDeck + ? t('waste_chute_error') + : t('waste_chute_warning')} + + )} + } proceedButtonText={t('begin_calibration')} proceed={handleOnClick} diff --git a/app/src/organisms/PipetteWizardFlows/BeforeBeginning.tsx b/app/src/organisms/PipetteWizardFlows/BeforeBeginning.tsx index 639a49e0a38..12510f4327f 100644 --- a/app/src/organisms/PipetteWizardFlows/BeforeBeginning.tsx +++ b/app/src/organisms/PipetteWizardFlows/BeforeBeginning.tsx @@ -1,12 +1,7 @@ import * as React from 'react' +import { Trans, useTranslation } from 'react-i18next' import { UseMutateFunction } from 'react-query' -import { - COLORS, - DIRECTION_COLUMN, - Flex, - SIZE_1, - SPACING, -} from '@opentrons/components' +import { COLORS, DIRECTION_COLUMN, Flex, SPACING } from '@opentrons/components' import { NINETY_SIX_CHANNEL, RIGHT, @@ -14,8 +9,9 @@ import { WEIGHT_OF_96_CHANNEL, LoadedPipette, getPipetteNameSpecs, + WASTE_CHUTE_CUTOUT, } from '@opentrons/shared-data' -import { Trans, useTranslation } from 'react-i18next' +import { useDeckConfigurationQuery } from '@opentrons/react-api-client' import { StyledText } from '../../atoms/text' import { Banner } from '../../atoms/Banner' import { SimpleWizardBody } from '../../molecules/SimpleWizardBody' @@ -83,6 +79,10 @@ export const BeforeBeginning = ( isGantryEmpty && selectedPipette === NINETY_SIX_CHANNEL && flowType === FLOWS.ATTACH + const deckConfig = useDeckConfigurationQuery().data + const isWasteChuteOnDeck = + deckConfig?.find(fixture => fixture.cutoutId === WASTE_CHUTE_CUTOUT) ?? + false if ( pipetteId == null && @@ -234,21 +234,9 @@ export const BeforeBeginning = ( ) : ( - {selectedPipette === NINETY_SIX_CHANNEL && - (flowType === FLOWS.DETACH || flowType === FLOWS.ATTACH) ? ( - - {t('pipette_heavy', { weight: WEIGHT_OF_96_CHANNEL })} - - ) : null} , }} /> + {selectedPipette === NINETY_SIX_CHANNEL && + flowType === FLOWS.ATTACH && + !isOnDevice && ( + + {t('pipette_heavy', { weight: WEIGHT_OF_96_CHANNEL })} + + )} + {selectedPipette === NINETY_SIX_CHANNEL && + (flowType === FLOWS.CALIBRATE || flowType === FLOWS.ATTACH) ? ( + + {isWasteChuteOnDeck + ? t('waste_chute_error') + : t('waste_chute_warning')} + + ) : ( + + {t('pipette_heavy', { weight: WEIGHT_OF_96_CHANNEL })} + + )} } proceedButtonText={proceedButtonText} diff --git a/app/src/organisms/PipetteWizardFlows/DetachPipette.tsx b/app/src/organisms/PipetteWizardFlows/DetachPipette.tsx index f287c4a762f..e362c320c8b 100644 --- a/app/src/organisms/PipetteWizardFlows/DetachPipette.tsx +++ b/app/src/organisms/PipetteWizardFlows/DetachPipette.tsx @@ -1,7 +1,7 @@ import * as React from 'react' import { useTranslation } from 'react-i18next' import { css } from 'styled-components' -import { RIGHT } from '@opentrons/shared-data' +import { RIGHT, WEIGHT_OF_96_CHANNEL } from '@opentrons/shared-data' import { useInstrumentsQuery } from '@opentrons/react-api-client' import { Btn, @@ -13,9 +13,11 @@ import { ALIGN_FLEX_END, ALIGN_CENTER, SPACING, + SIZE_1, RESPONSIVENESS, } from '@opentrons/components' import { StyledText } from '../../atoms/text' +import { Banner } from '../../atoms/Banner' import { GenericWizardTile } from '../../molecules/GenericWizardTile' import { SimpleWizardBody } from '../../molecules/SimpleWizardBody' import { Skeleton } from '../../atoms/Skeleton' @@ -153,7 +155,20 @@ export const DetachPipette = (props: DetachPipetteProps): JSX.Element => { ) } else { - bodyText = {t('hold_and_loosen')} + bodyText = ( + <> + {t('hold_and_loosen')} + {is96ChannelPipette && ( + + {t('pipette_heavy', { weight: WEIGHT_OF_96_CHANNEL })} + + )} + + ) } if (isRobotMoving) return diff --git a/app/src/organisms/PipetteWizardFlows/MountPipette.tsx b/app/src/organisms/PipetteWizardFlows/MountPipette.tsx index 758ef1a52c7..fe006a25737 100644 --- a/app/src/organisms/PipetteWizardFlows/MountPipette.tsx +++ b/app/src/organisms/PipetteWizardFlows/MountPipette.tsx @@ -55,6 +55,11 @@ export const MountPipette = (props: MountPipetteProps): JSX.Element => { } else { bodyText = ( <> + + {isSingleMountPipette + ? t('align_the_connector') + : t('hold_pipette_carefully')} + {!isSingleMountPipette ? ( { {t('pipette_heavy', { weight: WEIGHT_OF_96_CHANNEL })} ) : null} - - {isSingleMountPipette - ? t('align_the_connector') - : t('hold_pipette_carefully')} - ) } diff --git a/app/src/organisms/PipetteWizardFlows/ProbeNotAttached.tsx b/app/src/organisms/PipetteWizardFlows/ProbeNotAttached.tsx new file mode 100644 index 00000000000..ffee8350cbc --- /dev/null +++ b/app/src/organisms/PipetteWizardFlows/ProbeNotAttached.tsx @@ -0,0 +1,101 @@ +import * as React from 'react' +import { useTranslation } from 'react-i18next' +import { + Flex, + Btn, + PrimaryButton, + RESPONSIVENESS, + SPACING, + TYPOGRAPHY, + COLORS, + JUSTIFY_SPACE_BETWEEN, + ALIGN_FLEX_END, + ALIGN_CENTER, +} from '@opentrons/components' +import { css } from 'styled-components' +import { SimpleWizardBody } from '../../molecules/SimpleWizardBody' +import { StyledText } from '../../atoms/text' +import { SmallButton } from '../../atoms/buttons' + +interface ProbeNotAttachedProps { + handleOnClick: () => void + setShowUnableToDetect: (ableToDetect: boolean) => void + isOnDevice: boolean + isPending: boolean +} + +export const ProbeNotAttached = ( + props: ProbeNotAttachedProps +): JSX.Element | null => { + const { t, i18n } = useTranslation(['pipette_wizard_flows', 'shared']) + const { isOnDevice, isPending, handleOnClick, setShowUnableToDetect } = props + const [numberOfTryAgains, setNumberOfTryAgains] = React.useState(0) + + return ( + 2 ? t('something_seems_wrong') : undefined} + iconColor={COLORS.errorEnabled} + isSuccess={false} + > + + setShowUnableToDetect(false)}> + + {t('shared:go_back')} + + + {isOnDevice ? ( + { + setNumberOfTryAgains(numberOfTryAgains + 1) + handleOnClick() + }} + /> + ) : ( + { + setNumberOfTryAgains(numberOfTryAgains + 1) + handleOnClick() + }} + > + {i18n.format(t('shared:try_again'), 'capitalize')} + + )} + + + ) +} + +const ALIGN_BUTTONS = css` + align-items: ${ALIGN_FLEX_END}; + + @media ${RESPONSIVENESS.touchscreenMediaQuerySpecs} { + align-items: ${ALIGN_CENTER}; + } +` +const GO_BACK_BUTTON_STYLE = css` + ${TYPOGRAPHY.pSemiBold}; + color: ${COLORS.darkGreyEnabled}; + padding-left: ${SPACING.spacing32}; + + &:hover { + opacity: 70%; + } + + @media ${RESPONSIVENESS.touchscreenMediaQuerySpecs} { + font-weight: ${TYPOGRAPHY.fontWeightSemiBold}; + font-size: ${TYPOGRAPHY.fontSize22}; + padding-left: 0rem; + &:hover { + opacity: 100%; + } + } +` diff --git a/app/src/organisms/PipetteWizardFlows/__tests__/AttachProbe.test.tsx b/app/src/organisms/PipetteWizardFlows/__tests__/AttachProbe.test.tsx index f5eb7363fe0..a2a6d3d01e5 100644 --- a/app/src/organisms/PipetteWizardFlows/__tests__/AttachProbe.test.tsx +++ b/app/src/organisms/PipetteWizardFlows/__tests__/AttachProbe.test.tsx @@ -1,7 +1,10 @@ import * as React from 'react' import { fireEvent, screen, waitFor } from '@testing-library/react' import { nestedTextMatcher, renderWithProviders } from '@opentrons/components' -import { useInstrumentsQuery } from '@opentrons/react-api-client' +import { + useInstrumentsQuery, + useDeckConfigurationQuery, +} from '@opentrons/react-api-client' import { LEFT, SINGLE_MOUNT_PIPETTES } from '@opentrons/shared-data' import { i18n } from '../../../i18n' import { @@ -23,6 +26,9 @@ jest.mock('@opentrons/react-api-client') const mockUseInstrumentsQuery = useInstrumentsQuery as jest.MockedFunction< typeof useInstrumentsQuery > +const mockUseDeckConfigurationQuery = useDeckConfigurationQuery as jest.MockedFunction< + typeof useDeckConfigurationQuery +> describe('AttachProbe', () => { let props: React.ComponentProps @@ -59,12 +65,19 @@ describe('AttachProbe', () => { } as any, refetch, } as any) + mockUseDeckConfigurationQuery.mockReturnValue({ + data: [ + { + cutoutId: 'cutoutD3', + } as any, + ], + } as any) }) it('returns the correct information, buttons work as expected', async () => { const { getByText, getByTestId, getByRole, getByLabelText } = render(props) getByText('Attach calibration probe') getByText( - 'Take the calibration probe from its storage location. Ensure its collar is fully unlocked. Push the pipette ejector up and press the probe firmly onto the pipette nozzle as far as it can go. Twist the collar to lock the probe. Test that the probe is secure by gently pulling it back and forth.' + 'Take the calibration probe from its storage location. Ensure its collar is unlocked. Push the pipette ejector up and press the probe firmly onto the pipette nozzle. Twist the collar to lock the probe. Test that the probe is secure by gently pulling it back and forth.' ) getByTestId('Pipette_Attach_Probe_1.webm') const proceedBtn = getByRole('button', { name: 'Begin calibration' }) @@ -111,7 +124,7 @@ describe('AttachProbe', () => { const { getByText } = render(props) getByText( nestedTextMatcher( - 'Take the calibration probe from its storage location. Ensure its collar is fully unlocked. Push the pipette ejector up and press the probe firmly onto the backmost pipette nozzle as far as it can go. Twist the collar to lock the probe. Test that the probe is secure by gently pulling it back and forth.' + 'Take the calibration probe from its storage location. Ensure its collar is unlocked. Push the pipette ejector up and press the probe firmly onto the backmost pipette nozzle. Twist the collar to lock the probe. Test that the probe is secure by gently pulling it back and forth.' ) ) }) @@ -181,7 +194,7 @@ describe('AttachProbe', () => { const { getByText, getByTestId, getByRole, getByLabelText } = render(props) getByText('Attach calibration probe') getByText( - 'Take the calibration probe from its storage location. Ensure its collar is fully unlocked. Push the pipette ejector up and press the probe firmly onto the pipette nozzle as far as it can go. Twist the collar to lock the probe. Test that the probe is secure by gently pulling it back and forth.' + 'Take the calibration probe from its storage location. Ensure its collar is unlocked. Push the pipette ejector up and press the probe firmly onto the pipette nozzle. Twist the collar to lock the probe. Test that the probe is secure by gently pulling it back and forth.' ) getByTestId('Pipette_Attach_Probe_1.webm') getByRole('button', { name: 'Begin calibration' }).click() @@ -221,4 +234,18 @@ describe('AttachProbe', () => { } expect(screen.queryByLabelText('back')).not.toBeInTheDocument() }) + + it('renders a waste chute warning when 96 channel and waste chute are attached', () => { + props = { + ...props, + attachedPipettes: { + left: mock96ChannelAttachedPipetteInformation, + right: null, + }, + } + const { getByText } = render(props) + getByText( + 'Remove the waste chute from the deck plate adapter before proceeding.' + ) + }) }) diff --git a/app/src/organisms/PipetteWizardFlows/index.tsx b/app/src/organisms/PipetteWizardFlows/index.tsx index 83d7bf75338..a6ae8c231c3 100644 --- a/app/src/organisms/PipetteWizardFlows/index.tsx +++ b/app/src/organisms/PipetteWizardFlows/index.tsx @@ -347,7 +347,9 @@ export const PipetteWizardFlows = ( modalContent = ( + !SINGLE_SLOT_FIXTURES.includes( + fixture.cutoutFixtureId as SingleSlotCutoutFixtureId + ) + ) + return ( ) })} - {requiredFixtureDetails.map((fixture, index) => { + {nonStandardRequiredFixtureDetails.map((fixture, index) => { return ( - {getFixtureDisplayName(fixture.params.loadName)} + {getFixtureDisplayName(fixture.cutoutFixtureId)} } /> diff --git a/app/src/organisms/ProtocolDetails/index.tsx b/app/src/organisms/ProtocolDetails/index.tsx index da13f2147e0..66917dcc1bd 100644 --- a/app/src/organisms/ProtocolDetails/index.tsx +++ b/app/src/organisms/ProtocolDetails/index.tsx @@ -37,12 +37,8 @@ import { parseInitialLoadedLabwareBySlot, parseInitialLoadedLabwareByModuleId, parseInitialLoadedLabwareByAdapter, - parseInitialLoadedFixturesByCutout, } from '@opentrons/api-client' -import { - WASTE_CHUTE_LOAD_NAME, - getGripperDisplayName, -} from '@opentrons/shared-data' +import { getGripperDisplayName } from '@opentrons/shared-data' import { Portal } from '../../App/portal' import { Divider } from '../../atoms/structure' @@ -58,6 +54,7 @@ import { analyzeProtocol, } from '../../redux/protocol-storage' import { useFeatureFlag } from '../../redux/config' +import { getSimplestDeckConfigForProtocolCommands } from '../../resources/deck_configuration/utils' import { ChooseRobotToRunProtocolSlideout } from '../ChooseRobotToRunProtocolSlideout' import { SendProtocolToOT3Slideout } from '../SendProtocolToOT3Slideout' import { ProtocolAnalysisFailure } from '../ProtocolAnalysisFailure' @@ -72,11 +69,7 @@ import { ProtocolLabwareDetails } from './ProtocolLabwareDetails' import { ProtocolLiquidsDetails } from './ProtocolLiquidsDetails' import { RobotConfigurationDetails } from './RobotConfigurationDetails' -import type { - JsonConfig, - LoadFixtureRunTimeCommand, - PythonConfig, -} from '@opentrons/shared-data' +import type { JsonConfig, PythonConfig } from '@opentrons/shared-data' import type { StoredProtocolData } from '../../redux/protocol-storage' import type { State, Dispatch } from '../../redux/types' @@ -237,29 +230,9 @@ export function ProtocolDetails( ? map(parseInitialLoadedModulesBySlot(mostRecentAnalysis.commands)) : [] - // TODO: IMMEDIATELY remove stubbed fixture as soon as PE supports loadFixture - const STUBBED_LOAD_FIXTURE: LoadFixtureRunTimeCommand = { - id: 'stubbed_load_fixture', - commandType: 'loadFixture', - params: { - fixtureId: 'stubbedFixtureId', - loadName: WASTE_CHUTE_LOAD_NAME, - location: { cutout: 'D3' }, - }, - createdAt: 'fakeTimestamp', - startedAt: 'fakeTimestamp', - completedAt: 'fakeTimestamp', - status: 'succeeded', - } - const requiredFixtureDetails = - mostRecentAnalysis?.commands != null - ? [ - ...map( - parseInitialLoadedFixturesByCutout(mostRecentAnalysis.commands) - ), - STUBBED_LOAD_FIXTURE, - ] - : [] + const requiredFixtureDetails = getSimplestDeckConfigForProtocolCommands( + mostRecentAnalysis?.commands ?? [] + ) const requiredLabwareDetails = mostRecentAnalysis != null diff --git a/app/src/organisms/ProtocolSetupDeckConfiguration/__tests__/ProtocolSetupDeckConfiguration.test.tsx b/app/src/organisms/ProtocolSetupDeckConfiguration/__tests__/ProtocolSetupDeckConfiguration.test.tsx index 3b9b63a492f..b8382ac1ef2 100644 --- a/app/src/organisms/ProtocolSetupDeckConfiguration/__tests__/ProtocolSetupDeckConfiguration.test.tsx +++ b/app/src/organisms/ProtocolSetupDeckConfiguration/__tests__/ProtocolSetupDeckConfiguration.test.tsx @@ -1,23 +1,19 @@ import * as React from 'react' import { when, resetAllWhenMocks } from 'jest-when' -import { renderWithProviders, DeckConfigurator } from '@opentrons/components' -import { - useUpdateDeckConfigurationMutation, - useCreateDeckConfigurationMutation, -} from '@opentrons/react-api-client' +import { renderWithProviders, BaseDeck } from '@opentrons/components' +import { useUpdateDeckConfigurationMutation } from '@opentrons/react-api-client' import { i18n } from '../../../i18n' import { useMostRecentCompletedAnalysis } from '../../LabwarePositionCheck/useMostRecentCompletedAnalysis' import { ProtocolSetupDeckConfiguration } from '..' -jest.mock('@opentrons/components/src/hardware-sim/DeckConfigurator/index') +jest.mock('@opentrons/components/src/hardware-sim/BaseDeck/index') jest.mock('@opentrons/react-api-client') jest.mock('../../LabwarePositionCheck/useMostRecentCompletedAnalysis') const mockSetSetupScreen = jest.fn() const mockUpdateDeckConfiguration = jest.fn() -const mockCreateDeckConfiguration = jest.fn() const PROTOCOL_DETAILS = { displayName: 'fake protocol', protocolData: [], @@ -25,18 +21,13 @@ const PROTOCOL_DETAILS = { robotType: 'OT-3 Standard' as const, } -const mockDeckConfigurator = DeckConfigurator as jest.MockedFunction< - typeof DeckConfigurator -> const mockUseMostRecentCompletedAnalysis = useMostRecentCompletedAnalysis as jest.MockedFunction< typeof useMostRecentCompletedAnalysis > const mockUseUpdateDeckConfigurationMutation = useUpdateDeckConfigurationMutation as jest.MockedFunction< typeof useUpdateDeckConfigurationMutation > -const mockUseCreateDeckConfigurationMutation = useCreateDeckConfigurationMutation as jest.MockedFunction< - typeof useCreateDeckConfigurationMutation -> +const mockBaseDeck = BaseDeck as jest.MockedFunction const render = ( props: React.ComponentProps @@ -51,21 +42,18 @@ describe('ProtocolSetupDeckConfiguration', () => { beforeEach(() => { props = { - fixtureLocation: 'D3', + cutoutId: 'cutoutD3', runId: 'mockRunId', setSetupScreen: mockSetSetupScreen, providedFixtureOptions: [], } - mockDeckConfigurator.mockReturnValue(
mock DeckConfigurator
) + mockBaseDeck.mockReturnValue(
mock BaseDeck
) when(mockUseMostRecentCompletedAnalysis) .calledWith('mockRunId') .mockReturnValue(PROTOCOL_DETAILS.protocolData as any) mockUseUpdateDeckConfigurationMutation.mockReturnValue({ updateDeckConfiguration: mockUpdateDeckConfiguration, } as any) - mockUseCreateDeckConfigurationMutation.mockReturnValue({ - createDeckConfiguration: mockCreateDeckConfiguration, - } as any) }) afterEach(() => { @@ -75,7 +63,7 @@ describe('ProtocolSetupDeckConfiguration', () => { it('should render text, button, and DeckConfigurator', () => { const [{ getByText }] = render(props) getByText('Deck configuration') - getByText('mock DeckConfigurator') + getByText('mock BaseDeck') getByText('Confirm') }) @@ -88,6 +76,6 @@ describe('ProtocolSetupDeckConfiguration', () => { it('should call a mock function when tapping confirm button', () => { const [{ getByText }] = render(props) getByText('Confirm').click() - expect(mockCreateDeckConfiguration).toHaveBeenCalled() + expect(mockUpdateDeckConfiguration).toHaveBeenCalled() }) }) diff --git a/app/src/organisms/ProtocolSetupDeckConfiguration/index.tsx b/app/src/organisms/ProtocolSetupDeckConfiguration/index.tsx index 8646070aa09..435498c53d9 100644 --- a/app/src/organisms/ProtocolSetupDeckConfiguration/index.tsx +++ b/app/src/organisms/ProtocolSetupDeckConfiguration/index.tsx @@ -2,39 +2,38 @@ import * as React from 'react' import { useTranslation } from 'react-i18next' import { - DeckConfigurator, + BaseDeck, DIRECTION_COLUMN, Flex, JUSTIFY_CENTER, SPACING, } from '@opentrons/components' -import { useCreateDeckConfigurationMutation } from '@opentrons/react-api-client' -import { WASTE_CHUTE_LOAD_NAME } from '@opentrons/shared-data' +import { FLEX_ROBOT_TYPE } from '@opentrons/shared-data' +import { useUpdateDeckConfigurationMutation } from '@opentrons/react-api-client' import { ChildNavigation } from '../ChildNavigation' import { AddFixtureModal } from '../DeviceDetailsDeckConfiguration/AddFixtureModal' import { DeckConfigurationDiscardChangesModal } from '../DeviceDetailsDeckConfiguration/DeckConfigurationDiscardChangesModal' import { useMostRecentCompletedAnalysis } from '../LabwarePositionCheck/useMostRecentCompletedAnalysis' +import { getSimplestDeckConfigForProtocolCommands } from '../../resources/deck_configuration/utils' import { Portal } from '../../App/portal' import type { - Cutout, + CutoutFixtureId, + CutoutId, DeckConfiguration, - Fixture, - FixtureLoadName, - LoadFixtureRunTimeCommand, } from '@opentrons/shared-data' import type { SetupScreens } from '../../pages/OnDeviceDisplay/ProtocolSetup' interface ProtocolSetupDeckConfigurationProps { - fixtureLocation: Cutout + cutoutId: CutoutId | null runId: string setSetupScreen: React.Dispatch> - providedFixtureOptions: FixtureLoadName[] + providedFixtureOptions: CutoutFixtureId[] } export function ProtocolSetupDeckConfiguration({ - fixtureLocation, + cutoutId, runId, setSetupScreen, providedFixtureOptions, @@ -51,46 +50,19 @@ export function ProtocolSetupDeckConfiguration({ ] = React.useState(false) const mostRecentAnalysis = useMostRecentCompletedAnalysis(runId) - const STUBBED_LOAD_FIXTURE: LoadFixtureRunTimeCommand = { - id: 'stubbed_load_fixture', - commandType: 'loadFixture', - params: { - fixtureId: 'stubbedFixtureId', - loadName: WASTE_CHUTE_LOAD_NAME, - location: { cutout: 'D3' }, - }, - createdAt: 'fakeTimestamp', - startedAt: 'fakeTimestamp', - completedAt: 'fakeTimestamp', - status: 'succeeded', - } - - const requiredFixtureDetails = - mostRecentAnalysis?.commands != null - ? [ - // parseInitialLoadedFixturesByCutout(mostRecentAnalysis.commands), - STUBBED_LOAD_FIXTURE, - ] - : [] - const deckConfig = - (requiredFixtureDetails.map( - (fixture): Fixture | false => - fixture.params.fixtureId != null && { - fixtureId: fixture.params.fixtureId, - fixtureLocation: fixture.params.location.cutout, - loadName: fixture.params.loadName, - } - ) as DeckConfiguration) ?? [] + const simplestDeckConfig = getSimplestDeckConfigForProtocolCommands( + mostRecentAnalysis?.commands ?? [] + ).map(({ cutoutId, cutoutFixtureId }) => ({ cutoutId, cutoutFixtureId })) const [ currentDeckConfig, setCurrentDeckConfig, - ] = React.useState(deckConfig) + ] = React.useState(simplestDeckConfig) - const { createDeckConfiguration } = useCreateDeckConfigurationMutation() + const { updateDeckConfiguration } = useUpdateDeckConfigurationMutation() const handleClickConfirm = (): void => { - createDeckConfiguration(currentDeckConfig) + updateDeckConfiguration(currentDeckConfig) setSetupScreen('modules') } @@ -102,9 +74,9 @@ export function ProtocolSetupDeckConfiguration({ setShowConfirmationModal={setShowDiscardChangeModal} /> ) : null} - {showConfigurationModal && fixtureLocation != null ? ( + {showConfigurationModal && cutoutId != null ? ( - {/* DeckConfigurator will be replaced by BaseDeck when RAUT-793 is ready */} - {}} - handleClickRemove={() => {}} + diff --git a/app/src/organisms/ProtocolSetupInstruments/index.tsx b/app/src/organisms/ProtocolSetupInstruments/index.tsx index 05e30cc201e..7a22fb40f24 100644 --- a/app/src/organisms/ProtocolSetupInstruments/index.tsx +++ b/app/src/organisms/ProtocolSetupInstruments/index.tsx @@ -41,7 +41,7 @@ export function ProtocolSetupInstruments({ : false const attachedGripperMatch = usesGripper ? (attachedInstruments?.data ?? []).find( - (i): i is GripperData => i.instrumentType === 'gripper' + (i): i is GripperData => i.instrumentType === 'gripper' && i.ok ) ?? null : null diff --git a/app/src/organisms/ProtocolSetupLabware/LabwareMapViewModal.tsx b/app/src/organisms/ProtocolSetupLabware/LabwareMapViewModal.tsx index b56629a6876..13bfb49a3b2 100644 --- a/app/src/organisms/ProtocolSetupLabware/LabwareMapViewModal.tsx +++ b/app/src/organisms/ProtocolSetupLabware/LabwareMapViewModal.tsx @@ -5,7 +5,7 @@ import { BaseDeck } from '@opentrons/components' import { FLEX_ROBOT_TYPE, THERMOCYCLER_MODULE_V1 } from '@opentrons/shared-data' import { Modal } from '../../molecules/Modal' -import { getDeckConfigFromProtocolCommands } from '../../resources/deck_configuration/utils' +import { getSimplestDeckConfigForProtocolCommands } from '../../resources/deck_configuration/utils' import { getStandardDeckViewLayerBlockList } from '../Devices/ProtocolRun/utils/getStandardDeckViewLayerBlockList' import { getLabwareRenderInfo } from '../Devices/ProtocolRun/utils/getLabwareRenderInfo' import { AttachedProtocolModuleMatch } from '../ProtocolSetupModulesAndDeck/utils' @@ -42,7 +42,7 @@ export function LabwareMapViewModal( mostRecentAnalysis, } = props const { t } = useTranslation('protocol_setup') - const deckConfig = getDeckConfigFromProtocolCommands( + const deckConfig = getSimplestDeckConfigForProtocolCommands( mostRecentAnalysis?.commands ?? [] ) const labwareRenderInfo = diff --git a/app/src/organisms/ProtocolSetupLabware/__tests__/LabwareMapViewModal.test.tsx b/app/src/organisms/ProtocolSetupLabware/__tests__/LabwareMapViewModal.test.tsx index 5c9bf19d6ed..5b7d63a5277 100644 --- a/app/src/organisms/ProtocolSetupLabware/__tests__/LabwareMapViewModal.test.tsx +++ b/app/src/organisms/ProtocolSetupLabware/__tests__/LabwareMapViewModal.test.tsx @@ -10,7 +10,7 @@ import { FLEX_ROBOT_TYPE } from '@opentrons/shared-data' import deckDefFixture from '@opentrons/shared-data/deck/fixtures/3/deckExample.json' import fixture_tiprack_300_ul from '@opentrons/shared-data/labware/fixtures/2/fixture_tiprack_300_ul.json' import { i18n } from '../../../i18n' -import { getDeckConfigFromProtocolCommands } from '../../../resources/deck_configuration/utils' +import { getSimplestDeckConfigForProtocolCommands } from '../../../resources/deck_configuration/utils' import { getLabwareRenderInfo } from '../../Devices/ProtocolRun/utils/getLabwareRenderInfo' import { getStandardDeckViewLayerBlockList } from '../../Devices/ProtocolRun/utils/getStandardDeckViewLayerBlockList' import { mockProtocolModuleInfo } from '../__fixtures__' @@ -32,8 +32,8 @@ jest.mock('../../../redux/config') const mockGetLabwareRenderInfo = getLabwareRenderInfo as jest.MockedFunction< typeof getLabwareRenderInfo > -const mockGetDeckConfigFromProtocolCommands = getDeckConfigFromProtocolCommands as jest.MockedFunction< - typeof getDeckConfigFromProtocolCommands +const mockGetSimplestDeckConfigForProtocolCommands = getSimplestDeckConfigForProtocolCommands as jest.MockedFunction< + typeof getSimplestDeckConfigForProtocolCommands > const mockBaseDeck = BaseDeck as jest.MockedFunction @@ -53,7 +53,7 @@ const render = (props: React.ComponentProps) => { describe('LabwareMapViewModal', () => { beforeEach(() => { mockGetLabwareRenderInfo.mockReturnValue({}) - mockGetDeckConfigFromProtocolCommands.mockReturnValue([]) + mockGetSimplestDeckConfigForProtocolCommands.mockReturnValue([]) }) afterEach(() => { diff --git a/app/src/organisms/ProtocolSetupLabware/__tests__/ProtocolSetupLabware.test.tsx b/app/src/organisms/ProtocolSetupLabware/__tests__/ProtocolSetupLabware.test.tsx index a9ee4c013a9..29d134884b9 100644 --- a/app/src/organisms/ProtocolSetupLabware/__tests__/ProtocolSetupLabware.test.tsx +++ b/app/src/organisms/ProtocolSetupLabware/__tests__/ProtocolSetupLabware.test.tsx @@ -7,8 +7,7 @@ import { useModulesQuery, } from '@opentrons/react-api-client' import { renderWithProviders } from '@opentrons/components' -import { getDeckDefFromRobotType } from '@opentrons/shared-data' -import ot3StandardDeckDef from '@opentrons/shared-data/deck/definitions/3/ot3_standard.json' +import ot3StandardDeckDef from '@opentrons/shared-data/deck/definitions/4/ot3_standard.json' import { i18n } from '../../../i18n' import { useMostRecentCompletedAnalysis } from '../../../organisms/LabwarePositionCheck/useMostRecentCompletedAnalysis' @@ -25,7 +24,6 @@ import { } from '../__fixtures__' jest.mock('@opentrons/react-api-client') -jest.mock('@opentrons/shared-data/js/helpers') jest.mock( '../../../organisms/LabwarePositionCheck/useMostRecentCompletedAnalysis' ) @@ -37,9 +35,6 @@ const mockUseCreateLiveCommandMutation = useCreateLiveCommandMutation as jest.Mo const mockUseModulesQuery = useModulesQuery as jest.MockedFunction< typeof useModulesQuery > -const mockGetDeckDefFromRobotType = getDeckDefFromRobotType as jest.MockedFunction< - typeof getDeckDefFromRobotType -> const mockUseMostRecentCompletedAnalysis = useMostRecentCompletedAnalysis as jest.MockedFunction< typeof useMostRecentCompletedAnalysis > @@ -72,9 +67,6 @@ describe('ProtocolSetupLabware', () => { when(mockUseMostRecentCompletedAnalysis) .calledWith(RUN_ID) .mockReturnValue(mockRecentAnalysis) - when(mockGetDeckDefFromRobotType) - .calledWith('OT-3 Standard') - .mockReturnValue(ot3StandardDeckDef as any) when(mockGetProtocolModulesInfo) .calledWith(mockRecentAnalysis, ot3StandardDeckDef as any) .mockReturnValue(mockProtocolModuleInfo) diff --git a/app/src/organisms/ProtocolSetupLabware/index.tsx b/app/src/organisms/ProtocolSetupLabware/index.tsx index 65da8173326..eace12eaada 100644 --- a/app/src/organisms/ProtocolSetupLabware/index.tsx +++ b/app/src/organisms/ProtocolSetupLabware/index.tsx @@ -142,6 +142,14 @@ export function ProtocolSetupLabware({ 'slotName' in selectedLabware?.location ) { location = + } else if ( + selectedLabware != null && + typeof selectedLabware.location === 'object' && + 'addressableAreaName' in selectedLabware?.location + ) { + location = ( + + ) } else if ( selectedLabware != null && typeof selectedLabware.location === 'object' && @@ -490,6 +498,9 @@ function RowLabware({ } else if ('slotName' in initialLocation) { slotName = initialLocation.slotName location = + } else if ('addressableAreaName' in initialLocation) { + slotName = initialLocation.addressableAreaName + location = } else if (matchedModuleType != null && matchedModule?.slotName != null) { slotName = matchedModule.slotName location = ( diff --git a/app/src/organisms/ProtocolSetupModulesAndDeck/FixtureTable.tsx b/app/src/organisms/ProtocolSetupModulesAndDeck/FixtureTable.tsx index 7f5c0ba2542..910daa5db60 100644 --- a/app/src/organisms/ProtocolSetupModulesAndDeck/FixtureTable.tsx +++ b/app/src/organisms/ProtocolSetupModulesAndDeck/FixtureTable.tsx @@ -14,72 +14,68 @@ import { TYPOGRAPHY, } from '@opentrons/components' import { + FLEX_SINGLE_SLOT_ADDRESSABLE_AREAS, + getCutoutDisplayName, getFixtureDisplayName, - WASTE_CHUTE_LOAD_NAME, + SINGLE_SLOT_FIXTURES, } from '@opentrons/shared-data' -// import { parseInitialLoadedFixturesByCutout } from '@opentrons/api-client' -import { - CONFIGURED, - CONFLICTING, - NOT_CONFIGURED, - useLoadedFixturesConfigStatus, -} from '../../resources/deck_configuration/hooks' +import { useDeckConfigurationCompatibility } from '../../resources/deck_configuration/hooks' import { LocationConflictModal } from '../Devices/ProtocolRun/SetupModuleAndDeck/LocationConflictModal' import { StyledText } from '../../atoms/text' import { Chip } from '../../atoms/Chip' +import { getSimplestDeckConfigForProtocolCommands } from '../../resources/deck_configuration/utils' import type { CompletedProtocolAnalysis, - Cutout, - FixtureLoadName, - LoadFixtureRunTimeCommand, + CutoutFixtureId, + CutoutId, + RobotType, } from '@opentrons/shared-data' import type { SetupScreens } from '../../pages/OnDeviceDisplay/ProtocolSetup' interface FixtureTableProps { + robotType: RobotType mostRecentAnalysis: CompletedProtocolAnalysis | null setSetupScreen: React.Dispatch> - setFixtureLocation: (fixtureLocation: Cutout) => void - setProvidedFixtureOptions: (providedFixtureOptions: FixtureLoadName[]) => void + setCutoutId: (cutoutId: CutoutId) => void + setProvidedFixtureOptions: (providedFixtureOptions: CutoutFixtureId[]) => void } export function FixtureTable({ + robotType, mostRecentAnalysis, setSetupScreen, - setFixtureLocation, + setCutoutId, setProvidedFixtureOptions, -}: FixtureTableProps): JSX.Element { +}: FixtureTableProps): JSX.Element | null { const { t, i18n } = useTranslation('protocol_setup') - const STUBBED_LOAD_FIXTURE: LoadFixtureRunTimeCommand = { - id: 'stubbed_load_fixture', - commandType: 'loadFixture', - params: { - fixtureId: 'stubbedFixtureId', - loadName: WASTE_CHUTE_LOAD_NAME, - location: { cutout: 'D3' }, - }, - createdAt: 'fakeTimestamp', - startedAt: 'fakeTimestamp', - completedAt: 'fakeTimestamp', - status: 'succeeded', - } const [ showLocationConflictModal, setShowLocationConflictModal, ] = React.useState(false) - const requiredFixtureDetails = - mostRecentAnalysis?.commands != null - ? [ - // parseInitialLoadedFixturesByCutout(mostRecentAnalysis.commands), - STUBBED_LOAD_FIXTURE, - ] - : [] + const requiredFixtureDetails = getSimplestDeckConfigForProtocolCommands( + mostRecentAnalysis?.commands ?? [] + ) + const deckConfigCompatibility = useDeckConfigurationCompatibility( + robotType, + mostRecentAnalysis?.commands ?? [] + ) - const configurations = useLoadedFixturesConfigStatus(requiredFixtureDetails) + const nonSingleSlotDeckConfigCompatibility = deckConfigCompatibility.filter( + ({ requiredAddressableAreas }) => + // required AA list includes a non-single-slot AA + !requiredAddressableAreas.every(aa => + FLEX_SINGLE_SLOT_ADDRESSABLE_AREAS.includes(aa) + ) + ) + // fixture includes at least 1 required AA + const requiredDeckConfigCompatibility = nonSingleSlotDeckConfigCompatibility.filter( + fixture => fixture.requiredAddressableAreas.length > 0 + ) - return ( + return requiredDeckConfigCompatibility.length > 0 ? ( {t('location')} {t('status')} - {requiredFixtureDetails.map((fixture, index) => { - const configurationStatus = configurations.find( - configuration => configuration.id === fixture.id - )?.configurationStatus - - const statusNotReady = - configurationStatus === CONFLICTING || - configurationStatus === NOT_CONFIGURED + {requiredDeckConfigCompatibility.map( + ({ cutoutId, cutoutFixtureId, compatibleCutoutFixtureIds }, index) => { + const isCurrentFixtureCompatible = + cutoutFixtureId != null && + compatibleCutoutFixtureIds.includes(cutoutFixtureId) - let chipLabel: JSX.Element - let handleClick - if (statusNotReady) { - chipLabel = ( - <> - - - - ) - handleClick = - configurationStatus === CONFLICTING + let chipLabel: JSX.Element + let handleClick + if (!isCurrentFixtureCompatible) { + const isConflictingFixtureConfigured = + cutoutFixtureId != null && + !SINGLE_SLOT_FIXTURES.includes(cutoutFixtureId) + chipLabel = ( + <> + + + + ) + handleClick = isConflictingFixtureConfigured ? () => setShowLocationConflictModal(true) : () => { - setFixtureLocation(fixture.params.location.cutout) - setProvidedFixtureOptions([fixture.params.loadName]) + setCutoutId(cutoutId) + setProvidedFixtureOptions(compatibleCutoutFixtureIds) setSetupScreen('deck configuration') } - } else if (configurationStatus === CONFIGURED) { - chipLabel = ( - - ) - // TODO(jr, 10/17/23): wire this up - // handleClick = () => setShowNotConfiguredModal(true) - - // shouldn't run into this case - } else { - chipLabel =
status label unknown
- } - - return ( - - {showLocationConflictModal ? ( - setShowLocationConflictModal(false)} - cutout={fixture.params.location.cutout} - requiredFixture={fixture.params.loadName} - isOnDevice={true} + } else { + chipLabel = ( + - ) : null} - - - - {getFixtureDisplayName(fixture.params.loadName)} - - - - - + ) + } + return ( + + {showLocationConflictModal ? ( + setShowLocationConflictModal(false)} + cutoutId={cutoutId} + requiredFixtureId={compatibleCutoutFixtureIds[0]} + isOnDevice={true} + /> + ) : null} - {chipLabel} + + + {cutoutFixtureId != null && isCurrentFixtureCompatible + ? getFixtureDisplayName(cutoutFixtureId) + : getFixtureDisplayName(compatibleCutoutFixtureIds?.[0])} + + + + + + + {chipLabel} + - - - ) - })} + + ) + } + )} - ) + ) : null } diff --git a/app/src/organisms/ProtocolSetupModulesAndDeck/ModulesAndDeckMapViewModal.tsx b/app/src/organisms/ProtocolSetupModulesAndDeck/ModulesAndDeckMapViewModal.tsx index 5045795d771..d432f9d8bba 100644 --- a/app/src/organisms/ProtocolSetupModulesAndDeck/ModulesAndDeckMapViewModal.tsx +++ b/app/src/organisms/ProtocolSetupModulesAndDeck/ModulesAndDeckMapViewModal.tsx @@ -6,7 +6,7 @@ import { FLEX_ROBOT_TYPE } from '@opentrons/shared-data' import { Modal } from '../../molecules/Modal' import { ModuleInfo } from '../Devices/ModuleInfo' -import { getDeckConfigFromProtocolCommands } from '../../resources/deck_configuration/utils' +import { getSimplestDeckConfigForProtocolCommands } from '../../resources/deck_configuration/utils' import { getStandardDeckViewLayerBlockList } from '../Devices/ProtocolRun/utils/getStandardDeckViewLayerBlockList' import type { CompletedProtocolAnalysis } from '@opentrons/shared-data' @@ -36,7 +36,7 @@ export function ModulesAndDeckMapViewModal({ if (protocolAnalysis == null) return null - const deckConfig = getDeckConfigFromProtocolCommands( + const deckConfig = getSimplestDeckConfigForProtocolCommands( protocolAnalysis.commands ) diff --git a/app/src/organisms/ProtocolSetupModulesAndDeck/__tests__/FixtureTable.test.tsx b/app/src/organisms/ProtocolSetupModulesAndDeck/__tests__/FixtureTable.test.tsx index ff8a3da51ee..c24bbbe2537 100644 --- a/app/src/organisms/ProtocolSetupModulesAndDeck/__tests__/FixtureTable.test.tsx +++ b/app/src/organisms/ProtocolSetupModulesAndDeck/__tests__/FixtureTable.test.tsx @@ -1,55 +1,27 @@ import * as React from 'react' import { renderWithProviders } from '@opentrons/components' import { - STAGING_AREA_LOAD_NAME, - WASTE_CHUTE_LOAD_NAME, + FLEX_ROBOT_TYPE, + STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, } from '@opentrons/shared-data' import { i18n } from '../../../i18n' -import { useLoadedFixturesConfigStatus } from '../../../resources/deck_configuration/hooks' +import { useDeckConfigurationCompatibility } from '../../../resources/deck_configuration/hooks' import { LocationConflictModal } from '../../Devices/ProtocolRun/SetupModuleAndDeck/LocationConflictModal' import { FixtureTable } from '../FixtureTable' -import type { LoadFixtureRunTimeCommand } from '@opentrons/shared-data' jest.mock('../../../resources/deck_configuration/hooks') jest.mock('../../Devices/ProtocolRun/SetupModuleAndDeck/LocationConflictModal') -const mockUseLoadedFixturesConfigStatus = useLoadedFixturesConfigStatus as jest.MockedFunction< - typeof useLoadedFixturesConfigStatus -> const mockLocationConflictModal = LocationConflictModal as jest.MockedFunction< typeof LocationConflictModal > -const mockLoadedFixture = { - id: 'stubbed_load_fixture', - commandType: 'loadFixture', - params: { - fixtureId: 'stubbedFixtureId', - loadName: WASTE_CHUTE_LOAD_NAME, - location: { cutout: 'D3' }, - }, - createdAt: 'fakeTimestamp', - startedAt: 'fakeTimestamp', - completedAt: 'fakeTimestamp', - status: 'succeeded', -} as LoadFixtureRunTimeCommand - -const mockLoadedStagingAreaFixture = { - id: 'stubbed_load_fixture_2', - commandType: 'loadFixture', - params: { - fixtureId: 'stubbedFixtureId', - loadName: STAGING_AREA_LOAD_NAME, - location: { cutout: 'D3' }, - }, - createdAt: 'fakeTimestamp', - startedAt: 'fakeTimestamp', - completedAt: 'fakeTimestamp', - status: 'succeeded', -} as LoadFixtureRunTimeCommand +const mockUseDeckConfigurationCompatibility = useDeckConfigurationCompatibility as jest.MockedFunction< + typeof useDeckConfigurationCompatibility +> const mockSetSetupScreen = jest.fn() -const mockSetFixtureLocation = jest.fn() +const mockSetCutoutId = jest.fn() const mockSetProvidedFixtureOptions = jest.fn() const render = (props: React.ComponentProps) => { @@ -63,16 +35,24 @@ describe('FixtureTable', () => { beforeEach(() => { props = { mostRecentAnalysis: [] as any, + robotType: FLEX_ROBOT_TYPE, setSetupScreen: mockSetSetupScreen, - setFixtureLocation: mockSetFixtureLocation, + setCutoutId: mockSetCutoutId, setProvidedFixtureOptions: mockSetProvidedFixtureOptions, } - mockUseLoadedFixturesConfigStatus.mockReturnValue([ - { ...mockLoadedFixture, configurationStatus: 'configured' }, - ]) mockLocationConflictModal.mockReturnValue(
mock location conflict modal
) + mockUseDeckConfigurationCompatibility.mockReturnValue([ + { + cutoutId: 'cutoutD3', + cutoutFixtureId: STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, + requiredAddressableAreas: ['D4'], + compatibleCutoutFixtureIds: [ + STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, + ], + }, + ]) }) it('should render table header and contents', () => { @@ -84,46 +64,39 @@ describe('FixtureTable', () => { it('should render the current status - configured', () => { props = { ...props, - mostRecentAnalysis: { commands: [mockLoadedFixture] } as any, + // TODO(bh, 2023-11-13): mock load labware etc commands + mostRecentAnalysis: { commands: [] } as any, } const [{ getByText }] = render(props) getByText('Configured') }) - it('should render the current status - not configured', () => { - mockUseLoadedFixturesConfigStatus.mockReturnValue([ - { ...mockLoadedFixture, configurationStatus: 'not configured' }, - ]) - props = { - ...props, - mostRecentAnalysis: { commands: [mockLoadedStagingAreaFixture] } as any, - } - const [{ getByText }] = render(props) - getByText('Not configured') - }) - it('should render the current status - conflicting', () => { - mockUseLoadedFixturesConfigStatus.mockReturnValue([ - { ...mockLoadedFixture, configurationStatus: 'conflicting' }, - ]) - props = { - ...props, - mostRecentAnalysis: { commands: [mockLoadedStagingAreaFixture] } as any, - } - const [{ getByText, getAllByText }] = render(props) - getByText('Location conflict').click() - getAllByText('mock location conflict modal') - }) - it('should call a mock function when tapping not configured row', () => { - mockUseLoadedFixturesConfigStatus.mockReturnValue([ - { ...mockLoadedFixture, configurationStatus: 'not configured' }, - ]) - props = { - ...props, - mostRecentAnalysis: { commands: [mockLoadedStagingAreaFixture] } as any, - } - const [{ getByText }] = render(props) - getByText('Not configured').click() - expect(mockSetFixtureLocation).toHaveBeenCalledWith('D3') - expect(mockSetSetupScreen).toHaveBeenCalledWith('deck configuration') - expect(mockSetProvidedFixtureOptions).toHaveBeenCalledWith(['wasteChute']) - }) + // TODO(bh, 2023-11-14): implement test cases when example JSON protocol fixtures exist + // it('should render the current status - not configured', () => { + // props = { + // ...props, + // mostRecentAnalysis: { commands: [] } as any, + // } + // const [{ getByText }] = render(props) + // getByText('Not configured') + // }) + // it('should render the current status - conflicting', () => { + // props = { + // ...props, + // mostRecentAnalysis: { commands: [] } as any, + // } + // const [{ getByText, getAllByText }] = render(props) + // getByText('Location conflict').click() + // getAllByText('mock location conflict modal') + // }) + // it('should call a mock function when tapping not configured row', () => { + // props = { + // ...props, + // mostRecentAnalysis: { commands: [] } as any, + // } + // const [{ getByText }] = render(props) + // getByText('Not configured').click() + // expect(mockSetCutoutId).toHaveBeenCalledWith('cutoutD3') + // expect(mockSetSetupScreen).toHaveBeenCalledWith('deck configuration') + // expect(mockSetProvidedFixtureOptions).toHaveBeenCalledWith(['wasteChute']) + // }) }) diff --git a/app/src/organisms/ProtocolSetupModulesAndDeck/__tests__/ModulesAndDeckMapViewModal.test.tsx b/app/src/organisms/ProtocolSetupModulesAndDeck/__tests__/ModulesAndDeckMapViewModal.test.tsx index 1882f9947cc..343a692a4f4 100644 --- a/app/src/organisms/ProtocolSetupModulesAndDeck/__tests__/ModulesAndDeckMapViewModal.test.tsx +++ b/app/src/organisms/ProtocolSetupModulesAndDeck/__tests__/ModulesAndDeckMapViewModal.test.tsx @@ -1,14 +1,10 @@ import * as React from 'react' import { when, resetAllWhenMocks } from 'jest-when' -import { - renderWithProviders, - BaseDeck, - EXTENDED_DECK_CONFIG_FIXTURE, -} from '@opentrons/components' +import { renderWithProviders, BaseDeck } from '@opentrons/components' import { i18n } from '../../../i18n' -import { getDeckConfigFromProtocolCommands } from '../../../resources/deck_configuration/utils' +import { getSimplestDeckConfigForProtocolCommands } from '../../../resources/deck_configuration/utils' import { ModulesAndDeckMapViewModal } from '../ModulesAndDeckMapViewModal' jest.mock('@opentrons/components/src/hardware-sim/BaseDeck') @@ -92,8 +88,8 @@ const render = ( } const mockBaseDeck = BaseDeck as jest.MockedFunction -const mockGetDeckConfigFromProtocolCommands = getDeckConfigFromProtocolCommands as jest.MockedFunction< - typeof getDeckConfigFromProtocolCommands +const mockGetSimplestDeckConfigForProtocolCommands = getSimplestDeckConfigForProtocolCommands as jest.MockedFunction< + typeof getSimplestDeckConfigForProtocolCommands > describe('ModulesAndDeckMapViewModal', () => { @@ -106,8 +102,9 @@ describe('ModulesAndDeckMapViewModal', () => { runId: mockRunId, protocolAnalysis: PROTOCOL_ANALYSIS, } - when(mockGetDeckConfigFromProtocolCommands).mockReturnValue( - EXTENDED_DECK_CONFIG_FIXTURE + when(mockGetSimplestDeckConfigForProtocolCommands).mockReturnValue( + // TODO(bh, 2023-11-13): mock cutout config protocol spec + [] ) mockBaseDeck.mockReturnValue(
mock BaseDeck
) }) diff --git a/app/src/organisms/ProtocolSetupModulesAndDeck/__tests__/ProtocolSetupModulesAndDeck.test.tsx b/app/src/organisms/ProtocolSetupModulesAndDeck/__tests__/ProtocolSetupModulesAndDeck.test.tsx index d5dd9c2d787..422b3df24dd 100644 --- a/app/src/organisms/ProtocolSetupModulesAndDeck/__tests__/ProtocolSetupModulesAndDeck.test.tsx +++ b/app/src/organisms/ProtocolSetupModulesAndDeck/__tests__/ProtocolSetupModulesAndDeck.test.tsx @@ -7,12 +7,10 @@ import { MemoryRouter } from 'react-router-dom' import { renderWithProviders } from '@opentrons/components' import { useDeckConfigurationQuery } from '@opentrons/react-api-client' import { - DeckConfiguration, - Fixture, getDeckDefFromRobotType, - STAGING_AREA_LOAD_NAME, + WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, } from '@opentrons/shared-data' -import ot3StandardDeckDef from '@opentrons/shared-data/deck/definitions/3/ot3_standard.json' +import ot3StandardDeckDef from '@opentrons/shared-data/deck/definitions/4/ot3_standard.json' import { i18n } from '../../../i18n' import { useChainLiveCommands } from '../../../resources/runs/hooks' @@ -38,6 +36,8 @@ import { FixtureTable } from '../FixtureTable' import { ModulesAndDeckMapViewModal } from '../ModulesAndDeckMapViewModal' import { ProtocolSetupModulesAndDeck } from '..' +import type { CutoutConfig, DeckConfiguration } from '@opentrons/shared-data' + jest.mock('@opentrons/react-api-client') jest.mock('../../../resources/runs/hooks') jest.mock('@opentrons/shared-data/js/helpers') @@ -103,7 +103,7 @@ const mockModulesAndDeckMapViewModal = ModulesAndDeckMapViewModal as jest.Mocked const ROBOT_NAME = 'otie' const RUN_ID = '1' const mockSetSetupScreen = jest.fn() -const mockSetFixtureLocation = jest.fn() +const mockSetCutoutId = jest.fn() const mockSetProvidedFixtureOptions = jest.fn() const calibratedMockApiHeaterShaker = { @@ -118,11 +118,10 @@ const calibratedMockApiHeaterShaker = { last_modified: '2023-06-01T14:42:20.131798+00:00', }, } -const mockFixture = { - fixtureId: 'mockId', - fixtureLocation: '10' as any, - loadName: STAGING_AREA_LOAD_NAME, -} as Fixture +const mockFixture: CutoutConfig = { + cutoutId: 'cutoutD3', + cutoutFixtureId: WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, +} const render = () => { return renderWithProviders( @@ -130,7 +129,7 @@ const render = () => { , @@ -196,6 +195,12 @@ describe('ProtocolSetupModulesAndDeck', () => { }) it('should render text and buttons', () => { + mockGetAttachedProtocolModuleMatches.mockReturnValue([ + { + ...mockProtocolModuleInfo[0], + attachedModuleMatch: calibratedMockApiHeaterShaker, + }, + ]) const [{ getByRole, getByText }] = render() getByText('Module') getByText('Location') @@ -363,6 +368,7 @@ describe('ProtocolSetupModulesAndDeck', () => { { ...mockProtocolModuleInfo[0], attachedModuleMatch: calibratedMockApiHeaterShaker, + slotName: 'D3', }, ]) const [{ getByText }] = render() diff --git a/app/src/organisms/ProtocolSetupModulesAndDeck/index.tsx b/app/src/organisms/ProtocolSetupModulesAndDeck/index.tsx index 5a58f031275..ab6c3fd5cd4 100644 --- a/app/src/organisms/ProtocolSetupModulesAndDeck/index.tsx +++ b/app/src/organisms/ProtocolSetupModulesAndDeck/index.tsx @@ -16,11 +16,12 @@ import { } from '@opentrons/components' import { useDeckConfigurationQuery } from '@opentrons/react-api-client' import { + FLEX_ROBOT_TYPE, getDeckDefFromRobotType, getModuleDisplayName, getModuleType, NON_CONNECTING_MODULE_TYPES, - STANDARD_SLOT_LOAD_NAME, + SINGLE_SLOT_FIXTURES, TC_MODULE_LOCATION_OT3, THERMOCYCLER_MODULE_TYPE, } from '@opentrons/shared-data' @@ -38,7 +39,8 @@ import { import { MultipleModulesModal } from '../Devices/ProtocolRun/SetupModuleAndDeck/MultipleModulesModal' import { getProtocolModulesInfo } from '../../organisms/Devices/ProtocolRun/utils/getProtocolModulesInfo' import { useMostRecentCompletedAnalysis } from '../../organisms/LabwarePositionCheck/useMostRecentCompletedAnalysis' -import { ROBOT_MODEL_OT3, getLocalRobot } from '../../redux/discovery' +import { getLocalRobot } from '../../redux/discovery' +import { getCutoutIdForSlotName } from '../../resources/deck_configuration/utils' import { useChainLiveCommands } from '../../resources/runs/hooks' import { getModulePrepCommands, @@ -57,7 +59,11 @@ import { FixtureTable } from './FixtureTable' import { ModulesAndDeckMapViewModal } from './ModulesAndDeckMapViewModal' import type { CommandData } from '@opentrons/api-client' -import type { Cutout, Fixture, FixtureLoadName } from '@opentrons/shared-data' +import type { + CutoutConfig, + CutoutId, + CutoutFixtureId, +} from '@opentrons/shared-data' import type { SetupScreens } from '../../pages/OnDeviceDisplay/ProtocolSetup' import type { ProtocolCalibrationStatus } from '../../organisms/Devices/hooks' import type { AttachedProtocolModuleMatch } from './utils' @@ -75,7 +81,7 @@ interface RenderModuleStatusProps { commands: ModulePrepCommandsType[], continuePastCommandFailure: boolean ) => Promise - conflictedFixture?: Fixture + conflictedFixture?: CutoutConfig } function RenderModuleStatus({ @@ -186,7 +192,7 @@ interface RowModuleProps { ) => Promise prepCommandErrorMessage: string setPrepCommandErrorMessage: React.Dispatch> - conflictedFixture?: Fixture + conflictedFixture?: CutoutConfig } function RowModule({ @@ -229,7 +235,7 @@ function RowModule({ {showLocationConflictModal && conflictedFixture != null ? ( setShowLocationConflictModal(false)} - cutout={conflictedFixture.fixtureLocation} + cutoutId={conflictedFixture.cutoutId} requiredModule={module.moduleDef.model} isOnDevice={true} /> @@ -302,8 +308,8 @@ function RowModule({ interface ProtocolSetupModulesAndDeckProps { runId: string setSetupScreen: React.Dispatch> - setFixtureLocation: (fixtureLocation: Cutout) => void - setProvidedFixtureOptions: (providedFixtureOptions: FixtureLoadName[]) => void + setCutoutId: (cutoutId: CutoutId) => void + setProvidedFixtureOptions: (providedFixtureOptions: CutoutFixtureId[]) => void } /** @@ -312,7 +318,7 @@ interface ProtocolSetupModulesAndDeckProps { export function ProtocolSetupModulesAndDeck({ runId, setSetupScreen, - setFixtureLocation, + setCutoutId, setProvidedFixtureOptions, }: ProtocolSetupModulesAndDeckProps): JSX.Element { const { i18n, t } = useTranslation('protocol_setup') @@ -337,7 +343,7 @@ export function ProtocolSetupModulesAndDeck({ const { data: deckConfig } = useDeckConfigurationQuery() const mostRecentAnalysis = useMostRecentCompletedAnalysis(runId) - const deckDef = getDeckDefFromRobotType(ROBOT_MODEL_OT3) + const deckDef = getDeckDefFromRobotType(FLEX_ROBOT_TYPE) const attachedModules = useAttachedModules({ @@ -358,6 +364,8 @@ export function ProtocolSetupModulesAndDeck({ protocolModulesInfo ) + const hasModules = attachedProtocolModuleMatches.length > 0 + const { missingModuleIds, remainingAttachedModules, @@ -401,6 +409,7 @@ export function ProtocolSetupModulesAndDeck({ flexDirection={DIRECTION_COLUMN} gridGap={SPACING.spacing24} marginTop="7.75rem" + marginBottom={SPACING.spacing80} > {isModuleMismatch && !clearModuleMismatchBanner ? ( ) : null} - - - {t('module')} - {t('location')} - {t('status')} - - {attachedProtocolModuleMatches.map(module => { - // check for duplicate module model in list of modules for protocol - const isDuplicateModuleModel = protocolModulesInfo - // filter out current module - .filter(otherModule => otherModule.moduleId !== module.moduleId) - // check for existence of another module of same model - .some( - otherModule => - otherModule.moduleDef.model === module.moduleDef.model + {hasModules ? ( + + + {t('module')} + {t('location')} + {t('status')} + + {attachedProtocolModuleMatches.map(module => { + // check for duplicate module model in list of modules for protocol + const isDuplicateModuleModel = protocolModulesInfo + // filter out current module + .filter( + otherModule => otherModule.moduleId !== module.moduleId + ) + // check for existence of another module of same model + .some( + otherModule => + otherModule.moduleDef.model === module.moduleDef.model + ) + + const cutoutIdForSlotName = getCutoutIdForSlotName( + module.slotName, + deckDef ) - return ( - - fixture.fixtureLocation === module.slotName && - fixture.loadName !== STANDARD_SLOT_LOAD_NAME - )} - /> - ) - })} - + + return ( + + fixture.cutoutId === cutoutIdForSlotName && + fixture.cutoutFixtureId != null && + !SINGLE_SLOT_FIXTURES.includes(fixture.cutoutFixtureId) + )} + /> + ) + })} + + ) : null} diff --git a/app/src/organisms/ProtocolsLanding/ProtocolList.tsx b/app/src/organisms/ProtocolsLanding/ProtocolList.tsx index d12e6c8fd3a..d812fed10f7 100644 --- a/app/src/organisms/ProtocolsLanding/ProtocolList.tsx +++ b/app/src/organisms/ProtocolsLanding/ProtocolList.tsx @@ -29,7 +29,7 @@ import { StyledText } from '../../atoms/text' import { Slideout } from '../../atoms/Slideout' import { ChooseRobotToRunProtocolSlideout } from '../ChooseRobotToRunProtocolSlideout' import { SendProtocolToOT3Slideout } from '../SendProtocolToOT3Slideout' -import { UploadInput } from './UploadInput' +import { ProtocolUploadInput } from './ProtocolUploadInput' import { ProtocolCard } from './ProtocolCard' import { EmptyStateLinks } from './EmptyStateLinks' import { MenuItem } from '../../atoms/MenuList/MenuItem' @@ -254,7 +254,9 @@ export function ProtocolList(props: ProtocolListProps): JSX.Element | null { onCloseClick={() => setShowImportProtocolSlideout(false)} > - setShowImportProtocolSlideout(false)} /> + setShowImportProtocolSlideout(false)} + /> diff --git a/app/src/organisms/ProtocolsLanding/UploadInput.tsx b/app/src/organisms/ProtocolsLanding/ProtocolUploadInput.tsx similarity index 83% rename from app/src/organisms/ProtocolsLanding/UploadInput.tsx rename to app/src/organisms/ProtocolsLanding/ProtocolUploadInput.tsx index aa454b9d690..181da16300f 100644 --- a/app/src/organisms/ProtocolsLanding/UploadInput.tsx +++ b/app/src/organisms/ProtocolsLanding/ProtocolUploadInput.tsx @@ -10,7 +10,7 @@ import { SPACING, } from '@opentrons/components' import { StyledText } from '../../atoms/text' -import { UploadInput as FileImporter } from '../../molecules/UploadInput' +import { UploadInput } from '../../molecules/UploadInput' import { addProtocol } from '../../redux/protocol-storage' import { useTrackEvent, @@ -24,8 +24,9 @@ export interface UploadInputProps { onUpload?: () => void } -// TODO(bc, 2022-3-21): consider making this generic for any file upload and adding it to molecules/organisms with onUpload taking the files from the event -export function UploadInput(props: UploadInputProps): JSX.Element | null { +export function ProtocolUploadInput( + props: UploadInputProps +): JSX.Element | null { const { t } = useTranslation(['protocol_info', 'shared']) const dispatch = useDispatch() const logger = useLogger(__filename) @@ -49,7 +50,7 @@ export function UploadInput(props: UploadInputProps): JSX.Element | null { alignItems={ALIGN_CENTER} marginY={SPACING.spacing20} > - handleUpload(file)} uploadText={t('valid_file_types')} dragAndDropText={ diff --git a/app/src/organisms/ProtocolsLanding/ProtocolsEmptyState.tsx b/app/src/organisms/ProtocolsLanding/ProtocolsEmptyState.tsx index 8388a075d5f..a6238653e6e 100644 --- a/app/src/organisms/ProtocolsLanding/ProtocolsEmptyState.tsx +++ b/app/src/organisms/ProtocolsLanding/ProtocolsEmptyState.tsx @@ -9,7 +9,7 @@ import { } from '@opentrons/components' import { StyledText } from '../../atoms/text' -import { UploadInput } from './UploadInput' +import { ProtocolUploadInput } from './ProtocolUploadInput' import { EmptyStateLinks } from './EmptyStateLinks' export function ProtocolsEmptyState(): JSX.Element | null { const { t } = useTranslation('protocol_info') @@ -25,7 +25,7 @@ export function ProtocolsEmptyState(): JSX.Element | null { {t('import_a_file')} - + ) diff --git a/app/src/organisms/ProtocolsLanding/__tests__/UploadInput.test.tsx b/app/src/organisms/ProtocolsLanding/__tests__/UploadInput.test.tsx index 83455f3b071..c269696c5ce 100644 --- a/app/src/organisms/ProtocolsLanding/__tests__/UploadInput.test.tsx +++ b/app/src/organisms/ProtocolsLanding/__tests__/UploadInput.test.tsx @@ -8,13 +8,13 @@ import { useTrackEvent, ANALYTICS_IMPORT_PROTOCOL_TO_APP, } from '../../../redux/analytics' -import { UploadInput } from '../UploadInput' +import { ProtocolUploadInput } from '../ProtocolUploadInput' jest.mock('../../../redux/analytics') const mockUseTrackEvent = useTrackEvent as jest.Mock -describe('UploadInput', () => { +describe('ProtocolUploadInput', () => { let onUpload: jest.MockedFunction<() => {}> let trackEvent: jest.MockedFunction let render: () => ReturnType[0] @@ -26,7 +26,7 @@ describe('UploadInput', () => { render = () => { return renderWithProviders( - + , { i18nInstance: i18n, @@ -41,7 +41,7 @@ describe('UploadInput', () => { it('renders correct contents for empty state', () => { const { findByText, getByRole } = render() - getByRole('button', { name: 'Choose File' }) + getByRole('button', { name: 'Upload' }) findByText('Drag and drop or') findByText('your files') findByText( @@ -52,7 +52,7 @@ describe('UploadInput', () => { it('opens file select on button click', () => { const { getByRole, getByTestId } = render() - const button = getByRole('button', { name: 'Choose File' }) + const button = getByRole('button', { name: 'Upload' }) const input = getByTestId('file_input') input.click = jest.fn() fireEvent.click(button) diff --git a/app/src/organisms/RobotSettingsCalibration/CalibrationDataDownload.tsx b/app/src/organisms/RobotSettingsCalibration/CalibrationDataDownload.tsx index 4755352fdee..4a261b331d9 100644 --- a/app/src/organisms/RobotSettingsCalibration/CalibrationDataDownload.tsx +++ b/app/src/organisms/RobotSettingsCalibration/CalibrationDataDownload.tsx @@ -91,7 +91,11 @@ export function CalibrationDataDownload({ } return ( - + {isFlex diff --git a/app/src/organisms/RobotSettingsDashboard/DeviceReset.tsx b/app/src/organisms/RobotSettingsDashboard/DeviceReset.tsx index fe8667f791f..1095694392f 100644 --- a/app/src/organisms/RobotSettingsDashboard/DeviceReset.tsx +++ b/app/src/organisms/RobotSettingsDashboard/DeviceReset.tsx @@ -52,8 +52,6 @@ interface DeviceResetProps { setCurrentOption: SetSettingOption } -// ToDo (kk:08/30/2023) lines that are related to module calibration will be activated when the be is ready. -// The tests for that will be added. export function DeviceReset({ robotName, setCurrentOption, @@ -86,20 +84,19 @@ export function DeviceReset({ ({ id }) => !['authorizedKeys'].includes(id) ) + const isEveryOptionSelected = (obj: ResetConfigRequest): boolean => { + for (const key of targetOptionsOrder) { + if (obj != null && !obj[key]) { + return false + } + } + return true + } + const handleClick = (): void => { if (resetOptions != null) { - // remove clearAllStoredData since its not a setting on the backend - const { clearAllStoredData, ...serverResetOptions } = resetOptions - if (Boolean(clearAllStoredData)) { - dispatchRequest( - resetConfig(robotName, { - ...serverResetOptions, - onDeviceDisplay: true, - }) - ) - } else { - dispatchRequest(resetConfig(robotName, serverResetOptions)) - } + const { ...serverResetOptions } = resetOptions + dispatchRequest(resetConfig(robotName, serverResetOptions)) } } @@ -145,6 +142,33 @@ export function DeviceReset({ dispatch(fetchResetConfigOptions(robotName)) }, [dispatch, robotName]) + React.useEffect(() => { + if ( + isEveryOptionSelected(resetOptions) && + (!resetOptions.authorizedKeys || !resetOptions.onDeviceDisplay) + ) { + setResetOptions({ + ...resetOptions, + authorizedKeys: true, + onDeviceDisplay: true, + }) + } + }, [resetOptions]) + + React.useEffect(() => { + if ( + !isEveryOptionSelected(resetOptions) && + resetOptions.authorizedKeys && + resetOptions.onDeviceDisplay + ) { + setResetOptions({ + ...resetOptions, + authorizedKeys: false, + onDeviceDisplay: false, + }) + } + }, [resetOptions]) + return ( {showConfirmationModal && ( @@ -218,7 +242,8 @@ export function DeviceReset({ value="clearAllStoredData" onChange={() => { setResetOptions( - Boolean(resetOptions.clearAllStoredData) + (resetOptions.authorizedKeys ?? false) && + (resetOptions.onDeviceDisplay ?? false) ? {} : availableOptions.reduce( (acc, val) => { @@ -227,14 +252,18 @@ export function DeviceReset({ [val.id]: true, } }, - { clearAllStoredData: true } + { authorizedKeys: true, onDeviceDisplay: true } ) ) }} /> @@ -243,7 +272,9 @@ export function DeviceReset({ { getByText('Clear module calibration') getByText('Clear protocol run history') getByText('Clears information about past runs of all protocols.') + getByText('Clear all stored data') + getByText( + 'Resets all settings. You’ll have to redo initial setup before using the robot again.' + ) expect(queryByText('Clear the ssh authorized keys')).not.toBeInTheDocument() expect(getByTestId('DeviceReset_clear_data_button')).toBeDisabled() }) @@ -115,4 +119,71 @@ describe('DeviceReset', () => { mockResetConfig('mockRobot', clearMockResetOptions) ) }) + + it('when tapping clear all stored data, all options are active', () => { + const clearMockResetOptions = { + pipetteOffsetCalibrations: true, + moduleCalibration: true, + runsHistory: true, + gripperOffsetCalibrations: true, + authorizedKeys: true, + onDeviceDisplay: true, + } + + const [{ getByText }] = render(props) + getByText('Clear all stored data').click() + const clearButton = getByText('Clear data and restart robot') + fireEvent.click(clearButton) + getByText('Are you sure you want to reset your device?') + fireEvent.click(getByText('Confirm')) + expect(dispatchApiRequest).toBeCalledWith( + mockResetConfig('mockRobot', clearMockResetOptions) + ) + }) + + it('when tapping all options except clear all stored data, all options are active', () => { + const clearMockResetOptions = { + pipetteOffsetCalibrations: true, + moduleCalibration: true, + runsHistory: true, + gripperOffsetCalibrations: true, + authorizedKeys: true, + onDeviceDisplay: true, + } + + const [{ getByText }] = render(props) + getByText('Clear pipette calibration').click() + getByText('Clear gripper calibration').click() + getByText('Clear module calibration').click() + getByText('Clear protocol run history').click() + const clearButton = getByText('Clear data and restart robot') + fireEvent.click(clearButton) + getByText('Are you sure you want to reset your device?') + fireEvent.click(getByText('Confirm')) + expect(dispatchApiRequest).toBeCalledWith( + mockResetConfig('mockRobot', clearMockResetOptions) + ) + }) + + it('when tapping clear all stored data and unselect one options, all options are not active', () => { + const clearMockResetOptions = { + pipetteOffsetCalibrations: false, + moduleCalibration: true, + runsHistory: true, + gripperOffsetCalibrations: true, + authorizedKeys: false, + onDeviceDisplay: false, + } + + const [{ getByText }] = render(props) + getByText('Clear all stored data').click() + getByText('Clear pipette calibration').click() + const clearButton = getByText('Clear data and restart robot') + fireEvent.click(clearButton) + getByText('Are you sure you want to reset your device?') + fireEvent.click(getByText('Confirm')) + expect(dispatchApiRequest).toBeCalledWith( + mockResetConfig('mockRobot', clearMockResetOptions) + ) + }) }) diff --git a/app/src/organisms/UpdateAppModal/__tests__/UpdateAppModal.test.tsx b/app/src/organisms/UpdateAppModal/__tests__/UpdateAppModal.test.tsx index a7d8069cf1e..939755c8208 100644 --- a/app/src/organisms/UpdateAppModal/__tests__/UpdateAppModal.test.tsx +++ b/app/src/organisms/UpdateAppModal/__tests__/UpdateAppModal.test.tsx @@ -1,11 +1,13 @@ import * as React from 'react' import { when } from 'jest-when' import { fireEvent } from '@testing-library/react' + import { renderWithProviders } from '@opentrons/components' + import { i18n } from '../../../i18n' import * as Shell from '../../../redux/shell' -import { UpdateAppModal, UpdateAppModalProps } from '..' import { useRemoveActiveAppUpdateToast } from '../../Alerts' +import { UpdateAppModal, UpdateAppModalProps, RELEASE_NOTES_URL_BASE } from '..' import type { State } from '../../../redux/types' import type { ShellUpdateState } from '../../../redux/shell/types' @@ -33,6 +35,9 @@ const mockUseRemoveActiveAppUpdateToast = useRemoveActiveAppUpdateToast as jest. const render = (props: React.ComponentProps) => { return renderWithProviders(, { i18nInstance: i18n, + initialState: { + shell: { update: { info: { version: '7.0.0' }, available: true } }, + }, }) } @@ -76,6 +81,14 @@ describe('UpdateAppModal', () => { fireEvent.click(getByText('Remind me later')) expect(closeModal).toHaveBeenCalled() }) + + it('renders a release notes link pointing to the Github releases page', () => { + const [{ getByText }] = render(props) + + const link = getByText('Release notes') + expect(link).toHaveAttribute('href', RELEASE_NOTES_URL_BASE + '7.0.0') + }) + it('shows error modal on error', () => { getShellUpdateState.mockReturnValue({ error: { diff --git a/app/src/organisms/UpdateAppModal/index.tsx b/app/src/organisms/UpdateAppModal/index.tsx index 16f0fc7e517..367a6edc779 100644 --- a/app/src/organisms/UpdateAppModal/index.tsx +++ b/app/src/organisms/UpdateAppModal/index.tsx @@ -8,20 +8,23 @@ import { ALIGN_CENTER, COLORS, DIRECTION_COLUMN, - JUSTIFY_FLEX_END, SPACING, Flex, NewPrimaryBtn, NewSecondaryBtn, BORDERS, + JUSTIFY_SPACE_BETWEEN, + JUSTIFY_SPACE_AROUND, } from '@opentrons/components' import { getShellUpdateState, + getAvailableShellUpdate, downloadShellUpdate, applyShellUpdate, } from '../../redux/shell' +import { ExternalLink } from '../../atoms/Link/ExternalLink' import { ReleaseNotes } from '../../molecules/ReleaseNotes' import { LegacyModal } from '../../molecules/LegacyModal' import { Banner } from '../../atoms/Banner' @@ -56,7 +59,8 @@ const PlaceholderError = ({ ) } - +export const RELEASE_NOTES_URL_BASE = + 'https://github.com/Opentrons/opentrons/releases/tag/v' const UPDATE_ERROR = 'Update Error' const FOOTER_BUTTON_STYLE = css` text-transform: lowercase; @@ -105,6 +109,7 @@ export function UpdateAppModal(props: UpdateAppModalProps): JSX.Element { const { t } = useTranslation('app_settings') const history = useHistory() const { removeActiveAppUpdateToast } = useRemoveActiveAppUpdateToast() + const availableAppUpdateVersion = useSelector(getAvailableShellUpdate) ?? '' if (downloaded) setTimeout(() => dispatch(applyShellUpdate()), RESTART_APP_AFTER_TIME) @@ -117,21 +122,33 @@ export function UpdateAppModal(props: UpdateAppModalProps): JSX.Element { removeActiveAppUpdateToast() const appUpdateFooter = ( - - - {t('remind_later')} - - dispatch(downloadShellUpdate())} - marginRight={SPACING.spacing12} - css={FOOTER_BUTTON_STYLE} + + - {t('update_app_now')} - + {t('release_notes')} + + + + {t('remind_later')} + + dispatch(downloadShellUpdate())} + marginRight={SPACING.spacing12} + css={FOOTER_BUTTON_STYLE} + > + {t('update_app_now')} + + ) diff --git a/app/src/pages/DeckConfiguration/__tests__/DeckConfiguration.test.tsx b/app/src/pages/DeckConfiguration/__tests__/DeckConfiguration.test.tsx index ebaccbd62a4..7f24c1e91fc 100644 --- a/app/src/pages/DeckConfiguration/__tests__/DeckConfiguration.test.tsx +++ b/app/src/pages/DeckConfiguration/__tests__/DeckConfiguration.test.tsx @@ -5,9 +5,9 @@ import { when, resetAllWhenMocks } from 'jest-when' import { DeckConfigurator, renderWithProviders } from '@opentrons/components' import { useDeckConfigurationQuery, - useCreateDeckConfigurationMutation, + useUpdateDeckConfigurationMutation, } from '@opentrons/react-api-client' -import { TRASH_BIN_LOAD_NAME } from '@opentrons/shared-data' +import { TRASH_BIN_ADAPTER_FIXTURE } from '@opentrons/shared-data' import { i18n } from '../../../i18n' import { DeckFixtureSetupInstructionsModal } from '../../../organisms/DeviceDetailsDeckConfiguration/DeckFixtureSetupInstructionsModal' @@ -17,7 +17,7 @@ import { DeckConfigurationEditor } from '..' import type { UseQueryResult } from 'react-query' import type { DeckConfiguration } from '@opentrons/shared-data' -const mockCreateDeckConfiguration = jest.fn() +const mockUpdateDeckConfiguration = jest.fn() const mockGoBack = jest.fn() jest.mock('react-router-dom', () => { const reactRouterDom = jest.requireActual('react-router-dom') @@ -29,9 +29,8 @@ jest.mock('react-router-dom', () => { const mockDeckConfig = [ { - fixtureId: 'mockFixtureIdC3', - fixtureLocation: 'C3', - loadName: TRASH_BIN_LOAD_NAME, + cutoutId: 'cutoutC3', + cutoutFixtureId: TRASH_BIN_ADAPTER_FIXTURE, }, ] @@ -56,8 +55,8 @@ const mockUseDeckConfigurationQuery = useDeckConfigurationQuery as jest.MockedFu const mockDeckConfigurationDiscardChangesModal = DeckConfigurationDiscardChangesModal as jest.MockedFunction< typeof DeckConfigurationDiscardChangesModal > -const mockUseCreateDeckConfigurationMutation = useCreateDeckConfigurationMutation as jest.MockedFunction< - typeof useCreateDeckConfigurationMutation +const mockUseUpdateDeckConfigurationMutation = useUpdateDeckConfigurationMutation as jest.MockedFunction< + typeof useUpdateDeckConfigurationMutation > const render = () => { @@ -83,8 +82,8 @@ describe('DeckConfigurationEditor', () => { mockDeckConfigurationDiscardChangesModal.mockReturnValue(
mock DeckConfigurationDiscardChangesModal
) - when(mockUseCreateDeckConfigurationMutation).mockReturnValue({ - createDeckConfiguration: mockCreateDeckConfiguration, + when(mockUseUpdateDeckConfigurationMutation).mockReturnValue({ + updateDeckConfiguration: mockUpdateDeckConfiguration, } as any) }) diff --git a/app/src/pages/DeckConfiguration/index.tsx b/app/src/pages/DeckConfiguration/index.tsx index 8f1e84f8068..59ac196f4e9 100644 --- a/app/src/pages/DeckConfiguration/index.tsx +++ b/app/src/pages/DeckConfiguration/index.tsx @@ -8,13 +8,17 @@ import { DIRECTION_COLUMN, Flex, JUSTIFY_CENTER, - SPACING, + JUSTIFY_SPACE_AROUND, } from '@opentrons/components' import { useDeckConfigurationQuery, - useCreateDeckConfigurationMutation, + useUpdateDeckConfigurationMutation, } from '@opentrons/react-api-client' -import { STANDARD_SLOT_LOAD_NAME } from '@opentrons/shared-data' +import { + SINGLE_RIGHT_CUTOUTS, + SINGLE_LEFT_SLOT_FIXTURE, + SINGLE_RIGHT_SLOT_FIXTURE, +} from '@opentrons/shared-data' import { SmallButton } from '../../atoms/buttons' import { ChildNavigation } from '../../organisms/ChildNavigation' @@ -23,7 +27,7 @@ import { DeckFixtureSetupInstructionsModal } from '../../organisms/DeviceDetails import { DeckConfigurationDiscardChangesModal } from '../../organisms/DeviceDetailsDeckConfiguration/DeckConfigurationDiscardChangesModal' import { Portal } from '../../App/portal' -import type { Cutout, DeckConfiguration } from '@opentrons/shared-data' +import type { CutoutId, DeckConfiguration } from '@opentrons/shared-data' export function DeckConfigurationEditor(): JSX.Element { const { t, i18n } = useTranslation([ @@ -40,42 +44,45 @@ export function DeckConfigurationEditor(): JSX.Element { showConfigurationModal, setShowConfigurationModal, ] = React.useState(false) - const [ - targetFixtureLocation, - setTargetFixtureLocation, - ] = React.useState(null) + const [targetCutoutId, setTargetCutoutId] = React.useState( + null + ) const [ showDiscardChangeModal, setShowDiscardChangeModal, ] = React.useState(false) const deckConfig = useDeckConfigurationQuery().data ?? [] - const { createDeckConfiguration } = useCreateDeckConfigurationMutation() + const { updateDeckConfiguration } = useUpdateDeckConfigurationMutation() const [ currentDeckConfig, setCurrentDeckConfig, ] = React.useState(deckConfig) - const handleClickAdd = (fixtureLocation: Cutout): void => { - setTargetFixtureLocation(fixtureLocation) + const handleClickAdd = (cutoutId: CutoutId): void => { + setTargetCutoutId(cutoutId) setShowConfigurationModal(true) } - const handleClickRemove = (fixtureLocation: Cutout): void => { + const handleClickRemove = (cutoutId: CutoutId): void => { setCurrentDeckConfig(prevDeckConfig => prevDeckConfig.map(fixture => - fixture.fixtureLocation === fixtureLocation - ? { ...fixture, loadName: STANDARD_SLOT_LOAD_NAME } + fixture.cutoutId === cutoutId + ? { + ...fixture, + cutoutFixtureId: SINGLE_RIGHT_CUTOUTS.includes(cutoutId) + ? SINGLE_RIGHT_SLOT_FIXTURE + : SINGLE_LEFT_SLOT_FIXTURE, + } : fixture ) ) - createDeckConfiguration(currentDeckConfig) } const handleClickConfirm = (): void => { if (!isEqual(deckConfig, currentDeckConfig)) { - createDeckConfiguration(currentDeckConfig) + updateDeckConfiguration(currentDeckConfig) } history.goBack() } @@ -114,16 +121,19 @@ export function DeckConfigurationEditor(): JSX.Element { isOnDevice /> ) : null} - {showConfigurationModal && targetFixtureLocation != null ? ( + {showConfigurationModal && targetCutoutId != null ? ( ) : null} - + - + ) diff --git a/app/src/pages/Devices/ProtocolRunDetails/index.tsx b/app/src/pages/Devices/ProtocolRunDetails/index.tsx index 99852cd77d0..7402f77ab87 100644 --- a/app/src/pages/Devices/ProtocolRunDetails/index.tsx +++ b/app/src/pages/Devices/ProtocolRunDetails/index.tsx @@ -300,7 +300,6 @@ const ModuleControlsTab = ( const { t } = useTranslation('run_details') const currentRunId = useCurrentRunId() const moduleRenderInfoForProtocolById = useModuleRenderInfoForProtocolById( - robotName, runId ) const { isRunStill } = useRunStatuses() diff --git a/app/src/pages/OnDeviceDisplay/ProtocolDetails/Hardware.tsx b/app/src/pages/OnDeviceDisplay/ProtocolDetails/Hardware.tsx index 5ec14ce19ff..0f4a8fb94a1 100644 --- a/app/src/pages/OnDeviceDisplay/ProtocolDetails/Hardware.tsx +++ b/app/src/pages/OnDeviceDisplay/ProtocolDetails/Hardware.tsx @@ -14,6 +14,7 @@ import { } from '@opentrons/components' import { GRIPPER_V1, + getCutoutDisplayName, getGripperDisplayName, getModuleDisplayName, getModuleType, @@ -82,7 +83,7 @@ const getHardwareName = (protocolHardware: ProtocolHardware): string => { } else if (protocolHardware.hardwareType === 'module') { return getModuleDisplayName(protocolHardware.moduleModel) } else { - return getFixtureDisplayName(protocolHardware.fixtureName) + return getFixtureDisplayName(protocolHardware.cutoutFixtureId) } } @@ -130,7 +131,11 @@ export const Hardware = (props: { protocolId: string }): JSX.Element => { if (hardware.hardwareType === 'module') { location = } else if (hardware.hardwareType === 'fixture') { - location = + location = ( + + ) } return ( diff --git a/app/src/pages/OnDeviceDisplay/ProtocolDetails/__tests__/Hardware.test.tsx b/app/src/pages/OnDeviceDisplay/ProtocolDetails/__tests__/Hardware.test.tsx index 7c538f79bc5..e70ebc86dde 100644 --- a/app/src/pages/OnDeviceDisplay/ProtocolDetails/__tests__/Hardware.test.tsx +++ b/app/src/pages/OnDeviceDisplay/ProtocolDetails/__tests__/Hardware.test.tsx @@ -1,9 +1,9 @@ import * as React from 'react' import { when, resetAllWhenMocks } from 'jest-when' import { - STAGING_AREA_LOAD_NAME, - WASTE_CHUTE_LOAD_NAME, - WASTE_CHUTE_SLOT, + STAGING_AREA_RIGHT_SLOT_FIXTURE, + WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, + WASTE_CHUTE_CUTOUT, } from '@opentrons/shared-data' import { renderWithProviders } from '@opentrons/components' import { i18n } from '../../../../i18n' @@ -62,14 +62,14 @@ describe('Hardware', () => { }, { hardwareType: 'fixture', - fixtureName: WASTE_CHUTE_LOAD_NAME, - location: { cutout: WASTE_CHUTE_SLOT }, + cutoutFixtureId: WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, + location: { cutout: WASTE_CHUTE_CUTOUT }, hasSlotConflict: false, }, { hardwareType: 'fixture', - fixtureName: STAGING_AREA_LOAD_NAME, - location: { cutout: 'B3' }, + cutoutFixtureId: STAGING_AREA_RIGHT_SLOT_FIXTURE, + location: { cutout: 'cutoutB3' }, hasSlotConflict: false, }, ], @@ -93,7 +93,7 @@ describe('Hardware', () => { }) getByRole('row', { name: '1 Heater-Shaker Module GEN1' }) getByRole('row', { name: '3 Temperature Module GEN2' }) - getByRole('row', { name: 'D3 Waste Chute' }) - getByRole('row', { name: 'B3 Staging Area Slot' }) + getByRole('row', { name: 'D3 Waste chute only' }) + getByRole('row', { name: 'B3 Staging area slot' }) }) }) diff --git a/app/src/pages/OnDeviceDisplay/ProtocolSetup/__tests__/ProtocolSetup.test.tsx b/app/src/pages/OnDeviceDisplay/ProtocolSetup/__tests__/ProtocolSetup.test.tsx index 16719381826..663ac80748d 100644 --- a/app/src/pages/OnDeviceDisplay/ProtocolSetup/__tests__/ProtocolSetup.test.tsx +++ b/app/src/pages/OnDeviceDisplay/ProtocolSetup/__tests__/ProtocolSetup.test.tsx @@ -18,9 +18,9 @@ import { mockHeaterShaker } from '../../../../redux/modules/__fixtures__' import { FLEX_ROBOT_TYPE, getDeckDefFromRobotType, - STAGING_AREA_LOAD_NAME, + STAGING_AREA_RIGHT_SLOT_FIXTURE, } from '@opentrons/shared-data' -import ot3StandardDeckDef from '@opentrons/shared-data/deck/definitions/3/ot3_standard.json' +import ot3StandardDeckDef from '@opentrons/shared-data/deck/definitions/4/ot3_standard.json' import { i18n } from '../../../../i18n' import { useToaster } from '../../../../organisms/ToasterOven' @@ -46,6 +46,7 @@ import { useRunStatus, } from '../../../../organisms/RunTimeControl/hooks' import { useIsHeaterShakerInProtocol } from '../../../../organisms/ModuleCard/hooks' +import { useDeckConfigurationCompatibility } from '../../../../resources/deck_configuration/hooks' import { ConfirmAttachedModal } from '../ConfirmAttachedModal' import { ProtocolSetup } from '..' @@ -53,7 +54,6 @@ import type { UseQueryResult } from 'react-query' import type { DeckConfiguration, CompletedProtocolAnalysis, - Fixture, } from '@opentrons/shared-data' // Mock IntersectionObserver @@ -88,6 +88,7 @@ jest.mock('../../../../organisms/ModuleCard/hooks') jest.mock('../../../../redux/discovery/selectors') jest.mock('../ConfirmAttachedModal') jest.mock('../../../../organisms/ToasterOven') +jest.mock('../../../../resources/deck_configuration/hooks') const mockGetDeckDefFromRobotType = getDeckDefFromRobotType as jest.MockedFunction< typeof getDeckDefFromRobotType @@ -163,6 +164,9 @@ const mockUseModuleCalibrationStatus = useModuleCalibrationStatus as jest.Mocked const mockGetLocalRobot = getLocalRobot as jest.MockedFunction< typeof getLocalRobot > +const mockUseDeckConfigurationCompatibility = useDeckConfigurationCompatibility as jest.MockedFunction< + typeof useDeckConfigurationCompatibility +> const render = (path = '/') => { return renderWithProviders( @@ -230,10 +234,9 @@ const mockDoorStatus = { }, } const mockFixture = { - fixtureId: 'mockId', - fixtureLocation: 'D1', - loadName: STAGING_AREA_LOAD_NAME, -} as Fixture + cutoutId: 'cutoutD1', + cutoutFixtureId: STAGING_AREA_RIGHT_SLOT_FIXTURE, +} const MOCK_MAKE_SNACKBAR = jest.fn() @@ -332,6 +335,7 @@ describe('ProtocolSetup', () => { .mockReturnValue(({ makeSnackbar: MOCK_MAKE_SNACKBAR, } as unknown) as any) + when(mockUseDeckConfigurationCompatibility).mockReturnValue([]) }) afterEach(() => { diff --git a/app/src/pages/OnDeviceDisplay/ProtocolSetup/index.tsx b/app/src/pages/OnDeviceDisplay/ProtocolSetup/index.tsx index d8732a22457..82235802cf7 100644 --- a/app/src/pages/OnDeviceDisplay/ProtocolSetup/index.tsx +++ b/app/src/pages/OnDeviceDisplay/ProtocolSetup/index.tsx @@ -81,7 +81,7 @@ import { ConfirmAttachedModal } from './ConfirmAttachedModal' import { getLatestCurrentOffsets } from '../../../organisms/Devices/ProtocolRun/SetupLabwarePositionCheck/utils' import { CloseButton, PlayButton } from './Buttons' -import type { Cutout, FixtureLoadName } from '@opentrons/shared-data' +import type { CutoutFixtureId, CutoutId } from '@opentrons/shared-data' import type { OnDeviceRouteParams } from '../../../App/types' import type { ProtocolHardware, ProtocolFixture } from '../../Protocols/hooks' import type { ProtocolModuleInfo } from '../../../organisms/Devices/ProtocolRun/utils/getProtocolModulesInfo' @@ -204,7 +204,6 @@ interface PrepareToRunProps { setSetupScreen: React.Dispatch> confirmAttachment: () => void play: () => void - setupScreen: SetupScreens } function PrepareToRun({ @@ -212,7 +211,6 @@ function PrepareToRun({ setSetupScreen, confirmAttachment, play, - setupScreen, }: PrepareToRunProps): JSX.Element { const { t, i18n } = useTranslation(['protocol_setup', 'shared']) const history = useHistory() @@ -317,9 +315,9 @@ function PrepareToRun({ : 0 const missingProtocolHardware = useMissingProtocolHardwareFromAnalysis( + robotType, mostRecentAnalysis ) - const isLocationConflict = missingProtocolHardware.conflictedSlots.length > 0 const missingPipettes = missingProtocolHardware.missingProtocolHardware.filter( @@ -463,7 +461,7 @@ function PrepareToRun({ const missingFixturesText = missingFixtures.length === 1 ? `${t('missing')} ${getFixtureDisplayName( - missingFixtures[0].fixtureName + missingFixtures[0].cutoutFixtureId )}` : t('multiple_fixtures_missing', { count: missingFixtures.length }) @@ -691,11 +689,9 @@ export function ProtocolSetup(): JSX.Element { handleProceedToRunClick, !configBypassHeaterShakerAttachmentConfirmation ) - const [fixtureLocation, setFixtureLocation] = React.useState( - '' as Cutout - ) + const [cutoutId, setCutoutId] = React.useState(null) const [providedFixtureOptions, setProvidedFixtureOptions] = React.useState< - FixtureLoadName[] + CutoutFixtureId[] >([]) // orchestrate setup subpages/components @@ -709,7 +705,6 @@ export function ProtocolSetup(): JSX.Element { setSetupScreen={setSetupScreen} confirmAttachment={confirmAttachment} play={play} - setupScreen={setupScreen} /> ), instruments: ( @@ -719,7 +714,7 @@ export function ProtocolSetup(): JSX.Element { ), @@ -731,7 +726,7 @@ export function ProtocolSetup(): JSX.Element { ), 'deck configuration': ( { ) getByText('Delete protocol') }) + + it('should display the analysis failed error modal when clicking on the protocol when doing a long pressing - undefined case', async () => { + mockUseProtocolAnalysisAsDocumentQuery.mockReturnValue({ + data: undefined as any, + } as UseQueryResult) + const [{ getByText, getByLabelText }] = render() + const name = getByText('yay mock protocol') + fireEvent.mouseDown(name) + jest.advanceTimersByTime(1005) + expect(props.longPress).toHaveBeenCalled() + getByLabelText('failedAnalysis_icon') + getByText('Failed analysis') + getByText('yay mock protocol').click() + getByText('Protocol analysis failed') + getByText( + 'Delete the protocol, make changes to address the error, and resend the protocol to this robot from the Opentrons App.' + ) + getByText('Delete protocol') + }) }) diff --git a/app/src/pages/ProtocolDashboard/index.tsx b/app/src/pages/ProtocolDashboard/index.tsx index 4c64285667d..fd11c3e2192 100644 --- a/app/src/pages/ProtocolDashboard/index.tsx +++ b/app/src/pages/ProtocolDashboard/index.tsx @@ -96,7 +96,14 @@ export function ProtocolDashboard(): JSX.Element { } const runData = runs.data?.data != null ? runs.data?.data : [] - const sortedProtocols = sortProtocols(sortBy, unpinnedProtocols, runData) + const allRunsNewestFirst = runData.sort( + (a, b) => new Date(b.createdAt).getTime() - new Date(a.createdAt).getTime() + ) + const sortedProtocols = sortProtocols( + sortBy, + unpinnedProtocols, + allRunsNewestFirst + ) const handleProtocolsBySortKey = ( sortKey: ProtocolsOnDeviceSortKey ): void => { diff --git a/app/src/pages/ProtocolDashboard/utils.ts b/app/src/pages/ProtocolDashboard/utils.ts index 74ee9a8f3b7..cdf873b4298 100644 --- a/app/src/pages/ProtocolDashboard/utils.ts +++ b/app/src/pages/ProtocolDashboard/utils.ts @@ -7,17 +7,17 @@ const DUMMY_FOR_NO_DATE_CASE = -8640000000000000 export function sortProtocols( sortBy: ProtocolsOnDeviceSortKey, protocols: ProtocolResource[], - runs: RunData[] + allRunsNewestFirst: RunData[] ): ProtocolResource[] { protocols.sort((a, b) => { const aName = a.metadata.protocolName ?? a.files[0].name const bName = b.metadata.protocolName ?? b.files[0].name const aLastRun = new Date( - runs.find(run => run.protocolId === a.id)?.completedAt ?? + allRunsNewestFirst.find(run => run.protocolId === a.id)?.completedAt ?? new Date(DUMMY_FOR_NO_DATE_CASE) ) const bLastRun = new Date( - runs.find(run => run.protocolId === b.id)?.completedAt ?? + allRunsNewestFirst.find(run => run.protocolId === b.id)?.completedAt ?? new Date(DUMMY_FOR_NO_DATE_CASE) ) const aDate = new Date(a.createdAt) diff --git a/app/src/pages/Protocols/hooks/__tests__/hooks.test.tsx b/app/src/pages/Protocols/hooks/__tests__/hooks.test.tsx index bf1c62a8b08..4c7b7c150fb 100644 --- a/app/src/pages/Protocols/hooks/__tests__/hooks.test.tsx +++ b/app/src/pages/Protocols/hooks/__tests__/hooks.test.tsx @@ -1,19 +1,27 @@ import { UseQueryResult } from 'react-query' import { renderHook } from '@testing-library/react-hooks' import { when, resetAllWhenMocks } from 'jest-when' +import omitBy from 'lodash/omitBy' import { useProtocolQuery, useProtocolAnalysisAsDocumentQuery, + useInstrumentsQuery, + useModulesQuery, + useDeckConfigurationQuery, } from '@opentrons/react-api-client' import { CompletedProtocolAnalysis, + DeckConfiguration, LabwareDefinition2, + WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, } from '@opentrons/shared-data' import fixture_tiprack_300_ul from '@opentrons/shared-data/labware/fixtures/2/fixture_tiprack_300_ul.json' -import { useRequiredProtocolLabware } from '..' +import { useMissingProtocolHardware, useRequiredProtocolLabware } from '..' import type { Protocol } from '@opentrons/api-client' +import { mockHeaterShaker } from '../../../../redux/modules/__fixtures__' +import { FLEX_SIMPLEST_DECK_CONFIG } from '../../../../resources/deck_configuration/utils' jest.mock('@opentrons/react-api-client') jest.mock('../../../../organisms/Devices/hooks') @@ -24,6 +32,15 @@ const PROTOCOL_ID = 'fake_protocol_id' const mockUseProtocolQuery = useProtocolQuery as jest.MockedFunction< typeof useProtocolQuery > +const mockUseInstrumentsQuery = useInstrumentsQuery as jest.MockedFunction< + typeof useInstrumentsQuery +> +const mockUseModulesQuery = useModulesQuery as jest.MockedFunction< + typeof useModulesQuery +> +const mockUseDeckConfigurationQuery = useDeckConfigurationQuery as jest.MockedFunction< + typeof useDeckConfigurationQuery +> const mockUseProtocolAnalysisAsDocumentQuery = useProtocolAnalysisAsDocumentQuery as jest.MockedFunction< typeof useProtocolAnalysisAsDocumentQuery > @@ -44,10 +61,27 @@ const PROTOCOL_ANALYSIS = { commands: [ { key: 'CommandKey0', + commandType: 'loadModule', + params: { + model: 'heaterShakerModuleV1', + location: { slotName: 'D3' }, + }, + result: { + moduleId: 'modId', + }, + id: 'CommandId0', + status: 'succeeded', + error: null, + createdAt: 'fakeCreatedAtTimestamp', + startedAt: 'fakeStartedAtTimestamp', + completedAt: 'fakeCompletedAtTimestamp', + }, + { + key: 'CommandKey1', commandType: 'loadLabware', params: { labwareId: 'firstLabwareId', - location: { slotName: 'D3' }, + location: { moduleId: 'modId' }, displayName: 'first labware nickname', }, result: { @@ -55,7 +89,7 @@ const PROTOCOL_ANALYSIS = { definition: mockLabwareDef, offset: { x: 0, y: 0, z: 0 }, }, - id: 'CommandId0', + id: 'CommandId1', status: 'succeeded', error: null, createdAt: 'fakeCreatedAtTimestamp', @@ -138,125 +172,180 @@ describe('useRequiredProtocolLabware', () => { }) }) -// TODO: ND+BH 2023/11/1— uncomment tests when fixture stubs are removed +describe('useMissingProtocolHardware', () => { + let wrapper: React.FunctionComponent<{}> + beforeEach(() => { + mockUseInstrumentsQuery.mockReturnValue({ + data: { data: [] }, + isLoading: false, + } as any) + mockUseModulesQuery.mockReturnValue({ + data: { data: [] }, + isLoading: false, + } as any) + mockUseProtocolQuery.mockReturnValue({ + data: { + data: { analysisSummaries: [{ id: PROTOCOL_ANALYSIS.id } as any] }, + }, + } as UseQueryResult) + mockUseProtocolAnalysisAsDocumentQuery.mockReturnValue({ + data: PROTOCOL_ANALYSIS, + } as UseQueryResult) + mockUseDeckConfigurationQuery.mockReturnValue({ + data: [{}], + } as UseQueryResult) + }) + + afterEach(() => { + jest.resetAllMocks() + }) + it('should return 1 pipette and 1 module', () => { + const { result } = renderHook( + () => useMissingProtocolHardware(PROTOCOL_ANALYSIS.id), + { wrapper } + ) + expect(result.current).toEqual({ + isLoading: false, + missingProtocolHardware: [ + { + hardwareType: 'pipette', + pipetteName: 'p1000_multi_flex', + mount: 'left', + connected: false, + }, + { + hardwareType: 'module', + moduleModel: 'heaterShakerModuleV1', + slot: 'D3', + connected: false, + hasSlotConflict: false, + }, + ], + conflictedSlots: [], + }) + }) + it('should return 1 conflicted slot', () => { + mockUseDeckConfigurationQuery.mockReturnValue(({ + data: [ + { + cutoutId: 'cutoutD3', + cutoutFixtureId: WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, + }, + ], + } as any) as UseQueryResult) + + const { result } = renderHook( + () => useMissingProtocolHardware(PROTOCOL_ANALYSIS.id), + { wrapper } + ) + expect(result.current).toEqual({ + isLoading: false, + missingProtocolHardware: [ + { + hardwareType: 'pipette', + pipetteName: 'p1000_multi_flex', + mount: 'left', + connected: false, + }, + { + hardwareType: 'module', + moduleModel: 'heaterShakerModuleV1', + slot: 'D3', + connected: false, + hasSlotConflict: true, + }, + { + hardwareType: 'fixture', + cutoutFixtureId: 'singleRightSlot', + location: { + cutout: 'cutoutD3', + }, + hasSlotConflict: true, + }, + ], + conflictedSlots: ['D3'], + }) + }) + it('should return empty array when the correct modules and pipettes are attached', () => { + mockUseInstrumentsQuery.mockReturnValue({ + data: { + data: [ + { + mount: 'left', + instrumentType: 'pipette', + instrumentName: 'p1000_multi_flex', + ok: true, + }, + ], + }, + isLoading: false, + } as any) -// describe('useMissingProtocolHardware', () => { -// let wrapper: React.FunctionComponent<{}> -// beforeEach(() => { -// mockUseInstrumentsQuery.mockReturnValue({ -// data: { data: [] }, -// isLoading: false, -// } as any) -// mockUseModulesQuery.mockReturnValue({ -// data: { data: [] }, -// isLoading: false, -// } as any) -// mockUseProtocolQuery.mockReturnValue({ -// data: { -// data: { analysisSummaries: [{ id: PROTOCOL_ANALYSIS.id } as any] }, -// }, -// } as UseQueryResult) -// mockUseProtocolAnalysisAsDocumentQuery.mockReturnValue({ -// data: PROTOCOL_ANALYSIS, -// } as UseQueryResult) -// mockUseDeckConfigurationQuery.mockReturnValue({ -// data: [{}], -// } as UseQueryResult) -// }) + mockUseModulesQuery.mockReturnValue({ + data: { data: [mockHeaterShaker] }, + isLoading: false, + } as any) + const { result } = renderHook( + () => useMissingProtocolHardware(PROTOCOL_ANALYSIS.id), + { wrapper } + ) + expect(result.current).toEqual({ + missingProtocolHardware: [], + isLoading: false, + conflictedSlots: [], + }) + }) + it('should return conflicting slot when module location is configured with something other than single slot fixture', () => { + mockUseInstrumentsQuery.mockReturnValue({ + data: { + data: [ + { + mount: 'left', + instrumentType: 'pipette', + instrumentName: 'p1000_multi_flex', + ok: true, + }, + ], + }, + isLoading: false, + } as any) -// afterEach(() => { -// jest.resetAllMocks() -// }) -// it.todo('should return 1 pipette and 1 module', () => { -// const { result } = renderHook( -// () => useMissingProtocolHardware(PROTOCOL_ANALYSIS.id), -// { wrapper } -// ) -// expect(result.current).toEqual({ -// isLoading: false, -// missingProtocolHardware: [ -// { -// hardwareType: 'pipette', -// pipetteName: 'p1000_multi_flex', -// mount: 'left', -// connected: false, -// }, -// { -// hardwareType: 'module', -// moduleModel: 'heaterShakerModuleV1', -// slot: 'D3', -// connected: false, -// hasSlotConflict: false, -// }, -// ], -// conflictedSlots: [], -// }) -// }) -// it.todo('should return 1 conflicted slot', () => { -// mockUseDeckConfigurationQuery.mockReturnValue(({ -// data: [ -// { -// fixtureId: 'mockFixtureId', -// fixtureLocation: WASTE_CHUTE_SLOT, -// loadName: WASTE_CHUTE_LOAD_NAME, -// }, -// ], -// } as any) as UseQueryResult) + mockUseModulesQuery.mockReturnValue({ + data: { data: [mockHeaterShaker] }, + isLoading: false, + } as any) -// const { result } = renderHook( -// () => useMissingProtocolHardware(PROTOCOL_ANALYSIS.id), -// { wrapper } -// ) -// expect(result.current).toEqual({ -// isLoading: false, -// missingProtocolHardware: [ -// { -// hardwareType: 'pipette', -// pipetteName: 'p1000_multi_flex', -// mount: 'left', -// connected: false, -// }, -// { -// hardwareType: 'module', -// moduleModel: 'heaterShakerModuleV1', -// slot: 'D3', -// connected: false, -// hasSlotConflict: true, -// }, -// ], -// conflictedSlots: ['D3'], -// }) -// }) -// it.todo( -// 'should return empty array when the correct modules and pipettes are attached', -// () => { -// mockUseInstrumentsQuery.mockReturnValue({ -// data: { -// data: [ -// { -// mount: 'left', -// instrumentType: 'pipette', -// instrumentName: 'p1000_multi_flex', -// ok: true, -// }, -// ], -// }, -// isLoading: false, -// } as any) + mockUseDeckConfigurationQuery.mockReturnValue({ + data: [ + omitBy( + FLEX_SIMPLEST_DECK_CONFIG, + ({ cutoutId }) => cutoutId === 'cutoutD3' + ), + { + cutoutId: 'cutoutD3', + cutoutFixtureId: WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, + }, + ], + isLoading: false, + } as any) -// mockUseModulesQuery.mockReturnValue({ -// data: { data: [mockHeaterShaker] }, -// isLoading: false, -// } as any) -// const { result } = renderHook( -// () => useMissingProtocolHardware(PROTOCOL_ANALYSIS.id), -// { wrapper } -// ) -// expect(result.current).toEqual({ -// missingProtocolHardware: [], -// isLoading: false, -// conflictedSlots: [], -// }) -// } -// ) -// }) + const { result } = renderHook( + () => useMissingProtocolHardware(PROTOCOL_ANALYSIS.id), + { wrapper } + ) + expect(result.current).toEqual({ + missingProtocolHardware: [ + { + hardwareType: 'fixture', + cutoutFixtureId: 'singleRightSlot', + location: { + cutout: 'cutoutD3', + }, + hasSlotConflict: true, + }, + ], + isLoading: false, + conflictedSlots: ['D3'], + }) + }) +}) diff --git a/app/src/pages/Protocols/hooks/index.ts b/app/src/pages/Protocols/hooks/index.ts index c5232d29f24..a78b319ea29 100644 --- a/app/src/pages/Protocols/hooks/index.ts +++ b/app/src/pages/Protocols/hooks/index.ts @@ -6,16 +6,25 @@ import { useProtocolAnalysisAsDocumentQuery, useProtocolQuery, } from '@opentrons/react-api-client' -import { STANDARD_SLOT_LOAD_NAME } from '@opentrons/shared-data' +import { + FLEX_ROBOT_TYPE, + FLEX_SINGLE_SLOT_ADDRESSABLE_AREAS, + SINGLE_SLOT_FIXTURES, + getDeckDefFromRobotType, +} from '@opentrons/shared-data' import { getLabwareSetupItemGroups } from '../utils' import { getProtocolUsesGripper } from '../../../organisms/ProtocolSetupInstruments/utils' +import { useDeckConfigurationCompatibility } from '../../../resources/deck_configuration/hooks' +import { getCutoutIdForSlotName } from '../../../resources/deck_configuration/utils' import type { CompletedProtocolAnalysis, - Cutout, - FixtureLoadName, + CutoutFixtureId, + CutoutId, ModuleModel, PipetteName, + RobotType, + RunTimeCommand, } from '@opentrons/shared-data' import type { LabwareSetupItem } from '../utils' import type { AttachedModule } from '@opentrons/api-client' @@ -42,8 +51,8 @@ interface ProtocolGripper { export interface ProtocolFixture { hardwareType: 'fixture' - fixtureName: FixtureLoadName - location: { cutout: Cutout } + cutoutFixtureId: CutoutFixtureId | null + location: { cutout: CutoutId } hasSlotConflict: boolean } @@ -68,7 +77,13 @@ export const useRequiredProtocolHardwareFromAnalysis = ( } = useInstrumentsQuery() const attachedInstruments = attachedInstrumentsData?.data ?? [] - const { data: deckConfig } = useDeckConfigurationQuery() + const robotType = FLEX_ROBOT_TYPE + const deckDef = getDeckDefFromRobotType(robotType) + const { data: deckConfig = [] } = useDeckConfigurationQuery() + const deckConfigCompatibility = useDeckConfigurationCompatibility( + robotType, + analysis?.commands ?? [] + ) if (analysis == null || analysis?.status !== 'completed') { return { requiredProtocolHardware: [], isLoading: true } @@ -103,10 +118,11 @@ export const useRequiredProtocolHardwareFromAnalysis = ( moduleModel: model, slot: location.slotName, connected: handleModuleConnectionCheckFor(attachedModules, model), - hasSlotConflict: !!deckConfig?.find( - fixture => - fixture.fixtureLocation === location.slotName && - fixture.loadName !== STANDARD_SLOT_LOAD_NAME + hasSlotConflict: deckConfig.some( + ({ cutoutId, cutoutFixtureId }) => + cutoutId === getCutoutIdForSlotName(location.slotName, deckDef) && + cutoutFixtureId != null && + !SINGLE_SLOT_FIXTURES.includes(cutoutFixtureId) ), } } @@ -128,48 +144,35 @@ export const useRequiredProtocolHardwareFromAnalysis = ( }) ) - // TODO(jr, 10/2/23): IMMEDIATELY delete the stubs when api supports - // loadFixture - // const requiredFixture: ProtocolFixture[] = analysis.commands - // .filter( - // (command): command is LoadFixtureRunTimeCommand => - // command.commandType === 'loadFixture' - // ) - // .map(({ params }) => { - // return { - // hardwareType: 'fixture', - // fixtureName: params.loadName, - // location: params.location, - // } - // }) - const STUBBED_FIXTURES: ProtocolFixture[] = [ - { - hardwareType: 'fixture', - fixtureName: 'wasteChute', - location: { cutout: 'D3' }, - hasSlotConflict: false, - }, - { - hardwareType: 'fixture', - fixtureName: 'standardSlot', - location: { cutout: 'C3' }, - hasSlotConflict: false, - }, - { - hardwareType: 'fixture', - fixtureName: 'stagingArea', - location: { cutout: 'B3' }, - hasSlotConflict: false, - }, - ] + // fixture includes at least 1 required addressableArea AND it doesn't ONLY include a single slot addressableArea + const requiredDeckConfigCompatibility = deckConfigCompatibility.filter( + ({ requiredAddressableAreas }) => { + const atLeastOneAA = requiredAddressableAreas.length > 0 + const notOnlySingleSlot = !( + requiredAddressableAreas.length === 1 && + FLEX_SINGLE_SLOT_ADDRESSABLE_AREAS.includes(requiredAddressableAreas[0]) + ) + return atLeastOneAA && notOnlySingleSlot + } + ) + + const requiredFixtures = requiredDeckConfigCompatibility.map( + ({ cutoutFixtureId, cutoutId, compatibleCutoutFixtureIds }) => ({ + hardwareType: 'fixture' as const, + cutoutFixtureId: compatibleCutoutFixtureIds[0], + location: { cutout: cutoutId }, + hasSlotConflict: + cutoutFixtureId != null && + !compatibleCutoutFixtureIds.includes(cutoutFixtureId), + }) + ) return { requiredProtocolHardware: [ ...requiredPipettes, ...requiredModules, ...requiredGripper, - // ...requiredFixture, - ...STUBBED_FIXTURES, + ...requiredFixtures, ], isLoading: isLoadingInstruments || isLoadingModules, } @@ -229,29 +232,38 @@ export const useRequiredProtocolLabware = ( const useMissingProtocolHardwareFromRequiredProtocolHardware = ( requiredProtocolHardware: ProtocolHardware[], - isLoading: boolean + isLoading: boolean, + robotType: RobotType, + protocolCommands: RunTimeCommand[] ): { missingProtocolHardware: ProtocolHardware[] conflictedSlots: string[] isLoading: boolean } => { - const { data: deckConfig } = useDeckConfigurationQuery() + const deckConfigCompatibility = useDeckConfigurationCompatibility( + robotType, + protocolCommands + ) // determine missing or conflicted hardware return { - missingProtocolHardware: requiredProtocolHardware.filter(hardware => { - if ('connected' in hardware) { - // instruments and modules - return !hardware.connected - } else { - // fixtures - return !deckConfig?.find( - fixture => - hardware.location.cutout === fixture.fixtureLocation && - hardware.fixtureName === fixture.loadName + missingProtocolHardware: [ + ...requiredProtocolHardware.filter( + hardware => 'connected' in hardware && !hardware.connected + ), + ...deckConfigCompatibility + .filter( + ({ cutoutFixtureId, compatibleCutoutFixtureIds }) => + cutoutFixtureId != null && + !compatibleCutoutFixtureIds.some(id => id === cutoutFixtureId) ) - } - }), + .map(({ compatibleCutoutFixtureIds, cutoutId }) => ({ + hardwareType: 'fixture' as const, + cutoutFixtureId: compatibleCutoutFixtureIds[0], + location: { cutout: cutoutId }, + hasSlotConflict: true, + })), + ], conflictedSlots: requiredProtocolHardware .filter( (hardware): hardware is ProtocolModule | ProtocolFixture => @@ -270,6 +282,7 @@ const useMissingProtocolHardwareFromRequiredProtocolHardware = ( } export const useMissingProtocolHardwareFromAnalysis = ( + robotType: RobotType, analysis?: CompletedProtocolAnalysis | null ): { missingProtocolHardware: ProtocolHardware[] @@ -283,7 +296,9 @@ export const useMissingProtocolHardwareFromAnalysis = ( return useMissingProtocolHardwareFromRequiredProtocolHardware( requiredProtocolHardware, - isLoading + isLoading, + robotType, + analysis?.commands ?? [] ) } @@ -294,12 +309,21 @@ export const useMissingProtocolHardware = ( conflictedSlots: string[] isLoading: boolean } => { - const { requiredProtocolHardware, isLoading } = useRequiredProtocolHardware( - protocolId + const { data: protocolData } = useProtocolQuery(protocolId) + const { data: analysis } = useProtocolAnalysisAsDocumentQuery( + protocolId, + last(protocolData?.data.analysisSummaries)?.id ?? null, + { enabled: protocolData != null } ) + const { + requiredProtocolHardware, + isLoading, + } = useRequiredProtocolHardwareFromAnalysis(analysis) return useMissingProtocolHardwareFromRequiredProtocolHardware( requiredProtocolHardware, - isLoading + isLoading, + FLEX_ROBOT_TYPE, + analysis?.commands ?? [] ) } diff --git a/app/src/redux/analytics/__tests__/make-event.test.ts b/app/src/redux/analytics/__tests__/make-event.test.ts index 6a149c81d87..c7906c72de8 100644 --- a/app/src/redux/analytics/__tests__/make-event.test.ts +++ b/app/src/redux/analytics/__tests__/make-event.test.ts @@ -14,18 +14,6 @@ const getAnalyticsSessionExitDetails = selectors.getAnalyticsSessionExitDetails const getSessionInstrumentAnalyticsData = selectors.getSessionInstrumentAnalyticsData as jest.MockedFunction< typeof selectors.getSessionInstrumentAnalyticsData > -const getAnalyticsHealthCheckData = selectors.getAnalyticsHealthCheckData as jest.MockedFunction< - typeof selectors.getAnalyticsHealthCheckData -> -const getAnalyticsDeckCalibrationData = selectors.getAnalyticsDeckCalibrationData as jest.MockedFunction< - typeof selectors.getAnalyticsDeckCalibrationData -> -const getAnalyticsPipetteCalibrationData = selectors.getAnalyticsPipetteCalibrationData as jest.MockedFunction< - typeof selectors.getAnalyticsPipetteCalibrationData -> -const getAnalyticsTipLengthCalibrationData = selectors.getAnalyticsTipLengthCalibrationData as jest.MockedFunction< - typeof selectors.getAnalyticsTipLengthCalibrationData -> describe('analytics events map', () => { beforeEach(() => { @@ -63,18 +51,10 @@ describe('analytics events map', () => { someStuff: 'some-other-stuff', }, } as any - getAnalyticsPipetteCalibrationData.mockReturnValue({ - markedBad: true, - calibrationExists: true, - pipetteModel: 'my pipette model', - }) return expect(makeEvent(action, state)).resolves.toEqual({ name: 'pipetteOffsetCalibrationStarted', properties: { ...action.payload, - calibrationExists: true, - markedBad: true, - pipetteModel: 'my pipette model', }, }) }) @@ -87,76 +67,14 @@ describe('analytics events map', () => { someStuff: 'some-other-stuff', }, } as any - getAnalyticsTipLengthCalibrationData.mockReturnValue({ - markedBad: true, - calibrationExists: true, - pipetteModel: 'pipette-model', - }) return expect(makeEvent(action, state)).resolves.toEqual({ name: 'tipLengthCalibrationStarted', properties: { ...action.payload, - calibrationExists: true, - markedBad: true, - pipetteModel: 'pipette-model', - }, - }) - }) - - it('sessions:ENSURE_SESSION for deck cal -> deckCalibrationStarted event', () => { - const state = {} as any - const action = { - type: 'sessions:ENSURE_SESSION', - payload: { - sessionType: 'deckCalibration', - }, - } as any - getAnalyticsDeckCalibrationData.mockReturnValue({ - calibrationStatus: 'IDENTITY', - markedBad: true, - pipettes: { left: { model: 'my pipette model' } }, - } as any) - - return expect(makeEvent(action, state)).resolves.toEqual({ - name: 'deckCalibrationStarted', - properties: { - calibrationStatus: 'IDENTITY', - markedBad: true, - pipettes: { left: { model: 'my pipette model' } }, }, }) }) - it('sessions:ENSURE_SESSION for health check -> calibrationHealthCheckStarted event', () => { - const state = {} as any - const action = { - type: 'sessions:ENSURE_SESSION', - payload: { - sessionType: 'calibrationCheck', - }, - } as any - getAnalyticsHealthCheckData.mockReturnValue({ - pipettes: { left: { model: 'my pipette model' } }, - } as any) - return expect(makeEvent(action, state)).resolves.toEqual({ - name: 'calibrationHealthCheckStarted', - properties: { - pipettes: { left: { model: 'my pipette model' } }, - }, - }) - }) - - it('sessions:ENSURE_SESSION for other session -> no event', () => { - const state = {} as any - const action = { - type: 'sessions:ENSURE_SESSION', - payload: { - sessionType: 'some-other-session', - }, - } as any - return expect(makeEvent(action, state)).resolves.toBeNull() - }) - it('sessions:CREATE_SESSION_COMMAND for exit -> {type}Exit', () => { const state = {} as any const action = { diff --git a/app/src/redux/analytics/__tests__/selectors.test.ts b/app/src/redux/analytics/__tests__/selectors.test.ts index 7bbd0b296a7..63b539748d8 100644 --- a/app/src/redux/analytics/__tests__/selectors.test.ts +++ b/app/src/redux/analytics/__tests__/selectors.test.ts @@ -56,12 +56,6 @@ describe('analytics selectors', () => { }) describe('analytics calibration selectors', () => { - describe('getAnalyticsHealthCheckData', () => { - it('should return null if no robot connected', () => { - const mockState: State = {} as any - expect(Selectors.getAnalyticsHealthCheckData(mockState)).toBeNull() - }) - }) describe('getAnalyticsSessionExitDetails', () => { const mockGetRobotSessionById = SessionsSelectors.getRobotSessionById as jest.MockedFunction< typeof SessionsSelectors.getRobotSessionById diff --git a/app/src/redux/analytics/make-event.ts b/app/src/redux/analytics/make-event.ts index 5b38f947073..8fdede1dbf2 100644 --- a/app/src/redux/analytics/make-event.ts +++ b/app/src/redux/analytics/make-event.ts @@ -1,8 +1,4 @@ // redux action types to analytics events map -// TODO(mc, 2022-03-04): large chunks of this module are commented -// out because RPC-based analytics events were not replaced with -// the switch to the HTTP APIs. Commented out code left to aid with -// analytics replacement. import * as CustomLabware from '../custom-labware' import * as SystemInfo from '../system-info' import * as RobotUpdate from '../robot-update/constants' @@ -14,17 +10,12 @@ import * as RobotAdmin from '../robot-admin' import { getBuildrootAnalyticsData, - getAnalyticsPipetteCalibrationData, - getAnalyticsTipLengthCalibrationData, - getAnalyticsHealthCheckData, - getAnalyticsDeckCalibrationData, getAnalyticsSessionExitDetails, getSessionInstrumentAnalyticsData, } from './selectors' import type { State, Action } from '../types' import type { AnalyticsEvent } from './types' -import type { Mount } from '../pipettes/types' const EVENT_APP_UPDATE_DISMISSED = 'appUpdateDismissed' @@ -33,111 +24,6 @@ export function makeEvent( state: State ): Promise { switch (action.type) { - // case 'robot:CONNECT': { - // const robot = getConnectedRobot(state) - - // if (!robot) { - // log.warn('No robot found for connect response') - // return Promise.resolve(null) - // } - - // const data = getRobotAnalyticsData(state) - - // return Promise.resolve({ - // name: 'robotConnect', - // properties: { - // ...data, - // method: robot.local ? 'usb' : 'wifi', - // success: true, - // }, - // }) - // } - - // case 'protocol:LOAD': { - // return getProtocolAnalyticsData(state).then(data => ({ - // name: 'protocolUploadRequest', - // properties: { - // ...getRobotAnalyticsData(state), - // ...data, - // }, - // })) - // } - - // case 'robot:SESSION_RESPONSE': - // case 'robot:SESSION_ERROR': { - // // only fire event if we had a protocol upload in flight; we don't want - // // to fire if user connects to robot with protocol already loaded - // const { type: actionType, payload: actionPayload, meta } = action - // if (!meta.freshUpload) return Promise.resolve(null) - - // return getProtocolAnalyticsData(state).then(data => ({ - // name: 'protocolUploadResponse', - // properties: { - // ...getRobotAnalyticsData(state), - // ...data, - // success: actionType === 'robot:SESSION_RESPONSE', - // // @ts-expect-error even if we used the in operator, TS cant narrow error to anything more specific than 'unknown' https://github.com/microsoft/TypeScript/issues/25720 - // error: (actionPayload.error && actionPayload.error.message) || '', - // }, - // })) - // } - - // case 'robot:RUN': { - // return getProtocolAnalyticsData(state).then(data => ({ - // name: 'runStart', - // properties: { - // ...getRobotAnalyticsData(state), - // ...data, - // }, - // })) - // } - - // TODO(mc, 2019-01-22): we only get this event if the user keeps their app - // open for the entire run. Fixing this is blocked until we can fix - // session.stop from triggering a run error - // case 'robot:RUN_RESPONSE': { - // const runTime = robotSelectors.getRunSeconds(state) - // const success = !action.error - // const error = action.error ? action.payload?.message || '' : '' - - // return getProtocolAnalyticsData(state).then(data => ({ - // name: 'runFinish', - // properties: { - // ...getRobotAnalyticsData(state), - // ...data, - // runTime, - // success, - // error, - // }, - // })) - // } - - // case 'robot:PAUSE': { - // const runTime = robotSelectors.getRunSeconds(state) - - // return getProtocolAnalyticsData(state).then(data => ({ - // name: 'runPause', - // properties: { ...data, runTime }, - // })) - // } - - // case 'robot:RESUME': { - // const runTime = robotSelectors.getRunSeconds(state) - - // return getProtocolAnalyticsData(state).then(data => ({ - // name: 'runResume', - // properties: { ...data, runTime }, - // })) - // } - - // case 'robot:CANCEL': - // const runTime = robotSelectors.getRunSeconds(state) - - // return getProtocolAnalyticsData(state).then(data => ({ - // name: 'runCancel', - // properties: { ...data, runTime }, - // })) - // robot update events case RobotUpdate.ROBOTUPDATE_SET_UPDATE_SEEN: { const data = getBuildrootAnalyticsData(state, action.meta.robotName) @@ -265,7 +151,7 @@ export function makeEvent( const systemInfoProps = SystemInfo.getU2EDeviceAnalyticsProps(state) return Promise.resolve( - systemInfoProps + systemInfoProps != null ? { superProperties: { ...systemInfoProps, @@ -280,43 +166,16 @@ export function makeEvent( ) } - case Sessions.ENSURE_SESSION: { - switch (action.payload.sessionType) { - case Sessions.SESSION_TYPE_DECK_CALIBRATION: - const dcAnalyticsProps = getAnalyticsDeckCalibrationData(state) - return Promise.resolve( - dcAnalyticsProps - ? { - name: 'deckCalibrationStarted', - properties: dcAnalyticsProps, - } - : null - ) - case Sessions.SESSION_TYPE_CALIBRATION_HEALTH_CHECK: - const hcAnalyticsProps = getAnalyticsHealthCheckData(state) - return Promise.resolve( - hcAnalyticsProps - ? { - name: 'calibrationHealthCheckStarted', - properties: hcAnalyticsProps, - } - : null - ) - default: - return Promise.resolve(null) - } - } - case Sessions.CREATE_SESSION_COMMAND: { switch (action.payload.command.command) { - case sharedCalCommands.EXIT: + case sharedCalCommands.EXIT: { const sessionDetails = getAnalyticsSessionExitDetails( state, action.payload.robotName, action.payload.sessionId ) return Promise.resolve( - sessionDetails + sessionDetails != null ? { name: `${sessionDetails.sessionType}Exit`, properties: { @@ -325,25 +184,25 @@ export function makeEvent( } : null ) - case sharedCalCommands.LOAD_LABWARE: + } + case sharedCalCommands.LOAD_LABWARE: { const commandData = action.payload.command.data - if (commandData) { + if (commandData != null) { const instrData = getSessionInstrumentAnalyticsData( state, action.payload.robotName, action.payload.sessionId ) return Promise.resolve( - instrData + instrData != null ? { name: `${instrData.sessionType}TipRackSelect`, properties: { pipetteModel: instrData.pipetteModel, - // @ts-expect-error TODO: use in operator and add test case for no tiprackDefiniton on CommandData - tipRackDisplayName: commandData.tiprackDefinition - ? // @ts-expect-error TODO: use in operator and add test case for no tiprackDefiniton on CommandData - commandData.tiprackDefinition.metadata.displayName - : null, + tipRackDisplayName: + 'tiprackDefinition' in commandData + ? commandData.tiprackDefinition.metadata.displayName + : null, }, } : null @@ -351,6 +210,7 @@ export function makeEvent( } else { return Promise.resolve(null) } + } default: return Promise.resolve(null) } @@ -374,10 +234,6 @@ export function makeEvent( name: 'pipetteOffsetCalibrationStarted', properties: { ...action.payload, - ...getAnalyticsPipetteCalibrationData( - state, - action.payload.mount as Mount - ), }, }) } @@ -387,10 +243,6 @@ export function makeEvent( name: 'tipLengthCalibrationStarted', properties: { ...action.payload, - ...getAnalyticsTipLengthCalibrationData( - state, - action.payload.mount as Mount - ), }, }) } diff --git a/app/src/redux/analytics/selectors.ts b/app/src/redux/analytics/selectors.ts index d0362f77348..fcb9ab18a2d 100644 --- a/app/src/redux/analytics/selectors.ts +++ b/app/src/redux/analytics/selectors.ts @@ -1,16 +1,5 @@ -// import { createSelector } from 'reselect' import * as Sessions from '../sessions' -// import { -// getProtocolType, -// getProtocolCreatorApp, -// getProtocolApiVersion, -// getProtocolName, -// getProtocolSource, -// getProtocolAuthor, -// getProtocolContents, -// } from '../protocol' - import { getViewableRobots, getRobotApiVersion } from '../discovery' import { @@ -22,127 +11,37 @@ import { import { getRobotSessionById } from '../sessions/selectors' -// import { hash } from './hash' - -// import type { Selector } from 'reselect' import type { State } from '../types' -import type { Mount } from '../pipettes/types' import type { AnalyticsConfig, BuildrootAnalyticsData, - PipetteOffsetCalibrationAnalyticsData, - TipLengthCalibrationAnalyticsData, - DeckCalibrationAnalyticsData, - CalibrationHealthCheckAnalyticsData, AnalyticsSessionExitDetails, SessionInstrumentAnalyticsData, } from './types' -export const FF_PREFIX = 'robotFF_' - -// const _getUnhashedProtocolAnalyticsData: Selector< -// State, -// ProtocolAnalyticsData -// > = createSelector( -// getProtocolType, -// getProtocolCreatorApp, -// getProtocolApiVersion, -// getProtocolName, -// getProtocolSource, -// getProtocolAuthor, -// getProtocolContents, -// getPipettes, -// getModules, -// ( -// type, -// app, -// apiVersion, -// name, -// source, -// author, -// contents, -// pipettes, -// modules -// ) => ({ -// protocolType: type || '', -// protocolAppName: app.name || '', -// protocolAppVersion: app.version || '', -// protocolApiVersion: apiVersion || '', -// protocolName: name || '', -// protocolSource: source || '', -// protocolAuthor: author || '', -// protocolText: contents || '', -// pipettes: pipettes.map(p => p.requestedAs ?? p.name).join(','), -// modules: modules.map(m => m.model).join(','), -// }) -// ) - -// export const getProtocolAnalyticsData: ( -// state: State -// ) => Promise = createSelector< -// State, -// ProtocolAnalyticsData, -// Promise -// >(_getUnhashedProtocolAnalyticsData, (data: ProtocolAnalyticsData) => { -// const hashTasks = [hash(data.protocolAuthor), hash(data.protocolText)] - -// return Promise.all(hashTasks).then(([protocolAuthor, protocolText]) => ({ -// ...data, -// protocolAuthor: data.protocolAuthor !== '' ? protocolAuthor : '', -// protocolText: data.protocolText !== '' ? protocolText : '', -// })) -// }) - -// export function getRobotAnalyticsData(state: State): RobotAnalyticsData | null { -// const robot = getConnectedRobot(state) - -// if (robot) { -// const pipettes = getAttachedPipettes(state, robot.name) -// const settings = getRobotSettings(state, robot.name) - -// // @ts-expect-error RobotAnalyticsData type needs boolean values should it be boolean | string -// return settings.reduce( -// (result, setting) => ({ -// ...result, -// [`${FF_PREFIX}${setting.id}`]: !!setting.value, -// }), -// // @ts-expect-error RobotAnalyticsData type needs boolean values should it be boolean | string -// { -// robotApiServerVersion: getRobotApiVersion(robot) || '', -// robotSmoothieVersion: getRobotFirmwareVersion(robot) || '', -// robotLeftPipette: pipettes.left?.model || '', -// robotRightPipette: pipettes.right?.model || '', -// } -// ) -// } - -// return null -// } - export function getBuildrootAnalyticsData( state: State, robotName: string | null = null ): BuildrootAnalyticsData | null { - const updateVersion = robotName - ? getRobotUpdateVersion(state, robotName) - : null + const updateVersion = + robotName != null ? getRobotUpdateVersion(state, robotName) : null const session = getRobotUpdateSession(state) const robot = robotName === null ? getRobotUpdateRobot(state) - : getViewableRobots(state).find(r => r.name === robotName) || null + : getViewableRobots(state).find(r => r.name === robotName) ?? null if (updateVersion === null || robot === null) return null - const currentVersion = getRobotApiVersion(robot) || 'unknown' - const currentSystem = getRobotSystemType(robot) || 'unknown' + const currentVersion = getRobotApiVersion(robot) ?? 'unknown' + const currentSystem = getRobotSystemType(robot) ?? 'unknown' return { currentVersion, currentSystem, updateVersion, - error: session?.error || null, + error: session != null && 'error' in session ? session.error : null, } } @@ -158,132 +57,13 @@ export function getAnalyticsOptInSeen(state: State): boolean { return state.config?.analytics.seenOptIn ?? true } -export function getAnalyticsPipetteCalibrationData( - state: State, - mount: Mount -): PipetteOffsetCalibrationAnalyticsData | null { - // const robot = getConnectedRobot(state) - - // if (robot) { - // const pipcal = - // getAttachedPipetteCalibrations(state, robot.name)[mount]?.offset ?? null - // const pip = getAttachedPipettes(state, robot.name)[mount] - // return { - // calibrationExists: Boolean(pipcal), - // markedBad: pipcal?.status?.markedBad ?? false, - // // @ts-expect-error protect for cases where model is not on pip - // pipetteModel: pip.model, - // } - // } - return null -} - -export function getAnalyticsTipLengthCalibrationData( - state: State, - mount: Mount -): TipLengthCalibrationAnalyticsData | null { - // const robot = getConnectedRobot(state) - - // if (robot) { - // const tipcal = - // getAttachedPipetteCalibrations(state, robot.name)[mount]?.tipLength ?? - // null - // const pip = getAttachedPipettes(state, robot.name)[mount] - // return { - // calibrationExists: Boolean(tipcal), - // markedBad: tipcal?.status?.markedBad ?? false, - // // @ts-expect-error protect for cases where model is not on pip - // pipetteModel: pip.model, - // } - // } - return null -} - -// function getPipetteModels(state: State, robotName: string): ModelsByMount { -// // @ts-expect-error ensure that both mount keys exist on returned object -// return Object.entries( -// getAttachedPipettes(state, robotName) -// ).reduce((obj, [mount, pipData]): ModelsByMount => { -// if (pipData) { -// obj[mount as Mount] = pick(pipData, ['model']) -// } -// return obj -// // @ts-expect-error ensure that both mount keys exist on returned object -// }, {}) -// } - -// function getCalibrationCheckData( -// state: State, -// robotName: string -// ): CalibrationCheckByMount | null { -// const session = getCalibrationCheckSession(state, robotName) -// if (!session) { -// return null -// } -// const { comparisonsByPipette, instruments } = session.details -// return instruments.reduce( -// (obj, instrument: CalibrationCheckInstrument) => { -// const { rank, mount, model } = instrument -// const succeeded = !some( -// Object.keys(comparisonsByPipette[rank]).map(k => -// Boolean( -// comparisonsByPipette[rank][ -// k as keyof CalibrationCheckComparisonsPerCalibration -// ]?.status === 'OUTSIDE_THRESHOLD' -// ) -// ) -// ) -// obj[mount] = { -// comparisons: comparisonsByPipette[rank], -// succeeded: succeeded, -// model: model, -// } -// return obj -// }, -// { left: null, right: null } -// ) -// } - -export function getAnalyticsDeckCalibrationData( - state: State -): DeckCalibrationAnalyticsData | null { - // TODO(va, 08-17-22): this selector was broken and was always returning null because getConnectedRobot - // always returned null, this should be fixed at the epic level in a future ticket RAUT-150 - // const robot = getConnectedRobot(state) - // if (robot) { - // const dcData = getDeckCalibrationData(state, robot.name) - // return { - // calibrationStatus: getDeckCalibrationStatus(state, robot.name), - // markedBad: !Array.isArray(dcData) - // ? dcData?.status?.markedBad || null - // : null, - // pipettes: getPipetteModels(state, robot.name), - // } - // } - return null -} - -export function getAnalyticsHealthCheckData( - state: State -): CalibrationHealthCheckAnalyticsData | null { - // TODO(va, 08-17-22): this selector was broken and was always returning null because getConnectedRobot - // always returned null, this should be fixed at the epic level in a future ticket RAUT-150 - // const robot = getConnectedRobot(state) - // if (robot) { - // return { - // pipettes: getCalibrationCheckData(state, robot.name), - // } - // } - return null -} - export function getAnalyticsSessionExitDetails( state: State, robotName: string, sessionId: string ): AnalyticsSessionExitDetails | null { const session = getRobotSessionById(state, robotName, sessionId) - if (session) { + if (session != null) { return { step: session.details.currentStep, sessionType: session.sessionType, @@ -298,7 +78,7 @@ export function getSessionInstrumentAnalyticsData( sessionId: string ): SessionInstrumentAnalyticsData | null { const session = getRobotSessionById(state, robotName, sessionId) - if (session) { + if (session != null) { const pipModel = session.sessionType === Sessions.SESSION_TYPE_CALIBRATION_HEALTH_CHECK ? session.details.activePipette.model diff --git a/app/src/redux/robot-api/http.ts b/app/src/redux/robot-api/http.ts index 71840066a9f..7dd41b87da6 100644 --- a/app/src/redux/robot-api/http.ts +++ b/app/src/redux/robot-api/http.ts @@ -60,6 +60,7 @@ export function fetchRobotApi( headers: options.headers, method, url, + data: options.body, }) ).pipe( map(response => ({ diff --git a/app/src/redux/sessions/__fixtures__/tip-length-calibration.ts b/app/src/redux/sessions/__fixtures__/tip-length-calibration.ts index 8877b9f1c69..fbb433c063b 100644 --- a/app/src/redux/sessions/__fixtures__/tip-length-calibration.ts +++ b/app/src/redux/sessions/__fixtures__/tip-length-calibration.ts @@ -35,6 +35,7 @@ export const mockTipLengthCalibrationSessionDetails: TipLengthCalibrationSession }, currentStep: 'labwareLoaded', labware: [mockTipLengthTipRack, mockTipLengthCalBlock], + supportedCommands: [], } export const mockTipLengthCalibrationSessionParams: TipLengthCalibrationSessionParams = { diff --git a/app/src/redux/sessions/tip-length-calibration/types.ts b/app/src/redux/sessions/tip-length-calibration/types.ts index 7e9980d6af7..16b5eebb865 100644 --- a/app/src/redux/sessions/tip-length-calibration/types.ts +++ b/app/src/redux/sessions/tip-length-calibration/types.ts @@ -8,7 +8,7 @@ import { TIP_LENGTH_STEP_MEASURING_TIP_OFFSET, TIP_LENGTH_STEP_CALIBRATION_COMPLETE, } from '../constants' -import type { CalibrationLabware } from '../types' +import type { CalibrationLabware, SessionCommandString } from '../types' import type { LabwareDefinition2, PipetteModel } from '@opentrons/shared-data' @@ -40,4 +40,5 @@ export interface TipLengthCalibrationSessionDetails { instrument: TipLengthCalibrationInstrument currentStep: TipLengthCalibrationStep labware: CalibrationLabware[] + supportedCommands: SessionCommandString[] } diff --git a/app/src/resources/deck_configuration/__tests__/hooks.test.ts b/app/src/resources/deck_configuration/__tests__/hooks.test.ts index e4818eb31d0..5a37005074e 100644 --- a/app/src/resources/deck_configuration/__tests__/hooks.test.ts +++ b/app/src/resources/deck_configuration/__tests__/hooks.test.ts @@ -1,26 +1,16 @@ import { when, resetAllWhenMocks } from 'jest-when' -import { v4 as uuidv4 } from 'uuid' import { useDeckConfigurationQuery } from '@opentrons/react-api-client' import { - STAGING_AREA_LOAD_NAME, - STANDARD_SLOT_LOAD_NAME, - TRASH_BIN_LOAD_NAME, - WASTE_CHUTE_LOAD_NAME, + SINGLE_LEFT_SLOT_FIXTURE, + SINGLE_RIGHT_SLOT_FIXTURE, + STAGING_AREA_RIGHT_SLOT_FIXTURE, + TRASH_BIN_ADAPTER_FIXTURE, + WASTE_CHUTE_RIGHT_ADAPTER_COVERED_FIXTURE, } from '@opentrons/shared-data' -import { - CONFIGURED, - CONFLICTING, - NOT_CONFIGURED, - useLoadedFixturesConfigStatus, -} from '../hooks' - import type { UseQueryResult } from 'react-query' -import type { - DeckConfiguration, - LoadFixtureRunTimeCommand, -} from '@opentrons/shared-data' +import type { DeckConfiguration } from '@opentrons/shared-data' jest.mock('@opentrons/react-api-client') @@ -30,76 +20,40 @@ const mockUseDeckConfigurationQuery = useDeckConfigurationQuery as jest.MockedFu const MOCK_DECK_CONFIG: DeckConfiguration = [ { - fixtureLocation: 'A1', - loadName: STANDARD_SLOT_LOAD_NAME, - fixtureId: uuidv4(), + cutoutId: 'cutoutA1', + cutoutFixtureId: SINGLE_LEFT_SLOT_FIXTURE, }, { - fixtureLocation: 'B1', - loadName: STANDARD_SLOT_LOAD_NAME, - fixtureId: uuidv4(), + cutoutId: 'cutoutB1', + cutoutFixtureId: SINGLE_LEFT_SLOT_FIXTURE, }, { - fixtureLocation: 'C1', - loadName: STANDARD_SLOT_LOAD_NAME, - fixtureId: uuidv4(), + cutoutId: 'cutoutC1', + cutoutFixtureId: SINGLE_LEFT_SLOT_FIXTURE, }, { - fixtureLocation: 'D1', - loadName: STANDARD_SLOT_LOAD_NAME, - fixtureId: uuidv4(), + cutoutId: 'cutoutD1', + cutoutFixtureId: SINGLE_LEFT_SLOT_FIXTURE, }, { - fixtureLocation: 'A3', - loadName: TRASH_BIN_LOAD_NAME, - fixtureId: uuidv4(), + cutoutId: 'cutoutA3', + cutoutFixtureId: TRASH_BIN_ADAPTER_FIXTURE, }, { - fixtureLocation: 'B3', - loadName: STANDARD_SLOT_LOAD_NAME, - fixtureId: uuidv4(), + cutoutId: 'cutoutB3', + cutoutFixtureId: SINGLE_RIGHT_SLOT_FIXTURE, }, { - fixtureLocation: 'C3', - loadName: STAGING_AREA_LOAD_NAME, - fixtureId: uuidv4(), + cutoutId: 'cutoutC3', + cutoutFixtureId: STAGING_AREA_RIGHT_SLOT_FIXTURE, }, { - fixtureLocation: 'D3', - loadName: WASTE_CHUTE_LOAD_NAME, - fixtureId: uuidv4(), + cutoutId: 'cutoutD3', + cutoutFixtureId: WASTE_CHUTE_RIGHT_ADAPTER_COVERED_FIXTURE, }, ] -const WASTE_CHUTE_LOADED_FIXTURE: LoadFixtureRunTimeCommand = { - id: 'stubbed_load_fixture', - commandType: 'loadFixture', - params: { - fixtureId: 'stubbedFixtureId', - loadName: WASTE_CHUTE_LOAD_NAME, - location: { cutout: 'D3' }, - }, - createdAt: 'fakeTimestamp', - startedAt: 'fakeTimestamp', - completedAt: 'fakeTimestamp', - status: 'succeeded', -} - -const STAGING_AREA_LOADED_FIXTURE: LoadFixtureRunTimeCommand = { - id: 'stubbed_load_fixture', - commandType: 'loadFixture', - params: { - fixtureId: 'stubbedFixtureId', - loadName: STAGING_AREA_LOAD_NAME, - location: { cutout: 'D3' }, - }, - createdAt: 'fakeTimestamp', - startedAt: 'fakeTimestamp', - completedAt: 'fakeTimestamp', - status: 'succeeded', -} - -describe('useLoadedFixturesConfigStatus', () => { +describe('useDeckConfigurationCompatibility', () => { beforeEach(() => { when(mockUseDeckConfigurationQuery) .calledWith() @@ -109,34 +63,5 @@ describe('useLoadedFixturesConfigStatus', () => { }) afterEach(() => resetAllWhenMocks()) - it('returns configured status if fixture is configured at location', () => { - const loadedFixturesConfigStatus = useLoadedFixturesConfigStatus([ - WASTE_CHUTE_LOADED_FIXTURE, - ]) - expect(loadedFixturesConfigStatus).toEqual([ - { ...WASTE_CHUTE_LOADED_FIXTURE, configurationStatus: CONFIGURED }, - ]) - }) - it('returns conflicted status if fixture is conflicted at location', () => { - const loadedFixturesConfigStatus = useLoadedFixturesConfigStatus([ - STAGING_AREA_LOADED_FIXTURE, - ]) - expect(loadedFixturesConfigStatus).toEqual([ - { ...STAGING_AREA_LOADED_FIXTURE, configurationStatus: CONFLICTING }, - ]) - }) - it('returns not configured status if fixture is not configured at location', () => { - when(mockUseDeckConfigurationQuery) - .calledWith() - .mockReturnValue({ - data: MOCK_DECK_CONFIG.slice(0, -1), - } as UseQueryResult) - - const loadedFixturesConfigStatus = useLoadedFixturesConfigStatus([ - WASTE_CHUTE_LOADED_FIXTURE, - ]) - expect(loadedFixturesConfigStatus).toEqual([ - { ...WASTE_CHUTE_LOADED_FIXTURE, configurationStatus: NOT_CONFIGURED }, - ]) - }) + it('returns configured status if fixture is configured at location', () => {}) }) diff --git a/app/src/resources/deck_configuration/__tests__/utils.test.ts b/app/src/resources/deck_configuration/__tests__/utils.test.ts new file mode 100644 index 00000000000..759733fd18c --- /dev/null +++ b/app/src/resources/deck_configuration/__tests__/utils.test.ts @@ -0,0 +1,142 @@ +import { RunTimeCommand } from '@opentrons/shared-data' +import { + FLEX_SIMPLEST_DECK_CONFIG_PROTOCOL_SPEC, + getSimplestDeckConfigForProtocolCommands, +} from '../utils' + +const RUN_TIME_COMMAND_STUB_MIXIN: Pick< + RunTimeCommand, + 'id' | 'createdAt' | 'startedAt' | 'completedAt' | 'status' +> = { + id: 'fake_id', + createdAt: 'fake_createdAt', + startedAt: 'fake_startedAt', + completedAt: 'fake_createdAt', + status: 'succeeded', +} + +describe('getSimplestDeckConfigForProtocolCommands', () => { + it('returns simplest deck if no commands alter addressable areas', () => { + expect(getSimplestDeckConfigForProtocolCommands([])).toEqual( + FLEX_SIMPLEST_DECK_CONFIG_PROTOCOL_SPEC + ) + }) + it('returns staging area fixtures if commands address column 4 areas', () => { + const cutoutConfigs = getSimplestDeckConfigForProtocolCommands([ + { + ...RUN_TIME_COMMAND_STUB_MIXIN, + commandType: 'loadLabware', + params: { + loadName: 'fake_load_name', + location: { slotName: 'A4' }, + version: 1, + namespace: 'fake_namespace', + }, + }, + { + ...RUN_TIME_COMMAND_STUB_MIXIN, + commandType: 'loadLabware', + params: { + loadName: 'fake_load_name', + location: { slotName: 'B4' }, + version: 1, + namespace: 'fake_namespace', + }, + }, + { + ...RUN_TIME_COMMAND_STUB_MIXIN, + commandType: 'loadLabware', + params: { + loadName: 'fake_load_name', + location: { slotName: 'C4' }, + version: 1, + namespace: 'fake_namespace', + }, + }, + { + ...RUN_TIME_COMMAND_STUB_MIXIN, + commandType: 'loadLabware', + params: { + loadName: 'fake_load_name', + location: { slotName: 'D4' }, + version: 1, + namespace: 'fake_namespace', + }, + }, + ]) + expect(cutoutConfigs).toEqual([ + ...FLEX_SIMPLEST_DECK_CONFIG_PROTOCOL_SPEC.slice(0, 8), + { + cutoutId: 'cutoutA3', + cutoutFixtureId: 'stagingAreaRightSlot', + requiredAddressableAreas: ['A4'], + }, + { + cutoutId: 'cutoutB3', + cutoutFixtureId: 'stagingAreaRightSlot', + requiredAddressableAreas: ['B4'], + }, + { + cutoutId: 'cutoutC3', + cutoutFixtureId: 'stagingAreaRightSlot', + requiredAddressableAreas: ['C4'], + }, + { + cutoutId: 'cutoutD3', + cutoutFixtureId: 'stagingAreaRightSlot', + requiredAddressableAreas: ['D4'], + }, + ]) + }) + it('returns simplest cutout fixture where many are possible', () => { + const cutoutConfigs = getSimplestDeckConfigForProtocolCommands([ + { + ...RUN_TIME_COMMAND_STUB_MIXIN, + commandType: 'moveLabware', + params: { + newLocation: { addressableAreaName: 'gripperWasteChute' }, + labwareId: 'fake_labwareId', + strategy: 'usingGripper', + }, + }, + ]) + expect(cutoutConfigs).toEqual([ + ...FLEX_SIMPLEST_DECK_CONFIG_PROTOCOL_SPEC.slice(0, 11), + { + cutoutId: 'cutoutD3', + cutoutFixtureId: 'wasteChuteRightAdapterNoCover', + requiredAddressableAreas: ['gripperWasteChute'], + }, + ]) + }) + it('returns compatible cutout fixture where multiple addressable requirements present', () => { + const cutoutConfigs = getSimplestDeckConfigForProtocolCommands([ + { + ...RUN_TIME_COMMAND_STUB_MIXIN, + commandType: 'moveLabware', + params: { + newLocation: { addressableAreaName: 'gripperWasteChute' }, + labwareId: 'fake_labwareId', + strategy: 'usingGripper', + }, + }, + { + ...RUN_TIME_COMMAND_STUB_MIXIN, + commandType: 'moveLabware', + params: { + newLocation: { addressableAreaName: 'D4' }, + labwareId: 'fake_labwareId', + strategy: 'usingGripper', + }, + }, + ]) + expect(cutoutConfigs).toEqual([ + ...FLEX_SIMPLEST_DECK_CONFIG_PROTOCOL_SPEC.slice(0, 11), + { + cutoutId: 'cutoutD3', + cutoutFixtureId: 'stagingAreaSlotWithWasteChuteRightAdapterNoCover', + requiredAddressableAreas: ['gripperWasteChute', 'D4'], + }, + ]) + }) +}) diff --git a/app/src/resources/deck_configuration/hooks.ts b/app/src/resources/deck_configuration/hooks.ts index 967d46b5119..49b64d90350 100644 --- a/app/src/resources/deck_configuration/hooks.ts +++ b/app/src/resources/deck_configuration/hooks.ts @@ -1,48 +1,61 @@ +import { parseAllAddressableAreas } from '@opentrons/api-client' import { useDeckConfigurationQuery } from '@opentrons/react-api-client' -import { STANDARD_SLOT_LOAD_NAME } from '@opentrons/shared-data' - -import type { Fixture, LoadFixtureRunTimeCommand } from '@opentrons/shared-data' - -export const CONFIGURED = 'configured' -export const CONFLICTING = 'conflicting' -export const NOT_CONFIGURED = 'not configured' - -type LoadedFixtureConfigurationStatus = - | typeof CONFIGURED - | typeof CONFLICTING - | typeof NOT_CONFIGURED - -type LoadedFixtureConfiguration = LoadFixtureRunTimeCommand & { - configurationStatus: LoadedFixtureConfigurationStatus +import { + FLEX_ROBOT_TYPE, + getDeckDefFromRobotType, +} from '@opentrons/shared-data' + +import { + getCutoutFixturesForCutoutId, + getCutoutIdForAddressableArea, +} from './utils' + +import type { + CutoutFixtureId, + RobotType, + RunTimeCommand, +} from '@opentrons/shared-data' +import type { CutoutConfigProtocolSpec } from './utils' + +export interface CutoutConfigAndCompatibility extends CutoutConfigProtocolSpec { + compatibleCutoutFixtureIds: CutoutFixtureId[] } - -export function useLoadedFixturesConfigStatus( - loadedFixtures: LoadFixtureRunTimeCommand[] -): LoadedFixtureConfiguration[] { +export function useDeckConfigurationCompatibility( + robotType: RobotType, + protocolCommands: RunTimeCommand[] +): CutoutConfigAndCompatibility[] { const deckConfig = useDeckConfigurationQuery().data ?? [] - - return loadedFixtures.map(loadedFixture => { - const deckConfigurationAtLocation = deckConfig.find( - (deckFixture: Fixture) => - deckFixture.fixtureLocation === loadedFixture.params.location.cutout - ) - - let configurationStatus: LoadedFixtureConfigurationStatus = NOT_CONFIGURED - if ( - deckConfigurationAtLocation != null && - deckConfigurationAtLocation.loadName === loadedFixture.params.loadName - ) { - configurationStatus = CONFIGURED - // special casing this for now until we know what the backend will give us. It is only - // conflicting if the current deck configuration fixture is not the desired or standard slot - } else if ( - deckConfigurationAtLocation != null && - deckConfigurationAtLocation.loadName !== loadedFixture.params.loadName && - deckConfigurationAtLocation.loadName !== STANDARD_SLOT_LOAD_NAME - ) { - configurationStatus = CONFLICTING - } - - return { ...loadedFixture, configurationStatus } - }) + if (robotType !== FLEX_ROBOT_TYPE) return [] + const deckDef = getDeckDefFromRobotType(robotType) + const allAddressableAreas = parseAllAddressableAreas(protocolCommands) + return deckConfig.reduce( + (acc, { cutoutId, cutoutFixtureId }) => { + const fixturesThatMountToCutoutId = getCutoutFixturesForCutoutId( + cutoutId, + deckDef.cutoutFixtures + ) + const requiredAddressableAreasForCutoutId = allAddressableAreas.filter( + aa => + getCutoutIdForAddressableArea(aa, fixturesThatMountToCutoutId) === + cutoutId + ) + + return [ + ...acc, + { + cutoutId, + cutoutFixtureId: cutoutFixtureId, + requiredAddressableAreas: requiredAddressableAreasForCutoutId, + compatibleCutoutFixtureIds: fixturesThatMountToCutoutId + .filter(cf => + requiredAddressableAreasForCutoutId.every(aa => + cf.providesAddressableAreas[cutoutId].includes(aa) + ) + ) + .map(cf => cf.id), + }, + ] + }, + [] + ) } diff --git a/app/src/resources/deck_configuration/types.ts b/app/src/resources/deck_configuration/types.ts new file mode 100644 index 00000000000..2929de72deb --- /dev/null +++ b/app/src/resources/deck_configuration/types.ts @@ -0,0 +1,11 @@ +import type { + CutoutId, + CutoutFixtureId, + AddressableAreaName, +} from '@opentrons/shared-data' + +export interface CutoutConfig { + cutoutId: CutoutId + cutoutFixtureId: CutoutFixtureId + requiredAddressableAreas: AddressableAreaName[] +} diff --git a/app/src/resources/deck_configuration/utils.ts b/app/src/resources/deck_configuration/utils.ts index 7acdd5c80ef..15f68fbe3d2 100644 --- a/app/src/resources/deck_configuration/utils.ts +++ b/app/src/resources/deck_configuration/utils.ts @@ -1,23 +1,243 @@ -import { v4 as uuidv4 } from 'uuid' +import { parseAllAddressableAreas } from '@opentrons/api-client' +import { + FLEX_ROBOT_TYPE, + FLEX_SINGLE_SLOT_ADDRESSABLE_AREAS, + getAddressableAreaFromSlotId, + getDeckDefFromRobotType, +} from '@opentrons/shared-data' -import { parseInitialLoadedFixturesByCutout } from '@opentrons/api-client' -import { STANDARD_SLOT_DECK_CONFIG_FIXTURE } from '@opentrons/components' +import type { + CutoutConfig, + CutoutId, + RunTimeCommand, + CutoutFixture, + AddressableAreaName, + DeckDefinition, + DeckConfiguration, + CutoutFixtureId, +} from '@opentrons/shared-data' +import type { CutoutConfigAndCompatibility } from './hooks' -import type { DeckConfiguration, RunTimeCommand } from '@opentrons/shared-data' +export interface CutoutConfigProtocolSpec extends CutoutConfig { + requiredAddressableAreas: AddressableAreaName[] +} + +export const FLEX_SIMPLEST_DECK_CONFIG: DeckConfiguration = [ + { cutoutId: 'cutoutA1', cutoutFixtureId: 'singleLeftSlot' }, + { cutoutId: 'cutoutB1', cutoutFixtureId: 'singleLeftSlot' }, + { cutoutId: 'cutoutC1', cutoutFixtureId: 'singleLeftSlot' }, + { cutoutId: 'cutoutD1', cutoutFixtureId: 'singleLeftSlot' }, + { cutoutId: 'cutoutA2', cutoutFixtureId: 'singleCenterSlot' }, + { cutoutId: 'cutoutB2', cutoutFixtureId: 'singleCenterSlot' }, + { cutoutId: 'cutoutC2', cutoutFixtureId: 'singleCenterSlot' }, + { cutoutId: 'cutoutD2', cutoutFixtureId: 'singleCenterSlot' }, + { cutoutId: 'cutoutA3', cutoutFixtureId: 'singleRightSlot' }, + { cutoutId: 'cutoutB3', cutoutFixtureId: 'singleRightSlot' }, + { cutoutId: 'cutoutC3', cutoutFixtureId: 'singleRightSlot' }, + { cutoutId: 'cutoutD3', cutoutFixtureId: 'singleRightSlot' }, +] + +export const FLEX_SIMPLEST_DECK_CONFIG_PROTOCOL_SPEC: CutoutConfigProtocolSpec[] = FLEX_SIMPLEST_DECK_CONFIG.map( + config => ({ ...config, requiredAddressableAreas: [] }) +) -export function getDeckConfigFromProtocolCommands( +export function getSimplestDeckConfigForProtocolCommands( protocolAnalysisCommands: RunTimeCommand[] -): DeckConfiguration { - const loadedFixtureCommands = Object.values( - parseInitialLoadedFixturesByCutout(protocolAnalysisCommands) +): CutoutConfigProtocolSpec[] { + // TODO(BC, 2023-11-06): abstract out the robot type + const deckDef = getDeckDefFromRobotType(FLEX_ROBOT_TYPE) + + const addressableAreas = parseAllAddressableAreas(protocolAnalysisCommands) + const simplestDeckConfig = addressableAreas.reduce< + CutoutConfigProtocolSpec[] + >((acc, addressableArea) => { + const cutoutFixturesForAddressableArea = getCutoutFixturesForAddressableAreas( + [addressableArea], + deckDef.cutoutFixtures + ) + const cutoutIdForAddressableArea = getCutoutIdForAddressableArea( + addressableArea, + cutoutFixturesForAddressableArea + ) + const cutoutFixturesForCutoutId = + cutoutIdForAddressableArea != null + ? getCutoutFixturesForCutoutId( + cutoutIdForAddressableArea, + deckDef.cutoutFixtures + ) + : null + + const existingCutoutConfig = acc.find( + cutoutConfig => cutoutConfig.cutoutId === cutoutIdForAddressableArea + ) + + if ( + existingCutoutConfig != null && + cutoutFixturesForCutoutId != null && + cutoutIdForAddressableArea != null + ) { + const indexOfExistingFixture = cutoutFixturesForCutoutId.findIndex( + ({ id }) => id === existingCutoutConfig.cutoutFixtureId + ) + const accIndex = acc.findIndex( + ({ cutoutId }) => cutoutId === cutoutIdForAddressableArea + ) + const previousRequiredAAs = acc[accIndex]?.requiredAddressableAreas + const allNextRequiredAddressableAreas = previousRequiredAAs.includes( + addressableArea + ) + ? previousRequiredAAs + : [...previousRequiredAAs, addressableArea] + const nextCompatibleCutoutFixture = getSimplestFixtureForAddressableAreas( + cutoutIdForAddressableArea, + allNextRequiredAddressableAreas, + cutoutFixturesForCutoutId + ) + const indexOfCurrentFixture = cutoutFixturesForCutoutId.findIndex( + ({ id }) => id === nextCompatibleCutoutFixture?.id + ) + + if ( + nextCompatibleCutoutFixture != null && + indexOfCurrentFixture > indexOfExistingFixture + ) { + return [ + ...acc.slice(0, accIndex), + { + cutoutId: cutoutIdForAddressableArea, + cutoutFixtureId: nextCompatibleCutoutFixture.id, + requiredAddressableAreas: allNextRequiredAddressableAreas, + }, + ...acc.slice(accIndex + 1), + ] + } + } + return acc + }, FLEX_SIMPLEST_DECK_CONFIG_PROTOCOL_SPEC) + + return simplestDeckConfig +} + +export function getCutoutFixturesForAddressableAreas( + addressableAreas: AddressableAreaName[], + cutoutFixtures: CutoutFixture[] +): CutoutFixture[] { + return cutoutFixtures.filter(cutoutFixture => + Object.values(cutoutFixture.providesAddressableAreas).some(providedAAs => + addressableAreas.every(aa => providedAAs.includes(aa)) + ) + ) +} + +export function getCutoutFixturesForCutoutId( + cutoutId: CutoutId, + cutoutFixtures: CutoutFixture[] +): CutoutFixture[] { + return cutoutFixtures.filter(cutoutFixture => + cutoutFixture.mayMountTo.some(mayMountTo => mayMountTo.includes(cutoutId)) + ) +} + +export function getCutoutIdForSlotName( + slotName: string, + deckDef: DeckDefinition +): CutoutId | null { + const addressableArea = getAddressableAreaFromSlotId(slotName, deckDef) + const cutoutIdForSlotName = + addressableArea != null + ? getCutoutIdForAddressableArea( + addressableArea.id, + deckDef.cutoutFixtures + ) + : null + + return cutoutIdForSlotName +} + +export function getCutoutIdForAddressableArea( + addressableArea: AddressableAreaName, + cutoutFixtures: CutoutFixture[] +): CutoutId | null { + return cutoutFixtures.reduce((acc, cutoutFixture) => { + const [cutoutId] = + Object.entries( + cutoutFixture.providesAddressableAreas + ).find(([_cutoutId, providedAAs]) => + providedAAs.includes(addressableArea) + ) ?? [] + return (cutoutId as CutoutId) ?? acc + }, null) +} + +export function getSimplestFixtureForAddressableAreas( + cutoutId: CutoutId, + requiredAddressableAreas: AddressableAreaName[], + allCutoutFixtures: CutoutFixture[] +): CutoutFixture | null { + const cutoutFixturesForCutoutId = getCutoutFixturesForCutoutId( + cutoutId, + allCutoutFixtures + ) + const nextCompatibleCutoutFixtures = getCutoutFixturesForAddressableAreas( + requiredAddressableAreas, + cutoutFixturesForCutoutId + ) + return nextCompatibleCutoutFixtures?.[0] ?? null +} + +export function getRequiredDeckConfig( + deckConfigProtocolSpec: T[] +): T[] { + const nonSingleSlotDeckConfigCompatibility = deckConfigProtocolSpec.filter( + ({ requiredAddressableAreas }) => + // required AA list includes a non-single-slot AA + !requiredAddressableAreas.every(aa => + FLEX_SINGLE_SLOT_ADDRESSABLE_AREAS.includes(aa) + ) + ) + // fixture includes at least 1 required AA + const requiredDeckConfigProtocolSpec = nonSingleSlotDeckConfigCompatibility.filter( + fixture => fixture.requiredAddressableAreas.length > 0 + ) + + return requiredDeckConfigProtocolSpec +} + +export function getUnmatchedSingleSlotFixtures( + deckConfigProtocolSpec: CutoutConfigAndCompatibility[] +): CutoutConfigAndCompatibility[] { + const singleSlotDeckConfigCompatibility = deckConfigProtocolSpec.filter( + ({ requiredAddressableAreas }) => + // required AA list includes only single-slot AA + requiredAddressableAreas.every(aa => + FLEX_SINGLE_SLOT_ADDRESSABLE_AREAS.includes(aa) + ) + ) + // fixture includes at least 1 required AA + const unmatchedSingleSlotDeckConfigCompatibility = singleSlotDeckConfigCompatibility.filter( + ({ cutoutFixtureId, compatibleCutoutFixtureIds }) => + !isMatchedFixture(cutoutFixtureId, compatibleCutoutFixtureIds) ) - const deckConfig = loadedFixtureCommands.map(command => ({ - fixtureId: command.params.fixtureId ?? uuidv4(), - fixtureLocation: command.params.location.cutout, - loadName: command.params.loadName, - })) + return unmatchedSingleSlotDeckConfigCompatibility +} - // TODO(bh, 2023-10-18): remove stub when load fixture commands available - return deckConfig.length > 0 ? deckConfig : STANDARD_SLOT_DECK_CONFIG_FIXTURE +export function getIsFixtureMismatch( + deckConfigProtocolSpec: CutoutConfigAndCompatibility[] +): boolean { + const isFixtureMismatch = !deckConfigProtocolSpec.every( + ({ cutoutFixtureId, compatibleCutoutFixtureIds }) => + isMatchedFixture(cutoutFixtureId, compatibleCutoutFixtureIds) + ) + return isFixtureMismatch +} + +function isMatchedFixture( + cutoutFixtureId: CutoutFixtureId | null, + compatibleCutoutFixtureIds: CutoutFixtureId[] +): boolean { + return ( + cutoutFixtureId == null || + compatibleCutoutFixtureIds.includes(cutoutFixtureId) + ) } diff --git a/components/src/hardware-sim/BaseDeck/BaseDeck.tsx b/components/src/hardware-sim/BaseDeck/BaseDeck.tsx index 1fe12ccdb91..bc8f719828b 100644 --- a/components/src/hardware-sim/BaseDeck/BaseDeck.tsx +++ b/components/src/hardware-sim/BaseDeck/BaseDeck.tsx @@ -1,46 +1,49 @@ import * as React from 'react' import { - RobotType, getDeckDefFromRobotType, - ModuleModel, - ModuleLocation, getModuleDef2, - LabwareDefinition2, + getPositionFromSlotId, inferModuleOrientationFromXCoordinate, - LabwareLocation, OT2_ROBOT_TYPE, - STAGING_AREA_LOAD_NAME, - STANDARD_SLOT_LOAD_NAME, - TRASH_BIN_LOAD_NAME, - WASTE_CHUTE_LOAD_NAME, + SINGLE_SLOT_FIXTURES, + STAGING_AREA_RIGHT_SLOT_FIXTURE, + TRASH_BIN_ADAPTER_FIXTURE, + WASTE_CHUTE_CUTOUT, + WASTE_CHUTE_ONLY_FIXTURES, + WASTE_CHUTE_STAGING_AREA_FIXTURES, } from '@opentrons/shared-data' + import { RobotCoordinateSpace } from '../RobotCoordinateSpace' import { Module } from '../Module' import { LabwareRender } from '../Labware' import { FlexTrash } from '../Deck/FlexTrash' -import { DeckFromData } from '../Deck/DeckFromData' +import { DeckFromLayers } from '../Deck/DeckFromLayers' import { SlotLabels } from '../Deck' import { COLORS } from '../../ui-style-constants' -import { - // EXTENDED_DECK_CONFIG_FIXTURE, - STANDARD_SLOT_DECK_CONFIG_FIXTURE, -} from './__fixtures__' +import { Svg } from '../../primitives' import { SingleSlotFixture } from './SingleSlotFixture' import { StagingAreaFixture } from './StagingAreaFixture' import { WasteChuteFixture } from './WasteChuteFixture' -// import { WasteChuteStagingAreaFixture } from './WasteChuteStagingAreaFixture' +import { WasteChuteStagingAreaFixture } from './WasteChuteStagingAreaFixture' -import type { DeckConfiguration } from '@opentrons/shared-data' -import type { TrashLocation } from '../Deck/FlexTrash' +import type { + DeckConfiguration, + LabwareDefinition2, + LabwareLocation, + ModuleLocation, + ModuleModel, + RobotType, +} from '@opentrons/shared-data' +import type { TrashCutoutId } from '../Deck/FlexTrash' import type { StagingAreaLocation } from './StagingAreaFixture' -import type { WasteChuteLocation } from './WasteChuteFixture' import type { WellFill } from '../Labware' interface BaseDeckProps { + deckConfig: DeckConfiguration robotType: RobotType - labwareLocations: Array<{ + labwareLocations?: Array<{ labwareLocation: LabwareLocation definition: LabwareDefinition2 wellFill?: WellFill @@ -48,7 +51,7 @@ interface BaseDeckProps { labwareChildren?: React.ReactNode onLabwareClick?: () => void }> - moduleLocations: Array<{ + moduleLocations?: Array<{ moduleModel: ModuleModel moduleLocation: ModuleLocation nestedLabwareDef?: LabwareDefinition2 | null @@ -58,57 +61,86 @@ interface BaseDeckProps { moduleChildren?: React.ReactNode onLabwareClick?: () => void }> - deckConfig?: DeckConfiguration deckLayerBlocklist?: string[] showExpansion?: boolean lightFill?: string darkFill?: string children?: React.ReactNode showSlotLabels?: boolean + /** whether to make wrapping svg tag animatable via @react-spring/web, defaults to false */ + animatedSVG?: boolean + /** extra props to pass to svg tag */ + svgProps?: React.ComponentProps } export function BaseDeck(props: BaseDeckProps): JSX.Element { const { robotType, - moduleLocations, - labwareLocations, + moduleLocations = [], + labwareLocations = [], lightFill = COLORS.light1, darkFill = COLORS.darkGreyEnabled, deckLayerBlocklist = [], - // TODO(bh, 2023-10-09): remove deck config fixture for Flex after migration to v4 - // deckConfig = EXTENDED_DECK_CONFIG_FIXTURE, - deckConfig = STANDARD_SLOT_DECK_CONFIG_FIXTURE, + deckConfig, showExpansion = true, children, - showSlotLabels = false, + showSlotLabels = true, + animatedSVG = false, + svgProps = {}, } = props const deckDef = getDeckDefFromRobotType(robotType) const singleSlotFixtures = deckConfig.filter( - fixture => fixture.loadName === STANDARD_SLOT_LOAD_NAME + fixture => + fixture.cutoutFixtureId != null && + SINGLE_SLOT_FIXTURES.includes(fixture.cutoutFixtureId) ) const stagingAreaFixtures = deckConfig.filter( - fixture => fixture.loadName === STAGING_AREA_LOAD_NAME + fixture => fixture.cutoutFixtureId === STAGING_AREA_RIGHT_SLOT_FIXTURE ) const trashBinFixtures = deckConfig.filter( - fixture => fixture.loadName === TRASH_BIN_LOAD_NAME + fixture => fixture.cutoutFixtureId === TRASH_BIN_ADAPTER_FIXTURE + ) + const wasteChuteOnlyFixtures = deckConfig.filter( + fixture => + fixture.cutoutFixtureId != null && + WASTE_CHUTE_ONLY_FIXTURES.includes(fixture.cutoutFixtureId) && + fixture.cutoutId === WASTE_CHUTE_CUTOUT ) - const wasteChuteFixtures = deckConfig.filter( - fixture => fixture.loadName === WASTE_CHUTE_LOAD_NAME + const wasteChuteStagingAreaFixtures = deckConfig.filter( + fixture => + fixture.cutoutFixtureId != null && + WASTE_CHUTE_STAGING_AREA_FIXTURES.includes(fixture.cutoutFixtureId) && + fixture.cutoutId === WASTE_CHUTE_CUTOUT ) return ( {robotType === OT2_ROBOT_TYPE ? ( - + ) : ( <> + {showSlotLabels ? ( + 0 || + wasteChuteStagingAreaFixtures.length > 0 + } + /> + ) : null} {singleSlotFixtures.map(fixture => ( ( ))} {trashBinFixtures.map(fixture => ( - + ))} - {wasteChuteFixtures.map(fixture => ( + {wasteChuteOnlyFixtures.map(fixture => ( + ))} + {wasteChuteStagingAreaFixtures.map(fixture => ( + )} - {moduleLocations.map( - ({ - moduleModel, - moduleLocation, - nestedLabwareDef, - nestedLabwareWellFill, - innerProps, - moduleChildren, - onLabwareClick, - }) => { - const slotDef = deckDef.locations.orderedSlots.find( - s => s.id === moduleLocation.slotName - ) - const moduleDef = getModuleDef2(moduleModel) - return slotDef != null ? ( - - {nestedLabwareDef != null ? ( + <> + {moduleLocations.map( + ({ + moduleModel, + moduleLocation, + nestedLabwareDef, + nestedLabwareWellFill, + innerProps, + moduleChildren, + onLabwareClick, + }) => { + const slotPosition = getPositionFromSlotId( + moduleLocation.slotName, + deckDef + ) + + const moduleDef = getModuleDef2(moduleModel) + return slotPosition != null ? ( + + {nestedLabwareDef != null ? ( + + ) : null} + {moduleChildren} + + ) : null + } + )} + {labwareLocations.map( + ({ + labwareLocation, + definition, + labwareChildren, + wellFill, + onLabwareClick, + }) => { + if ( + labwareLocation === 'offDeck' || + !('slotName' in labwareLocation) + ) { + return null + } + + const slotPosition = getPositionFromSlotId( + labwareLocation.slotName, + deckDef + ) + + return slotPosition != null ? ( + - ) : null} - {moduleChildren} - - ) : null - } - )} - {labwareLocations.map( - ({ - labwareLocation, - definition, - labwareChildren, - wellFill, - onLabwareClick, - }) => { - const slotDef = deckDef.locations.orderedSlots.find( - s => - labwareLocation !== 'offDeck' && - 'slotName' in labwareLocation && - s.id === labwareLocation.slotName - ) - return slotDef != null ? ( - - - {labwareChildren} - - ) : null - } - )} - {showSlotLabels ? ( - - ) : null} + {labwareChildren} + + ) : null + } + )} + {children} ) diff --git a/components/src/hardware-sim/BaseDeck/SingleSlotFixture.tsx b/components/src/hardware-sim/BaseDeck/SingleSlotFixture.tsx index 7e763a0fb7f..0fe3ff526e6 100644 --- a/components/src/hardware-sim/BaseDeck/SingleSlotFixture.tsx +++ b/components/src/hardware-sim/BaseDeck/SingleSlotFixture.tsx @@ -3,10 +3,14 @@ import * as React from 'react' import { SlotBase } from './SlotBase' import { SlotClip } from './SlotClip' -import type { Cutout, DeckDefinition, ModuleType } from '@opentrons/shared-data' +import type { + CutoutId, + DeckDefinition, + ModuleType, +} from '@opentrons/shared-data' interface SingleSlotFixtureProps extends React.SVGProps { - cutoutLocation: Cutout + cutoutId: CutoutId deckDefinition: DeckDefinition moduleType?: ModuleType fixtureBaseColor?: React.SVGProps['fill'] @@ -18,7 +22,7 @@ export function SingleSlotFixture( props: SingleSlotFixtureProps ): JSX.Element | null { const { - cutoutLocation, + cutoutId, deckDefinition, fixtureBaseColor, slotClipColor, @@ -26,9 +30,8 @@ export function SingleSlotFixture( ...restProps } = props - // TODO(bh, 2023-10-09): migrate from "orderedSlots" to v4 "cutouts" key - const cutoutDef = deckDefinition?.locations.orderedSlots.find( - s => s.id === cutoutLocation + const cutoutDef = deckDefinition?.locations.cutouts.find( + s => s.id === cutoutId ) if (cutoutDef == null) { console.warn( @@ -38,9 +41,9 @@ export function SingleSlotFixture( } const contentsByCutoutLocation: { - [cutoutLocation in Cutout]: JSX.Element + [cutoutId in CutoutId]: JSX.Element } = { - A1: ( + cutoutA1: ( <> {showExpansion ? ( ), - A2: ( + cutoutA2: ( <> ), - A3: ( + cutoutA3: ( <> ), - B1: ( + cutoutB1: ( <> ), - B2: ( + cutoutB2: ( <> ), - B3: ( + cutoutB3: ( <> ), - C1: ( + cutoutC1: ( <> ), - C2: ( + cutoutC2: ( <> ), - C3: ( + cutoutC3: ( <> ), - D1: ( + cutoutD1: ( <> ), - D2: ( + cutoutD2: ( <> ), - D3: ( + cutoutD3: ( <> {contentsByCutoutLocation[cutoutLocation]} + return {contentsByCutoutLocation[cutoutId]} } diff --git a/components/src/hardware-sim/BaseDeck/StagingAreaFixture.tsx b/components/src/hardware-sim/BaseDeck/StagingAreaFixture.tsx index 2b3d8491da6..107da94b8c2 100644 --- a/components/src/hardware-sim/BaseDeck/StagingAreaFixture.tsx +++ b/components/src/hardware-sim/BaseDeck/StagingAreaFixture.tsx @@ -5,10 +5,14 @@ import { SlotClip } from './SlotClip' import type { DeckDefinition, ModuleType } from '@opentrons/shared-data' -export type StagingAreaLocation = 'A3' | 'B3' | 'C3' | 'D3' +export type StagingAreaLocation = + | 'cutoutA3' + | 'cutoutB3' + | 'cutoutC3' + | 'cutoutD3' interface StagingAreaFixtureProps extends React.SVGProps { - cutoutLocation: StagingAreaLocation + cutoutId: StagingAreaLocation deckDefinition: DeckDefinition moduleType?: ModuleType fixtureBaseColor?: React.SVGProps['fill'] @@ -20,16 +24,15 @@ export function StagingAreaFixture( props: StagingAreaFixtureProps ): JSX.Element | null { const { - cutoutLocation, + cutoutId, deckDefinition, fixtureBaseColor, slotClipColor, ...restProps } = props - // TODO(bh, 2023-10-09): migrate from "orderedSlots" to v4 "cutouts" key - const cutoutDef = deckDefinition?.locations.orderedSlots.find( - s => s.id === cutoutLocation + const cutoutDef = deckDefinition?.locations.cutouts.find( + s => s.id === cutoutId ) if (cutoutDef == null) { console.warn( @@ -38,11 +41,10 @@ export function StagingAreaFixture( return null } - // TODO(bh, 2023-10-10): adjust base and clip d values if needed to fit v4 deck definition const contentsByCutoutLocation: { - [cutoutLocation in StagingAreaLocation]: JSX.Element + [cutoutId in StagingAreaLocation]: JSX.Element } = { - A3: ( + cutoutA3: ( <> ), - B3: ( + cutoutB3: ( <> ), - C3: ( + cutoutC3: ( <> ), - D3: ( + cutoutD3: ( <> {contentsByCutoutLocation[cutoutLocation]} + return {contentsByCutoutLocation[cutoutId]} } diff --git a/components/src/hardware-sim/BaseDeck/WasteChuteFixture.tsx b/components/src/hardware-sim/BaseDeck/WasteChuteFixture.tsx index a4ac6673bf5..9f562731b72 100644 --- a/components/src/hardware-sim/BaseDeck/WasteChuteFixture.tsx +++ b/components/src/hardware-sim/BaseDeck/WasteChuteFixture.tsx @@ -1,19 +1,23 @@ import * as React from 'react' +import { WASTE_CHUTE_CUTOUT } from '@opentrons/shared-data' + import { Icon } from '../../icons' import { Flex, Text } from '../../primitives' -import { ALIGN_CENTER, DIRECTION_COLUMN, JUSTIFY_CENTER } from '../../styles' -import { BORDERS, COLORS, TYPOGRAPHY } from '../../ui-style-constants' +import { + ALIGN_CENTER, + DIRECTION_COLUMN, + JUSTIFY_CENTER, + TEXT_ALIGN_CENTER, +} from '../../styles' +import { COLORS, SPACING, TYPOGRAPHY } from '../../ui-style-constants' import { RobotCoordsForeignObject } from '../Deck/RobotCoordsForeignObject' import { SlotBase } from './SlotBase' import type { DeckDefinition, ModuleType } from '@opentrons/shared-data' -// waste chute only in cutout location D3 -export type WasteChuteLocation = 'D3' - interface WasteChuteFixtureProps extends React.SVGProps { - cutoutLocation: WasteChuteLocation + cutoutId: typeof WASTE_CHUTE_CUTOUT deckDefinition: DeckDefinition moduleType?: ModuleType fixtureBaseColor?: React.SVGProps['fill'] @@ -25,23 +29,22 @@ export function WasteChuteFixture( props: WasteChuteFixtureProps ): JSX.Element | null { const { - cutoutLocation, + cutoutId, deckDefinition, fixtureBaseColor = COLORS.light1, slotClipColor = COLORS.darkGreyEnabled, ...restProps } = props - if (cutoutLocation !== 'D3') { + if (cutoutId !== 'cutoutD3') { console.warn( - `cannot render WasteChuteFixture in given cutout location ${cutoutLocation}` + `cannot render WasteChuteFixture in given cutout location ${cutoutId}` ) return null } - // TODO(bh, 2023-10-09): migrate from "orderedSlots" to v4 "cutouts" key - const cutoutDef = deckDefinition?.locations.orderedSlots.find( - s => s.id === cutoutLocation + const cutoutDef = deckDefinition?.locations.cutouts.find( + s => s.id === cutoutId ) if (cutoutDef == null) { console.warn( @@ -50,7 +53,6 @@ export function WasteChuteFixture( return null } - // TODO(bh, 2023-10-10): adjust base and clip d values if needed to fit v4 deck definition return ( - - Waste chute + + + Waste chute + ) diff --git a/components/src/hardware-sim/BaseDeck/WasteChuteStagingAreaFixture.tsx b/components/src/hardware-sim/BaseDeck/WasteChuteStagingAreaFixture.tsx index b2cdbad8e2d..564db96c5fb 100644 --- a/components/src/hardware-sim/BaseDeck/WasteChuteStagingAreaFixture.tsx +++ b/components/src/hardware-sim/BaseDeck/WasteChuteStagingAreaFixture.tsx @@ -1,16 +1,17 @@ import * as React from 'react' +import { WASTE_CHUTE_CUTOUT } from '@opentrons/shared-data' + import { COLORS } from '../../ui-style-constants' import { SlotBase } from './SlotBase' import { SlotClip } from './SlotClip' import { WasteChute } from './WasteChuteFixture' import type { DeckDefinition, ModuleType } from '@opentrons/shared-data' -import type { WasteChuteLocation } from './WasteChuteFixture' interface WasteChuteStagingAreaFixtureProps extends React.SVGProps { - cutoutLocation: WasteChuteLocation + cutoutId: typeof WASTE_CHUTE_CUTOUT deckDefinition: DeckDefinition moduleType?: ModuleType fixtureBaseColor?: React.SVGProps['fill'] @@ -22,23 +23,22 @@ export function WasteChuteStagingAreaFixture( props: WasteChuteStagingAreaFixtureProps ): JSX.Element | null { const { - cutoutLocation, + cutoutId, deckDefinition, fixtureBaseColor = COLORS.light1, slotClipColor = COLORS.darkGreyEnabled, ...restProps } = props - if (cutoutLocation !== 'D3') { + if (cutoutId !== WASTE_CHUTE_CUTOUT) { console.warn( - `cannot render WasteChuteStagingAreaFixture in given cutout location ${cutoutLocation}` + `cannot render WasteChuteStagingAreaFixture in given cutout location ${cutoutId}` ) return null } - // TODO(bh, 2023-10-09): migrate from "orderedSlots" to v4 "cutouts" key - const cutoutDef = deckDefinition?.locations.orderedSlots.find( - s => s.id === cutoutLocation + const cutoutDef = deckDefinition?.locations.cutouts.find( + s => s.id === cutoutId ) if (cutoutDef == null) { console.warn( @@ -47,9 +47,7 @@ export function WasteChuteStagingAreaFixture( return null } - // TODO(bh, 2023-10-10): adjust base and clip d values if needed to fit v4 deck definition return ( - // TODO: render a "Waste chute" foreign object similar to FlexTrash { // be sure we don't try to render for an OT-2 - if (robotType !== 'OT-3 Standard') return null + if (robotType !== FLEX_ROBOT_TYPE) return null + + const deckDefinition = getDeckDefFromRobotType(robotType) - const deckDef = getDeckDefFromRobotType(robotType) - // TODO(bh, 2023-10-09): migrate from "orderedSlots" to v4 "cutouts" key - const trashSlot = deckDef.locations.orderedSlots.find( - slot => slot.id === trashLocation + const trashCutout = deckDefinition.locations.cutouts.find( + cutout => cutout.id === trashCutoutId ) - // retrieve slot x,y positions and dimensions from deck definition for the given trash slot - // TODO(bh, 2023-10-09): refactor position, offsets, and rotation after v4 migration - const [x = 0, y = 0] = trashSlot?.position ?? [] - const { xDimension: slotXDimension = 0, yDimension: slotYDimension = 0 } = - trashSlot?.boundingBox ?? {} + // retrieve slot x,y positions and dimensions from deck definition for the given trash cutout location + const [x = 0, y = 0] = trashCutout?.position ?? [] + + // a standard addressable area slot bounding box dimension + const { + xDimension: slotXDimension = 0, + yDimension: slotYDimension = 0, + } = deckDefinition.locations.addressableAreas[0].boundingBox // adjust for dimensions from trash definition const { x: xAdjustment, y: yAdjustment } = trashDef.cornerOffsetFromSlot @@ -60,10 +67,10 @@ export const FlexTrash = ({ // rotate trash 180 degrees in column 1 const rotateDegrees = - trashLocation === 'A1' || - trashLocation === 'B1' || - trashLocation === 'C1' || - trashLocation === 'D1' + trashCutoutId === 'cutoutA1' || + trashCutoutId === 'cutoutB1' || + trashCutoutId === 'cutoutC1' || + trashCutoutId === 'cutoutD1' ? '180' : '0' @@ -86,11 +93,12 @@ export const FlexTrash = ({ backgroundColor={backgroundColor} borderRadius={BORDERS.radiusSoftCorners} justifyContent={JUSTIFY_CENTER} + gridGap={SPACING.spacing8} width="100%" > {rotateDegrees === '180' ? ( {rotateDegrees === '0' ? ( - + Trash bin ) : null} diff --git a/components/src/hardware-sim/Deck/MoveLabwareOnDeck.stories.tsx b/components/src/hardware-sim/Deck/MoveLabwareOnDeck.stories.tsx index ca42a50ebe7..89ddd9fcdb2 100644 --- a/components/src/hardware-sim/Deck/MoveLabwareOnDeck.stories.tsx +++ b/components/src/hardware-sim/Deck/MoveLabwareOnDeck.stories.tsx @@ -1,8 +1,17 @@ import * as React from 'react' import fixture_96_plate from '@opentrons/shared-data/labware/fixtures/2/fixture_96_plate.json' -import { FLEX_ROBOT_TYPE } from '@opentrons/shared-data' +import { + FLEX_ROBOT_TYPE, + SINGLE_CENTER_SLOT_FIXTURE, + SINGLE_LEFT_SLOT_FIXTURE, + SINGLE_RIGHT_SLOT_FIXTURE, + STAGING_AREA_RIGHT_SLOT_FIXTURE, +} from '@opentrons/shared-data' import { MoveLabwareOnDeck as MoveLabwareOnDeckComponent } from './MoveLabwareOnDeck' -import type { LabwareDefinition2 } from '@opentrons/shared-data' +import type { + DeckConfiguration, + LabwareDefinition2, +} from '@opentrons/shared-data' import type { Meta, StoryObj } from '@storybook/react' @@ -14,16 +23,70 @@ const meta: Meta> = { export default meta type Story = StoryObj> +const FLEX_SIMPLEST_DECK_CONFIG: DeckConfiguration = [ + { + cutoutId: 'cutoutA1', + cutoutFixtureId: SINGLE_LEFT_SLOT_FIXTURE, + }, + { + cutoutId: 'cutoutB1', + cutoutFixtureId: SINGLE_LEFT_SLOT_FIXTURE, + }, + { + cutoutId: 'cutoutC1', + cutoutFixtureId: SINGLE_LEFT_SLOT_FIXTURE, + }, + { + cutoutId: 'cutoutD1', + cutoutFixtureId: SINGLE_LEFT_SLOT_FIXTURE, + }, + { + cutoutId: 'cutoutA2', + cutoutFixtureId: SINGLE_CENTER_SLOT_FIXTURE, + }, + { + cutoutId: 'cutoutB2', + cutoutFixtureId: SINGLE_CENTER_SLOT_FIXTURE, + }, + { + cutoutId: 'cutoutC2', + cutoutFixtureId: SINGLE_CENTER_SLOT_FIXTURE, + }, + { + cutoutId: 'cutoutD2', + cutoutFixtureId: SINGLE_CENTER_SLOT_FIXTURE, + }, + { + cutoutId: 'cutoutA3', + cutoutFixtureId: SINGLE_RIGHT_SLOT_FIXTURE, + }, + { + cutoutId: 'cutoutB3', + cutoutFixtureId: SINGLE_RIGHT_SLOT_FIXTURE, + }, + { + cutoutId: 'cutoutC3', + cutoutFixtureId: SINGLE_RIGHT_SLOT_FIXTURE, + }, + { + cutoutId: 'cutoutD3', + cutoutFixtureId: STAGING_AREA_RIGHT_SLOT_FIXTURE, + }, +] + export const MoveLabwareOnDeck: Story = { render: args => ( ), args: { diff --git a/components/src/hardware-sim/Deck/MoveLabwareOnDeck.tsx b/components/src/hardware-sim/Deck/MoveLabwareOnDeck.tsx index 55656526e1b..8f629cc5695 100644 --- a/components/src/hardware-sim/Deck/MoveLabwareOnDeck.tsx +++ b/components/src/hardware-sim/Deck/MoveLabwareOnDeck.tsx @@ -7,40 +7,45 @@ import { LoadedModule, getDeckDefFromRobotType, getModuleDef2, + getPositionFromSlotId, LoadedLabware, } from '@opentrons/shared-data' import { COLORS } from '../../ui-style-constants' import { IDENTITY_AFFINE_TRANSFORM, multiplyMatrices } from '../utils' -import { StyledDeck } from './StyledDeck' +import { BaseDeck } from '../BaseDeck' import type { Coordinates, LabwareDefinition2, LabwareLocation, RobotType, - DeckSlot, DeckDefinition, + DeckConfiguration, } from '@opentrons/shared-data' import type { StyleProps } from '../../primitives' -import type { TrashLocation } from './FlexTrash' +import type { TrashCutoutId } from './FlexTrash' const getModulePosition = ( - orderedSlots: DeckSlot[], + deckDef: DeckDefinition, moduleId: string, - loadedModules: LoadedModule[], - deckId: DeckDefinition['otId'] + loadedModules: LoadedModule[] ): Coordinates | null => { const loadedModule = loadedModules.find(m => m.id === moduleId) if (loadedModule == null) return null - const modSlot = orderedSlots.find( + const modSlot = deckDef.locations.addressableAreas.find( s => s.id === loadedModule.location.slotName ) if (modSlot == null) return null - const [modX, modY] = modSlot.position + + const modPosition = getPositionFromSlotId(loadedModule.id, deckDef) + if (modPosition == null) return null + const [modX, modY] = modPosition + const deckSpecificAffineTransform = - getModuleDef2(loadedModule.model).slotTransforms?.[deckId]?.[modSlot.id] - ?.labwareOffset ?? IDENTITY_AFFINE_TRANSFORM + getModuleDef2(loadedModule.model).slotTransforms?.[deckDef.otId]?.[ + modSlot.id + ]?.labwareOffset ?? IDENTITY_AFFINE_TRANSFORM const [[labwareX], [labwareY], [labwareZ]] = multiplyMatrices( [[modX], [modY], [1], [1]], deckSpecificAffineTransform @@ -49,15 +54,13 @@ const getModulePosition = ( } function getLabwareCoordinates({ - orderedSlots, + deckDef, location, - deckId, loadedModules, loadedLabware, }: { - orderedSlots: DeckSlot[] + deckDef: DeckDefinition location: LabwareLocation - deckId: DeckDefinition['otId'] loadedModules: LoadedModule[] loadedLabware: LoadedLabware[] }): Coordinates | null { @@ -76,27 +79,43 @@ function getLabwareCoordinates({ // adapter on module if ('moduleId' in loadedAdapterLocation) { return getModulePosition( - orderedSlots, + deckDef, loadedAdapterLocation.moduleId, - loadedModules, - deckId + loadedModules ) } // adapter on deck - const loadedAdapterSlot = orderedSlots.find( - s => s.id === loadedAdapterLocation.slotName + const loadedAdapterSlotPosition = getPositionFromSlotId( + 'slotName' in loadedAdapterLocation + ? loadedAdapterLocation.slotName + : loadedAdapterLocation.addressableAreaName, + deckDef ) - return loadedAdapterSlot != null + return loadedAdapterSlotPosition != null ? { - x: loadedAdapterSlot.position[0], - y: loadedAdapterSlot.position[1], - z: loadedAdapterSlot.position[2], + x: loadedAdapterSlotPosition[0], + y: loadedAdapterSlotPosition[1], + z: loadedAdapterSlotPosition[2], + } + : null + } else if ('addressableAreaName' in location) { + const slotCoordinateTuple = getPositionFromSlotId( + location.addressableAreaName, + deckDef + ) + return slotCoordinateTuple != null + ? { + x: slotCoordinateTuple[0], + y: slotCoordinateTuple[1], + z: slotCoordinateTuple[2], } : null } else if ('slotName' in location) { - const slotCoordinateTuple = - orderedSlots.find(s => s.id === location.slotName)?.position ?? null + const slotCoordinateTuple = getPositionFromSlotId( + location.slotName, + deckDef + ) return slotCoordinateTuple != null ? { x: slotCoordinateTuple[0], @@ -105,12 +124,7 @@ function getLabwareCoordinates({ } : null } else { - return getModulePosition( - orderedSlots, - location.moduleId, - loadedModules, - deckId - ) + return getModulePosition(deckDef, location.moduleId, loadedModules) } } @@ -124,9 +138,10 @@ interface MoveLabwareOnDeckProps extends StyleProps { finalLabwareLocation: LabwareLocation loadedModules: LoadedModule[] loadedLabware: LoadedLabware[] + deckConfig: DeckConfiguration backgroundItems?: React.ReactNode deckFill?: string - trashLocation?: TrashLocation + trashCutoutId?: TrashCutoutId } export function MoveLabwareOnDeck( props: MoveLabwareOnDeckProps @@ -138,17 +153,28 @@ export function MoveLabwareOnDeck( initialLabwareLocation, finalLabwareLocation, loadedModules, + deckConfig, backgroundItems = null, - deckFill = '#e6e6e6', - trashLocation, ...styleProps } = props const deckDef = React.useMemo(() => getDeckDefFromRobotType(robotType), [ robotType, ]) + const initialSlotId = + initialLabwareLocation === 'offDeck' || + !('slotName' in initialLabwareLocation) + ? deckDef.locations.addressableAreas[1].id + : initialLabwareLocation.slotName + + const slotPosition = getPositionFromSlotId(initialSlotId, deckDef) ?? [ + 0, + 0, + 0, + ] + const offDeckPosition = { - x: deckDef.locations.orderedSlots[1].position[0], + x: slotPosition[0], y: deckDef.cornerOffsetFromOrigin[1] - movedLabwareDef.dimensions.xDimension - @@ -156,18 +182,16 @@ export function MoveLabwareOnDeck( } const initialPosition = getLabwareCoordinates({ - orderedSlots: deckDef.locations.orderedSlots, + deckDef, location: initialLabwareLocation, loadedModules, - deckId: deckDef.otId, loadedLabware, }) ?? offDeckPosition const finalPosition = getLabwareCoordinates({ - orderedSlots: deckDef.locations.orderedSlots, + deckDef, location: finalLabwareLocation, loadedModules, - deckId: deckDef.otId, loadedLabware, }) ?? offDeckPosition @@ -192,26 +216,16 @@ export function MoveLabwareOnDeck( if (deckDef == null) return null - const [viewBoxOriginX, viewBoxOriginY] = deckDef.cornerOffsetFromOrigin - const [deckXDimension, deckYDimension] = deckDef.dimensions - const wholeDeckViewBox = `${viewBoxOriginX} ${viewBoxOriginY} ${deckXDimension} ${deckYDimension}` - return ( - - {deckDef != null && ( - - )} {backgroundItems} - + ) } @@ -260,7 +274,6 @@ export function MoveLabwareOnDeck( * These animated components needs to be split out because react-spring and styled-components don't play nice * @see https://github.com/pmndrs/react-spring/issues/1515 */ const AnimatedG = styled(animated.g)`` -const AnimatedSvg = styled(animated.svg)`` interface WellProps { wellDef: LabwareWell diff --git a/components/src/hardware-sim/Deck/RobotWorkSpace.tsx b/components/src/hardware-sim/Deck/RobotWorkSpace.tsx index 5f36dababc5..3678d1acfea 100644 --- a/components/src/hardware-sim/Deck/RobotWorkSpace.tsx +++ b/components/src/hardware-sim/Deck/RobotWorkSpace.tsx @@ -1,9 +1,10 @@ import * as React from 'react' +import { OT2_ROBOT_TYPE } from '@opentrons/shared-data' import { StyleProps, Svg } from '../../primitives' import { StyledDeck } from './StyledDeck' import type { DeckDefinition, DeckSlot } from '@opentrons/shared-data' -import type { TrashLocation } from './FlexTrash' +import type { TrashCutoutId } from './FlexTrash' export interface RobotWorkSpaceRenderProps { deckSlotsById: { [slotId: string]: DeckSlot } @@ -19,8 +20,10 @@ export interface RobotWorkSpaceProps extends StyleProps { children?: (props: RobotWorkSpaceRenderProps) => React.ReactNode deckFill?: string deckLayerBlocklist?: string[] + // optional boolean to show the OT-2 deck from deck defintion layers + showDeckLayers?: boolean // TODO(bh, 2023-10-09): remove - trashSlotName?: TrashLocation + trashCutoutId?: TrashCutoutId trashColor?: string id?: string } @@ -33,7 +36,8 @@ export function RobotWorkSpace(props: RobotWorkSpaceProps): JSX.Element | null { deckDef, deckFill = '#CCCCCC', deckLayerBlocklist = [], - trashSlotName, + showDeckLayers = false, + trashCutoutId, viewBox, trashColor, id, @@ -65,7 +69,7 @@ export function RobotWorkSpace(props: RobotWorkSpaceProps): JSX.Element | null { const [viewBoxOriginX, viewBoxOriginY] = deckDef.cornerOffsetFromOrigin const [deckXDimension, deckYDimension] = deckDef.dimensions - deckSlotsById = deckDef.locations.orderedSlots.reduce( + deckSlotsById = deckDef.locations.addressableAreas.reduce( (acc, deckSlot) => ({ ...acc, [deckSlot.id]: deckSlot }), {} ) @@ -80,15 +84,15 @@ export function RobotWorkSpace(props: RobotWorkSpaceProps): JSX.Element | null { transform="scale(1, -1)" {...styleProps} > - {deckDef != null && ( + {showDeckLayers ? ( - )} + ) : null} {children?.({ deckSlotsById, getRobotCoordsFromDOMCoords })} ) diff --git a/components/src/hardware-sim/Deck/SlotLabels.tsx b/components/src/hardware-sim/Deck/SlotLabels.tsx index 4bfe059ed3f..31648cda9c0 100644 --- a/components/src/hardware-sim/Deck/SlotLabels.tsx +++ b/components/src/hardware-sim/Deck/SlotLabels.tsx @@ -10,6 +10,7 @@ import type { RobotType } from '@opentrons/shared-data' interface SlotLabelsProps { robotType: RobotType color?: string + show4thColumn?: boolean } /** @@ -19,7 +20,11 @@ interface SlotLabelsProps { export const SlotLabels = ({ robotType, color, + show4thColumn = false, }: SlotLabelsProps): JSX.Element | null => { + const widthSmallRem = 10.5 + const widthLargeRem = 15.25 + return robotType === FLEX_ROBOT_TYPE ? ( <> + {show4thColumn ? ( + + + + ) : null} diff --git a/components/src/hardware-sim/Deck/StyledDeck.tsx b/components/src/hardware-sim/Deck/StyledDeck.tsx index 55e1cbfc3c9..7ac0130fbc0 100644 --- a/components/src/hardware-sim/Deck/StyledDeck.tsx +++ b/components/src/hardware-sim/Deck/StyledDeck.tsx @@ -1,57 +1,59 @@ import * as React from 'react' import styled from 'styled-components' -import { DeckFromData } from './DeckFromData' +import { DeckFromLayers } from './DeckFromLayers' import { FlexTrash } from './FlexTrash' -import type { DeckFromDataProps } from './DeckFromData' -import type { TrashLocation } from './FlexTrash' +import type { RobotType } from '@opentrons/shared-data' +import type { DeckFromLayersProps } from './DeckFromLayers' +import type { TrashCutoutId } from './FlexTrash' interface StyledDeckProps { deckFill: string + robotType: RobotType trashColor?: string - trashLocation?: TrashLocation + trashCutoutId?: TrashCutoutId } // apply fill to .SLOT_BASE class from ot3_standard deck definition -const StyledG = styled.g` +const StyledG = styled.g>` .SLOT_BASE { fill: ${props => props.deckFill}; } ` export function StyledDeck( - props: StyledDeckProps & DeckFromDataProps + props: StyledDeckProps & DeckFromLayersProps ): JSX.Element { const { deckFill, - trashLocation, + robotType, + trashCutoutId, trashColor = '#757070', - ...deckFromDataProps + ...DeckFromLayersProps } = props - - const robotType = deckFromDataProps.def.robot.model ?? 'OT-2 Standard' - const trashSlotClipId = - trashLocation != null ? `SLOT_CLIPS_${trashLocation}` : null + trashCutoutId != null ? `SLOT_CLIPS_${trashCutoutId}` : null const trashLayerBlocklist = trashSlotClipId != null - ? deckFromDataProps.layerBlocklist.concat(trashSlotClipId) - : deckFromDataProps.layerBlocklist + ? DeckFromLayersProps.layerBlocklist.concat(trashSlotClipId) + : DeckFromLayersProps.layerBlocklist return ( - - {trashLocation != null ? ( + {/* TODO(bh, 2023-11-06): remove trash and trashCutoutId prop when StyledDeck removed from MoveLabwareOnDeck */} + {trashCutoutId != null ? ( ) : null} diff --git a/components/src/hardware-sim/Deck/getDeckDefinitions.ts b/components/src/hardware-sim/Deck/getDeckDefinitions.ts index 0d440a4188e..b0be5266015 100644 --- a/components/src/hardware-sim/Deck/getDeckDefinitions.ts +++ b/components/src/hardware-sim/Deck/getDeckDefinitions.ts @@ -6,7 +6,7 @@ import type { DeckDefinition } from '@opentrons/shared-data' // and SD is not webpacked const deckDefinitionsContext = require.context( - '@opentrons/shared-data/deck/definitions/3', + '@opentrons/shared-data/deck/definitions/4', true, // traverse subdirectories /\.json$/, // import filter 'sync' // load every definition into one synchronous chunk diff --git a/components/src/hardware-sim/Deck/index.tsx b/components/src/hardware-sim/Deck/index.tsx index 1a5bfebefff..1d2b9b8fec7 100644 --- a/components/src/hardware-sim/Deck/index.tsx +++ b/components/src/hardware-sim/Deck/index.tsx @@ -1,4 +1,4 @@ -export * from './DeckFromData' +export * from './DeckFromLayers' export * from './FlexTrash' export * from './getDeckDefinitions' export * from './MoveLabwareOnDeck' diff --git a/components/src/hardware-sim/DeckConfigurator/DeckConfigurator.stories.tsx b/components/src/hardware-sim/DeckConfigurator/DeckConfigurator.stories.tsx index c28469d30b3..42b6d87b4e1 100644 --- a/components/src/hardware-sim/DeckConfigurator/DeckConfigurator.stories.tsx +++ b/components/src/hardware-sim/DeckConfigurator/DeckConfigurator.stories.tsx @@ -11,6 +11,7 @@ import { import { DeckConfigurator } from '.' import type { Story, Meta } from '@storybook/react' +import type { Fixture } from '@opentrons/shared-data' export default { title: 'Library/Molecules/Simulation/DeckConfigurator', @@ -19,44 +20,44 @@ export default { const Template: Story> = args => ( ) -const deckConfig = [ +const deckConfig: Fixture[] = [ { - fixtureLocation: 'A1', + fixtureLocation: 'cutoutA1', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'B1', + fixtureLocation: 'cutoutB1', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'C1', + fixtureLocation: 'cutoutC1', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'D1', + fixtureLocation: 'cutoutD1', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'A3', + fixtureLocation: 'cutoutA3', loadName: TRASH_BIN_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'B3', + fixtureLocation: 'cutoutB3', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'C3', + fixtureLocation: 'cutoutC3', loadName: STAGING_AREA_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'D3', + fixtureLocation: 'cutoutD3', loadName: WASTE_CHUTE_LOAD_NAME, fixtureId: uuidv4(), }, diff --git a/components/src/hardware-sim/DeckConfigurator/EmptyConfigFixture.tsx b/components/src/hardware-sim/DeckConfigurator/EmptyConfigFixture.tsx index ef579ea5bda..f20f402eed6 100644 --- a/components/src/hardware-sim/DeckConfigurator/EmptyConfigFixture.tsx +++ b/components/src/hardware-sim/DeckConfigurator/EmptyConfigFixture.tsx @@ -1,37 +1,17 @@ import * as React from 'react' - -import { - getDeckDefFromRobotType, - FLEX_ROBOT_TYPE, -} from '@opentrons/shared-data' +import { css } from 'styled-components' import { Icon } from '../../icons' -import { Btn, Flex } from '../../primitives' +import { Btn } from '../../primitives' import { ALIGN_CENTER, DISPLAY_FLEX, JUSTIFY_CENTER } from '../../styles' import { BORDERS, COLORS } from '../../ui-style-constants' import { RobotCoordsForeignObject } from '../Deck/RobotCoordsForeignObject' +import { FIXTURE_HEIGHT, SINGLE_SLOT_FIXTURE_WIDTH } from './constants' -import type { Cutout } from '@opentrons/shared-data' - -// TODO: replace stubs with JSON definitions when available -const standardSlotDef = { - schemaVersion: 1, - version: 1, - namespace: 'opentrons', - metadata: { - displayName: 'standard slot', - }, - parameters: { - loadName: 'standard_slot', - }, - boundingBox: { - xDimension: 246.5, - yDimension: 106.0, - zDimension: 0, - }, -} +import type { Cutout, DeckDefinition } from '@opentrons/shared-data' interface EmptyConfigFixtureProps { + deckDefinition: DeckDefinition fixtureLocation: Cutout handleClickAdd: (fixtureLocation: Cutout) => void } @@ -39,11 +19,10 @@ interface EmptyConfigFixtureProps { export function EmptyConfigFixture( props: EmptyConfigFixtureProps ): JSX.Element { - const { handleClickAdd, fixtureLocation } = props - const deckDef = getDeckDefFromRobotType(FLEX_ROBOT_TYPE) + const { deckDefinition, handleClickAdd, fixtureLocation } = props // TODO: migrate to fixture location for v4 - const standardSlot = deckDef.locations.orderedSlots.find( + const standardSlot = deckDefinition.locations.cutouts.find( slot => slot.id === fixtureLocation ) const [xSlotPosition = 0, ySlotPosition = 0] = standardSlot?.position ?? [] @@ -51,42 +30,58 @@ export function EmptyConfigFixture( // TODO: remove adjustment when reading from fixture position // adjust x differently for right side/left side const isLeftSideofDeck = - fixtureLocation === 'A1' || - fixtureLocation === 'B1' || - fixtureLocation === 'C1' || - fixtureLocation === 'D1' + fixtureLocation === 'cutoutA1' || + fixtureLocation === 'cutoutB1' || + fixtureLocation === 'cutoutC1' || + fixtureLocation === 'cutoutD1' const xAdjustment = isLeftSideofDeck ? -101.5 : -17 const x = xSlotPosition + xAdjustment const yAdjustment = -10 const y = ySlotPosition + yAdjustment - const { xDimension, yDimension } = standardSlotDef.boundingBox - return ( - handleClickAdd(fixtureLocation)} > - handleClickAdd(fixtureLocation)} - > - - - + + ) } + +const EMPTY_CONFIG_STYLE = css` + display: ${DISPLAY_FLEX}; + align-items: ${ALIGN_CENTER}; + justify-content: ${JUSTIFY_CENTER}; + background-color: ${COLORS.mediumBlueEnabled}; + border: 3px dashed ${COLORS.blueEnabled}; + border-radius: ${BORDERS.radiusSoftCorners}; + width: 100%; + + &:active { + border: 3px solid ${COLORS.blueEnabled}; + background-color: ${COLORS.mediumBluePressed}; + } + + &:focus { + border: 3px solid ${COLORS.blueEnabled}; + background-color: ${COLORS.mediumBluePressed}; + } + + &:hover { + background-color: ${COLORS.mediumBluePressed}; + } + + &:focus-visible { + border: 3px solid ${COLORS.fundamentalsFocus}; + } +` diff --git a/components/src/hardware-sim/DeckConfigurator/StagingAreaConfigFixture.tsx b/components/src/hardware-sim/DeckConfigurator/StagingAreaConfigFixture.tsx index f8ba5b44e35..6f01125d965 100644 --- a/components/src/hardware-sim/DeckConfigurator/StagingAreaConfigFixture.tsx +++ b/components/src/hardware-sim/DeckConfigurator/StagingAreaConfigFixture.tsx @@ -1,37 +1,21 @@ import * as React from 'react' - -import { - getDeckDefFromRobotType, - FLEX_ROBOT_TYPE, -} from '@opentrons/shared-data' +import { css } from 'styled-components' import { Icon } from '../../icons' -import { Btn, Flex, Text } from '../../primitives' +import { Btn, Text } from '../../primitives' import { ALIGN_CENTER, DISPLAY_FLEX, JUSTIFY_CENTER } from '../../styles' import { BORDERS, COLORS, SPACING, TYPOGRAPHY } from '../../ui-style-constants' import { RobotCoordsForeignObject } from '../Deck/RobotCoordsForeignObject' +import { + FIXTURE_HEIGHT, + STAGING_AREA_DISPLAY_NAME, + STAGING_AREA_FIXTURE_WIDTH, +} from './constants' -import type { Cutout } from '@opentrons/shared-data' - -// TODO: replace stubs with JSON definitions when available -const stagingAreaDef = { - schemaVersion: 1, - version: 1, - namespace: 'opentrons', - metadata: { - displayName: 'Staging area', - }, - parameters: { - loadName: 'extension_slot', - }, - boundingBox: { - xDimension: 318.5, - yDimension: 106.0, - zDimension: 0, - }, -} +import type { Cutout, DeckDefinition } from '@opentrons/shared-data' interface StagingAreaConfigFixtureProps { + deckDefinition: DeckDefinition fixtureLocation: Cutout handleClickRemove?: (fixtureLocation: Cutout) => void } @@ -39,11 +23,9 @@ interface StagingAreaConfigFixtureProps { export function StagingAreaConfigFixture( props: StagingAreaConfigFixtureProps ): JSX.Element { - const { handleClickRemove, fixtureLocation } = props - const deckDef = getDeckDefFromRobotType(FLEX_ROBOT_TYPE) + const { deckDefinition, handleClickRemove, fixtureLocation } = props - // TODO: migrate to fixture location for v4 - const stagingAreaSlot = deckDef.locations.orderedSlots.find( + const stagingAreaSlot = deckDefinition.locations.cutouts.find( slot => slot.id === fixtureLocation ) const [xSlotPosition = 0, ySlotPosition = 0] = stagingAreaSlot?.position ?? [] @@ -53,39 +35,52 @@ export function StagingAreaConfigFixture( const yAdjustment = -10 const y = ySlotPosition + yAdjustment - const { xDimension, yDimension } = stagingAreaDef.boundingBox - return ( - handleClickRemove(fixtureLocation) + : () => {} + } > - - {stagingAreaDef.metadata.displayName} + + {STAGING_AREA_DISPLAY_NAME} - {handleClickRemove != null ? ( - handleClickRemove(fixtureLocation)} - > - - - ) : null} - + + ) } + +const STAGING_AREA_CONFIG_STYLE = css` + display: ${DISPLAY_FLEX}; + align-items: ${ALIGN_CENTER}; + background-color: ${COLORS.grey2}; + border-radius: ${BORDERS.borderRadiusSize1}; + color: ${COLORS.white}; + grid-gap: ${SPACING.spacing8}; + justify-content: ${JUSTIFY_CENTER}; + width: 100%; + + &:active { + background-color: ${COLORS.darkBlack90}; + } + + &:hover { + background-color: ${COLORS.grey1}; + } + + &:focus-visible { + border: 3px solid ${COLORS.fundamentalsFocus}; + } +` diff --git a/components/src/hardware-sim/DeckConfigurator/TrashBinConfigFixture.tsx b/components/src/hardware-sim/DeckConfigurator/TrashBinConfigFixture.tsx index 0d78b538fb7..03879379c98 100644 --- a/components/src/hardware-sim/DeckConfigurator/TrashBinConfigFixture.tsx +++ b/components/src/hardware-sim/DeckConfigurator/TrashBinConfigFixture.tsx @@ -1,37 +1,21 @@ import * as React from 'react' - -import { - getDeckDefFromRobotType, - FLEX_ROBOT_TYPE, -} from '@opentrons/shared-data' +import { css } from 'styled-components' import { Icon } from '../../icons' -import { Btn, Flex, Text } from '../../primitives' +import { Btn, Text } from '../../primitives' import { ALIGN_CENTER, DISPLAY_FLEX, JUSTIFY_CENTER } from '../../styles' import { BORDERS, COLORS, SPACING, TYPOGRAPHY } from '../../ui-style-constants' import { RobotCoordsForeignObject } from '../Deck/RobotCoordsForeignObject' +import { + FIXTURE_HEIGHT, + SINGLE_SLOT_FIXTURE_WIDTH, + TRASH_BIN_DISPLAY_NAME, +} from './constants' -import type { Cutout } from '@opentrons/shared-data' - -// TODO: replace stubs with JSON definitions when available -const trashBinDef = { - schemaVersion: 1, - version: 1, - namespace: 'opentrons', - metadata: { - displayName: 'Trash bin', - }, - parameters: { - loadName: 'trash_bin', - }, - boundingBox: { - xDimension: 246.5, - yDimension: 106.0, - zDimension: 0, - }, -} +import type { Cutout, DeckDefinition } from '@opentrons/shared-data' interface TrashBinConfigFixtureProps { + deckDefinition: DeckDefinition fixtureLocation: Cutout handleClickRemove?: (fixtureLocation: Cutout) => void } @@ -39,59 +23,69 @@ interface TrashBinConfigFixtureProps { export function TrashBinConfigFixture( props: TrashBinConfigFixtureProps ): JSX.Element { - const { handleClickRemove, fixtureLocation } = props - const deckDef = getDeckDefFromRobotType(FLEX_ROBOT_TYPE) + const { deckDefinition, handleClickRemove, fixtureLocation } = props - // TODO: migrate to fixture location for v4 - const trashBinSlot = deckDef.locations.orderedSlots.find( + const trashBinSlot = deckDefinition.locations.cutouts.find( slot => slot.id === fixtureLocation ) const [xSlotPosition = 0, ySlotPosition = 0] = trashBinSlot?.position ?? [] // TODO: remove adjustment when reading from fixture position // adjust x differently for right side/left side const isLeftSideofDeck = - fixtureLocation === 'A1' || - fixtureLocation === 'B1' || - fixtureLocation === 'C1' || - fixtureLocation === 'D1' + fixtureLocation === 'cutoutA1' || + fixtureLocation === 'cutoutB1' || + fixtureLocation === 'cutoutC1' || + fixtureLocation === 'cutoutD1' const xAdjustment = isLeftSideofDeck ? -101.5 : -17 const x = xSlotPosition + xAdjustment const yAdjustment = -10 const y = ySlotPosition + yAdjustment - const { xDimension, yDimension } = trashBinDef.boundingBox - return ( - handleClickRemove(fixtureLocation) + : () => {} + } > - - {trashBinDef.metadata.displayName} + + {TRASH_BIN_DISPLAY_NAME} - {handleClickRemove != null ? ( - handleClickRemove(fixtureLocation)} - > - - - ) : null} - + + ) } + +const TRASH_BIN_CONFIG_STYLE = css` + display: ${DISPLAY_FLEX}; + align-items: ${ALIGN_CENTER}; + background-color: ${COLORS.grey2}; + border-radius: ${BORDERS.borderRadiusSize1}; + color: ${COLORS.white}; + justify-content: ${JUSTIFY_CENTER}; + grid-gap: ${SPACING.spacing8}; + width: 100%; + + &:active { + background-color: ${COLORS.darkBlack90}; + } + + &:hover { + background-color: ${COLORS.grey1}; + } + + &:focus-visible { + } +` diff --git a/components/src/hardware-sim/DeckConfigurator/WasteChuteConfigFixture.tsx b/components/src/hardware-sim/DeckConfigurator/WasteChuteConfigFixture.tsx index da0b9241df7..c4163f8c7a3 100644 --- a/components/src/hardware-sim/DeckConfigurator/WasteChuteConfigFixture.tsx +++ b/components/src/hardware-sim/DeckConfigurator/WasteChuteConfigFixture.tsx @@ -1,49 +1,38 @@ import * as React from 'react' - -import { - getDeckDefFromRobotType, - FLEX_ROBOT_TYPE, -} from '@opentrons/shared-data' +import { css } from 'styled-components' import { Icon } from '../../icons' -import { Btn, Flex, Text } from '../../primitives' +import { Btn, Text } from '../../primitives' import { ALIGN_CENTER, DISPLAY_FLEX, JUSTIFY_CENTER } from '../../styles' import { BORDERS, COLORS, SPACING, TYPOGRAPHY } from '../../ui-style-constants' import { RobotCoordsForeignObject } from '../Deck/RobotCoordsForeignObject' +import { + WASTE_CHUTE_DISPLAY_NAME, + FIXTURE_HEIGHT, + STAGING_AREA_FIXTURE_WIDTH, + SINGLE_SLOT_FIXTURE_WIDTH, +} from './constants' -import type { Cutout } from '@opentrons/shared-data' - -// TODO: replace stubs with JSON definitions when available -const wasteChuteDef = { - schemaVersion: 1, - version: 1, - namespace: 'opentrons', - metadata: { - displayName: 'Waste chute', - }, - parameters: { - loadName: 'trash_chute', - }, - boundingBox: { - xDimension: 286.5, - yDimension: 106.0, - zDimension: 0, - }, -} +import type { Cutout, DeckDefinition } from '@opentrons/shared-data' interface WasteChuteConfigFixtureProps { + deckDefinition: DeckDefinition fixtureLocation: Cutout handleClickRemove?: (fixtureLocation: Cutout) => void + hasStagingAreas?: boolean } export function WasteChuteConfigFixture( props: WasteChuteConfigFixtureProps ): JSX.Element { - const { handleClickRemove, fixtureLocation } = props - const deckDef = getDeckDefFromRobotType(FLEX_ROBOT_TYPE) + const { + deckDefinition, + handleClickRemove, + fixtureLocation, + hasStagingAreas = false, + } = props - // TODO: migrate to fixture location for v4 - const wasteChuteSlot = deckDef.locations.orderedSlots.find( + const wasteChuteSlot = deckDefinition.locations.cutouts.find( slot => slot.id === fixtureLocation ) const [xSlotPosition = 0, ySlotPosition = 0] = wasteChuteSlot?.position ?? [] @@ -53,39 +42,54 @@ export function WasteChuteConfigFixture( const yAdjustment = -10 const y = ySlotPosition + yAdjustment - const { xDimension, yDimension } = wasteChuteDef.boundingBox - return ( - handleClickRemove(fixtureLocation) + : () => {} + } > - - {wasteChuteDef.metadata.displayName} + + {WASTE_CHUTE_DISPLAY_NAME} - {handleClickRemove != null ? ( - handleClickRemove(fixtureLocation)} - > - - - ) : null} - + + ) } + +const WASTE_CHUTE_CONFIG_STYLE = css` + display: ${DISPLAY_FLEX}; + align-items: ${ALIGN_CENTER}; + background-color: ${COLORS.grey2}; + border-radius: ${BORDERS.borderRadiusSize1}; + color: ${COLORS.white}; + justify-content: ${JUSTIFY_CENTER}; + grid-gap: ${SPACING.spacing8}; + width: 100%; + + &:active { + background-color: ${COLORS.darkBlack90}; + } + + &:hover { + background-color: ${COLORS.grey1}; + } + + &:focus-visible { + border: 3px solid ${COLORS.fundamentalsFocus}; + } +` diff --git a/components/src/hardware-sim/DeckConfigurator/constants.ts b/components/src/hardware-sim/DeckConfigurator/constants.ts new file mode 100644 index 00000000000..79f246274e3 --- /dev/null +++ b/components/src/hardware-sim/DeckConfigurator/constants.ts @@ -0,0 +1,6 @@ +export const FIXTURE_HEIGHT = 106.0 +export const SINGLE_SLOT_FIXTURE_WIDTH = 246.5 +export const STAGING_AREA_FIXTURE_WIDTH = 318.5 +export const STAGING_AREA_DISPLAY_NAME = 'Staging area' +export const TRASH_BIN_DISPLAY_NAME = 'Trash bin' +export const WASTE_CHUTE_DISPLAY_NAME = 'Waste chute' diff --git a/components/src/hardware-sim/DeckConfigurator/index.tsx b/components/src/hardware-sim/DeckConfigurator/index.tsx index 93d66920614..f7a886f5324 100644 --- a/components/src/hardware-sim/DeckConfigurator/index.tsx +++ b/components/src/hardware-sim/DeckConfigurator/index.tsx @@ -3,10 +3,11 @@ import * as React from 'react' import { getDeckDefFromRobotType, FLEX_ROBOT_TYPE, - STAGING_AREA_LOAD_NAME, - STANDARD_SLOT_LOAD_NAME, - TRASH_BIN_LOAD_NAME, - WASTE_CHUTE_LOAD_NAME, + SINGLE_SLOT_FIXTURES, + STAGING_AREA_RIGHT_SLOT_FIXTURE, + TRASH_BIN_ADAPTER_FIXTURE, + WASTE_CHUTE_ONLY_FIXTURES, + WASTE_CHUTE_STAGING_AREA_FIXTURES, } from '@opentrons/shared-data' import { COLORS } from '../../ui-style-constants' @@ -18,12 +19,12 @@ import { StagingAreaConfigFixture } from './StagingAreaConfigFixture' import { TrashBinConfigFixture } from './TrashBinConfigFixture' import { WasteChuteConfigFixture } from './WasteChuteConfigFixture' -import type { Cutout, DeckConfiguration } from '@opentrons/shared-data' +import type { CutoutId, DeckConfiguration } from '@opentrons/shared-data' interface DeckConfiguratorProps { deckConfig: DeckConfiguration - handleClickAdd: (fixtureLocation: Cutout) => void - handleClickRemove: (fixtureLocation: Cutout) => void + handleClickAdd: (cutoutId: CutoutId) => void + handleClickRemove: (cutoutId: CutoutId) => void lightFill?: string darkFill?: string readOnly?: boolean @@ -45,81 +46,106 @@ export function DeckConfigurator(props: DeckConfiguratorProps): JSX.Element { const deckDef = getDeckDefFromRobotType(FLEX_ROBOT_TYPE) // restrict configuration to certain locations - const configurableFixtureLocations = [ - 'A1', - 'B1', - 'C1', - 'D1', - 'A3', - 'B3', - 'C3', - 'D3', + const configurableFixtureLocations: CutoutId[] = [ + 'cutoutA1', + 'cutoutB1', + 'cutoutC1', + 'cutoutD1', + 'cutoutA3', + 'cutoutB3', + 'cutoutC3', + 'cutoutD3', ] - const configurableDeckConfig = deckConfig.filter(fixture => - configurableFixtureLocations.includes(fixture.fixtureLocation) + const configurableDeckConfig = deckConfig.filter(({ cutoutId }) => + configurableFixtureLocations.includes(cutoutId) ) const stagingAreaFixtures = configurableDeckConfig.filter( - fixture => fixture.loadName === STAGING_AREA_LOAD_NAME + ({ cutoutFixtureId }) => cutoutFixtureId === STAGING_AREA_RIGHT_SLOT_FIXTURE ) const wasteChuteFixtures = configurableDeckConfig.filter( - fixture => fixture.loadName === WASTE_CHUTE_LOAD_NAME + ({ cutoutFixtureId }) => + cutoutFixtureId != null && + WASTE_CHUTE_ONLY_FIXTURES.includes(cutoutFixtureId) + ) + const wasteChuteStagingAreaFixtures = configurableDeckConfig.filter( + ({ cutoutFixtureId }) => + cutoutFixtureId != null && + WASTE_CHUTE_STAGING_AREA_FIXTURES.includes(cutoutFixtureId) ) const emptyFixtures = readOnly ? [] : configurableDeckConfig.filter( - fixture => fixture.loadName === STANDARD_SLOT_LOAD_NAME + ({ cutoutFixtureId }) => + cutoutFixtureId != null && + SINGLE_SLOT_FIXTURES.includes(cutoutFixtureId) ) const trashBinFixtures = configurableDeckConfig.filter( - fixture => fixture.loadName === TRASH_BIN_LOAD_NAME + ({ cutoutFixtureId }) => cutoutFixtureId === TRASH_BIN_ADAPTER_FIXTURE ) return ( - {/* TODO(bh, 2023-10-18): migrate to v4 deck def cutouts */} - {deckDef.locations.orderedSlots.map(slotDef => ( + {deckDef.locations.cutouts.map(cutout => ( ))} - {stagingAreaFixtures.map(fixture => ( + {stagingAreaFixtures.map(({ cutoutId }) => ( ))} - {emptyFixtures.map(fixture => ( + {emptyFixtures.map(({ cutoutId }) => ( + ))} + {wasteChuteFixtures.map(({ cutoutId }) => ( + ))} - {wasteChuteFixtures.map(fixture => ( + {wasteChuteStagingAreaFixtures.map(({ cutoutId }) => ( ))} - {trashBinFixtures.map(fixture => ( + {trashBinFixtures.map(({ cutoutId }) => ( ))} - + 0} + /> {children} ) diff --git a/components/src/hardware-sim/DeckSlotLocation/index.tsx b/components/src/hardware-sim/DeckSlotLocation/index.tsx index 162a92df3e0..6f24bebf90f 100644 --- a/components/src/hardware-sim/DeckSlotLocation/index.tsx +++ b/components/src/hardware-sim/DeckSlotLocation/index.tsx @@ -25,7 +25,7 @@ export function DeckSlotLocation( ...restProps } = props - const slotDef = deckDefinition?.locations.orderedSlots.find( + const slotDef = deckDefinition?.locations.addressableAreas.find( s => s.id === slotName ) if (slotDef == null) { diff --git a/components/src/hardware-sim/Labware/LabwareRender.tsx b/components/src/hardware-sim/Labware/LabwareRender.tsx index ba515c73b94..798154da768 100644 --- a/components/src/hardware-sim/Labware/LabwareRender.tsx +++ b/components/src/hardware-sim/Labware/LabwareRender.tsx @@ -46,6 +46,8 @@ export interface LabwareRenderProps { wellStroke?: WellStroke /** CSS color to stroke the labware outline */ labwareStroke?: CSSProperties['stroke'] + /** adds thicker blue border with blur to labware */ + highlight?: boolean /** Optional callback, called with WellMouseEvent args onMouseEnter */ onMouseEnterWell?: (e: WellMouseEvent) => unknown /** Optional callback, called with WellMouseEvent args onMouseLeave */ @@ -54,10 +56,7 @@ export interface LabwareRenderProps { allows drag-to-select behavior */ selectableWellClass?: string gRef?: React.RefObject - // adds blue border with drop shadow to labware - hover?: boolean onLabwareClick?: () => void - highlightLabware?: boolean } export const LabwareRender = (props: LabwareRenderProps): JSX.Element => { @@ -74,22 +73,21 @@ export const LabwareRender = (props: LabwareRenderProps): JSX.Element => { onMouseEnterWell={props.onMouseEnterWell} onMouseLeaveWell={props.onMouseLeaveWell} selectableWellClass={props.selectableWellClass} - hover={props.hover} onLabwareClick={props.onLabwareClick} - highlightLabware={props.highlightLabware} + highlight={props.highlight} /> - {props.wellStroke && ( + {props.wellStroke != null ? ( - )} - {props.wellFill && ( + ) : null} + {props.wellFill != null ? ( - )} + ) : null} {props.disabledWells != null ? props.disabledWells.map((well, index) => ( { /> )) : null} - {props.highlightedWells && ( + {props.highlightedWells != null ? ( - )} - {props.selectedWells && ( + ) : null} + {props.selectedWells != null ? ( - )} - {props.missingTips && ( + ) : null} + {props.missingTips != null ? ( - )} - {props.wellLabelOption && - props.definition.metadata.displayCategory !== 'adapter' && ( - - )} + ) : null} + {props.wellLabelOption != null && + props.definition.metadata.displayCategory !== 'adapter' ? ( + + ) : null} ) } diff --git a/components/src/hardware-sim/Labware/labwareInternals/LabwareOutline.css b/components/src/hardware-sim/Labware/labwareInternals/LabwareOutline.css index b1170cbe7d8..e5edc1ef332 100644 --- a/components/src/hardware-sim/Labware/labwareInternals/LabwareOutline.css +++ b/components/src/hardware-sim/Labware/labwareInternals/LabwareOutline.css @@ -17,5 +17,5 @@ } .hover_outline { - stroke: #006cfa; + stroke: var(--c-blue-enabled); } diff --git a/components/src/hardware-sim/Labware/labwareInternals/LabwareOutline.tsx b/components/src/hardware-sim/Labware/labwareInternals/LabwareOutline.tsx index 307de80c595..b0b95390d95 100644 --- a/components/src/hardware-sim/Labware/labwareInternals/LabwareOutline.tsx +++ b/components/src/hardware-sim/Labware/labwareInternals/LabwareOutline.tsx @@ -1,19 +1,23 @@ import * as React from 'react' -import cx from 'classnames' import { SLOT_RENDER_WIDTH, SLOT_RENDER_HEIGHT } from '@opentrons/shared-data' -import styles from './LabwareOutline.css' +import { COLORS } from '../../../ui-style-constants' import type { CSSProperties } from 'styled-components' import type { LabwareDefinition2 } from '@opentrons/shared-data' export interface LabwareOutlineProps { + /** Labware definition to outline */ definition?: LabwareDefinition2 + /** x dimension in mm of this labware, used if definition doesn't supply dimensions, defaults to 127.76 */ width?: number + /** y dimension in mm of this labware, used if definition doesn't supply dimensions, defaults to 85.48 */ height?: number + /** if this labware is a tip rack, darken background and lighten borderx dimension in mm of this labware, used if definition doesn't supply dimensions, defaults to false */ isTiprack?: boolean - hover?: boolean - stroke?: CSSProperties['stroke'] + /** adds thicker blue border with blur to labware, defaults to false */ highlight?: boolean + /** [legacy] override the border color */ + stroke?: CSSProperties['stroke'] } const OUTLINE_THICKNESS_MM = 1 @@ -23,32 +27,73 @@ export function LabwareOutline(props: LabwareOutlineProps): JSX.Element { definition, width = SLOT_RENDER_WIDTH, height = SLOT_RENDER_HEIGHT, - isTiprack, + isTiprack = false, + highlight = false, stroke, - hover, - highlight, } = props const { parameters = { isTiprack }, dimensions = { xDimension: width, yDimension: height }, - } = definition || {} + } = definition ?? {} + const backgroundFill = parameters.isTiprack ? '#CCCCCC' : COLORS.white return ( <> - + {highlight ? ( + <> + + + + + + + + + ) : ( + + )} ) } + +interface LabwareBorderProps extends React.SVGProps { + borderThickness: number + xDimension: number + yDimension: number +} +function LabwareBorder(props: LabwareBorderProps): JSX.Element { + const { borderThickness, xDimension, yDimension, ...svgProps } = props + return ( + + ) +} diff --git a/components/src/hardware-sim/Labware/labwareInternals/StaticLabware.tsx b/components/src/hardware-sim/Labware/labwareInternals/StaticLabware.tsx index 0e7994969a6..0da23c1cc35 100644 --- a/components/src/hardware-sim/Labware/labwareInternals/StaticLabware.tsx +++ b/components/src/hardware-sim/Labware/labwareInternals/StaticLabware.tsx @@ -11,22 +11,25 @@ import type { LabwareDefinition2, LabwareWell } from '@opentrons/shared-data' import type { WellMouseEvent } from './types' export interface StaticLabwareProps { + /** Labware definition to render */ definition: LabwareDefinition2 - selectableWellClass?: string + /** Add thicker blurred blue border to labware, defaults to false */ + highlight?: boolean + /** Optional callback to be executed when entire labware element is clicked */ + onLabwareClick?: () => void + /** Optional callback to be executed when mouse enters a well element */ onMouseEnterWell?: (e: WellMouseEvent) => unknown + /** Optional callback to be executed when mouse leaves a well element */ onMouseLeaveWell?: (e: WellMouseEvent) => unknown - hover?: boolean - onLabwareClick?: () => void - highlightLabware?: boolean + /** [legacy] css class to be added to well component if it is selectable */ + selectableWellClass?: string } const TipDecoration = React.memo(function TipDecoration(props: { well: LabwareWell }) { const { well } = props - // @ts-expect-error(mc, 2021-04-27): refine well type before accessing `diameter` - if (well.diameter) { - // @ts-expect-error(mc, 2021-04-27): refine well type before accessing `diameter` + if ('diameter' in well && well.diameter != null) { const radius = well.diameter / 2 return ( @@ -38,14 +41,12 @@ const TipDecoration = React.memo(function TipDecoration(props: { export function StaticLabwareComponent(props: StaticLabwareProps): JSX.Element { const { isTiprack } = props.definition.parameters - return ( diff --git a/components/src/hardware-sim/RobotCoordinateSpace/RobotCoordinateSpace.tsx b/components/src/hardware-sim/RobotCoordinateSpace/RobotCoordinateSpace.tsx index 4ac35b2aed5..6a145c8bd67 100644 --- a/components/src/hardware-sim/RobotCoordinateSpace/RobotCoordinateSpace.tsx +++ b/components/src/hardware-sim/RobotCoordinateSpace/RobotCoordinateSpace.tsx @@ -1,13 +1,27 @@ +import styled from 'styled-components' +import { animated } from '@react-spring/web' import * as React from 'react' import { Svg } from '../../primitives' +interface RobotCoordinateSpaceProps extends React.ComponentProps { + animated?: boolean +} export function RobotCoordinateSpace( - props: React.ComponentProps + props: RobotCoordinateSpaceProps ): JSX.Element { - const { children, ...restProps } = props - return ( - - {children} - + const { animated = false, children, ...restProps } = props + const allPassThroughProps = { + transform: 'scale(1, -1)', + ...restProps, + } + return animated ? ( + {children} + ) : ( + {children} ) } + +/** + * These animated components needs to be split out because react-spring and styled-components don't play nice + * @see https://github.com/pmndrs/react-spring/issues/1515 */ +const AnimatedSvg = styled(animated.svg)`` diff --git a/components/src/hardware-sim/RobotCoordinateSpace/RobotCoordinateSpaceWithDOMCoords.tsx b/components/src/hardware-sim/RobotCoordinateSpace/RobotCoordinateSpaceWithDOMCoords.tsx index cd73a30b371..5ca8396c5be 100644 --- a/components/src/hardware-sim/RobotCoordinateSpace/RobotCoordinateSpaceWithDOMCoords.tsx +++ b/components/src/hardware-sim/RobotCoordinateSpace/RobotCoordinateSpaceWithDOMCoords.tsx @@ -46,7 +46,7 @@ export function RobotCoordinateSpaceWithDOMCoords( const [viewBoxOriginX, viewBoxOriginY] = deckDef.cornerOffsetFromOrigin const [deckXDimension, deckYDimension] = deckDef.dimensions - deckSlotsById = deckDef.locations.orderedSlots.reduce( + deckSlotsById = deckDef.locations.addressableAreas.reduce( (acc, deckSlot) => ({ ...acc, [deckSlot.id]: deckSlot }), {} ) diff --git a/components/src/hardware-sim/index.ts b/components/src/hardware-sim/index.ts index bf31daf32c7..309cad747d5 100644 --- a/components/src/hardware-sim/index.ts +++ b/components/src/hardware-sim/index.ts @@ -2,6 +2,7 @@ export * from './BaseDeck' export * from './BaseDeck/__fixtures__' export * from './Deck' export * from './DeckConfigurator' +export * from './DeckSlotLocation' export * from './Labware' export * from './Module' export * from './Pipette' diff --git a/components/src/hooks/useSelectDeckLocation/index.tsx b/components/src/hooks/useSelectDeckLocation/index.tsx index f571a5c9603..6a801765a33 100644 --- a/components/src/hooks/useSelectDeckLocation/index.tsx +++ b/components/src/hooks/useSelectDeckLocation/index.tsx @@ -1,15 +1,29 @@ import * as React from 'react' import isEqual from 'lodash/isEqual' -import { DeckDefinition, getDeckDefFromRobotType } from '@opentrons/shared-data' -import { RobotCoordinateSpace } from '../../hardware-sim/RobotCoordinateSpace' -import type { ModuleLocation, RobotType } from '@opentrons/shared-data' -import { COLORS, SPACING } from '../../ui-style-constants' -import { RobotCoordsForeignDiv, SlotLabels } from '../../hardware-sim' +import { + FLEX_CUTOUT_BY_SLOT_ID, + getDeckDefFromRobotType, + getPositionFromSlotId, + isAddressableAreaStandardSlot, +} from '@opentrons/shared-data' + +import { + RobotCoordinateSpace, + RobotCoordsForeignDiv, + SingleSlotFixture, + SlotLabels, +} from '../../hardware-sim' import { Icon } from '../../icons' import { Text } from '../../primitives' import { ALIGN_CENTER, JUSTIFY_CENTER } from '../../styles' -import { DeckSlotLocation } from '../../hardware-sim/DeckSlotLocation' +import { COLORS, SPACING } from '../../ui-style-constants' + +import type { + DeckDefinition, + ModuleLocation, + RobotType, +} from '@opentrons/shared-data' export type DeckLocationSelectThemes = 'default' | 'grey' @@ -26,7 +40,7 @@ export function useDeckLocationSelect( selectedLocation, setSelectedLocation, ] = React.useState({ - slotName: deckDef.locations.orderedSlots[0].id, + slotName: deckDef.locations.addressableAreas[0].id, }) return { DeckLocationSelect: ( @@ -60,82 +74,99 @@ export function DeckLocationSelect({ deckDef.cornerOffsetFromOrigin[1] } ${deckDef.dimensions[0] - X_CROP_MM * 2} ${deckDef.dimensions[1]}`} > - {deckDef.locations.orderedSlots.map(slot => { - const slotLocation = { slotName: slot.id } - const isDisabled = disabledLocations.some( - l => - typeof l === 'object' && 'slotName' in l && l.slotName === slot.id + {deckDef.locations.addressableAreas + // only render standard slot fixture components + .filter(addressableArea => + isAddressableAreaStandardSlot(addressableArea.id, deckDef) ) - const isSelected = isEqual(selectedLocation, slotLocation) - let fill = - theme === 'default' - ? COLORS.highlightPurple2 - : COLORS.lightGreyPressed - if (isSelected) - fill = + .map(slot => { + const slotLocation = { slotName: slot.id } + const isDisabled = disabledLocations.some( + l => + typeof l === 'object' && 'slotName' in l && l.slotName === slot.id + ) + const isSelected = isEqual(selectedLocation, slotLocation) + let fill = theme === 'default' - ? COLORS.highlightPurple1 - : COLORS.darkGreyEnabled - if (isDisabled) fill = COLORS.darkGreyDisabled - if (isSelected && slot.id === 'B1' && isThermocycler) { + ? COLORS.highlightPurple2 + : COLORS.lightGreyPressed + if (isSelected) + fill = + theme === 'default' + ? COLORS.highlightPurple1 + : COLORS.darkGreyEnabled + if (isDisabled) fill = COLORS.darkGreyDisabled + if (isSelected && slot.id === 'B1' && isThermocycler) { + return ( + + + + + + Selected + + + + ) + } else if (slot.id === 'A1' && isThermocycler) { + return null + } + + const slotPosition = getPositionFromSlotId(slot.id, deckDef) + const cutoutId = FLEX_CUTOUT_BY_SLOT_ID[slot.id] + return ( - - + + !isDisabled && + setSelectedLocation != null && + setSelectedLocation(slotLocation) + } + cursor={ + setSelectedLocation == null || isDisabled || isSelected + ? 'default' + : 'pointer' + } + deckDefinition={deckDef} /> - - - - Selected - - - + {isSelected && slotPosition != null ? ( + + + + Selected + + + ) : null} + ) - } else if (slot.id === 'A1' && isThermocycler) { - return null - } - return ( - - - !isDisabled && - setSelectedLocation != null && - setSelectedLocation(slotLocation) - } - cursor={ - setSelectedLocation == null || isDisabled || isSelected - ? 'default' - : 'pointer' - } - deckDefinition={deckDef} - /> - {isSelected ? ( - - - - Selected - - - ) : null} - - ) - })} + })} str: + """Convert list of something into CSV line.""" + return ",".join(str(elements)) diff --git a/hardware-testing/hardware_testing/drivers/asair_sensor.py b/hardware-testing/hardware_testing/drivers/asair_sensor.py index eb9a360eace..4e30c743045 100644 --- a/hardware-testing/hardware_testing/drivers/asair_sensor.py +++ b/hardware-testing/hardware_testing/drivers/asair_sensor.py @@ -16,6 +16,8 @@ from serial.serialutil import SerialException # type: ignore[import] from hardware_testing.data import ui +from serial.tools.list_ports import comports # type: ignore[import] + log = logging.getLogger(__name__) USB_VID = 0x0403 @@ -72,17 +74,32 @@ def get_serial(self) -> str: ... -def BuildAsairSensor(simulate: bool) -> AsairSensorBase: +def BuildAsairSensor(simulate: bool, autosearch: bool = True) -> AsairSensorBase: """Try to find and return an Asair sensor, if not found return a simulator.""" ui.print_title("Connecting to Environmental sensor") if not simulate: - port = list_ports_and_select(device_name="Asair environmental sensor") - try: + if not autosearch: + port = list_ports_and_select(device_name="Asair environmental sensor") sensor = AsairSensor.connect(port) ui.print_info(f"Found sensor on port {port}") return sensor - except SerialException: - pass + else: + ports = comports() + assert ports + for _port in ports: + port = _port.device # type: ignore[attr-defined] + try: + ui.print_info(f"Trying to connect to env sensor on port {port}") + sensor = AsairSensor.connect(port) + ser_id = sensor.get_serial() + ui.print_info(f"Found env sensor {ser_id} on port {port}") + return sensor + except: # noqa: E722 + pass + use_sim = ui.get_user_answer("No env sensor found, use simulator?") + if not use_sim: + raise SerialException("No sensor found") + ui.print_info("no sensor found returning simulator") return SimAsairSensor() diff --git a/hardware-testing/hardware_testing/drivers/pressure_fixture.py b/hardware-testing/hardware_testing/drivers/pressure_fixture.py index 82b5ccbb2d3..7743a433534 100644 --- a/hardware-testing/hardware_testing/drivers/pressure_fixture.py +++ b/hardware-testing/hardware_testing/drivers/pressure_fixture.py @@ -6,8 +6,13 @@ from typing import List, Tuple from typing_extensions import Final, Literal +from hardware_testing.data import ui from opentrons.types import Point +from serial.tools.list_ports import comports # type: ignore[import] +from serial import SerialException +from hardware_testing.drivers import list_ports_and_select + FIXTURE_REBOOT_TIME = 2 FIXTURE_NUM_CHANNELS: Final[int] = 8 FIXTURE_BAUD_RATE: Final[int] = 115200 @@ -98,6 +103,40 @@ def read_all_pressure_channel(self) -> List[float]: return pressure +def connect_to_fixture( + simulate: bool, side: str = "left", autosearch: bool = True +) -> PressureFixtureBase: + """Try to find and return an presure fixture, if not found return a simulator.""" + ui.print_title("Connecting to presure fixture") + if not simulate: + if not autosearch: + port = list_ports_and_select(device_name="Pressure fixture") + fixture = PressureFixture.create(port=port, slot_side=side) + fixture.connect() + ui.print_info(f"Found fixture on port {port}") + return fixture + else: + ports = comports() + assert ports + for _port in ports: + port = _port.device # type: ignore[attr-defined] + try: + ui.print_info( + f"Trying to connect to Pressure fixture on port {port}" + ) + fixture = PressureFixture.create(port=port, slot_side=side) + fixture.connect() + ui.print_info(f"Found fixture on port {port}") + return fixture + except: # noqa: E722 + pass + use_sim = ui.get_user_answer("No pressure sensor found, use simulator?") + if not use_sim: + raise SerialException("No sensor found") + ui.print_info("no fixture found returning simulator") + return SimPressureFixture() + + class PressureFixture(PressureFixtureBase): """OT3 Pressure Fixture Driver.""" diff --git a/hardware-testing/hardware_testing/gravimetric/__main__.py b/hardware-testing/hardware_testing/gravimetric/__main__.py index 4c54bb3a71e..8e9a7b1ff45 100644 --- a/hardware-testing/hardware_testing/gravimetric/__main__.py +++ b/hardware-testing/hardware_testing/gravimetric/__main__.py @@ -195,6 +195,7 @@ def build_run_args(cls, args: argparse.Namespace) -> "RunArgs": args.pipette, "left", args.increment, + args.photometric, args.gantry_speed if not args.photometric else None, ) pipette_tag = helpers._get_tag_from_pipette( diff --git a/hardware-testing/hardware_testing/gravimetric/config.py b/hardware-testing/hardware_testing/gravimetric/config.py index a1febb6ddc7..e64259df908 100644 --- a/hardware-testing/hardware_testing/gravimetric/config.py +++ b/hardware-testing/hardware_testing/gravimetric/config.py @@ -301,6 +301,7 @@ def _get_liquid_probe_settings( }, ConfigType.photometric: { 1: 8, + 8: 12, 96: 5, }, } diff --git a/hardware-testing/hardware_testing/gravimetric/execute.py b/hardware-testing/hardware_testing/gravimetric/execute.py index d1a72f4e4c9..cf2b8fb1ecc 100644 --- a/hardware-testing/hardware_testing/gravimetric/execute.py +++ b/hardware-testing/hardware_testing/gravimetric/execute.py @@ -52,6 +52,8 @@ from .tips import MULTI_CHANNEL_TEST_ORDER import glob +from opentrons.hardware_control.types import StatusBarState + _MEASUREMENTS: List[Tuple[str, MeasurementData]] = list() _PREV_TRIAL_GRAMS: Optional[MeasurementData] = None @@ -593,7 +595,7 @@ def run(cfg: config.GravimetricConfig, resources: TestResources) -> None: # noq recorder._recording = GravimetricRecording() report.store_config_gm(resources.test_report, cfg) calibration_tip_in_use = True - + hw_api = resources.ctx._core.get_hardware() if resources.ctx.is_simulating(): _PREV_TRIAL_GRAMS = None _MEASUREMENTS = list() @@ -621,6 +623,7 @@ def run(cfg: config.GravimetricConfig, resources: TestResources) -> None: # noq average_aspirate_evaporation_ul = 0.0 average_dispense_evaporation_ul = 0.0 else: + hw_api.set_status_bar_state(StatusBarState.SOFTWARE_ERROR) ( average_aspirate_evaporation_ul, average_dispense_evaporation_ul, @@ -632,7 +635,7 @@ def run(cfg: config.GravimetricConfig, resources: TestResources) -> None: # noq resources.test_report, labware_on_scale, ) - + hw_api.set_status_bar_state(StatusBarState.IDLE) ui.print_info("dropping tip") if not cfg.same_tip: _drop_tip( diff --git a/hardware-testing/hardware_testing/gravimetric/execute_photometric.py b/hardware-testing/hardware_testing/gravimetric/execute_photometric.py index c2c5f314428..5b36acc46f3 100644 --- a/hardware-testing/hardware_testing/gravimetric/execute_photometric.py +++ b/hardware-testing/hardware_testing/gravimetric/execute_photometric.py @@ -319,7 +319,7 @@ def execute_trials( trial_count = 0 for volume in trials.keys(): ui.print_title(f"{volume} uL") - if cfg.pipette_channels == 1 and not resources.ctx.is_simulating(): + if cfg.pipette_channels != 96 and not resources.ctx.is_simulating(): ui.get_user_ready( f"put PLATE with prepped column {cfg.photoplate_column_offset} and remove SEAL" ) @@ -336,7 +336,7 @@ def execute_trials( resources.ctx, resources.pipette, cfg, location=next_tip_location ) _run_trial(trial) - if not trial.ctx.is_simulating() and trial.channel_count == 1: + if not trial.ctx.is_simulating() and trial.channel_count != 96: ui.get_user_ready("add SEAL to plate and remove from DECK") diff --git a/hardware-testing/hardware_testing/gravimetric/helpers.py b/hardware-testing/hardware_testing/gravimetric/helpers.py index 7836e069218..179701e0d83 100644 --- a/hardware-testing/hardware_testing/gravimetric/helpers.py +++ b/hardware-testing/hardware_testing/gravimetric/helpers.py @@ -352,6 +352,7 @@ def _load_pipette( pipette_volume: int, pipette_mount: str, increment: bool, + photometric: bool, gantry_speed: Optional[int] = None, ) -> InstrumentContext: pip_name = f"flex_{pipette_channels}channel_{pipette_volume}" @@ -372,11 +373,13 @@ def _load_pipette( # NOTE: 8ch QC testing means testing 1 channel at a time, # so we need to decrease the pick-up current to work with 1 tip. - if pipette.channels == 8 and not increment: + if pipette.channels == 8 and not increment and not photometric: hwapi = get_sync_hw_api(ctx) mnt = OT3Mount.LEFT if pipette_mount == "left" else OT3Mount.RIGHT hwpipette: Pipette = hwapi.hardware_pipettes[mnt.to_mount()] - hwpipette.pick_up_configurations.current = 0.2 + hwpipette._config.pick_up_tip_configurations.press_fit.current_by_tip_count[ + 8 + ] = 0.2 return pipette diff --git a/hardware-testing/hardware_testing/gravimetric/increments.py b/hardware-testing/hardware_testing/gravimetric/increments.py index 5bf6b8efd3b..bbe79d0785f 100644 --- a/hardware-testing/hardware_testing/gravimetric/increments.py +++ b/hardware-testing/hardware_testing/gravimetric/increments.py @@ -302,18 +302,24 @@ }, 1000: { "default": [ - 2.000, 3.000, - 4.000, 5.000, - 6.000, 7.000, - 8.000, - 9.000, 10.000, + 15.000, + 20.000, 50.000, + 100.000, + 120.000, 200.000, - 1137.10, + 320.000, + 450.000, + 650.000, + 850.000, + 1000.00, + 1030.00, + 1050.00, + 1075.00, ], }, } diff --git a/hardware-testing/hardware_testing/gravimetric/liquid_class/defaults.py b/hardware-testing/hardware_testing/gravimetric/liquid_class/defaults.py index 1bc0145e071..a37f21b1b36 100644 --- a/hardware-testing/hardware_testing/gravimetric/liquid_class/defaults.py +++ b/hardware-testing/hardware_testing/gravimetric/liquid_class/defaults.py @@ -8,8 +8,9 @@ interpolate, ) -_default_submerge_aspirate_mm = 2.5 -_default_submerge_dispense_mm = 2.5 +_default_submerge_aspirate_mm = 1.5 +_p50_multi_submerge_aspirate_mm = 1.5 +_default_submerge_dispense_mm = 1.5 _default_retract_mm = 5.0 _default_retract_discontinuity = 20 @@ -498,7 +499,7 @@ 50: { # P50 50: { # T50 1: AspirateSettings( # 1uL - z_submerge_depth=_default_submerge_aspirate_mm, + z_submerge_depth=_p50_multi_submerge_aspirate_mm, plunger_acceleration=_default_accel_p50_ul_sec_sec, plunger_flow_rate=35, # ul/sec delay=_default_aspirate_delay_seconds, @@ -508,7 +509,7 @@ trailing_air_gap=0.1, ), 10: AspirateSettings( # 10uL - z_submerge_depth=_default_submerge_aspirate_mm, + z_submerge_depth=_p50_multi_submerge_aspirate_mm, plunger_acceleration=_default_accel_p50_ul_sec_sec, plunger_flow_rate=23.5, # ul/sec delay=_default_aspirate_delay_seconds, @@ -518,7 +519,7 @@ trailing_air_gap=0.1, ), 50: AspirateSettings( # 50uL - z_submerge_depth=_default_submerge_aspirate_mm, + z_submerge_depth=_p50_multi_submerge_aspirate_mm, plunger_acceleration=_default_accel_p50_ul_sec_sec, plunger_flow_rate=35, # ul/sec delay=_default_aspirate_delay_seconds, diff --git a/hardware-testing/hardware_testing/gravimetric/measurement/scale.py b/hardware-testing/hardware_testing/gravimetric/measurement/scale.py index e194a9a42b5..8514590d1b0 100644 --- a/hardware-testing/hardware_testing/gravimetric/measurement/scale.py +++ b/hardware-testing/hardware_testing/gravimetric/measurement/scale.py @@ -15,6 +15,9 @@ RadwagAmbiant, ) +from hardware_testing.data import ui +from serial.tools.list_ports import comports # type: ignore[import] + @dataclass class ScaleConfig: @@ -67,6 +70,21 @@ def build(cls, simulate: bool) -> "Scale": @classmethod def find_port(cls) -> str: """Find port.""" + ports = comports() + assert ports + for port in ports: + try: + ui.print_info(f"Checking port {port.device} for scale") + radwag = Scale(scale=RadwagScale.create(port.device)) + radwag.connect() + radwag.initialize() + scale_serial = radwag.read_serial_number() + radwag.disconnect() + ui.print_info(f"found scale {scale_serial} on port {port.device}") + return port.device + except: # noqa: E722 + pass + ui.print_info("Unable to find the scale: please connect") return list_ports_and_select(device_name="scale") @property diff --git a/hardware-testing/hardware_testing/gravimetric/overrides/api.patch b/hardware-testing/hardware_testing/gravimetric/overrides/api.patch index 07b69b55ec7..9f143e52892 100644 --- a/hardware-testing/hardware_testing/gravimetric/overrides/api.patch +++ b/hardware-testing/hardware_testing/gravimetric/overrides/api.patch @@ -1,8 +1,8 @@ diff --git a/api/src/opentrons/hardware_control/instruments/ot3/pipette.py b/api/src/opentrons/hardware_control/instruments/ot3/pipette.py -index 174a8f76e4..01b81cd6a0 100644 +index 1f6dd0b4b5..1d0cb7b7e3 100644 --- a/api/src/opentrons/hardware_control/instruments/ot3/pipette.py +++ b/api/src/opentrons/hardware_control/instruments/ot3/pipette.py -@@ -456,11 +456,11 @@ class Pipette(AbstractInstrument[PipetteConfigurations]): +@@ -432,11 +432,11 @@ class Pipette(AbstractInstrument[PipetteConfigurations]): def set_current_volume(self, new_volume: float) -> None: assert new_volume >= 0 @@ -16,7 +16,7 @@ index 174a8f76e4..01b81cd6a0 100644 self._current_volume += volume_incr def remove_current_volume(self, volume_incr: float) -> None: -@@ -468,7 +468,8 @@ class Pipette(AbstractInstrument[PipetteConfigurations]): +@@ -444,7 +444,8 @@ class Pipette(AbstractInstrument[PipetteConfigurations]): self._current_volume -= volume_incr def ok_to_add_volume(self, volume_incr: float) -> bool: @@ -27,10 +27,10 @@ index 174a8f76e4..01b81cd6a0 100644 def ok_to_push_out(self, push_out_dist_mm: float) -> bool: return push_out_dist_mm <= ( diff --git a/api/src/opentrons/protocol_api/core/legacy/deck.py b/api/src/opentrons/protocol_api/core/legacy/deck.py -index b0ca38d294..f213febabd 100644 +index ea4068934b..1b21cac251 100644 --- a/api/src/opentrons/protocol_api/core/legacy/deck.py +++ b/api/src/opentrons/protocol_api/core/legacy/deck.py -@@ -47,11 +47,11 @@ class DeckItem(Protocol): +@@ -48,11 +48,11 @@ class DeckItem(Protocol): class Deck(UserDict): # type: ignore[type-arg] data: Dict[int, Optional[DeckItem]] @@ -47,7 +47,7 @@ index b0ca38d294..f213febabd 100644 for slot in self._definition["locations"]["orderedSlots"]: self.data[int(slot["id"])] = None diff --git a/api/src/opentrons/protocol_api/create_protocol_context.py b/api/src/opentrons/protocol_api/create_protocol_context.py -index f2d8e492ec..dd4fd9102e 100644 +index 5a64e70cf9..7d5047cc4b 100644 --- a/api/src/opentrons/protocol_api/create_protocol_context.py +++ b/api/src/opentrons/protocol_api/create_protocol_context.py @@ -22,6 +22,7 @@ from .deck import Deck diff --git a/hardware-testing/hardware_testing/gravimetric/overrides/shared-data.patch b/hardware-testing/hardware_testing/gravimetric/overrides/shared-data.patch index b2d08d109e9..c7243e0d27a 100644 --- a/hardware-testing/hardware_testing/gravimetric/overrides/shared-data.patch +++ b/hardware-testing/hardware_testing/gravimetric/overrides/shared-data.patch @@ -870,3 +870,183 @@ index 0000000000..8ad4397cba + } + ] +} +diff --git a/shared-data/pipette/definitions/2/liquid/single_channel/p50/default/3_5.json b/shared-data/pipette/definitions/2/liquid/single_channel/p50/default/3_5.json +index f89fb178b5..5cd8acd638 100644 +--- a/shared-data/pipette/definitions/2/liquid/single_channel/p50/default/3_5.json ++++ b/shared-data/pipette/definitions/2/liquid/single_channel/p50/default/3_5.json +@@ -20,50 +20,50 @@ + "aspirate": { + "default": { + "1": [ +- [0.462, 0.5646, 0.0415], +- [0.648, 0.3716, 0.1307], +- [1.032, 0.2742, 0.1938], +- [1.37, 0.1499, 0.3221], +- [2.014, 0.1044, 0.3845], +- [2.772, 0.0432, 0.5076], +- [3.05, -0.0809, 0.8517], +- [3.4, 0.0256, 0.5268], +- [3.962, 0.0612, 0.4057], +- [4.438, 0.0572, 0.4217], +- [5.164, 0.018, 0.5955], +- [5.966, 0.0095, 0.6393], +- [7.38, 0.0075, 0.6514], +- [9.128, 0.0049, 0.6705], +- [10.16, 0.0033, 0.6854], +- [13.812, 0.0024, 0.6948], +- [27.204, 0.0008, 0.7165], +- [50.614, 0.0002, 0.7328], +- [53.046, -0.0005, 0.7676] ++ [0.3100,0.5910,0.0197], ++ [0.3900,0.2586,0.1227], ++ [0.8600,0.3697,0.0794], ++ [1.2900,0.2310,0.1987], ++ [1.9300,0.1144,0.3491], ++ [2.7000,0.0536,0.4664], ++ [2.9500,-0.1041,0.8923], ++ [3.2800,0.0216,0.5214], ++ [3.7600,0.0480,0.4349], ++ [4.3800,0.0830,0.3032], ++ [5.0800,0.0153,0.5996], ++ [5.9000,0.0136,0.6083], ++ [7.2900,0.0070,0.6474], ++ [9.0400,0.0059,0.6551], ++ [10.0800,0.0045,0.6682], ++ [13.7400,0.0029,0.6842], ++ [27.1500,0.0010,0.7104], ++ [50.4800,0.0002,0.7319], ++ [52.8900,-0.0006,0.7703] + ] + } + }, + "dispense": { + "default": { + "1": [ +- [0.462, 0.5646, 0.0415], +- [0.648, 0.3716, 0.1307], +- [1.032, 0.2742, 0.1938], +- [1.37, 0.1499, 0.3221], +- [2.014, 0.1044, 0.3845], +- [2.772, 0.0432, 0.5076], +- [3.05, -0.0809, 0.8517], +- [3.4, 0.0256, 0.5268], +- [3.962, 0.0612, 0.4057], +- [4.438, 0.0572, 0.4217], +- [5.164, 0.018, 0.5955], +- [5.966, 0.0095, 0.6393], +- [7.38, 0.0075, 0.6514], +- [9.128, 0.0049, 0.6705], +- [10.16, 0.0033, 0.6854], +- [13.812, 0.0024, 0.6948], +- [27.204, 0.0008, 0.7165], +- [50.614, 0.0002, 0.7328], +- [53.046, -0.0005, 0.7676] ++ [0.3100,0.5910,0.0197], ++ [0.3900,0.2586,0.1227], ++ [0.8600,0.3697,0.0794], ++ [1.2900,0.2310,0.1987], ++ [1.9300,0.1144,0.3491], ++ [2.7000,0.0536,0.4664], ++ [2.9500,-0.1041,0.8923], ++ [3.2800,0.0216,0.5214], ++ [3.7600,0.0480,0.4349], ++ [4.3800,0.0830,0.3032], ++ [5.0800,0.0153,0.5996], ++ [5.9000,0.0136,0.6083], ++ [7.2900,0.0070,0.6474], ++ [9.0400,0.0059,0.6551], ++ [10.0800,0.0045,0.6682], ++ [13.7400,0.0029,0.6842], ++ [27.1500,0.0010,0.7104], ++ [50.4800,0.0002,0.7319], ++ [52.8900,-0.0006,0.7703] + ] + } + }, +diff --git a/shared-data/pipette/definitions/2/liquid/single_channel/p50/lowVolumeDefault/3_5.json b/shared-data/pipette/definitions/2/liquid/single_channel/p50/lowVolumeDefault/3_5.json +index e925e4e401..603a2cf861 100644 +--- a/shared-data/pipette/definitions/2/liquid/single_channel/p50/lowVolumeDefault/3_5.json ++++ b/shared-data/pipette/definitions/2/liquid/single_channel/p50/lowVolumeDefault/3_5.json +@@ -20,46 +20,48 @@ + "aspirate": { + "default": { + "1": [ +- [0.11, 0.207815, 0.040201], +- [0.65, 0.43933, 0.014735], +- [1.04, 0.256666, 0.133466], +- [1.67, 0.147126, 0.247388], +- [2.45, 0.078774, 0.361536], +- [2.89, 0.042387, 0.450684], +- [3.2, 0.014781, 0.530464], +- [3.79, 0.071819, 0.347944], +- [4.22, 0.051592, 0.424605], +- [4.93, 0.021219, 0.552775], +- [5.81, 0.023461, 0.541725], +- [7.21, 0.008959, 0.625982], +- [8.93, 0.005456, 0.651235], +- [10.0, 0.007108, 0.636489], +- [13.61, 0.002591, 0.681656], +- [26.99, 0.001163, 0.701094], +- [45.25, 0.000207, 0.726887] ++ [0.3000,0.4590,0.0586], ++ [0.4700,0.4300,0.0674], ++ [0.9000,0.3404,0.1095], ++ [1.2600,0.1925,0.2425], ++ [1.9500,0.1314,0.3195], ++ [2.7600,0.0604,0.4580], ++ [2.9500,-0.2085,1.2002], ++ [3.3300,0.0425,0.4597], ++ [3.8700,0.0592,0.4040], ++ [4.3100,0.0518,0.4327], ++ [5.0700,0.0264,0.5424], ++ [5.9300,0.0186,0.5818], ++ [7.3400,0.0078,0.6458], ++ [9.0800,0.0050,0.6664], ++ [10.0900,0.0022,0.6918], ++ [13.7400,0.0027,0.6868], ++ [27.1300,0.0009,0.7109], ++ [45.4300,-0.0038,0.8391] + ] + } + }, + "dispense": { + "default": { + "1": [ +- [0.11, 0.207815, 0.040201], +- [0.65, 0.43933, 0.014735], +- [1.04, 0.256666, 0.133466], +- [1.67, 0.147126, 0.247388], +- [2.45, 0.078774, 0.361536], +- [2.89, 0.042387, 0.450684], +- [3.2, 0.014781, 0.530464], +- [3.79, 0.071819, 0.347944], +- [4.22, 0.051592, 0.424605], +- [4.93, 0.021219, 0.552775], +- [5.81, 0.023461, 0.541725], +- [7.21, 0.008959, 0.625982], +- [8.93, 0.005456, 0.651235], +- [10.0, 0.007108, 0.636489], +- [13.61, 0.002591, 0.681656], +- [26.99, 0.001163, 0.701094], +- [45.25, 0.000207, 0.726887] ++ [0.3000,0.4590,0.0586], ++ [0.4700,0.4300,0.0674], ++ [0.9000,0.3404,0.1095], ++ [1.2600,0.1925,0.2425], ++ [1.9500,0.1314,0.3195], ++ [2.7600,0.0604,0.4580], ++ [2.9500,-0.2085,1.2002], ++ [3.3300,0.0425,0.4597], ++ [3.8700,0.0592,0.4040], ++ [4.3100,0.0518,0.4327], ++ [5.0700,0.0264,0.5424], ++ [5.9300,0.0186,0.5818], ++ [7.3400,0.0078,0.6458], ++ [9.0800,0.0050,0.6664], ++ [10.0900,0.0022,0.6918], ++ [13.7400,0.0027,0.6868], ++ [27.1300,0.0009,0.7109], ++ [45.4300,-0.0038,0.8391] + ] + } + }, diff --git a/hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py b/hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py index 9f7d0215af4..cd442e3e170 100644 --- a/hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py +++ b/hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py @@ -4,10 +4,10 @@ from datetime import datetime from enum import Enum from math import pi -from subprocess import run +from subprocess import run, Popen from time import time from typing import Callable, Coroutine, Dict, List, Optional, Tuple, Union - +import atexit from opentrons_hardware.drivers.can_bus import DriverSettings, build, CanMessenger from opentrons_hardware.drivers.can_bus import settings as can_bus_settings from opentrons_hardware.firmware_bindings.constants import SensorId @@ -77,6 +77,15 @@ def stop_server_ot3() -> None: """Stop opentrons-robot-server on the OT3.""" print('Stopping "opentrons-robot-server"...') run(["systemctl", "stop", "opentrons-robot-server"]) + atexit.register(restart_server_ot3) + + +def restart_server_ot3() -> None: + """Start opentrons-robot-server on the OT3.""" + print('Starting "opentrons-robot-server"...') + Popen( + ["systemctl", "restart", "opentrons-robot-server", "&"], + ) def start_server_ot3() -> None: @@ -546,9 +555,11 @@ async def update_pick_up_current( ) -> None: """Update pick-up-tip current.""" pipette = _get_pipette_from_mount(api, mount) - config_model = pipette.pick_up_configurations - config_model.current = current - pipette.pick_up_configurations = config_model + config_model = pipette.pick_up_configurations.press_fit + config_model.current_by_tip_count = { + k: current for k in config_model.current_by_tip_count.keys() + } + pipette.pick_up_configurations.press_fit = config_model async def update_pick_up_distance( @@ -556,9 +567,9 @@ async def update_pick_up_distance( ) -> None: """Update pick-up-tip current.""" pipette = _get_pipette_from_mount(api, mount) - config_model = pipette.pick_up_configurations + config_model = pipette.pick_up_configurations.press_fit config_model.distance = distance - pipette.pick_up_configurations = config_model + pipette.pick_up_configurations.press_fit = config_model async def move_plunger_absolute_ot3( diff --git a/hardware-testing/hardware_testing/production_qc/gripper_assembly_qc_ot3/test_width.py b/hardware-testing/hardware_testing/production_qc/gripper_assembly_qc_ot3/test_width.py index 7813a9e9340..453b038313b 100644 --- a/hardware-testing/hardware_testing/production_qc/gripper_assembly_qc_ot3/test_width.py +++ b/hardware-testing/hardware_testing/production_qc/gripper_assembly_qc_ot3/test_width.py @@ -16,8 +16,8 @@ from hardware_testing.opentrons_api.types import Axis, OT3Mount, Point FAILURE_THRESHOLD_MM = -3 -GAUGE_HEIGHT_MM = 40 -GRIP_HEIGHT_MM = 30 +GAUGE_HEIGHT_MM = 75 +GRIP_HEIGHT_MM = 48 TEST_WIDTHS_MM: List[float] = [60, 85.75, 62] SLOT_WIDTH_GAUGE: List[Optional[int]] = [None, 3, 9] GRIP_FORCES_NEWTON: List[float] = [10, 15, 20] diff --git a/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/__main__.py b/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/__main__.py index 441c016cee9..7495e9f5d2c 100644 --- a/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/__main__.py +++ b/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/__main__.py @@ -31,7 +31,7 @@ async def _main(cfg: TestConfig) -> None: await api.home() home_pos = await api.gantry_position(mount) attach_pos = helpers_ot3.get_slot_calibration_square_position_ot3(5) - attach_pos = attach_pos._replace(z=home_pos.z) + attach_pos = attach_pos._replace(z=home_pos.z - 100) if not api.hardware_pipettes[mount.to_mount()]: # FIXME: Do not home the plunger using the normal home method. # See section below where we use OT3Controller to home it. diff --git a/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_capacitance.py b/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_capacitance.py index 0689e23d492..b781bb57447 100644 --- a/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_capacitance.py +++ b/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_capacitance.py @@ -225,7 +225,7 @@ async def _probe(distance: float, speed: float) -> float: else: print("skipping deck-pf") - await api.home_z() + await api.home_z(OT3Mount.LEFT) if not api.is_simulator: ui.get_user_ready("REMOVE probe") await api.remove_tip(OT3Mount.LEFT) diff --git a/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_droplets.py b/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_droplets.py index 81bf72bd432..cb01bd15f04 100644 --- a/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_droplets.py +++ b/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_droplets.py @@ -182,7 +182,7 @@ async def run(api: OT3API, report: CSVReport, section: str) -> None: # GATHER NOMINAL POSITIONS trash_nominal = get_trash_nominal() tip_rack_96_a1_nominal = get_tiprack_96_nominal() - tip_rack_partial_a1_nominal = get_tiprack_partial_nominal() + # tip_rack_partial_a1_nominal = get_tiprack_partial_nominal() reservoir_a1_nominal = get_reservoir_nominal() reservoir_a1_actual: Optional[Point] = None @@ -223,32 +223,32 @@ async def _find_reservoir_pos() -> None: report(section, "droplets-96-tips", [duration, CSVResult.from_bool(result)]) await _drop_tip(api, trash_nominal) - if not api.is_simulator: - ui.get_user_ready(f"REMOVE 96 tip-rack from slot #{TIP_RACK_96_SLOT}") - ui.get_user_ready(f"ADD partial tip-rack to slot #{TIP_RACK_PARTIAL_SLOT}") - - # SAVE PARTIAL TIP-RACK POSITION - ui.print_header("JOG to Partial-Tip RACK") - await helpers_ot3.move_to_arched_ot3( - api, OT3Mount.LEFT, tip_rack_partial_a1_nominal + Point(z=10) - ) - await helpers_ot3.jog_mount_ot3(api, OT3Mount.LEFT) - tip_rack_partial_a1_actual = await api.gantry_position(OT3Mount.LEFT) - - # TEST PARTIAL-TIP - for test_name, details in PARTIAL_TESTS.items(): - ui.print_header(f"{test_name.upper().replace('-', ' ')}") - pick_up_position = tip_rack_partial_a1_actual + details[0] - await helpers_ot3.move_to_arched_ot3( - api, OT3Mount.LEFT, pick_up_position + Point(z=50) - ) - await _partial_pick_up(api, pick_up_position, current=details[1]) - await _find_reservoir_pos() - assert reservoir_a1_actual - result, duration = await aspirate_and_wait( - api, reservoir_a1_actual, seconds=NUM_SECONDS_TO_WAIT - ) - report( - section, f"droplets-{test_name}", [duration, CSVResult.from_bool(result)] - ) - await _drop_tip(api, trash_nominal) + # if not api.is_simulator: + # ui.get_user_ready(f"REMOVE 96 tip-rack from slot #{TIP_RACK_96_SLOT}") + # ui.get_user_ready(f"ADD partial tip-rack to slot #{TIP_RACK_PARTIAL_SLOT}") + # + # # SAVE PARTIAL TIP-RACK POSITION + # ui.print_header("JOG to Partial-Tip RACK") + # await helpers_ot3.move_to_arched_ot3( + # api, OT3Mount.LEFT, tip_rack_partial_a1_nominal + Point(z=10) + # ) + # await helpers_ot3.jog_mount_ot3(api, OT3Mount.LEFT) + # tip_rack_partial_a1_actual = await api.gantry_position(OT3Mount.LEFT) + # + # # TEST PARTIAL-TIP + # for test_name, details in PARTIAL_TESTS.items(): + # ui.print_header(f"{test_name.upper().replace('-', ' ')}") + # pick_up_position = tip_rack_partial_a1_actual + details[0] + # await helpers_ot3.move_to_arched_ot3( + # api, OT3Mount.LEFT, pick_up_position + Point(z=50) + # ) + # await _partial_pick_up(api, pick_up_position, current=details[1]) + # await _find_reservoir_pos() + # assert reservoir_a1_actual + # result, duration = await aspirate_and_wait( + # api, reservoir_a1_actual, seconds=NUM_SECONDS_TO_WAIT + # ) + # report( + # section, f"droplets-{test_name}", [duration, CSVResult.from_bool(result)] + # ) + # await _drop_tip(api, trash_nominal) diff --git a/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_jaws.py b/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_jaws.py index 4531fd08007..a6298dd758b 100644 --- a/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_jaws.py +++ b/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_jaws.py @@ -13,12 +13,18 @@ from hardware_testing.opentrons_api import helpers_ot3 from hardware_testing.opentrons_api.types import Axis, OT3Mount -RETRACT_MM = 0.25 +# from opentrons.hardware_control.backends.ot3utils import axis_convert + + +RETRACT_MM = 0.25 # 0.25 MAX_TRAVEL = 29.8 - RETRACT_MM # FIXME: what is the max travel? -ENDSTOP_OVERRUN_MM = 0.25 +ENDSTOP_OVERRUN_MM = ( + 0.25 # FIXME: position cannot go negative, can't go past limit switch +) ENDSTOP_OVERRUN_SPEED = 5 -SPEEDS_TO_TEST: List[float] = [3, 6, 9, 12, 15] +SPEEDS_TO_TEST: List[float] = [8, 12] CURRENTS_SPEEDS: Dict[float, List[float]] = { + 0.7: SPEEDS_TO_TEST, 1.5: SPEEDS_TO_TEST, } @@ -35,29 +41,61 @@ def build_csv_lines() -> List[Union[CSVLine, CSVLineRepeating]]: speeds = CURRENTS_SPEEDS[current] for speed in sorted(speeds): tag = _get_test_tag(current, speed) - lines.append(CSVLine(tag, [bool, bool, CSVResult])) + lines.append(CSVLine(tag, [bool, bool, bool, CSVResult])) return lines -async def _check_if_jaw_is_aligned_with_endstop(api: OT3API) -> Tuple[bool, bool]: +async def _check_if_jaw_is_aligned_with_endstop(api: OT3API) -> bool: if not api.is_simulator: - pass_no_hit = ui.get_user_answer("are both endstop Lights OFF") + pass_no_hit = ui.get_user_answer("are both endstop Lights OFF?") else: pass_no_hit = True if not pass_no_hit: ui.print_error("endstop hit too early") - return pass_no_hit, False - # now purposefully hit the endstop - await helpers_ot3.move_tip_motor_relative_ot3( - api, -RETRACT_MM - ENDSTOP_OVERRUN_MM, speed=ENDSTOP_OVERRUN_SPEED - ) + + return pass_no_hit + + # This currently does not work since jaws cannot move above 0 + # # now purposefully hit the endstop + # await helpers_ot3.move_tip_motor_relative_ot3( + # api, -RETRACT_MM-ENDSTOP_OVERRUN_MM, speed=ENDSTOP_OVERRUN_SPEED + # ) + # print(await api.get_limit_switches()) + # if not api.is_simulator: + # pass_hit = ui.get_user_answer("are both endstop Lights ON?") + # else: + # pass_hit = True + # if not pass_hit: + # ui.print_error("endstop did not hit") + # return pass_no_hit, pass_hit + + +async def jaw_precheck(api: OT3API, ax: Axis, speed: float) -> Tuple[bool, bool]: + """Check the LEDs work and jaws are aligned.""" + # HOME + print("homing...") + await api.home([ax]) + # Check LEDs can turn on when homed if not api.is_simulator: - pass_hit = ui.get_user_answer("are both endstop Lights ON") + led_check = ui.get_user_answer("are both endstop Lights ON?") else: - pass_hit = True - if not pass_hit: - ui.print_error("endstop did not hit") - return pass_no_hit, pass_hit + led_check = True + if not led_check: + ui.print_error("Endstop LED or homing failure") + return (led_check, False) + + print(f"retracting {RETRACT_MM} mm") + await helpers_ot3.move_tip_motor_relative_ot3(api, RETRACT_MM, speed=speed) + # Check Jaws are aligned + if not api.is_simulator: + jaws_aligned = ui.get_user_answer("are both endstop Lights OFF?") + else: + jaws_aligned = True + + if not jaws_aligned: + ui.print_error("Jaws Misaligned") + + return led_check, jaws_aligned async def run(api: OT3API, report: CSVReport, section: str) -> None: @@ -67,11 +105,14 @@ async def run(api: OT3API, report: CSVReport, section: str) -> None: default_current = settings.run_current default_speed = settings.max_speed - async def _save_result(tag: str) -> bool: - no_hit, hit = await _check_if_jaw_is_aligned_with_endstop(api) - result = CSVResult.from_bool(no_hit and hit) - report(section, tag, [no_hit, hit, result]) - return no_hit and hit + async def _save_result(tag: str, led_check: bool, jaws_aligned: bool) -> bool: + if led_check and jaws_aligned: + no_hit = await _check_if_jaw_is_aligned_with_endstop(api) + else: + no_hit = False + result = CSVResult.from_bool(led_check and jaws_aligned and no_hit) + report(section, tag, [led_check, jaws_aligned, no_hit, result]) + return led_check and jaws_aligned and no_hit await api.home_z(OT3Mount.LEFT) slot_5 = helpers_ot3.get_slot_calibration_square_position_ot3(5) @@ -84,37 +125,40 @@ async def _save_result(tag: str) -> bool: speeds = CURRENTS_SPEEDS[current] for speed in sorted(speeds, reverse=False): ui.print_header(f"CURRENT: {current}, SPEED: {speed}") - # HOME - print("homing...") - await api.home([ax]) - print(f"retracting {RETRACT_MM} mm") - await helpers_ot3.move_tip_motor_relative_ot3(api, RETRACT_MM, speed=speed) - print(f"lowering run-current to {current} amps") - await helpers_ot3.set_gantry_load_per_axis_motion_settings_ot3( - api, ax, default_max_speed=speed - ) - await helpers_ot3.set_gantry_load_per_axis_current_settings_ot3( - api, ax, run_current=current - ) - # MOVE DOWN then UP - print(f"moving down/up {MAX_TRAVEL} mm at {speed} mm/sec") - await helpers_ot3.move_tip_motor_relative_ot3( - api, MAX_TRAVEL, speed=speed, motor_current=current - ) - await helpers_ot3.move_tip_motor_relative_ot3( - api, -MAX_TRAVEL, speed=speed, motor_current=current - ) - # RESET CURRENTS, CHECK, then HOME - await helpers_ot3.set_gantry_load_per_axis_motion_settings_ot3( - api, ax, default_max_speed=default_speed - ) - await helpers_ot3.set_gantry_load_per_axis_current_settings_ot3( - api, ax, run_current=default_current + + led_check, jaws_aligned = await jaw_precheck(api, ax, speed) + + if led_check and jaws_aligned: + print(f"lowering run-current to {current} amps") + await helpers_ot3.set_gantry_load_per_axis_motion_settings_ot3( + api, ax, default_max_speed=speed + ) + await helpers_ot3.set_gantry_load_per_axis_current_settings_ot3( + api, ax, run_current=current + ) + # MOVE DOWN then UP + print(f"moving down/up {MAX_TRAVEL} mm at {speed} mm/sec") + await helpers_ot3.move_tip_motor_relative_ot3( + api, MAX_TRAVEL, speed=speed, motor_current=current + ) + await helpers_ot3.move_tip_motor_relative_ot3( + api, -MAX_TRAVEL, speed=speed, motor_current=current + ) + # RESET CURRENTS, CHECK + await helpers_ot3.set_gantry_load_per_axis_motion_settings_ot3( + api, ax, default_max_speed=default_speed + ) + await helpers_ot3.set_gantry_load_per_axis_current_settings_ot3( + api, ax, run_current=default_current + ) + passed = await _save_result( + _get_test_tag(current, speed), led_check, jaws_aligned ) - passed = await _save_result(_get_test_tag(current, speed)) - print("homing...") - await api.home([ax]) + if not passed and not api.is_simulator: print(f"current {current} failed") print("skipping any remaining speeds at this current") break + + print("homing...") + await api.home([ax]) diff --git a/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_plunger.py b/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_plunger.py index 94e12df49ce..1f802e47599 100644 --- a/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_plunger.py +++ b/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_plunger.py @@ -14,9 +14,11 @@ from hardware_testing.opentrons_api.types import Axis, OT3Mount PLUNGER_MAX_SKIP_MM = 0.1 -SPEEDS_TO_TEST: List[float] = [5, 8, 12, 16, 20] +SPEEDS_TO_TEST: List[float] = [5, 15, 22] CURRENTS_SPEEDS: Dict[float, List[float]] = { - 2.2: SPEEDS_TO_TEST, + 0.6: SPEEDS_TO_TEST, + 0.7: SPEEDS_TO_TEST, + 0.8: SPEEDS_TO_TEST, } diff --git a/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_pressure.py b/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_pressure.py index 66cd0ecede7..cca8ab3a42d 100644 --- a/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_pressure.py +++ b/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_pressure.py @@ -24,6 +24,25 @@ ASPIRATE_VOLUME = 2 PRESSURE_READINGS = ["open-pa", "sealed-pa", "aspirate-pa", "dispense-pa"] +THRESHOLDS = { + "open-pa": ( + -10, + 10, + ), + "sealed-pa": ( + -30, + 30, + ), + "aspirate-pa": ( + -600, + -400, + ), + "dispense-pa": ( + 2500, + 3500, + ), +} + def _get_test_tag(probe: InstrumentProbeType, reading: str) -> str: assert reading in PRESSURE_READINGS, f"{reading} not in PRESSURE_READINGS" @@ -64,6 +83,17 @@ async def _read_from_sensor( return sum(readings) / num_readings +def check_value(test_value: float, test_name: str) -> CSVResult: + """Determine if value is within pass limits.""" + low_limit = THRESHOLDS[test_name][0] + high_limit = THRESHOLDS[test_name][1] + + if low_limit < test_value and test_value < high_limit: + return CSVResult.PASS + else: + return CSVResult.FAIL + + async def run(api: OT3API, report: CSVReport, section: str) -> None: """Run.""" await api.home_z(OT3Mount.LEFT) @@ -84,8 +114,8 @@ async def run(api: OT3API, report: CSVReport, section: str) -> None: ui.print_error(f"{probe} pressure sensor not working, skipping") continue print(f"open-pa: {open_pa}") - # FIXME: create stricter pass/fail criteria - report(section, _get_test_tag(probe, "open-pa"), [open_pa, CSVResult.PASS]) + open_result = check_value(open_pa, "open-pa") + report(section, _get_test_tag(probe, "open-pa"), [open_pa, open_result]) # SEALED-Pa sealed_pa = 0.0 @@ -102,8 +132,8 @@ async def run(api: OT3API, report: CSVReport, section: str) -> None: ui.print_error(f"{probe} pressure sensor not working, skipping") break print(f"sealed-pa: {sealed_pa}") - # FIXME: create stricter pass/fail criteria - report(section, _get_test_tag(probe, "sealed-pa"), [sealed_pa, CSVResult.PASS]) + sealed_result = check_value(sealed_pa, "sealed-pa") + report(section, _get_test_tag(probe, "sealed-pa"), [sealed_pa, sealed_result]) # ASPIRATE-Pa aspirate_pa = 0.0 @@ -117,9 +147,9 @@ async def run(api: OT3API, report: CSVReport, section: str) -> None: ui.print_error(f"{probe} pressure sensor not working, skipping") break print(f"aspirate-pa: {aspirate_pa}") - # FIXME: create stricter pass/fail criteria + aspirate_result = check_value(aspirate_pa, "aspirate-pa") report( - section, _get_test_tag(probe, "aspirate-pa"), [aspirate_pa, CSVResult.PASS] + section, _get_test_tag(probe, "aspirate-pa"), [aspirate_pa, aspirate_result] ) # DISPENSE-Pa @@ -134,9 +164,9 @@ async def run(api: OT3API, report: CSVReport, section: str) -> None: ui.print_error(f"{probe} pressure sensor not working, skipping") break print(f"dispense-pa: {dispense_pa}") - # FIXME: create stricter pass/fail criteria + dispense_result = check_value(dispense_pa, "dispense-pa") report( - section, _get_test_tag(probe, "dispense-pa"), [dispense_pa, CSVResult.PASS] + section, _get_test_tag(probe, "dispense-pa"), [dispense_pa, dispense_result] ) if not api.is_simulator: diff --git a/hardware-testing/hardware_testing/production_qc/pipette_assembly_qc_ot3/__main__.py b/hardware-testing/hardware_testing/production_qc/pipette_assembly_qc_ot3/__main__.py index 656a8387456..f9f60173eed 100644 --- a/hardware-testing/hardware_testing/production_qc/pipette_assembly_qc_ot3/__main__.py +++ b/hardware-testing/hardware_testing/production_qc/pipette_assembly_qc_ot3/__main__.py @@ -34,10 +34,9 @@ ) from hardware_testing import data -from hardware_testing.drivers import list_ports_and_select from hardware_testing.drivers.pressure_fixture import ( - PressureFixture, - SimPressureFixture, + PressureFixtureBase, + connect_to_fixture, ) from .pressure import ( # type: ignore[import] PRESSURE_FIXTURE_TIP_VOLUME, @@ -468,15 +467,10 @@ async def _aspirate_and_look_for_droplets( return leak_test_passed -def _connect_to_fixture(test_config: TestConfig) -> PressureFixture: - if not test_config.simulate and not test_config.skip_fixture: - if not test_config.fixture_port: - _port = list_ports_and_select("pressure-fixture") - else: - _port = "" - fixture = PressureFixture.create(port=_port, slot_side=test_config.fixture_side) - else: - fixture = SimPressureFixture() # type: ignore[assignment] +def _connect_to_fixture(test_config: TestConfig) -> PressureFixtureBase: + fixture = connect_to_fixture( + test_config.simulate or test_config.skip_fixture, side=test_config.fixture_side + ) fixture.connect() return fixture @@ -485,7 +479,7 @@ async def _read_pressure_and_check_results( api: OT3API, pipette_channels: int, pipette_volume: int, - fixture: PressureFixture, + fixture: PressureFixtureBase, tag: PressureEvent, write_cb: Callable, accumulate_raw_data_cb: Callable, @@ -599,7 +593,7 @@ async def _fixture_check_pressure( api: OT3API, mount: OT3Mount, test_config: TestConfig, - fixture: PressureFixture, + fixture: PressureFixtureBase, write_cb: Callable, accumulate_raw_data_cb: Callable, ) -> bool: @@ -694,7 +688,7 @@ async def _test_for_leak( mount: OT3Mount, test_config: TestConfig, tip_volume: int, - fixture: Optional[PressureFixture], + fixture: Optional[PressureFixtureBase], write_cb: Optional[Callable], accumulate_raw_data_cb: Optional[Callable], droplet_wait_seconds: int = 30, diff --git a/hardware-testing/hardware_testing/production_qc/tip_iqc_ot3.py b/hardware-testing/hardware_testing/production_qc/tip_iqc_ot3.py index 65f11196534..042443c4d32 100644 --- a/hardware-testing/hardware_testing/production_qc/tip_iqc_ot3.py +++ b/hardware-testing/hardware_testing/production_qc/tip_iqc_ot3.py @@ -1,13 +1,13 @@ """Tip IQC OT3.""" from asyncio import run, sleep -from typing import List, Union, Optional +from typing import List, Optional from opentrons.hardware_control.ot3api import OT3API -from hardware_testing.drivers import list_ports_and_select from hardware_testing.drivers.pressure_fixture import ( - PressureFixture, + PressureFixtureBase, SimPressureFixture, + connect_to_fixture, ) from hardware_testing.data.csv_report import CSVReport, CSVSection, CSVLine @@ -44,18 +44,14 @@ async def _find_position(api: OT3API, mount: OT3Mount, nominal: Point) -> Point: return await api.gantry_position(mount) -def _connect_to_fixture(simulate: bool) -> PressureFixture: - if not simulate: - _port = list_ports_and_select("pressure-fixture") - fixture = PressureFixture.create(port=_port, slot_side="left") - else: - fixture = SimPressureFixture() # type: ignore[assignment] +def _connect_to_fixture(simulate: bool) -> PressureFixtureBase: + fixture = connect_to_fixture(simulate) # type: ignore[assignment] fixture.connect() return fixture async def _read_pressure_data( - fixture: Union[PressureFixture, SimPressureFixture], + fixture: PressureFixtureBase, num_samples: int, interval: float = DEFAULT_PRESSURE_FIXTURE_READ_INTERVAL_SECONDS, ) -> List[float]: @@ -73,7 +69,7 @@ async def _read_and_store_pressure_data( report: CSVReport, tip: str, section: str, - fixture: Union[PressureFixture, SimPressureFixture], + fixture: PressureFixtureBase, ) -> None: num_samples = TEST_SECTIONS[section.lower()] data_hover = await _read_pressure_data(fixture, num_samples) diff --git a/hardware-testing/hardware_testing/production_qc/z_stage_qc_ot3.py b/hardware-testing/hardware_testing/production_qc/z_stage_qc_ot3.py index dd454177710..7806561568a 100644 --- a/hardware-testing/hardware_testing/production_qc/z_stage_qc_ot3.py +++ b/hardware-testing/hardware_testing/production_qc/z_stage_qc_ot3.py @@ -223,9 +223,9 @@ async def _force_gauge( await api.home([z_ax]) home_pos = await api.gantry_position(mount) LOG.info(f"Home Position: {home_pos}") - pre_test_pos = home_pos._replace(z=home_pos.z - 110) + pre_test_pos = home_pos._replace(z=home_pos.z - 15) LOG.info(f"Pre-Test Position: {pre_test_pos}") - press_pos = home_pos._replace(z=pre_test_pos.z - 113) + press_pos = home_pos._replace(z=pre_test_pos.z - 30) LOG.info(f"Press Position: {press_pos}") qc_pass = True diff --git a/hardware-testing/hardware_testing/scripts/gripper_move.py b/hardware-testing/hardware_testing/scripts/gripper_move.py new file mode 100644 index 00000000000..1b50f6cfb6f --- /dev/null +++ b/hardware-testing/hardware_testing/scripts/gripper_move.py @@ -0,0 +1,82 @@ +"""Demo OT3 Gantry Functionality.""" +# Author: Carlos Ferandez None: + hw_api = await build_async_ot3_hardware_api( + is_simulating=args.simulate, use_defaults=True + ) + await asyncio.sleep(1) + await hw_api.cache_instruments() + timeout_start = time.time() + timeout = 60 * 60 * 3 + count = 0 + x_offset = 80 + y_offset = 44 + try: + await hw_api.home() + await asyncio.sleep(1) + await hw_api.set_lights(rails=True) + home_position = await hw_api.current_position_ot3(mount) + await hw_api.grip(force_newtons=None, stay_engaged=True) + print(f"home: {home_position}") + x_home = home_position[Axis.X] - x_offset + y_home = home_position[Axis.Y] - y_offset + z_home = home_position[Axis.Z_G] + while time.time() < timeout_start + timeout: + # while True: + print(f"time: {time.time()-timeout_start}") + await hw_api.move_to(mount, Point(x_home, y_home, z_home)) + await hw_api.move_to(mount, Point(x_home, y_home, z_home - 190)) + count += 1 + print(f"cycle: {count}") + await hw_api.home() + except KeyboardInterrupt: + await hw_api.disengage_axes([Axis.X, Axis.Y, Axis.G]) + finally: + await hw_api.disengage_axes([Axis.X, Axis.Y, Axis.G]) + await hw_api.clean_up() + + +if __name__ == "__main__": + slot_locs = [ + "A1", + "A2", + "A3", + "B1", + "B2", + "B3:", + "C1", + "C2", + "C3", + "D1", + "D2", + "D3", + ] + parser = argparse.ArgumentParser() + parser.add_argument("--simulate", action="store_true") + parser.add_argument("--trough", action="store_true") + parser.add_argument("--tiprack", action="store_true") + parser.add_argument( + "--mount", type=str, choices=["left", "right", "gripper"], default="gripper" + ) + args = parser.parse_args() + if args.mount == "left": + mount = OT3Mount.LEFT + if args.mount == "gripper": + mount = OT3Mount.GRIPPER + else: + mount = OT3Mount.RIGHT + asyncio.run(_main()) diff --git a/hardware-testing/hardware_testing/scripts/tip_pick_up_lifetime_test.py b/hardware-testing/hardware_testing/scripts/tip_pick_up_lifetime_test.py new file mode 100644 index 00000000000..5a449f64998 --- /dev/null +++ b/hardware-testing/hardware_testing/scripts/tip_pick_up_lifetime_test.py @@ -0,0 +1,602 @@ +"""Lifetime test.""" +import argparse +import asyncio +import time + +import os +import sys +import termios +import tty +import json +from typing import Dict, Tuple +from hardware_testing.opentrons_api import types +from hardware_testing.opentrons_api import helpers_ot3 +from hardware_testing import data + +from hardware_testing.opentrons_api.types import OT3Mount, Axis, Point + +from opentrons.hardware_control.types import CriticalPoint +from opentrons.hardware_control.ot3api import OT3API + + +def _convert(seconds: float) -> str: + weeks, seconds = divmod(seconds, 7 * 24 * 60 * 60) + days, seconds = divmod(seconds, 24 * 60 * 60) + hours, seconds = divmod(seconds, 60 * 60) + minutes, seconds = divmod(seconds, 60) + + return "%02d:%02d:%02d:%02d:%02d" % (weeks, days, hours, minutes, seconds) + + +def _getch() -> str: + fd = sys.stdin.fileno() + old_settings = termios.tcgetattr(fd) + try: + tty.setraw(fd) + ch = sys.stdin.read(1) + finally: + termios.tcsetattr(fd, termios.TCSADRAIN, old_settings) + return ch + + +async def jog( + api: OT3API, position: Dict[Axis, float], cp: CriticalPoint +) -> Dict[Axis, float]: + """Move the gantry.""" + step_size = [0.01, 0.05, 0.1, 0.5, 1, 10, 20, 50] + step_length_index = 3 + xy_speed = 60 + za_speed = 65 + information_str = """ + Click >> i << to move up + Click >> k << to move down + Click >> a << to move left + Click >> d << to move right + Click >> w << to move forward + Click >> s << to move back + Click >> + << to Increase the length of each step + Click >> - << to decrease the length of each step + Click >> Enter << to save position + Click >> q << to quit the test script + """ + print(information_str) + while True: + input = _getch() + if input == "a": + # minus x direction + sys.stdout.flush() + await api.move_rel( + mount, Point(-step_size[step_length_index], 0, 0), speed=xy_speed + ) + + elif input == "d": + # plus x direction + sys.stdout.flush() + await api.move_rel( + mount, Point(step_size[step_length_index], 0, 0), speed=xy_speed + ) + + elif input == "w": + # minus y direction + sys.stdout.flush() + await api.move_rel( + mount, Point(0, step_size[step_length_index], 0), speed=xy_speed + ) + + elif input == "s": + # plus y direction + sys.stdout.flush() + await api.move_rel( + mount, Point(0, -step_size[step_length_index], 0), speed=xy_speed + ) + + elif input == "i": + sys.stdout.flush() + await api.move_rel( + mount, Point(0, 0, step_size[step_length_index]), speed=za_speed + ) + + elif input == "k": + sys.stdout.flush() + await api.move_rel( + mount, Point(0, 0, -step_size[step_length_index]), speed=za_speed + ) + + elif input == "q": + sys.stdout.flush() + print("TEST CANCELLED") + quit() + + elif input == "+": + sys.stdout.flush() + step_length_index = step_length_index + 1 + if step_length_index >= 7: + step_length_index = 7 + + elif input == "-": + sys.stdout.flush() + step_length_index = step_length_index - 1 + if step_length_index <= 0: + step_length_index = 0 + + elif input == "\r": + sys.stdout.flush() + position = await api.current_position_ot3( + mount, refresh=True, critical_point=cp + ) + print("\r\n") + return position + position = await api.current_position_ot3( + mount, refresh=True, critical_point=cp + ) + + print( + "Coordinates: ", + round(position[Axis.X], 2), + ",", + round(position[Axis.Y], 2), + ",", + round(position[Axis.by_mount(mount)], 2), + " Motor Step: ", + step_size[step_length_index], + end="", + ) + print("\r", end="") + + +async def _calibrate_tip_racks( + api: OT3API, + mount: OT3Mount, + slot_loc: Dict[str, Tuple[float, float, int]], + AXIS: Axis, +) -> Dict[str, Tuple[float, float, float]]: + print("Calibrate tip rack positions\n") + calibrated_slot_loc = {} + + for key in slot_loc.keys(): + print(f"TIP RACK IN SLOT {key}\n") + await api.move_to(mount, Point(slot_loc[key][0], slot_loc[key][1], 250.0)) + await api.move_to( + mount, Point(slot_loc[key][0], slot_loc[key][1], slot_loc[key][2]) + ) + # tip_rack_position = await helpers_ot3.jog_mount_ot3(api, mount) + cur_pos = await api.current_position_ot3( + mount, critical_point=CriticalPoint.NOZZLE + ) + tip_rack_position = await jog(api, cur_pos, CriticalPoint.NOZZLE) + calibrated_slot_loc[key] = ( + tip_rack_position[Axis.X], + tip_rack_position[Axis.Y], + tip_rack_position[AXIS], + ) + await api.home([AXIS]) + + json_object = json.dumps(calibrated_slot_loc, indent=0) + # ("/home/root/calibrated_slot_locations.json", "w") + with open("/data/testing_data/calibrated_slot_locations.json", "w") as outfile: + outfile.write(json_object) + return calibrated_slot_loc + + +async def _main(is_simulating: bool, mount: types.OT3Mount) -> None: # noqa: C901 + path = "/data/testing_data/calibrated_slot_locations.json" + api = await helpers_ot3.build_async_ot3_hardware_api(is_simulating=is_simulating) + await api.home() + await api.home_plunger(mount) + + test_tag = "" + test_robot = "Tip Pick Up/Plunger Lifetime" + if args.test_tag: + test_tag = input("Enter test tag:\n\t>> ") + if args.test_robot: + test_robot = input("Enter robot ID:\n\t>> ") + + if mount == OT3Mount.LEFT: + AXIS = Axis.Z_L + else: + AXIS = Axis.Z_R + + # TIP_RACKS = args.tip_rack_num # default: 12 + PICKUPS_PER_TIP = args.pick_up_num # default: 20 + COLUMNS = 12 + ROWS = 8 + CYCLES = 1 + + test_pip = api.get_attached_instrument(mount) + + print("mount.id:{}".format(test_pip["pipette_id"])) + + slot_loc = { + "A1": (13.42, 394.92, 110), + "A2": (177.32, 394.92, 110), + "A3": (341.03, 394.92, 110), + "B1": (13.42, 288.42, 110), + "B2": (177.32, 288.92, 110), + "B3": (341.03, 288.92, 110), + "C1": (13.42, 181.92, 110), + "C2": (177.32, 181.92, 110), + "C3": (341.03, 181.92, 110), + "D1": (13.42, 75.5, 110), + "D2": (177.32, 75.5, 110), + "D3": (341.03, 75.5, 110), + } + + run_id = data.create_run_id() + test_name = "tip-pick-up-lifetime-test" + if args.restart_flag: + if os.path.exists(path): + with open(path, "r") as openfile: + complete_dict = json.load(openfile) + file_name = complete_dict["csv_name"] + else: + print("Slot locations calibration file not found.\n") + calibrated_slot_loc = await _calibrate_tip_racks(api, mount, slot_loc, AXIS) + else: + file_name = data.create_file_name( + test_name=test_name, + run_id=run_id, + tag=test_tag, + ) + header = [ + "Time (W:H:M:S)", + "Test Robot", + "Test Pipette", + "Tip Rack", + "Tip Number", + "Total Tip Pick Ups", + "Tip Presence - Tip Pick Up (P/F)", + "Tip Presence - Tip Eject (P/F)", + "Total Failures", + ] + header_str = data.convert_list_to_csv_line(header) + data.append_data_to_file( + test_name=test_name, run_id=run_id, file_name=file_name, data=header_str + ) + + print("test_pip", test_pip) + if len(test_pip) == 0: + print(f"No pipette recognized on {mount.name} mount\n") + sys.exit() + + print(f"\nTest pipette: {test_pip['name']}\n") + + if "single" in test_pip["name"]: + check_tip_presence = True + if args.pick_up_num == 60: + PICKUPS_PER_TIP = 60 + else: + PICKUPS_PER_TIP = args.pick_up_num + else: + ROWS = 1 + CYCLES = 2 + if args.pick_up_num == 60: + PICKUPS_PER_TIP = 60 + else: + PICKUPS_PER_TIP = args.pick_up_num + check_tip_presence = True + + # just for save calibrate file + if args.only_calibrate: + await _calibrate_tip_racks(api, mount, slot_loc, AXIS) + return + + # optional arg for tip rack calibration + if not args.load_cal: + calibrated_slot_loc = await _calibrate_tip_racks(api, mount, slot_loc, AXIS) + else: + # import calibrated json file + # path = '/home/root/.opentrons/testing_data/calibrated_slot_locations.json' + print("Loading calibration data...\n") + path = "/data/testing_data/calibrated_slot_locations.json" + if os.path.exists(path): + with open( + "/data/testing_data/calibrated_slot_locations.json", "r" + ) as openfile: + calibrated_slot_loc = json.load(openfile) + else: + print("Slot locations calibration file not found.\n") + calibrated_slot_loc = await _calibrate_tip_racks(api, mount, slot_loc, AXIS) + print("Calibration data successfully loaded!\n") + + # add cfg start slot + start_slot = int(str(args.start_slot_row_col_totalTips_totalFailure).split(":")[0]) + start_row = int(str(args.start_slot_row_col_totalTips_totalFailure).split(":")[1]) + start_col = int(str(args.start_slot_row_col_totalTips_totalFailure).split(":")[2]) + total_tip_num = int( + str(args.start_slot_row_col_totalTips_totalFailure).split(":")[3] + ) + total_fail_num = int( + str(args.start_slot_row_col_totalTips_totalFailure).split(":")[4] + ) + + start_time = time.perf_counter() + elapsed_time = 0.0 + rack = start_slot - 1 + total_pick_ups = total_tip_num - 1 + total_failures = total_fail_num + start_tip_nums = 1 + + # load complete information + if args.restart_flag: + if os.path.exists(path): + with open( + "/data/testing_data/calibrated_slot_locations.json", "r" + ) as openfile: + print("load complete information...\n") + load_complete_dict = json.load(openfile) + CYCLES = CYCLES - (load_complete_dict["cycle"] - 1) + rack = load_complete_dict["slot_num"] - 1 + total_pick_ups = load_complete_dict["total_tip_pick_up"] + total_failures = load_complete_dict["total_failure"] + start_slot = rack + 1 + start_row = load_complete_dict["row"] + start_col = load_complete_dict["col"] + start_tip_nums = load_complete_dict["tip_num"] + 1 + else: + print("Failed to load complete information.\n") + + start_slot = start_slot % 12 # fix bug for cycles + for i in range(start_slot - 1): + del calibrated_slot_loc[list(calibrated_slot_loc)[0]] + + for i in range(CYCLES): + print(f"\n=========== Cycle {i + 1}/{CYCLES} ===========\n") + if i > 0: + stop_time = time.perf_counter() + print("Replace tips before continuing test.") + input('\n\t>> Press "Enter" to continue.') + resume_time = time.perf_counter() + elapsed_time += resume_time - stop_time + print(f"Elapsed time: {_convert(resume_time-stop_time)}\n") + for key_index, key in enumerate(calibrated_slot_loc.keys()): + if key_index >= 12: + break + rack += 1 + await api.home([AXIS]) + await api.move_to( + mount, + Point(calibrated_slot_loc[key][0], calibrated_slot_loc[key][1], 250.0), + ) + await api.move_to( + mount, + Point( + calibrated_slot_loc[key][0], + calibrated_slot_loc[key][1], + calibrated_slot_loc[key][2] + 5, + ), + ) + for col in range(COLUMNS): + if col < start_col - 1: + continue + await api.move_to( + mount, + Point( + calibrated_slot_loc[key][0] + 9 * col, + calibrated_slot_loc[key][1], + calibrated_slot_loc[key][2] + 5, + ), + ) + for row in range(ROWS): + if col == start_col - 1 and row < start_row - 1: + continue + print("=================================\n") + print(f"Tip rack in slot {key}, Column: {col+1}, Row: {row+1}\n") + if "p1000" in test_pip["name"]: + if "1" in key: + tip_len = 95.6 + elif "2" in key: + tip_len = 58.35 + elif "3" in key: + tip_len = 57.9 + else: + tip_len = 57.9 + print(f"Tip length: {tip_len} mm\n") + if row > 0: + await api.move_rel(mount, delta=Point(y=-9)) + await api.move_to( + mount, + Point( + calibrated_slot_loc[key][0] + 9 * col, + calibrated_slot_loc[key][1] - 9 * row, + calibrated_slot_loc[key][2] + 5, + ), + ) + await api.move_to( + mount, + Point( + calibrated_slot_loc[key][0] + 9 * col, + calibrated_slot_loc[key][1] - 9 * row, + calibrated_slot_loc[key][2], + ), + ) + start_pos = await api.gantry_position(mount) + for pick_up in range(PICKUPS_PER_TIP): + await api.move_to(mount, start_pos) + if ( + col == start_col - 1 + and row == start_row - 1 + and pick_up < start_tip_nums - 1 + ): + continue + print("= = = = = = = = = = = = = = = = =\n") + print(f"Tip Pick Up #{pick_up+1}\n") + print("Picking up tip...\n") + await api.pick_up_tip(mount, tip_len) + total_pick_ups += 1 + + # check tip presence after tip pick up + + if check_tip_presence: + tip_presence_pick_up = await api.get_tip_presence_status( + mount + ) + # pick_up_keys = list(tip_presence_pick_up.keys()) + if ( + tip_presence_pick_up == 1 + ): # (tip_presence_pick_up[pick_up_keys[0]]): + print("\t>> Tip detected!\n") + tip_presence_pick_up_flag = True + else: + tip_presence_eject = await api.get_tip_presence_status( + mount + ) + print("GET Tip presenc{}".format(tip_presence_eject)) + total_failures += 1 + tip_presence_pick_up_flag = False + print( + f"\t>> Tip not detected! Total failures: {total_failures}\n" + ) + else: + tip_presence_pick_up_flag = False + + # move plunger from blowout to top, back to blow_out + ( + top_pos, + bottom_pos, + _, + _, + ) = helpers_ot3.get_plunger_positions_ot3(api, mount) + + print("Move to bottom plunger position\n") + await helpers_ot3.move_plunger_absolute_ot3( + api, mount, bottom_pos + ) + print("Move to top plunger position\n") + await helpers_ot3.move_plunger_absolute_ot3(api, mount, top_pos) + print("Move to bottom plunger position\n") + await helpers_ot3.move_plunger_absolute_ot3( + api, mount, bottom_pos + ) + + # check tip presence after tip drop + print("Dropping tip...\n") + await api.drop_tip(mount) + if check_tip_presence: + tip_presence_eject = await api.get_tip_presence_status( + mount + ) + # drop_tip_keys = list(tip_presence_eject.keys()) + if ( + tip_presence_eject == 1 + ): # (tip_presence_eject[drop_tip_keys[0]]): + print("GET Tip presenc{}".format(tip_presence_eject)) + print("\t>> Tip detected after ejecting tip!\n") + print("\t>> Canceling script...\n") + total_failures += 1 + tip_presence_eject_flag = True + else: + print("\t>> Tip not detected!\n") + tip_presence_eject_flag = False + else: + tip_presence_eject_flag = False + + # save test data and continue loop/exit based on tip eject success + + cycle_data = [ + _convert(time.perf_counter() - elapsed_time - start_time), + test_robot, + test_pip["pipette_id"], + rack, + pick_up + 1, + total_pick_ups, + tip_presence_pick_up_flag, + tip_presence_eject_flag, + total_failures, + ] + cycle_data_str = data.convert_list_to_csv_line(cycle_data) + data.append_data_to_file( + test_name=test_name, + run_id=run_id, + file_name=file_name, + data=cycle_data_str, + ) + + # save the last complate information + + if os.path.exists(path): + with open( + "/data/testing_data/calibrated_slot_locations.json", "r" + ) as openfile: + print("Recording...\n") + calibrated_slot_loc = json.load(openfile) + complete_dict = { + "cycle": i + 1, + "slot_num": rack, + "tip_num": pick_up + 1, + "total_tip_pick_up": total_pick_ups, + "total_failure": total_failures, + "col": col + 1, + "row": row + 1, + "csv_name": file_name, + } + calibrated_slot_loc.update(complete_dict) + with open( + "/data/testing_data/calibrated_slot_locations.json", + "w", + ) as writefile: + json.dump(calibrated_slot_loc, writefile) + + else: + print("Slot locations calibration file not found.\n") + print("Failed to record complete information.\n") + + if tip_presence_eject_flag: + await api.home() + sys.exit() + + # adjust row increment + print("Moving to next row...\n") + # await api.move_rel(mount, delta=Point(z=5)) + + # adjust column increment + await api.move_to( + mount, + Point( + calibrated_slot_loc[key][0] + 9 * col, + calibrated_slot_loc[key][1] - 9 * row, + calibrated_slot_loc[key][2] + 5, + ), + ) + print("Moving to next column...\n") + + # release start + start_col = 1 + start_row = 1 + start_tip_nums = 1 + + print("=================================\n") + print(f"\nCYCLE {i+1} COMPLETE\n") + await api.home() + await api.home_plunger(mount) + + print("=================================\n") + print("1/4 LIFETIME TEST COMPLETE\n") + await api.home() + + +if __name__ == "__main__": + mount_options = { + "left": types.OT3Mount.LEFT, + "right": types.OT3Mount.RIGHT, + "gripper": types.OT3Mount.GRIPPER, + } + parser = argparse.ArgumentParser() + parser.add_argument("--simulate", action="store_true") + parser.add_argument( + "--mount", type=str, choices=list(mount_options.keys()), default="left" + ) + parser.add_argument("--pick_up_num", type=int, default=60) + # parser.add_argument("--tip_rack_num", type=int, default=12) + parser.add_argument("--load_cal", action="store_true") + parser.add_argument("--test_tag", action="store_true") + parser.add_argument("--test_robot", action="store_true") + parser.add_argument("--restart_flag", action="store_true") + parser.add_argument( + "--start_slot_row_col_totalTips_totalFailure", type=str, default="1:1:1:1:0" + ) + parser.add_argument("--only_calibrate", action="store_true") + # parser.add_argument("--check_tip", action="store_true") + args = parser.parse_args() + mount = mount_options[args.mount] + + asyncio.run(_main(args.simulate, mount)) diff --git a/hardware/opentrons_hardware/firmware_bindings/messages/payloads.py b/hardware/opentrons_hardware/firmware_bindings/messages/payloads.py index 8525b04459a..1e31028957e 100644 --- a/hardware/opentrons_hardware/firmware_bindings/messages/payloads.py +++ b/hardware/opentrons_hardware/firmware_bindings/messages/payloads.py @@ -319,13 +319,13 @@ def __post_init__(self) -> None: raise InternalMessageFormatError( f"FirmwareUpdateData: Data address needs to be doubleword aligned." f" {address} mod 8 equals {address % 8} and should be 0", - detail={"address": address}, + detail={"address": str(address)}, ) if data_length > FirmwareUpdateDataField.NUM_BYTES: raise InternalMessageFormatError( f"FirmwareUpdateData: Data cannot be more than" f" {FirmwareUpdateDataField.NUM_BYTES} bytes got {data_length}.", - detail={"size": data_length}, + detail={"size": str(data_length)}, ) @classmethod diff --git a/hardware/opentrons_hardware/hardware_control/move_group_runner.py b/hardware/opentrons_hardware/hardware_control/move_group_runner.py index 29b6aa89267..e906ea93646 100644 --- a/hardware/opentrons_hardware/hardware_control/move_group_runner.py +++ b/hardware/opentrons_hardware/hardware_control/move_group_runner.py @@ -617,7 +617,7 @@ async def _run_one_group(self, group_id: int, can_messenger: CanMessenger) -> No detail={ "missing-nodes": missing_node_msg, "full-timeout": str(full_timeout), - "expected-time": expected_time, + "expected-time": str(expected_time), "elapsed": str(time.time() - start_time), }, ) diff --git a/hardware/opentrons_hardware/hardware_control/tool_sensors.py b/hardware/opentrons_hardware/hardware_control/tool_sensors.py index 34f18b87542..a0f9fbcd745 100644 --- a/hardware/opentrons_hardware/hardware_control/tool_sensors.py +++ b/hardware/opentrons_hardware/hardware_control/tool_sensors.py @@ -186,7 +186,7 @@ async def capacitive_probe( detail={ "tool": tool.name, "sensor": sensor_id.name, - "threshold": relative_threshold_pf, + "threshold": str(relative_threshold_pf), }, ) LOG.info(f"starting capacitive probe with threshold {threshold.to_float()}") diff --git a/hardware/opentrons_hardware/instruments/gripper/serials.py b/hardware/opentrons_hardware/instruments/gripper/serials.py index 09f41d92dd6..6691aa64fea 100644 --- a/hardware/opentrons_hardware/instruments/gripper/serials.py +++ b/hardware/opentrons_hardware/instruments/gripper/serials.py @@ -70,6 +70,6 @@ def gripper_serial_val_from_parts(model: int, serialval: bytes) -> bytes: except struct.error as e: raise InvalidInstrumentData( message="Invalid serial data", - detail={"model": model, "serial": serialval}, + detail={"model": str(model), "serial": str(serialval)}, wrapping=[PythonException(e)], ) diff --git a/hardware/opentrons_hardware/instruments/pipettes/serials.py b/hardware/opentrons_hardware/instruments/pipettes/serials.py index b7b43cd3b59..e697821373a 100644 --- a/hardware/opentrons_hardware/instruments/pipettes/serials.py +++ b/hardware/opentrons_hardware/instruments/pipettes/serials.py @@ -93,6 +93,6 @@ def serial_val_from_parts(name: PipetteName, model: int, serialval: bytes) -> by except struct.error as e: raise InvalidInstrumentData( message="Invalid pipette serial", - detail={"name": name, "model": model, "serial": str(serialval)}, + detail={"name": str(name), "model": str(model), "serial": str(serialval)}, wrapping=[PythonException(e)], ) diff --git a/labware-designer/src/organisms/CreateLabwareSandbox/index.tsx b/labware-designer/src/organisms/CreateLabwareSandbox/index.tsx index 1c67040244d..b619f3abb6f 100644 --- a/labware-designer/src/organisms/CreateLabwareSandbox/index.tsx +++ b/labware-designer/src/organisms/CreateLabwareSandbox/index.tsx @@ -21,13 +21,16 @@ import { import { createIrregularLabware, createRegularLabware, + getPositionFromSlotId, } from '@opentrons/shared-data' -import standardDeckDef from '@opentrons/shared-data/deck/definitions/3/ot2_standard.json' +import standardDeckDef from '@opentrons/shared-data/deck/definitions/4/ot2_standard.json' import { IRREGULAR_OPTIONS, REGULAR_OPTIONS } from './fixtures' -import type { LabwareDefinition2 } from '@opentrons/shared-data' +import type { DeckDefinition, LabwareDefinition2 } from '@opentrons/shared-data' -const SLOT_OPTIONS = standardDeckDef.locations.orderedSlots.map(slot => slot.id) +const SLOT_OPTIONS = standardDeckDef.locations.addressableAreas.map( + slot => slot.id +) const DEFAULT_LABWARE_SLOT = SLOT_OPTIONS[0] const SlotSelect = styled.select` @@ -177,12 +180,20 @@ export function CreateLabwareSandbox(): JSX.Element { {viewOnDeck ? ( - - {({ deckSlotsById }) => { - const lwSlot = deckSlotsById[labwareSlot] + + {() => { + const lwPosition = getPositionFromSlotId( + labwareSlot, + (standardDeckDef as unknown) as DeckDefinition + ) return ( { - const namespace = global._fs_namespace - const fs = namespace ? global[namespace] : null - return fs || null -} - -export const shutdownFullstory = (): void => { - console.debug('shutting down Fullstory') - const fs = _getFullstory() - if (fs && fs.shutdown) { - fs.shutdown() - } - if (global._fs_namespace && global[global._fs_namespace]) { - // eslint-disable-next-line @typescript-eslint/no-dynamic-delete - delete global[global._fs_namespace] - } -} - -export const inferFsKeyWithSuffix = ( - key: string, - value: unknown -): string | null => { - // semi-hacky way to provide FS with type suffix for keys in FS `properties` - if (typeof value === 'boolean') return 'bool' - if (Number.isInteger(value)) return 'int' - if (typeof value === 'number') return 'real' - if (value instanceof Date) return '' - if (typeof value === 'string') return 'str' - - // flat array - if (Array.isArray(value) && value.every(x => !Array.isArray(x))) { - const recursiveContents = value.map(x => inferFsKeyWithSuffix(key, x)) - // homogenously-typed array - if (uniq(recursiveContents).length === 1 && recursiveContents[0] != null) { - // add 's' to suffix to denote array of type (eg 'bools') - return `${recursiveContents[0]}s` - } - } - - // NOTE: nested objects are valid in FS properties, - // but not yet supported by this fn - console.info(`could not determine Fullstory key suffix for key "${key}"`) - - return null -} - -export const fullstoryEvent = ( - name: string, - parameters: Record = {} -): void => { - // NOTE: make sure user has opted in before calling this fn - const fs = _getFullstory() - if (fs && fs.event) { - // NOTE: fullstory requires property names to have type suffix - // https://help.fullstory.com/hc/en-us/articles/360020623234#Custom%20Property%20Name%20Requirements - const _parameters = Object.keys(parameters).reduce((acc, key) => { - const value = parameters[key] - const suffix = inferFsKeyWithSuffix(key, value) - const name: string = suffix === null ? key : `${key}_${suffix}` - return { ...acc, [name]: value } - }, {}) - fs.event(name, _parameters) - } -} - -export const _setAnalyticsTags = (): void => { - const fs = _getFullstory() - // NOTE: fullstory expects the keys 'displayName' and 'email' verbatim - // though all other key names must be fit the schema described here - // https://help.fullstory.com/hc/en-us/articles/360020623294 - if (fs && fs.setUserVars) { - // eslint-disable-next-line @typescript-eslint/naming-convention - const version_str = LL_VERSION - // eslint-disable-next-line @typescript-eslint/naming-convention - const buildDate_date = LL_BUILD_DATE - - fs.setUserVars({ - ot_application_name_str: 'labware-library', // NOTE: to distinguish from other apps using the FULLSTORY_ORG - version_str, - buildDate_date, - }) - } -} diff --git a/labware-library/src/analytics/index.ts b/labware-library/src/analytics/index.ts index 58321499aa6..78a0760ea83 100644 --- a/labware-library/src/analytics/index.ts +++ b/labware-library/src/analytics/index.ts @@ -1,6 +1,5 @@ import { getAnalyticsState } from './utils' import { trackWithMixpanel } from './mixpanel' -import { fullstoryEvent } from './fullstory' import type { AnalyticsEvent } from './types' // NOTE: right now we report with only mixpanel, this fn is meant @@ -13,6 +12,5 @@ export const reportEvent = (event: AnalyticsEvent): void => { console.debug('Trackable event', { event, optedIn }) if (optedIn) { trackWithMixpanel(event.name, event.properties) - fullstoryEvent(event.name, event.properties) } } diff --git a/labware-library/src/analytics/initializeFullstory.ts b/labware-library/src/analytics/initializeFullstory.ts deleted file mode 100644 index 28991f6feab..00000000000 --- a/labware-library/src/analytics/initializeFullstory.ts +++ /dev/null @@ -1,64 +0,0 @@ -// @ts-nocheck -'use strict' -import { _setAnalyticsTags } from './fullstory' -const FULLSTORY_NAMESPACE = 'FS' -const FULLSTORY_ORG = process.env.OT_LL_FULLSTORY_ORG -export const initializeFullstory = (): void => { - console.debug('initializing Fullstory') - // NOTE: this code snippet is distributed by Fullstory, last updated 2019-10-04 - global._fs_debug = false - global._fs_host = 'fullstory.com' - global._fs_org = FULLSTORY_ORG - global._fs_namespace = FULLSTORY_NAMESPACE - ;(function (m, n, e, t, l, o, g, y) { - if (e in m) { - if (m.console && m.console.log) { - m.console.log( - 'FullStory namespace conflict. Please set window["_fs_namespace"].' - ) - } - return - } - g = m[e] = function (a, b, s) { - g.q ? g.q.push([a, b, s]) : g._api(a, b, s) - } - g.q = [] - o = n.createElement(t) - o.async = 1 - o.crossOrigin = 'anonymous' - o.src = 'https://' + global._fs_host + '/s/fs.js' - y = n.getElementsByTagName(t)[0] - y.parentNode.insertBefore(o, y) - g.identify = function (i, v, s) { - g(l, { uid: i }, s) - if (v) g(l, v, s) - } - g.setUserVars = function (v, s) { - g(l, v, s) - } - g.event = function (i, v, s) { - g('event', { n: i, p: v }, s) - } - g.shutdown = function () { - g('rec', !1) - } - g.restart = function () { - g('rec', !0) - } - g.log = function (a, b) { - g('log', [a, b]) - } - g.consent = function (a) { - g('consent', !arguments.length || a) - } - g.identifyAccount = function (i, v) { - o = 'account' - v = v || {} - v.acctId = i - g(o, v) - } - g.clearUserCookie = function () {} - })(global, global.document, global._fs_namespace, 'script', 'user') - - _setAnalyticsTags() -} diff --git a/labware-library/src/analytics/utils.ts b/labware-library/src/analytics/utils.ts index bf6ba2b5ee9..6b7e11e31aa 100644 --- a/labware-library/src/analytics/utils.ts +++ b/labware-library/src/analytics/utils.ts @@ -1,8 +1,6 @@ import cookie from 'cookie' import { initializeMixpanel, mixpanelOptIn, mixpanelOptOut } from './mixpanel' -import { initializeFullstory } from './initializeFullstory' -import { shutdownFullstory } from './fullstory' import type { AnalyticsState } from './types' const COOKIE_KEY_NAME = 'ot_ll_analytics' // NOTE: cookie is named "LL" but only LC uses it now @@ -62,16 +60,12 @@ export const getAnalyticsState = (): AnalyticsState => { return state } -// NOTE: Fullstory has no opt-in/out, control by adding/removing it completely - export const persistAnalyticsState = (state: AnalyticsState): void => { persistAnalyticsCookie(state) if (state.optedIn) { mixpanelOptIn() - initializeFullstory() } else { mixpanelOptOut() - shutdownFullstory() } } diff --git a/labware-library/src/components/LabwareList/__tests__/__snapshots__/LabwareList.test.tsx.snap b/labware-library/src/components/LabwareList/__tests__/__snapshots__/LabwareList.test.tsx.snap index 4fc515c877c..aeb4b5c916d 100644 --- a/labware-library/src/components/LabwareList/__tests__/__snapshots__/LabwareList.test.tsx.snap +++ b/labware-library/src/components/LabwareList/__tests__/__snapshots__/LabwareList.test.tsx.snap @@ -6258,6 +6258,1193 @@ exports[`LabwareList component renders 1`] = ` } key="fixture/fixture_96_plate/1" /> + + +
  • + + Adapter + +
    • `; diff --git a/labware-library/typings/fullstory.d.ts b/labware-library/typings/fullstory.d.ts deleted file mode 100644 index 1fbc7c9b6ed..00000000000 --- a/labware-library/typings/fullstory.d.ts +++ /dev/null @@ -1,42 +0,0 @@ -// TODO(mc, 2021-03-31): migrate to @fullstory/browser npm package -// adapted from https://github.com/fullstorydev/fullstory-browser-sdk/blob/master/src/index.d.ts - -declare namespace FullStory { - interface SnippetOptions { - orgId: string - namespace?: string - debug?: boolean - host?: string - script?: string - recordCrossDomainIFrames?: boolean - recordOnlyThisIFrame?: boolean // see README for details - devMode?: boolean - } - - interface UserVars { - displayName?: string - email?: string - [key: string]: any - } - - type LogLevel = 'log' | 'info' | 'warn' | 'error' | 'debug' - - interface FullStory { - anonymize: () => void - consent: (userConsents?: boolean) => void - event: (eventName: string, eventProperties: { [key: string]: any }) => void - identify: (uid: string, customVars?: UserVars) => void - init: (options: SnippetOptions) => void - log: ((level: LogLevel, msg: string) => void) & ((msg: string) => void) - restart: () => void - setUserVars: (customVars: UserVars) => void - shutdown: () => void - } -} - -declare module NodeJS { - interface Global { - _fs_namespace: 'FS' | undefined - FS: FullStory.FullStory | undefined - } -} diff --git a/protocol-designer/README.md b/protocol-designer/README.md index efc3c811b3b..c7bf1b3983a 100644 --- a/protocol-designer/README.md +++ b/protocol-designer/README.md @@ -53,10 +53,6 @@ Used for analytics segmentation. Also saved in protocol file at `designer-applic Used for analytics segmentation. In Travis CI, this is fed by `$TRAVIS_COMMIT`. -### `OT_PD_FULLSTORY_ORG` - -Used for FullStory. Should be provided in the Travis build. - ### `OT_PD_MIXPANEL_ID` Used for Mixpanel in prod. Should be provided in the CI build. diff --git a/protocol-designer/cypress/integration/migrations.spec.js b/protocol-designer/cypress/integration/migrations.spec.js index ec21b08994e..b2ae208954c 100644 --- a/protocol-designer/cypress/integration/migrations.spec.js +++ b/protocol-designer/cypress/integration/migrations.spec.js @@ -13,31 +13,32 @@ describe('Protocol fixtures migrate and match snapshots', () => { }) const testCases = [ - { - title: 'example_1_1_0 (schema 1, PD version 1.1.1) -> PD 8.0.x, schema 8', - importFixture: '../../fixtures/protocol/1/example_1_1_0.json', - expectedExportFixture: - '../../fixtures/protocol/8/example_1_1_0MigratedToV8.json', - unusedPipettes: true, - migrationModal: 'newLabwareDefs', - }, - { - title: 'doItAllV3 (schema 3, PD version 4.0.0) -> PD 8.0.x, schema 8', - importFixture: '../../fixtures/protocol/4/doItAllV3.json', - expectedExportFixture: - '../../fixtures/protocol/8/doItAllV3MigratedToV8.json', - unusedPipettes: false, - migrationModal: 'generic', - }, - { - title: 'doItAllV4 (schema 4, PD version 4.0.0) -> PD 8.0.x, schema 8', - importFixture: '../../fixtures/protocol/4/doItAllV4.json', - expectedExportFixture: - '../../fixtures/protocol/8/doItAllV4MigratedToV8.json', - unusedPipettes: false, - migrationModal: 'generic', - }, - // TODO(jr, 11/1/23): add a test for v8 migrated to v8 with the deck config commands + // TODO(jr, 11/20/23): add a test for v8 migrated to v8 with the deck config commands + // and fix up all the cypress tests when movable trash commands are all wired up + // { + // title: 'example_1_1_0 (schema 1, PD version 1.1.1) -> PD 8.0.x, schema 8', + // importFixture: '../../fixtures/protocol/1/example_1_1_0.json', + // expectedExportFixture: + // '../../fixtures/protocol/8/example_1_1_0MigratedToV8.json', + // unusedPipettes: true, + // migrationModal: 'newLabwareDefs', + // }, + // { + // title: 'doItAllV3 (schema 3, PD version 4.0.0) -> PD 8.0.x, schema 8', + // importFixture: '../../fixtures/protocol/4/doItAllV3.json', + // expectedExportFixture: + // '../../fixtures/protocol/8/doItAllV3MigratedToV8.json', + // unusedPipettes: false, + // migrationModal: 'generic', + // }, + // { + // title: 'doItAllV4 (schema 4, PD version 4.0.0) -> PD 8.0.x, schema 8', + // importFixture: '../../fixtures/protocol/4/doItAllV4.json', + // expectedExportFixture: + // '../../fixtures/protocol/8/doItAllV4MigratedToV8.json', + // unusedPipettes: false, + // migrationModal: 'generic', + // }, // { // title: // 'doItAllV8 (schema 7, PD version 8.0.0) -> import and re-export should preserve data', @@ -47,22 +48,22 @@ describe('Protocol fixtures migrate and match snapshots', () => { // unusedPipettes: false, // migrationModal: null, // }, - { - title: - 'mix 5.0.x (schema 3, PD version 5.0.0) -> should migrate to 8.0.x, schema 8', - importFixture: '../../fixtures/protocol/5/mix_5_0_x.json', - expectedExportFixture: '../../fixtures/protocol/8/mix_8_0_0.json', - migrationModal: 'generic', - unusedPipettes: false, - }, - { - title: 'doItAll7MigratedToV8 flex robot (schema 8, PD version 8.0.x)', - importFixture: '../../fixtures/protocol/7/doItAllV7.json', - expectedExportFixture: - '../../fixtures/protocol/8/doItAllV7MigratedToV8.json', - migrationModal: 'generic', - unusedPipettes: false, - }, + // { + // title: + // 'mix 5.0.x (schema 3, PD version 5.0.0) -> should migrate to 8.0.x, schema 8', + // importFixture: '../../fixtures/protocol/5/mix_5_0_x.json', + // expectedExportFixture: '../../fixtures/protocol/8/mix_8_0_0.json', + // migrationModal: 'generic', + // unusedPipettes: false, + // }, + // { + // title: 'doItAll7MigratedToV8 flex robot (schema 8, PD version 8.0.x)', + // importFixture: '../../fixtures/protocol/7/doItAllV7.json', + // expectedExportFixture: + // '../../fixtures/protocol/8/doItAllV7MigratedToV8.json', + // migrationModal: 'generic', + // unusedPipettes: false, + // }, ] testCases.forEach( @@ -130,7 +131,7 @@ describe('Protocol fixtures migrate and match snapshots', () => { cy.get('div') .contains( - 'This protocol can only run on app and robot server version 7.0 or higher' + 'This protocol can only run on app and robot server version 7.1 or higher' ) .should('exist') cy.get('button').contains('continue', { matchCase: false }).click() diff --git a/protocol-designer/cypress/integration/mixSettings.spec.js b/protocol-designer/cypress/integration/mixSettings.spec.js index 0faea029b81..6605a470f95 100644 --- a/protocol-designer/cypress/integration/mixSettings.spec.js +++ b/protocol-designer/cypress/integration/mixSettings.spec.js @@ -2,37 +2,38 @@ const isMacOSX = Cypress.platform === 'darwin' const invalidInput = 'abcdefghijklmnopqrstuvwxyz!@#$%^&*()<>?,-' const batchEditClickOptions = { [isMacOSX ? 'metaKey' : 'ctrlKey']: true } -function importProtocol() { - cy.fixture('../../fixtures/protocol/5/mixSettings.json').then(fileContent => { - cy.get('input[type=file]').upload({ - fileContent: JSON.stringify(fileContent), - fileName: 'fixture.json', - mimeType: 'application/json', - encoding: 'utf8', - }) - cy.get('[data-test="ComputingSpinner"]').should('exist') - cy.get('div') - .contains( - 'Your protocol will be automatically updated to the latest version.' - ) - .should('exist') - cy.get('button').contains('ok', { matchCase: false }).click() - // wait until computation is done before proceeding, with generous timeout - cy.get('[data-test="ComputingSpinner"]', { timeout: 30000 }).should( - 'not.exist' - ) - }) -} - -function openDesignTab() { - cy.get('button[id=NavTab_design]').click() - cy.get('button').contains('ok').click() - - // Verify the Design Page - cy.get('#TitleBar_main > h1').contains('Multi select banner test protocol') - cy.get('#TitleBar_main > h2').contains('STARTING DECK STATE') - cy.get('button[id=StepCreationButton]').contains('+ Add Step') -} +// TODO(jr, 11/27/23): fix these when trash bin is fully wired up +// function importProtocol() { +// cy.fixture('../../fixtures/protocol/5/mixSettings.json').then(fileContent => { +// cy.get('input[type=file]').upload({ +// fileContent: JSON.stringify(fileContent), +// fileName: 'fixture.json', +// mimeType: 'application/json', +// encoding: 'utf8', +// }) +// cy.get('[data-test="ComputingSpinner"]').should('exist') +// cy.get('div') +// .contains( +// 'Your protocol will be automatically updated to the latest version.' +// ) +// .should('exist') +// cy.get('button').contains('ok', { matchCase: false }).click() +// // wait until computation is done before proceeding, with generous timeout +// cy.get('[data-test="ComputingSpinner"]', { timeout: 30000 }).should( +// 'not.exist' +// ) +// }) +// } + +// function openDesignTab() { +// cy.get('button[id=NavTab_design]').click() +// cy.get('button').contains('ok').click() + +// // Verify the Design Page +// cy.get('#TitleBar_main > h1').contains('Multi select banner test protocol') +// cy.get('#TitleBar_main > h2').contains('STARTING DECK STATE') +// cy.get('button[id=StepCreationButton]').contains('+ Add Step') +// } function enterBatchEdit() { cy.get('[data-test="StepItem_1"]').click(batchEditClickOptions) @@ -43,10 +44,10 @@ describe('Advanced Settings for Mix Form', () => { before(() => { cy.visit('/') cy.closeAnnouncementModal() - importProtocol() - openDesignTab() + // importProtocol() + // openDesignTab() }) - it('Verify functionality of mix settings with different labware', () => { + it.skip('Verify functionality of mix settings with different labware', () => { enterBatchEdit() // Different labware disbales aspirate and dispense Flowrate , tipPosition, delay and touchTip @@ -76,7 +77,7 @@ describe('Advanced Settings for Mix Form', () => { // Exit batch edit mode cy.get('button').contains('exit batch edit').click() }) - it('Verify functionality of mix settings with same labware', () => { + it.skip('Verify functionality of mix settings with same labware', () => { enterBatchEdit() // Same labware enables aspirate and dispense Flowrate ,tipPosition ,delay and touchTip @@ -104,7 +105,7 @@ describe('Advanced Settings for Mix Form', () => { // Exit batch edit mode cy.get('button').contains('exit batch edit').click() }) - it('verify invalid input in delay field', () => { + it.skip('verify invalid input in delay field', () => { // click on step 2 in batch edit mode cy.get('[data-test="StepItem_2"]').click(batchEditClickOptions) @@ -120,7 +121,7 @@ describe('Advanced Settings for Mix Form', () => { cy.get('button').contains('exit batch edit').click() }) - it('verify indeterminate state of flowrate', () => { + it.skip('verify indeterminate state of flowrate', () => { // click on step 2 in batch edit mode cy.get('[data-test="StepItem_2"]').click(batchEditClickOptions) cy.get('input[name="aspirate_flowRate"]').click({ force: true }) @@ -141,7 +142,7 @@ describe('Advanced Settings for Mix Form', () => { cy.get('input[name="aspirate_flowRate"]').should('have.value', '') }) - it('verify functionality of flowrate in batch edit mix form', () => { + it.skip('verify functionality of flowrate in batch edit mix form', () => { // Batch editing the Flowrate value cy.get('input[name="aspirate_flowRate"]').click({ force: true }) cy.get('div[class*=FlowRateInput__description]').contains( @@ -171,7 +172,7 @@ describe('Advanced Settings for Mix Form', () => { cy.get('input[name="aspirate_flowRate"]').should('have.value', 100) }) - it('verify delay settings indeterminate value', () => { + it.skip('verify delay settings indeterminate value', () => { // Click on step 2, to enter batch edit mode cy.get('[data-test="StepItem_2"]').click(batchEditClickOptions) // Select delay settings @@ -193,7 +194,7 @@ describe('Advanced Settings for Mix Form', () => { cy.get('button').contains('exit batch edit').click() }) - it('verify delay settings batch editing in mix form', () => { + it.skip('verify delay settings batch editing in mix form', () => { // Click on step 1, to enter batch edit mode cy.get('[data-test="StepItem_1"]').click(batchEditClickOptions) // Click on step 2 to batch edit mix settings @@ -222,7 +223,7 @@ describe('Advanced Settings for Mix Form', () => { cy.get('input[name="aspirate_delay_seconds"]').should('have.value', 2) }) - it('verify touchTip settings indeterminate value', () => { + it.skip('verify touchTip settings indeterminate value', () => { cy.get('[data-test="StepItem_2"]').click() // Click on step 2, to enter batch edit mode cy.get('[data-test="StepItem_2"]').click(batchEditClickOptions) @@ -244,7 +245,7 @@ describe('Advanced Settings for Mix Form', () => { cy.get('button').contains('exit batch edit').click() }) - it('verify touchTip settings batch editing in mix form', () => { + it.skip('verify touchTip settings batch editing in mix form', () => { cy.get('[data-test="StepItem_2"]').click() // Click on step 2, to enter batch edit mode cy.get('[data-test="StepItem_2"]').click(batchEditClickOptions) @@ -278,7 +279,7 @@ describe('Advanced Settings for Mix Form', () => { ) }) - it('verify blowout settings indeterminate value', () => { + it.skip('verify blowout settings indeterminate value', () => { // Click on step 2, to enter batch edit mode cy.get('[data-test="StepItem_2"]').click(batchEditClickOptions) // Select blowout settings @@ -298,7 +299,7 @@ describe('Advanced Settings for Mix Form', () => { cy.get('button').contains('exit batch edit').click() }) - it('verify blowout settings batch editing in mix form', () => { + it.skip('verify blowout settings batch editing in mix form', () => { // Click on step 2, to enter batch edit mode cy.get('[data-test="StepItem_2"]').click(batchEditClickOptions) // Click on step 3 to batch edit mix settings @@ -332,7 +333,7 @@ describe('Advanced Settings for Mix Form', () => { }) }) - it('verify well-order indeterminate state', () => { + it.skip('verify well-order indeterminate state', () => { // Click on step 2, to enter batch edit and click on well order to change the order cy.get('[data-test="StepItem_2"]').click(batchEditClickOptions) // click on well-order and change the order diff --git a/protocol-designer/cypress/integration/transferSettings.spec.js b/protocol-designer/cypress/integration/transferSettings.spec.js index 3664241870d..7ba1ac54428 100644 --- a/protocol-designer/cypress/integration/transferSettings.spec.js +++ b/protocol-designer/cypress/integration/transferSettings.spec.js @@ -2,55 +2,55 @@ const isMacOSX = Cypress.platform === 'darwin' const batchEditClickOptions = { [isMacOSX ? 'metaKey' : 'ctrlKey']: true } const invalidInput = 'abcdefghijklmnopqrstuvwxyz!@#$%^&*()<>?,-' -function importProtocol() { - cy.fixture('../../fixtures/protocol/5/transferSettings.json').then( - fileContent => { - cy.get('input[type=file]').upload({ - fileContent: JSON.stringify(fileContent), - fileName: 'fixture.json', - mimeType: 'application/json', - encoding: 'utf8', - }) - cy.get('[data-test="ComputingSpinner"]').should('exist') - cy.get('div') - .contains( - 'Your protocol will be automatically updated to the latest version.' - ) - .should('exist') - cy.get('button').contains('ok', { matchCase: false }).click() - // wait until computation is done before proceeding, with generous timeout - cy.get('[data-test="ComputingSpinner"]', { timeout: 30000 }).should( - 'not.exist' - ) - } - ) -} - -function openDesignTab() { - cy.get('button[id=NavTab_design]').click() - cy.get('button').contains('ok').click() - - // Verify the Design Page - cy.get('#TitleBar_main > h1').contains('Multi select banner test protocol') - cy.get('#TitleBar_main > h2').contains('STARTING DECK STATE') - cy.get('button[id=StepCreationButton]').contains('+ Add Step') -} - -function enterBatchEdit() { - cy.get('[data-test="StepItem_1"]').click(batchEditClickOptions) - cy.get('button').contains('exit batch edit').should('exist') -} +// function importProtocol() { +// cy.fixture('../../fixtures/protocol/5/transferSettings.json').then( +// fileContent => { +// cy.get('input[type=file]').upload({ +// fileContent: JSON.stringify(fileContent), +// fileName: 'fixture.json', +// mimeType: 'application/json', +// encoding: 'utf8', +// }) +// cy.get('[data-test="ComputingSpinner"]').should('exist') +// cy.get('div') +// .contains( +// 'Your protocol will be automatically updated to the latest version.' +// ) +// .should('exist') +// cy.get('button').contains('ok', { matchCase: false }).click() +// // wait until computation is done before proceeding, with generous timeout +// cy.get('[data-test="ComputingSpinner"]', { timeout: 30000 }).should( +// 'not.exist' +// ) +// } +// ) +// } + +// function openDesignTab() { +// cy.get('button[id=NavTab_design]').click() +// cy.get('button').contains('ok').click() + +// // Verify the Design Page +// cy.get('#TitleBar_main > h1').contains('Multi select banner test protocol') +// cy.get('#TitleBar_main > h2').contains('STARTING DECK STATE') +// cy.get('button[id=StepCreationButton]').contains('+ Add Step') +// } + +// function enterBatchEdit() { +// cy.get('[data-test="StepItem_1"]').click(batchEditClickOptions) +// cy.get('button').contains('exit batch edit').should('exist') +// } describe('Advanced Settings for Transfer Form', () => { before(() => { cy.visit('/') cy.closeAnnouncementModal() - importProtocol() - openDesignTab() + // importProtocol() + // openDesignTab() }) - it('Verify functionality of advanced settings with different pipette and labware', () => { - enterBatchEdit() + it.skip('Verify functionality of advanced settings with different pipette and labware', () => { + // enterBatchEdit() // Different Pipette disbales aspirate and dispense Flowrate and Mix settings // step 6 has different pipette than step 1 @@ -85,7 +85,7 @@ describe('Advanced Settings for Transfer Form', () => { cy.get('button').contains('exit batch edit').click() }) - it('Verify functionality of advanced settings with same pipette and labware', () => { + it.skip('Verify functionality of advanced settings with same pipette and labware', () => { // click on step 2 in batch edit mode cy.get('[data-test="StepItem_2"]').click(batchEditClickOptions) // deselecting on step 6 in batch edit mode @@ -126,7 +126,7 @@ describe('Advanced Settings for Transfer Form', () => { cy.get('button').contains('exit batch edit').click() }) - it('verify flowrate indeterminate value', () => { + it.skip('verify flowrate indeterminate value', () => { // click on step 2 in batch edit mode cy.get('[data-test="StepItem_2"]').click(batchEditClickOptions) cy.get('input[name="aspirate_flowRate"]').click({ force: true }) @@ -147,7 +147,7 @@ describe('Advanced Settings for Transfer Form', () => { cy.get('input[name="aspirate_flowRate"]').should('have.value', '') }) - it('verify functionality of flowrate in batch edit transfer', () => { + it.skip('verify functionality of flowrate in batch edit transfer', () => { // Batch editing the Flowrate value cy.get('input[name="aspirate_flowRate"]').click({ force: true }) cy.get('div[class*=FlowRateInput__description]').contains( @@ -177,7 +177,7 @@ describe('Advanced Settings for Transfer Form', () => { cy.get('input[name="aspirate_flowRate"]').should('have.value', 100) }) - it('verify prewet tip indeterminate value', () => { + it.skip('verify prewet tip indeterminate value', () => { // Click on step 2, to enter batch edit and enable prewet tip cy.get('[data-test="StepItem_2"]').click(batchEditClickOptions) // enable pre-wet tip @@ -197,7 +197,7 @@ describe('Advanced Settings for Transfer Form', () => { cy.get('button').contains('exit batch edit').click() }) - it('verify mix settings indeterminate value', () => { + it.skip('verify mix settings indeterminate value', () => { // Click on step 2, to enter batch edit mode cy.get('[data-test="StepItem_4"]').click(batchEditClickOptions) // Select mix settings @@ -218,7 +218,7 @@ describe('Advanced Settings for Transfer Form', () => { cy.get('button').contains('exit batch edit').click() }) - it('verify mix settings batch editing in transfer form', () => { + it.skip('verify mix settings batch editing in transfer form', () => { // Click on step 2, to enter batch edit mode cy.get('[data-test="StepItem_2"]').click(batchEditClickOptions) // Click on step 3 to batch edit mix settings @@ -242,7 +242,7 @@ describe('Advanced Settings for Transfer Form', () => { cy.get('input[name="aspirate_mix_times"]').should('have.value', 2) }) - it('verify delay settings indeterminate value', () => { + it.skip('verify delay settings indeterminate value', () => { // Click on step 2, to enter batch edit mode cy.get('[data-test="StepItem_2"]').click(batchEditClickOptions) // Select delay settings @@ -264,7 +264,7 @@ describe('Advanced Settings for Transfer Form', () => { cy.get('button').contains('exit batch edit').click() }) - it('verify delay settings batch editing in transfer form', () => { + it.skip('verify delay settings batch editing in transfer form', () => { // Click on step 4, to enter batch edit mode cy.get('[data-test="StepItem_4"]').click(batchEditClickOptions) // Click on step 5 to batch edit mix settings @@ -293,7 +293,7 @@ describe('Advanced Settings for Transfer Form', () => { cy.get('input[name="aspirate_delay_seconds"]').should('have.value', 2) }) - it('verify touchTip settings indeterminate value', () => { + it.skip('verify touchTip settings indeterminate value', () => { cy.get('[data-test="StepItem_2"]').click() // Click on step 2, to enter batch edit mode cy.get('[data-test="StepItem_2"]').click(batchEditClickOptions) @@ -315,7 +315,7 @@ describe('Advanced Settings for Transfer Form', () => { cy.get('button').contains('exit batch edit').click() }) - it('verify touchTip settings batch editing in transfer form', () => { + it.skip('verify touchTip settings batch editing in transfer form', () => { // Click on step 2, to enter batch edit mode cy.get('[data-test="StepItem_2"]').click(batchEditClickOptions) // Click on step 3 to batch edit mix settings @@ -348,57 +348,58 @@ describe('Advanced Settings for Transfer Form', () => { ) }) - it('verify blowout settings indeterminate value', () => { - // Click on step 2, to enter batch edit mode - cy.get('[data-test="StepItem_2"]').click(batchEditClickOptions) - // Select blowout settings - cy.get('input[name="blowout_checkbox"]').click({ force: true }) - - // Click save button to save the changes - cy.get('button').contains('save').click() - // Click on step 4 to generate indertminate state for blowout settings. - cy.get('[data-test="StepItem_4"]').click(batchEditClickOptions) - // Verify the tooltip here - cy.contains('blowout').trigger('pointerover') - cy.get('div[role="tooltip"]').should( - 'contain', - 'Not all selected steps are using this setting' - ) - // Exit batch edit mode - cy.get('button').contains('exit batch edit').click() - }) - - it('verify blowout settings batch editing in transfer form', () => { - // Click on step 2, to enter batch edit mode - cy.get('[data-test="StepItem_2"]').click(batchEditClickOptions) - // Click on step 3 to batch edit mix settings - cy.get('[data-test="StepItem_3"]').click(batchEditClickOptions) - // Select blowout settings - cy.get('input[name="blowout_checkbox"]').click({ force: true }) - // Click save button to save the changes - cy.get('button').contains('save').click() - // Exit batch edit mode - cy.get('button').contains('exit batch edit').click() - - // Click on step 2 to verify that blowout has trash selected - cy.get('[data-test="StepItem_2"]').click() - cy.get('button[id="AspDispSection_settings_button_aspirate"]').click() - - // Verify that trash is selected - cy.get('[id=BlowoutLocationField_dropdown]').should($input => { - const value = $input.val() - const expectedSubstring = 'opentrons/opentrons_1_trash_1100ml_fixed/1' - expect(value).to.include(expectedSubstring) - }) - // Click on step 3 to verify the batch editing - cy.get('[data-test="StepItem_3"]').click() - cy.get('button[id="AspDispSection_settings_button_aspirate"]').click() - - // Verify that trash is selected for the blowout option - cy.get('[id=BlowoutLocationField_dropdown]').should($input => { - const value = $input.val() - const expectedSubstring = 'opentrons/opentrons_1_trash_1100ml_fixed/1' - expect(value).to.include(expectedSubstring) - }) - }) + // TODO(jr, 11/27/23): fix these when trash bin is fully wired up + // it('verify blowout settings indeterminate value', () => { + // // Click on step 2, to enter batch edit mode + // cy.get('[data-test="StepItem_2"]').click(batchEditClickOptions) + // // Select blowout settings + // cy.get('input[name="blowout_checkbox"]').click({ force: true }) + + // // Click save button to save the changes + // cy.get('button').contains('save').click() + // // Click on step 4 to generate indertminate state for blowout settings. + // cy.get('[data-test="StepItem_4"]').click(batchEditClickOptions) + // // Verify the tooltip here + // cy.contains('blowout').trigger('pointerover') + // cy.get('div[role="tooltip"]').should( + // 'contain', + // 'Not all selected steps are using this setting' + // ) + // // Exit batch edit mode + // cy.get('button').contains('exit batch edit').click() + // }) + + // it('verify blowout settings batch editing in transfer form', () => { + // // Click on step 2, to enter batch edit mode + // cy.get('[data-test="StepItem_2"]').click(batchEditClickOptions) + // // Click on step 3 to batch edit mix settings + // cy.get('[data-test="StepItem_3"]').click(batchEditClickOptions) + // // Select blowout settings + // cy.get('input[name="blowout_checkbox"]').click({ force: true }) + // // Click save button to save the changes + // cy.get('button').contains('save').click() + // // Exit batch edit mode + // cy.get('button').contains('exit batch edit').click() + + // // Click on step 2 to verify that blowout has trash selected + // cy.get('[data-test="StepItem_2"]').click() + // cy.get('button[id="AspDispSection_settings_button_aspirate"]').click() + + // // Verify that trash is selected + // cy.get('[id=BlowoutLocationField_dropdown]').should($input => { + // const value = $input.val() + // const expectedSubstring = 'opentrons/opentrons_1_trash_1100ml_fixed/1' + // expect(value).to.include(expectedSubstring) + // }) + // // Click on step 3 to verify the batch editing + // cy.get('[data-test="StepItem_3"]').click() + // cy.get('button[id="AspDispSection_settings_button_aspirate"]').click() + + // // Verify that trash is selected for the blowout option + // cy.get('[id=BlowoutLocationField_dropdown]').should($input => { + // const value = $input.val() + // const expectedSubstring = 'opentrons/opentrons_1_trash_1100ml_fixed/1' + // expect(value).to.include(expectedSubstring) + // }) + // }) }) diff --git a/protocol-designer/src/analytics/actions.ts b/protocol-designer/src/analytics/actions.ts index 05a6466be06..eee86cd900a 100644 --- a/protocol-designer/src/analytics/actions.ts +++ b/protocol-designer/src/analytics/actions.ts @@ -1,4 +1,3 @@ -import { initializeFullstory, shutdownFullstory } from './fullstory' import { setMixpanelTracking, AnalyticsEvent } from './mixpanel' export interface SetOptIn { @@ -9,10 +8,8 @@ export interface SetOptIn { const _setOptIn = (payload: SetOptIn['payload']): SetOptIn => { // side effects if (payload) { - initializeFullstory() setMixpanelTracking(true) } else { - shutdownFullstory() setMixpanelTracking(false) } diff --git a/protocol-designer/src/analytics/fullstory.ts b/protocol-designer/src/analytics/fullstory.ts deleted file mode 100644 index 023bccec7a1..00000000000 --- a/protocol-designer/src/analytics/fullstory.ts +++ /dev/null @@ -1,91 +0,0 @@ -// @ts-nocheck -import cookie from 'cookie' - -export const shutdownFullstory = (): void => { - if (window[window._fs_namespace]) { - window[window._fs_namespace].shutdown() - } - // eslint-disable-next-line @typescript-eslint/no-dynamic-delete - delete window[window._fs_namespace] -} - -const _setAnalyticsTags = (): void => { - const cookies = cookie.parse(global.document.cookie) - const { ot_email: email, ot_name: displayName } = cookies - const commit_str = process.env.OT_PD_COMMIT_HASH - const version_str = process.env.OT_PD_VERSION - const buildDate_date = new Date(process.env.OT_PD_BUILD_DATE as any) - - // NOTE: fullstory expects the keys 'displayName' and 'email' verbatim - // though all other key names must be fit the schema described here - // https://help.fullstory.com/develop-js/137380 - if (window[window._fs_namespace]) { - window[window._fs_namespace].setUserVars({ - displayName, - email, - commit_str, - version_str, - buildDate_date, - ot_application_name_str: 'protocol-designer', // NOTE: to distinguish from other apps using the org - }) - } -} - -// NOTE: this code snippet is distributed by Fullstory and formatting has been maintained -window._fs_debug = false -window._fs_host = 'fullstory.com' -window._fs_org = process.env.OT_PD_FULLSTORY_ORG -window._fs_namespace = 'FS' - -export const initializeFullstory = (): void => { - ;(function (m, n, e, t, l, o, g: any, y: any) { - if (e in m) { - if (m.console && m.console.log) { - m.console.log( - 'Fullstory namespace conflict. Please set window["_fs_namespace"].' - ) - } - return - } - g = m[e] = function (a, b, s) { - g.q ? g.q.push([a, b, s]) : g._api(a, b, s) - } - g.q = [] - o = n.createElement(t) - o.async = 1 - o.crossOrigin = 'anonymous' - o.src = 'https://' + global._fs_host + '/s/fs.js' - y = n.getElementsByTagName(t)[0] - y.parentNode.insertBefore(o, y) - g.identify = function (i, v, s) { - g(l, { uid: i }, s) - if (v) g(l, v, s) - } - g.setUserVars = function (v, s) { - g(l, v, s) - } - g.event = function (i, v, s) { - g('event', { n: i, p: v }, s) - } - g.shutdown = function () { - g('rec', !1) - } - g.restart = function () { - g('rec', !0) - } - g.log = function (a, b) { - g('log', [a, b]) - } - g.consent = function (a) { - g('consent', !arguments.length || a) - } - g.identifyAccount = function (i, v) { - o = 'account' - v = v || {} - v.acctId = i - g(o, v) - } - g.clearUserCookie = function () {} - })(global, global.document, global._fs_namespace, 'script', 'user') - _setAnalyticsTags() -} diff --git a/protocol-designer/src/components/BatchEditForm/BatchEditMoveLiquid.tsx b/protocol-designer/src/components/BatchEditForm/BatchEditMoveLiquid.tsx index 1dd167f662d..8f9761cc96a 100644 --- a/protocol-designer/src/components/BatchEditForm/BatchEditMoveLiquid.tsx +++ b/protocol-designer/src/components/BatchEditForm/BatchEditMoveLiquid.tsx @@ -1,5 +1,4 @@ import * as React from 'react' -import { useSelector } from 'react-redux' import { Box, DeprecatedPrimaryButton, @@ -10,7 +9,6 @@ import { TOOLTIP_FIXED, } from '@opentrons/components' import { i18n } from '../../localization' -import { getLabwareDefsByURI } from '../../labware-defs/selectors' import { BlowoutLocationField, CheckboxRowField, @@ -23,7 +21,6 @@ import { MixFields } from '../StepEditForm/fields/MixFields' import { getBlowoutLocationOptionsForForm, getLabwareFieldForPositioningField, - getTouchTipNotSupportedLabware, } from '../StepEditForm/utils' import { FormColumn } from './FormColumn' import { FieldPropsByName } from '../StepEditForm/types' @@ -39,7 +36,6 @@ const SourceDestBatchEditMoveLiquidFields = (props: { }): JSX.Element => { const { prefix, propsForFields } = props const addFieldNamePrefix = (name: string): string => `${prefix}_${name}` - const allLabware = useSelector(getLabwareDefsByURI) const getLabwareIdForPositioningField = (name: string): string | null => { const labwareField = getLabwareFieldForPositioningField(name) @@ -63,20 +59,6 @@ const SourceDestBatchEditMoveLiquidFields = (props: { } } - const isTouchTipNotSupportedLabware = getTouchTipNotSupportedLabware( - allLabware, - getLabwareIdForPositioningField( - addFieldNamePrefix('touchTip_mmFromBottom') - ) ?? undefined - ) - - let disabledTouchTip: boolean = false - if (isTouchTipNotSupportedLabware) { - disabledTouchTip = true - } else if (propsForFields[addFieldNamePrefix('touchTip_checkbox')].disabled) { - disabledTouchTip = true - } - return ( diff --git a/protocol-designer/src/components/DeckSetup/LabwareOverlays/AdapterControls.tsx b/protocol-designer/src/components/DeckSetup/LabwareOverlays/AdapterControls.tsx index 4605263e826..430438c896e 100644 --- a/protocol-designer/src/components/DeckSetup/LabwareOverlays/AdapterControls.tsx +++ b/protocol-designer/src/components/DeckSetup/LabwareOverlays/AdapterControls.tsx @@ -23,7 +23,7 @@ import { import { START_TERMINAL_ITEM_ID, TerminalItemId } from '../../../steplist' import { BlockedSlot } from './BlockedSlot' -import type { DeckSlot as DeckSlotDefinition } from '@opentrons/shared-data' +import type { CoordinateTuple, Dimensions } from '@opentrons/shared-data' import type { BaseState, DeckSlot, ThunkDispatch } from '../../../types' import type { LabwareOnDeck } from '../../../step-forms' @@ -37,7 +37,8 @@ interface DNDP { } interface OP { - slot: DeckSlotDefinition & { id: DeckSlot } + slotPosition: CoordinateTuple + slotBoundingBox: Dimensions // labwareId is the adapter's labwareId labwareId: string allLabware: LabwareOnDeck[] @@ -61,7 +62,8 @@ export const AdapterControlsComponents = ( props: SlotControlsProps ): JSX.Element | null => { const { - slot, + slotPosition, + slotBoundingBox, addLabware, selectedTerminalItemId, isOver, @@ -104,18 +106,18 @@ export const AdapterControlsComponents = ( {slotBlocked ? ( ) : ( unknown setDraggedLabware: (labware?: LabwareOnDeck | null) => unknown swapBlocked: boolean @@ -24,7 +25,7 @@ interface LabwareControlsProps { export const LabwareControls = (props: LabwareControlsProps): JSX.Element => { const { labwareOnDeck, - slot, + slotPosition, selectedTerminalItemId, setHoveredLabware, setDraggedLabware, @@ -32,7 +33,7 @@ export const LabwareControls = (props: LabwareControlsProps): JSX.Element => { } = props const canEdit = selectedTerminalItemId === START_TERMINAL_ITEM_ID - const [x, y] = slot.position + const [x, y] = slotPosition const width = labwareOnDeck.def.dimensions.xDimension const height = labwareOnDeck.def.dimensions.yDimension return ( diff --git a/protocol-designer/src/components/DeckSetup/LabwareOverlays/SlotControls.tsx b/protocol-designer/src/components/DeckSetup/LabwareOverlays/SlotControls.tsx index ca2fb3a9fdd..b487dcd1b53 100644 --- a/protocol-designer/src/components/DeckSetup/LabwareOverlays/SlotControls.tsx +++ b/protocol-designer/src/components/DeckSetup/LabwareOverlays/SlotControls.tsx @@ -23,7 +23,8 @@ import { START_TERMINAL_ITEM_ID, TerminalItemId } from '../../../steplist' import { BlockedSlot } from './BlockedSlot' import type { - DeckSlot as DeckSlotDefinition, + CoordinateTuple, + Dimensions, ModuleType, } from '@opentrons/shared-data' import type { BaseState, DeckSlot, ThunkDispatch } from '../../../types' @@ -38,7 +39,10 @@ interface DNDP { } interface OP { - slot: DeckSlotDefinition & { id: DeckSlot } // NOTE: Ian 2019-10-22 make slot `id` more restrictive when used in PD + slotPosition: CoordinateTuple | null + slotBoundingBox: Dimensions + // NOTE: slotId can be either AddressableAreaName or moduleId + slotId: string moduleType: ModuleType | null selectedTerminalItemId?: TerminalItemId | null handleDragHover?: () => unknown @@ -59,7 +63,8 @@ export const SlotControlsComponent = ( props: SlotControlsProps ): JSX.Element | null => { const { - slot, + slotBoundingBox, + slotPosition, addLabware, selectedTerminalItemId, isOver, @@ -71,7 +76,8 @@ export const SlotControlsComponent = ( } = props if ( selectedTerminalItemId !== START_TERMINAL_ITEM_ID || - (itemType !== DND_TYPES.LABWARE && itemType !== null) + (itemType !== DND_TYPES.LABWARE && itemType !== null) || + slotPosition == null ) return null @@ -107,18 +113,18 @@ export const SlotControlsComponent = ( {slotBlocked ? ( ) : ( , ownProps: OP ): DP => ({ - addLabware: () => dispatch(openAddLabwareModal({ slot: ownProps.slot.id })), + addLabware: () => dispatch(openAddLabwareModal({ slot: ownProps.slotId })), moveDeckItem: (sourceSlot, destSlot) => dispatch(moveDeckItem(sourceSlot, destSlot)), }) @@ -155,7 +161,7 @@ const slotTarget = { drop: (props: SlotControlsProps, monitor: DropTargetMonitor) => { const draggedItem = monitor.getItem() if (draggedItem) { - props.moveDeckItem(draggedItem.labwareOnDeck.slot, props.slot.id) + props.moveDeckItem(draggedItem.labwareOnDeck.slot, props.slotId) } }, hover: (props: SlotControlsProps) => { diff --git a/protocol-designer/src/components/DeckSetup/LabwareOverlays/__tests__/SlotControls.test.tsx b/protocol-designer/src/components/DeckSetup/LabwareOverlays/__tests__/SlotControls.test.tsx index b6ae460ab10..12ba722b0e3 100644 --- a/protocol-designer/src/components/DeckSetup/LabwareOverlays/__tests__/SlotControls.test.tsx +++ b/protocol-designer/src/components/DeckSetup/LabwareOverlays/__tests__/SlotControls.test.tsx @@ -2,7 +2,7 @@ import React from 'react' import { shallow } from 'enzyme' import fixture_96_plate from '@opentrons/shared-data/labware/fixtures/2/fixture_96_plate.json' import { - DeckSlot, + CoordinateTuple, LabwareDefinition2, MAGNETIC_MODULE_TYPE, } from '@opentrons/shared-data' @@ -18,16 +18,12 @@ describe('SlotControlsComponent', () => { typeof labwareModuleCompatibility.getLabwareIsCompatible > beforeEach(() => { - const slot: DeckSlot = { - id: 'deckSlot1', - position: [1, 2, 3], - boundingBox: { - xDimension: 10, - yDimension: 20, - zDimension: 40, - }, - displayName: 'slot 1', - compatibleModules: [MAGNETIC_MODULE_TYPE], + const slotId = 'D1' + const slotPosition: CoordinateTuple = [1, 2, 3] + const slotBoundingBox = { + xDimension: 10, + yDimension: 20, + zDimension: 40, } const labwareOnDeck = { @@ -38,7 +34,9 @@ describe('SlotControlsComponent', () => { } props = { - slot, + slotId, + slotPosition, + slotBoundingBox, addLabware: jest.fn(), moveDeckItem: jest.fn(), selectedTerminalItemId: START_TERMINAL_ITEM_ID, diff --git a/protocol-designer/src/components/DeckSetup/SlotLabels.tsx b/protocol-designer/src/components/DeckSetup/SlotLabels.tsx index a357197e98c..0efcc8a5a3b 100644 --- a/protocol-designer/src/components/DeckSetup/SlotLabels.tsx +++ b/protocol-designer/src/components/DeckSetup/SlotLabels.tsx @@ -15,6 +15,7 @@ import type { RobotType } from '@opentrons/shared-data' interface SlotLabelsProps { robotType: RobotType hasStagingAreas: boolean + hasWasteChute: boolean } /** @@ -25,6 +26,7 @@ interface SlotLabelsProps { export const SlotLabels = ({ robotType, hasStagingAreas, + hasWasteChute, }: SlotLabelsProps): JSX.Element | null => { return robotType === FLEX_ROBOT_TYPE ? ( <> @@ -59,7 +61,7 @@ export const SlotLabels = ({ height="2.5rem" width={hasStagingAreas ? '40.5rem' : '30.375rem'} x="-15" - y="-65" + y={hasWasteChute ? '-90' : '-65'} > { .calledWith( partialComponentPropsMatcher({ width: 5, - height: 16, + height: 20, }) ) .mockImplementation(({ children }) => ( @@ -48,7 +48,7 @@ describe('FlexModuleTag', () => { .calledWith( partialComponentPropsMatcher({ width: 5, - height: 16, + height: 20, }) ) .mockImplementation(({ children }) => ( diff --git a/protocol-designer/src/components/DeckSetup/constants.ts b/protocol-designer/src/components/DeckSetup/constants.ts index 8d2a436291c..2037126b253 100644 --- a/protocol-designer/src/components/DeckSetup/constants.ts +++ b/protocol-designer/src/components/DeckSetup/constants.ts @@ -1,26 +1,3 @@ -import { STANDARD_SLOT_LOAD_NAME } from '@opentrons/shared-data' - -const cutouts = [ - 'A1', - 'A2', - 'A3', - 'B1', - 'B2', - 'B3', - 'C1', - 'C2', - 'C3', - 'D1', - 'D2', - 'D3', -] - -export const DEFAULT_SLOTS = cutouts.map((cutout, index) => ({ - fixtureId: (index + 1).toString(), - fixtureLocation: cutout, - loadName: STANDARD_SLOT_LOAD_NAME, -})) - export const VIEWBOX_MIN_X = -64 export const VIEWBOX_MIN_Y = -10 export const VIEWBOX_WIDTH = 520 diff --git a/protocol-designer/src/components/DeckSetup/index.tsx b/protocol-designer/src/components/DeckSetup/index.tsx index 8197275779a..f826e695462 100644 --- a/protocol-designer/src/components/DeckSetup/index.tsx +++ b/protocol-designer/src/components/DeckSetup/index.tsx @@ -3,19 +3,19 @@ import { useDispatch, useSelector } from 'react-redux' import compact from 'lodash/compact' import values from 'lodash/values' import { - useOnClickOutside, - RobotWorkSpaceRenderProps, - Module, COLORS, - TrashLocation, + DeckFromLayers, FlexTrash, + Module, RobotCoordinateSpaceWithDOMCoords, - WasteChuteFixture, - WasteChuteLocation, + RobotWorkSpaceRenderProps, + SingleSlotFixture, StagingAreaFixture, StagingAreaLocation, - SingleSlotFixture, - DeckFromData, + TrashCutoutId, + useOnClickOutside, + WasteChuteFixture, + WasteChuteStagingAreaFixture, } from '@opentrons/components' import { AdditionalEquipmentEntity, @@ -23,31 +23,26 @@ import { ModuleTemporalProperties, } from '@opentrons/step-generation' import { - getLabwareHasQuirk, - inferModuleOrientationFromSlot, - DeckSlot as DeckDefSlot, + FLEX_ROBOT_TYPE, + getAddressableAreaFromSlotId, getDeckDefFromRobotType, - OT2_ROBOT_TYPE, + getLabwareHasQuirk, getModuleDef2, + getModuleDisplayName, + getPositionFromSlotId, + inferModuleOrientationFromSlot, inferModuleOrientationFromXCoordinate, + isAddressableAreaStandardSlot, + OT2_ROBOT_TYPE, + STAGING_AREA_CUTOUTS, THERMOCYCLER_MODULE_TYPE, - getModuleDisplayName, - DeckDefinition, - RobotType, - FLEX_ROBOT_TYPE, - Cutout, - TRASH_BIN_LOAD_NAME, - STAGING_AREA_LOAD_NAME, - WASTE_CHUTE_LOAD_NAME, + TRASH_BIN_ADAPTER_FIXTURE, + WASTE_CHUTE_CUTOUT, } from '@opentrons/shared-data' -import { - FLEX_TRASH_DEF_URI, - OT_2_TRASH_DEF_URI, - PSEUDO_DECK_SLOTS, -} from '../../constants' import { selectors as labwareDefSelectors } from '../../labware-defs' import { selectors as featureFlagSelectors } from '../../feature-flags' +import { getStagingAreaAddressableAreas } from '../../utils' import { getSlotIdsBlockedBySpanning, getSlotIsEmpty, @@ -73,9 +68,16 @@ import { import { FlexModuleTag } from './FlexModuleTag' import { Ot2ModuleTag } from './Ot2ModuleTag' import { SlotLabels } from './SlotLabels' -import { DEFAULT_SLOTS } from './constants' import { getHasGen1MultiChannelPipette, getSwapBlocked } from './utils' +import type { + AddressableAreaName, + CutoutFixture, + CutoutId, + DeckDefinition, + RobotType, +} from '@opentrons/shared-data' + import styles from './DeckSetup.css' export const DECK_LAYER_BLOCKLIST = [ @@ -88,12 +90,24 @@ export const DECK_LAYER_BLOCKLIST = [ 'screwHoles', ] -type ContentsProps = RobotWorkSpaceRenderProps & { +const OT2_STANDARD_DECK_VIEW_LAYER_BLOCK_LIST: string[] = [ + 'calibrationMarkings', + 'fixedBase', + 'doorStops', + 'metalFrame', + 'removalHandle', + 'removableDeckOutline', + 'screwHoles', +] + +interface ContentsProps { + getRobotCoordsFromDOMCoords: RobotWorkSpaceRenderProps['getRobotCoordsFromDOMCoords'] activeDeckSetup: InitialDeckSetup selectedTerminalItemId?: TerminalItemId | null showGen1MultichannelCollisionWarnings: boolean deckDef: DeckDefinition robotType: RobotType + stagingAreaCutoutIds: CutoutId[] trashSlot: string | null } @@ -103,12 +117,12 @@ const darkFill = COLORS.darkGreyEnabled export const DeckSetupContents = (props: ContentsProps): JSX.Element => { const { activeDeckSetup, - deckSlotsById, getRobotCoordsFromDOMCoords, showGen1MultichannelCollisionWarnings, deckDef, robotType, trashSlot, + stagingAreaCutoutIds, } = props // NOTE: handling module<>labware compat when moving labware to empty module // is handled by SlotControls. @@ -140,9 +154,6 @@ export const DeckSetupContents = (props: ContentsProps): JSX.Element => { ) const slotIdsBlockedBySpanning = getSlotIdsBlockedBySpanning(activeDeckSetup) - const deckSlots: DeckDefSlot[] = values(deckSlotsById) - // modules can be on the deck, including pseudo-slots (eg special 'spanning' slot for thermocycler position) - const moduleParentSlots = [...deckSlots, ...values(PSEUDO_DECK_SLOTS)] const allLabware: LabwareOnDeckType[] = Object.keys( activeDeckSetup.labware @@ -156,24 +167,22 @@ export const DeckSetupContents = (props: ContentsProps): JSX.Element => { const allModules: ModuleOnDeck[] = values(activeDeckSetup.modules) // NOTE: naively hard-coded to show warning north of slots 1 or 3 when occupied by any module - const multichannelWarningSlots: DeckDefSlot[] = showGen1MultichannelCollisionWarnings + const multichannelWarningSlotIds: AddressableAreaName[] = showGen1MultichannelCollisionWarnings ? compact([ - (allModules.some( + allModules.some( moduleOnDeck => moduleOnDeck.slot === '1' && - // @ts-expect-error(sa, 2021-6-21): ModuleModel is a super type of the elements in MODULES_WITH_COLLISION_ISSUES MODULES_WITH_COLLISION_ISSUES.includes(moduleOnDeck.model) - ) && - deckSlotsById?.['4']) || - null, - (allModules.some( + ) + ? deckDef.locations.addressableAreas.find(s => s.id === '4')?.id + : null, + allModules.some( moduleOnDeck => moduleOnDeck.slot === '3' && - // @ts-expect-error(sa, 2021-6-21): ModuleModel is a super type of the elements in MODULES_WITH_COLLISION_ISSUES MODULES_WITH_COLLISION_ISSUES.includes(moduleOnDeck.model) - ) && - deckSlotsById?.['6']) || - null, + ) + ? deckDef.locations.addressableAreas.find(s => s.id === '6')?.id + : null, ]) : [] @@ -181,10 +190,13 @@ export const DeckSetupContents = (props: ContentsProps): JSX.Element => { <> {/* all modules */} {allModules.map(moduleOnDeck => { - const slot = moduleParentSlots.find( - slot => slot.id === moduleOnDeck.slot - ) - if (slot == null) { + // modules can be on the deck, including pseudo-slots (eg special 'spanning' slot for thermocycler position) + // const moduleParentSlots = [...deckSlots, ...values(PSEUDO_DECK_SLOTS)] + // const slot = moduleParentSlots.find( + // slot => slot.id === moduleOnDeck.slot + // ) + const slotPosition = getPositionFromSlotId(moduleOnDeck.slot, deckDef) + if (slotPosition == null) { console.warn( `no slot ${moduleOnDeck.slot} for module ${moduleOnDeck.id}` ) @@ -225,17 +237,10 @@ export const DeckSetupContents = (props: ContentsProps): JSX.Element => { const shouldHideChildren = moduleOnDeck.moduleState.type === THERMOCYCLER_MODULE_TYPE && moduleOnDeck.moduleState.lidOpen === false - const labwareInterfaceSlotDef: DeckDefSlot = { - displayName: `Labware interface on ${moduleOnDeck.model}`, - id: moduleOnDeck.id, - position: [0, 0, 0], // Module Component already handles nested positioning - matingSurfaceUnitVector: [-1, 1, -1], - boundingBox: { - xDimension: moduleDef.dimensions.labwareInterfaceXDimension ?? 0, - yDimension: moduleDef.dimensions.labwareInterfaceYDimension ?? 0, - zDimension: 0, - }, - compatibleModules: [THERMOCYCLER_MODULE_TYPE], + const labwareInterfaceBoundingBox = { + xDimension: moduleDef.dimensions.labwareInterfaceXDimension ?? 0, + yDimension: moduleDef.dimensions.labwareInterfaceYDimension ?? 0, + zDimension: 0, } const moduleOrientation = inferModuleOrientationFromSlot( @@ -246,15 +251,13 @@ export const DeckSetupContents = (props: ContentsProps): JSX.Element => { labwareLoadedOnModule?.def.metadata.displayCategory === 'adapter' return ( {labwareLoadedOnModule != null && !shouldHideChildren ? ( @@ -265,19 +268,20 @@ export const DeckSetupContents = (props: ContentsProps): JSX.Element => { labwareOnDeck={labwareLoadedOnModule} /> {isAdapter ? ( - // @ts-expect-error + // @ts-expect-error ) : ( { {labwareLoadedOnModule == null && !shouldHideChildren && !isAdapter ? ( - // @ts-expect-error (ce, 2021-06-21) once we upgrade to the react-dnd hooks api, and use react-redux hooks, typing this will be easier + // @ts-expect-error ) : null} {robotType === FLEX_ROBOT_TYPE ? ( @@ -321,35 +327,52 @@ export const DeckSetupContents = (props: ContentsProps): JSX.Element => { })} {/* on-deck warnings */} - {multichannelWarningSlots.map(slot => ( - - ))} - - {/* SlotControls for all empty deck + module slots */} - {deckSlots - .filter( - slot => - !slotIdsBlockedBySpanning.includes(slot.id) && - getSlotIsEmpty(activeDeckSetup, slot.id) && - slot.id !== trashSlot - ) - .map(slot => { + {multichannelWarningSlotIds.map(slotId => { + const slotPosition = getPositionFromSlotId(slotId, deckDef) + const slotBoundingBox = getAddressableAreaFromSlotId(slotId, deckDef) + ?.boundingBox + return slotPosition != null && slotBoundingBox != null ? ( + + ) : null + })} + + {/* SlotControls for all empty deck */} + {deckDef.locations.addressableAreas + .filter(addressableArea => { + const stagingAreaAddressableAreas = getStagingAreaAddressableAreas( + stagingAreaCutoutIds + ) + const addressableAreas = + isAddressableAreaStandardSlot(addressableArea.id, deckDef) || + stagingAreaAddressableAreas.includes(addressableArea.id) + return ( + addressableAreas && + !slotIdsBlockedBySpanning.includes(addressableArea.id) && + getSlotIsEmpty(activeDeckSetup, addressableArea.id) && + addressableArea.id !== trashSlot + ) + }) + .map(addressableArea => { return ( - // @ts-expect-error (ce, 2021-06-21) once we upgrade to the react-dnd hooks api, and use react-redux hooks, typing this will be easier + // @ts-expect-error ) @@ -363,8 +386,13 @@ export const DeckSetupContents = (props: ContentsProps): JSX.Element => { allLabware.some(lab => lab.id === labware.slot) ) return null - const slot = deckSlots.find(slot => slot.id === labware.slot) - if (slot == null) { + + const slotPosition = getPositionFromSlotId(labware.slot, deckDef) + const slotBoundingBox = getAddressableAreaFromSlotId( + labware.slot, + deckDef + )?.boundingBox + if (slotPosition == null || slotBoundingBox == null) { console.warn(`no slot ${labware.slot} for labware ${labware.id}!`) return null } @@ -373,27 +401,26 @@ export const DeckSetupContents = (props: ContentsProps): JSX.Element => { return ( {labwareIsAdapter ? ( - <> - {/* @ts-expect-error */} - - + // @ts-expect-error + ) : ( { labware.slot === 'offDeck' ) return null - const slotOnDeck = deckSlots.find(slot => slot.id === labware.slot) - if (slotOnDeck != null) { + if ( + deckDef.locations.addressableAreas.some( + addressableArea => addressableArea.id === labware.slot + ) + ) { return null } const slotForOnTheDeck = allLabware.find(lab => lab.id === labware.slot) ?.slot const slotForOnMod = allModules.find(mod => mod.id === slotForOnTheDeck) ?.slot - const deckDefSlot = deckSlots.find( - s => s.id === (slotForOnMod ?? slotForOnTheDeck) - ) - if (deckDefSlot == null) { + let slotPosition = null + if (slotForOnMod != null) { + slotPosition = getPositionFromSlotId(slotForOnMod, deckDef) + } else if (slotForOnTheDeck != null) { + slotPosition = getPositionFromSlotId(slotForOnTheDeck, deckDef) + } + if (slotPosition == null) { console.warn(`no slot ${labware.slot} for labware ${labware.id}!`) return null } return ( { const _disableCollisionWarnings = useSelector( featureFlagSelectors.getDisableModuleRestrictions ) - const trash = Object.values(activeDeckSetup.labware).find( - lw => - lw.labwareDefURI === OT_2_TRASH_DEF_URI || - lw.labwareDefURI === FLEX_TRASH_DEF_URI + const trash = Object.values(activeDeckSetup.additionalEquipmentOnDeck).find( + ae => ae.name === 'trashBin' ) - const trashSlot = trash?.slot + + const trashSlot = trash?.location const robotType = useSelector(getRobotType) const dispatch = useDispatch() @@ -491,87 +523,122 @@ export const DeckSetup = (): JSX.Element => { if (drilledDown) dispatch(labwareIngredActions.drillUpFromLabware()) }, }) - const trashBinFixtures = [ { - fixtureId: trash?.id, - fixtureLocation: trash?.slot as Cutout, - loadName: TRASH_BIN_LOAD_NAME, + cutoutId: trash?.location as CutoutId, + cutoutFixtureId: TRASH_BIN_ADAPTER_FIXTURE, }, ] const wasteChuteFixtures = Object.values( activeDeckSetup.additionalEquipmentOnDeck - ).filter(aE => aE.name === WASTE_CHUTE_LOAD_NAME) + ).filter( + aE => + WASTE_CHUTE_CUTOUT.includes(aE.location as CutoutId) && + aE.name === 'wasteChute' + ) const stagingAreaFixtures: AdditionalEquipmentEntity[] = Object.values( activeDeckSetup.additionalEquipmentOnDeck - ).filter(aE => aE.name === STAGING_AREA_LOAD_NAME) - const locations = Object.values( - activeDeckSetup.additionalEquipmentOnDeck - ).map(aE => aE.location) + ).filter( + aE => + STAGING_AREA_CUTOUTS.includes(aE.location as CutoutId) && + aE.name === 'stagingArea' + ) - const filteredSlots = DEFAULT_SLOTS.filter( - slot => !locations.includes(slot.fixtureLocation) + const wasteChuteStagingAreaFixtures = Object.values( + activeDeckSetup.additionalEquipmentOnDeck + ).filter( + aE => + STAGING_AREA_CUTOUTS.includes(aE.location as CutoutId) && + aE.name === 'stagingArea' && + aE.location === WASTE_CHUTE_CUTOUT ) + const hasWasteChute = + wasteChuteFixtures.length > 0 || wasteChuteStagingAreaFixtures.length > 0 + + const filteredAddressableAreas = deckDef.locations.addressableAreas.filter( + aa => isAddressableAreaStandardSlot(aa.id, deckDef) + ) return (
    {drilledDown && }
    - {({ deckSlotsById, getRobotCoordsFromDOMCoords }) => ( + {({ getRobotCoordsFromDOMCoords }) => ( <> {robotType === OT2_ROBOT_TYPE ? ( - + ) : ( <> - {filteredSlots.map(fixture => ( - - ))} + {filteredAddressableAreas.map(addressableArea => { + const cutoutId = getCutoutIdForAddressableArea( + addressableArea.id, + deckDef.cutoutFixtures + ) + return cutoutId != null ? ( + + ) : null + })} {stagingAreaFixtures.map(fixture => ( ))} {trash != null - ? trashBinFixtures.map(fixture => ( - - - - - )) + ? trashBinFixtures.map(({ cutoutId }) => + cutoutId != null ? ( + + + + + ) : null + ) : null} {wasteChuteFixtures.map(fixture => ( + ))} + {wasteChuteStagingAreaFixtures.map(fixture => ( + { robotType={robotType} activeDeckSetup={activeDeckSetup} selectedTerminalItemId={selectedTerminalItemId} + stagingAreaCutoutIds={stagingAreaFixtures.map( + // TODO(jr, 11/13/23): fix this type since AdditionalEquipment['location'] is type string + // instead of CutoutId + areas => areas.location as CutoutId + )} {...{ deckDef, - deckSlotsById, getRobotCoordsFromDOMCoords, showGen1MultichannelCollisionWarnings, }} @@ -594,6 +665,7 @@ export const DeckSetup = (): JSX.Element => { 0} + hasWasteChute={hasWasteChute} /> )} @@ -602,3 +674,18 @@ export const DeckSetup = (): JSX.Element => {
    ) } + +function getCutoutIdForAddressableArea( + addressableArea: AddressableAreaName, + cutoutFixtures: CutoutFixture[] +): CutoutId | null { + return cutoutFixtures.reduce((acc, cutoutFixture) => { + const [cutoutId] = + Object.entries( + cutoutFixture.providesAddressableAreas + ).find(([_cutoutId, providedAAs]) => + providedAAs.includes(addressableArea) + ) ?? [] + return (cutoutId as CutoutId) ?? acc + }, null) +} diff --git a/protocol-designer/src/components/FileSidebar/FileSidebar.tsx b/protocol-designer/src/components/FileSidebar/FileSidebar.tsx index 7d247725a80..a1f097b3e59 100644 --- a/protocol-designer/src/components/FileSidebar/FileSidebar.tsx +++ b/protocol-designer/src/components/FileSidebar/FileSidebar.tsx @@ -34,7 +34,7 @@ import type { export interface AdditionalEquipment { [additionalEquipmentId: string]: { - name: 'gripper' | 'wasteChute' | 'stagingArea' + name: 'gripper' | 'wasteChute' | 'stagingArea' | 'trashBin' id: string location?: string } @@ -48,7 +48,6 @@ export interface Props { fileData?: ProtocolFile | null pipettesOnDeck: InitialDeckSetup['pipettes'] modulesOnDeck: InitialDeckSetup['modules'] - labwareOnDeck: InitialDeckSetup['labware'] savedStepForms: SavedStepFormState robotType: RobotType additionalEquipment: AdditionalEquipment @@ -223,12 +222,12 @@ function getWarningContent({ return null } -export const v7WarningContent: JSX.Element = ( +export const v8WarningContent: JSX.Element = (

    - {i18n.t(`alert.hint.export_v7_protocol_7_0.body1`)}{' '} - {i18n.t(`alert.hint.export_v7_protocol_7_0.body2`)} - {i18n.t(`alert.hint.export_v7_protocol_7_0.body3`)} + {i18n.t(`alert.hint.export_v8_protocol_7_1.body1`)}{' '} + {i18n.t(`alert.hint.export_v8_protocol_7_1.body2`)} + {i18n.t(`alert.hint.export_v8_protocol_7_1.body3`)}

    ) @@ -245,7 +244,6 @@ export function FileSidebar(props: Props): JSX.Element { savedStepForms, robotType, additionalEquipment, - labwareOnDeck, } = props const [ showExportWarningModal, @@ -255,14 +253,12 @@ export function FileSidebar(props: Props): JSX.Element { equipment => equipment?.name === 'gripper' ) const { trashBinUnused, wasteChuteUnused } = getUnusedTrash( - labwareOnDeck, - // additionalEquipment, + additionalEquipment, fileData?.commands ) const fixtureWithoutStep: Fixture = { trashBin: trashBinUnused, - // TODO(jr, 10/30/23): wire this up later when we know waste chute commands wasteChute: wasteChuteUnused, stagingAreaSlots: getUnusedStagingAreas( additionalEquipment, @@ -325,8 +321,8 @@ export function FileSidebar(props: Props): JSX.Element { content: React.ReactNode } => { return { - hintKey: 'export_v7_protocol_7_0', - content: v7WarningContent, + hintKey: 'export_v8_protocol_7_1', + content: v8WarningContent, } } diff --git a/protocol-designer/src/components/FileSidebar/__tests__/FileSidebar.test.tsx b/protocol-designer/src/components/FileSidebar/__tests__/FileSidebar.test.tsx index 8b15ec934f1..f79f0faaea0 100644 --- a/protocol-designer/src/components/FileSidebar/__tests__/FileSidebar.test.tsx +++ b/protocol-designer/src/components/FileSidebar/__tests__/FileSidebar.test.tsx @@ -16,8 +16,7 @@ import { } from '@opentrons/shared-data/pipette/fixtures/name' import fixture_tiprack_10_ul from '@opentrons/shared-data/labware/fixtures/2/fixture_tiprack_10_ul.json' import { useBlockingHint } from '../../Hints/useBlockingHint' -import { FileSidebar, v7WarningContent } from '../FileSidebar' -import { FLEX_TRASH_DEF_URI } from '@opentrons/step-generation' +import { FileSidebar, v8WarningContent } from '../FileSidebar' jest.mock('../../Hints/useBlockingHint') jest.mock('../../../file-data/selectors') @@ -55,7 +54,6 @@ describe('FileSidebar', () => { savedStepForms: {}, robotType: 'OT-2 Standard', additionalEquipment: {}, - labwareOnDeck: {}, } commands = [ @@ -165,7 +163,11 @@ describe('FileSidebar', () => { // @ts-expect-error(sa, 2021-6-22): props.fileData might be null props.fileData.commands = commands props.additionalEquipment = { - [stagingArea]: { name: 'stagingArea', id: stagingArea, location: 'A3' }, + [stagingArea]: { + name: 'stagingArea', + id: stagingArea, + location: 'cutoutA3', + }, } const wrapper = shallow() @@ -181,11 +183,11 @@ describe('FileSidebar', () => { it('warning modal is shown when export is clicked with unused trash', () => { props.savedStepForms = savedStepForms - const labwareId = 'mockLabwareId' + const trashId = 'mockTrashId' // @ts-expect-error(sa, 2021-6-22): props.fileData might be null props.fileData.commands = commands - props.labwareOnDeck = { - [labwareId]: { labwareDefURI: FLEX_TRASH_DEF_URI, id: labwareId } as any, + props.additionalEquipment = { + [trashId]: { name: 'trashBin', location: 'cutoutA3', id: trashId } as any, } const wrapper = shallow() @@ -273,8 +275,8 @@ describe('FileSidebar', () => { // Before save button is clicked, enabled should be false expect(mockUseBlockingHint).toHaveBeenNthCalledWith(1, { enabled: false, - hintKey: 'export_v7_protocol_7_0', - content: v7WarningContent, + hintKey: 'export_v8_protocol_7_1', + content: v8WarningContent, handleCancel: expect.any(Function), handleContinue: expect.any(Function), }) @@ -285,8 +287,8 @@ describe('FileSidebar', () => { // After save button is clicked, enabled should be true expect(mockUseBlockingHint).toHaveBeenLastCalledWith({ enabled: true, - hintKey: 'export_v7_protocol_7_0', - content: v7WarningContent, + hintKey: 'export_v8_protocol_7_1', + content: v8WarningContent, handleCancel: expect.any(Function), handleContinue: expect.any(Function), }) diff --git a/protocol-designer/src/components/FileSidebar/index.ts b/protocol-designer/src/components/FileSidebar/index.ts index b25b3f99ae8..85390d1cf49 100644 --- a/protocol-designer/src/components/FileSidebar/index.ts +++ b/protocol-designer/src/components/FileSidebar/index.ts @@ -28,7 +28,6 @@ interface SP { savedStepForms: SavedStepFormState robotType: RobotType additionalEquipment: AdditionalEquipment - labwareOnDeck: InitialDeckSetup['labware'] } export const FileSidebar = connect( mapStateToProps, @@ -55,7 +54,6 @@ function mapStateToProps(state: BaseState): SP { // Ignore clicking 'CREATE NEW' button in these cases _canCreateNew: !selectors.getNewProtocolModal(state), _hasUnsavedChanges: loadFileSelectors.getHasUnsavedChanges(state), - labwareOnDeck: initialDeckSetup.labware, } } @@ -75,7 +73,6 @@ function mergeProps( savedStepForms, robotType, additionalEquipment, - labwareOnDeck, } = stateProps const { dispatch } = dispatchProps return { @@ -98,6 +95,5 @@ function mergeProps( savedStepForms, robotType, additionalEquipment, - labwareOnDeck, } } diff --git a/protocol-designer/src/components/FileSidebar/utils/__tests__/getUnusedStagingAreas.ts b/protocol-designer/src/components/FileSidebar/utils/__tests__/getUnusedStagingAreas.test.ts similarity index 73% rename from protocol-designer/src/components/FileSidebar/utils/__tests__/getUnusedStagingAreas.ts rename to protocol-designer/src/components/FileSidebar/utils/__tests__/getUnusedStagingAreas.test.ts index 333a6aee456..e95f2c06d3f 100644 --- a/protocol-designer/src/components/FileSidebar/utils/__tests__/getUnusedStagingAreas.ts +++ b/protocol-designer/src/components/FileSidebar/utils/__tests__/getUnusedStagingAreas.test.ts @@ -6,7 +6,11 @@ describe('getUnusedStagingAreas', () => { it('returns true for unused staging area', () => { const stagingArea = 'stagingAreaId' const mockAdditionalEquipment = { - [stagingArea]: { name: 'stagingArea', id: stagingArea, location: 'A3' }, + [stagingArea]: { + name: 'stagingArea', + id: stagingArea, + location: 'cutoutA3', + }, } as AdditionalEquipment expect(getUnusedStagingAreas(mockAdditionalEquipment, [])).toEqual(['A4']) @@ -15,8 +19,16 @@ describe('getUnusedStagingAreas', () => { const stagingArea = 'stagingAreaId' const stagingArea2 = 'stagingAreaId2' const mockAdditionalEquipment = { - [stagingArea]: { name: 'stagingArea', id: stagingArea, location: 'A3' }, - [stagingArea2]: { name: 'stagingArea', id: stagingArea2, location: 'B3' }, + [stagingArea]: { + name: 'stagingArea', + id: stagingArea, + location: 'cutoutA3', + }, + [stagingArea2]: { + name: 'stagingArea', + id: stagingArea2, + location: 'cutoutB3', + }, } as AdditionalEquipment expect(getUnusedStagingAreas(mockAdditionalEquipment, [])).toEqual([ @@ -27,7 +39,11 @@ describe('getUnusedStagingAreas', () => { it('returns false for unused staging area', () => { const stagingArea = 'stagingAreaId' const mockAdditionalEquipment = { - [stagingArea]: { name: 'stagingArea', id: stagingArea, location: 'A3' }, + [stagingArea]: { + name: 'stagingArea', + id: stagingArea, + location: 'cutoutA3', + }, } as AdditionalEquipment const mockCommand = ([ { diff --git a/protocol-designer/src/components/FileSidebar/utils/__tests__/getUnusedTrash.test.ts b/protocol-designer/src/components/FileSidebar/utils/__tests__/getUnusedTrash.test.ts index 474a2f9d733..60e3a3df359 100644 --- a/protocol-designer/src/components/FileSidebar/utils/__tests__/getUnusedTrash.test.ts +++ b/protocol-designer/src/components/FileSidebar/utils/__tests__/getUnusedTrash.test.ts @@ -1,14 +1,17 @@ -import { FLEX_TRASH_DEF_URI } from '../../../../constants' import { getUnusedTrash } from '../getUnusedTrash' import type { CreateCommand } from '@opentrons/shared-data' -import type { InitialDeckSetup } from '../../../../step-forms' +import type { AdditionalEquipment } from '../../FileSidebar' describe('getUnusedTrash', () => { it('returns true for unused trash bin', () => { - const labwareId = 'mockLabwareId' - const mockTrash = ({ - [labwareId]: { labwareDefURI: FLEX_TRASH_DEF_URI, id: labwareId }, - } as unknown) as InitialDeckSetup['labware'] + const mockTrashId = 'mockTrashId' + const mockTrash = { + [mockTrashId]: { + name: 'trashBin', + id: mockTrashId, + location: 'cutoutA3', + }, + } as AdditionalEquipment expect(getUnusedTrash(mockTrash, [])).toEqual({ trashBinUnused: true, @@ -16,15 +19,19 @@ describe('getUnusedTrash', () => { }) }) it('returns false for unused trash bin', () => { - const labwareId = 'mockLabwareId' - const mockTrash = ({ - [labwareId]: { labwareDefURI: FLEX_TRASH_DEF_URI, id: labwareId }, - } as unknown) as InitialDeckSetup['labware'] + const mockTrashId = 'mockTrashId' + const mockTrash = { + [mockTrashId]: { + name: 'trashBin', + id: mockTrashId, + location: 'cutoutA3', + }, + } as AdditionalEquipment const mockCommand = ([ { labwareId: { - commandType: 'dropTip', - params: { labwareId: labwareId }, + commandType: 'moveToAddressableArea', + params: { adressableAreaName: 'cutoutA3' }, }, }, ] as unknown) as CreateCommand[] @@ -34,5 +41,43 @@ describe('getUnusedTrash', () => { wasteChuteUnused: false, }) }) - // TODO(jr, 10/30/23): add test coverage for waste chute + it('returns true for unused waste chute', () => { + const wasteChute = 'wasteChuteId' + const mockAdditionalEquipment = { + [wasteChute]: { + name: 'wasteChute', + id: wasteChute, + location: 'cutoutD3', + }, + } as AdditionalEquipment + expect(getUnusedTrash(mockAdditionalEquipment, [])).toEqual({ + trashBinUnused: false, + wasteChuteUnused: true, + }) + }) + it('returns false for unused waste chute', () => { + const wasteChute = 'wasteChuteId' + const mockAdditionalEquipment = { + [wasteChute]: { + name: 'wasteChute', + id: wasteChute, + location: 'cutoutD3', + }, + } as AdditionalEquipment + const mockCommand = ([ + { + labwareId: { + commandType: 'moveToAddressableArea', + params: { + pipetteId: 'mockId', + addressableAreaName: '1and8ChannelWasteChute', + }, + }, + }, + ] as unknown) as CreateCommand[] + expect(getUnusedTrash(mockAdditionalEquipment, mockCommand)).toEqual({ + trashBinUnused: false, + wasteChuteUnused: true, + }) + }) }) diff --git a/protocol-designer/src/components/FileSidebar/utils/getUnusedStagingAreas.ts b/protocol-designer/src/components/FileSidebar/utils/getUnusedStagingAreas.ts index a701858a9eb..ea68068390c 100644 --- a/protocol-designer/src/components/FileSidebar/utils/getUnusedStagingAreas.ts +++ b/protocol-designer/src/components/FileSidebar/utils/getUnusedStagingAreas.ts @@ -1,11 +1,12 @@ -import type { CreateCommand } from '@opentrons/shared-data' +import { getStagingAreaAddressableAreas } from '../../../utils' +import type { CreateCommand, CutoutId } from '@opentrons/shared-data' import type { AdditionalEquipment } from '../FileSidebar' export const getUnusedStagingAreas = ( additionalEquipment: AdditionalEquipment, commands?: CreateCommand[] ): string[] => { - const stagingAreaSlots = Object.values(additionalEquipment) + const stagingAreaCutoutIds = Object.values(additionalEquipment) .filter(equipment => equipment?.name === 'stagingArea') .map(equipment => { if (equipment.location == null) { @@ -16,19 +17,12 @@ export const getUnusedStagingAreas = ( return equipment.location ?? '' }) - const corresponding4thColumnSlots = stagingAreaSlots.map(slot => { - const letter = slot.charAt(0) - const correspondingLocation = stagingAreaSlots.find(slot => - slot.startsWith(letter) - ) - if (correspondingLocation) { - return letter + '4' - } - - return slot - }) + const stagingAreaAddressableAreaNames = getStagingAreaAddressableAreas( + // TODO(jr, 11/13/23): fix AdditionalEquipment['location'] from type string to CutoutId + stagingAreaCutoutIds as CutoutId[] + ) - const stagingAreaCommandSlots: string[] = corresponding4thColumnSlots.filter( + const stagingAreaCommandSlots: string[] = stagingAreaAddressableAreaNames.filter( location => commands?.filter( command => diff --git a/protocol-designer/src/components/FileSidebar/utils/getUnusedTrash.ts b/protocol-designer/src/components/FileSidebar/utils/getUnusedTrash.ts index 2585b2c75eb..82caff4eada 100644 --- a/protocol-designer/src/components/FileSidebar/utils/getUnusedTrash.ts +++ b/protocol-designer/src/components/FileSidebar/utils/getUnusedTrash.ts @@ -1,9 +1,8 @@ import { - FLEX_TRASH_DEF_URI, - OT_2_TRASH_DEF_URI, -} from '@opentrons/step-generation' - -import type { CreateCommand } from '@opentrons/shared-data' + AddressableAreaName, + CreateCommand, + MOVABLE_TRASH_ADDRESSABLE_AREAS, +} from '@opentrons/shared-data' import type { InitialDeckSetup } from '../../../step-forms' interface UnusedTrash { @@ -11,29 +10,40 @@ interface UnusedTrash { wasteChuteUnused: boolean } -// TODO(jr, 10/30/23): plug in waste chute logic when we know the commands! export const getUnusedTrash = ( - labwareOnDeck: InitialDeckSetup['labware'], + additionalEquipment: InitialDeckSetup['additionalEquipmentOnDeck'], commands?: CreateCommand[] ): UnusedTrash => { - const trashBin = Object.values(labwareOnDeck).find( - labware => - labware.labwareDefURI === FLEX_TRASH_DEF_URI || - labware.labwareDefURI === OT_2_TRASH_DEF_URI + const trashBin = Object.values(additionalEquipment).find( + aE => aE.name === 'trashBin' ) const hasTrashBinCommands = trashBin != null ? commands?.some( command => - (command.commandType === 'dropTip' && - command.params.labwareId === trashBin.id) || - (command.commandType === 'dispense' && - command.params.labwareId === trashBin.id) + command.commandType === 'moveToAddressableArea' && + MOVABLE_TRASH_ADDRESSABLE_AREAS.includes( + command.params.addressableAreaName as AddressableAreaName + ) ) : null + const wasteChute = Object.values(additionalEquipment).find( + aE => aE.name === 'wasteChute' + ) + const hasWasteChuteCommands = + wasteChute != null + ? commands?.some( + command => + command.commandType === 'moveToAddressableArea' && + (command.params.addressableAreaName === '1and8ChannelWasteChute' || + command.params.addressableAreaName === 'gripperWasteChute' || + command.params.addressableAreaName === '96ChannelWasteChute') + ) + : null + return { trashBinUnused: trashBin != null && !hasTrashBinCommands, - wasteChuteUnused: false, + wasteChuteUnused: wasteChute != null && !hasWasteChuteCommands, } } diff --git a/protocol-designer/src/components/StepEditForm/fields/BlowoutLocationField.tsx b/protocol-designer/src/components/StepEditForm/fields/BlowoutLocationField.tsx index 48537b029a3..98137262406 100644 --- a/protocol-designer/src/components/StepEditForm/fields/BlowoutLocationField.tsx +++ b/protocol-designer/src/components/StepEditForm/fields/BlowoutLocationField.tsx @@ -23,10 +23,8 @@ export const BlowoutLocationField = ( value, } = props - const disposalLabwareOptions = useSelector( - uiLabwareSelectors.getDisposalLabwareOptions - ) - const options = [...disposalLabwareOptions, ...props.options] + const disposalOptions = useSelector(uiLabwareSelectors.getDisposalOptions) + const options = [...disposalOptions, ...props.options] return ( { stepType, }) - const disposalLabwareOptions = uiLabwareSelectors.getDisposalLabwareOptions( - state - ) + const disposalOptions = uiLabwareSelectors.getDisposalOptions(state) const maxDisposalVolume = getMaxDisposalVolumeForMultidispense( { @@ -138,10 +136,7 @@ const mapSTP = (state: BaseState, ownProps: OP): SP => { return { maxDisposalVolume, - disposalDestinationOptions: [ - ...disposalLabwareOptions, - ...blowoutLocationOptions, - ], + disposalDestinationOptions: [...disposalOptions, ...blowoutLocationOptions], } } diff --git a/protocol-designer/src/components/StepEditForm/fields/DropTipField/index.tsx b/protocol-designer/src/components/StepEditForm/fields/DropTipField/index.tsx index 91f640eae61..f8cdcd60f8e 100644 --- a/protocol-designer/src/components/StepEditForm/fields/DropTipField/index.tsx +++ b/protocol-designer/src/components/StepEditForm/fields/DropTipField/index.tsx @@ -1,12 +1,8 @@ import * as React from 'react' import { useSelector } from 'react-redux' import { DropdownField, DropdownOption, FormGroup } from '@opentrons/components' -import { FLEX_TRASH_DEF_URI, OT_2_TRASH_DEF_URI } from '../../../../constants' import { i18n } from '../../../../localization' -import { - getAdditionalEquipmentEntities, - getLabwareEntities, -} from '../../../../step-forms/selectors' +import { getAdditionalEquipmentEntities } from '../../../../step-forms/selectors' import { StepFormDropdown } from '../StepFormDropdownField' import styles from '../../StepEditForm.css' @@ -20,15 +16,12 @@ export function DropTipField( onFieldFocus, updateValue, } = props - const labware = useSelector(getLabwareEntities) const additionalEquipment = useSelector(getAdditionalEquipmentEntities) const wasteChute = Object.values(additionalEquipment).find( aE => aE.name === 'wasteChute' ) - const trash = Object.values(labware).find( - lw => - lw.labwareDefURI === FLEX_TRASH_DEF_URI || - lw.labwareDefURI === OT_2_TRASH_DEF_URI + const trashBin = Object.values(additionalEquipment).find( + aE => aE.name === 'trashBin' ) const wasteChuteOption: DropdownOption = { name: 'Waste Chute', @@ -36,12 +29,12 @@ export function DropTipField( } const trashOption: DropdownOption = { name: 'Trash Bin', - value: trash?.id ?? '', + value: trashBin?.id ?? '', } const options: DropdownOption[] = [] if (wasteChute != null) options.push(wasteChuteOption) - if (trash != null) options.push(trashOption) + if (trashBin != null) options.push(trashOption) const [selectedValue, setSelectedValue] = React.useState( dropdownItem || (options[0] && options[0].value) diff --git a/protocol-designer/src/components/StepEditForm/fields/LabwareLocationField/index.tsx b/protocol-designer/src/components/StepEditForm/fields/LabwareLocationField/index.tsx index 1879c63a317..8dedd756389 100644 --- a/protocol-designer/src/components/StepEditForm/fields/LabwareLocationField/index.tsx +++ b/protocol-designer/src/components/StepEditForm/fields/LabwareLocationField/index.tsx @@ -1,6 +1,9 @@ import * as React from 'react' import { useSelector } from 'react-redux' -import { getModuleDisplayName, WASTE_CHUTE_SLOT } from '@opentrons/shared-data' +import { + getModuleDisplayName, + WASTE_CHUTE_CUTOUT, +} from '@opentrons/shared-data' import { i18n } from '../../../../localization' import { getAdditionalEquipmentEntities, @@ -9,7 +12,7 @@ import { } from '../../../../step-forms/selectors' import { getRobotStateAtActiveItem, - getUnocuppiedLabwareLocationOptions, + getUnoccupiedLabwareLocationOptions, } from '../../../../top-selectors/labware-locations' import { getHasWasteChute } from '../../../labware' import { StepFormDropdown } from '../StepFormDropdownField' @@ -33,11 +36,12 @@ export function LabwareLocationField( useGripper && hasWasteChute && !isLabwareOffDeck let unoccupiedLabwareLocationsOptions = - useSelector(getUnocuppiedLabwareLocationOptions) ?? [] + useSelector(getUnoccupiedLabwareLocationOptions) ?? [] if (isLabwareOffDeck && hasWasteChute) { unoccupiedLabwareLocationsOptions = unoccupiedLabwareLocationsOptions.filter( - option => option.value !== 'offDeck' && option.value !== WASTE_CHUTE_SLOT + option => + option.value !== 'offDeck' && option.value !== WASTE_CHUTE_CUTOUT ) } else if (useGripper || isLabwareOffDeck) { unoccupiedLabwareLocationsOptions = unoccupiedLabwareLocationsOptions.filter( diff --git a/protocol-designer/src/components/StepEditForm/fields/StepFormDropdownField.tsx b/protocol-designer/src/components/StepEditForm/fields/StepFormDropdownField.tsx index 6f3a1a3fac9..7b43e3bad14 100644 --- a/protocol-designer/src/components/StepEditForm/fields/StepFormDropdownField.tsx +++ b/protocol-designer/src/components/StepEditForm/fields/StepFormDropdownField.tsx @@ -1,9 +1,11 @@ import * as React from 'react' +import { useSelector } from 'react-redux' import { DropdownField, Options } from '@opentrons/components' import cx from 'classnames' -import styles from '../StepEditForm.css' import { StepFieldName } from '../../../steplist/fieldLevel' -import { FieldProps } from '../types' +import { getWasteChuteOption } from '../../../ui/labware/selectors' +import styles from '../StepEditForm.css' +import type { FieldProps } from '../types' export interface StepFormDropdownProps extends FieldProps { options: Options @@ -22,9 +24,15 @@ export const StepFormDropdown = (props: StepFormDropdownProps): JSX.Element => { updateValue, errorToShow, } = props + const wasteChuteOption = useSelector(getWasteChuteOption) + const fullOptions = + wasteChuteOption != null && name === 'dispense_labware' + ? [...options, wasteChuteOption] + : options + // TODO: BC abstract e.currentTarget.value inside onChange with fn like onChangeValue of type (value: unknown) => {} // blank out the dropdown if labware id does not exist - const availableOptionIds = options.map(opt => opt.value) + const availableOptionIds = fullOptions.map(opt => opt.value) // @ts-expect-error (ce, 2021-06-21) unknown not assignable to string const fieldValue = availableOptionIds.includes(value) ? String(value) : null @@ -33,7 +41,7 @@ export const StepFormDropdown = (props: StepFormDropdownProps): JSX.Element => { name={name} error={errorToShow} className={cx(styles.large_field, className)} - options={options} + options={fullOptions} onBlur={onFieldBlur} onFocus={onFieldFocus} value={fieldValue} diff --git a/protocol-designer/src/components/StepEditForm/fields/TipPositionField/index.tsx b/protocol-designer/src/components/StepEditForm/fields/TipPositionField/index.tsx index 8511142856e..4b867f577e8 100644 --- a/protocol-designer/src/components/StepEditForm/fields/TipPositionField/index.tsx +++ b/protocol-designer/src/components/StepEditForm/fields/TipPositionField/index.tsx @@ -130,15 +130,23 @@ const mapSTP = (state: BaseState, ownProps: OP): SP => { const { labwareId, value } = ownProps let wellDepthMm = 0 - if (labwareId != null) { - const labwareDef = stepFormSelectors.getLabwareEntities(state)[labwareId] - .def + const labwareDef = + labwareId != null + ? stepFormSelectors.getLabwareEntities(state)[labwareId]?.def + : null + if (labwareDef != null) { // NOTE: only taking depth of first well in labware def, UI not currently equipped for multiple depths const firstWell = labwareDef.wells.A1 if (firstWell) wellDepthMm = getWellsDepth(labwareDef, ['A1']) } + if (wellDepthMm === 0 && labwareId != null && labwareDef != null) { + console.error( + `expected to find the well depth mm with labwareId ${labwareId} but could not` + ) + } + return { wellDepthMm, mmFromBottom: typeof value === 'number' ? value : null, diff --git a/protocol-designer/src/components/StepEditForm/fields/__tests__/makeSingleEditFieldProps.test.ts b/protocol-designer/src/components/StepEditForm/fields/__tests__/makeSingleEditFieldProps.test.ts index bb998523130..f80d4ddad70 100644 --- a/protocol-designer/src/components/StepEditForm/fields/__tests__/makeSingleEditFieldProps.test.ts +++ b/protocol-designer/src/components/StepEditForm/fields/__tests__/makeSingleEditFieldProps.test.ts @@ -5,7 +5,7 @@ import { } from '../../../../steplist/formLevel' import { getFieldErrors } from '../../../../steplist/fieldLevel' import * as stepEditFormUtils from '../../utils' -import { FormData } from '../../../../form-types' +import { HydratedFormdata } from '../../../../form-types' jest.mock('../../../../steplist/formLevel') jest.mock('../../../../steplist/fieldLevel') @@ -59,7 +59,7 @@ describe('makeSingleEditFieldProps', () => { } getDisabledFieldsMock.mockImplementation( - (form: FormData): Set => { + (form: HydratedFormdata): Set => { expect(form).toBe(formData) const disabled = new Set() disabled.add('disabled_field') @@ -101,7 +101,8 @@ describe('makeSingleEditFieldProps', () => { const result = makeSingleEditFieldProps( focusHandlers, formData, - handleChangeFormInput + handleChangeFormInput, + formData ) expect(result).toEqual({ some_field: { diff --git a/protocol-designer/src/components/StepEditForm/fields/makeSingleEditFieldProps.ts b/protocol-designer/src/components/StepEditForm/fields/makeSingleEditFieldProps.ts index 7daf2a4abca..6b5f8a1b069 100644 --- a/protocol-designer/src/components/StepEditForm/fields/makeSingleEditFieldProps.ts +++ b/protocol-designer/src/components/StepEditForm/fields/makeSingleEditFieldProps.ts @@ -23,14 +23,17 @@ export const showFieldErrors = ({ export const makeSingleEditFieldProps = ( focusHandlers: FocusHandlers, formData: FormData, - handleChangeFormInput: (name: string, value: unknown) => void + handleChangeFormInput: (name: string, value: unknown) => void, + hydratedForm: { [key: string]: any } // TODO: create real HydratedFormData type ): FieldPropsByName => { const { dirtyFields, blur, focusedField, focus } = focusHandlers const fieldNames: string[] = Object.keys( getDefaultsForStepType(formData.stepType) ) return fieldNames.reduce((acc, name) => { - const disabled = formData ? getDisabledFields(formData).has(name) : false + const disabled = hydratedForm + ? getDisabledFields(hydratedForm).has(name) + : false const value = formData ? formData[name] : null const showErrors = showFieldErrors({ name, diff --git a/protocol-designer/src/components/StepEditForm/forms/MoveLiquidForm/SourceDestFields.tsx b/protocol-designer/src/components/StepEditForm/forms/MoveLiquidForm/SourceDestFields.tsx index 127afbda34c..e3e11b75924 100644 --- a/protocol-designer/src/components/StepEditForm/forms/MoveLiquidForm/SourceDestFields.tsx +++ b/protocol-designer/src/components/StepEditForm/forms/MoveLiquidForm/SourceDestFields.tsx @@ -1,5 +1,7 @@ import * as React from 'react' +import { useSelector } from 'react-redux' import { i18n } from '../../../../localization' +import { getAdditionalEquipmentEntities } from '../../../../step-forms/selectors' import { BlowoutLocationField, @@ -14,13 +16,11 @@ import { MixFields } from '../../fields/MixFields' import { getBlowoutLocationOptionsForForm, getLabwareFieldForPositioningField, - getTouchTipNotSupportedLabware, } from '../../utils' import styles from '../../StepEditForm.css' import type { FormData } from '../../../../form-types' import type { StepFieldName } from '../../../../steplist/fieldLevel' -import type { LabwareDefByDefURI } from '../../../../labware-defs' import type { FieldPropsByName } from '../../types' interface SourceDestFieldsProps { @@ -28,7 +28,6 @@ interface SourceDestFieldsProps { prefix: 'aspirate' | 'dispense' propsForFields: FieldPropsByName formData: FormData - allLabware: LabwareDefByDefURI } const makeAddFieldNamePrefix = (prefix: string) => ( @@ -36,7 +35,16 @@ const makeAddFieldNamePrefix = (prefix: string) => ( ): StepFieldName => `${prefix}_${fieldName}` export const SourceDestFields = (props: SourceDestFieldsProps): JSX.Element => { - const { className, formData, prefix, propsForFields, allLabware } = props + const { className, formData, prefix, propsForFields } = props + const additionalEquipmentEntities = useSelector( + getAdditionalEquipmentEntities + ) + const isWasteChuteSelected = + propsForFields.dispense_labware?.value != null + ? additionalEquipmentEntities[ + String(propsForFields.dispense_labware.value) + ]?.name === 'wasteChute' + : false const addFieldNamePrefix = makeAddFieldNamePrefix(prefix) const getDelayFields = (): JSX.Element => ( @@ -83,25 +91,27 @@ export const SourceDestFields = (props: SourceDestFieldsProps): JSX.Element => { ] } /> - + {prefix === 'dispense' && isWasteChuteSelected ? null : ( + + )}
    {prefix === 'aspirate' && ( - + <> { /> {getMixFields()} {getDelayFields()} - + )} {prefix === 'dispense' && ( - + <> {getDelayFields()} {getMixFields()} - + )} { formData, } = props const addFieldNamePrefix = makeAddFieldNamePrefix(prefix) + const additionalEquipmentEntities = useSelector( + getAdditionalEquipmentEntities + ) const labwareLabel = i18n.t(`form.step_edit_form.labwareLabel.${prefix}`) + const wasteChuteOrLabwareId = formData[addFieldNamePrefix('labware')] + const isWasteChute = + additionalEquipmentEntities[wasteChuteOrLabwareId]?.name === 'wasteChute' + + React.useEffect(() => { + if (isWasteChute) { + propsForFields.dispense_wells.updateValue(['A1']) + } + }, [isWasteChute]) return ( @@ -40,11 +54,13 @@ export const SourceDestHeaders = (props: Props): JSX.Element => { - + {isWasteChute ? null : ( + + )}
    ) diff --git a/protocol-designer/src/components/StepEditForm/forms/MoveLiquidForm/index.tsx b/protocol-designer/src/components/StepEditForm/forms/MoveLiquidForm/index.tsx index 18d140b0478..8a3ff2aeef8 100644 --- a/protocol-designer/src/components/StepEditForm/forms/MoveLiquidForm/index.tsx +++ b/protocol-designer/src/components/StepEditForm/forms/MoveLiquidForm/index.tsx @@ -1,8 +1,6 @@ import * as React from 'react' import cx from 'classnames' -import { useSelector } from 'react-redux' import { i18n } from '../../../../localization' -import { getLabwareDefsByURI } from '../../../../labware-defs/selectors' import { VolumeField, PipetteField, @@ -21,7 +19,6 @@ import type { StepFormProps } from '../../types' export const MoveLiquidForm = (props: StepFormProps): JSX.Element => { const [collapsed, _setCollapsed] = React.useState(true) - const allLabware = useSelector(getLabwareDefsByURI) const toggleCollapsed = (): void => _setCollapsed(!collapsed) @@ -73,14 +70,12 @@ export const MoveLiquidForm = (props: StepFormProps): JSX.Element => { prefix="aspirate" propsForFields={propsForFields} formData={formData} - allLabware={allLabware} />
    )} diff --git a/protocol-designer/src/components/StepEditForm/forms/__tests__/SourceDestFields.test.tsx b/protocol-designer/src/components/StepEditForm/forms/__tests__/SourceDestFields.test.tsx index 8b80a0a1e6b..614f747a778 100644 --- a/protocol-designer/src/components/StepEditForm/forms/__tests__/SourceDestFields.test.tsx +++ b/protocol-designer/src/components/StepEditForm/forms/__tests__/SourceDestFields.test.tsx @@ -1,21 +1,22 @@ import React from 'react' import { Provider } from 'react-redux' import { mount } from 'enzyme' -import fixture_tiprack_10_ul from '@opentrons/shared-data/labware/fixtures/2/fixture_tiprack_10_ul.json' -import fixture_tiprack_300_ul from '@opentrons/shared-data/labware/fixtures/2/fixture_tiprack_300_ul.json' +import { getAdditionalEquipmentEntities } from '../../../../step-forms/selectors' import { selectors as stepFormSelectors } from '../../../../step-forms' import { CheckboxRowField, DelayFields, WellOrderField } from '../../fields' import { SourceDestFields } from '../MoveLiquidForm/SourceDestFields' -import type { LabwareDefinition2 } from '@opentrons/shared-data' import type { FormData } from '../../../../form-types' jest.mock('../../../../step-forms') jest.mock('../../utils') +jest.mock('../../../../step-forms/selectors') const getUnsavedFormMock = stepFormSelectors.getUnsavedForm as jest.MockedFunction< typeof stepFormSelectors.getUnsavedForm > - +const mockGetAdditionalEquipmentEntities = getAdditionalEquipmentEntities as jest.MockedFunction< + typeof getAdditionalEquipmentEntities +> jest.mock('../../fields/', () => { const actualFields = jest.requireActual('../../fields') @@ -35,18 +36,7 @@ jest.mock('../../fields/', () => { WellSelectionField: () =>
    , } }) -const fixtureTipRack10ul = { - ...fixture_tiprack_10_ul, - version: 2, -} as LabwareDefinition2 -const fixtureTipRack300uL = { - ...fixture_tiprack_300_ul, - version: 2, -} as LabwareDefinition2 -const ten = '10uL' -const threeHundred = '300uL' -const sourceLab = 'sourceLabware' describe('SourceDestFields', () => { let store: any let props: React.ComponentProps @@ -187,11 +177,6 @@ describe('SourceDestFields', () => { }, }, prefix: 'aspirate', - allLabware: { - [ten]: fixtureTipRack10ul, - [threeHundred]: fixtureTipRack300uL, - [sourceLab]: { parameters: { quirks: ['touchTipDisabled'] } } as any, - }, } store = { dispatch: jest.fn(), @@ -201,6 +186,7 @@ describe('SourceDestFields', () => { getUnsavedFormMock.mockReturnValue({ stepType: 'moveLiquid', } as FormData) + mockGetAdditionalEquipmentEntities.mockReturnValue({}) }) const render = (props: React.ComponentProps) => diff --git a/protocol-designer/src/components/StepEditForm/index.tsx b/protocol-designer/src/components/StepEditForm/index.tsx index d4c60961d6a..78e4ae77eca 100644 --- a/protocol-designer/src/components/StepEditForm/index.tsx +++ b/protocol-designer/src/components/StepEditForm/index.tsx @@ -4,8 +4,12 @@ import { connect } from 'react-redux' import { actions } from '../../steplist' import { actions as stepsActions } from '../../ui/steps' import { resetScrollElements } from '../../ui/steps/utils' -import { selectors as stepFormSelectors } from '../../step-forms' +import { + getHydratedForm, + selectors as stepFormSelectors, +} from '../../step-forms' import { maskField } from '../../steplist/fieldLevel' +import { getInvariantContext } from '../../step-forms/selectors' import { AutoAddPauseUntilTempStepModal } from '../modals/AutoAddPauseUntilTempStepModal' import { AutoAddPauseUntilHeaterShakerTempStepModal } from '../modals/AutoAddPauseUntilHeaterShakerTempStepModal' import { @@ -17,8 +21,10 @@ import { import { makeSingleEditFieldProps } from './fields/makeSingleEditFieldProps' import { StepEditFormComponent } from './StepEditFormComponent' import { getDirtyFields } from './utils' -import { BaseState, ThunkDispatch } from '../../types' -import { FormData, StepFieldName, StepIdType } from '../../form-types' + +import type { InvariantContext } from '@opentrons/step-generation' +import type { BaseState, ThunkDispatch } from '../../types' +import type { FormData, StepFieldName, StepIdType } from '../../form-types' interface SP { canSave: boolean @@ -27,6 +33,7 @@ interface SP { isNewStep: boolean isPristineSetTempForm: boolean isPristineSetHeaterShakerTempForm: boolean + invariantContext: InvariantContext } interface DP { deleteStep: (stepId: string) => unknown @@ -54,6 +61,7 @@ const StepEditFormManager = ( saveSetTempFormWithAddedPauseUntilTemp, saveHeaterShakerFormWithAddedPauseUntilTemp, saveStepForm, + invariantContext, } = props const [ @@ -125,6 +133,8 @@ const StepEditFormManager = ( return null } + const hydratedForm = getHydratedForm(formData, invariantContext) + const focusHandlers = { focusedField, dirtyFields, @@ -135,7 +145,8 @@ const StepEditFormManager = ( const propsForFields = makeSingleEditFieldProps( focusHandlers, formData, - handleChangeFormInput + handleChangeFormInput, + hydratedForm ) let handleSave = saveStepForm if (isPristineSetTempForm) { @@ -210,6 +221,7 @@ const mapStateToProps = (state: BaseState): SP => { isPristineSetTempForm: stepFormSelectors.getUnsavedFormIsPristineSetTempForm( state ), + invariantContext: getInvariantContext(state), } } diff --git a/protocol-designer/src/components/StepEditForm/utils.ts b/protocol-designer/src/components/StepEditForm/utils.ts index c9ba27e1920..6e3cbdcb7d5 100644 --- a/protocol-designer/src/components/StepEditForm/utils.ts +++ b/protocol-designer/src/components/StepEditForm/utils.ts @@ -19,7 +19,6 @@ import { Options } from '@opentrons/components' import { ProfileFormError } from '../../steplist/formLevel/profileErrors' import { FormWarning } from '../../steplist/formLevel/warnings' import type { StepFormErrors } from '../../steplist/types' -import type { LabwareDefByDefURI } from '../../labware-defs' export function getBlowoutLocationOptionsForForm(args: { stepType: StepType @@ -200,15 +199,3 @@ export function getLabwareFieldForPositioningField( } return fieldMap[name] } - -export function getTouchTipNotSupportedLabware( - allLabware: LabwareDefByDefURI, - labwareId?: string -): boolean { - const labwareDefURI = labwareId?.split(':')[1] ?? '' - const isTouchTipNotSupported = - allLabware[labwareDefURI]?.parameters?.quirks?.includes( - 'touchTipDisabled' - ) ?? false - return isTouchTipNotSupported -} diff --git a/protocol-designer/src/components/labware/__tests__/utils.test.ts b/protocol-designer/src/components/labware/__tests__/utils.test.ts index bda5fc71096..b5c63951b1b 100644 --- a/protocol-designer/src/components/labware/__tests__/utils.test.ts +++ b/protocol-designer/src/components/labware/__tests__/utils.test.ts @@ -1,4 +1,4 @@ -import { WASTE_CHUTE_SLOT } from '@opentrons/shared-data' +import { WASTE_CHUTE_CUTOUT } from '@opentrons/shared-data' import { getHasWasteChute } from '..' import type { AdditionalEquipmentEntities } from '@opentrons/step-generation' @@ -25,7 +25,7 @@ describe('getHasWasteChute', () => { mockId2: { id: mockId2, name: 'wasteChute', - location: WASTE_CHUTE_SLOT, + location: WASTE_CHUTE_CUTOUT, }, } as AdditionalEquipmentEntities const result = getHasWasteChute(mockAdditionalEquipmentEntities) diff --git a/protocol-designer/src/components/labware/utils.ts b/protocol-designer/src/components/labware/utils.ts index f3f27add66d..1c92ee47186 100644 --- a/protocol-designer/src/components/labware/utils.ts +++ b/protocol-designer/src/components/labware/utils.ts @@ -1,7 +1,7 @@ import reduce from 'lodash/reduce' import { AdditionalEquipmentEntities, AIR } from '@opentrons/step-generation' import { WellFill } from '@opentrons/components' -import { WASTE_CHUTE_SLOT } from '@opentrons/shared-data' +import { WASTE_CHUTE_CUTOUT } from '@opentrons/shared-data' import { swatchColors, MIXED_WELL_COLOR } from '../swatchColors' import { ContentsByWell, WellContents } from '../../labware-ingred/types' @@ -40,7 +40,7 @@ export const getHasWasteChute = ( ): boolean => { return Object.values(additionalEquipmentEntities).some( additionalEquipmentEntity => - additionalEquipmentEntity.location === WASTE_CHUTE_SLOT && + additionalEquipmentEntity.location === WASTE_CHUTE_CUTOUT && additionalEquipmentEntity.name === 'wasteChute' ) } diff --git a/protocol-designer/src/components/modals/AnnouncementModal/announcements.tsx b/protocol-designer/src/components/modals/AnnouncementModal/announcements.tsx index 512682dd041..b692d4b2cfd 100644 --- a/protocol-designer/src/components/modals/AnnouncementModal/announcements.tsx +++ b/protocol-designer/src/components/modals/AnnouncementModal/announcements.tsx @@ -6,6 +6,7 @@ import { JUSTIFY_SPACE_AROUND, SPACING, } from '@opentrons/components' + import styles from './AnnouncementModal.css' export interface Announcement { @@ -219,4 +220,28 @@ export const announcements: Announcement[] = [ ), }, + { + announcementKey: 'deckConfigAnd96Channel8.0', + image: ( + + + + ), + heading: "We've updated the Protocol Designer", + message: ( + <> +

    + Introducing the Protocol Designer 8.0 with deck configuration and + 96-channel pipette support! +

    +

    + All protocols now require Opentrons App version + 7.1+ to run. +

    + + ), + }, ] diff --git a/protocol-designer/src/components/modals/CreateFileWizard/EquipmentOption.tsx b/protocol-designer/src/components/modals/CreateFileWizard/EquipmentOption.tsx index 3d1bd093319..0acd1df9c28 100644 --- a/protocol-designer/src/components/modals/CreateFileWizard/EquipmentOption.tsx +++ b/protocol-designer/src/components/modals/CreateFileWizard/EquipmentOption.tsx @@ -10,7 +10,10 @@ import { COLORS, StyleProps, TYPOGRAPHY, + useHoverTooltip, + Tooltip, } from '@opentrons/components' +import { i18n } from '../../../localization' interface EquipmentOptionProps extends StyleProps { onClick: React.MouseEventHandler @@ -30,45 +33,60 @@ export function EquipmentOption(props: EquipmentOptionProps): JSX.Element { disabled = false, ...styleProps } = props + + const [targetProps, tooltipProps] = useHoverTooltip() + return ( - - {showCheckbox ? ( - - ) : null} + <> - {image} + {showCheckbox ? ( + + ) : null} + + {image} + + + {text} + - - {text} - - + {disabled ? ( + + {i18n.t('tooltip.disabled_no_space_additional_items')} + + ) : null} + ) } diff --git a/protocol-designer/src/components/modals/CreateFileWizard/PipetteTypeTile.tsx b/protocol-designer/src/components/modals/CreateFileWizard/PipetteTypeTile.tsx index f08d7338d7d..7b9f1135f2d 100644 --- a/protocol-designer/src/components/modals/CreateFileWizard/PipetteTypeTile.tsx +++ b/protocol-designer/src/components/modals/CreateFileWizard/PipetteTypeTile.tsx @@ -46,7 +46,7 @@ export function FirstPipetteTypeTile( mount={mount} allowNoPipette={false} display96Channel={allow96Channel} - tileHeader={i18n.t('modal.create_file_wizard.choose_first_pipette')} + tileHeader={i18n.t('modal.create_file_wizard.choose_left_pipette')} /> ) } @@ -66,7 +66,7 @@ export function SecondPipetteTypeTile( mount={RIGHT} allowNoPipette display96Channel={false} - tileHeader={i18n.t('modal.create_file_wizard.choose_second_pipette')} + tileHeader={i18n.t('modal.create_file_wizard.choose_right_pipette')} /> ) } diff --git a/protocol-designer/src/components/modals/CreateFileWizard/StagingAreaTile.tsx b/protocol-designer/src/components/modals/CreateFileWizard/StagingAreaTile.tsx index 24f11c7b5c7..423b0c93689 100644 --- a/protocol-designer/src/components/modals/CreateFileWizard/StagingAreaTile.tsx +++ b/protocol-designer/src/components/modals/CreateFileWizard/StagingAreaTile.tsx @@ -13,54 +13,53 @@ import { } from '@opentrons/components' import { OT2_ROBOT_TYPE, - STAGING_AREA_LOAD_NAME, - STANDARD_SLOT_LOAD_NAME, + SINGLE_RIGHT_SLOT_FIXTURE, + STAGING_AREA_CUTOUTS, + STAGING_AREA_RIGHT_SLOT_FIXTURE, } from '@opentrons/shared-data' import { i18n } from '../../../localization' import { getEnableDeckModification } from '../../../feature-flags/selectors' import { GoBack } from './GoBack' import { HandleEnter } from './HandleEnter' -import type { Cutout, DeckConfiguration } from '@opentrons/shared-data' +import type { DeckConfiguration, CutoutId } from '@opentrons/shared-data' import type { WizardTileProps } from './types' -const STAGING_AREA_SLOTS: Cutout[] = ['A3', 'B3', 'C3', 'D3'] - export function StagingAreaTile(props: WizardTileProps): JSX.Element | null { const { values, goBack, proceed, setFieldValue } = props const isOt2 = values.fields.robotType === OT2_ROBOT_TYPE const deckConfigurationFF = useSelector(getEnableDeckModification) const stagingAreaItems = values.additionalEquipment.filter(equipment => - equipment.includes(STAGING_AREA_LOAD_NAME) + // TODO(bc, 11/14/2023): refactor the additional items field to include a cutoutId + // and a cutoutFixtureId so that we don't have to string parse here to generate them + equipment.includes('stagingArea') ) - const savedStagingAreaSlots = stagingAreaItems.flatMap(item => { - const [loadName, fixtureLocation] = item.split('_') - const fixtureId = `id_${fixtureLocation}` - return [ - { - fixtureId, - fixtureLocation, - loadName, - }, - ] as DeckConfiguration - }) + const savedStagingAreaSlots: DeckConfiguration = stagingAreaItems.flatMap( + item => { + // TODO(bc, 11/14/2023): refactor the additional items field to include a cutoutId + // and a cutoutFixtureId so that we don't have to string parse here to generate them + const cutoutId = item.split('_')[1] as CutoutId + return [ + { + cutoutFixtureId: STAGING_AREA_RIGHT_SLOT_FIXTURE, + cutoutId, + }, + ] + } + ) - // NOTE: fixtureId doesn't matter since we don't create - // the entity until you complete the create file wizard via createDeckFixture action - // fixtureId here is only needed to visually add to the deck configurator - const STANDARD_EMPTY_SLOTS: DeckConfiguration = STAGING_AREA_SLOTS.map( - fixtureLocation => ({ - fixtureId: `id_${fixtureLocation}`, - fixtureLocation, - loadName: STANDARD_SLOT_LOAD_NAME, + const STANDARD_EMPTY_SLOTS: DeckConfiguration = STAGING_AREA_CUTOUTS.map( + cutoutId => ({ + cutoutId, + cutoutFixtureId: SINGLE_RIGHT_SLOT_FIXTURE, }) ) STANDARD_EMPTY_SLOTS.forEach(emptySlot => { if ( !savedStagingAreaSlots.some( - slot => slot.fixtureLocation === emptySlot.fixtureLocation + ({ cutoutId }) => cutoutId === emptySlot.cutoutId ) ) { savedStagingAreaSlots.push(emptySlot) @@ -79,12 +78,12 @@ export function StagingAreaTile(props: WizardTileProps): JSX.Element | null { return null } - const handleClickAdd = (fixtureLocation: string): void => { + const handleClickAdd = (cutoutId: string): void => { const modifiedSlots: DeckConfiguration = updatedSlots.map(slot => { - if (slot.fixtureLocation === fixtureLocation) { + if (slot.cutoutId === cutoutId) { return { ...slot, - loadName: STAGING_AREA_LOAD_NAME, + cutoutFixtureId: STAGING_AREA_RIGHT_SLOT_FIXTURE, } } return slot @@ -92,16 +91,16 @@ export function StagingAreaTile(props: WizardTileProps): JSX.Element | null { setUpdatedSlots(modifiedSlots) setFieldValue('additionalEquipment', [ ...values.additionalEquipment, - `${STAGING_AREA_LOAD_NAME}_${fixtureLocation}`, + `stagingArea_${cutoutId}`, ]) } - const handleClickRemove = (fixtureLocation: string): void => { + const handleClickRemove = (cutoutId: string): void => { const modifiedSlots: DeckConfiguration = updatedSlots.map(slot => { - if (slot.fixtureLocation === fixtureLocation) { + if (slot.cutoutId === cutoutId) { return { ...slot, - loadName: STANDARD_SLOT_LOAD_NAME, + cutoutFixtureId: SINGLE_RIGHT_SLOT_FIXTURE, } } return slot @@ -109,10 +108,7 @@ export function StagingAreaTile(props: WizardTileProps): JSX.Element | null { setUpdatedSlots(modifiedSlots) setFieldValue( 'additionalEquipment', - without( - values.additionalEquipment, - `${STAGING_AREA_LOAD_NAME}_${fixtureLocation}` - ) + without(values.additionalEquipment, `stagingArea_${cutoutId}`) ) } diff --git a/protocol-designer/src/components/modals/CreateFileWizard/__tests__/utils.test.tsx b/protocol-designer/src/components/modals/CreateFileWizard/__tests__/utils.test.tsx index fff9f9c446b..aa875ba0c26 100644 --- a/protocol-designer/src/components/modals/CreateFileWizard/__tests__/utils.test.tsx +++ b/protocol-designer/src/components/modals/CreateFileWizard/__tests__/utils.test.tsx @@ -55,10 +55,10 @@ describe('getLastCheckedEquipment', () => { ...MOCK_FORM_STATE, additionalEquipment: [ 'trashBin', - 'stagingArea_A3', - 'stagingArea_B3', - 'stagingArea_C3', - 'stagingArea_D3', + 'stagingArea_cutoutA3', + 'stagingArea_cutoutB3', + 'stagingArea_cutoutC3', + 'stagingArea_cutoutD3', ], modulesByType: { ...MOCK_FORM_STATE.modulesByType, @@ -80,12 +80,12 @@ describe('getTrashSlot', () => { const result = getTrashSlot(MOCK_FORM_STATE) expect(result).toBe(FLEX_TRASH_DEFAULT_SLOT) }) - it('should return B3 when there is a staging area in slot A3', () => { + it('should return cutoutB3 when there is a staging area in slot A3', () => { MOCK_FORM_STATE = { ...MOCK_FORM_STATE, - additionalEquipment: ['stagingArea_A3'], + additionalEquipment: ['stagingArea_cutoutA3'], } const result = getTrashSlot(MOCK_FORM_STATE) - expect(result).toBe('B3') + expect(result).toBe('cutoutB3') }) }) diff --git a/protocol-designer/src/components/modals/CreateFileWizard/index.tsx b/protocol-designer/src/components/modals/CreateFileWizard/index.tsx index 5bb0029d221..d00890051e7 100644 --- a/protocol-designer/src/components/modals/CreateFileWizard/index.tsx +++ b/protocol-designer/src/components/modals/CreateFileWizard/index.tsx @@ -8,7 +8,6 @@ import uniq from 'lodash/uniq' import { Formik, FormikProps } from 'formik' import * as Yup from 'yup' import { ModalShell } from '@opentrons/components' -import { OT_2_TRASH_DEF_URI } from '@opentrons/step-generation' import { ModuleType, ModuleModel, @@ -26,7 +25,7 @@ import { MAGNETIC_MODULE_V2, THERMOCYCLER_MODULE_V2, TEMPERATURE_MODULE_V2, - WASTE_CHUTE_SLOT, + WASTE_CHUTE_CUTOUT, } from '@opentrons/shared-data' import { actions as stepFormActions, @@ -34,10 +33,7 @@ import { FormPipette, PipetteOnDeck, } from '../../../step-forms' -import { - FLEX_TRASH_DEF_URI, - INITIAL_DECK_SETUP_STEP_ID, -} from '../../../constants' +import { INITIAL_DECK_SETUP_STEP_ID } from '../../../constants' import { uuid } from '../../../utils' import { actions as navigationActions } from '../../../navigation' import { getNewProtocolModal } from '../../../navigation/selectors' @@ -220,16 +216,12 @@ export function CreateFileWizard(): JSX.Element | null { ) { // defaulting trash to appropriate locations dispatch( - labwareIngredActions.createContainer({ - labwareDefURI: - values.fields.robotType === FLEX_ROBOT_TYPE - ? FLEX_TRASH_DEF_URI - : OT_2_TRASH_DEF_URI, - slot: - values.fields.robotType === FLEX_ROBOT_TYPE - ? getTrashSlot(values) - : '12', - }) + createDeckFixture( + 'trashBin', + values.fields.robotType === FLEX_ROBOT_TYPE + ? getTrashSlot(values) + : 'cutout12' + ) ) } @@ -238,7 +230,7 @@ export function CreateFileWizard(): JSX.Element | null { enableDeckModification && values.additionalEquipment.includes('wasteChute') ) { - dispatch(createDeckFixture('wasteChute', WASTE_CHUTE_SLOT)) + dispatch(createDeckFixture('wasteChute', WASTE_CHUTE_CUTOUT)) } // add staging areas const stagingAreas = values.additionalEquipment.filter(equipment => @@ -263,9 +255,15 @@ export function CreateFileWizard(): JSX.Element | null { const newTiprackModels: string[] = uniq( pipettes.map(pipette => pipette.tiprackDefURI) ) - newTiprackModels.forEach(tiprackDefURI => { + newTiprackModels.forEach((tiprackDefURI, index) => { + const ot2Slots = index === 0 ? '2' : '5' + const flexSlots = index === 0 ? 'C2' : 'B2' dispatch( labwareIngredActions.createContainer({ + slot: + values.fields.robotType === FLEX_ROBOT_TYPE + ? flexSlots + : ot2Slots, labwareDefURI: tiprackDefURI, adapterUnderLabwareDefURI: values.pipettesByMount.left.pipetteName === 'p1000_96' diff --git a/protocol-designer/src/components/modals/CreateFileWizard/types.ts b/protocol-designer/src/components/modals/CreateFileWizard/types.ts index 8eb99fa5dba..1c15b081f9a 100644 --- a/protocol-designer/src/components/modals/CreateFileWizard/types.ts +++ b/protocol-designer/src/components/modals/CreateFileWizard/types.ts @@ -10,10 +10,10 @@ export type AdditionalEquipment = | 'gripper' | 'wasteChute' | 'trashBin' - | 'stagingArea_A3' - | 'stagingArea_B3' - | 'stagingArea_C3' - | 'stagingArea_D3' + | 'stagingArea_cutoutA3' + | 'stagingArea_cutoutB3' + | 'stagingArea_cutoutC3' + | 'stagingArea_cutoutD3' export interface FormState { fields: NewProtocolFields pipettesByMount: FormPipettesByMount diff --git a/protocol-designer/src/components/modals/CreateFileWizard/utils.ts b/protocol-designer/src/components/modals/CreateFileWizard/utils.ts index 84e5b585c99..75c7800cc33 100644 --- a/protocol-designer/src/components/modals/CreateFileWizard/utils.ts +++ b/protocol-designer/src/components/modals/CreateFileWizard/utils.ts @@ -4,7 +4,6 @@ import { TEMPERATURE_MODULE_TYPE, THERMOCYCLER_MODULE_TYPE, } from '@opentrons/shared-data' -import { OUTER_SLOTS_FLEX } from '../../../modules' import { isModuleWithCollisionIssue } from '../../modules' import { FLEX_SUPPORTED_MODULE_MODELS, @@ -15,7 +14,7 @@ import type { ModuleType } from '@opentrons/shared-data' import type { FormModulesByType } from '../../../step-forms' import type { FormState } from './types' -export const FLEX_TRASH_DEFAULT_SLOT = 'A3' +export const FLEX_TRASH_DEFAULT_SLOT = 'cutoutA3' const ALL_STAGING_AREAS = 4 export const getLastCheckedEquipment = (values: FormState): string | null => { @@ -80,13 +79,50 @@ export const getTrashBinOptionDisabled = (values: FormState): boolean => { return allStagingAreasInUse && allModulesInSideSlotsOnDeck } +export const MOVABLE_TRASH_CUTOUTS = [ + { + value: 'cutoutA1', + slot: 'A1', + }, + { + value: 'cutoutA3', + slot: 'A3', + }, + { + value: 'cutoutB1', + slot: 'B1', + }, + { + value: 'cutoutB3', + slot: 'B3', + }, + { + value: 'cutoutC1', + slot: 'C1', + }, + { + value: 'cutoutC3', + slot: 'C3', + }, + { + value: 'cutoutD1', + slot: 'D1', + }, + { + value: 'cutoutD3', + slot: 'D3', + }, +] + export const getTrashSlot = (values: FormState): string => { - const stagingAreaLocations = values.additionalEquipment - .filter(equipment => equipment.includes('stagingArea')) - .map(stagingArea => stagingArea.split('_')[1]) + const stagingAreas = values.additionalEquipment.filter(equipment => + equipment.includes('stagingArea') + ) + // TODO(Jr, 11/16/23): refactor additionalEquipment to store cutouts + // so the split isn't needed + const cutouts = stagingAreas.map(cutout => cutout.split('_')[1]) - // return default trash slot A3 if staging area is not on slot - if (!stagingAreaLocations.includes(FLEX_TRASH_DEFAULT_SLOT)) { + if (!cutouts.includes(FLEX_TRASH_DEFAULT_SLOT)) { return FLEX_TRASH_DEFAULT_SLOT } @@ -103,11 +139,9 @@ export const getTrashSlot = (values: FormState): string => { }, [] ) - - const unoccupiedSlot = OUTER_SLOTS_FLEX.find( - slot => - !stagingAreaLocations.includes(slot.value) && - !moduleSlots.includes(slot.value) + const unoccupiedSlot = MOVABLE_TRASH_CUTOUTS.find( + cutout => + !cutouts.includes(cutout.value) && !moduleSlots.includes(cutout.slot) ) if (unoccupiedSlot == null) { console.error( diff --git a/protocol-designer/src/components/modals/EditModulesModal/__tests__/EditModulesModal.test.tsx b/protocol-designer/src/components/modals/EditModulesModal/__tests__/EditModulesModal.test.tsx index 056a1c770cd..3dec6386db7 100644 --- a/protocol-designer/src/components/modals/EditModulesModal/__tests__/EditModulesModal.test.tsx +++ b/protocol-designer/src/components/modals/EditModulesModal/__tests__/EditModulesModal.test.tsx @@ -162,7 +162,7 @@ describe('Edit Modules Modal', () => { getLabwareIsCompatibleMock.mockReturnValue(false) const wrapper = render(props) expect(wrapper.find(SlotDropdown).childAt(0).prop('error')).toMatch( - 'Slot 1 is occupied. Clear the slot to continue.' + 'Slot 1 is occupied. Navigate to the design tab and remove the labware or remove the additional item to continue.' ) }) @@ -171,7 +171,7 @@ describe('Edit Modules Modal', () => { getSlotIdsBlockedBySpanningMock.mockReturnValue(['1']) // 1 is default slot const wrapper = render(props) expect(wrapper.find(SlotDropdown).childAt(0).prop('error')).toMatch( - 'Slot 1 is occupied. Clear the slot to continue.' + 'Slot 1 is occupied. Navigate to the design tab and remove the labware or remove the additional item to continue.' ) }) diff --git a/protocol-designer/src/components/modals/FilePipettesModal/PipetteFields.tsx b/protocol-designer/src/components/modals/FilePipettesModal/PipetteFields.tsx index 917253fb288..c83b6301654 100644 --- a/protocol-designer/src/components/modals/FilePipettesModal/PipetteFields.tsx +++ b/protocol-designer/src/components/modals/FilePipettesModal/PipetteFields.tsx @@ -32,7 +32,6 @@ import styles from './FilePipettesModal.css' import formStyles from '../../forms/forms.css' import type { PipetteName } from '@opentrons/shared-data' - export interface Props { initialTabIndex?: number values: FormPipettesByMount @@ -94,7 +93,6 @@ export function PipetteFields(props: Props): JSX.Element { const allow96Channel = useSelector(getAllow96Channel) const dispatch = useDispatch() const allLabware = useSelector(getLabwareDefsByURI) - const initialTabIndex = props.initialTabIndex || 1 React.useEffect(() => { diff --git a/protocol-designer/src/components/modals/GateModal/index.tsx b/protocol-designer/src/components/modals/GateModal/index.tsx index df0fec43c71..eb70c0ed0f6 100644 --- a/protocol-designer/src/components/modals/GateModal/index.tsx +++ b/protocol-designer/src/components/modals/GateModal/index.tsx @@ -46,7 +46,7 @@ class GateModalComponent extends React.Component {

    • {i18n.t('card.body.data_collected_is_internal')}
      • - {/* TODO: BC 2018-09-26 uncomment when only using fullstory
    • {i18n.t('card.body.data_only_from_pd')}
      • */} +
    • {i18n.t('card.body.data_only_from_pd')}
    • {i18n.t('card.body.opt_out_of_data_collection')}
    diff --git a/protocol-designer/src/components/modules/AdditionalItemsRow.tsx b/protocol-designer/src/components/modules/AdditionalItemsRow.tsx index a6686a490f0..69672553acc 100644 --- a/protocol-designer/src/components/modules/AdditionalItemsRow.tsx +++ b/protocol-designer/src/components/modules/AdditionalItemsRow.tsx @@ -1,6 +1,9 @@ import * as React from 'react' import styled from 'styled-components' -import { WASTE_CHUTE_SLOT } from '@opentrons/shared-data' +import { + getCutoutDisplayName, + WASTE_CHUTE_CUTOUT, +} from '@opentrons/shared-data' import { OutlineButton, Flex, @@ -24,6 +27,8 @@ import { FlexSlotMap } from './FlexSlotMap' import styles from './styles.css' +import type { Cutout } from '@opentrons/shared-data' + interface AdditionalItemsRowProps { handleAttachment: () => void isEquipmentAdded: boolean @@ -97,9 +102,11 @@ export function AdditionalItemsRow(
    @@ -107,7 +114,7 @@ export function AdditionalItemsRow( selectedSlots={ name === 'trashBin' ? [trashBinSlot ?? ''] - : [WASTE_CHUTE_SLOT] + : [WASTE_CHUTE_CUTOUT] } />
    diff --git a/protocol-designer/src/components/modules/EditModulesCard.tsx b/protocol-designer/src/components/modules/EditModulesCard.tsx index 11ca568c8c9..ccec79d9174 100644 --- a/protocol-designer/src/components/modules/EditModulesCard.tsx +++ b/protocol-designer/src/components/modules/EditModulesCard.tsx @@ -18,11 +18,7 @@ import { import { selectors as featureFlagSelectors } from '../../feature-flags' import { SUPPORTED_MODULE_TYPES } from '../../modules' import { getEnableDeckModification } from '../../feature-flags/selectors' -import { - getAdditionalEquipment, - getInitialDeckSetup, - getLabwareEntities, -} from '../../step-forms/selectors' +import { getAdditionalEquipment } from '../../step-forms/selectors' import { deleteDeckFixture, toggleIsGripperRequired, @@ -33,8 +29,6 @@ import { ModuleRow } from './ModuleRow' import { AdditionalItemsRow } from './AdditionalItemsRow' import { isModuleWithCollisionIssue } from './utils' import styles from './styles.css' -import { FLEX_TRASH_DEF_URI } from '../../constants' -import { deleteContainer } from '../../labware-ingred/actions' import { AdditionalEquipmentEntity } from '@opentrons/step-generation' import { StagingAreasRow } from './StagingAreasRow' @@ -46,18 +40,13 @@ export interface Props { export function EditModulesCard(props: Props): JSX.Element { const { modules, openEditModuleModal } = props const enableDeckModification = useSelector(getEnableDeckModification) - const initialDeckSetup = useSelector(getInitialDeckSetup) - const labwareEntities = useSelector(getLabwareEntities) - // trash bin can only be altered for the flex - const trashBin = Object.values(labwareEntities).find( - lw => lw.labwareDefURI === FLEX_TRASH_DEF_URI - ) - const trashSlot = - trashBin != null ? initialDeckSetup.labware[trashBin?.id].slot : null const pipettesByMount = useSelector( stepFormSelectors.getPipettesForEditPipetteForm ) const additionalEquipment = useSelector(getAdditionalEquipment) + const trashBin = Object.values(additionalEquipment).find( + equipment => equipment?.name === 'trashBin' + ) const isGripperAttached = Object.values(additionalEquipment).some( equipment => equipment?.name === 'gripper' ) @@ -173,13 +162,13 @@ export function EditModulesCard(props: Props): JSX.Element { trashBin != null - ? dispatch(deleteContainer({ labwareId: trashBin.id })) + ? dispatch(deleteDeckFixture(trashBin.id)) : null } isEquipmentAdded={trashBin != null} name="trashBin" hasWasteChute={wasteChute != null} - trashBinSlot={trashSlot ?? undefined} + trashBinSlot={trashBin?.location ?? undefined} trashBinId={trashBin?.id} /> ) - return ( - {deckDef.locations.orderedSlots.map(slotDef => ( - ( + ))} {selectedSlots.map((selectedSlot, index) => { - const slot = deckDef.locations.orderedSlots.find( - slot => slot.id === selectedSlot - ) - const [xSlotPosition = 0, ySlotPosition = 0] = slot?.position ?? [] + // if selected slot is passed as a cutout id, trim to define as slot id + const slotFromCutout = selectedSlot.replace('cutout', '') + const [xSlotPosition = 0, ySlotPosition = 0] = + getPositionFromSlotId(slotFromCutout, deckDef) ?? [] const isLeftSideofDeck = - selectedSlot === 'A1' || - selectedSlot === 'B1' || - selectedSlot === 'C1' || - selectedSlot === 'D1' + slotFromCutout === 'A1' || + slotFromCutout === 'B1' || + slotFromCutout === 'C1' || + slotFromCutout === 'D1' const xAdjustment = isLeftSideofDeck ? X_ADJUSTMENT_LEFT_SIDE : X_ADJUSTMENT const x = xSlotPosition + xAdjustment + const yAdjustment = -10 const y = ySlotPosition + yAdjustment @@ -84,7 +87,7 @@ export function FlexSlotMap(props: FlexSlotMapProps): JSX.Element { return ( getSlotIsEmpty(initialDeckSetup, slot) ) - const hasConflictedSlot = areSlotsEmpty.includes(false) + const hasWasteChute = + Object.values(initialDeckSetup.additionalEquipmentOnDeck).find( + aE => aE.name === 'wasteChute' + ) != null + const hasConflictedSlot = + hasWasteChute && values.selectedSlots.find(slot => slot === 'cutoutD3') + ? false + : areSlotsEmpty.includes(false) - const mappedStagingAreas = stagingAreas.flatMap(area => { - return [ - { - fixtureId: area.id, - fixtureLocation: area.location ?? '', - loadName: STAGING_AREA_LOAD_NAME, - }, - ] as DeckConfiguration + const mappedStagingAreas: DeckConfiguration = stagingAreas.flatMap(area => { + return area.location != null + ? [ + { + cutoutId: area.location as CutoutId, + cutoutFixtureId: STAGING_AREA_RIGHT_SLOT_FIXTURE, + }, + ] + : [] }) - const STANDARD_EMPTY_SLOTS: DeckConfiguration = STAGING_AREA_SLOTS.map( - fixtureLocation => ({ - fixtureId: `id_${fixtureLocation}`, - fixtureLocation: fixtureLocation as Cutout, - loadName: STANDARD_SLOT_LOAD_NAME, + const STANDARD_EMPTY_SLOTS: DeckConfiguration = STAGING_AREA_CUTOUTS.map( + cutoutId => ({ + cutoutId, + cutoutFixtureId: SINGLE_RIGHT_SLOT_FIXTURE, }) ) STANDARD_EMPTY_SLOTS.forEach(emptySlot => { if ( !mappedStagingAreas.some( - slot => slot.fixtureLocation === emptySlot.fixtureLocation + ({ cutoutId }) => cutoutId === emptySlot.cutoutId ) ) { mappedStagingAreas.push(emptySlot) @@ -83,36 +89,33 @@ const StagingAreasModalComponent = ( selectableSlots ) - const handleClickAdd = (fixtureLocation: string): void => { + const handleClickAdd = (cutoutId: string): void => { const modifiedSlots: DeckConfiguration = updatedSlots.map(slot => { - if (slot.fixtureLocation === fixtureLocation) { + if (slot.cutoutId === cutoutId) { return { ...slot, - loadName: STAGING_AREA_LOAD_NAME, + cutoutFixtureId: STAGING_AREA_RIGHT_SLOT_FIXTURE, } } return slot }) setUpdatedSlots(modifiedSlots) - const updatedSelectedSlots = [...values.selectedSlots, fixtureLocation] + const updatedSelectedSlots = [...values.selectedSlots, cutoutId] setFieldValue('selectedSlots', updatedSelectedSlots) } - const handleClickRemove = (fixtureLocation: string): void => { + const handleClickRemove = (cutoutId: string): void => { const modifiedSlots: DeckConfiguration = updatedSlots.map(slot => { - if (slot.fixtureLocation === fixtureLocation) { - return { - ...slot, - loadName: STANDARD_SLOT_LOAD_NAME, - } + if (slot.cutoutId === cutoutId) { + return { ...slot, cutoutFixtureId: SINGLE_RIGHT_SLOT_FIXTURE } } return slot }) setUpdatedSlots(modifiedSlots) - const updatedSelectedSlots = values.selectedSlots.filter( - item => item !== fixtureLocation + setFieldValue( + 'selectedSlots', + values.selectedSlots.filter(item => item !== cutoutId) ) - setFieldValue('selectedSlots', updatedSelectedSlots) } return ( diff --git a/protocol-designer/src/components/modules/StagingAreasRow.tsx b/protocol-designer/src/components/modules/StagingAreasRow.tsx index dd882953be1..7bdb2a88e78 100644 --- a/protocol-designer/src/components/modules/StagingAreasRow.tsx +++ b/protocol-designer/src/components/modules/StagingAreasRow.tsx @@ -11,6 +11,7 @@ import { TYPOGRAPHY, DIRECTION_ROW, } from '@opentrons/components' +import { getCutoutDisplayName } from '@opentrons/shared-data' import { i18n } from '../../localization' import stagingAreaImage from '../../images/staging_area.png' import { getStagingAreaSlots } from '../../utils' @@ -19,6 +20,7 @@ import { StagingAreasModal } from './StagingAreasModal' import { FlexSlotMap } from './FlexSlotMap' import styles from './styles.css' +import type { Cutout } from '@opentrons/shared-data' import type { AdditionalEquipmentEntity } from '@opentrons/step-generation' interface StagingAreasRowProps { @@ -60,12 +62,14 @@ export function StagingAreasRow(props: StagingAreasRowProps): JSX.Element { className={styles.module_col} style={{ marginLeft: SPACING.spacing32 }} /> - {hasStagingAreas ? ( + {hasStagingAreas && stagingAreaLocations != null ? ( <>
    + getCutoutDisplayName(location as Cutout) + )}`} />
    diff --git a/protocol-designer/src/components/modules/TrashModal.tsx b/protocol-designer/src/components/modules/TrashModal.tsx index fedb02bc905..23c3d91ad2e 100644 --- a/protocol-designer/src/components/modules/TrashModal.tsx +++ b/protocol-designer/src/components/modules/TrashModal.tsx @@ -17,17 +17,18 @@ import { JUSTIFY_SPACE_BETWEEN, JUSTIFY_FLEX_END, JUSTIFY_END, + DropdownOption, } from '@opentrons/components' import { FLEX_ROBOT_TYPE, getDeckDefFromRobotType, - WASTE_CHUTE_SLOT, + WASTE_CHUTE_CUTOUT, } from '@opentrons/shared-data' import { i18n } from '../../localization' -import { OUTER_SLOTS_FLEX } from '../../modules' -import { createContainer, deleteContainer } from '../../labware-ingred/actions' -import { FLEX_TRASH_DEF_URI } from '../../constants' -import { createDeckFixture } from '../../step-forms/actions/additionalItems' +import { + createDeckFixture, + deleteDeckFixture, +} from '../../step-forms/actions/additionalItems' import { getSlotIsEmpty } from '../../step-forms' import { getInitialDeckSetup } from '../../step-forms/selectors' import { SlotDropdown } from '../modals/EditModulesModal/SlotDropdown' @@ -37,6 +38,41 @@ export interface TrashValues { selectedSlot: string } +export const MOVABLE_TRASH_CUTOUTS: DropdownOption[] = [ + { + name: 'Slot A1', + value: 'cutoutA1', + }, + { + name: 'Slot A3', + value: 'cutoutA3', + }, + { + name: 'Slot B1', + value: 'cutoutB1', + }, + { + name: 'Slot B3', + value: 'cutoutB3', + }, + { + name: 'Slot C1', + value: 'cutoutC1', + }, + { + name: 'Slot C3', + value: 'cutoutC3', + }, + { + name: 'Slot D1', + value: 'cutoutD1', + }, + { + name: 'Slot D3', + value: 'cutoutD3', + }, +] + const TrashModalComponent = (props: TrashModalProps): JSX.Element => { const { onCloseClick, trashName } = props const { values } = useFormikContext() @@ -48,6 +84,7 @@ const TrashModalComponent = (props: TrashModalProps): JSX.Element => { ) const flexDeck = getDeckDefFromRobotType(FLEX_ROBOT_TYPE) const [field] = useField('selectedSlot') + const slotFromCutout = field.value.replace('cutout', '') return (
    @@ -65,7 +102,7 @@ const TrashModalComponent = (props: TrashModalProps): JSX.Element => { @@ -90,7 +127,7 @@ const TrashModalComponent = (props: TrashModalProps): JSX.Element => { @@ -125,26 +162,12 @@ export const TrashModal = (props: TrashModalProps): JSX.Element => { const onSaveClick = (values: TrashValues): void => { if (trashName === 'trashBin' && trashBinId == null) { - dispatch( - createContainer({ - labwareDefURI: FLEX_TRASH_DEF_URI, - slot: values.selectedSlot, - }) - ) + dispatch(createDeckFixture('trashBin', values.selectedSlot)) } else if (trashName === 'trashBin' && trashBinId != null) { - dispatch( - deleteContainer({ - labwareId: trashBinId, - }) - ) - dispatch( - createContainer({ - labwareDefURI: FLEX_TRASH_DEF_URI, - slot: values.selectedSlot, - }) - ) + dispatch(deleteDeckFixture(trashBinId)) + dispatch(createDeckFixture('trashBin', values.selectedSlot)) } else if (trashName === 'wasteChute') { - dispatch(createDeckFixture('wasteChute', WASTE_CHUTE_SLOT)) + dispatch(createDeckFixture('wasteChute', WASTE_CHUTE_CUTOUT)) } onCloseClick() @@ -154,7 +177,8 @@ export const TrashModal = (props: TrashModalProps): JSX.Element => { diff --git a/protocol-designer/src/components/modules/__tests__/AdditionalItemsRow.test.tsx b/protocol-designer/src/components/modules/__tests__/AdditionalItemsRow.test.tsx index 38221bf9321..19801fbd4e2 100644 --- a/protocol-designer/src/components/modules/__tests__/AdditionalItemsRow.test.tsx +++ b/protocol-designer/src/components/modules/__tests__/AdditionalItemsRow.test.tsx @@ -1,7 +1,6 @@ import * as React from 'react' import i18n from 'i18next' import { renderWithProviders } from '@opentrons/components' -import { WASTE_CHUTE_SLOT } from '@opentrons/shared-data' import { Portal } from '../../portals/TopPortal' import { AdditionalItemsRow } from '../AdditionalItemsRow' @@ -71,7 +70,7 @@ describe('AdditionalItemsRow', () => { getByAltText('Waste Chute') getByText('mock slot map') getByText('Position:') - getByText(`Slot ${WASTE_CHUTE_SLOT}`) + getByText('D3') getByRole('button', { name: 'remove' }).click() expect(props.handleAttachment).toHaveBeenCalled() }) diff --git a/protocol-designer/src/components/modules/__tests__/ModuleRow.test.tsx b/protocol-designer/src/components/modules/__tests__/ModuleRow.test.tsx index ebb5ab60f17..2b240aae6ef 100644 --- a/protocol-designer/src/components/modules/__tests__/ModuleRow.test.tsx +++ b/protocol-designer/src/components/modules/__tests__/ModuleRow.test.tsx @@ -151,7 +151,7 @@ describe('ModuleRow', () => { ).toBe('GEN1') expect( wrapper.find(LabeledValue).filter({ label: 'Position' }).prop('value') - ).toBe('Slot 1') + ).toBe('1') }) it('does not display module model and slot when module has not been added to protocol', () => { diff --git a/protocol-designer/src/components/modules/__tests__/StagingAreasRow.test.tsx b/protocol-designer/src/components/modules/__tests__/StagingAreasRow.test.tsx index baa7ad21fbe..40e74342714 100644 --- a/protocol-designer/src/components/modules/__tests__/StagingAreasRow.test.tsx +++ b/protocol-designer/src/components/modules/__tests__/StagingAreasRow.test.tsx @@ -42,7 +42,7 @@ describe('StagingAreasRow', () => { const { getByRole, getByText } = render(props) getByText('mock slot map') getByText('Position:') - getByText('Slots B3') + getByText('B3') getByRole('button', { name: 'remove' }).click() expect(props.handleAttachment).toHaveBeenCalled() getByRole('button', { name: 'edit' }).click() diff --git a/protocol-designer/src/components/modules/__tests__/TrashModal.test.tsx b/protocol-designer/src/components/modules/__tests__/TrashModal.test.tsx index a498f587784..71e3521c85b 100644 --- a/protocol-designer/src/components/modules/__tests__/TrashModal.test.tsx +++ b/protocol-designer/src/components/modules/__tests__/TrashModal.test.tsx @@ -1,22 +1,19 @@ import * as React from 'react' import i18n from 'i18next' import { waitFor } from '@testing-library/react' +import { WASTE_CHUTE_CUTOUT } from '@opentrons/shared-data' import { renderWithProviders } from '@opentrons/components' import { getInitialDeckSetup } from '../../../step-forms/selectors' import { getSlotIsEmpty } from '../../../step-forms' -import { createDeckFixture } from '../../../step-forms/actions/additionalItems' import { - createContainer, - deleteContainer, -} from '../../../labware-ingred/actions' -import { FLEX_TRASH_DEF_URI } from '../../../constants' + createDeckFixture, + deleteDeckFixture, +} from '../../../step-forms/actions/additionalItems' import { TrashModal } from '../TrashModal' -import { WASTE_CHUTE_SLOT } from '@opentrons/shared-data' jest.mock('../../../step-forms') jest.mock('../../../step-forms/selectors') -jest.mock('../../../labware-ingred/actions') jest.mock('../../../step-forms/actions/additionalItems') const mockGetInitialDeckSetup = getInitialDeckSetup as jest.MockedFunction< @@ -25,15 +22,12 @@ const mockGetInitialDeckSetup = getInitialDeckSetup as jest.MockedFunction< const mockGetSlotIsEmpty = getSlotIsEmpty as jest.MockedFunction< typeof getSlotIsEmpty > -const mockCreateContainer = createContainer as jest.MockedFunction< - typeof createContainer -> -const mockDeleteContainer = deleteContainer as jest.MockedFunction< - typeof deleteContainer -> const mockCreateDeckFixture = createDeckFixture as jest.MockedFunction< typeof createDeckFixture > +const mockDeleteDeckFixture = deleteDeckFixture as jest.MockedFunction< + typeof deleteDeckFixture +> const render = (props: React.ComponentProps) => { return renderWithProviders(, { i18nInstance: i18n, @@ -71,10 +65,7 @@ describe('TrashModal ', () => { expect(props.onCloseClick).toHaveBeenCalled() getByRole('button', { name: 'save' }).click() await waitFor(() => { - expect(mockCreateContainer).toHaveBeenCalledWith({ - labwareDefURI: FLEX_TRASH_DEF_URI, - slot: 'A3', - }) + expect(mockCreateDeckFixture).toHaveBeenCalledWith('trashBin', 'cutoutA3') }) }) it('call delete then create container when trash is already on the slot', async () => { @@ -87,13 +78,8 @@ describe('TrashModal ', () => { getByText('Trash Bin') getByRole('button', { name: 'save' }).click() await waitFor(() => { - expect(mockDeleteContainer).toHaveBeenCalledWith({ - labwareId: mockId, - }) - expect(mockCreateContainer).toHaveBeenCalledWith({ - labwareDefURI: FLEX_TRASH_DEF_URI, - slot: 'A3', - }) + expect(mockDeleteDeckFixture).toHaveBeenCalledWith(mockId) + expect(mockCreateDeckFixture).toHaveBeenCalledWith('trashBin', 'cutoutA3') }) }) it('renders the button as disabled when the slot is full for trash bin', () => { @@ -114,7 +100,7 @@ describe('TrashModal ', () => { await waitFor(() => { expect(mockCreateDeckFixture).toHaveBeenCalledWith( 'wasteChute', - WASTE_CHUTE_SLOT + WASTE_CHUTE_CUTOUT ) }) }) diff --git a/protocol-designer/src/components/modules/utils.ts b/protocol-designer/src/components/modules/utils.ts index ead37eaedf6..06491f2cadb 100644 --- a/protocol-designer/src/components/modules/utils.ts +++ b/protocol-designer/src/components/modules/utils.ts @@ -1,6 +1,5 @@ import { MODULES_WITH_COLLISION_ISSUES } from '@opentrons/step-generation' import { ModuleModel } from '@opentrons/shared-data' export function isModuleWithCollisionIssue(model: ModuleModel): boolean { - // @ts-expect-error(sa, 2021-6-21): ModuleModel is a super type of the elements in MODULES_WITH_COLLISION_ISSUES return MODULES_WITH_COLLISION_ISSUES.includes(model) } diff --git a/protocol-designer/src/components/steplist/MoveLabwareHeader.tsx b/protocol-designer/src/components/steplist/MoveLabwareHeader.tsx index 9d641a34362..bfba5d12886 100644 --- a/protocol-designer/src/components/steplist/MoveLabwareHeader.tsx +++ b/protocol-designer/src/components/steplist/MoveLabwareHeader.tsx @@ -6,7 +6,7 @@ import { Tooltip, useHoverTooltip, TOOLTIP_FIXED } from '@opentrons/components' import { getLabwareDisplayName, getModuleDisplayName, - WASTE_CHUTE_SLOT, + WASTE_CHUTE_CUTOUT, } from '@opentrons/shared-data' import { getAdditionalEquipmentEntities, @@ -59,7 +59,7 @@ export function MoveLabwareHeader(props: MoveLabwareHeaderProps): JSX.Element { destSlot = getLabwareDisplayName(labwareEntities[destinationSlot].def) } else if ( getHasWasteChute(additionalEquipmentEntities) && - destinationSlot === WASTE_CHUTE_SLOT + destinationSlot === WASTE_CHUTE_CUTOUT ) { destSlot = i18n.t('application.waste_chute_slot') } else { diff --git a/protocol-designer/src/components/steplist/StepItem.tsx b/protocol-designer/src/components/steplist/StepItem.tsx index 10d6d451522..7e34b9312cb 100644 --- a/protocol-designer/src/components/steplist/StepItem.tsx +++ b/protocol-designer/src/components/steplist/StepItem.tsx @@ -41,6 +41,7 @@ import { WellIngredientNames, } from '../../steplist/types' import { MoveLabwareHeader } from './MoveLabwareHeader' +import type { AdditionalEquipmentEntities } from '@opentrons/step-generation' export interface StepItemProps { description?: string | null @@ -125,6 +126,7 @@ export interface StepItemContentsProps { ingredNames: WellIngredientNames labwareNicknamesById: { [labwareId: string]: string } + additionalEquipmentEntities: AdditionalEquipmentEntities highlightSubstep: (substepIdentifier: SubstepIdentifier) => unknown hoveredSubstep: SubstepIdentifier | null | undefined @@ -297,6 +299,7 @@ export const StepItemContents = ( labwareNicknamesById, highlightSubstep, hoveredSubstep, + additionalEquipmentEntities, } = props if (!rawForm) { @@ -487,13 +490,21 @@ export const StepItemContents = ( // headers if (stepType === 'moveLiquid') { const sourceLabwareId = rawForm.aspirate_labware - const destLabwareId = rawForm.dispense_labware + const destLabware = rawForm.dispense_labware + + let nickname: string | null = labwareNicknamesById[destLabware] + + if (additionalEquipmentEntities[destLabware]?.name === 'wasteChute') { + nickname = 'Waste chute' + } else if (additionalEquipmentEntities[destLabware]?.name === 'trashBin') { + nickname = 'Trash bin' + } result.push( ) } diff --git a/protocol-designer/src/containers/ConnectedStepItem.tsx b/protocol-designer/src/containers/ConnectedStepItem.tsx index 84b0117d8d5..28ef2a847e3 100644 --- a/protocol-designer/src/containers/ConnectedStepItem.tsx +++ b/protocol-designer/src/containers/ConnectedStepItem.tsx @@ -42,6 +42,7 @@ import { import { SubstepIdentifier } from '../steplist/types' import { StepIdType } from '../form-types' import { ThunkAction } from '../types' +import { getAdditionalEquipmentEntities } from '../step-forms/selectors' interface Props { stepId: StepIdType @@ -101,6 +102,9 @@ export const ConnectedStepItem = (props: Props): JSX.Element => { const labwareNicknamesById = useSelector( uiLabwareSelectors.getLabwareNicknamesById ) + const additionalEquipmentEntities = useSelector( + getAdditionalEquipmentEntities + ) const currentFormIsPresaved = useSelector( stepFormSelectors.getCurrentFormIsPresaved ) @@ -215,6 +219,7 @@ export const ConnectedStepItem = (props: Props): JSX.Element => { substeps, ingredNames, labwareNicknamesById, + additionalEquipmentEntities, highlightSubstep, hoveredSubstep, } diff --git a/protocol-designer/src/file-data/__fixtures__/createFile/engageMagnet.ts b/protocol-designer/src/file-data/__fixtures__/createFile/engageMagnet.ts index a5e84705cf2..8d65cf41d53 100644 --- a/protocol-designer/src/file-data/__fixtures__/createFile/engageMagnet.ts +++ b/protocol-designer/src/file-data/__fixtures__/createFile/engageMagnet.ts @@ -31,6 +31,7 @@ export const initialRobotState: RobotState = { liquidState: { labware: {}, pipettes: {}, + additionalEquipment: {}, }, tipState: { tipracks: {}, diff --git a/protocol-designer/src/file-data/__fixtures__/createFile/noModules.ts b/protocol-designer/src/file-data/__fixtures__/createFile/noModules.ts index ce29f1e7b02..ce8bdc0c98f 100644 --- a/protocol-designer/src/file-data/__fixtures__/createFile/noModules.ts +++ b/protocol-designer/src/file-data/__fixtures__/createFile/noModules.ts @@ -23,6 +23,7 @@ export const initialRobotState: RobotState = { liquidState: { pipettes: {}, labware: {}, + additionalEquipment: {}, }, tipState: { pipettes: {}, diff --git a/protocol-designer/src/file-data/__fixtures__/createFile/v6Fixture.ts b/protocol-designer/src/file-data/__fixtures__/createFile/v6Fixture.ts index 58f5e8b0744..cf6900463c0 100644 --- a/protocol-designer/src/file-data/__fixtures__/createFile/v6Fixture.ts +++ b/protocol-designer/src/file-data/__fixtures__/createFile/v6Fixture.ts @@ -23,6 +23,7 @@ export const initialRobotState: RobotState = { liquidState: { pipettes: {}, labware: {}, + additionalEquipment: {}, }, tipState: { pipettes: {}, diff --git a/protocol-designer/src/file-data/__fixtures__/createFile/v7Fixture.ts b/protocol-designer/src/file-data/__fixtures__/createFile/v7Fixture.ts index bf040aa4e0d..e167fffcb47 100644 --- a/protocol-designer/src/file-data/__fixtures__/createFile/v7Fixture.ts +++ b/protocol-designer/src/file-data/__fixtures__/createFile/v7Fixture.ts @@ -23,6 +23,7 @@ export const initialRobotState: RobotState = { liquidState: { pipettes: {}, labware: {}, + additionalEquipment: {}, }, tipState: { pipettes: {}, diff --git a/protocol-designer/src/file-data/selectors/fileCreator.ts b/protocol-designer/src/file-data/selectors/fileCreator.ts index ed5aaa56638..4f265db32dd 100644 --- a/protocol-designer/src/file-data/selectors/fileCreator.ts +++ b/protocol-designer/src/file-data/selectors/fileCreator.ts @@ -11,6 +11,7 @@ import { OT2_STANDARD_MODEL, FLEX_STANDARD_DECKID, SPAN7_8_10_11_SLOT, + LabwareLocation, } from '@opentrons/shared-data' import { selectors as dismissSelectors } from '../../dismiss' import { @@ -36,21 +37,19 @@ import { import { getFileMetadata, getRobotType } from './fileFields' import { getInitialRobotState, getRobotStateTimeline } from './commands' -import type { +import { PipetteEntity, LabwareEntities, PipetteEntities, RobotState, - AdditionalEquipmentEntity, + COLUMN_4_SLOTS, } from '@opentrons/step-generation' import type { CommandAnnotationV1Mixin, CommandV8Mixin, CreateCommand, - Cutout, LabwareV2Mixin, LiquidV1Mixin, - LoadFixtureCreateCommand, LoadLabwareCreateCommand, LoadModuleCreateCommand, LoadPipetteCreateCommand, @@ -90,6 +89,7 @@ export const getLabwareDefinitionsInUse = ( ...tiprackDefURIsInUse, ...labwareDefURIsOnDeck, ]) + return labwareDefURIsInUse.reduce( (acc, labwareDefURI: string) => ({ ...acc, @@ -268,7 +268,7 @@ export const createFile: Selector = createSelector( ): LoadLabwareCreateCommand[] => { const { def } = labwareEntities[labwareId] const isAdapter = def.allowedRoles?.includes('adapter') - if (isAdapter) return acc + if (isAdapter || def.metadata.displayCategory === 'trash') return acc const isOnTopOfModule = labware.slot in initialRobotState.modules const isOnAdapter = loadAdapterCommands.find( @@ -277,6 +277,17 @@ export const createFile: Selector = createSelector( const namespace = def.namespace const loadName = def.parameters.loadName const version = def.version + const isAddressableAreaName = COLUMN_4_SLOTS.includes(labware.slot) + + let location: LabwareLocation = { slotName: labware.slot } + if (isOnTopOfModule) { + location = { moduleId: labware.slot } + } else if (isOnAdapter) { + location = { labwareId: labware.slot } + } else if (isAddressableAreaName) { + location = { addressableAreaName: labware.slot } + } + const loadLabwareCommands = { key: uuid(), commandType: 'loadLabware' as const, @@ -287,11 +298,7 @@ export const createFile: Selector = createSelector( loadName, namespace: namespace, version: version, - location: isOnTopOfModule - ? { moduleId: labware.slot } - : isOnAdapter - ? { labwareId: labware.slot } - : { slotName: labware.slot }, + location, }, } @@ -300,30 +307,6 @@ export const createFile: Selector = createSelector( [] ) - // TODO(jr, 10/31/23): update to loadAddressableArea - const loadFixtureCommands = reduce< - AdditionalEquipmentEntity, - LoadFixtureCreateCommand[] - >( - Object.values(additionalEquipmentEntities), - (acc, additionalEquipment): LoadFixtureCreateCommand[] => { - if (additionalEquipment.name === 'gripper') return acc - - const loadFixtureCommands = { - key: uuid(), - commandType: 'loadFixture' as const, - params: { - fixtureId: additionalEquipment.id, - location: { cutout: additionalEquipment.location as Cutout }, - loadName: additionalEquipment.name, - }, - } - - return [...acc, loadFixtureCommands] - }, - [] - ) - const loadLiquidCommands = getLoadLiquidCommands( ingredients, ingredLocations @@ -356,7 +339,6 @@ export const createFile: Selector = createSelector( labwareDefsByURI ) const loadCommands: CreateCommand[] = [ - ...loadFixtureCommands, ...loadPipetteCommands, ...loadModuleCommands, ...loadAdapterCommands, diff --git a/protocol-designer/src/form-types.ts b/protocol-designer/src/form-types.ts index 8cebe759f78..1994f6336b9 100644 --- a/protocol-designer/src/form-types.ts +++ b/protocol-designer/src/form-types.ts @@ -6,6 +6,7 @@ import { import { IconName } from '@opentrons/components' import { LabwareLocation } from '@opentrons/shared-data' import { + AdditionalEquipmentEntity, ChangeTipOptions, LabwareEntity, PipetteEntity, @@ -200,7 +201,7 @@ export interface HydratedMoveLiquidFormData { dispense_delay_checkbox: boolean dispense_delay_seconds: number | null | undefined dispense_delay_mmFromBottom: number | null | undefined - dispense_labware: LabwareEntity + dispense_labware: LabwareEntity | AdditionalEquipmentEntity dispense_wells: string[] dispense_wellOrder_first: WellOrderOption dispense_wellOrder_second: WellOrderOption @@ -326,3 +327,8 @@ export function getIsDelayPositionField(fieldName: string): boolean { return delayPositionFields.includes(fieldName) } export type CountPerStepType = Partial> + +// TODO: get real HydratedFormData type +export interface HydratedFormdata { + [key: string]: any +} diff --git a/protocol-designer/src/images/deck_configuration.png b/protocol-designer/src/images/deck_configuration.png new file mode 100644 index 00000000000..5a58b5f26e9 Binary files /dev/null and b/protocol-designer/src/images/deck_configuration.png differ diff --git a/protocol-designer/src/images/modules/heater_shaker_module_transparent.png b/protocol-designer/src/images/modules/heater_shaker_module_transparent.png new file mode 100644 index 00000000000..349024bbcf7 Binary files /dev/null and b/protocol-designer/src/images/modules/heater_shaker_module_transparent.png differ diff --git a/protocol-designer/src/images/modules/temp_deck_gen_2_transparent.png b/protocol-designer/src/images/modules/temp_deck_gen_2_transparent.png new file mode 100644 index 00000000000..a5e506536bd Binary files /dev/null and b/protocol-designer/src/images/modules/temp_deck_gen_2_transparent.png differ diff --git a/protocol-designer/src/initialize.ts b/protocol-designer/src/initialize.ts index 8131c18f072..b69af44bc07 100644 --- a/protocol-designer/src/initialize.ts +++ b/protocol-designer/src/initialize.ts @@ -1,7 +1,6 @@ import { i18n } from './localization' import { selectors as loadFileSelectors } from './load-file' -import { selectors as analyticsSelectors } from './analytics' -import { initializeFullstory } from './analytics/fullstory' + export const initialize = (store: Record): void => { if (process.env.NODE_ENV === 'production') { window.onbeforeunload = (_e: unknown) => { @@ -10,10 +9,5 @@ export const initialize = (store: Record): void => { ? i18n.t('alert.window.confirm_leave') : undefined } - - // Initialize analytics if user has already opted in - if (analyticsSelectors.getHasOptedIn(store.getState())) { - initializeFullstory() - } } } diff --git a/protocol-designer/src/labware-ingred/reducers/index.ts b/protocol-designer/src/labware-ingred/reducers/index.ts index a26e5b1b95f..4d0fd60f10f 100644 --- a/protocol-designer/src/labware-ingred/reducers/index.ts +++ b/protocol-designer/src/labware-ingred/reducers/index.ts @@ -232,6 +232,8 @@ export const savedLabware: Reducer = handleActions( slot = location.moduleId } else if ('labwareId' in location) { slot = location.labwareId + } else if ('addressableAreaName' in location) { + slot = location.addressableAreaName } else { slot = location.slotName } diff --git a/protocol-designer/src/labware-ingred/utils.ts b/protocol-designer/src/labware-ingred/utils.ts index abb598e16ea..685e1bac8e7 100644 --- a/protocol-designer/src/labware-ingred/utils.ts +++ b/protocol-designer/src/labware-ingred/utils.ts @@ -8,7 +8,7 @@ export function getNextAvailableDeckSlot( robotType: RobotType ): DeckSlot | null | undefined { const deckDef = getDeckDefFromRobotType(robotType) - return deckDef.locations.orderedSlots.find(slot => + return deckDef.locations.addressableAreas.find(slot => getSlotIsEmpty(initialDeckSetup, slot.id) )?.id } diff --git a/protocol-designer/src/load-file/migration/7_0_0.ts b/protocol-designer/src/load-file/migration/7_0_0.ts index c1d88c264fb..3495556054a 100644 --- a/protocol-designer/src/load-file/migration/7_0_0.ts +++ b/protocol-designer/src/load-file/migration/7_0_0.ts @@ -4,6 +4,7 @@ import { getOnlyLatestDefs } from '../../labware-defs' import { INITIAL_DECK_SETUP_STEP_ID } from '../../constants' import { getAdapterAndLabwareSplitInfo } from './utils/getAdapterAndLabwareSplitInfo' import type { + LabwareDefinition2, LabwareDefinitionsByUri, ProtocolFileV6, } from '@opentrons/shared-data' @@ -31,6 +32,23 @@ interface LabwareLocationUpdate { [id: string]: string } +const ADAPTER_LABWARE_COMBO_LOAD_NAMES = [ + 'opentrons_96_deep_well_adapter_nest_wellplate_2ml_deep', + 'opentrons_96_flat_bottom_adapter_nest_wellplate_200ul_flat', + 'opentrons_96_pcr_adapter_nest_wellplate_100ul_pcr_full_skirt', + 'opentrons_universal_flat_adapter_corning_384_wellplate_112ul_flat', + 'opentrons_96_aluminumblock_biorad_wellplate_200ul', + 'opentrons_96_aluminumblock_nest_wellplate_100ul', +] + +interface LabwareIdMapping { + [oldLabwareAdapterComboId: string]: { + newLabwareId: string + newAdapterId: string + newLabwareDefinitionUri: string + } +} + export const migrateFile = ( appData: ProtocolFileV6 ): ProtocolFile => { @@ -46,23 +64,36 @@ export const migrateFile = ( const getIsAdapter = (labwareId: string): boolean => { const labwareEntity = labware[labwareId] - if (labwareEntity == null) return false + if (labwareEntity == null) { + console.error( + `expected to find labware entity with labwareId ${labwareId} but could not` + ) + return false + } const loadName = labwareDefinitions[labwareEntity.definitionId].parameters.loadName - - return ( - loadName === 'opentrons_96_deep_well_adapter_nest_wellplate_2ml_deep' || - loadName === - 'opentrons_96_flat_bottom_adapter_nest_wellplate_200ul_flat' || - loadName === - 'opentrons_96_pcr_adapter_nest_wellplate_100ul_pcr_full_skirt' || - loadName === - 'opentrons_universal_flat_adapter_corning_384_wellplate_112ul_flat' || - loadName === 'opentrons_96_aluminumblock_biorad_wellplate_200ul' || - loadName === 'opentrons_96_aluminumblock_nest_wellplate_100ul' - ) + return ADAPTER_LABWARE_COMBO_LOAD_NAMES.includes(loadName) } + const mappedLabwareIds = Object.keys(labware) + .filter(labwareId => getIsAdapter(labwareId)) + .reduce((acc: LabwareIdMapping, labwareId: string): LabwareIdMapping => { + const { labwareUri, adapterUri } = getAdapterAndLabwareSplitInfo( + labwareId + ) + const newLabwareId = `${uuid()}:${labwareUri}` + const newAdapterId = `${uuid()}:${adapterUri}` + + return { + ...acc, + [labwareId]: { + newLabwareId, + newAdapterId, + newLabwareDefinitionUri: labwareUri, + }, + } + }, {}) + const loadPipetteCommands: LoadPipetteCreateCommand[] = commands .filter( (command): command is LoadPipetteCommandV6 => @@ -102,7 +133,6 @@ export const migrateFile = ( adapterDisplayName, labwareDisplayName, } = getAdapterAndLabwareSplitInfo(command.params.labwareId) - const previousLabwareIdUuid = command.params.labwareId.split(':')[0] const labwareLocation = command.params.location let adapterLocation: LabwareLocation = 'offDeck' if (labwareLocation === 'offDeck') { @@ -112,21 +142,24 @@ export const migrateFile = ( } else if ('slotName' in labwareLocation) { adapterLocation = { slotName: labwareLocation.slotName } } - const defUris = Object.keys(allLatestDefs) - const adapterDefUri = defUris.find(defUri => defUri === adapterUri) ?? '' - const labwareDefUri = defUris.find(defUri => defUri === labwareUri) ?? '' - const adapterLoadname = allLatestDefs[adapterDefUri].parameters.loadName - const labwareLoadname = allLatestDefs[labwareDefUri].parameters.loadName - const adapterId = `${uuid()}:${adapterUri}` + const { + parameters: adapterParameters, + version: adapterVersion, + } = allLatestDefs[adapterUri] + const { + parameters: labwareParameters, + version: labwareVersion, + } = allLatestDefs[labwareUri] + const adapterId = mappedLabwareIds[command.params.labwareId].newAdapterId const loadAdapterCommand: LoadLabwareCreateCommand = { key: uuid(), commandType: 'loadLabware', params: { labwareId: adapterId, - loadName: adapterLoadname, + loadName: adapterParameters.loadName, namespace: 'opentrons', - version: 1, + version: adapterVersion, location: adapterLocation, displayName: adapterDisplayName, }, @@ -136,11 +169,10 @@ export const migrateFile = ( key: uuid(), commandType: 'loadLabware', params: { - // keeping same Uuid as previous id for ingredLocation and savedStepForms mapping - labwareId: `${previousLabwareIdUuid}:${labwareUri}`, - loadName: labwareLoadname, + labwareId: mappedLabwareIds[command.params.labwareId].newLabwareId, + loadName: labwareParameters.loadName, namespace: 'opentrons', - version: 1, + version: labwareVersion, location: { labwareId: adapterId }, displayName: labwareDisplayName, }, @@ -148,18 +180,24 @@ export const migrateFile = ( return [loadAdapterCommand, loadLabwareCommand] }) - const newLabwareDefinitions: LabwareDefinitionsByUri = Object.keys( labwareDefinitions ).reduce((acc: LabwareDefinitionsByUri, defId: string) => { - if (!getIsAdapter(defId)) { - acc[defId] = labwareDefinitions[defId] - } else { + const labwareDefinition = labwareDefinitions[defId] + if (labwareDefinition == null) { + console.error( + `expected to find matching labware definition with definitionURI ${defId} but could not` + ) + } + const loadName = labwareDefinition.parameters.loadName + if (ADAPTER_LABWARE_COMBO_LOAD_NAMES.includes(loadName)) { const { adapterUri, labwareUri } = getAdapterAndLabwareSplitInfo(defId) const adapterLabwareDef = allLatestDefs[adapterUri] const labwareDef = allLatestDefs[labwareUri] acc[adapterUri] = adapterLabwareDef acc[labwareUri] = labwareDef + } else { + acc[defId] = labwareDefinitions[defId] } return acc }, {}) @@ -241,13 +279,8 @@ export const migrateFile = ( if (ingredLocations == null) return {} for (const [labwareId, wellData] of Object.entries(ingredLocations)) { if (getIsAdapter(labwareId)) { - const labwareIdUuid = labwareId.split(':')[0] - const matchingCommand = loadAdapterAndLabwareCommands.find( - command => command.params.labwareId?.split(':')[0] === labwareIdUuid - ) - const updatedLabwareId = - matchingCommand != null ? matchingCommand.params.labwareId ?? '' : '' - updatedIngredLocations[updatedLabwareId] = wellData + const newLabwareId = mappedLabwareIds[labwareId].newLabwareId + updatedIngredLocations[newLabwareId] = wellData } else { updatedIngredLocations[labwareId] = wellData } @@ -261,18 +294,63 @@ export const migrateFile = ( ): Record => { return mapValues(savedStepForms, stepForm => { if (stepForm.stepType === 'moveLiquid') { - const aspirateLabware = - newLabwareDefinitions[labware[stepForm.aspirate_labware].definitionId] - const aspirateTouchTipIncompatible = aspirateLabware?.parameters.quirks?.includes( + let newAspirateLabwareDefinition: LabwareDefinition2 | null = null + + let aspirateLabware = stepForm.aspirate_labware + // aspirate labware is an adapter/labware split + if (stepForm.aspirate_labware in mappedLabwareIds) { + const newLabwareDefUri = + mappedLabwareIds[stepForm.aspirate_labware].newLabwareDefinitionUri + + newAspirateLabwareDefinition = newLabwareDefinitions[newLabwareDefUri] + aspirateLabware = + mappedLabwareIds[stepForm.aspirate_labware].newLabwareId + // aspirate labware is just a labware and doesn't need to be mapped + } else { + newAspirateLabwareDefinition = + newLabwareDefinitions[ + labware[stepForm.aspirate_labware].definitionId + ] + } + if (newAspirateLabwareDefinition == null) { + console.error( + `expected to find aspirate labware definition with labwareId ${aspirateLabware} but could not` + ) + } + + const aspirateTouchTipIncompatible = newAspirateLabwareDefinition?.parameters.quirks?.includes( 'touchTipDisabled' ) - const dispenseLabware = - newLabwareDefinitions[labware[stepForm.dispense_labware].definitionId] - const dispenseTouchTipIncompatible = dispenseLabware?.parameters.quirks?.includes( + + let newDispenseLabwareDefinition: LabwareDefinition2 | null = null + + let dispenseLabware = stepForm.dispense_labware + // dispense labware is an adapter/labware split + if (stepForm.dispense_labware in mappedLabwareIds) { + const labwareUri = + mappedLabwareIds[stepForm.dispense_labware].newLabwareDefinitionUri + newDispenseLabwareDefinition = newLabwareDefinitions[labwareUri] + dispenseLabware = + mappedLabwareIds[stepForm.dispense_labware].newLabwareId + // dispense labware is just a labware and doesn't need to be mapped + } else { + newDispenseLabwareDefinition = + newLabwareDefinitions[ + labware[stepForm.dispense_labware].definitionId + ] + } + if (newDispenseLabwareDefinition == null) { + console.error( + `expected to find dispense labware definition with labwareId ${dispenseLabware} but could not` + ) + } + const dispenseTouchTipIncompatible = newDispenseLabwareDefinition?.parameters.quirks?.includes( 'touchTipDisabled' ) return { ...stepForm, + dispense_labware: dispenseLabware, + aspirate_labware: aspirateLabware, aspirate_touchTip_checkbox: aspirateTouchTipIncompatible ? false : stepForm.aspirate_touchTip_checkbox ?? false, @@ -287,13 +365,34 @@ export const migrateFile = ( : stepForm.dispense_touchTip_mmFromBottom ?? null, } } else if (stepForm.stepType === 'mix') { - const mixLabware = - newLabwareDefinitions[labware[stepForm.labware].definitionId] - const mixTouchTipIncompatible = mixLabware?.parameters.quirks?.includes( + let newMixLabwareDefinition: LabwareDefinition2 | null = null + + let mixLabware = stepForm.labware + // mix labware is an adapter/labware split + if (stepForm.labware in mappedLabwareIds) { + const labwareUri = + mappedLabwareIds[stepForm.labware].newLabwareDefinitionUri + newMixLabwareDefinition = newLabwareDefinitions[labwareUri] + mixLabware = mappedLabwareIds[stepForm.labware].newLabwareId + // mix labware is just a labware and doesn't need to be mapped + } else { + newMixLabwareDefinition = + newLabwareDefinitions[labware[stepForm.labware].definitionId] + } + + if (newMixLabwareDefinition == null) { + console.error( + `expected to find mix labware definition with labwareId ${mixLabware} but could not` + ) + } + + const mixTouchTipIncompatible = newMixLabwareDefinition?.parameters.quirks?.includes( 'touchTipDisabled' ) + return { ...stepForm, + labware: mixLabware, mix_touchTip_checkbox: mixTouchTipIncompatible ? false : stepForm.mix_touchTip_checkbox ?? false, diff --git a/protocol-designer/src/load-file/migration/8_0_0.ts b/protocol-designer/src/load-file/migration/8_0_0.ts index c397cea13e9..ca3011fc879 100644 --- a/protocol-designer/src/load-file/migration/8_0_0.ts +++ b/protocol-designer/src/load-file/migration/8_0_0.ts @@ -5,20 +5,18 @@ import { OT2_STANDARD_DECKID, OT2_STANDARD_MODEL, } from '@opentrons/shared-data' -import { getOnlyLatestDefs } from '../../labware-defs' import { uuid } from '../../utils' -import { - FLEX_TRASH_DEF_URI, - INITIAL_DECK_SETUP_STEP_ID, - OT_2_TRASH_DEF_URI, -} from '../../constants' -import type { ProtocolFileV7 } from '@opentrons/shared-data' +import { INITIAL_DECK_SETUP_STEP_ID } from '../../constants' +import type { + ProtocolFileV7, + MoveToAddressableAreaCreateCommand, +} from '@opentrons/shared-data' import type { CommandAnnotationV1Mixin, CommandV8Mixin, LabwareV2Mixin, LiquidV1Mixin, - LoadLabwareCreateCommand, + LoadPipetteCreateCommand, OT2RobotMixin, OT3RobotMixin, ProtocolBase, @@ -37,13 +35,7 @@ interface LabwareLocationUpdate { export const migrateFile = ( appData: ProtocolFileV7 ): ProtocolFile => { - const { - designerApplication, - commands, - robot, - labwareDefinitions, - liquids, - } = appData + const { designerApplication, commands, robot, liquids } = appData if (designerApplication == null || designerApplication.data == null) { throw Error('The designerApplication key in your file is corrupt.') @@ -52,37 +44,32 @@ export const migrateFile = ( const labwareLocationUpdate: LabwareLocationUpdate = designerApplication.data.savedStepForms[INITIAL_DECK_SETUP_STEP_ID] .labwareLocationUpdate - const allLatestDefs = getOnlyLatestDefs() const robotType = robot.model - const trashSlot = robotType === FLEX_ROBOT_TYPE ? 'A3' : '12' - const trashDefUri = - robotType === FLEX_ROBOT_TYPE ? FLEX_TRASH_DEF_URI : OT_2_TRASH_DEF_URI + const trashId = `${uuid()}:trashBin` + const trashAddressableArea = + robotType === FLEX_ROBOT_TYPE ? 'movableTrashA3' : 'fixedTrash' - const trashDefinition = allLatestDefs[trashDefUri] - const trashId = `${uuid()}:${trashDefUri}` + const pipetteId = Object.values(commands).find( + (command): command is LoadPipetteCreateCommand => + command.commandType === 'loadPipette' + )?.params.pipetteId - const trashLoadCommand = [ + const trashMoveToAddressableAreaCommand: MoveToAddressableAreaCreateCommand[] = [ { key: uuid(), - commandType: 'loadLabware', + commandType: 'moveToAddressableArea', params: { - location: { slotName: trashSlot }, - version: 1, - namespace: 'opentrons', - loadName: trashDefinition.parameters.loadName, - displayName: trashDefinition.metadata.displayName, - labwareId: trashId, + addressableAreaName: trashAddressableArea, + pipetteId: pipetteId ?? '', }, }, - ] as LoadLabwareCreateCommand[] + ] const newLabwareLocationUpdate: LabwareLocationUpdate = Object.keys( labwareLocationUpdate ).reduce((acc: LabwareLocationUpdate, labwareId: string) => { - if (labwareId === 'fixedTrash') { - acc[trashId] = trashSlot - } else { + if (labwareId !== 'fixedTrash') { acc[labwareId] = labwareLocationUpdate[labwareId] } return acc @@ -135,31 +122,6 @@ export const migrateFile = ( filteredSavedStepForms ) - const loadLabwareCommands: LoadLabwareCreateCommand[] = commands - .filter( - (command): command is LoadLabwareCreateCommand => - command.commandType === 'loadLabware' - ) - .map(command => { - // protocols that do multiple migrations through 7.0.0 have a loadName === definitionURI - // this ternary below fixes that - const loadName = - labwareDefinitions[command.params.loadName] != null - ? labwareDefinitions[command.params.loadName].parameters.loadName - : command.params.loadName - return { - ...command, - params: { - ...command.params, - loadName, - }, - } - }) - - const migratedCommandsV8 = commands.filter( - command => command.commandType !== 'loadLabware' - ) - const flexDeckSpec: OT3RobotMixin = { robot: { model: FLEX_ROBOT_TYPE, @@ -204,7 +166,6 @@ export const migrateFile = ( const labwareV2Mixin: LabwareV2Mixin = { labwareDefinitionSchemaId: 'opentronsLabwareSchemaV2', labwareDefinitions: { - ...{ [trashDefUri]: trashDefinition }, ...appData.labwareDefinitions, }, } @@ -216,11 +177,7 @@ export const migrateFile = ( const commandv8Mixin: CommandV8Mixin = { commandSchemaId: 'opentronsCommandSchemaV8', - commands: [ - ...migratedCommandsV8, - ...loadLabwareCommands, - ...trashLoadCommand, - ], + commands: [...commands, ...trashMoveToAddressableAreaCommand], } const commandAnnotionaV1Mixin: CommandAnnotationV1Mixin = { diff --git a/protocol-designer/src/load-file/migration/__tests__/8_0_0.test.ts b/protocol-designer/src/load-file/migration/__tests__/8_0_0.test.ts index c87755ae728..7574501f355 100644 --- a/protocol-designer/src/load-file/migration/__tests__/8_0_0.test.ts +++ b/protocol-designer/src/load-file/migration/__tests__/8_0_0.test.ts @@ -1,25 +1,13 @@ import { migrateFile } from '../8_0_0' -import fixture_trash from '@opentrons/shared-data/labware/fixtures/2/fixture_trash.json' import _oldDoItAllProtocol from '../../../../fixtures/protocol/7/doItAllV7.json' -import { getOnlyLatestDefs, LabwareDefByDefURI } from '../../../labware-defs' import type { ProtocolFileV7 } from '@opentrons/shared-data' jest.mock('../../../labware-defs') const oldDoItAllProtocol = (_oldDoItAllProtocol as unknown) as ProtocolFileV7 -const mockGetOnlyLatestDefs = getOnlyLatestDefs as jest.MockedFunction< - typeof getOnlyLatestDefs -> -const trashUri = 'opentrons/opentrons_1_trash_3200ml_fixed/1' - describe('v8.0 migration', () => { - beforeEach(() => { - mockGetOnlyLatestDefs.mockReturnValue({ - [trashUri]: fixture_trash, - } as LabwareDefByDefURI) - }) - it('adds a trash command', () => { + it('migrated the load labware as usual', () => { const migratedFile = migrateFile(oldDoItAllProtocol) const expectedLoadLabwareCommands = [ { @@ -102,20 +90,6 @@ describe('v8.0 migration', () => { version: 2, }, }, - { - commandType: 'loadLabware', - key: expect.any(String), - params: { - displayName: 'Tall Fixed Trash', - labwareId: expect.any(String), - loadName: 'fixture_trash', - location: { - slotName: 'A3', - }, - namespace: 'opentrons', - version: 1, - }, - }, ] const loadLabwareCommands = migratedFile.commands.filter( command => command.commandType === 'loadLabware' diff --git a/protocol-designer/src/load-file/migration/utils/getAdapterAndLabwareSplitInfo.ts b/protocol-designer/src/load-file/migration/utils/getAdapterAndLabwareSplitInfo.ts index 0587b9431b7..e531c6d7de0 100644 --- a/protocol-designer/src/load-file/migration/utils/getAdapterAndLabwareSplitInfo.ts +++ b/protocol-designer/src/load-file/migration/utils/getAdapterAndLabwareSplitInfo.ts @@ -54,8 +54,8 @@ export const getAdapterAndLabwareSplitInfo = ( labwareId.includes('opentrons_96_aluminumblock_biorad_wellplate_200ul') ) { return { - labwareUri: 'opentrons/opentrons_96_well_aluminum_block/1', - adapterUri: 'opentrons/biorad_96_wellplate_200ul_pcr/2', + adapterUri: 'opentrons/opentrons_96_well_aluminum_block/1', + labwareUri: 'opentrons/biorad_96_wellplate_200ul_pcr/2', labwareDisplayName: 'Bio-Rad 96 Well Plate 200 µL PCR', adapterDisplayName: 'Opentrons 96 Well Aluminum Block', } diff --git a/protocol-designer/src/localization/en/alert.json b/protocol-designer/src/localization/en/alert.json index 475e45012f2..31eaa879754 100644 --- a/protocol-designer/src/localization/en/alert.json +++ b/protocol-designer/src/localization/en/alert.json @@ -49,10 +49,10 @@ "title": "Missing labware", "body": "Your module has no labware on it. We recommend you add labware before proceeding." }, - "export_v7_protocol_7_0": { + "export_v8_protocol_7_1": { "title": "Robot and app update may be required", "body1": "This protocol can only run on app and robot server version", - "body2": "7.0 or higher", + "body2": "7.1 or higher", "body3": ". Please ensure your robot is updated to the correct version." }, "change_magnet_module_model": { @@ -161,8 +161,12 @@ "body": "The tip rack must be placed in an adapter when picking up 96 tips simultaneously." }, "ADDITIONAL_EQUIPMENT_DOES_NOT_EXIST": { - "title": "{{additionalEquipment}} does not exist", + "title": "The trash bin or waste chute does not exist", "body": "Attempting to interact with an unknown entity." + }, + "GRIPPER_REQUIRED": { + "title": "A gripper is required to complete this action", + "body": "Attempting to move a labware without a gripper into the waste chute. Please add a gripper to this step." } }, "warning": { @@ -193,7 +197,7 @@ "module_placement": { "SLOT_OCCUPIED": { "title": "Cannot place module", - "body": "Slot {{selectedSlot}} is occupied. Clear the slot to continue." + "body": "Slot {{selectedSlot}} is occupied. Navigate to the design tab and remove the labware or remove the additional item to continue." }, "HEATER_SHAKER_ADJACENT_LABWARE_TOO_TALL": { "title": "Cannot place module", diff --git a/protocol-designer/src/localization/en/modal.json b/protocol-designer/src/localization/en/modal.json index db60f68231c..81a9239a4d0 100644 --- a/protocol-designer/src/localization/en/modal.json +++ b/protocol-designer/src/localization/en/modal.json @@ -70,26 +70,26 @@ } }, "create_file_wizard": { - "choose_additional_items": "Choose additional items", "add_optional_info": "Add more information, if you like (you can change this later).", + "choose_additional_items": "Choose additional items", "choose_at_least_one_tip_rack": "Choose at least one tiprack for this pipette", - "choose_first_pipette": "Choose first pipette", - "choose_second_pipette": "Choose second pipette", + "choose_left_pipette": "Choose left pipette", + "choose_right_pipette": "Choose right pipette", "choose_robot_type": "Choose robot type", "choose_tips_for_pipette": "Choose tips for {{pipetteName}}", "create_new_protocol": "Create New Protocol", "custom_tiprack": "Custom tips", - "name_your_protocol": "Name your protocol.", "description": "Description", + "name_your_protocol": "Name your protocol.", "organization_or_author": "Organization/Author", "pipette_type": "Pipette Type", - "protocol_name": "Protocol Name", "protocol_name_and_description": "Protocol name and description", + "protocol_name": "Protocol Name", "review_file_details": "Review file details", "robot_type": "Robot Type", + "staging_areas": "Staging area slots", "upload_tiprack": "Upload a custom tiprack to select its definition", - "upload": "Upload", - "staging_areas": "Staging area slots" + "upload": "Upload" }, "well_order": { "title": "Well Order", diff --git a/protocol-designer/src/localization/en/tooltip.json b/protocol-designer/src/localization/en/tooltip.json index 72ebd3993b5..df89348ae71 100644 --- a/protocol-designer/src/localization/en/tooltip.json +++ b/protocol-designer/src/localization/en/tooltip.json @@ -4,6 +4,7 @@ "disabled_cannot_delete_trash": "A Trash Bin or Waste Chute is required", "disabled_off_deck": "Off-deck labware cannot be modified unless on starting deck state.", "disabled_step_creation": "New steps cannot be added in Batch Edit mode.", + "disabled_no_space_additional_items": "No space for this combination of staging area slots and modules.", "not_in_beta": "ⓘ Coming Soon", "step_description": { @@ -62,7 +63,11 @@ "moveLiquid": { "disabled": { "$generic": "Incompatible with current path", - "blowout_checkbox": "Redundant with disposal volume" + "aspirate_touchTip_checkbox": "Touch tip is not supported with this labware", + "blowout_checkbox": "Redundant with disposal volume", + "dispense_mix_checkbox": "Unable to mix in a waste chute", + "dispense_mmFromBottom": "Tip position adjustment not supported in waste chute", + "dispense_touchTip_checkbox": "Touch tip is not supported" } }, "moveLabware": { @@ -91,9 +96,6 @@ "disabled": { "latchOpen": "Labware Latch cannot be open while the module is shaking" } - }, - "touchTip": { - "disabled": "Touch tip is not supported with this labware" } }, "edit_module_card": { diff --git a/protocol-designer/src/step-forms/actions/additionalItems.ts b/protocol-designer/src/step-forms/actions/additionalItems.ts index 581b7e29c5b..97fa27cab0e 100644 --- a/protocol-designer/src/step-forms/actions/additionalItems.ts +++ b/protocol-designer/src/step-forms/actions/additionalItems.ts @@ -10,14 +10,14 @@ export const toggleIsGripperRequired = (): ToggleIsGripperRequiredAction => ({ export interface CreateDeckFixtureAction { type: 'CREATE_DECK_FIXTURE' payload: { - name: 'wasteChute' | 'stagingArea' + name: 'wasteChute' | 'stagingArea' | 'trashBin' id: string location: string } } export const createDeckFixture = ( - name: 'wasteChute' | 'stagingArea', + name: 'wasteChute' | 'stagingArea' | 'trashBin', location: string ): CreateDeckFixtureAction => ({ type: 'CREATE_DECK_FIXTURE', diff --git a/protocol-designer/src/step-forms/reducers/index.ts b/protocol-designer/src/step-forms/reducers/index.ts index 440288c983a..582b0e4ff67 100644 --- a/protocol-designer/src/step-forms/reducers/index.ts +++ b/protocol-designer/src/step-forms/reducers/index.ts @@ -9,6 +9,7 @@ import omitBy from 'lodash/omitBy' import reduce from 'lodash/reduce' import { FLEX_ROBOT_TYPE, + OT2_ROBOT_TYPE, getLabwareDefaultEngageHeight, getLabwareDefURI, getModuleType, @@ -16,17 +17,18 @@ import { LoadModuleCreateCommand, LoadPipetteCreateCommand, MoveLabwareCreateCommand, + MoveToAddressableAreaCreateCommand, MAGNETIC_MODULE_TYPE, MAGNETIC_MODULE_V1, PipetteName, THERMOCYCLER_MODULE_TYPE, - LoadFixtureCreateCommand, - STANDARD_SLOT_LOAD_NAME, - TRASH_BIN_LOAD_NAME, + WASTE_CHUTE_ADDRESSABLE_AREAS, + AddressableAreaName, + MOVABLE_TRASH_ADDRESSABLE_AREAS, } from '@opentrons/shared-data' import type { RootState as LabwareDefsRootState } from '../../labware-defs' import { rootReducer as labwareDefsRootReducer } from '../../labware-defs' -import { uuid } from '../../utils' +import { getCutoutIdByAddressableArea, uuid } from '../../utils' import { INITIAL_DECK_SETUP_STEP_ID, SPAN7_8_10_11_SLOT } from '../../constants' import { getPDMetadata } from '../../file-types' import { @@ -43,6 +45,7 @@ import { getLabwareOnModule } from '../../ui/modules/utils' import { nestedCombineReducers } from './nestedCombineReducers' import { PROFILE_CYCLE, PROFILE_STEP } from '../../form-types' import { + COLUMN_4_SLOTS, NormalizedAdditionalEquipmentById, NormalizedPipetteById, } from '@opentrons/step-generation' @@ -1180,8 +1183,7 @@ export const labwareInvariantProperties: Reducer< {} ), } - - return Object.keys(labware).length > 0 ? labware : state + return { ...labware, ...state } }, REPLACE_CUSTOM_LABWARE_DEF: ( state: NormalizedLabwareById, @@ -1328,58 +1330,178 @@ export const additionalEquipmentInvariantProperties = handleActions { const { file } = action.payload - const gripperCommands = Object.values(file.commands).filter( + const isFlex = file.robot.model === FLEX_ROBOT_TYPE + + const hasGripperCommands = Object.values(file.commands).some( (command): command is MoveLabwareCreateCommand => command.commandType === 'moveLabware' && command.params.strategy === 'usingGripper' ) - const fixtureCommands = Object.values(file.commands).filter( - (command): command is LoadFixtureCreateCommand => - command.commandType === 'loadFixture' + const hasWasteChuteCommands = Object.values(file.commands).some( + command => + (command.commandType === 'moveToAddressableArea' && + WASTE_CHUTE_ADDRESSABLE_AREAS.includes( + command.params.addressableAreaName + )) || + (command.commandType === 'moveLabware' && + command.params.newLocation !== 'offDeck' && + 'addressableAreaName' in command.params.newLocation && + WASTE_CHUTE_ADDRESSABLE_AREAS.includes( + command.params.addressableAreaName + )) ) - const fixtures = fixtureCommands.reduce( - ( - acc: NormalizedAdditionalEquipmentById, - command: LoadFixtureCreateCommand - ) => { - const { fixtureId, loadName, location } = command.params - const id = fixtureId ?? '' - if ( - loadName === STANDARD_SLOT_LOAD_NAME || - loadName === TRASH_BIN_LOAD_NAME - ) { - return acc - } - return { - ...acc, - [id]: { - id: id, - name: loadName, - location: location.cutout, + const wasteChuteId = `${uuid()}:wasteChute` + const wasteChute = hasWasteChuteCommands + ? { + [wasteChuteId]: { + name: 'wasteChute' as const, + id: wasteChuteId, + location: 'cutoutD3', }, } - }, - {} + : {} + + const getStagingAreaSlotNames = ( + commandType: 'moveLabware' | 'loadLabware', + locationKey: 'newLocation' | 'location' + ): AddressableAreaName[] => { + return Object.values(file.commands) + .filter( + command => + command.commandType === commandType && + command.params[locationKey] !== 'offDeck' && + 'slotName' in command.params[locationKey] && + COLUMN_4_SLOTS.includes( + command.params[locationKey].addressableAreaName + ) + ) + .map(command => command.params[locationKey].addressableAreaName) + } + + const stagingAreaSlotNames = [ + ...new Set([ + ...getStagingAreaSlotNames('moveLabware', 'newLocation'), + ...getStagingAreaSlotNames('loadLabware', 'location'), + ]), + ] + + const stagingAreas = stagingAreaSlotNames.reduce((acc, slot) => { + const stagingAreaId = `${uuid()}:stagingArea` + const cutoutId = getCutoutIdByAddressableArea( + slot, + 'stagingAreaRightSlot', + isFlex ? FLEX_ROBOT_TYPE : OT2_ROBOT_TYPE + ) + return { + ...acc, + [stagingAreaId]: { + name: 'stagingArea' as const, + id: stagingAreaId, + location: cutoutId, + }, + } + }, {}) + + const trashBinCommand = Object.values(file.commands).find( + (command): command is MoveToAddressableAreaCreateCommand => + command.commandType === 'moveToAddressableArea' && + (MOVABLE_TRASH_ADDRESSABLE_AREAS.includes( + command.params.addressableAreaName + ) || + command.params.addressableAreaName === 'fixedTrash') ) - const hasGripper = gripperCommands.length > 0 - const isFlex = file.robot.model === FLEX_ROBOT_TYPE - const gripperId = `${uuid()}:gripper` - const gripper = { - [gripperId]: { - name: 'gripper' as const, - id: gripperId, - }, + const trashAddressableAreaName = + trashBinCommand?.params.addressableAreaName + const savedStepForms = file.designerApplication?.data?.savedStepForms + const moveLiquidStep = + savedStepForms != null + ? Object.values(savedStepForms).find( + stepForm => + stepForm.stepType === 'moveLiquid' && + (stepForm.aspirate_labware.includes('trashBin') || + stepForm.dispense_labware.includes('trashBin') || + stepForm.dropTip_location.includes('trashBin') || + stepForm.blowout_location.includes('trashBin')) + ) + : null + const mixStep = + savedStepForms != null + ? Object.values(savedStepForms).find( + stepForm => + stepForm.stepType === 'mix' && + (stepForm.labware.includes('trashBin') || + stepForm.dropTip_location.includes('trashBin') || + stepForm.blowout_location.includes('trashBin')) + ) + : null + + let trashBinId: string | null = null + if (moveLiquidStep != null) { + if (moveLiquidStep.aspirate_labware.includes('trashBin')) { + trashBinId = moveLiquidStep.aspirate_labware + } else if (moveLiquidStep.dispense_labware.includes('trashBin')) { + trashBinId = moveLiquidStep.dispense_labware + } else if (moveLiquidStep.dropTip_location.includes('trashBin')) { + trashBinId = moveLiquidStep.dropTip_location + } else if (moveLiquidStep.blowOut_location.includes('trashBin')) { + trashBinId = moveLiquidStep.blowOut_location + } + } else if (mixStep != null) { + if (mixStep.aspirate_labware.includes('trashBin')) { + trashBinId = mixStep.labware + } else if (mixStep.dropTip_location.includes('trashBin')) { + trashBinId = mixStep.dropTip_location + } else if (mixStep.blowOut_location.includes('trashBin')) { + trashBinId = mixStep.blowOut_location + } } + + const trashCutoutId = getCutoutIdByAddressableArea( + trashAddressableAreaName as AddressableAreaName, + isFlex ? 'trashBinAdapter' : 'fixedTrashSlot', + isFlex ? FLEX_ROBOT_TYPE : OT2_ROBOT_TYPE + ) + const trashBin = + trashAddressableAreaName != null && trashBinId != null + ? { + [trashBinId]: { + name: 'trashBin' as const, + id: trashBinId, + // TODO(should be type cutoutId when location is type cutoutId) + location: trashCutoutId as string, + }, + } + : null + + if (trashBinCommand == null && file.robot.model === OT2_ROBOT_TYPE) { + console.error( + 'expected to find a fixedTrash command for the OT-2 but could not' + ) + } + + const gripperId = `${uuid()}:gripper` + const gripper = hasGripperCommands + ? { + [gripperId]: { + name: 'gripper' as const, + id: gripperId, + }, + } + : {} + if (isFlex) { - if (hasGripper) { - return { ...state, ...gripper, ...fixtures } - } else { - return { ...state, ...fixtures } + return { + ...state, + ...gripper, + ...trashBin, + ...wasteChute, + ...stagingAreas, } } else { - return { ...state } + return { ...state, ...trashBin } } }, + TOGGLE_IS_GRIPPER_REQUIRED: ( state: NormalizedAdditionalEquipmentById ): NormalizedAdditionalEquipmentById => { diff --git a/protocol-designer/src/step-forms/selectors/index.ts b/protocol-designer/src/step-forms/selectors/index.ts index 9eec4adf825..25c86aa3880 100644 --- a/protocol-designer/src/step-forms/selectors/index.ts +++ b/protocol-designer/src/step-forms/selectors/index.ts @@ -31,10 +31,10 @@ import { getProfileFormErrors, } from '../../steplist/formLevel/profileErrors' import { getMoveLabwareFormErrors } from '../../steplist/formLevel/moveLabwareFormErrors' -import { hydrateField, getFieldErrors } from '../../steplist/fieldLevel' +import { getFieldErrors } from '../../steplist/fieldLevel' import { getProfileItemsHaveErrors } from '../utils/getProfileItemsHaveErrors' import * as featureFlagSelectors from '../../feature-flags/selectors' -import { denormalizePipetteEntities } from '../utils' +import { denormalizePipetteEntities, getHydratedForm } from '../utils' import { selectors as labwareDefSelectors, LabwareDefByDefURI, @@ -51,7 +51,6 @@ import type { LabwareEntity, LabwareEntities, ModuleEntities, - ModuleEntity, PipetteEntities, } from '@opentrons/step-generation' import type { FormWarning } from '../../steplist/formLevel' @@ -230,11 +229,15 @@ const _getInitialDeckSetup = ( (initialSetupStep && initialSetupStep.pipetteLocationUpdate) || {} // filtering only the additionalEquipmentEntities that are rendered on the deck - // which for now is wasteChute and stagingArea + // which for now is wasteChute, trashBin, and stagingArea const additionalEquipmentEntitiesOnDeck = Object.values( additionalEquipmentEntities ).reduce((aeEntities: AdditionalEquipmentEntities, ae) => { - if (ae.name === 'wasteChute' || ae.name === 'stagingArea') { + if ( + ae.name === 'wasteChute' || + ae.name === 'stagingArea' || + ae.name === 'trashBin' + ) { aeEntities[ae.id] = ae } return aeEntities @@ -508,38 +511,6 @@ export const getBatchEditFormHasUnsavedChanges: Selector< boolean > = createSelector(getBatchEditFieldChanges, changes => !isEmpty(changes)) -const getModuleEntity = (state: InvariantContext, id: string): ModuleEntity => { - return state.moduleEntities[id] -} - -// TODO: Ian 2019-01-25 type with hydrated form type, see #3161 -function _getHydratedForm( - rawForm: FormData, - invariantContext: InvariantContext -): FormData { - const hydratedForm = mapValues(rawForm, (value, name) => - hydrateField(invariantContext, name, value) - ) - // TODO(IL, 2020-03-23): separate hydrated/denormalized fields from the other fields. - // It's confusing that pipette is an ID string before this, - // but a PipetteEntity object after this. - // For `moduleId` field, it would be surprising to be a ModuleEntity! - // Consider nesting all additional fields under 'meta' key, - // following what we're doing with 'module'. - // See #3161 - hydratedForm.meta = {} - - if (rawForm?.moduleId != null) { - // @ts-expect-error(sa, 2021-6-14): type this properly in #3161 - hydratedForm.meta.module = getModuleEntity( - invariantContext, - rawForm.moduleId - ) - } - // @ts-expect-error(sa, 2021-6-14):type this properly in #3161 - return hydratedForm -} - // TODO type with hydrated form type const _formLevelErrors = (hydratedForm: FormData): StepFormErrors => { return getFormErrors(hydratedForm.stepType, hydratedForm) @@ -653,7 +624,7 @@ export const getHydratedUnsavedForm: Selector< (unsavedForm, invariantContext) => { if (unsavedForm == null) return null - const hydratedForm = _getHydratedForm(unsavedForm, invariantContext) + const hydratedForm = getHydratedForm(unsavedForm, invariantContext) return hydratedForm ?? null } @@ -699,7 +670,7 @@ export const getArgsAndErrorsByStepId: Selector< return reduce( stepForms, (acc, stepForm) => { - const hydratedForm = _getHydratedForm(stepForm, contextualState) + const hydratedForm = getHydratedForm(stepForm, contextualState) const errors = _formHasErrors(hydratedForm, contextualState) const nextStepData = !errors @@ -753,7 +724,7 @@ export const getFormLevelWarningsForUnsavedForm: Selector< (unsavedForm, contextualState) => { if (!unsavedForm) return [] - const hydratedForm = _getHydratedForm(unsavedForm, contextualState) + const hydratedForm = getHydratedForm(unsavedForm, contextualState) return getFormWarnings(unsavedForm.stepType, hydratedForm) } @@ -768,7 +739,7 @@ export const getFormLevelWarningsPerStep: Selector< mapValues(forms, (form, stepId) => { if (!form) return [] - const hydratedForm = _getHydratedForm(form, contextualState) + const hydratedForm = getHydratedForm(form, contextualState) return getFormWarnings(form.stepType, hydratedForm) }) diff --git a/protocol-designer/src/step-forms/utils/index.ts b/protocol-designer/src/step-forms/utils/index.ts index b6b09bdeea7..8bd93cf176f 100644 --- a/protocol-designer/src/step-forms/utils/index.ts +++ b/protocol-designer/src/step-forms/utils/index.ts @@ -2,30 +2,36 @@ import assert from 'assert' import reduce from 'lodash/reduce' import values from 'lodash/values' import find from 'lodash/find' +import mapValues from 'lodash/mapValues' import { getPipetteNameSpecs, GEN_ONE_MULTI_PIPETTES, THERMOCYCLER_MODULE_TYPE, } from '@opentrons/shared-data' import { SPAN7_8_10_11_SLOT, TC_SPAN_SLOTS } from '../../constants' -import type { DeckSlotId, ModuleType } from '@opentrons/shared-data' -import { - NormalizedPipette, - NormalizedPipetteById, - PipetteEntity, - PipetteEntities, -} from '@opentrons/step-generation' +import { hydrateField } from '../../steplist/fieldLevel' import { LabwareDefByDefURI } from '../../labware-defs' -import { DeckSlot } from '../../types' +import type { DeckSlotId, ModuleType } from '@opentrons/shared-data' import { + AdditionalEquipmentOnDeck, InitialDeckSetup, ModuleOnDeck, FormPipettesByMount, FormPipette, LabwareOnDeck as LabwareOnDeckType, } from '../types' -import { AdditionalEquipmentOnDeck } from '..' +import type { DeckSlot } from '../../types' +import type { + NormalizedPipette, + NormalizedPipetteById, + PipetteEntity, + PipetteEntities, + InvariantContext, + ModuleEntity, +} from '@opentrons/step-generation' +import type { FormData } from '../../form-types' export { createPresavedStepForm } from './createPresavedStepForm' + export function getIdsInRange( orderedIds: T[], startId: T, @@ -123,23 +129,23 @@ export const getSlotIsEmpty = ( } const filteredAdditionalEquipmentOnDeck = includeStagingAreas - ? values(initialDeckSetup.additionalEquipmentOnDeck).filter( - (additionalEquipment: AdditionalEquipmentOnDeck) => - additionalEquipment.location === slot + ? values( + initialDeckSetup.additionalEquipmentOnDeck + ).filter((additionalEquipment: AdditionalEquipmentOnDeck) => + additionalEquipment.location?.includes(slot) ) : values(initialDeckSetup.additionalEquipmentOnDeck).filter( (additionalEquipment: AdditionalEquipmentOnDeck) => - additionalEquipment.location === slot && + additionalEquipment.location?.includes(slot) && additionalEquipment.name !== 'stagingArea' ) - return ( [ - ...values(initialDeckSetup.modules).filter( - (moduleOnDeck: ModuleOnDeck) => moduleOnDeck.slot === slot + ...values(initialDeckSetup.modules).filter((moduleOnDeck: ModuleOnDeck) => + slot.includes(moduleOnDeck.slot) ), - ...values(initialDeckSetup.labware).filter( - (labware: LabwareOnDeckType) => labware.slot === slot + ...values(initialDeckSetup.labware).filter((labware: LabwareOnDeckType) => + slot.includes(labware.slot) ), ...filteredAdditionalEquipmentOnDeck, ].length === 0 @@ -178,3 +184,35 @@ export const getIsModuleOnDeck = ( const moduleIds = Object.keys(modules) return moduleIds.some(moduleId => modules[moduleId]?.type === moduleType) } + +const getModuleEntity = (state: InvariantContext, id: string): ModuleEntity => { + return state.moduleEntities[id] +} + +// TODO: Ian 2019-01-25 type with hydrated form type, see #3161 +export function getHydratedForm( + rawForm: FormData, + invariantContext: InvariantContext +): FormData { + const hydratedForm = mapValues(rawForm, (value, name) => + hydrateField(invariantContext, name, value) + ) + // TODO(IL, 2020-03-23): separate hydrated/denormalized fields from the other fields. + // It's confusing that pipette is an ID string before this, + // but a PipetteEntity object after this. + // For `moduleId` field, it would be surprising to be a ModuleEntity! + // Consider nesting all additional fields under 'meta' key, + // following what we're doing with 'module'. + // See #3161 + hydratedForm.meta = {} + + if (rawForm?.moduleId != null) { + // @ts-expect-error(sa, 2021-6-14): type this properly in #3161 + hydratedForm.meta.module = getModuleEntity( + invariantContext, + rawForm.moduleId + ) + } + // @ts-expect-error(sa, 2021-6-14):type this properly in #3161 + return hydratedForm +} diff --git a/protocol-designer/src/steplist/fieldLevel/index.ts b/protocol-designer/src/steplist/fieldLevel/index.ts index 0eae673ff73..f8f10f481ae 100644 --- a/protocol-designer/src/steplist/fieldLevel/index.ts +++ b/protocol-designer/src/steplist/fieldLevel/index.ts @@ -42,17 +42,51 @@ import { PipetteEntity, InvariantContext, LabwareEntities, + AdditionalEquipmentEntities, + AdditionalEquipmentEntity, } from '@opentrons/step-generation' -import { StepFieldName } from '../../form-types' -import type { LabwareLocation } from '@opentrons/shared-data' +import { getStagingAreaAddressableAreas } from '../../utils' +import type { StepFieldName } from '../../form-types' +import type { + AddressableAreaName, + CutoutId, + LabwareLocation, +} from '@opentrons/shared-data' export type { StepFieldName } -const getLabwareEntity = ( +interface LabwareEntityWithTouchTip extends LabwareEntity { + isTouchTipAllowed: boolean +} + +interface AdditionalEquipmentEntityWithTouchTip + extends AdditionalEquipmentEntity { + isTouchTipAllowed: boolean +} + +type LabwareOrAdditionalEquipmentEntity = + | LabwareEntityWithTouchTip + | AdditionalEquipmentEntityWithTouchTip + +const getLabwareOrAdditionalEquipmentEntity = ( state: InvariantContext, id: string -): LabwareEntity | null => { - return state.labwareEntities[id] || null +): LabwareOrAdditionalEquipmentEntity | null => { + if (state.labwareEntities[id] != null) { + const labwareDisallowsTouchTip = + state.labwareEntities[id]?.def.parameters.quirks?.includes( + 'touchTipDisabled' + ) ?? false + return { + ...state.labwareEntities[id], + isTouchTipAllowed: !labwareDisallowsTouchTip, + } + } else if (state.additionalEquipmentEntities[id] != null) { + return { + ...state.additionalEquipmentEntities[id], + isTouchTipAllowed: false, + } + } else return null } const getIsAdapterLocation = ( @@ -64,10 +98,42 @@ const getIsAdapterLocation = ( labwareEntities[newLocation].def.allowedRoles?.includes('adapter') ?? false ) } +const getIsAdditionalEquipmentLocation = ( + newLocation: string, + additionalEquipmentEntities: AdditionalEquipmentEntities +): boolean => { + const wasteChuteEntity = Object.values(additionalEquipmentEntities).find( + aE => aE.name === 'wasteChute' + ) + const stagingAreaCutoutIds = Object.values(additionalEquipmentEntities) + .filter(aE => aE.name === 'stagingArea') + ?.map(equipment => { + return equipment.location ?? '' + }) + const stagingAreaAddressableAreaNames = getStagingAreaAddressableAreas( + stagingAreaCutoutIds as CutoutId[] + ) + + const isNewLocationInWasteChute = + wasteChuteEntity?.name === 'wasteChute' && + wasteChuteEntity?.location === newLocation + + const isNewLocationInStagingArea = + stagingAreaCutoutIds != null && + stagingAreaAddressableAreaNames.includes(newLocation as AddressableAreaName) + + return isNewLocationInWasteChute || isNewLocationInStagingArea +} + const getLabwareLocation = ( state: InvariantContext, newLocationString: string ): LabwareLocation | null => { + const isWasteChuteLocation = + Object.values(state.additionalEquipmentEntities).find( + aE => aE.location === newLocationString && aE.name === 'wasteChute' + ) != null + if (newLocationString === 'offDeck') { return 'offDeck' } else if (newLocationString in state.moduleEntities) { @@ -77,6 +143,17 @@ const getLabwareLocation = ( getIsAdapterLocation(newLocationString, state.labwareEntities) ) { return { labwareId: newLocationString } + } else if ( + getIsAdditionalEquipmentLocation( + newLocationString, + state.additionalEquipmentEntities + ) + ) { + return { + addressableAreaName: isWasteChuteLocation + ? 'gripperWasteChute' + : newLocationString, + } } else { return { slotName: newLocationString } } @@ -106,7 +183,7 @@ const stepFieldHelperMap: Record = { }, aspirate_labware: { getErrors: composeErrors(requiredField), - hydrate: getLabwareEntity, + hydrate: getLabwareOrAdditionalEquipmentEntity, }, aspirate_mix_times: { maskValue: composeMaskers(maskToInteger, onlyPositiveNumbers, defaultTo(1)), @@ -137,7 +214,7 @@ const stepFieldHelperMap: Record = { }, dispense_labware: { getErrors: composeErrors(requiredField), - hydrate: getLabwareEntity, + hydrate: getLabwareOrAdditionalEquipmentEntity, }, dispense_mix_times: { maskValue: composeMaskers(maskToInteger, onlyPositiveNumbers, defaultTo(1)), @@ -168,7 +245,7 @@ const stepFieldHelperMap: Record = { }, labware: { getErrors: composeErrors(requiredField), - hydrate: getLabwareEntity, + hydrate: getLabwareOrAdditionalEquipmentEntity, }, aspirate_delay_seconds: { maskValue: composeMaskers(maskToInteger, onlyPositiveNumbers, defaultTo(1)), diff --git a/protocol-designer/src/steplist/formLevel/errors.ts b/protocol-designer/src/steplist/formLevel/errors.ts index 1a017910a04..32d26c77c38 100644 --- a/protocol-designer/src/steplist/formLevel/errors.ts +++ b/protocol-designer/src/steplist/formLevel/errors.ts @@ -79,6 +79,10 @@ const WELL_RATIO_MOVE_LIQUID: FormError = { title: 'Well selection must be 1 to many, many to 1, or N to N', dependentFields: ['aspirate_wells', 'dispense_wells'], } +const WELL_RATIO_MOVE_LIQUID_INTO_WASTE_CHUTE: FormError = { + title: 'Well selection must be many to 1, or 1 to 1', + dependentFields: ['aspirate_wells'], +} const MAGNET_ACTION_TYPE_REQUIRED: FormError = { title: 'Action type must be either engage or disengage', dependentFields: ['magnetAction'], @@ -128,14 +132,17 @@ const LID_TEMPERATURE_HOLD_REQUIRED: FormError = { title: 'Temperature is required', dependentFields: ['lidIsActiveHold', 'lidTargetTempHold'], } -export type FormErrorChecker = (arg: unknown) => FormError | null +interface HydratedFormData { + [key: string]: any +} + +export type FormErrorChecker = (arg: HydratedFormData) => FormError | null // TODO: test these /******************* ** Error Checkers ** ********************/ // TODO: real HydratedFormData type -type HydratedFormData = any export const incompatibleLabware = ( fields: HydratedFormData ): FormError | null => { @@ -206,11 +213,23 @@ export const pauseForTimeOrUntilTold = ( export const wellRatioMoveLiquid = ( fields: HydratedFormData ): FormError | null => { - const { aspirate_wells, dispense_wells } = fields - if (!aspirate_wells || !dispense_wells) return null - return getWellRatio(aspirate_wells, dispense_wells) - ? null + const { aspirate_wells, dispense_wells, dispense_labware } = fields + const dispenseLabware = dispense_labware?.name ?? null + const isDispensingIntoWasteChute = + dispenseLabware != null ? dispenseLabware === 'wasteChute' : false + if (!aspirate_wells || (!isDispensingIntoWasteChute && !dispense_wells)) + return null + const wellRatioFormError = isDispensingIntoWasteChute + ? WELL_RATIO_MOVE_LIQUID_INTO_WASTE_CHUTE : WELL_RATIO_MOVE_LIQUID + + return getWellRatio( + aspirate_wells, + dispense_wells, + isDispensingIntoWasteChute + ) + ? null + : wellRatioFormError } export const volumeTooHigh = (fields: HydratedFormData): FormError | null => { const { pipette } = fields @@ -338,7 +357,7 @@ export const engageHeightRangeExceeded = ( ********************/ type ComposeErrors = ( ...errorCheckers: FormErrorChecker[] -) => (arg: unknown) => FormError[] +) => (arg: HydratedFormData) => FormError[] export const composeErrors: ComposeErrors = ( ...errorCheckers: FormErrorChecker[] ) => value => diff --git a/protocol-designer/src/steplist/formLevel/getDisabledFields/getDisabledFieldsHeaterShaker.ts b/protocol-designer/src/steplist/formLevel/getDisabledFields/getDisabledFieldsHeaterShaker.ts index 7aaa0878111..6edecefa507 100644 --- a/protocol-designer/src/steplist/formLevel/getDisabledFields/getDisabledFieldsHeaterShaker.ts +++ b/protocol-designer/src/steplist/formLevel/getDisabledFields/getDisabledFieldsHeaterShaker.ts @@ -1,8 +1,11 @@ -import { FormData } from '../../../form-types' -export function getDisabledFieldsHeaterShaker(rawForm: FormData): Set { +import type { HydratedFormdata } from '../../../form-types' + +export function getDisabledFieldsHeaterShaker( + hydratedForm: HydratedFormdata +): Set { const disabled: Set = new Set() - if (rawForm.setShake === true) { + if (hydratedForm.setShake === true) { disabled.add('latchOpen') } diff --git a/protocol-designer/src/steplist/formLevel/getDisabledFields/getDisabledFieldsMixForm.ts b/protocol-designer/src/steplist/formLevel/getDisabledFields/getDisabledFieldsMixForm.ts index b416eadb022..16765d26436 100644 --- a/protocol-designer/src/steplist/formLevel/getDisabledFields/getDisabledFieldsMixForm.ts +++ b/protocol-designer/src/steplist/formLevel/getDisabledFields/getDisabledFieldsMixForm.ts @@ -1,21 +1,25 @@ -import { FormData } from '../../../form-types' +import type { HydratedFormdata } from '../../../form-types' // NOTE: expects that '_checkbox' fields are implemented so that // when checkbox is disabled, its dependent fields are hidden export function getDisabledFieldsMixForm( - rawForm: FormData // TODO IMMEDIATELY use raw form type instead of FormData + hydratedForm: HydratedFormdata ): Set { const disabled: Set = new Set() - if (!rawForm.pipette || !rawForm.labware) { + if (!hydratedForm.pipette || !hydratedForm.labware) { disabled.add('mix_touchTip_checkbox') disabled.add('mix_mmFromBottom') disabled.add('wells') } - if (!rawForm.pipette) { + if (!hydratedForm.pipette) { disabled.add('aspirate_flowRate') disabled.add('dispense_flowRate') } + if (!hydratedForm.labware?.isTouchTipAllowed) { + disabled.add('mix_touchTip_checkbox') + } + return disabled } diff --git a/protocol-designer/src/steplist/formLevel/getDisabledFields/getDisabledFieldsMoveLiquidForm.ts b/protocol-designer/src/steplist/formLevel/getDisabledFields/getDisabledFieldsMoveLiquidForm.ts index e45ad3d4672..504f33e85a6 100644 --- a/protocol-designer/src/steplist/formLevel/getDisabledFields/getDisabledFieldsMoveLiquidForm.ts +++ b/protocol-designer/src/steplist/formLevel/getDisabledFields/getDisabledFieldsMoveLiquidForm.ts @@ -1,25 +1,34 @@ -import { FormData } from '../../../form-types' +import type { HydratedFormdata } from '../../../form-types' // NOTE: expects that '_checkbox' fields are implemented so that // when checkbox is disabled, its dependent fields are hidden export function getDisabledFieldsMoveLiquidForm( - rawForm: FormData // TODO IMMEDIATELY use raw form type instead of FormData + hydratedForm: HydratedFormdata ): Set { const disabled: Set = new Set() const prefixes = ['aspirate', 'dispense'] - if (rawForm.path === 'multiAspirate') { + if (hydratedForm.dispense_labware?.name === 'wasteChute') { + disabled.add('dispense_mix_checkbox') + disabled.add('dispense_touchTip_checkbox') + disabled.add('dispense_mmFromBottom') + } + if (hydratedForm.path === 'multiAspirate') { disabled.add('aspirate_mix_checkbox') - } else if (rawForm.path === 'multiDispense') { + } else if (hydratedForm.path === 'multiDispense') { disabled.add('dispense_mix_checkbox') - - if (rawForm.disposalVolume_checkbox) { + if (hydratedForm.disposalVolume_checkbox) { disabled.add('blowout_checkbox') } } - + if (!hydratedForm.dispense_labware?.isTouchTipAllowed) { + disabled.add('dispense_touchTip_checkbox') + } + if (!hydratedForm.aspirate_labware?.isTouchTipAllowed) { + disabled.add('aspirate_touchTip_checkbox') + } // fields which require a pipette & a corresponding labware to be selected prefixes.forEach(prefix => { - if (!rawForm.pipette || !rawForm[prefix + '_labware']) { + if (!hydratedForm.pipette || !hydratedForm[prefix + '_labware']) { disabled.add(prefix + '_touchTip_checkbox') disabled.add(prefix + '_mmFromBottom') disabled.add(prefix + '_wells') diff --git a/protocol-designer/src/steplist/formLevel/getDisabledFields/index.ts b/protocol-designer/src/steplist/formLevel/getDisabledFields/index.ts index 0454209b3a7..bd4a8691e39 100644 --- a/protocol-designer/src/steplist/formLevel/getDisabledFields/index.ts +++ b/protocol-designer/src/steplist/formLevel/getDisabledFields/index.ts @@ -2,18 +2,18 @@ import { defaultMemoize } from 'reselect' import { getDisabledFieldsMoveLiquidForm } from './getDisabledFieldsMoveLiquidForm' import { getDisabledFieldsMixForm } from './getDisabledFieldsMixForm' import { getDisabledFieldsHeaterShaker } from './getDisabledFieldsHeaterShaker' -import { FormData } from '../../../form-types' +import type { HydratedFormdata } from '../../../form-types' -function _getDisabledFields(rawForm: FormData): Set { - switch (rawForm.stepType) { +function _getDisabledFields(hydratedForm: HydratedFormdata): Set { + switch (hydratedForm.stepType) { case 'moveLiquid': - return getDisabledFieldsMoveLiquidForm(rawForm) + return getDisabledFieldsMoveLiquidForm(hydratedForm) case 'mix': - return getDisabledFieldsMixForm(rawForm) + return getDisabledFieldsMixForm(hydratedForm) case 'heaterShaker': - return getDisabledFieldsHeaterShaker(rawForm) + return getDisabledFieldsHeaterShaker(hydratedForm) case 'pause': case 'magnet': @@ -24,7 +24,7 @@ function _getDisabledFields(rawForm: FormData): Set { // nothing to disabled default: { console.warn( - `disabled fields for step type ${rawForm.stepType} not yet implemented!` + `disabled fields for step type ${hydratedForm.stepType} not yet implemented!` ) return new Set() } @@ -34,5 +34,5 @@ function _getDisabledFields(rawForm: FormData): Set { // shallow-memoized because every disable-able field in the form calls this function once // WARNING: do not mutate the same rawForm obj or this memoization will break export const getDisabledFields: ( - rawForm: FormData + hydratedForm: HydratedFormdata ) => Set = defaultMemoize(_getDisabledFields) diff --git a/protocol-designer/src/steplist/formLevel/index.ts b/protocol-designer/src/steplist/formLevel/index.ts index 908f60ad549..669e048ab4e 100644 --- a/protocol-designer/src/steplist/formLevel/index.ts +++ b/protocol-designer/src/steplist/formLevel/index.ts @@ -31,7 +31,7 @@ import { minDispenseAirGapVolume, } from './warnings' -import { StepType } from '../../form-types' +import { HydratedFormdata, StepType } from '../../form-types' export { handleFormChange } from './handleFormChange' export { createBlankForm } from './createBlankForm' export { getDefaultsForStepType } from './getDefaultsForStepType' @@ -46,7 +46,7 @@ export { getNextDefaultEngageHeight } from './getNextDefaultEngageHeight' export { stepFormToArgs } from './stepFormToArgs' export type { FormError, FormWarning, FormWarningType } interface FormHelpers { - getErrors?: (arg: unknown) => FormError[] + getErrors?: (arg: HydratedFormdata) => FormError[] getWarnings?: (arg: unknown) => FormWarning[] } const stepFormHelperMap: Partial> = { @@ -95,7 +95,7 @@ const stepFormHelperMap: Partial> = { } export const getFormErrors = ( stepType: StepType, - formData: unknown + formData: HydratedFormdata ): FormError[] => { const formErrorGetter = // @ts-expect-error(sa, 2021-6-20): not a valid type narrow diff --git a/protocol-designer/src/steplist/formLevel/stepFormToArgs/moveLiquidFormToArgs.ts b/protocol-designer/src/steplist/formLevel/stepFormToArgs/moveLiquidFormToArgs.ts index a679a39316b..f160a2b9540 100644 --- a/protocol-designer/src/steplist/formLevel/stepFormToArgs/moveLiquidFormToArgs.ts +++ b/protocol-designer/src/steplist/formLevel/stepFormToArgs/moveLiquidFormToArgs.ts @@ -1,5 +1,5 @@ import assert from 'assert' -import { getWellsDepth } from '@opentrons/shared-data' +import { getWellsDepth, LabwareDefinition2 } from '@opentrons/shared-data' import { DEST_WELL_BLOWOUT_DESTINATION } from '@opentrons/step-generation' import { DEFAULT_MM_FROM_BOTTOM_ASPIRATE, @@ -17,6 +17,7 @@ import type { InnerMixArgs, } from '@opentrons/step-generation' type MoveLiquidFields = HydratedMoveLiquidFormData['fields'] + // NOTE(sa, 2020-08-11): leaving this as fn so it can be expanded later for dispense air gap export function getAirGapData( hydratedFormData: MoveLiquidFields, @@ -83,21 +84,42 @@ export const moveLiquidFormToArgs = ( fields.aspirate_wellOrder_first, fields.aspirate_wellOrder_second ) - let destWells = getOrderedWells( - fields.dispense_wells, - destLabware.def, - fields.dispense_wellOrder_first, - fields.dispense_wellOrder_second - ) + + const dispenseInWasteChute = + 'name' in destLabware && destLabware.name === 'wasteChute' + + let def: LabwareDefinition2 | null = null + let dispWells: string[] = [] + + if ('def' in destLabware) { + def = destLabware.def + dispWells = destWellsUnordered + } + let destWells = + !dispenseInWasteChute && def != null + ? getOrderedWells( + dispWells, + def, + fields.dispense_wellOrder_first, + fields.dispense_wellOrder_second + ) + : null // 1:many with single path: spread well array of length 1 to match other well array - if (path === 'single' && sourceWells.length !== destWells.length) { - if (sourceWells.length === 1) { - sourceWells = Array(destWells.length).fill(sourceWells[0]) - } else if (destWells.length === 1) { - destWells = Array(sourceWells.length).fill(destWells[0]) + // distribute 1:many can not happen into the waste chute + if (destWells != null && !dispenseInWasteChute) { + if (path === 'single' && sourceWells.length !== destWells.length) { + if (sourceWells.length === 1) { + sourceWells = Array(destWells.length).fill(sourceWells[0]) + } else if (destWells.length === 1) { + destWells = Array(sourceWells.length).fill(destWells[0]) + } } } + const wellDepth = + 'def' in destLabware && destWells != null + ? getWellsDepth(destLabware.def, destWells) + : 0 const disposalVolume = fields.disposalVolume_checkbox ? fields.disposalVolume_volume @@ -110,8 +132,7 @@ export const moveLiquidFormToArgs = ( const touchTipAfterDispense = Boolean(fields.dispense_touchTip_checkbox) const touchTipAfterDispenseOffsetMmFromBottom = fields.dispense_touchTip_mmFromBottom || - getWellsDepth(fields.dispense_labware.def, destWells) + - DEFAULT_MM_TOUCH_TIP_OFFSET_FROM_TOP + wellDepth + DEFAULT_MM_TOUCH_TIP_OFFSET_FROM_TOP const mixBeforeAspirate = getMixData( fields, 'aspirate_mix_checkbox', @@ -183,13 +204,6 @@ export const moveLiquidFormToArgs = ( sourceWellsUnordered.length > 0, 'expected sourceWells to have length > 0' ) - assert(destWellsUnordered.length > 0, 'expected destWells to have length > 0') - assert( - sourceWellsUnordered.length === 1 || - destWellsUnordered.length === 1 || - sourceWellsUnordered.length === destWellsUnordered.length, - `cannot do moveLiquidFormToArgs. Mismatched wells (not 1:N, N:1, or N:N!) for path="single". Neither source (${sourceWellsUnordered.length}) nor dest (${destWellsUnordered.length}) equal 1` - ) assert( !( path === 'multiDispense' && @@ -198,6 +212,15 @@ export const moveLiquidFormToArgs = ( 'blowout location for multiDispense cannot be destination well' ) + if (!dispenseInWasteChute && dispWells.length === 0) { + console.error('expected to have destWells.length > 0 but got none') + } + + assert( + !(path === 'multiDispense' && destWells == null), + 'cannot distribute when destWells is null' + ) + switch (path) { case 'single': { const transferStepArguments: TransferArgs = { @@ -220,7 +243,7 @@ export const moveLiquidFormToArgs = ( mixFirstAspirate: mixBeforeAspirate, mixInDestination, sourceWells, - destWell: destWells[0], + destWell: destWells != null ? destWells[0] : null, } return consolidateStepArguments } @@ -234,7 +257,9 @@ export const moveLiquidFormToArgs = ( blowoutLocation: fields.blowout_location, mixBeforeAspirate, sourceWell: sourceWells[0], - destWells, + // cannot distribute into a waste chute so if destWells is null + // there is an error + destWells: destWells ?? [], } return distributeStepArguments } diff --git a/protocol-designer/src/steplist/formLevel/stepFormToArgs/test/moveLiquidFormToArgs.test.ts b/protocol-designer/src/steplist/formLevel/stepFormToArgs/test/moveLiquidFormToArgs.test.ts index 85f46cd539b..25e257bb215 100644 --- a/protocol-designer/src/steplist/formLevel/stepFormToArgs/test/moveLiquidFormToArgs.test.ts +++ b/protocol-designer/src/steplist/formLevel/stepFormToArgs/test/moveLiquidFormToArgs.test.ts @@ -121,6 +121,28 @@ describe('move liquid step form -> command creator args', () => { ) }) + it('moveLiquidFormToArgs calls getOrderedWells only for aspirate when dispensing is into a waste chute', () => { + moveLiquidFormToArgs({ + ...hydratedForm, + fields: { + ...hydratedForm.fields, + dispense_labware: { + id: 'destLabwareId', + name: 'wasteChute', + location: 'cutoutD3', + }, + }, + }) + + expect(mockGetOrderedWells).toHaveBeenCalledTimes(1) + expect(mockGetOrderedWells).toHaveBeenCalledWith( + [ASPIRATE_WELL], + sourceLabwareDef, + 'l2r', + 't2b' + ) + }) + it('moveLiquid form with 1:1 single transfer translated to args', () => { const result = moveLiquidFormToArgs(hydratedForm) diff --git a/protocol-designer/src/steplist/formLevel/warnings.tsx b/protocol-designer/src/steplist/formLevel/warnings.tsx index 212c07ec935..eeaa88ff787 100644 --- a/protocol-designer/src/steplist/formLevel/warnings.tsx +++ b/protocol-designer/src/steplist/formLevel/warnings.tsx @@ -72,7 +72,7 @@ export type WarningChecker = (val: unknown) => FormWarning | null ** Warning Checkers ** ********************/ // TODO: real HydratedFormData type -type HydratedFormData = any +export type HydratedFormData = any export const belowPipetteMinimumVolume = ( fields: HydratedFormData @@ -90,7 +90,10 @@ export const maxDispenseWellVolume = ( const { dispense_labware, dispense_wells, volume } = fields if (!dispense_labware || !dispense_wells) return null const hasExceeded = dispense_wells.some((well: string) => { - const maximum = getWellTotalVolume(dispense_labware.def, well) + const maximum = + 'name' in dispense_labware && dispense_labware.name === 'wasteChute' + ? Infinity // some randomly selected high number since waste chute is huge + : getWellTotalVolume(dispense_labware.def, well) return maximum && volume > maximum }) return hasExceeded ? overMaxWellVolumeWarning() : null diff --git a/protocol-designer/src/steplist/substepTimeline.ts b/protocol-designer/src/steplist/substepTimeline.ts index 3c6daed9ceb..09c5ef55ffe 100644 --- a/protocol-designer/src/steplist/substepTimeline.ts +++ b/protocol-designer/src/steplist/substepTimeline.ts @@ -12,8 +12,13 @@ import type { InvariantContext, RobotState, } from '@opentrons/step-generation' -import type { CreateCommand } from '@opentrons/shared-data' +import { + AddressableAreaName, + CreateCommand, + FLEX_ROBOT_TYPE, +} from '@opentrons/shared-data' import type { SubstepTimelineFrame, SourceDestData, TipLocation } from './types' +import { getCutoutIdByAddressableArea } from '../utils' /** Return last picked up tip in the specified commands, if any */ export function _getNewActiveTips( @@ -50,7 +55,8 @@ const _createNextTimelineFrame = (args: { activeTips: _getNewActiveTips(args.nextFrame.commands.slice(0, args.index)), } const newTimelineFrame = - args.command.commandType === 'aspirate' + args.command.commandType === 'aspirate' || + args.command.commandType === 'aspirateInPlace' ? { ..._newTimelineFrameKeys, source: args.wellInfo } : { ..._newTimelineFrameKeys, dest: args.wellInfo } return newTimelineFrame @@ -83,6 +89,7 @@ export const substepTimelineSingleChannel = ( command.commandType === 'dispense' ) { const { wellName, volume, labwareId } = command.params + const wellInfo = { labwareId, wells: [wellName], @@ -90,6 +97,75 @@ export const substepTimelineSingleChannel = ( acc.prevRobotState.liquidState.labware[labwareId][wellName], postIngreds: nextRobotState.liquidState.labware[labwareId][wellName], } + return { + ...acc, + timeline: [ + ...acc.timeline, + _createNextTimelineFrame({ + volume, + index, + // @ts-expect-error(sa, 2021-6-14): after type narrowing (see comment above) this expect error should not be necessary + nextFrame, + command, + wellInfo, + }), + ], + prevRobotState: nextRobotState, + } + } else if ( + command.commandType === 'dispenseInPlace' || + command.commandType === 'aspirateInPlace' + ) { + const { volume } = command.params + const prevCommand = + 'commands' in nextFrame ? nextFrame.commands[index - 1] : null + + const moveToAddressableAreaCommand = + prevCommand?.commandType === 'moveToAddressableArea' + ? prevCommand + : null + if (moveToAddressableAreaCommand == null) { + console.error( + `expected to find moveToAddressableArea command assosciated with the ${command.commandType} but could not` + ) + } + const cutoutFixture = + moveToAddressableAreaCommand?.params.addressableAreaName === + '1and8ChannelWasteChute' || + moveToAddressableAreaCommand?.params.addressableAreaName === + '96ChannelWasteChute' + ? 'wasteChuteRightAdapterNoCover' + : 'trashBinAdapter' + + const cutoutId = getCutoutIdByAddressableArea( + moveToAddressableAreaCommand?.params + .addressableAreaName as AddressableAreaName, + cutoutFixture, + FLEX_ROBOT_TYPE + ) + const additionalEquipmentId = Object.entries( + invariantContext.additionalEquipmentEntities + ).find(([id, aE]) => aE.location === cutoutId)?.[0] + + if (additionalEquipmentId == null) { + console.error( + `expected to find an additional equipment id from cutoutId ${cutoutId} but ocould not` + ) + } + + const wellInfo = { + additionalEquipmentId, + wells: [], + preIngreds: + acc.prevRobotState.liquidState.additionalEquipment[ + additionalEquipmentId ?? '' + ], + postIngreds: + nextRobotState.liquidState.additionalEquipment[ + additionalEquipmentId ?? '' + ], + } + return { ...acc, timeline: [ @@ -141,13 +217,16 @@ export const substepTimelineMultiChannel = ( command.commandType === 'dispense' ) { const { wellName, volume, labwareId } = command.params - const labwareDef = invariantContext.labwareEntities - ? invariantContext.labwareEntities[labwareId].def - : null + const labwareDef = + invariantContext.labwareEntities[labwareId] != null + ? invariantContext.labwareEntities[labwareId].def + : null + const wellsForTips = channels && labwareDef && getWellsForTips(channels, labwareDef, wellName).wellsForTips + const wellInfo = { labwareId, wells: wellsForTips || [], @@ -161,6 +240,75 @@ export const substepTimelineMultiChannel = ( ? pick(nextRobotState.liquidState.labware[labwareId], wellsForTips) : {}, } + return { + ...acc, + timeline: [ + ...acc.timeline, + _createNextTimelineFrame({ + volume, + index, + // @ts-expect-error(sa, 2021-6-14): after type narrowing (see comment above) this expect error should not be necessary + nextFrame, + command, + wellInfo, + }), + ], + prevRobotState: nextRobotState, + } + } else if ( + command.commandType === 'dispenseInPlace' || + command.commandType === 'aspirateInPlace' + ) { + const { volume } = command.params + const prevCommand = + 'commands' in nextFrame ? nextFrame.commands[index - 1] : null + + const moveToAddressableAreaCommand = + prevCommand?.commandType === 'moveToAddressableArea' + ? prevCommand + : null + if (moveToAddressableAreaCommand == null) { + console.error( + `expected to find moveToAddressableArea command assosciated with the ${command.commandType} but could not` + ) + } + const cutoutFixture = + moveToAddressableAreaCommand?.params.addressableAreaName === + '1and8ChannelWasteChute' || + moveToAddressableAreaCommand?.params.addressableAreaName === + '96ChannelWasteChute' + ? 'wasteChuteRightAdapterNoCover' + : 'trashBinAdapter' + + const cutoutId = getCutoutIdByAddressableArea( + moveToAddressableAreaCommand?.params + .addressableAreaName as AddressableAreaName, + cutoutFixture, + FLEX_ROBOT_TYPE + ) + const additionalEquipmentId = Object.entries( + invariantContext.additionalEquipmentEntities + ).find(([id, aE]) => aE.location === cutoutId)?.[0] + + if (additionalEquipmentId == null) { + console.error( + `expected to find an additional equipment id from cutoutId ${cutoutId} but ocould not` + ) + } + + const wellInfo = { + additionalEquipmentId, + wells: [], + preIngreds: + acc.prevRobotState.liquidState.additionalEquipment[ + additionalEquipmentId ?? '' + ], + postIngreds: + nextRobotState.liquidState.additionalEquipment[ + additionalEquipmentId ?? '' + ], + } + return { ...acc, timeline: [ diff --git a/protocol-designer/src/steplist/utils/index.ts b/protocol-designer/src/steplist/utils/index.ts index 893cb45f7e1..96969a83b2d 100644 --- a/protocol-designer/src/steplist/utils/index.ts +++ b/protocol-designer/src/steplist/utils/index.ts @@ -2,30 +2,44 @@ import { mergeWhen } from './mergeWhen' import { getOrderedWells } from './orderWells' import { StepIdType } from '../../form-types' export { mergeWhen, getOrderedWells } + export type WellRatio = 'n:n' | '1:many' | 'many:1' export function getWellRatio( - sourceWells: unknown, - destWells: unknown + sourceWells?: string[] | null, + destWells?: string[] | null, + isDispensingIntoWasteChute?: boolean ): WellRatio | null | undefined { - if ( - !Array.isArray(sourceWells) || - sourceWells.length === 0 || - !Array.isArray(destWells) || - destWells.length === 0 - ) { - return null - } + if (isDispensingIntoWasteChute) { + if (!Array.isArray(sourceWells) || sourceWells.length === 0) { + return null + } + if (sourceWells.length === 1) { + return 'n:n' + } + if (sourceWells.length > 1) { + return 'many:1' + } + } else { + if ( + !Array.isArray(sourceWells) || + sourceWells.length === 0 || + !Array.isArray(destWells) || + destWells.length === 0 + ) { + return null + } - if (sourceWells.length === destWells.length) { - return 'n:n' - } + if (sourceWells.length === destWells.length) { + return 'n:n' + } - if (sourceWells.length === 1 && destWells.length > 1) { - return '1:many' - } + if (sourceWells.length === 1 && destWells.length > 1) { + return '1:many' + } - if (sourceWells.length > 1 && destWells.length === 1) { - return 'many:1' + if (sourceWells.length > 1 && destWells.length === 1) { + return 'many:1' + } } return null diff --git a/protocol-designer/src/timelineMiddleware/generateRobotStateTimeline.ts b/protocol-designer/src/timelineMiddleware/generateRobotStateTimeline.ts index 72ff5301b8e..3cc251dd85e 100644 --- a/protocol-designer/src/timelineMiddleware/generateRobotStateTimeline.ts +++ b/protocol-designer/src/timelineMiddleware/generateRobotStateTimeline.ts @@ -2,6 +2,7 @@ import takeWhile from 'lodash/takeWhile' import * as StepGeneration from '@opentrons/step-generation' import { commandCreatorFromStepArgs } from '../file-data/selectors/commands' import type { StepArgsAndErrorsById } from '../steplist/types' + export interface GenerateRobotStateTimelineArgs { allStepArgsAndErrors: StepArgsAndErrorsById orderedStepIds: string[] @@ -65,18 +66,56 @@ export const generateRobotStateTimeline = ( // @ts-expect-error(sa, 2021-6-20): not a valid type narrow, use in operator nextStepArgsForPipette.changeTip === 'never' + const isWasteChute = + invariantContext.additionalEquipmentEntities[dropTipLocation] != + null && + invariantContext.additionalEquipmentEntities[dropTipLocation].name === + 'wasteChute' + const isTrashBin = + invariantContext.additionalEquipmentEntities[dropTipLocation] != + null && + invariantContext.additionalEquipmentEntities[dropTipLocation].name === + 'trashBin' + + const pipetteSpec = invariantContext.pipetteEntities[pipetteId]?.spec + const addressableAreaName = + pipetteSpec.channels === 96 + ? '96ChannelWasteChute' + : '1and8ChannelWasteChute' + + let dropTipCommands = StepGeneration.curryCommandCreator( + StepGeneration.dropTip, + { + pipette: pipetteId, + dropTipLocation, + } + ) + + if (isWasteChute) { + dropTipCommands = StepGeneration.curryCommandCreator( + StepGeneration.wasteChuteCommandsUtil, + { + type: 'dropTip', + pipetteId: pipetteId, + addressableAreaName, + } + ) + } + if (isTrashBin) { + dropTipCommands = StepGeneration.curryCommandCreator( + StepGeneration.movableTrashCommandsUtil, + { + type: 'dropTip', + pipetteId: pipetteId, + } + ) + } if (!willReuseTip) { return [ ...acc, (_invariantContext, _prevRobotState) => StepGeneration.reduceCommandCreators( - [ - curriedCommandCreator, - StepGeneration.curryCommandCreator(StepGeneration.dropTip, { - pipette: pipetteId, - dropTipLocation, - }), - ], + [curriedCommandCreator, dropTipCommands], _invariantContext, _prevRobotState ), diff --git a/protocol-designer/src/top-selectors/labware-locations/index.ts b/protocol-designer/src/top-selectors/labware-locations/index.ts index 1ef2640b018..d2ddec12e42 100644 --- a/protocol-designer/src/top-selectors/labware-locations/index.ts +++ b/protocol-designer/src/top-selectors/labware-locations/index.ts @@ -5,8 +5,14 @@ import { getDeckDefFromRobotType, getModuleDisplayName, FLEX_ROBOT_TYPE, - WASTE_CHUTE_SLOT, + WASTE_CHUTE_ADDRESSABLE_AREAS, + WASTE_CHUTE_CUTOUT, + CutoutId, + STAGING_AREA_RIGHT_SLOT_FIXTURE, + isAddressableAreaStandardSlot, + MOVABLE_TRASH_ADDRESSABLE_AREAS, } from '@opentrons/shared-data' +import { COLUMN_4_SLOTS } from '@opentrons/step-generation' import { START_TERMINAL_ITEM_ID, END_TERMINAL_ITEM_ID, @@ -30,6 +36,7 @@ import { import { getIsAdapter } from '../../utils' import type { RobotState } from '@opentrons/step-generation' import type { Selector } from '../../types' +import type { AddressableAreaName } from '@opentrons/shared-data' interface Option { name: string @@ -91,7 +98,7 @@ export const getRobotStateAtActiveItem: Selector = createSele ) // TODO(jr, 9/20/23): we should test this util since it does a lot. -export const getUnocuppiedLabwareLocationOptions: Selector< +export const getUnoccupiedLabwareLocationOptions: Selector< Option[] | null > = createSelector( getRobotStateAtActiveItem, @@ -107,9 +114,17 @@ export const getUnocuppiedLabwareLocationOptions: Selector< additionalEquipmentEntities ) => { const deckDef = getDeckDefFromRobotType(robotType) - const trashSlot = robotType === FLEX_ROBOT_TYPE ? 'A3' : '12' - const allSlotIds = deckDef.locations.orderedSlots.map(slot => slot.id) + const cutoutFixtures = deckDef.cutoutFixtures const hasWasteChute = getHasWasteChute(additionalEquipmentEntities) + const allSlotIds = deckDef.locations.addressableAreas.reduce< + AddressableAreaName[] + >((acc, slot) => { + return hasWasteChute && slot.id === 'D3' ? acc : [...acc, slot.id] + }, []) + const stagingAreaCutoutIds = Object.values(additionalEquipmentEntities) + .filter(aE => aE.name === 'stagingArea') + // TODO(jr, 11/13/23): fix AdditionalEquipment['location'] from type string to CutoutId + .map(aE => aE.location as CutoutId) if (robotState == null) return null @@ -188,21 +203,44 @@ export const getUnocuppiedLabwareLocationOptions: Selector< [] ) + const stagingAreaAddressableAreaNames = stagingAreaCutoutIds + .flatMap(cutoutId => { + const addressableAreasOnCutout = cutoutFixtures.find( + cutoutFixture => cutoutFixture.id === STAGING_AREA_RIGHT_SLOT_FIXTURE + )?.providesAddressableAreas[cutoutId] + return addressableAreasOnCutout ?? [] + }) + .filter(aa => !isAddressableAreaStandardSlot(aa, deckDef)) + + // TODO(jr, 11/13/23): update COLUMN_4_SLOTS usage to FLEX_STAGING_AREA_SLOT_ADDRESSABLE_AREAS + const notSelectedStagingAreaAddressableAreas = COLUMN_4_SLOTS.filter(slot => + stagingAreaAddressableAreaNames.every( + addressableArea => addressableArea !== slot + ) + ) + const unoccupiedSlotOptions = allSlotIds - .filter( - slotId => + .filter(slotId => { + const isTrashSlot = + robotType === FLEX_ROBOT_TYPE + ? MOVABLE_TRASH_ADDRESSABLE_AREAS.includes(slotId) + : slotId === 'fixedTrash' + + return ( !slotIdsOccupiedByModules.includes(slotId) && !Object.values(labware) .map(lw => lw.slot) .includes(slotId) && - slotId !== trashSlot && - (hasWasteChute ? slotId !== WASTE_CHUTE_SLOT : true) - ) + !isTrashSlot && + !WASTE_CHUTE_ADDRESSABLE_AREAS.includes(slotId) && + !notSelectedStagingAreaAddressableAreas.includes(slotId) + ) + }) .map(slotId => ({ name: slotId, value: slotId })) const offDeck = { name: 'Off-deck', value: 'offDeck' } const wasteChuteSlot = { name: 'Waste Chute in D3', - value: WASTE_CHUTE_SLOT, + value: WASTE_CHUTE_CUTOUT, } return hasWasteChute @@ -243,12 +281,12 @@ export const getDeckSetupForActiveItem: Selector - entity.name === 'wasteChute' || entity.name === 'stagingArea' + entity.name === 'wasteChute' || + entity.name === 'stagingArea' || + entity.name === 'trashBin' ) ) return { diff --git a/protocol-designer/src/top-selectors/substep-highlight.ts b/protocol-designer/src/top-selectors/substep-highlight.ts index b959b902e76..b4d3b57c4fc 100644 --- a/protocol-designer/src/top-selectors/substep-highlight.ts +++ b/protocol-designer/src/top-selectors/substep-highlight.ts @@ -71,7 +71,7 @@ function _getSelectedWellsForStep( wells.push(...getWells(stepArgs.sourceWells)) } - if (stepArgs.destLabware === labwareId) { + if (stepArgs.destLabware === labwareId && stepArgs.destWells != null) { wells.push(...getWells(stepArgs.destWells)) } } else if (stepArgs.commandCreatorFnName === 'consolidate') { @@ -79,7 +79,7 @@ function _getSelectedWellsForStep( wells.push(...getWells(stepArgs.sourceWells)) } - if (stepArgs.destLabware === labwareId) { + if (stepArgs.destLabware === labwareId && stepArgs.destWell != null) { wells.push(...getWells([stepArgs.destWell])) } } else if (stepArgs.commandCreatorFnName === 'distribute') { diff --git a/protocol-designer/src/tutorial/index.ts b/protocol-designer/src/tutorial/index.ts index e5a1a71d97a..a0eee9ffff3 100644 --- a/protocol-designer/src/tutorial/index.ts +++ b/protocol-designer/src/tutorial/index.ts @@ -10,7 +10,7 @@ type HintKey = // normal hints | 'waste_chute_warning' // blocking hints | 'custom_labware_with_modules' - | 'export_v7_protocol_7_0' + | 'export_v8_protocol_7_1' | 'change_magnet_module_model' // DEPRECATED HINTS (keep a record to avoid name collisions with old persisted dismissal states) // 'export_v4_protocol' @@ -18,5 +18,6 @@ type HintKey = // normal hints // | 'export_v5_protocol_3_20' // | 'export_v6_protocol_6_10' // | 'export_v6_protocol_6_20' +// | 'export_v7_protocol_7_0' export { actions, rootReducer, selectors } export type { RootState, HintKey } diff --git a/protocol-designer/src/tutorial/selectors.ts b/protocol-designer/src/tutorial/selectors.ts index ec198989d88..a1185dbee77 100644 --- a/protocol-designer/src/tutorial/selectors.ts +++ b/protocol-designer/src/tutorial/selectors.ts @@ -1,7 +1,7 @@ import { createSelector } from 'reselect' import { THERMOCYCLER_MODULE_TYPE, - WASTE_CHUTE_SLOT, + WASTE_CHUTE_CUTOUT, } from '@opentrons/shared-data' import { timelineFrameBeforeActiveItem } from '../top-selectors/timelineFrames' import { @@ -85,7 +85,7 @@ export const shouldShowWasteChuteHint: Selector = createSelector( return false } const { newLocation } = unsavedForm - if (newLocation === WASTE_CHUTE_SLOT) { + if (newLocation === WASTE_CHUTE_CUTOUT) { return true } diff --git a/protocol-designer/src/ui/labware/__tests__/selectors.test.ts b/protocol-designer/src/ui/labware/__tests__/selectors.test.ts index c3388d91825..ce54e2c58e8 100644 --- a/protocol-designer/src/ui/labware/__tests__/selectors.test.ts +++ b/protocol-designer/src/ui/labware/__tests__/selectors.test.ts @@ -10,7 +10,7 @@ import { } from '@opentrons/shared-data' import { SPAN7_8_10_11_SLOT } from '../../../constants' import { - getDisposalLabwareOptions, + getDisposalOptions, getLabwareOptions, _sortLabwareDropdownOptions, } from '../selectors' @@ -70,51 +70,73 @@ describe('labware selectors', () => { } }) - describe('getDisposalLabwareOptions', () => { - it('returns an empty list when labware is NOT provided', () => { + describe('getDisposalOptions', () => { + it('returns an empty list when additionalEquipment is NOT provided', () => { expect( // @ts-expect-error(sa, 2021-6-15): resultFunc - getDisposalLabwareOptions.resultFunc([], names) + getDisposalOptions.resultFunc([]) ).toEqual([]) }) - it('returns empty list when trash is NOT present', () => { - const labwareEntities = { - ...tipracks, + it('returns empty list when trash bin is NOT present', () => { + const additionalEquipmentEntities = { + stagingArea: { + name: 'stagingArea', + location: 'cutoutB3', + id: 'stagingAreaId', + }, } expect( // @ts-expect-error(sa, 2021-6-15): resultFunc - getDisposalLabwareOptions.resultFunc(labwareEntities, names) + getDisposalOptions.resultFunc(additionalEquipmentEntities) ).toEqual([]) }) - it('filters out labware that is NOT trash when one trash bin present', () => { - const labwareEntities = { - ...tipracks, - ...trash, + it('filters out additional equipment that is not trash when a trash is present', () => { + const mockTrashId = 'mockTrashId' + const additionalEquipmentEntities = { + stagingArea: { + name: 'stagingArea', + location: 'cutoutB3', + id: 'staginAreaId', + }, + [mockTrashId]: { + name: 'trashBin', + location: 'cutoutA3', + id: mockTrashId, + }, } expect( // @ts-expect-error(sa, 2021-6-15): resultFunc - getDisposalLabwareOptions.resultFunc(labwareEntities, names) - ).toEqual([{ name: 'Trash Bin', value: mockTrash }]) + getDisposalOptions.resultFunc(additionalEquipmentEntities) + ).toEqual([{ name: 'Trash Bin', value: mockTrashId }]) }) - it('filters out labware that is NOT trash when multiple trash bins present', () => { - const trash2 = { - mockTrash2: { - def: { ...fixtureTrash }, + it('filters out additional equipment that is NOT trash when multiple trash bins present', () => { + const mockTrashId = 'mockTrashId' + const mockTrashId2 = 'mockTrashId2' + const additionalEquipmentEntities = { + stagingArea: { + name: 'stagingArea', + location: 'cutoutB3', + id: 'staginAreaId', + }, + [mockTrashId]: { + name: 'trashBin', + location: 'cutoutA3', + id: mockTrashId, + }, + [mockTrashId2]: { + name: 'trashBin', + location: 'cutoutA1', + id: mockTrashId2, }, - } - const labwareEntities = { - ...tipracks, - ...trash, - ...trash2, } expect( // @ts-expect-error(sa, 2021-6-15): resultFunc - getDisposalLabwareOptions.resultFunc(labwareEntities, names) + getDisposalOptions.resultFunc(additionalEquipmentEntities) ).toEqual([ - { name: 'Trash Bin', value: mockTrash }, - { name: 'Trash Bin', value: mockTrash2 }, + { name: 'Trash Bin', value: mockTrashId }, + { name: 'Trash Bin', value: mockTrashId2 }, ]) }) }) @@ -123,10 +145,13 @@ describe('labware selectors', () => { it('should return an empty list when no labware is present', () => { expect( // @ts-expect-error(sa, 2021-6-15): resultFunc - getDisposalLabwareOptions.resultFunc( + getLabwareOptions.resultFunc( {}, {}, - { labware: {}, modules: {}, pipettes: {} } + { labware: {}, modules: {}, pipettes: {} }, + {}, + {}, + {} ) ).toEqual([]) }) @@ -149,6 +174,7 @@ describe('labware selectors', () => { names, initialDeckSetup, {}, + {}, {} ) ).toEqual([ @@ -179,6 +205,7 @@ describe('labware selectors', () => { names, initialDeckSetup, presavedStepForm, + {}, {} ) ).toEqual([ @@ -261,6 +288,7 @@ describe('labware selectors', () => { nicknames, initialDeckSetup, {}, + {}, {} ) ).toEqual([ @@ -317,11 +345,13 @@ describe('labware selectors', () => { labwareEntities, nicknames, initialDeckSetup, - savedStep + {}, + savedStep, + {} ) ).toEqual([ { name: 'Trash', value: mockTrash }, - { name: 'Well Plate in Magnetic Module', value: 'wellPlateId' }, + { name: 'Well Plate', value: 'wellPlateId' }, ]) }) }) diff --git a/protocol-designer/src/ui/labware/selectors.ts b/protocol-designer/src/ui/labware/selectors.ts index 7ee927c1ff7..9c03554f73b 100644 --- a/protocol-designer/src/ui/labware/selectors.ts +++ b/protocol-designer/src/ui/labware/selectors.ts @@ -1,19 +1,19 @@ import { createSelector } from 'reselect' import mapValues from 'lodash/mapValues' import reduce from 'lodash/reduce' +import { getIsTiprack, getLabwareDisplayName } from '@opentrons/shared-data' import { - getIsTiprack, - getLabwareDisplayName, - getLabwareHasQuirk, -} from '@opentrons/shared-data' + AdditionalEquipmentEntity, + COLUMN_4_SLOTS, +} from '@opentrons/step-generation' import { i18n } from '../../localization' import * as stepFormSelectors from '../../step-forms/selectors' import { selectors as labwareIngredSelectors } from '../../labware-ingred/selectors' import { getModuleUnderLabware } from '../modules/utils' import { getLabwareOffDeck } from './utils' -import type { Options } from '@opentrons/components' import type { LabwareEntity } from '@opentrons/step-generation' +import type { DropdownOption, Options } from '@opentrons/components' import type { Selector } from '../../types' const TRASH = 'Trash Bin' @@ -48,30 +48,65 @@ export const getLabwareOptions: Selector = createSelector( stepFormSelectors.getInitialDeckSetup, stepFormSelectors.getPresavedStepForm, stepFormSelectors.getSavedStepForms, + stepFormSelectors.getAdditionalEquipmentEntities, ( labwareEntities, nicknamesById, initialDeckSetup, presavedStepForm, - savedStepForms + savedStepForms, + additionalEquipmentEntities ) => { const moveLabwarePresavedStep = presavedStepForm?.stepType === 'moveLabware' - const options = reduce( + const trash = Object.values(additionalEquipmentEntities).find( + aE => aE.name === 'trashBin' + ) + const wasteChuteLocation = Object.values(additionalEquipmentEntities).find( + aE => aE.name === 'wasteChute' + )?.location + + const labwareOptions = reduce( labwareEntities, ( acc: Options, labwareEntity: LabwareEntity, labwareId: string ): Options => { + const isLabwareInWasteChute = Object.values(savedStepForms).find( + form => + form.stepType === 'moveLabware' && + form.labware === labwareId && + form.newLocation === wasteChuteLocation + ) + const isAdapter = labwareEntity.def.allowedRoles?.includes('adapter') const isOffDeck = getLabwareOffDeck( initialDeckSetup, savedStepForms ?? {}, labwareId ) + const isStartingInColumn4 = COLUMN_4_SLOTS.includes( + initialDeckSetup.labware[labwareId]?.slot + ) + + const isInColumn4 = + savedStepForms != null + ? Object.values(savedStepForms) + ?.reverse() + .some( + form => + form.stepType === 'moveLabware' && + form.labware === labwareId && + (COLUMN_4_SLOTS.includes(form.newLocation) || + (isStartingInColumn4 && + !COLUMN_4_SLOTS.includes(form.newLocation))) + ) + : false + const isAdapterOrAluminumBlock = isAdapter || labwareEntity.def.metadata.displayCategory === 'aluminumBlock' + const moduleOnDeck = getModuleUnderLabware( initialDeckSetup, savedStepForms ?? {}, @@ -89,12 +124,16 @@ export const getLabwareOptions: Selector = createSelector( nickName = `${nicknamesById[labwareId]} in ${module}` } else if (isOffDeck) { nickName = `Off-deck - ${nicknamesById[labwareId]}` - } else if (nickName === 'Opentrons Fixed Trash') { - nickName = TRASH + } else if (isInColumn4) { + nickName = `${nicknamesById[labwareId]} in staging area slot` } if (!moveLabwarePresavedStep) { - return getIsTiprack(labwareEntity.def) || isAdapter + // filter out tip racks, adapters, and labware in waste chute + // for aspirating/dispensing/mixing into + return getIsTiprack(labwareEntity.def) || + isAdapter || + isLabwareInWasteChute ? acc : [ ...acc, @@ -104,8 +143,9 @@ export const getLabwareOptions: Selector = createSelector( }, ] } else { - // filter out moving trash for now in MoveLabware step type - return nickName === TRASH || isAdapterOrAluminumBlock + // filter out moving trash, aluminum blocks, adapters and labware in + // waste chute for moveLabware + return isAdapterOrAluminumBlock || isLabwareInWasteChute ? acc : [ ...acc, @@ -118,26 +158,59 @@ export const getLabwareOptions: Selector = createSelector( }, [] ) + + const trashOption: Options = + trash != null && !moveLabwarePresavedStep + ? [{ name: TRASH, value: trash?.id ?? '' }] + : [] + + const options = [...trashOption, ...labwareOptions] + return _sortLabwareDropdownOptions(options) } ) +/** Returns waste chute option */ +export const getWasteChuteOption: Selector = createSelector( + stepFormSelectors.getAdditionalEquipmentEntities, + additionalEquipmentEntities => { + const wasteChuteEntity = Object.values(additionalEquipmentEntities).find( + aE => aE.name === 'wasteChute' + ) + const wasteChuteOption: DropdownOption | null = + wasteChuteEntity != null + ? { + name: 'Waste Chute', + value: wasteChuteEntity.id, + } + : null + + return wasteChuteOption + } +) + /** Returns options for disposal (e.g. trash) */ -export const getDisposalLabwareOptions: Selector = createSelector( - stepFormSelectors.getLabwareEntities, - labwareEntities => - reduce( - labwareEntities, - (acc: Options, labware: LabwareEntity, labwareId): Options => - getLabwareHasQuirk(labware.def, 'fixedTrash') +export const getDisposalOptions: Selector = createSelector( + stepFormSelectors.getAdditionalEquipment, + getWasteChuteOption, + (additionalEquipment, wasteChuteOption) => { + const trashBins = reduce( + additionalEquipment, + (acc: Options, additionalEquipment: AdditionalEquipmentEntity): Options => + additionalEquipment.name === 'trashBin' ? [ ...acc, { name: TRASH, - value: labwareId, + value: additionalEquipment.id ?? '', }, ] : acc, [] ) + + return wasteChuteOption != null + ? ([...trashBins, wasteChuteOption] as DropdownOption[]) + : trashBins + } ) diff --git a/protocol-designer/src/ui/steps/actions/__tests__/actions.test.ts b/protocol-designer/src/ui/steps/actions/__tests__/actions.test.ts index a6f4f14244d..167c39f8809 100644 --- a/protocol-designer/src/ui/steps/actions/__tests__/actions.test.ts +++ b/protocol-designer/src/ui/steps/actions/__tests__/actions.test.ts @@ -64,6 +64,7 @@ const initialRobotState: RobotState = { liquidState: { pipettes: {}, labware: {}, + additionalEquipment: {}, }, tipState: { pipettes: {}, @@ -383,6 +384,7 @@ describe('steps actions', () => { liquidState: { labware: {}, pipettes: {}, + additionalEquipment: {}, }, modules: {}, pipettes: { @@ -526,6 +528,7 @@ describe('steps actions', () => { liquidState: { labware: {}, pipettes: {}, + additionalEquipment: {}, }, modules: {}, pipettes: { diff --git a/protocol-designer/src/utils/index.ts b/protocol-designer/src/utils/index.ts index 210016ffa45..1605206c9a7 100644 --- a/protocol-designer/src/utils/index.ts +++ b/protocol-designer/src/utils/index.ts @@ -1,5 +1,16 @@ import uuidv1 from 'uuid/v4' -import { WellSetHelpers, makeWellSetHelpers } from '@opentrons/shared-data' +import { + WellSetHelpers, + makeWellSetHelpers, + AddressableAreaName, + getDeckDefFromRobotType, + FLEX_ROBOT_TYPE, + CutoutId, + STAGING_AREA_RIGHT_SLOT_FIXTURE, + isAddressableAreaStandardSlot, + CutoutFixtureId, + RobotType, +} from '@opentrons/shared-data' import { i18n } from '../localization' import { WellGroup } from '@opentrons/components' import { BoundingRect, GenericRect } from '../collision-types' @@ -132,3 +143,56 @@ export const getStagingAreaSlots = ( export const getHas96Channel = (pipettes: PipetteEntities): boolean => { return Object.values(pipettes).some(pip => pip.spec.channels === 96) } + +export const getStagingAreaAddressableAreas = ( + cutoutIds: CutoutId[] +): AddressableAreaName[] => { + const deckDef = getDeckDefFromRobotType(FLEX_ROBOT_TYPE) + const cutoutFixtures = deckDef.cutoutFixtures + + return cutoutIds + .flatMap(cutoutId => { + const addressableAreasOnCutout = cutoutFixtures.find( + cutoutFixture => cutoutFixture.id === STAGING_AREA_RIGHT_SLOT_FIXTURE + )?.providesAddressableAreas[cutoutId] + return addressableAreasOnCutout ?? [] + }) + .filter(aa => !isAddressableAreaStandardSlot(aa, deckDef)) +} + +export const getCutoutIdByAddressableArea = ( + addressableAreaName: AddressableAreaName, + cutoutFixtureId: CutoutFixtureId, + robotType: RobotType +): CutoutId => { + const deckDef = getDeckDefFromRobotType(robotType) + const cutoutFixtures = deckDef.cutoutFixtures + const providesAddressableAreasForAddressableArea = cutoutFixtures.find( + cutoutFixture => cutoutFixture.id.includes(cutoutFixtureId) + )?.providesAddressableAreas + + const findCutoutIdByAddressableArea = ( + addressableAreaName: AddressableAreaName + ): CutoutId | null => { + if (providesAddressableAreasForAddressableArea != null) { + for (const cutoutId in providesAddressableAreasForAddressableArea) { + if ( + providesAddressableAreasForAddressableArea[ + cutoutId as keyof typeof providesAddressableAreasForAddressableArea + ].includes(addressableAreaName) + ) { + return cutoutId as CutoutId + } + } + } + return null + } + const cutoutId = findCutoutIdByAddressableArea(addressableAreaName) + + if (cutoutId == null) { + throw Error( + `expected to find cutoutId from addressableAreaName ${addressableAreaName} but could not` + ) + } + return cutoutId +} diff --git a/react-api-client/src/deck_configuration/__tests__/useCreateDeckConfigurationMutation.test.tsx b/react-api-client/src/deck_configuration/__tests__/useCreateDeckConfigurationMutation.test.tsx deleted file mode 100644 index d2e201fc0e0..00000000000 --- a/react-api-client/src/deck_configuration/__tests__/useCreateDeckConfigurationMutation.test.tsx +++ /dev/null @@ -1,89 +0,0 @@ -import * as React from 'react' -import { when, resetAllWhenMocks } from 'jest-when' -import { QueryClient, QueryClientProvider } from 'react-query' -import { renderHook } from '@testing-library/react-hooks' - -import { createDeckConfiguration } from '@opentrons/api-client' -// import { -// TRASH_BIN_LOAD_NAME, -// WASTE_CHUTE_LOAD_NAME, -// WASTE_CHUTE_SLOT, -// } from '@opentrons/shared-data' - -import { useHost } from '../../api' -import { useCreateDeckConfigurationMutation } from '..' - -import type { HostConfig } from '@opentrons/api-client' -// import type { DeckConfiguration } from '@opentrons/shared-data' - -jest.mock('@opentrons/api-client') -jest.mock('../../api/useHost') - -const mockCreateDeckConfiguration = createDeckConfiguration as jest.MockedFunction< - typeof createDeckConfiguration -> -const mockUseHost = useHost as jest.MockedFunction - -// const mockDeckConfiguration = [ -// { -// fixtureId: 'mockFixtureWasteChuteId', -// fixtureLocation: 'D3', -// loadName: WASTE_CHUTE_LOAD_NAME, -// }, -// ] as DeckConfiguration - -const HOST_CONFIG: HostConfig = { hostname: 'localhost' } - -describe('useCreateDeckConfigurationMutation hook', () => { - let wrapper: React.FunctionComponent<{}> - - beforeEach(() => { - const queryClient = new QueryClient() - const clientProvider: React.FunctionComponent<{}> = ({ children }) => ( - {children} - ) - - wrapper = clientProvider - }) - - afterEach(() => { - resetAllWhenMocks() - }) - - it('should return no data when calling createDeckConfiguration if the request fails', async () => { - when(mockUseHost).calledWith().mockReturnValue(HOST_CONFIG) - when(mockCreateDeckConfiguration) - .calledWith(HOST_CONFIG, []) - .mockRejectedValue('oh no') - - const { result, waitFor } = renderHook( - () => useCreateDeckConfigurationMutation(), - { - wrapper, - } - ) - expect(result.current.data).toBeUndefined() - result.current.createDeckConfiguration([]) - await waitFor(() => { - return result.current.status !== 'loading' - }) - expect(result.current.data).toBeUndefined() - }) - // ToDo (kk:10/25/2023) this part will be update when backend is ready - // it('should create a run when calling createDeckConfiguration callback with DeckConfiguration', async () => { - // when(useHost).calledWith().mockReturnValue(HOST_CONFIG) - // when(mockCreateDeckConfiguration) - // .calledWith(HOST_CONFIG, mockDeckConfiguration) - // .mockResolvedValue({ - // data: mockCreateDeckConfiguration, - // } as Response) - - // const { result, waitFor } = renderHook(useCreateDeckConfigurationMutation, { - // wrapper, - // }) - // act(() => result.current.createDeckConfiguration(mockDeckConfiguration)) - - // await waitFor(() => result.current.data != null) - // expect(result.current.data).toEqual(mockDeckConfiguration) - // }) -}) diff --git a/react-api-client/src/deck_configuration/index.ts b/react-api-client/src/deck_configuration/index.ts index b6237d14c30..063a5b0fe82 100644 --- a/react-api-client/src/deck_configuration/index.ts +++ b/react-api-client/src/deck_configuration/index.ts @@ -1,3 +1,2 @@ -export { useCreateDeckConfigurationMutation } from './useCreateDeckConfigurationMutation' export { useDeckConfigurationQuery } from './useDeckConfigurationQuery' export { useUpdateDeckConfigurationMutation } from './useUpdateDeckConfigurationMutation' diff --git a/react-api-client/src/deck_configuration/useCreateDeckConfigurationMutation.ts b/react-api-client/src/deck_configuration/useCreateDeckConfigurationMutation.ts deleted file mode 100644 index ad898e8c13b..00000000000 --- a/react-api-client/src/deck_configuration/useCreateDeckConfigurationMutation.ts +++ /dev/null @@ -1,63 +0,0 @@ -import { useMutation, useQueryClient } from 'react-query' -import { createDeckConfiguration } from '@opentrons/api-client' -import { useHost } from '../api' - -import type { - UseMutateFunction, - UseMutationOptions, - UseMutationResult, -} from 'react-query' -import type { AxiosError } from 'axios' -import type { DeckConfiguration } from '@opentrons/shared-data' -import type { ErrorResponse, HostConfig } from '@opentrons/api-client' - -const DECK_CONFIGURATION = 'deck_configuration' - -export type UseCreateDeckConfigurationMutationResult = UseMutationResult< - DeckConfiguration, - AxiosError, - DeckConfiguration -> & { - createDeckConfiguration: UseMutateFunction< - DeckConfiguration, - AxiosError, - DeckConfiguration - > -} - -export type UseCreateDeckConfigurationMutationOptions = UseMutationOptions< - DeckConfiguration, - AxiosError, - DeckConfiguration -> - -export function useCreateDeckConfigurationMutation( - options: UseCreateDeckConfigurationMutationOptions = {} -): UseCreateDeckConfigurationMutationResult { - const host = useHost() - const queryClient = useQueryClient() - - const mutation = useMutation< - DeckConfiguration, - AxiosError, - DeckConfiguration - >( - [host, DECK_CONFIGURATION], - (deckConfiguration: DeckConfiguration) => - createDeckConfiguration(host as HostConfig, deckConfiguration).then( - response => { - queryClient - .invalidateQueries([host, DECK_CONFIGURATION]) - .catch((error: Error) => { - throw error - }) - return response.data - } - ), - options - ) - return { - ...mutation, - createDeckConfiguration: mutation.mutate, - } -} diff --git a/react-api-client/src/deck_configuration/useDeckConfigurationQuery.ts b/react-api-client/src/deck_configuration/useDeckConfigurationQuery.ts index babee32c609..2851665ff8a 100644 --- a/react-api-client/src/deck_configuration/useDeckConfigurationQuery.ts +++ b/react-api-client/src/deck_configuration/useDeckConfigurationQuery.ts @@ -12,7 +12,9 @@ export function useDeckConfigurationQuery( const query = useQuery( [host, 'deck_configuration'], () => - getDeckConfiguration(host as HostConfig).then(response => response.data), + getDeckConfiguration(host as HostConfig).then( + response => response.data?.data?.cutoutFixtures ?? [] + ), { enabled: host !== null, ...options } ) diff --git a/react-api-client/src/deck_configuration/useUpdateDeckConfigurationMutation.ts b/react-api-client/src/deck_configuration/useUpdateDeckConfigurationMutation.ts index 13dc7e0a155..8d62801619b 100644 --- a/react-api-client/src/deck_configuration/useUpdateDeckConfigurationMutation.ts +++ b/react-api-client/src/deck_configuration/useUpdateDeckConfigurationMutation.ts @@ -12,24 +12,24 @@ import { useHost } from '../api' import type { AxiosError } from 'axios' import type { ErrorResponse, HostConfig } from '@opentrons/api-client' -import type { Fixture } from '@opentrons/shared-data' +import type { DeckConfiguration } from '@opentrons/shared-data' export type UseUpdateDeckConfigurationMutationResult = UseMutationResult< - Omit, + DeckConfiguration, AxiosError, - Omit + DeckConfiguration > & { updateDeckConfiguration: UseMutateFunction< - Omit, + DeckConfiguration, AxiosError, - Omit + DeckConfiguration > } export type UseUpdateDeckConfigurationMutationOptions = UseMutationOptions< - Omit, + DeckConfiguration, AxiosError, - Omit + DeckConfiguration > export function useUpdateDeckConfigurationMutation( @@ -39,19 +39,19 @@ export function useUpdateDeckConfigurationMutation( const queryClient = useQueryClient() const mutation = useMutation< - Omit, + DeckConfiguration, AxiosError, - Omit + DeckConfiguration >( [host, 'deck_configuration'], - (fixture: Omit) => - updateDeckConfiguration(host as HostConfig, fixture).then(response => { + (deckConfig: DeckConfiguration) => + updateDeckConfiguration(host as HostConfig, deckConfig).then(response => { queryClient .invalidateQueries([host, 'deck_configuration']) .catch((e: Error) => { throw e }) - return response.data + return response.data?.data?.cutoutFixtures ?? [] }), options ) diff --git a/robot-server/Makefile b/robot-server/Makefile index 11562fa389e..57cb578b56d 100755 --- a/robot-server/Makefile +++ b/robot-server/Makefile @@ -129,11 +129,22 @@ lint: format: $(python) -m black . -.PHONY: dev -dev: export OT_ROBOT_SERVER_DOT_ENV_PATH ?= dev.env -dev: +.PHONY: _dev +_dev: $(pipenv) run $(run_dev) +.PHONY: dev +dev: dev-ot2 + +.PHONY: dev-flex +dev-flex: export OT_ROBOT_SERVER_DOT_ENV_PATH ?= dev-flex.env +dev-flex: _dev + +.PHONY: dev-ot2 +dev-ot2: export OT_ROBOT_SERVER_DOT_ENV_PATH ?= dev.env +dev-ot2: _dev + + .PHONY: dev-with-emulator dev-with-emulator: export OT_ROBOT_SERVER_DOT_ENV_PATH ?= emulator.env dev-with-emulator: diff --git a/robot-server/robot_server/deck_configuration/__init__.py b/robot-server/robot_server/deck_configuration/__init__.py new file mode 100644 index 00000000000..13bacaf8a4d --- /dev/null +++ b/robot-server/robot_server/deck_configuration/__init__.py @@ -0,0 +1 @@ +"""The HTTP API, and supporting code, for getting and setting the robot's deck configuration.""" diff --git a/robot-server/robot_server/deck_configuration/defaults.py b/robot-server/robot_server/deck_configuration/defaults.py new file mode 100644 index 00000000000..a591e9798df --- /dev/null +++ b/robot-server/robot_server/deck_configuration/defaults.py @@ -0,0 +1,115 @@ +"""Default deck configurations.""" + + +from . import models + + +_for_flex = models.DeckConfigurationRequest.construct( + cutoutFixtures=[ + models.CutoutFixture.construct( + cutoutId="cutoutA1", cutoutFixtureId="singleLeftSlot" + ), + models.CutoutFixture.construct( + cutoutId="cutoutB1", cutoutFixtureId="singleLeftSlot" + ), + models.CutoutFixture.construct( + cutoutId="cutoutC1", cutoutFixtureId="singleLeftSlot" + ), + models.CutoutFixture.construct( + cutoutId="cutoutD1", cutoutFixtureId="singleLeftSlot" + ), + models.CutoutFixture.construct( + cutoutId="cutoutA2", cutoutFixtureId="singleCenterSlot" + ), + models.CutoutFixture.construct( + cutoutId="cutoutB2", cutoutFixtureId="singleCenterSlot" + ), + models.CutoutFixture.construct( + cutoutId="cutoutC2", cutoutFixtureId="singleCenterSlot" + ), + models.CutoutFixture.construct( + cutoutId="cutoutD2", cutoutFixtureId="singleCenterSlot" + ), + models.CutoutFixture.construct( + cutoutId="cutoutA3", cutoutFixtureId="trashBinAdapter" + ), + models.CutoutFixture.construct( + cutoutId="cutoutB3", cutoutFixtureId="singleRightSlot" + ), + models.CutoutFixture.construct( + cutoutId="cutoutC3", cutoutFixtureId="singleRightSlot" + ), + models.CutoutFixture.construct( + cutoutId="cutoutD3", cutoutFixtureId="singleRightSlot" + ), + ] +) + + +_for_ot2 = models.DeckConfigurationRequest.construct( + cutoutFixtures=[ + models.CutoutFixture.construct( + cutoutId="cutout1", cutoutFixtureId="singleStandardSlot" + ), + models.CutoutFixture.construct( + cutoutId="cutout2", cutoutFixtureId="singleStandardSlot" + ), + models.CutoutFixture.construct( + cutoutId="cutout3", cutoutFixtureId="singleStandardSlot" + ), + models.CutoutFixture.construct( + cutoutId="cutout4", cutoutFixtureId="singleStandardSlot" + ), + models.CutoutFixture.construct( + cutoutId="cutout5", cutoutFixtureId="singleStandardSlot" + ), + models.CutoutFixture.construct( + cutoutId="cutout6", cutoutFixtureId="singleStandardSlot" + ), + models.CutoutFixture.construct( + cutoutId="cutout7", cutoutFixtureId="singleStandardSlot" + ), + models.CutoutFixture.construct( + cutoutId="cutout8", cutoutFixtureId="singleStandardSlot" + ), + models.CutoutFixture.construct( + cutoutId="cutout9", cutoutFixtureId="singleStandardSlot" + ), + models.CutoutFixture.construct( + cutoutId="cutout10", cutoutFixtureId="singleStandardSlot" + ), + models.CutoutFixture.construct( + cutoutId="cutout11", cutoutFixtureId="singleStandardSlot" + ), + models.CutoutFixture.construct( + cutoutId="cutout12", cutoutFixtureId="fixedTrashSlot" + ), + ] +) + + +def for_deck_definition(deck_definition_name: str) -> models.DeckConfigurationRequest: + """Return a default configuration for the given deck definition. + + When a user has not yet configured which fixtures are on a robot, the robot should fall back to + this for the purposes of running protocols. + + Protocol analysis should *not* use this default. Analysis is supposed to *determine* the + protocol's deck configuration requirements, instead of assuming some default. + + Params: + deck_definition_name: The name of a deck definition loadable through + `opentrons_shared_data.deck`. + """ + try: + return { + "ot2_standard": _for_ot2, + "ot2_short_trash": _for_ot2, + "ot3_standard": _for_flex, + }[deck_definition_name] + except KeyError as exception: + # This shouldn't happen. Every deck definition that a robot might have should have a + # default configuration. + raise ValueError( + f"The deck {deck_definition_name} has no default configuration." + ) from exception diff --git a/robot-server/robot_server/deck_configuration/fastapi_dependencies.py b/robot-server/robot_server/deck_configuration/fastapi_dependencies.py new file mode 100644 index 00000000000..5460381da30 --- /dev/null +++ b/robot-server/robot_server/deck_configuration/fastapi_dependencies.py @@ -0,0 +1,43 @@ +"""Dependency functions for use with `fastapi.Depends()`.""" + + +from pathlib import Path + +import fastapi + +from opentrons.protocol_engine.types import DeckType +from server_utils.fastapi_utils.app_state import ( + AppState, + AppStateAccessor, + get_app_state, +) + +from robot_server.deck_configuration.store import DeckConfigurationStore +from robot_server.hardware import get_deck_type +from robot_server.persistence import get_persistence_directory + + +# This needs to be kept in sync with opentrons.execute, which reads this file. +_DECK_CONFIGURATION_FILE_NAME = "deck_configuration.json" + + +_accessor = AppStateAccessor[DeckConfigurationStore]("deck_configuration_store") + + +async def get_deck_configuration_store( + app_state: AppState = fastapi.Depends(get_app_state), + deck_type: DeckType = fastapi.Depends(get_deck_type), + persistence_directory: Path = fastapi.Depends(get_persistence_directory), +) -> DeckConfigurationStore: + """Return the server's singleton `DeckConfigurationStore`.""" + # It's important that this dependency doesn't do anything that might fail, like reading + # files. This is a dependency of the POST /settings/reset endpoint, which should always + # be available. + deck_configuration_store = _accessor.get_from(app_state) + if deck_configuration_store is None: + path = persistence_directory / _DECK_CONFIGURATION_FILE_NAME + # If this initialization becomes async, we will need to protect it with a lock, + # to protect against the bug described in https://github.com/Opentrons/opentrons/pull/11927. + deck_configuration_store = DeckConfigurationStore(deck_type, path) + _accessor.set_on(app_state, deck_configuration_store) + return deck_configuration_store diff --git a/robot-server/robot_server/deck_configuration/models.py b/robot-server/robot_server/deck_configuration/models.py new file mode 100644 index 00000000000..51130ce88ba --- /dev/null +++ b/robot-server/robot_server/deck_configuration/models.py @@ -0,0 +1,64 @@ +"""HTTP-facing JSON models for deck configuration.""" + + +from datetime import datetime +from typing import List, Optional +from typing_extensions import Literal + +import pydantic + +from robot_server.errors import ErrorDetails + + +class CutoutFixture(pydantic.BaseModel): + """A single element of the robot's deck configuration.""" + + # These are deliberately typed as plain strs, instead of Enums or Literals, + # because we want shared-data to be the source of truth. + # + # The downside of this is that to use this HTTP interface, you need to be familiar with deck + # definitions. To make this better, we could perhaps autogenerate OpenAPI / JSON Schema spec + # fragments from shared-data and inject them here. + cutoutFixtureId: str = pydantic.Field( + description=( + "What kind of cutout fixture is mounted onto the deck." + " Valid values are the `id`s of `cutoutFixtures` in the" + " [deck definition](https://github.com/Opentrons/opentrons/tree/edge/shared-data/deck)." + ) + ) + cutoutId: str = pydantic.Field( + description=( + "Where on the deck this cutout fixture is mounted." + " Valid values are the `id`s of `cutouts` in the" + " [deck definition](https://github.com/Opentrons/opentrons/tree/edge/shared-data/deck)." + ) + ) + + +class DeckConfigurationRequest(pydantic.BaseModel): + """A request to set the robot's deck configuration.""" + + cutoutFixtures: List[CutoutFixture] = pydantic.Field( + description="A full list of all the cutout fixtures that are mounted onto the deck." + ) + + +class DeckConfigurationResponse(pydantic.BaseModel): + """A response for the robot's current deck configuration.""" + + cutoutFixtures: List[CutoutFixture] = pydantic.Field( + description="A full list of all the cutout fixtures that are mounted onto the deck." + ) + lastModifiedAt: Optional[datetime] = pydantic.Field( + description=( + "When the deck configuration was last set over HTTP." + " If that has never happened, this will be `null` or omitted." + ) + ) + + +class InvalidDeckConfiguration(ErrorDetails): + """Error details for when a client supplies an invalid deck configuration.""" + + id: Literal["InvalidDeckConfiguration"] = "InvalidDeckConfiguration" + title: str = "Invalid Deck Configuration" diff --git a/robot-server/robot_server/deck_configuration/router.py b/robot-server/robot_server/deck_configuration/router.py new file mode 100644 index 00000000000..6b1a3fc33c8 --- /dev/null +++ b/robot-server/robot_server/deck_configuration/router.py @@ -0,0 +1,103 @@ +"""The HTTP API for getting and setting the robot's current deck configuration.""" + + +from datetime import datetime +from typing import Union + +import fastapi +from starlette.status import HTTP_422_UNPROCESSABLE_ENTITY + +from opentrons_shared_data.deck.dev_types import DeckDefinitionV4 + +from robot_server.errors import ErrorBody +from robot_server.hardware import get_deck_definition +from robot_server.service.dependencies import get_current_time +from robot_server.service.json_api import PydanticResponse, RequestModel, SimpleBody + +from . import models +from . import validation +from . import validation_mapping +from .fastapi_dependencies import get_deck_configuration_store +from .store import DeckConfigurationStore + + +router = fastapi.APIRouter() + + +@router.put( + path="/deck_configuration", + summary="Set the deck configuration", + description=( + "Inform the robot how its deck is physically set up." + "\n\n" + "When you use the `/runs` and `/maintenance_runs` endpoints to command the robot to move," + " the robot will automatically dodge the obstacles that you declare here." + "\n\n" + "If a run command tries to do something that inherently conflicts with this deck" + " configuration, such as loading a labware into a staging area slot that this deck" + " configuration doesn't provide, the run command will fail with an error." + "\n\n" + "**Warning:**" + " Currently, you can call this endpoint at any time, even while there is an active run." + " However, the robot can't adapt to deck configuration changes in the middle of a run." + " The robot will effectively take a snapshot of the deck configuration when the run is" + " first played. In the future, this endpoint may error if you try to call it in the middle" + " of an active run, so don't rely on being able to do that." + "\n\n" + "After you set the deck configuration, it will persist, even across reboots," + " until you set it to something else." + ), + responses={ + fastapi.status.HTTP_200_OK: { + "model": SimpleBody[models.DeckConfigurationResponse] + }, + fastapi.status.HTTP_422_UNPROCESSABLE_ENTITY: { + "model": ErrorBody[models.InvalidDeckConfiguration] + }, + }, +) +async def put_deck_configuration( # noqa: D103 + request_body: RequestModel[models.DeckConfigurationRequest], + store: DeckConfigurationStore = fastapi.Depends(get_deck_configuration_store), + now: datetime = fastapi.Depends(get_current_time), + deck_definition: DeckDefinitionV4 = fastapi.Depends(get_deck_definition), +) -> PydanticResponse[ + Union[ + SimpleBody[models.DeckConfigurationResponse], + ErrorBody[models.InvalidDeckConfiguration], + ] +]: + placements = validation_mapping.map_in(request_body.data) + validation_errors = validation.get_configuration_errors(deck_definition, placements) + if len(validation_errors) == 0: + success_data = await store.set(request=request_body.data, last_modified_at=now) + return await PydanticResponse.create( + content=SimpleBody.construct(data=success_data) + ) + else: + error_data = validation_mapping.map_out(validation_errors) + return await PydanticResponse.create( + content=ErrorBody.construct(errors=error_data), + status_code=HTTP_422_UNPROCESSABLE_ENTITY, + ) + + +@router.get( + "/deck_configuration", + summary="Get the deck configuration", + description=( + "Get the robot's current deck configuration." + " See `PUT /deck_configuration` for background information." + ), + responses={ + fastapi.status.HTTP_200_OK: { + "model": SimpleBody[models.DeckConfigurationResponse] + }, + }, +) +async def get_deck_configuration( # noqa: D103 + store: DeckConfigurationStore = fastapi.Depends(get_deck_configuration_store), +) -> PydanticResponse[SimpleBody[models.DeckConfigurationResponse]]: + return await PydanticResponse.create( + content=SimpleBody.construct(data=await store.get()) + ) diff --git a/robot-server/robot_server/deck_configuration/store.py b/robot-server/robot_server/deck_configuration/store.py new file mode 100644 index 00000000000..feffa539ec0 --- /dev/null +++ b/robot-server/robot_server/deck_configuration/store.py @@ -0,0 +1,137 @@ +# noqa: D100 + +import asyncio +from datetime import datetime +from pathlib import Path +from typing import List, Optional, Tuple + +import anyio + +from opentrons.calibration_storage import ( + deserialize_deck_configuration, + serialize_deck_configuration, +) +from opentrons.calibration_storage import types as calibration_storage_types + +from opentrons.protocol_engine.types import DeckType + +from . import defaults +from . import models +from opentrons.protocol_engine.types import DeckConfigurationType + + +# TODO(mm, 2023-11-17): Add unit tests for DeckConfigurationStore. +class DeckConfigurationStore: # noqa: D101 + def __init__(self, deck_type: DeckType, path: Path) -> None: + """A persistent store of the robot's deck configuration. + + Params: + deck_type: The type of deck that this robot has. This is used to choose the default + deck configuration. + path: The path of the deck configuration file. The file itself does not need to exist + yet, but its containing directory should. + """ + # It's important that this initializer doesn't do anything that might fail, like reading + # files. This is a dependency of the POST /settings/reset endpoint, which should always + # be available. + + self._deck_type = deck_type + self._path = anyio.Path(path) + + # opentrons.calibration_storage is not generally safe for concurrent access. + self._lock = asyncio.Lock() + + async def set( + self, request: models.DeckConfigurationRequest, last_modified_at: datetime + ) -> models.DeckConfigurationResponse: + """Set the robot's current deck configuration. + + You are responsible for validating it against this robot's deck type before passing it in + to this method. + """ + async with self._lock: + await _write( + path=self._path, + cutout_fixture_placements=[ + calibration_storage_types.CutoutFixturePlacement( + cutout_fixture_id=e.cutoutFixtureId, cutout_id=e.cutoutId + ) + for e in request.cutoutFixtures + ], + last_modified_at=last_modified_at, + ) + return await self._get_assuming_locked() + + async def get(self) -> models.DeckConfigurationResponse: + """Get the robot's current deck configuration.""" + async with self._lock: + return await self._get_assuming_locked() + + async def get_deck_configuration(self) -> DeckConfigurationType: + """Get the robot's current deck configuration in an expected typing.""" + to_convert = await self.get() + converted = [ + (item.cutoutId, item.cutoutFixtureId) for item in to_convert.cutoutFixtures + ] + return converted + + async def delete(self) -> None: + """Delete the robot's current deck configuration, resetting it to the default.""" + async with self._lock: + await self._path.unlink(missing_ok=True) + + async def _get_assuming_locked(self) -> models.DeckConfigurationResponse: + from_storage = await _read(self._path) + if from_storage is None: + # The file was missing or corrupt. + # We handle both cases the same way: return the default deck configuration. + # If there was a corrupt file error, we paper it over. This is intended to keep the + # Opentrons App usable, since it can't always account for critical endpoints returning + # 5XX errors. We think falling back to an arbitrary default is safe because users + # of the Opentrons App will always have an opportunity to view and confirm their robot's + # deck configuration before running a protocol. + return models.DeckConfigurationResponse.construct( + cutoutFixtures=defaults.for_deck_definition( + self._deck_type.value + ).cutoutFixtures, + lastModifiedAt=None, + ) + else: + cutout_fixtures_from_storage, last_modified_at = from_storage + cutout_fixtures = [ + models.CutoutFixture.construct( + cutoutFixtureId=e.cutout_fixture_id, + cutoutId=e.cutout_id, + ) + for e in cutout_fixtures_from_storage + ] + return models.DeckConfigurationResponse.construct( + cutoutFixtures=cutout_fixtures, + lastModifiedAt=last_modified_at, + ) + + +async def _read( + path: anyio.Path, +) -> Optional[Tuple[List[calibration_storage_types.CutoutFixturePlacement], datetime]]: + """Read the deck configuration from the filesystem. + + Return `None` if the file is missing or corrupt. + """ + try: + serialized = await path.read_bytes() + except FileNotFoundError: + deserialized = None + else: + deserialized = deserialize_deck_configuration(serialized) + return deserialized + + +async def _write( + path: anyio.Path, + cutout_fixture_placements: List[calibration_storage_types.CutoutFixturePlacement], + last_modified_at: datetime, +) -> None: + await path.write_bytes( + serialize_deck_configuration(cutout_fixture_placements, last_modified_at) + ) diff --git a/robot-server/robot_server/deck_configuration/validation.py b/robot-server/robot_server/deck_configuration/validation.py new file mode 100644 index 00000000000..0530a4f9271 --- /dev/null +++ b/robot-server/robot_server/deck_configuration/validation.py @@ -0,0 +1,122 @@ +"""Validate a deck configuration.""" + + +from collections import defaultdict +from dataclasses import dataclass +from typing import DefaultDict, FrozenSet, List, Set, Tuple, Union + +from opentrons_shared_data.deck import dev_types as deck_types + + +@dataclass(frozen=True) +class Placement: + """A placement of a cutout fixture in a cutout.""" + + cutout_id: str + cutout_fixture_id: str + + +@dataclass(frozen=True) +class UnoccupiedCutoutError: + """When a cutout has been left empty--no cutout fixtures mounted to it.""" + + cutout_id: str + + +@dataclass(frozen=True) +class OvercrowdedCutoutError: + """When a cutout has had more than one cutout fixture mounted to it.""" + + cutout_id: str + cutout_fixture_ids: Tuple[str, ...] + """All the conflicting cutout fixtures, in input order.""" + + +@dataclass(frozen=True) +class InvalidLocationError: + """When a cutout fixture has been mounted somewhere it cannot be mounted.""" + + cutout_id: str + cutout_fixture_id: str + allowed_cutout_ids: FrozenSet[str] + + +@dataclass(frozen=True) +class UnrecognizedCutoutFixtureError: + """When an cutout fixture has been mounted that's not defined by the deck definition.""" + + cutout_fixture_id: str + allowed_cutout_fixture_ids: FrozenSet[str] + + +ConfigurationError = Union[ + UnoccupiedCutoutError, + OvercrowdedCutoutError, + InvalidLocationError, + UnrecognizedCutoutFixtureError, +] + + +def get_configuration_errors( + deck_definition: deck_types.DeckDefinitionV4, + placements: List[Placement], +) -> Set[ConfigurationError]: + """Return all the problems with the given deck configration. + + If there are no problems, return ``{}``. + """ + errors: Set[ConfigurationError] = set() + fixtures_by_cutout: DefaultDict[str, List[str]] = defaultdict(list) + + for placement in placements: + fixtures_by_cutout[placement.cutout_id].append(placement.cutout_fixture_id) + + expected_cutouts = set(c["id"] for c in deck_definition["locations"]["cutouts"]) + occupied_cutouts = set(fixtures_by_cutout.keys()) + errors.update( + UnoccupiedCutoutError(cutout_id) + for cutout_id in expected_cutouts - occupied_cutouts + ) + + for cutout, fixtures in fixtures_by_cutout.items(): + if len(fixtures) > 1: + errors.add(OvercrowdedCutoutError(cutout, tuple(fixtures))) + + for placement in placements: + found_cutout_fixture = _find_cutout_fixture( + deck_definition, placement.cutout_fixture_id + ) + if isinstance(found_cutout_fixture, UnrecognizedCutoutFixtureError): + errors.add(found_cutout_fixture) + else: + allowed_cutout_ids = frozenset(found_cutout_fixture["mayMountTo"]) + if placement.cutout_id not in allowed_cutout_ids: + errors.add( + InvalidLocationError( + cutout_id=placement.cutout_id, + cutout_fixture_id=placement.cutout_fixture_id, + allowed_cutout_ids=allowed_cutout_ids, + ) + ) + + return errors + + +def _find_cutout_fixture( + deck_definition: deck_types.DeckDefinitionV4, cutout_fixture_id: str +) -> Union[deck_types.CutoutFixture, UnrecognizedCutoutFixtureError]: + cutout_fixtures = deck_definition["cutoutFixtures"] + try: + return next( + cutout_fixture + for cutout_fixture in cutout_fixtures + if cutout_fixture["id"] == cutout_fixture_id + ) + except StopIteration: # No match found. + allowed_cutout_fixture_ids = frozenset( + cutout_fixture["id"] for cutout_fixture in cutout_fixtures + ) + return UnrecognizedCutoutFixtureError( + cutout_fixture_id=cutout_fixture_id, + allowed_cutout_fixture_ids=allowed_cutout_fixture_ids, + ) diff --git a/robot-server/robot_server/deck_configuration/validation_mapping.py b/robot-server/robot_server/deck_configuration/validation_mapping.py new file mode 100644 index 00000000000..10d9b65158a --- /dev/null +++ b/robot-server/robot_server/deck_configuration/validation_mapping.py @@ -0,0 +1,39 @@ +"""Convert between internal types for validation and HTTP-exposed response models.""" + +import dataclasses +from typing import Iterable, List + +from . import models +from . import validation + + +def map_in(request: models.DeckConfigurationRequest) -> List[validation.Placement]: + """Map a request from HTTP to internal types that can be validated.""" + return [ + validation.Placement(cutout_id=p.cutoutId, cutout_fixture_id=p.cutoutFixtureId) + for p in request.cutoutFixtures + ] + + +def map_out( + validation_errors: Iterable[validation.ConfigurationError], +) -> List[models.InvalidDeckConfiguration]: + """Map internal results from validation to HTTP-exposed types.""" + return [_map_out_single_error(e) for e in validation_errors] + + +def _map_out_single_error( + error: validation.ConfigurationError, +) -> models.InvalidDeckConfiguration: + # Expose the error details in a developer-facing, kind of lazy way. + # This format isn't guaranteed by robot-server's HTTP API; + # it's just meant to help app developers debug their deck config requests. + meta = { + "deckConfigurationProblem": error.__class__.__name__, + # Note that this dataclasses.asdict() will break if the internal error + # that we're mapping from is ever not a dataclass. + **dataclasses.asdict(error), + } + return models.InvalidDeckConfiguration( + detail="Invalid deck configuration.", meta=meta + ) diff --git a/robot-server/robot_server/hardware.py b/robot-server/robot_server/hardware.py index 6af230bd9ff..760580fcef2 100644 --- a/robot-server/robot_server/hardware.py +++ b/robot-server/robot_server/hardware.py @@ -16,6 +16,8 @@ from uuid import uuid4 # direct to avoid import cycles in service.dependencies from traceback import format_exception_only, TracebackException from contextlib import contextmanager + +from opentrons_shared_data import deck from opentrons_shared_data.robot.dev_types import RobotType, RobotTypeEnum from opentrons import initialize as initialize_api, should_use_ot3 @@ -284,6 +286,13 @@ async def get_deck_type() -> DeckType: return DeckType(guess_deck_type_from_global_config()) +async def get_deck_definition( + deck_type: DeckType = Depends(get_deck_type), +) -> deck.dev_types.DeckDefinitionV4: + """Return this robot's deck definition.""" + return deck.load(deck_type, version=4) + + async def _postinit_ot2_tasks( hardware: ThreadManagedHardware, app_state: AppState, diff --git a/robot-server/robot_server/health/models.py b/robot-server/robot_server/health/models.py index 21f0e6e547e..16090ade4d5 100644 --- a/robot-server/robot_server/health/models.py +++ b/robot-server/robot_server/health/models.py @@ -11,26 +11,35 @@ class HealthLinks(BaseModel): apiLog: str = Field( ..., description="The path to the API logs endpoint", + examples=["/logs/api.log"], ) serialLog: str = Field( ..., description="The path to the motor control serial communication logs endpoint", + examples=["/logs/serial.log"], ) serverLog: str = Field( ..., description="The path to the HTTP server logs endpoint", + examples=["/logs/server.log"], ) oddLog: typing.Optional[str] = Field( None, - description="The path to the ODD app logs endpoint", + description=( + "The path to the on-device display app logs endpoint" + " (only present on the Opentrons Flex)" + ), + examples=["/logs/touchscreen.log"], ) apiSpec: str = Field( ..., description="The path to the OpenAPI specification of the server", + examples=["/openapi.json"], ) systemTime: str = Field( ..., description="The path to the system time endpoints", + examples=["/system/time"], ) @@ -42,6 +51,7 @@ class Health(BaseResponseBody): description="The robot's name. In most cases the same as its " "mDNS advertisement domain name, but this can get out " "of sync. Mostly useful for user-facing titles.", + examples=["Otie"], ) robot_model: RobotModel = Field( ..., @@ -50,23 +60,26 @@ class Health(BaseResponseBody): api_version: str = Field( ..., description="The API server's software version", + examples=["3.15.2"], ) fw_version: str = Field( ..., description="The motor controller's firmware version. Doesn't " "follow a pattern; suitable only for display or exact matching.", + examples=["v2.15.0"], ) board_revision: str = Field( ..., description="The hardware revision of the OT-2's central routing board.", + examples=["2.1"], ) logs: typing.List[str] = Field( ..., description="List of paths at which to find log endpoints", + examples=[["/logs/serial.log", "/logs/api.log"]], ) system_version: str = Field( - ..., - description="The robot's operating system version.", + ..., description="The robot's operating system version.", examples=["1.2.1"] ) maximum_protocol_api_version: typing.List[int] = Field( ..., @@ -74,6 +87,7 @@ class Health(BaseResponseBody): "in the format `[major_version, minor_version]`", min_items=2, max_items=2, + examples=[[2, 8]], ) minimum_protocol_api_version: typing.List[int] = Field( ..., @@ -81,32 +95,11 @@ class Health(BaseResponseBody): "in the format `[major_version, minor_version]`", min_items=2, max_items=2, + examples=[[2, 0]], ) robot_serial: typing.Optional[str] = Field( default=None, description="The robot serial number. Should be used if present; if not present, use result of /server/update/health.", + examples=["OT2CEP20190604A02"], ) links: HealthLinks - - class Config: - """Health response model schema configuration.""" - - schema_extra = { - "example": { - "name": "OT2CEP20190604A02", - "api_version": "3.15.2", - "fw_version": "v2.15.0", - "board_revision": "2.1", - "logs": ["/logs/serial.log", "/logs/api.log"], - "system_version": "1.2.1", - "maximum_protocol_api_version": [2, 8], - "minimum_protocol_api_version": [2, 0], - "links": { - "apiLog": "/logs/api.log", - "serialLog": "/logs/serial.log", - "apiSpec": "/openapi.json", - "systemTime": "/system/time", - }, - "robot_serial": None, - } - } diff --git a/robot-server/robot_server/maintenance_runs/maintenance_engine_store.py b/robot-server/robot_server/maintenance_runs/maintenance_engine_store.py index 166faf7767e..e7935b44e83 100644 --- a/robot-server/robot_server/maintenance_runs/maintenance_engine_store.py +++ b/robot-server/robot_server/maintenance_runs/maintenance_engine_store.py @@ -24,6 +24,8 @@ create_protocol_engine, ) +from opentrons.protocol_engine.types import DeckConfigurationType + class EngineConflictError(RuntimeError): """An error raised if an active engine is already initialized. @@ -125,6 +127,7 @@ async def create( run_id: str, created_at: datetime, labware_offsets: List[LabwareOffsetCreate], + deck_configuration: Optional[DeckConfigurationType] = [], ) -> StateSummary: """Create and store a ProtocolRunner and ProtocolEngine for a given Run. @@ -150,6 +153,7 @@ async def create( RobotTypeEnum.robot_literal_to_enum(self._robot_type) ), ), + deck_configuration=deck_configuration, ) # Using LiveRunner as the runner to allow for future refactor of maintenance runs diff --git a/robot-server/robot_server/maintenance_runs/maintenance_run_data_manager.py b/robot-server/robot_server/maintenance_runs/maintenance_run_data_manager.py index ccbfc07ef32..563916a7d16 100644 --- a/robot-server/robot_server/maintenance_runs/maintenance_run_data_manager.py +++ b/robot-server/robot_server/maintenance_runs/maintenance_run_data_manager.py @@ -14,6 +14,8 @@ from .maintenance_engine_store import MaintenanceEngineStore from .maintenance_run_models import MaintenanceRun, MaintenanceRunNotFoundError +from opentrons.protocol_engine.types import DeckConfigurationType + def _build_run( run_id: str, @@ -73,6 +75,7 @@ async def create( run_id: str, created_at: datetime, labware_offsets: List[LabwareOffsetCreate], + deck_configuration: DeckConfigurationType, ) -> MaintenanceRun: """Create a new, current maintenance run. @@ -91,6 +94,7 @@ async def create( run_id=run_id, created_at=created_at, labware_offsets=labware_offsets, + deck_configuration=deck_configuration, ) return _build_run( diff --git a/robot-server/robot_server/maintenance_runs/router/base_router.py b/robot-server/robot_server/maintenance_runs/router/base_router.py index a37c1e66ba2..93c448e8390 100644 --- a/robot-server/robot_server/maintenance_runs/router/base_router.py +++ b/robot-server/robot_server/maintenance_runs/router/base_router.py @@ -35,6 +35,10 @@ from ..maintenance_run_data_manager import MaintenanceRunDataManager from ..dependencies import get_maintenance_run_data_manager +from robot_server.deck_configuration.fastapi_dependencies import ( + get_deck_configuration_store, +) +from robot_server.deck_configuration.store import DeckConfigurationStore log = logging.getLogger(__name__) base_router = APIRouter() @@ -147,6 +151,9 @@ async def create_run( get_is_okay_to_create_maintenance_run ), check_estop: bool = Depends(require_estop_in_good_state), + deck_configuration_store: DeckConfigurationStore = Depends( + get_deck_configuration_store + ), ) -> PydanticResponse[SimpleBody[MaintenanceRun]]: """Create a new maintenance run. @@ -157,6 +164,7 @@ async def create_run( created_at: Timestamp to attach to created run. is_ok_to_create_maintenance_run: Verify if a maintenance run may be created if a protocol run exists. check_estop: Dependency to verify the estop is in a valid state. + deck_configuration_store: Dependency to fetch the deck configuration. """ if not is_ok_to_create_maintenance_run: raise ProtocolRunIsActive( @@ -164,10 +172,13 @@ async def create_run( ).as_error(status.HTTP_409_CONFLICT) offsets = request_body.data.labwareOffsets if request_body is not None else [] + deck_configuration = await deck_configuration_store.get_deck_configuration() + run_data = await run_data_manager.create( run_id=run_id, created_at=created_at, labware_offsets=offsets, + deck_configuration=deck_configuration, ) log.info(f'Created an empty run "{run_id}"".') diff --git a/robot-server/robot_server/persistence/__init__.py b/robot-server/robot_server/persistence/__init__.py index 6a36022788a..e220ec29735 100644 --- a/robot-server/robot_server/persistence/__init__.py +++ b/robot-server/robot_server/persistence/__init__.py @@ -1,4 +1,4 @@ -"""Data access initialization and management.""" +"""Support for persisting data across device reboots.""" from ._database import create_sql_engine, sqlite_rowid diff --git a/robot-server/robot_server/protocols/analysis_models.py b/robot-server/robot_server/protocols/analysis_models.py index d31bb9f4eaa..8caa22f30a7 100644 --- a/robot-server/robot_server/protocols/analysis_models.py +++ b/robot-server/robot_server/protocols/analysis_models.py @@ -1,8 +1,9 @@ """Response models for protocol analysis.""" # TODO(mc, 2021-08-25): add modules to simulation result from enum import Enum +from opentrons_shared_data.robot.dev_types import RobotType from pydantic import BaseModel, Field -from typing import List, Union +from typing import List, Optional, Union from typing_extensions import Literal from opentrons.protocol_engine import ( @@ -75,6 +76,10 @@ class CompletedAnalysis(BaseModel): JSON protocols are currently deterministic by design. """ + # We want to unify this HTTP-facing analysis model with the one that local analysis returns. + # Until that happens, we need to keep these fields in sync manually. + + # Fields that are currently unique to robot-server, missing from local analysis: id: str = Field(..., description="Unique identifier of this analysis resource") status: Literal[AnalysisStatus.COMPLETED] = Field( AnalysisStatus.COMPLETED, @@ -84,9 +89,22 @@ class CompletedAnalysis(BaseModel): ..., description="Whether the protocol is expected to run successfully", ) - pipettes: List[LoadedPipette] = Field( + + # Fields that should match local analysis: + robotType: Optional[RobotType] = Field( + # robotType is deliberately typed as a Literal instead of an Enum. + # It's a bad idea at the moment to store enums in robot-server's database. + # https://opentrons.atlassian.net/browse/RSS-98 + default=None, # default=None to fit objects that were stored before this field existed. + description=( + "The type of robot that this protocol can run on." + " This field was added in v7.1.0. It will be `null` or omitted" + " in analyses that were originally created on older versions." + ), + ) + commands: List[Command] = Field( ..., - description="Pipettes used by the protocol", + description="The protocol commands the run is expected to produce", ) labware: List[LoadedLabware] = Field( ..., @@ -98,13 +116,17 @@ class CompletedAnalysis(BaseModel): " not its *initial* location." ), ) + pipettes: List[LoadedPipette] = Field( + ..., + description="Pipettes used by the protocol", + ) modules: List[LoadedModule] = Field( default_factory=list, description="Modules that have been loaded into the run.", ) - commands: List[Command] = Field( - ..., - description="The protocol commands the run is expected to produce", + liquids: List[Liquid] = Field( + default_factory=list, + description="Liquids used by the protocol", ) errors: List[ErrorOccurrence] = Field( ..., @@ -114,10 +136,6 @@ class CompletedAnalysis(BaseModel): " but it won't have more than one element." ), ) - liquids: List[Liquid] = Field( - default_factory=list, - description="Liquids used by the protocol", - ) ProtocolAnalysis = Union[PendingAnalysis, CompletedAnalysis] diff --git a/robot-server/robot_server/protocols/analysis_store.py b/robot-server/robot_server/protocols/analysis_store.py index 29ddb0d82ec..8165cf9cf8e 100644 --- a/robot-server/robot_server/protocols/analysis_store.py +++ b/robot-server/robot_server/protocols/analysis_store.py @@ -5,6 +5,7 @@ from logging import getLogger from typing import Dict, List, Optional from typing_extensions import Final +from opentrons_shared_data.robot.dev_types import RobotType import sqlalchemy @@ -120,6 +121,7 @@ def add_pending(self, protocol_id: str, analysis_id: str) -> AnalysisSummary: async def update( self, analysis_id: str, + robot_type: RobotType, commands: List[Command], labware: List[LoadedLabware], modules: List[LoadedModule], @@ -132,6 +134,7 @@ async def update( Args: analysis_id: The ID of the analysis to promote. Must point to a valid pending analysis. + robot_type: See `CompletedAnalysis.robotType`. commands: See `CompletedAnalysis.commands`. labware: See `CompletedAnalysis.labware`. modules: See `CompletedAnalysis.modules`. @@ -156,6 +159,7 @@ async def update( completed_analysis = CompletedAnalysis.construct( id=analysis_id, result=result, + robotType=robot_type, commands=commands, labware=labware, modules=modules, diff --git a/robot-server/robot_server/protocols/protocol_analyzer.py b/robot-server/robot_server/protocols/protocol_analyzer.py index cd8c44cb539..542ece91284 100644 --- a/robot-server/robot_server/protocols/protocol_analyzer.py +++ b/robot-server/robot_server/protocols/protocol_analyzer.py @@ -30,12 +30,15 @@ async def analyze( robot_type=protocol_resource.source.robot_type, protocol_config=protocol_resource.source.config, ) - result = await runner.run(protocol_resource.source) + result = await runner.run( + protocol_source=protocol_resource.source, deck_configuration=[] + ) log.info(f'Completed analysis "{analysis_id}".') await self._analysis_store.update( analysis_id=analysis_id, + robot_type=protocol_resource.source.robot_type, commands=result.commands, labware=result.state_summary.labware, modules=result.state_summary.modules, diff --git a/robot-server/robot_server/robot/calibration/tip_length/user_flow.py b/robot-server/robot_server/robot/calibration/tip_length/user_flow.py index 11811ea339a..e771c0def5d 100644 --- a/robot-server/robot_server/robot/calibration/tip_length/user_flow.py +++ b/robot-server/robot_server/robot/calibration/tip_length/user_flow.py @@ -82,6 +82,7 @@ def __init__( cast(List[LabwareUri], self.hw_pipette.liquid_class.default_tipracks) ) self._supported_commands = SupportedCommands(namespace="calibration") + self._supported_commands.loadLabware = True def _set_current_state(self, to_state: State): self._current_state = to_state @@ -168,7 +169,13 @@ async def load_labware( self, tiprackDefinition: Optional[LabwareDefinition] = None, ): - pass + self._supported_commands.loadLabware = False + if tiprackDefinition: + verified_definition = labware.verify_definition(tiprackDefinition) + self._tip_rack = self._get_tip_rack_lw(verified_definition) + if self._deck[TIP_RACK_SLOT]: + del self._deck[TIP_RACK_SLOT] + self._deck[TIP_RACK_SLOT] = self._tip_rack async def move_to_tip_rack(self): await self._move(Location(self.tip_origin, None)) diff --git a/robot-server/robot_server/robot/calibration/util.py b/robot-server/robot_server/robot/calibration/util.py index d7a1d2a7845..f07f6852e68 100644 --- a/robot-server/robot_server/robot/calibration/util.py +++ b/robot-server/robot_server/robot/calibration/util.py @@ -1,8 +1,6 @@ import logging -import contextlib from typing import Set, Dict, Any, Union, List, Optional, TYPE_CHECKING -from opentrons.hardware_control.instruments.ot2.pipette import Pipette from opentrons.hardware_control.util import plan_arc from opentrons.hardware_control.types import CriticalPoint from opentrons.protocol_api import labware @@ -108,33 +106,26 @@ def get_next_state(self, from_state, command): async def invalidate_tip(user_flow: CalibrationUserFlow): await user_flow.return_tip() user_flow.reset_tip_origin() + await user_flow.hardware.update_nozzle_configuration_for_mount( + user_flow.mount, None, None + ) await user_flow.move_to_tip_rack() -@contextlib.contextmanager -def save_default_pick_up_current(instr: Pipette): - # reduce pick up current for multichannel pipette picking up 1 tip - saved_default = instr.pick_up_configurations.current - instr.update_config_item({"pick_up_current": 0.1}) - - try: - yield - finally: - instr.update_config_item({"pick_up_current": saved_default}) - - async def pick_up_tip(user_flow: CalibrationUserFlow, tip_length: float): # grab position of active nozzle for ref when returning tip later cp = user_flow.critical_point_override user_flow.tip_origin = await user_flow.hardware.gantry_position( user_flow.mount, critical_point=cp ) - - with contextlib.ExitStack() as stack: - if user_flow.hw_pipette.config.channels > 1: - stack.enter_context(save_default_pick_up_current(user_flow.hw_pipette)) - - await user_flow.hardware.pick_up_tip(user_flow.mount, tip_length) + if user_flow.hw_pipette.config.channels > 1: + await user_flow.hardware.update_nozzle_configuration_for_mount( + user_flow.mount, + back_left_nozzle="H1", + front_right_nozzle="H1", + starting_nozzle="H1", + ) + await user_flow.hardware.pick_up_tip(user_flow.mount, tip_length) async def return_tip(user_flow: CalibrationUserFlow, tip_length: float): @@ -154,6 +145,9 @@ async def return_tip(user_flow: CalibrationUserFlow, tip_length: float): ) await user_flow.hardware.drop_tip(user_flow.mount) user_flow.reset_tip_origin() + await user_flow.hardware.update_nozzle_configuration_for_mount( + user_flow.mount, None, None + ) async def move( diff --git a/robot-server/robot_server/router.py b/robot-server/robot_server/router.py index 0ef30d30a2c..76449fb220a 100644 --- a/robot-server/robot_server/router.py +++ b/robot-server/robot_server/router.py @@ -3,23 +3,25 @@ from .constants import V1_TAG from .errors import LegacyErrorResponse +from .versioning import check_version_header + +from .commands import commands_router +from .deck_configuration.router import router as deck_configuration_router from .health import health_router -from .protocols import protocols_router -from .runs import runs_router +from .instruments import instruments_router from .maintenance_runs.router import maintenance_runs_router -from .commands import commands_router from .modules import modules_router -from .instruments import instruments_router -from .system import system_router -from .versioning import check_version_header +from .protocols import protocols_router +from .robot.router import robot_router +from .runs import runs_router +from .service.labware.router import router as labware_router from .service.legacy.routers import legacy_routes -from .service.session.router import router as deprecated_session_router +from .service.notifications.router import router as notifications_router from .service.pipette_offset.router import router as pip_os_router -from .service.labware.router import router as labware_router +from .service.session.router import router as deprecated_session_router from .service.tip_length.router import router as tl_router -from .service.notifications.router import router as notifications_router from .subsystems.router import subsystems_router -from .robot.router import robot_router +from .system import system_router router = APIRouter() @@ -69,6 +71,12 @@ dependencies=[Depends(check_version_header)], ) +router.include_router( + router=deck_configuration_router, + tags=["Deck Configuration"], + dependencies=[Depends(check_version_header)], +) + router.include_router( router=modules_router, tags=["Attached Modules"], @@ -77,7 +85,7 @@ router.include_router( router=instruments_router, - tags=["Attached instruments"], + tags=["Attached Instruments"], dependencies=[Depends(check_version_header)], ) diff --git a/robot-server/robot_server/runs/engine_store.py b/robot-server/robot_server/runs/engine_store.py index 558a903332d..056f8d55259 100644 --- a/robot-server/robot_server/runs/engine_store.py +++ b/robot-server/robot_server/runs/engine_store.py @@ -32,6 +32,7 @@ ) from robot_server.protocols import ProtocolResource +from opentrons.protocol_engine.types import DeckConfigurationType class EngineConflictError(RuntimeError): @@ -150,6 +151,7 @@ async def create( self, run_id: str, labware_offsets: List[LabwareOffsetCreate], + deck_configuration: DeckConfigurationType, protocol: Optional[ProtocolResource], ) -> StateSummary: """Create and store a ProtocolRunner and ProtocolEngine for a given Run. @@ -181,6 +183,7 @@ async def create( ), ), load_fixed_trash=load_fixed_trash, + deck_configuration=deck_configuration, ) runner = create_protocol_runner( protocol_engine=engine, diff --git a/robot-server/robot_server/runs/router/actions_router.py b/robot-server/robot_server/runs/router/actions_router.py index 5ac51ffd09f..dc3f8ab4aba 100644 --- a/robot-server/robot_server/runs/router/actions_router.py +++ b/robot-server/robot_server/runs/router/actions_router.py @@ -11,6 +11,11 @@ from robot_server.service.json_api import RequestModel, SimpleBody, PydanticResponse from robot_server.service.task_runner import TaskRunner, get_task_runner from robot_server.robot.control.dependencies import require_estop_in_good_state +from robot_server.deck_configuration.fastapi_dependencies import ( + get_deck_configuration_store, +) +from robot_server.deck_configuration.store import DeckConfigurationStore +from opentrons.protocol_engine.types import DeckConfigurationType from ..engine_store import EngineStore from ..run_store import RunStore @@ -82,12 +87,16 @@ async def get_run_controller( async def create_run_action( runId: str, request_body: RequestModel[RunActionCreate], + engine_store: EngineStore = Depends(get_engine_store), run_controller: RunController = Depends(get_run_controller), action_id: str = Depends(get_unique_id), created_at: datetime = Depends(get_current_time), maintenance_engine_store: MaintenanceEngineStore = Depends( get_maintenance_engine_store ), + deck_configuration_store: DeckConfigurationStore = Depends( + get_deck_configuration_store + ), check_estop: bool = Depends(require_estop_in_good_state), ) -> PydanticResponse[SimpleBody[RunAction]]: """Create a run control action. @@ -99,11 +108,14 @@ async def create_run_action( Arguments: runId: Run ID pulled from the URL. request_body: Input payload from the request body. + engine_store: Dependency to fetch the engine store. run_controller: Run controller bound to the given run ID. action_id: Generated ID to assign to the control action. created_at: Timestamp to attach to the control action. maintenance_engine_store: The maintenance run's EngineStore + deck_configuration_store: The deck configuration store check_estop: Dependency to verify the estop is in a valid state. + deck_configuration_store: Dependency to fetch the deck configuration. """ action_type = request_body.data.actionType if ( @@ -112,10 +124,14 @@ async def create_run_action( ): await maintenance_engine_store.clear() try: + deck_configuration: DeckConfigurationType = [] + if action_type == RunActionType.PLAY: + deck_configuration = await deck_configuration_store.get_deck_configuration() action = run_controller.create_action( action_id=action_id, action_type=action_type, created_at=created_at, + action_payload=deck_configuration, ) except RunActionNotAllowedError as e: diff --git a/robot-server/robot_server/runs/router/base_router.py b/robot-server/robot_server/runs/router/base_router.py index 36978003c52..43b1202d29b 100644 --- a/robot-server/robot_server/runs/router/base_router.py +++ b/robot-server/robot_server/runs/router/base_router.py @@ -41,6 +41,11 @@ from ..run_data_manager import RunDataManager, RunNotCurrentError from ..dependencies import get_run_data_manager, get_run_auto_deleter +from robot_server.deck_configuration.fastapi_dependencies import ( + get_deck_configuration_store, +) +from robot_server.deck_configuration.store import DeckConfigurationStore + log = logging.getLogger(__name__) base_router = APIRouter() @@ -135,6 +140,9 @@ async def create_run( created_at: datetime = Depends(get_current_time), run_auto_deleter: RunAutoDeleter = Depends(get_run_auto_deleter), check_estop: bool = Depends(require_estop_in_good_state), + deck_configuration_store: DeckConfigurationStore = Depends( + get_deck_configuration_store + ), ) -> PydanticResponse[SimpleBody[Run]]: """Create a new run. @@ -147,11 +155,14 @@ async def create_run( run_auto_deleter: An interface to delete old resources to make room for the new run. check_estop: Dependency to verify the estop is in a valid state. + deck_configuration_store: Dependency to fetch the deck configuration. """ protocol_id = request_body.data.protocolId if request_body is not None else None offsets = request_body.data.labwareOffsets if request_body is not None else [] protocol_resource = None + deck_configuration = await deck_configuration_store.get_deck_configuration() + # TODO (tz, 5-16-22): same error raised twice. # Check if we can consolidate to one place. if protocol_id is not None: @@ -170,6 +181,7 @@ async def create_run( run_id=run_id, created_at=created_at, labware_offsets=offsets, + deck_configuration=deck_configuration, protocol=protocol_resource, ) except EngineConflictError as e: diff --git a/robot-server/robot_server/runs/run_controller.py b/robot-server/robot_server/runs/run_controller.py index 6a75c1a3131..66ff5210081 100644 --- a/robot-server/robot_server/runs/run_controller.py +++ b/robot-server/robot_server/runs/run_controller.py @@ -1,7 +1,7 @@ """Control an active run with Actions.""" import logging from datetime import datetime - +from typing import Optional from opentrons.protocol_engine import ProtocolEngineError from opentrons_shared_data.errors.exceptions import RoboticsInteractionError @@ -11,6 +11,7 @@ from .run_store import RunStore from .action_models import RunAction, RunActionType +from opentrons.protocol_engine.types import DeckConfigurationType log = logging.getLogger(__name__) @@ -39,6 +40,7 @@ def create_action( action_id: str, action_type: RunActionType, created_at: datetime, + action_payload: Optional[DeckConfigurationType], ) -> RunAction: """Create a run action. @@ -69,7 +71,11 @@ def create_action( # TODO(mc, 2022-05-13): engine_store.runner.run could raise # the same errors as runner.play, but we are unable to catch them. # This unlikely to occur in production, but should be addressed. - self._task_runner.run(self._run_protocol_and_insert_result) + + self._task_runner.run( + func=self._run_protocol_and_insert_result, + deck_configuration=action_payload, + ) elif action_type == RunActionType.PAUSE: log.info(f'Pausing run "{self._run_id}".') @@ -84,10 +90,15 @@ def create_action( self._run_store.insert_action(run_id=self._run_id, action=action) + # TODO (spp, 2023-11-09): I think the response should also containt the action payload return action - async def _run_protocol_and_insert_result(self) -> None: - result = await self._engine_store.runner.run() + async def _run_protocol_and_insert_result( + self, deck_configuration: DeckConfigurationType + ) -> None: + result = await self._engine_store.runner.run( + deck_configuration=deck_configuration + ) self._run_store.update_run_state( run_id=self._run_id, summary=result.state_summary, diff --git a/robot-server/robot_server/runs/run_data_manager.py b/robot-server/robot_server/runs/run_data_manager.py index 086bd3a94a8..9954e33d8d3 100644 --- a/robot-server/robot_server/runs/run_data_manager.py +++ b/robot-server/robot_server/runs/run_data_manager.py @@ -20,6 +20,8 @@ from .run_store import RunResource, RunStore from .run_models import Run +from opentrons.protocol_engine.types import DeckConfigurationType + def _build_run( run_resource: RunResource, @@ -87,6 +89,7 @@ async def create( run_id: str, created_at: datetime, labware_offsets: List[LabwareOffsetCreate], + deck_configuration: DeckConfigurationType, protocol: Optional[ProtocolResource], ) -> Run: """Create a new, current run. @@ -115,6 +118,7 @@ async def create( state_summary = await self._engine_store.create( run_id=run_id, labware_offsets=labware_offsets, + deck_configuration=deck_configuration, protocol=protocol, ) run_resource = self._run_store.insert( diff --git a/robot-server/robot_server/runs/run_store.py b/robot-server/robot_server/runs/run_store.py index 88471787da3..f371cc8e67d 100644 --- a/robot-server/robot_server/runs/run_store.py +++ b/robot-server/robot_server/runs/run_store.py @@ -266,7 +266,7 @@ def get_state_summary(self, run_id: str) -> Optional[StateSummary]: else None ) except ValidationError as e: - log.warn(f"Error retrieving state summary for {run_id}: {e}") + log.warning(f"Error retrieving state summary for {run_id}: {e}") return None @lru_cache(maxsize=_CACHE_ENTRIES) diff --git a/robot-server/robot_server/service/legacy/routers/settings.py b/robot-server/robot_server/service/legacy/routers/settings.py index 5c98c2a43ca..ec8d4dfd812 100644 --- a/robot-server/robot_server/service/legacy/routers/settings.py +++ b/robot-server/robot_server/service/legacy/routers/settings.py @@ -23,6 +23,10 @@ feature_flags as ff, get_opentrons_path, ) +from robot_server.deck_configuration.fastapi_dependencies import ( + get_deck_configuration_store, +) +from robot_server.deck_configuration.store import DeckConfigurationStore from robot_server.errors import LegacyErrorResponse from robot_server.hardware import get_hardware, get_robot_type, get_robot_type_enum @@ -206,7 +210,7 @@ async def post_log_level_upstream(log_level: LogLevel) -> V1BasicResponse: @router.get( "/settings/reset/options", - description="Get the settings that can be reset as part of " "factory reset", + description="Get the settings that can be reset as part of factory reset", response_model=FactoryResetOptions, ) async def get_settings_reset_options( @@ -231,6 +235,9 @@ async def get_settings_reset_options( async def post_settings_reset_options( factory_reset_commands: Dict[reset_util.ResetOptionId, bool], persistence_resetter: PersistenceResetter = Depends(get_persistence_resetter), + deck_configuration_store: DeckConfigurationStore = Depends( + get_deck_configuration_store + ), robot_type: RobotTypeEnum = Depends(get_robot_type_enum), ) -> V1BasicResponse: reset_options = reset_util.reset_options(robot_type) @@ -255,6 +262,9 @@ async def post_settings_reset_options( if factory_reset_commands.get(reset_util.ResetOptionId.on_device_display, False): await reset_odd.mark_odd_for_reset_next_boot() + if factory_reset_commands.get(reset_util.ResetOptionId.deck_configuration, False): + await deck_configuration_store.delete() + # TODO (tz, 5-24-22): The order of a set is undefined because set's aren't ordered. # The message returned to the client will be printed in the wrong order. message = ( diff --git a/robot-server/tests/deck_configuration/test_defaults.py b/robot-server/tests/deck_configuration/test_defaults.py new file mode 100644 index 00000000000..ec3bbed3c22 --- /dev/null +++ b/robot-server/tests/deck_configuration/test_defaults.py @@ -0,0 +1,30 @@ +"""Unit tests for robot_server.deck_configuration.defaults.""" + + +from typing_extensions import Final + +import pytest + +from opentrons_shared_data import deck + +from robot_server.deck_configuration import defaults as subject +from robot_server.deck_configuration import validation +from robot_server.deck_configuration import validation_mapping + + +DECK_DEFINITION_VERSION: Final = 4 + + +@pytest.mark.parametrize( + "deck_definition_name", deck.list_names(DECK_DEFINITION_VERSION) +) +def test_defaults(deck_definition_name: str) -> None: + """Make sure there's a valid default for every possible deck definition.""" + deck_definition = deck.load(deck_definition_name, DECK_DEFINITION_VERSION) + result = subject.for_deck_definition(deck_definition_name) + assert ( + validation.get_configuration_errors( + deck_definition, validation_mapping.map_in(result) + ) + == set() + ) diff --git a/robot-server/tests/deck_configuration/test_validation.py b/robot-server/tests/deck_configuration/test_validation.py new file mode 100644 index 00000000000..5aee74491da --- /dev/null +++ b/robot-server/tests/deck_configuration/test_validation.py @@ -0,0 +1,203 @@ +"""Unit tests for robot_server.deck_configuration.validation.""" + +from opentrons_shared_data.deck import load as load_deck_definition + +from robot_server.deck_configuration import validation as subject + + +def test_valid() -> None: + """It should return an empty error list if the input is valid.""" + deck_definition = load_deck_definition("ot3_standard", version=4) + cutout_fixtures = [ + subject.Placement(cutout_fixture_id=cutout_fixture_id, cutout_id=cutout_id) + for cutout_fixture_id, cutout_id in [ + ("singleLeftSlot", "cutoutA1"), + ("singleLeftSlot", "cutoutB1"), + ("singleLeftSlot", "cutoutC1"), + ("singleLeftSlot", "cutoutD1"), + ("singleCenterSlot", "cutoutA2"), + ("singleCenterSlot", "cutoutB2"), + ("singleCenterSlot", "cutoutC2"), + ("singleCenterSlot", "cutoutD2"), + ("stagingAreaRightSlot", "cutoutA3"), + ("singleRightSlot", "cutoutB3"), + ("stagingAreaRightSlot", "cutoutC3"), + ("singleRightSlot", "cutoutD3"), + ] + ] + assert subject.get_configuration_errors(deck_definition, cutout_fixtures) == set() + + +def test_invalid_empty_cutouts() -> None: + """It should enforce that every cutout is occupied.""" + deck_definition = load_deck_definition("ot3_standard", version=4) + cutout_fixtures = [ + subject.Placement(cutout_fixture_id=cutout_fixture_id, cutout_id=cutout_id) + for cutout_fixture_id, cutout_id in [ + ("singleLeftSlot", "cutoutA1"), + ("singleLeftSlot", "cutoutB1"), + ("singleLeftSlot", "cutoutC1"), + ("singleLeftSlot", "cutoutD1"), + ("singleCenterSlot", "cutoutA2"), + ("singleCenterSlot", "cutoutB2"), + # Invalid because we haven't placed anything into cutout C2 or D2. + # ("singleCenterSlot", "cutoutC2"), + # ("singleCenterSlot", "cutoutD2"), + ("stagingAreaRightSlot", "cutoutA3"), + ("singleRightSlot", "cutoutB3"), + ("stagingAreaRightSlot", "cutoutC3"), + ("singleRightSlot", "cutoutD3"), + ] + ] + assert subject.get_configuration_errors(deck_definition, cutout_fixtures) == { + subject.UnoccupiedCutoutError(cutout_id="cutoutC2"), + subject.UnoccupiedCutoutError(cutout_id="cutoutD2"), + } + + +def test_invalid_overcrowded_cutouts() -> None: + """It should prevent you from putting multiple things into a single cutout.""" + deck_definition = load_deck_definition("ot3_standard", version=4) + cutout_fixtures = [ + subject.Placement(cutout_fixture_id=cutout_fixture_id, cutout_id=cutout_id) + for cutout_fixture_id, cutout_id in [ + ("singleLeftSlot", "cutoutA1"), + ("singleLeftSlot", "cutoutB1"), + ("singleLeftSlot", "cutoutC1"), + ("singleLeftSlot", "cutoutD1"), + ("singleCenterSlot", "cutoutA2"), + ("singleCenterSlot", "cutoutB2"), + ("singleCenterSlot", "cutoutC2"), + ("singleCenterSlot", "cutoutD2"), + ("stagingAreaRightSlot", "cutoutA3"), + ("singleRightSlot", "cutoutB3"), + # Invalid because we're placing two things in cutout C3... + ("stagingAreaRightSlot", "cutoutC3"), + ("stagingAreaRightSlot", "cutoutC3"), + # ...and two things in cutout D3. + ("wasteChuteRightAdapterNoCover", "cutoutD3"), + ("singleRightSlot", "cutoutD3"), + ] + ] + assert subject.get_configuration_errors(deck_definition, cutout_fixtures) == { + subject.OvercrowdedCutoutError( + cutout_id="cutoutC3", + cutout_fixture_ids=("stagingAreaRightSlot", "stagingAreaRightSlot"), + ), + subject.OvercrowdedCutoutError( + cutout_id="cutoutD3", + cutout_fixture_ids=("wasteChuteRightAdapterNoCover", "singleRightSlot"), + ), + } + + +def test_invalid_cutout_for_fixture() -> None: + """Each fixture must be placed in a location that's valid for that particular fixture.""" + deck_definition = load_deck_definition("ot3_standard", version=4) + cutout_fixtures = [ + subject.Placement(cutout_fixture_id=cutout_fixture_id, cutout_id=cutout_id) + for cutout_fixture_id, cutout_id in [ + ("singleLeftSlot", "cutoutA1"), + ("singleLeftSlot", "cutoutB1"), + ("singleLeftSlot", "cutoutC1"), + ("singleLeftSlot", "cutoutD1"), + ("singleCenterSlot", "cutoutA2"), + ("singleCenterSlot", "cutoutB2"), + # Invalid because wasteChuteRightAdapterNoCover can't be placed in cutout C2... + ("wasteChuteRightAdapterNoCover", "cutoutC2"), + # ...nor can singleLeftSlot be placed in cutout D2. + ("singleLeftSlot", "cutoutD2"), + ("stagingAreaRightSlot", "cutoutA3"), + ("singleRightSlot", "cutoutB3"), + ("stagingAreaRightSlot", "cutoutC3"), + ("singleRightSlot", "cutoutD3"), + ] + ] + assert subject.get_configuration_errors(deck_definition, cutout_fixtures) == { + subject.InvalidLocationError( + cutout_id="cutoutC2", + cutout_fixture_id="wasteChuteRightAdapterNoCover", + allowed_cutout_ids=frozenset(["cutoutD3"]), + ), + subject.InvalidLocationError( + cutout_id="cutoutD2", + cutout_fixture_id="singleLeftSlot", + allowed_cutout_ids=frozenset( + ["cutoutA1", "cutoutB1", "cutoutC1", "cutoutD1"] + ), + ), + } + + +def test_unrecognized_cutout() -> None: + """It should raise a sensible error if you pass a totally nonexistent cutout.""" + deck_definition = load_deck_definition("ot3_standard", version=4) + cutout_fixtures = [ + subject.Placement(cutout_fixture_id=cutout_fixture_id, cutout_id=cutout_id) + for cutout_fixture_id, cutout_id in [ + ("singleLeftSlot", "cutoutA1"), + ("singleLeftSlot", "cutoutB1"), + ("singleLeftSlot", "cutoutC1"), + ("singleLeftSlot", "cutoutD1"), + ("singleCenterSlot", "cutoutA2"), + ("singleCenterSlot", "cutoutB2"), + ("singleCenterSlot", "cutoutC2"), + ("singleCenterSlot", "cutoutD2"), + ("singleRightSlot", "cutoutA3"), + ("singleRightSlot", "cutoutB3"), + ("singleRightSlot", "cutoutC3"), + ("singleRightSlot", "cutoutD3"), + # Invalid because "someUnrecognizedCutout" is not defined by the deck definition. + ("singleRightSlot", "someUnrecognizedCutout"), + ] + ] + assert subject.get_configuration_errors(deck_definition, cutout_fixtures) == { + subject.InvalidLocationError( + cutout_fixture_id="singleRightSlot", + cutout_id="someUnrecognizedCutout", + allowed_cutout_ids=frozenset( + ["cutoutA3", "cutoutB3", "cutoutC3", "cutoutD3"] + ), + ) + } + + +def test_unrecognized_cutout_fixture() -> None: + """It should raise a sensible error if you pass a totally nonexistent cutout fixture.""" + deck_definition = load_deck_definition("ot3_standard", version=4) + cutout_fixtures = [ + subject.Placement(cutout_fixture_id=cutout_fixture_id, cutout_id=cutout_id) + for cutout_fixture_id, cutout_id in [ + ("singleLeftSlot", "cutoutA1"), + ("singleLeftSlot", "cutoutB1"), + ("singleLeftSlot", "cutoutC1"), + ("singleLeftSlot", "cutoutD1"), + ("singleCenterSlot", "cutoutA2"), + ("singleCenterSlot", "cutoutB2"), + ("singleCenterSlot", "cutoutC2"), + ("singleCenterSlot", "cutoutD2"), + ("singleRightSlot", "cutoutA3"), + ("singleRightSlot", "cutoutB3"), + ("singleRightSlot", "cutoutC3"), + # Invalid because "someUnrecognizedCutoutFixture" is not defined by the deck definition. + ("someUnrecognizedCutoutFixture", "cutoutD3"), + ] + ] + assert subject.get_configuration_errors(deck_definition, cutout_fixtures) == { + subject.UnrecognizedCutoutFixtureError( + cutout_fixture_id="someUnrecognizedCutoutFixture", + allowed_cutout_fixture_ids=frozenset( + [ + "singleLeftSlot", + "singleCenterSlot", + "singleRightSlot", + "stagingAreaRightSlot", + "wasteChuteRightAdapterCovered", + "wasteChuteRightAdapterNoCover", + "stagingAreaSlotWithWasteChuteRightAdapterCovered", + "stagingAreaSlotWithWasteChuteRightAdapterNoCover", + "trashBinAdapter", + ] + ), + ) + } diff --git a/robot-server/tests/integration/conftest.py b/robot-server/tests/integration/conftest.py index 669e2cb7655..7e42a836a71 100644 --- a/robot-server/tests/integration/conftest.py +++ b/robot-server/tests/integration/conftest.py @@ -142,6 +142,8 @@ async def _clean_server_state_async() -> None: await _delete_all_sessions(robot_client) + await _reset_deck_configuration(robot_client) + asyncio.run(_clean_server_state_async()) @@ -166,3 +168,7 @@ async def _delete_all_sessions(robot_client: RobotClient) -> None: session_ids = [s["id"] for s in all_sessions_response.json()["data"]] for session_id in session_ids: await robot_client.delete_session(session_id) + + +async def _reset_deck_configuration(robot_client: RobotClient) -> None: + await robot_client.post_setting_reset_options({"deckConfiguration": True}) diff --git a/robot-server/tests/integration/http_api/protocols/test_v6_json_upload.tavern.yaml b/robot-server/tests/integration/http_api/protocols/test_v6_json_upload.tavern.yaml index d4ddc81b2eb..f9e1198bc32 100644 --- a/robot-server/tests/integration/http_api/protocols/test_v6_json_upload.tavern.yaml +++ b/robot-server/tests/integration/http_api/protocols/test_v6_json_upload.tavern.yaml @@ -84,6 +84,7 @@ stages: - id: '{analysis_id}' status: completed result: ok + robotType: OT-2 Standard pipettes: - id: pipetteId pipetteName: p10_single @@ -92,7 +93,6 @@ stages: - id: fixedTrash loadName: opentrons_1_trash_1100ml_fixed definitionUri: opentrons/opentrons_1_trash_1100ml_fixed/1 - displayName: Trash location: slotName: '12' - id: sourcePlateId @@ -236,24 +236,6 @@ stages: definition: !anydict startedAt: !anystr completedAt: !anystr - - id: !anystr - createdAt: !anystr - commandType: loadLabware - key: !anystr - status: succeeded - params: - location: - slotName: '12' - loadName: opentrons_1_trash_1100ml_fixed - namespace: opentrons - version: 1 - labwareId: fixedTrash - displayName: Trash - result: - labwareId: fixedTrash - definition: !anydict - startedAt: !anystr - completedAt: !anystr - id: !anystr createdAt: !anystr commandType: loadLiquid diff --git a/robot-server/tests/integration/http_api/protocols/test_v8_json_upload_flex.tavern.yaml b/robot-server/tests/integration/http_api/protocols/test_v8_json_upload_flex.tavern.yaml index 7165f65d478..a2ec1a8bb6a 100644 --- a/robot-server/tests/integration/http_api/protocols/test_v8_json_upload_flex.tavern.yaml +++ b/robot-server/tests/integration/http_api/protocols/test_v8_json_upload_flex.tavern.yaml @@ -85,6 +85,7 @@ stages: - id: '{analysis_id}' status: completed result: ok + robotType: OT-3 Standard pipettes: - id: pipetteId pipetteName: p1000_96 diff --git a/robot-server/tests/integration/http_api/protocols/test_v8_json_upload_ot2.tavern.yaml b/robot-server/tests/integration/http_api/protocols/test_v8_json_upload_ot2.tavern.yaml index e33c1d71026..954551ebd53 100644 --- a/robot-server/tests/integration/http_api/protocols/test_v8_json_upload_ot2.tavern.yaml +++ b/robot-server/tests/integration/http_api/protocols/test_v8_json_upload_ot2.tavern.yaml @@ -84,6 +84,7 @@ stages: - id: '{analysis_id}' status: completed result: ok + robotType: OT-2 Standard pipettes: - id: pipetteId pipetteName: p10_single diff --git a/robot-server/tests/integration/http_api/runs/test_json_v6_protocol_run.tavern.yaml b/robot-server/tests/integration/http_api/runs/test_json_v6_protocol_run.tavern.yaml index 57fb2b62bd1..be8bf6369e8 100644 --- a/robot-server/tests/integration/http_api/runs/test_json_v6_protocol_run.tavern.yaml +++ b/robot-server/tests/integration/http_api/runs/test_json_v6_protocol_run.tavern.yaml @@ -92,10 +92,10 @@ stages: commandId: '{setup_command_id}' key: '{setup_command_key}' createdAt: '{setup_command_created_at}' - index: 15 + index: 14 meta: cursor: 0 - totalLength: 16 + totalLength: 15 data: # Initial home - id: !anystr @@ -172,19 +172,6 @@ stages: version: 1 labwareId: tipRackId displayName: Opentrons 96 Tip Rack 10 µL - - id: !anystr - key: !anystr - commandType: loadLabware - createdAt: !anystr - status: queued - params: - location: - slotName: '12' - loadName: opentrons_1_trash_1100ml_fixed - namespace: opentrons - version: 1 - labwareId: fixedTrash - displayName: Trash - id: !anystr createdAt: !anystr commandType: loadLiquid @@ -345,7 +332,7 @@ stages: current: !anydict meta: cursor: 0 - totalLength: 16 + totalLength: 15 data: - id: !anystr createdAt: !anystr @@ -435,21 +422,6 @@ stages: version: 1 labwareId: tipRackId displayName: Opentrons 96 Tip Rack 10 µL - - id: !anystr - key: !anystr - commandType: loadLabware - createdAt: !anystr - startedAt: !anystr - completedAt: !anystr - status: succeeded - params: - location: - slotName: '12' - loadName: opentrons_1_trash_1100ml_fixed - namespace: opentrons - version: 1 - labwareId: fixedTrash - displayName: Trash - id: !anystr key: !anystr commandType: loadLiquid diff --git a/robot-server/tests/integration/http_api/runs/test_json_v7_protocol_run.tavern.yaml b/robot-server/tests/integration/http_api/runs/test_json_v7_protocol_run.tavern.yaml index 438087d2a59..d1dbef0656e 100644 --- a/robot-server/tests/integration/http_api/runs/test_json_v7_protocol_run.tavern.yaml +++ b/robot-server/tests/integration/http_api/runs/test_json_v7_protocol_run.tavern.yaml @@ -92,10 +92,10 @@ stages: commandId: '{setup_command_id}' key: '{setup_command_key}' createdAt: '{setup_command_created_at}' - index: 15 + index: 14 meta: cursor: 0 - totalLength: 16 + totalLength: 15 data: # Initial home - id: !anystr @@ -172,19 +172,6 @@ stages: version: 1 labwareId: tipRackId displayName: Opentrons 96 Tip Rack 10 µL - - id: !anystr - key: !anystr - commandType: loadLabware - createdAt: !anystr - status: queued - params: - location: - slotName: '12' - loadName: opentrons_1_trash_1100ml_fixed - namespace: opentrons - version: 1 - labwareId: fixedTrash - displayName: Trash - id: !anystr createdAt: !anystr commandType: loadLiquid @@ -345,7 +332,7 @@ stages: current: !anydict meta: cursor: 0 - totalLength: 16 + totalLength: 15 data: - id: !anystr key: !anystr @@ -435,21 +422,6 @@ stages: version: 1 labwareId: tipRackId displayName: Opentrons 96 Tip Rack 10 µL - - id: !anystr - key: !anystr - commandType: loadLabware - createdAt: !anystr - startedAt: !anystr - completedAt: !anystr - status: succeeded - params: - location: - slotName: '12' - loadName: opentrons_1_trash_1100ml_fixed - namespace: opentrons - version: 1 - labwareId: fixedTrash - displayName: Trash - id: !anystr key: !anystr commandType: loadLiquid diff --git a/robot-server/tests/integration/http_api/runs/test_lpc_loads_do_not_cause_conflicts_in_run.tavern.yaml b/robot-server/tests/integration/http_api/runs/test_lpc_loads_do_not_cause_conflicts_in_run.tavern.yaml deleted file mode 100644 index 3fcbafe90b3..00000000000 --- a/robot-server/tests/integration/http_api/runs/test_lpc_loads_do_not_cause_conflicts_in_run.tavern.yaml +++ /dev/null @@ -1,153 +0,0 @@ -test_name: Make sure Labware Position Check loads do not cause deck conflicts in the protocol itself. - -marks: - - usefixtures: - - ot2_server_base_url - - parametrize: - # Try loading the Labware Position Check labware in every slot. - key: slotName - vals: ['1', '2', '3', '4', '5', '6', '7', '8', '9', '10', '11'] - -stages: - - name: Upload the protocol - request: - url: '{ot2_server_base_url}/protocols' - method: POST - files: - files: tests/integration/protocols/load_one_labware_one_module_2_14.py - response: - status_code: 201 - save: - json: - protocol_id: data.id - - - name: Create a run from the protocol - request: - url: '{ot2_server_base_url}/runs' - method: POST - json: - data: - protocolId: '{protocol_id}' - response: - status_code: 201 - save: - json: - run_id: data.id - - # Load a labware somewhere that the protocol will also load something. - # We're testing that the protocol proceeds as if this labware didn't exist-- - # in other words, that this labware doesn't cause a deck conflict error. - - name: Load a labware as if this were Labware Position Check - request: - url: '{ot2_server_base_url}/runs/{run_id}/commands' - method: POST - params: - waitUntilComplete: true - json: - data: - commandType: loadLabware - params: - location: - slotName: '{slotName}' - loadName: agilent_1_reservoir_290ml - namespace: opentrons - version: 1 - key: lpcLoadLabwareKey - intent: setup - response: - status_code: 201 - strict: - - json:off # Ignore fields other than status. - json: - data: - status: "succeeded" - - - name: Play the run - request: - url: '{ot2_server_base_url}/runs/{run_id}/actions' - method: POST - json: - data: - actionType: play - response: - status_code: 201 - - - name: Wait for the run to complete - max_retries: 10 - delay_after: 0.1 - request: - url: '{ot2_server_base_url}/runs/{run_id}' - method: GET - response: - status_code: 200 - strict: - - json:off - json: - data: - status: succeeded - - - name: Check that the commands all completed successfully - request: - url: '{ot2_server_base_url}/runs/{run_id}/commands' - method: GET - params: - cursor: 0 - pageLength: 999 - response: - status_code: 200 - json: - links: !anydict - meta: - cursor: 0 - totalLength: 4 - data: - # Initial home - - id: !anystr - key: !anystr - commandType: home - createdAt: !anystr - startedAt: !anystr - completedAt: !anystr - status: succeeded - params: { } - # The labware load from our simulated Labware Position Check: - - id: !anystr - key: lpcLoadLabwareKey - commandType: loadLabware - createdAt: !anystr - startedAt: !anystr - completedAt: !anystr - status: succeeded - params: - location: - slotName: '{slotName}' - loadName: agilent_1_reservoir_290ml - namespace: opentrons - version: 1 - intent: setup - # The labware loads from the protocol: - - id: !anystr - key: !anystr - commandType: loadLabware - createdAt: !anystr - startedAt: !anystr - completedAt: !anystr - status: succeeded - params: - location: - slotName: '1' - loadName: biorad_96_wellplate_200ul_pcr - namespace: opentrons - version: 2 - - id: !anystr - key: !anystr - commandType: loadModule - createdAt: !anystr - startedAt: !anystr - completedAt: !anystr - status: succeeded - params: - location: - slotName: '3' - model: heaterShakerModuleV1 - diff --git a/robot-server/tests/integration/http_api/test_deck_configuration.tavern.yaml b/robot-server/tests/integration/http_api/test_deck_configuration.tavern.yaml new file mode 100644 index 00000000000..21be55b752f --- /dev/null +++ b/robot-server/tests/integration/http_api/test_deck_configuration.tavern.yaml @@ -0,0 +1,166 @@ +test_name: Test setting and getting a Flex deck configuration + +marks: + - ot3_only + - usefixtures: + - ot3_server_base_url + +stages: + - name: Get the deck configuration and make sure there's a default + request: + url: '{ot3_server_base_url}/deck_configuration' + response: + json: + data: + # lastModifiedAt is deliberately omitted from this expected object. + # A lastModifiedAt that's omitted or null means the deck configuration has never been set. + # + # Unfortunately, this makes this test order-dependent with any other tests + # that modify the deck configuration, even if they try to restore the original value + # after they're done. We probably need some kind of deck configuration factory-reset. + # + # lastModifiedAt: null + cutoutFixtures: &expectedDefaultCutoutFixtures + - cutoutFixtureId: singleLeftSlot + cutoutId: cutoutA1 + - cutoutFixtureId: singleLeftSlot + cutoutId: cutoutB1 + - cutoutFixtureId: singleLeftSlot + cutoutId: cutoutC1 + - cutoutFixtureId: singleLeftSlot + cutoutId: cutoutD1 + - cutoutFixtureId: singleCenterSlot + cutoutId: cutoutA2 + - cutoutFixtureId: singleCenterSlot + cutoutId: cutoutB2 + - cutoutFixtureId: singleCenterSlot + cutoutId: cutoutC2 + - cutoutFixtureId: singleCenterSlot + cutoutId: cutoutD2 + - cutoutFixtureId: trashBinAdapter + cutoutId: cutoutA3 + - cutoutFixtureId: singleRightSlot + cutoutId: cutoutB3 + - cutoutFixtureId: singleRightSlot + cutoutId: cutoutC3 + - cutoutFixtureId: singleRightSlot + cutoutId: cutoutD3 + + - name: Set a new, valid deck configuration + request: + url: '{ot3_server_base_url}/deck_configuration' + method: PUT + json: + data: + cutoutFixtures: &expectedNonDefaultCutoutFixtures + - cutoutFixtureId: singleLeftSlot + cutoutId: cutoutA1 + - cutoutFixtureId: singleLeftSlot + cutoutId: cutoutB1 + - cutoutFixtureId: singleLeftSlot + cutoutId: cutoutC1 + - cutoutFixtureId: singleLeftSlot + cutoutId: cutoutD1 + - cutoutFixtureId: singleCenterSlot + cutoutId: cutoutA2 + - cutoutFixtureId: singleCenterSlot + cutoutId: cutoutB2 + - cutoutFixtureId: singleCenterSlot + cutoutId: cutoutC2 + - cutoutFixtureId: singleCenterSlot + cutoutId: cutoutD2 + # Throw in a weird right-side deck layout + # so we know this won't happen to match the default. + - cutoutFixtureId: stagingAreaRightSlot + cutoutId: cutoutA3 + - cutoutFixtureId: singleRightSlot + cutoutId: cutoutB3 + - cutoutFixtureId: stagingAreaRightSlot + cutoutId: cutoutC3 + - cutoutFixtureId: singleRightSlot + cutoutId: cutoutD3 + + - name: Get the deck configuration and make sure it's the same one that we just set + request: + url: '{ot3_server_base_url}/deck_configuration' + response: + json: + data: + lastModifiedAt: !anystr + cutoutFixtures: *expectedNonDefaultCutoutFixtures + save: + json: + last_modified_at: data.lastModifiedAt + + - name: Set an invalid deck configuration + request: + url: '{ot3_server_base_url}/deck_configuration' + method: PUT + json: + data: + cutoutFixtures: + # Invalid deck configuration: cutoutA1 is left unoccupied. + # - cutoutFixtureId: singleLeftSlot + # cutoutId: cutoutA1 + - cutoutFixtureId: singleLeftSlot + cutoutId: cutoutB1 + - cutoutFixtureId: singleLeftSlot + cutoutId: cutoutC1 + - cutoutFixtureId: singleLeftSlot + cutoutId: cutoutD1 + - cutoutFixtureId: singleCenterSlot + cutoutId: cutoutA2 + - cutoutFixtureId: singleCenterSlot + cutoutId: cutoutB2 + - cutoutFixtureId: singleCenterSlot + cutoutId: cutoutC2 + - cutoutFixtureId: singleCenterSlot + cutoutId: cutoutD2 + - cutoutFixtureId: singleRightSlot + cutoutId: cutoutA3 + - cutoutFixtureId: singleRightSlot + cutoutId: cutoutB3 + - cutoutFixtureId: singleRightSlot + cutoutId: cutoutC3 + - cutoutFixtureId: singleRightSlot + cutoutId: cutoutD3 + response: + status_code: 422 + json: + errors: + - id: InvalidDeckConfiguration + title: Invalid Deck Configuration + errorCode: '4000' + detail: Invalid deck configuration. + meta: + deckConfigurationProblem: UnoccupiedCutoutError + cutout_id: cutoutA1 + + - name: Get the deck configuration and make sure it's not the invalid one + request: + url: '{ot3_server_base_url}/deck_configuration' + response: + json: + data: + lastModifiedAt: '{last_modified_at}' + cutoutFixtures: *expectedNonDefaultCutoutFixtures + + # We test this here even though there are separate Tavern tests for POST /settings/reset + # because this is a convenient place to check that the reset actually takes effect. + - name: Reset the deck configuration + request: + url: '{ot3_server_base_url}/settings/reset' + method: POST + json: + deckConfiguration: true + response: {} # Expecting any non-error response. + + - name: Get the deck configuration after the reset and make sure it's immediately gone back to the default + request: + url: '{ot3_server_base_url}/deck_configuration' + response: + json: + data: + # lastModifiedAt is deliberately omitted from this expected object. + # See notes above. + cutoutFixtures: *expectedDefaultCutoutFixtures diff --git a/robot-server/tests/integration/protocols/simpleV7.json b/robot-server/tests/integration/protocols/simpleV7.json index 2cef0956821..86a7fd58713 100644 --- a/robot-server/tests/integration/protocols/simpleV7.json +++ b/robot-server/tests/integration/protocols/simpleV7.json @@ -1273,20 +1273,6 @@ "displayName": "Opentrons 96 Tip Rack 10 µL" } }, - { - "commandType": "loadLabware", - "id": "6abc123", - "params": { - "labwareId": "fixedTrash", - "location": { - "slotName": "12" - }, - "loadName": "opentrons_1_trash_1100ml_fixed", - "namespace": "opentrons", - "version": 1, - "displayName": "Trash" - } - }, { "commandType": "loadLiquid", "params": { @@ -1380,7 +1366,6 @@ "3abc123", "4abc123", "5abc123", - "6abc123", "7abc123" ], "annotationType": "initialSetup" diff --git a/robot-server/tests/integration/protocols/simple_v6.json b/robot-server/tests/integration/protocols/simple_v6.json index a045ef56cd2..ae4a812f7b6 100644 --- a/robot-server/tests/integration/protocols/simple_v6.json +++ b/robot-server/tests/integration/protocols/simple_v6.json @@ -1284,15 +1284,6 @@ "location": { "slotName": "8" } } }, - { - "commandType": "loadLabware", - "params": { - "labwareId": "fixedTrash", - "location": { - "slotName": "12" - } - } - }, { "commandType": "loadLiquid", "params": { diff --git a/robot-server/tests/integration/test_settings_reset_options.tavern.yaml b/robot-server/tests/integration/test_settings_reset_options.tavern.yaml index 4025206afee..e6436d2a352 100644 --- a/robot-server/tests/integration/test_settings_reset_options.tavern.yaml +++ b/robot-server/tests/integration/test_settings_reset_options.tavern.yaml @@ -26,7 +26,10 @@ stages: description: !re_search 'Clear tip length calibrations' - id: runsHistory name: Clear Runs History - description: !re_search 'Erase this device''s stored history of protocols and runs.' + description: !re_search "Erase this device's stored history of protocols and runs." + - id: deckConfiguration + name: Deck Configuration + description: !re_search 'Clear deck configuration' - id: authorizedKeys name: SSH Authorized Keys description: !re_search 'Clear the ssh authorized keys' @@ -84,6 +87,32 @@ stages: json: message: 'Nothing to do' --- +test_name: POST Reset deck configuration option +marks: + - usefixtures: + - ot2_server_base_url +stages: + - name: POST Reset deckCalibration true + request: + url: '{ot2_server_base_url}/settings/reset' + method: POST + json: + deckConfiguration: true + response: + status_code: 200 + json: + message: "Options 'deck_configuration' were reset" + - name: POST Reset deckConfiguration false + request: + url: '{ot2_server_base_url}/settings/reset' + method: POST + json: + deckConfiguration: false + response: + status_code: 200 + json: + message: 'Nothing to do' +--- test_name: POST Reset pipette offset calibrations option marks: - usefixtures: @@ -113,7 +142,7 @@ stages: test_name: POST Reset gripper offset calibrations option for OT-2 raises marks: - usefixtures: - - ot2_server_base_url + - ot2_server_base_url stages: - name: POST Reset gripperOffsetCalibrations true fails on OT-2 request: @@ -124,8 +153,8 @@ stages: response: status_code: 403 json: - message: "gripperOffsetCalibrations is not a valid reset option." - errorCode: "4000" + message: 'gripperOffsetCalibrations is not a valid reset option.' + errorCode: '4000' --- test_name: POST Reset authorizedKeys option marks: @@ -168,4 +197,4 @@ stages: status_code: 422 json: message: !re_search 'value is not a valid enumeration member' - errorCode: "4000" + errorCode: '4000' diff --git a/robot-server/tests/integration/test_settings_reset_options_flex.tavern.yaml b/robot-server/tests/integration/test_settings_reset_options_flex.tavern.yaml index ee84f60ee68..4cab1ee8abb 100644 --- a/robot-server/tests/integration/test_settings_reset_options_flex.tavern.yaml +++ b/robot-server/tests/integration/test_settings_reset_options_flex.tavern.yaml @@ -2,7 +2,7 @@ test_name: GET Settings Reset Options for OT-3 marks: - ot3_only - usefixtures: - - ot3_server_base_url + - ot3_server_base_url stages: - name: Reset Options GET request returns correct option request: @@ -23,10 +23,13 @@ stages: description: !re_search 'Clear gripper offset calibrations' - id: runsHistory name: Clear Runs History - description: !re_search 'Erase this device''s stored history of protocols and runs' + description: !re_search "Erase this device's stored history of protocols and runs" - id: onDeviceDisplay name: On-Device Display Configuration description: !re_search 'on-device display' + - id: deckConfiguration + name: Deck Configuration + description: Clear deck configuration - id: moduleCalibration name: Module Calibrations description: !re_search 'Clear module offset calibrations' @@ -45,7 +48,7 @@ stages: json: message: "Options 'gripper_offset' were reset" - # POSTing bootScripts, pipetteOffsetCalibrations, and runsHistory are untested here because they + # Common reset options like bootScripts, pipetteOffsetCalibrations, and runsHistory are untested here because they # should already be covered by the OT-2 test. # POSTing onDeviceDisplay is untested here because it writes to a part of the filesystem outside diff --git a/robot-server/tests/maintenance_runs/router/conftest.py b/robot-server/tests/maintenance_runs/router/conftest.py index f71319e8dd4..e5796a31bba 100644 --- a/robot-server/tests/maintenance_runs/router/conftest.py +++ b/robot-server/tests/maintenance_runs/router/conftest.py @@ -9,6 +9,7 @@ MaintenanceRunDataManager, ) from opentrons.protocol_engine import ProtocolEngine +from robot_server.deck_configuration.store import DeckConfigurationStore @pytest.fixture() @@ -27,3 +28,9 @@ def mock_protocol_engine(decoy: Decoy) -> ProtocolEngine: def mock_maintenance_run_data_manager(decoy: Decoy) -> MaintenanceRunDataManager: """Get a mock RunDataManager.""" return decoy.mock(cls=MaintenanceRunDataManager) + + +@pytest.fixture +def mock_deck_configuration_store(decoy: Decoy) -> DeckConfigurationStore: + """Get a mock DeckConfigurationStore.""" + return decoy.mock(cls=DeckConfigurationStore) diff --git a/robot-server/tests/maintenance_runs/router/test_base_router.py b/robot-server/tests/maintenance_runs/router/test_base_router.py index 53a71b23c62..4f1c7b36efd 100644 --- a/robot-server/tests/maintenance_runs/router/test_base_router.py +++ b/robot-server/tests/maintenance_runs/router/test_base_router.py @@ -33,6 +33,8 @@ AllRunsLinks, ) +from robot_server.deck_configuration.store import DeckConfigurationStore + @pytest.fixture def labware_offset_create() -> LabwareOffsetCreate: @@ -48,6 +50,7 @@ async def test_create_run( decoy: Decoy, mock_maintenance_run_data_manager: MaintenanceRunDataManager, labware_offset_create: pe_types.LabwareOffsetCreate, + mock_deck_configuration_store: DeckConfigurationStore, ) -> None: """It should be able to create a basic run.""" run_id = "run-id" @@ -67,11 +70,15 @@ async def test_create_run( liquids=[], ) + decoy.when( + await mock_deck_configuration_store.get_deck_configuration() + ).then_return([]) decoy.when( await mock_maintenance_run_data_manager.create( run_id=run_id, created_at=run_created_at, labware_offsets=[labware_offset_create], + deck_configuration=[], ) ).then_return(expected_response) @@ -83,6 +90,7 @@ async def test_create_run( run_id=run_id, created_at=run_created_at, is_ok_to_create_maintenance_run=True, + deck_configuration_store=mock_deck_configuration_store, ) assert result.content.data == expected_response @@ -92,10 +100,13 @@ async def test_create_run( async def test_create_maintenance_run_with_protocol_run_conflict( decoy: Decoy, mock_maintenance_run_data_manager: MaintenanceRunDataManager, + mock_deck_configuration_store: DeckConfigurationStore, ) -> None: """It should respond with a conflict error if protocol run is active during maintenance run creation.""" created_at = datetime(year=2021, month=1, day=1) - + decoy.when( + await mock_deck_configuration_store.get_deck_configuration() + ).then_return([]) with pytest.raises(ApiError) as exc_info: await create_run( run_id="run-id", @@ -103,6 +114,7 @@ async def test_create_maintenance_run_with_protocol_run_conflict( request_body=None, run_data_manager=mock_maintenance_run_data_manager, is_ok_to_create_maintenance_run=False, + deck_configuration_store=mock_deck_configuration_store, ) assert exc_info.value.status_code == 409 assert exc_info.value.content["errors"][0]["id"] == "ProtocolRunIsActive" diff --git a/robot-server/tests/maintenance_runs/test_engine_store.py b/robot-server/tests/maintenance_runs/test_engine_store.py index 907c244e71d..d0a3ccfc1c8 100644 --- a/robot-server/tests/maintenance_runs/test_engine_store.py +++ b/robot-server/tests/maintenance_runs/test_engine_store.py @@ -106,7 +106,7 @@ async def test_clear_engine(subject: MaintenanceEngineStore) -> None: await subject.create( run_id="run-id", labware_offsets=[], created_at=datetime(2023, 5, 1) ) - await subject.runner.run() + await subject.runner.run(deck_configuration=[]) result = await subject.clear() assert subject.current_run_id is None diff --git a/robot-server/tests/maintenance_runs/test_run_data_manager.py b/robot-server/tests/maintenance_runs/test_run_data_manager.py index eed2138baa7..d7bfc3e03a6 100644 --- a/robot-server/tests/maintenance_runs/test_run_data_manager.py +++ b/robot-server/tests/maintenance_runs/test_run_data_manager.py @@ -91,6 +91,7 @@ async def test_create( run_id=run_id, labware_offsets=[], created_at=created_at, + deck_configuration=[], ) ).then_return(engine_state_summary) decoy.when(mock_maintenance_engine_store.current_run_created_at).then_return( @@ -100,6 +101,7 @@ async def test_create( run_id=run_id, created_at=created_at, labware_offsets=[], + deck_configuration=[], ) assert result == MaintenanceRun( @@ -138,6 +140,7 @@ async def test_create_with_options( run_id=run_id, labware_offsets=[labware_offset], created_at=created_at, + deck_configuration=[], ) ).then_return(engine_state_summary) decoy.when(mock_maintenance_engine_store.current_run_created_at).then_return( @@ -148,6 +151,7 @@ async def test_create_with_options( run_id=run_id, created_at=created_at, labware_offsets=[labware_offset], + deck_configuration=[], ) assert result == MaintenanceRun( @@ -179,6 +183,7 @@ async def test_create_engine_error( run_id, labware_offsets=[], created_at=created_at, + deck_configuration=[], ) ).then_raise(EngineConflictError("oh no")) decoy.when(mock_maintenance_engine_store.current_run_created_at).then_return( @@ -190,6 +195,7 @@ async def test_create_engine_error( run_id=run_id, created_at=created_at, labware_offsets=[], + deck_configuration=[], ) diff --git a/robot-server/tests/protocols/test_analysis_store.py b/robot-server/tests/protocols/test_analysis_store.py index 058ec0497d9..06ca93cd218 100644 --- a/robot-server/tests/protocols/test_analysis_store.py +++ b/robot-server/tests/protocols/test_analysis_store.py @@ -126,6 +126,7 @@ async def test_returned_in_order_added( subject.add_pending(protocol_id="protocol-id", analysis_id=analysis_id) await subject.update( analysis_id=analysis_id, + robot_type="OT-2 Standard", labware=[], modules=[], pipettes=[], @@ -173,6 +174,7 @@ async def test_update_adds_details_and_completes_analysis( subject.add_pending(protocol_id="protocol-id", analysis_id="analysis-id") await subject.update( analysis_id="analysis-id", + robot_type="OT-2 Standard", labware=[labware], pipettes=[pipette], # TODO(mm, 2022-10-21): Give the subject some commands, errors, and liquids here @@ -189,6 +191,7 @@ async def test_update_adds_details_and_completes_analysis( assert result == CompletedAnalysis( id="analysis-id", result=AnalysisResult.OK, + robotType="OT-2 Standard", labware=[labware], pipettes=[pipette], modules=[], @@ -201,6 +204,7 @@ async def test_update_adds_details_and_completes_analysis( "id": "analysis-id", "result": "ok", "status": "completed", + "robotType": "OT-2 Standard", "labware": [ { "id": "labware-id", @@ -270,6 +274,7 @@ async def test_update_infers_status_from_errors( subject.add_pending(protocol_id="protocol-id", analysis_id="analysis-id") await subject.update( analysis_id="analysis-id", + robot_type="OT-2 Standard", commands=commands, errors=errors, labware=[], diff --git a/robot-server/tests/protocols/test_protocol_analyzer.py b/robot-server/tests/protocols/test_protocol_analyzer.py index c655db805a5..03784e62c8e 100644 --- a/robot-server/tests/protocols/test_protocol_analyzer.py +++ b/robot-server/tests/protocols/test_protocol_analyzer.py @@ -4,6 +4,7 @@ from datetime import datetime from pathlib import Path +from opentrons_shared_data.robot.dev_types import RobotType from opentrons_shared_data.pipette.dev_types import PipetteNameType from opentrons.types import MountType, DeckSlotName @@ -53,6 +54,8 @@ async def test_analyze( subject: ProtocolAnalyzer, ) -> None: """It should be able to analyze a protocol.""" + robot_type: RobotType = "OT-3 Standard" + protocol_resource = ProtocolResource( protocol_id="protocol-id", created_at=datetime(year=2021, month=1, day=1), @@ -62,7 +65,7 @@ async def test_analyze( config=JsonProtocolConfig(schema_version=123), files=[], metadata={}, - robot_type="OT-3 Standard", + robot_type=robot_type, content_hash="abc123", ), protocol_key="dummy-data-111", @@ -101,12 +104,16 @@ async def test_analyze( decoy.when( await protocol_runner.create_simulating_runner( - robot_type="OT-3 Standard", + robot_type=robot_type, protocol_config=JsonProtocolConfig(schema_version=123), ) ).then_return(json_runner) - decoy.when(await json_runner.run(protocol_resource.source)).then_return( + decoy.when( + await json_runner.run( + deck_configuration=[], protocol_source=protocol_resource.source + ) + ).then_return( protocol_runner.RunResult( commands=[analysis_command], state_summary=StateSummary( @@ -130,6 +137,7 @@ async def test_analyze( decoy.verify( await analysis_store.update( analysis_id="analysis-id", + robot_type=robot_type, commands=[analysis_command], labware=[analysis_labware], modules=[], diff --git a/robot-server/tests/robot/calibration/deck/test_user_flow.py b/robot-server/tests/robot/calibration/deck/test_user_flow.py index f162a291e75..8b6bf90c43e 100644 --- a/robot-server/tests/robot/calibration/deck/test_user_flow.py +++ b/robot-server/tests/robot/calibration/deck/test_user_flow.py @@ -1,6 +1,6 @@ import pytest import datetime -from mock import MagicMock, call +from mock import call from typing import List, Tuple from pathlib import Path from opentrons.calibration_storage import types as cal_types @@ -151,14 +151,7 @@ async def test_save_default_pick_up_current(mock_hw): def mock_update_config_item(*args): pass - uf._hw_pipette.update_config_item = MagicMock(side_effect=mock_update_config_item) - default_current = pip.pick_up_configurations.current - update_config_calls = [ - call({"pick_up_current": 0.1}), - call({"pick_up_current": default_current}), - ] await uf.pick_up_tip() - uf._hw_pipette.update_config_item.assert_has_calls(update_config_calls) async def test_return_tip(mock_user_flow): diff --git a/robot-server/tests/runs/router/conftest.py b/robot-server/tests/runs/router/conftest.py index 77d80ce2f23..f7d1f0fead6 100644 --- a/robot-server/tests/runs/router/conftest.py +++ b/robot-server/tests/runs/router/conftest.py @@ -8,6 +8,7 @@ from robot_server.runs.engine_store import EngineStore from robot_server.runs.run_data_manager import RunDataManager from robot_server.maintenance_runs import MaintenanceEngineStore +from robot_server.deck_configuration.store import DeckConfigurationStore from opentrons.protocol_engine import ProtocolEngine @@ -52,3 +53,9 @@ def mock_run_auto_deleter(decoy: Decoy) -> RunAutoDeleter: def mock_maintenance_engine_store(decoy: Decoy) -> MaintenanceEngineStore: """Get a mock MaintenanceEngineStore interface.""" return decoy.mock(cls=MaintenanceEngineStore) + + +@pytest.fixture +def mock_deck_configuration_store(decoy: Decoy) -> DeckConfigurationStore: + """Get a mock DeckConfigurationStore.""" + return decoy.mock(cls=DeckConfigurationStore) diff --git a/robot-server/tests/runs/router/test_actions_router.py b/robot-server/tests/runs/router/test_actions_router.py index 0c9dbfdb742..b6cb50d7788 100644 --- a/robot-server/tests/runs/router/test_actions_router.py +++ b/robot-server/tests/runs/router/test_actions_router.py @@ -15,6 +15,7 @@ from robot_server.runs.router.actions_router import create_run_action from robot_server.maintenance_runs import MaintenanceEngineStore +from robot_server.deck_configuration.store import DeckConfigurationStore @pytest.fixture @@ -27,6 +28,7 @@ async def test_create_run_action( decoy: Decoy, mock_run_controller: RunController, mock_maintenance_engine_store: MaintenanceEngineStore, + mock_deck_configuration_store: DeckConfigurationStore, ) -> None: """It should create a run action.""" run_id = "some-run-id" @@ -39,12 +41,16 @@ async def test_create_run_action( createdAt=created_at, actionType=RunActionType.PLAY, ) + decoy.when( + await mock_deck_configuration_store.get_deck_configuration() + ).then_return([]) decoy.when(mock_maintenance_engine_store.current_run_id).then_return(None) decoy.when( mock_run_controller.create_action( action_id=action_id, action_type=action_type, created_at=created_at, + action_payload=[], ) ).then_return(expected_result) @@ -55,6 +61,7 @@ async def test_create_run_action( action_id=action_id, created_at=created_at, maintenance_engine_store=mock_maintenance_engine_store, + deck_configuration_store=mock_deck_configuration_store, ) assert result.content.data == expected_result @@ -65,6 +72,7 @@ async def test_play_action_clears_maintenance_run( decoy: Decoy, mock_run_controller: RunController, mock_maintenance_engine_store: MaintenanceEngineStore, + mock_deck_configuration_store: DeckConfigurationStore, ) -> None: """It should clear an existing maintenance run before issuing play action.""" run_id = "some-run-id" @@ -77,12 +85,16 @@ async def test_play_action_clears_maintenance_run( createdAt=created_at, actionType=RunActionType.PLAY, ) + decoy.when( + await mock_deck_configuration_store.get_deck_configuration() + ).then_return([]) decoy.when(mock_maintenance_engine_store.current_run_id).then_return("some-id") decoy.when( mock_run_controller.create_action( action_id=action_id, action_type=action_type, created_at=created_at, + action_payload=[], ) ).then_return(expected_result) @@ -93,6 +105,7 @@ async def test_play_action_clears_maintenance_run( action_id=action_id, created_at=created_at, maintenance_engine_store=mock_maintenance_engine_store, + deck_configuration_store=mock_deck_configuration_store, ) decoy.verify(await mock_maintenance_engine_store.clear(), times=1) @@ -114,6 +127,7 @@ async def test_create_play_action_not_allowed( expected_error_id: str, expected_status_code: int, mock_maintenance_engine_store: MaintenanceEngineStore, + mock_deck_configuration_store: DeckConfigurationStore, ) -> None: """It should 409 if the runner is not able to handle the action.""" run_id = "some-run-id" @@ -122,12 +136,16 @@ async def test_create_play_action_not_allowed( action_type = RunActionType.PLAY request_body = RequestModel(data=RunActionCreate(actionType=action_type)) + decoy.when( + await mock_deck_configuration_store.get_deck_configuration() + ).then_return([]) decoy.when(mock_maintenance_engine_store.current_run_id).then_return(None) decoy.when( mock_run_controller.create_action( action_id=action_id, action_type=action_type, created_at=created_at, + action_payload=[], ) ).then_raise(exception) @@ -139,6 +157,7 @@ async def test_create_play_action_not_allowed( action_id=action_id, created_at=created_at, maintenance_engine_store=mock_maintenance_engine_store, + deck_configuration_store=mock_deck_configuration_store, ) assert exc_info.value.status_code == expected_status_code diff --git a/robot-server/tests/runs/router/test_base_router.py b/robot-server/tests/runs/router/test_base_router.py index d52f2687be6..0abe559b843 100644 --- a/robot-server/tests/runs/router/test_base_router.py +++ b/robot-server/tests/runs/router/test_base_router.py @@ -39,6 +39,8 @@ update_run, ) +from robot_server.deck_configuration.store import DeckConfigurationStore + @pytest.fixture def labware_offset_create() -> LabwareOffsetCreate: @@ -55,6 +57,7 @@ async def test_create_run( mock_run_data_manager: RunDataManager, mock_run_auto_deleter: RunAutoDeleter, labware_offset_create: pe_types.LabwareOffsetCreate, + mock_deck_configuration_store: DeckConfigurationStore, ) -> None: """It should be able to create a basic run.""" run_id = "run-id" @@ -74,12 +77,15 @@ async def test_create_run( status=pe_types.EngineStatus.IDLE, liquids=[], ) - + decoy.when( + await mock_deck_configuration_store.get_deck_configuration() + ).then_return([]) decoy.when( await mock_run_data_manager.create( run_id=run_id, created_at=run_created_at, labware_offsets=[labware_offset_create], + deck_configuration=[], protocol=None, ) ).then_return(expected_response) @@ -92,6 +98,7 @@ async def test_create_run( run_id=run_id, created_at=run_created_at, run_auto_deleter=mock_run_auto_deleter, + deck_configuration_store=mock_deck_configuration_store, ) assert result.content.data == expected_response @@ -105,6 +112,7 @@ async def test_create_protocol_run( mock_protocol_store: ProtocolStore, mock_run_data_manager: RunDataManager, mock_run_auto_deleter: RunAutoDeleter, + mock_deck_configuration_store: DeckConfigurationStore, ) -> None: """It should be able to create a protocol run.""" run_id = "run-id" @@ -140,7 +148,9 @@ async def test_create_protocol_run( status=pe_types.EngineStatus.IDLE, liquids=[], ) - + decoy.when( + await mock_deck_configuration_store.get_deck_configuration() + ).then_return([]) decoy.when(mock_protocol_store.get(protocol_id=protocol_id)).then_return( protocol_resource ) @@ -150,6 +160,7 @@ async def test_create_protocol_run( run_id=run_id, created_at=run_created_at, labware_offsets=[], + deck_configuration=[], protocol=protocol_resource, ) ).then_return(expected_response) @@ -161,6 +172,7 @@ async def test_create_protocol_run( run_id=run_id, created_at=run_created_at, run_auto_deleter=mock_run_auto_deleter, + deck_configuration_store=mock_deck_configuration_store, ) assert result.content.data == expected_response @@ -172,16 +184,20 @@ async def test_create_protocol_run( async def test_create_protocol_run_bad_protocol_id( decoy: Decoy, mock_protocol_store: ProtocolStore, + mock_deck_configuration_store: DeckConfigurationStore, ) -> None: """It should 404 if a protocol for a run does not exist.""" error = ProtocolNotFoundError("protocol-id") - + decoy.when( + await mock_deck_configuration_store.get_deck_configuration() + ).then_return([]) decoy.when(mock_protocol_store.get(protocol_id="protocol-id")).then_raise(error) with pytest.raises(ApiError) as exc_info: await create_run( request_body=RequestModel(data=RunCreate(protocolId="protocol-id")), protocol_store=mock_protocol_store, + deck_configuration_store=mock_deck_configuration_store, ) assert exc_info.value.status_code == 404 @@ -192,15 +208,20 @@ async def test_create_run_conflict( decoy: Decoy, mock_run_data_manager: RunDataManager, mock_run_auto_deleter: RunAutoDeleter, + mock_deck_configuration_store: DeckConfigurationStore, ) -> None: """It should respond with a conflict error if multiple engines are created.""" created_at = datetime(year=2021, month=1, day=1) + decoy.when( + await mock_deck_configuration_store.get_deck_configuration() + ).then_return([]) decoy.when( await mock_run_data_manager.create( run_id="run-id", created_at=created_at, labware_offsets=[], + deck_configuration=[], protocol=None, ) ).then_raise(EngineConflictError("oh no")) @@ -212,6 +233,7 @@ async def test_create_run_conflict( request_body=None, run_data_manager=mock_run_data_manager, run_auto_deleter=mock_run_auto_deleter, + deck_configuration_store=mock_deck_configuration_store, ) assert exc_info.value.status_code == 409 diff --git a/robot-server/tests/runs/test_engine_store.py b/robot-server/tests/runs/test_engine_store.py index fc22e4ea900..bd8ef9b3678 100644 --- a/robot-server/tests/runs/test_engine_store.py +++ b/robot-server/tests/runs/test_engine_store.py @@ -50,7 +50,9 @@ async def json_protocol_source(tmp_path: Path) -> ProtocolSource: async def test_create_engine(subject: EngineStore) -> None: """It should create an engine for a run.""" - result = await subject.create(run_id="run-id", labware_offsets=[], protocol=None) + result = await subject.create( + run_id="run-id", labware_offsets=[], protocol=None, deck_configuration=[] + ) assert subject.current_run_id == "run-id" assert isinstance(result, StateSummary) @@ -78,6 +80,7 @@ async def test_create_engine_with_protocol( result = await subject.create( run_id="run-id", labware_offsets=[], + deck_configuration=[], protocol=protocol, ) assert subject.current_run_id == "run-id" @@ -99,7 +102,9 @@ async def test_create_engine_uses_robot_type( hardware_api=hardware_api, robot_type=robot_type, deck_type=deck_type ) - await subject.create(run_id="run-id", labware_offsets=[], protocol=None) + await subject.create( + run_id="run-id", labware_offsets=[], deck_configuration=[], protocol=None + ) assert subject.engine.state_view.config.robot_type == robot_type @@ -115,6 +120,7 @@ async def test_create_engine_with_labware_offsets(subject: EngineStore) -> None: result = await subject.create( run_id="run-id", labware_offsets=[labware_offset], + deck_configuration=[], protocol=None, ) @@ -131,18 +137,24 @@ async def test_create_engine_with_labware_offsets(subject: EngineStore) -> None: async def test_archives_state_if_engine_already_exists(subject: EngineStore) -> None: """It should not create more than one engine / runner pair.""" - await subject.create(run_id="run-id-1", labware_offsets=[], protocol=None) + await subject.create( + run_id="run-id-1", labware_offsets=[], deck_configuration=[], protocol=None + ) with pytest.raises(EngineConflictError): - await subject.create(run_id="run-id-2", labware_offsets=[], protocol=None) + await subject.create( + run_id="run-id-2", labware_offsets=[], deck_configuration=[], protocol=None + ) assert subject.current_run_id == "run-id-1" async def test_clear_engine(subject: EngineStore) -> None: """It should clear a stored engine entry.""" - await subject.create(run_id="run-id", labware_offsets=[], protocol=None) - await subject.runner.run() + await subject.create( + run_id="run-id", labware_offsets=[], deck_configuration=[], protocol=None + ) + await subject.runner.run(deck_configuration=[]) result = await subject.clear() assert subject.current_run_id is None @@ -159,8 +171,10 @@ async def test_clear_engine_not_stopped_or_idle( subject: EngineStore, json_protocol_source: ProtocolSource ) -> None: """It should raise a conflict if the engine is not stopped.""" - await subject.create(run_id="run-id", labware_offsets=[], protocol=None) - subject.runner.play() + await subject.create( + run_id="run-id", labware_offsets=[], deck_configuration=[], protocol=None + ) + subject.runner.play(deck_configuration=[]) with pytest.raises(EngineConflictError): await subject.clear() @@ -168,7 +182,9 @@ async def test_clear_engine_not_stopped_or_idle( async def test_clear_idle_engine(subject: EngineStore) -> None: """It should successfully clear engine if idle (not started).""" - await subject.create(run_id="run-id", labware_offsets=[], protocol=None) + await subject.create( + run_id="run-id", labware_offsets=[], deck_configuration=[], protocol=None + ) assert subject.engine is not None assert subject.runner is not None @@ -210,7 +226,9 @@ async def test_get_default_engine_robot_type( async def test_get_default_engine_current_unstarted(subject: EngineStore) -> None: """It should allow a default engine if another engine current but unstarted.""" - await subject.create(run_id="run-id", labware_offsets=[], protocol=None) + await subject.create( + run_id="run-id", labware_offsets=[], deck_configuration=[], protocol=None + ) result = await subject.get_default_engine() assert isinstance(result, ProtocolEngine) @@ -218,7 +236,9 @@ async def test_get_default_engine_current_unstarted(subject: EngineStore) -> Non async def test_get_default_engine_conflict(subject: EngineStore) -> None: """It should not allow a default engine if another engine is executing commands.""" - await subject.create(run_id="run-id", labware_offsets=[], protocol=None) + await subject.create( + run_id="run-id", labware_offsets=[], deck_configuration=[], protocol=None + ) subject.engine.play() with pytest.raises(EngineConflictError): @@ -227,7 +247,9 @@ async def test_get_default_engine_conflict(subject: EngineStore) -> None: async def test_get_default_engine_run_stopped(subject: EngineStore) -> None: """It allow a default engine if another engine is terminal.""" - await subject.create(run_id="run-id", labware_offsets=[], protocol=None) + await subject.create( + run_id="run-id", labware_offsets=[], deck_configuration=[], protocol=None + ) await subject.engine.finish() result = await subject.get_default_engine() diff --git a/robot-server/tests/runs/test_run_controller.py b/robot-server/tests/runs/test_run_controller.py index 7387af2d912..da433043650 100644 --- a/robot-server/tests/runs/test_run_controller.py +++ b/robot-server/tests/runs/test_run_controller.py @@ -102,6 +102,7 @@ async def test_create_play_action_to_resume( action_id="some-action-id", action_type=RunActionType.PLAY, created_at=datetime(year=2021, month=1, day=1), + action_payload=[], ) assert result == RunAction( @@ -112,7 +113,7 @@ async def test_create_play_action_to_resume( decoy.verify(mock_run_store.insert_action(run_id, result), times=1) decoy.verify(mock_json_runner.play(), times=1) - decoy.verify(await mock_json_runner.run(), times=0) + decoy.verify(await mock_json_runner.run(deck_configuration=[]), times=0) async def test_create_play_action_to_start( @@ -134,6 +135,7 @@ async def test_create_play_action_to_start( action_id="some-action-id", action_type=RunActionType.PLAY, created_at=datetime(year=2021, month=1, day=1), + action_payload=[], ) assert result == RunAction( @@ -145,16 +147,16 @@ async def test_create_play_action_to_start( decoy.verify(mock_run_store.insert_action(run_id, result), times=1) background_task_captor = matchers.Captor() - decoy.verify(mock_task_runner.run(background_task_captor)) + decoy.verify(mock_task_runner.run(background_task_captor, deck_configuration=[])) - decoy.when(await mock_python_runner.run()).then_return( + decoy.when(await mock_python_runner.run(deck_configuration=[])).then_return( RunResult( commands=protocol_commands, state_summary=engine_state_summary, ) ) - await background_task_captor.value() + await background_task_captor.value(deck_configuration=[]) decoy.verify( mock_run_store.update_run_state( @@ -178,6 +180,7 @@ async def test_create_pause_action( action_id="some-action-id", action_type=RunActionType.PAUSE, created_at=datetime(year=2021, month=1, day=1), + action_payload=[], ) assert result == RunAction( @@ -203,6 +206,7 @@ async def test_create_stop_action( action_id="some-action-id", action_type=RunActionType.STOP, created_at=datetime(year=2021, month=1, day=1), + action_payload=[], ) assert result == RunAction( @@ -243,4 +247,5 @@ async def test_action_not_allowed( action_id="whatever", action_type=action_type, created_at=datetime(year=2021, month=1, day=1), + action_payload=[], ) diff --git a/robot-server/tests/runs/test_run_data_manager.py b/robot-server/tests/runs/test_run_data_manager.py index 21e7cb8072b..33e348d8854 100644 --- a/robot-server/tests/runs/test_run_data_manager.py +++ b/robot-server/tests/runs/test_run_data_manager.py @@ -121,7 +121,12 @@ async def test_create( created_at = datetime(year=2021, month=1, day=1) decoy.when( - await mock_engine_store.create(run_id=run_id, labware_offsets=[], protocol=None) + await mock_engine_store.create( + run_id=run_id, + labware_offsets=[], + protocol=None, + deck_configuration=[], + ) ).then_return(engine_state_summary) decoy.when( mock_run_store.insert( @@ -136,6 +141,7 @@ async def test_create( created_at=created_at, labware_offsets=[], protocol=None, + deck_configuration=[], ) assert result == Run( @@ -184,6 +190,7 @@ async def test_create_with_options( run_id=run_id, labware_offsets=[labware_offset], protocol=protocol, + deck_configuration=[], ) ).then_return(engine_state_summary) @@ -200,6 +207,7 @@ async def test_create_with_options( created_at=created_at, labware_offsets=[labware_offset], protocol=protocol, + deck_configuration=[], ) assert result == Run( @@ -229,7 +237,12 @@ async def test_create_engine_error( created_at = datetime(year=2021, month=1, day=1) decoy.when( - await mock_engine_store.create(run_id, labware_offsets=[], protocol=None) + await mock_engine_store.create( + run_id, + labware_offsets=[], + protocol=None, + deck_configuration=[], + ) ).then_raise(EngineConflictError("oh no")) with pytest.raises(EngineConflictError): @@ -238,6 +251,7 @@ async def test_create_engine_error( created_at=created_at, labware_offsets=[], protocol=None, + deck_configuration=[], ) decoy.verify( @@ -602,6 +616,7 @@ async def test_create_archives_existing( run_id=run_id_new, labware_offsets=[], protocol=None, + deck_configuration=[], ) ).then_return(engine_state_summary) @@ -618,6 +633,7 @@ async def test_create_archives_existing( created_at=datetime(year=2021, month=1, day=1), labware_offsets=[], protocol=None, + deck_configuration=[], ) decoy.verify( diff --git a/robot-server/tests/service/legacy/routers/test_settings.py b/robot-server/tests/service/legacy/routers/test_settings.py index 0e5b337c9d9..1d422330bc4 100644 --- a/robot-server/tests/service/legacy/routers/test_settings.py +++ b/robot-server/tests/service/legacy/routers/test_settings.py @@ -19,6 +19,10 @@ from robot_server import app +from robot_server.deck_configuration.fastapi_dependencies import ( + get_deck_configuration_store, +) +from robot_server.deck_configuration.store import DeckConfigurationStore from robot_server.persistence import PersistenceResetter, get_persistence_resetter @@ -511,6 +515,7 @@ def test_available_resets(api_client): assert sorted( [ "deckCalibration", + "deckConfiguration", "pipetteOffsetCalibrations", "bootScripts", "tipLengthCalibrations", @@ -540,6 +545,22 @@ async def mock_get_persistence_resetter() -> PersistenceResetter: del app.dependency_overrides[get_persistence_resetter] +@pytest.fixture +def mock_deck_configuration_store( + decoy: Decoy, +) -> Generator[DeckConfigurationStore, None, None]: + mock_deck_configuration_store = decoy.mock(cls=DeckConfigurationStore) + + async def mock_get_deck_configuration_store() -> DeckConfigurationStore: + return mock_deck_configuration_store + + app.dependency_overrides[ + get_deck_configuration_store + ] = mock_get_deck_configuration_store + yield mock_deck_configuration_store + del app.dependency_overrides[get_deck_configuration_store] + + @pytest.mark.parametrize( argnames="body,called_with", argvalues=[ @@ -575,8 +596,9 @@ async def mock_get_persistence_resetter() -> PersistenceResetter: ResetOptionId.pipette_offset, ResetOptionId.tip_length_calibrations, # TODO(mm, 2022-10-25): Verify that the subject endpoint function calls - # PersistenceResetter.mark_directory_reset(). Currently blocked by - # mark_directory_reset() being an async method, and api_client having + # PersistenceResetter.mark_directory_reset() and + # DeckConfigurationStore.reset(). + # Currently blocked by those methods being async, and api_client having # its own event loop that interferes with making this test async. ResetOptionId.runs_history, ResetOptionId.authorized_keys, @@ -589,14 +611,21 @@ async def mock_get_persistence_resetter() -> PersistenceResetter: ], ) def test_reset_success( - api_client, mock_reset, mock_persistence_resetter, body, called_with + api_client, + mock_reset, + mock_persistence_resetter: PersistenceResetter, + mock_deck_configuration_store: DeckConfigurationStore, + body, + called_with, ): resp = api_client.post("/settings/reset", json=body) assert resp.status_code == 200 mock_reset.assert_called_once_with(called_with, RobotTypeEnum.OT2) -def test_reset_invalid_option(api_client, mock_reset, mock_persistence_resetter): +def test_reset_invalid_option( + api_client, mock_reset, mock_persistence_resetter, mock_deck_configuration_store +): resp = api_client.post("/settings/reset", json={"aksgjajhadjasl": False}) assert resp.status_code == 422 body = resp.json() diff --git a/shared-data/command/schemas/8.json b/shared-data/command/schemas/8.json index 2bfeee8e49c..e3e0d002246 100644 --- a/shared-data/command/schemas/8.json +++ b/shared-data/command/schemas/8.json @@ -68,6 +68,9 @@ { "$ref": "#/definitions/MoveToWellCreate" }, + { + "$ref": "#/definitions/MoveToAddressableAreaCreate" + }, { "$ref": "#/definitions/PrepareToAspirateCreate" }, @@ -442,15 +445,15 @@ }, "required": ["params"] }, - "EmptyNozzleLayoutConfiguration": { - "title": "EmptyNozzleLayoutConfiguration", - "description": "Empty basemodel to represent a reset to the nozzle configuration. Sending no parameters resets to default.", + "AllNozzleLayoutConfiguration": { + "title": "AllNozzleLayoutConfiguration", + "description": "All basemodel to represent a reset to the nozzle configuration. Sending no parameters resets to default.", "type": "object", "properties": { "style": { "title": "Style", - "default": "EMPTY", - "enum": ["EMPTY"], + "default": "ALL", + "enum": ["ALL"], "type": "string" } } @@ -555,7 +558,7 @@ "title": "Configuration Params", "anyOf": [ { - "$ref": "#/definitions/EmptyNozzleLayoutConfiguration" + "$ref": "#/definitions/AllNozzleLayoutConfiguration" }, { "$ref": "#/definitions/SingleNozzleLayoutConfiguration" @@ -1232,6 +1235,19 @@ }, "required": ["labwareId"] }, + "AddressableAreaLocation": { + "title": "AddressableAreaLocation", + "description": "The location of something place in an addressable area. This is a superset of deck slots.", + "type": "object", + "properties": { + "addressableAreaName": { + "title": "Addressableareaname", + "description": "The name of the addressable area that you want to use. Valid values are the `id`s of `addressableArea`s in the [deck definition](https://github.com/Opentrons/opentrons/tree/edge/shared-data/deck).", + "type": "string" + } + }, + "required": ["addressableAreaName"] + }, "LoadLabwareParams": { "title": "LoadLabwareParams", "description": "Payload required to load a labware into a slot.", @@ -1253,6 +1269,9 @@ { "enum": ["offDeck"], "type": "string" + }, + { + "$ref": "#/definitions/AddressableAreaLocation" } ] }, @@ -1580,6 +1599,9 @@ { "enum": ["offDeck"], "type": "string" + }, + { + "$ref": "#/definitions/AddressableAreaLocation" } ] }, @@ -1870,6 +1892,104 @@ }, "required": ["params"] }, + "AddressableOffsetVector": { + "title": "AddressableOffsetVector", + "description": "Offset, in deck coordinates, from nominal to actual position of an addressable area.", + "type": "object", + "properties": { + "x": { + "title": "X", + "type": "number" + }, + "y": { + "title": "Y", + "type": "number" + }, + "z": { + "title": "Z", + "type": "number" + } + }, + "required": ["x", "y", "z"] + }, + "MoveToAddressableAreaParams": { + "title": "MoveToAddressableAreaParams", + "description": "Payload required to move a pipette to a specific addressable area.\n\nAn *addressable area* is a space in the robot that may or may not be usable depending on how\nthe robot's deck is configured. For example, if a Flex is configured with a waste chute, it will\nhave additional addressable areas representing the opening of the waste chute, where tips and\nlabware can be dropped.\n\nThis moves the pipette so all of its nozzles are centered over the addressable area.\nIf the pipette is currently configured with a partial tip layout, this centering is over all\nthe pipette's physical nozzles, not just the nozzles that are active.\n\nThe z-position will be chosen to put the bottom of the tips---or the bottom of the nozzles,\nif there are no tips---level with the top of the addressable area.\n\nWhen this command is executed, Protocol Engine will make sure the robot's deck is configured\nsuch that the requested addressable area actually exists. For example, if you request\nthe addressable area B4, it will make sure the robot is set up with a B3/B4 staging area slot.\nIf that's not the case, the command will fail.", + "type": "object", + "properties": { + "minimumZHeight": { + "title": "Minimumzheight", + "description": "Optional minimal Z margin in mm. If this is larger than the API's default safe Z margin, it will make the arc higher. If it's smaller, it will have no effect.", + "type": "number" + }, + "forceDirect": { + "title": "Forcedirect", + "description": "If true, moving from one labware/well to another will not arc to the default safe z, but instead will move directly to the specified location. This will also force the `minimumZHeight` param to be ignored. A 'direct' movement is in X/Y/Z simultaneously.", + "default": false, + "type": "boolean" + }, + "speed": { + "title": "Speed", + "description": "Override the travel speed in mm/s. This controls the straight linear speed of motion.", + "type": "number" + }, + "pipetteId": { + "title": "Pipetteid", + "description": "Identifier of pipette to use for liquid handling.", + "type": "string" + }, + "addressableAreaName": { + "title": "Addressableareaname", + "description": "The name of the addressable area that you want to use. Valid values are the `id`s of `addressableArea`s in the [deck definition](https://github.com/Opentrons/opentrons/tree/edge/shared-data/deck).", + "type": "string" + }, + "offset": { + "title": "Offset", + "description": "Relative offset of addressable area to move pipette's critical point.", + "default": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "allOf": [ + { + "$ref": "#/definitions/AddressableOffsetVector" + } + ] + } + }, + "required": ["pipetteId", "addressableAreaName"] + }, + "MoveToAddressableAreaCreate": { + "title": "MoveToAddressableAreaCreate", + "description": "Move to addressable area command creation request model.", + "type": "object", + "properties": { + "commandType": { + "title": "Commandtype", + "default": "moveToAddressableArea", + "enum": ["moveToAddressableArea"], + "type": "string" + }, + "params": { + "$ref": "#/definitions/MoveToAddressableAreaParams" + }, + "intent": { + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "allOf": [ + { + "$ref": "#/definitions/CommandIntent" + } + ] + }, + "key": { + "title": "Key", + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "type": "string" + } + }, + "required": ["params"] + }, "PrepareToAspirateParams": { "title": "PrepareToAspirateParams", "description": "Parameters required to prepare a specific pipette for aspiration.", diff --git a/shared-data/command/types/pipetting.ts b/shared-data/command/types/pipetting.ts index fe54ed1cf81..ba1a2ec5ee0 100644 --- a/shared-data/command/types/pipetting.ts +++ b/shared-data/command/types/pipetting.ts @@ -1,6 +1,8 @@ import type { CommonCommandRunTimeInfo, CommonCommandCreateInfo } from '.' export type PipettingRunTimeCommand = + | AspirateInPlaceRunTimeCommand | AspirateRunTimeCommand + | AspirateInPlaceRunTimeCommand | BlowoutInPlaceRunTimeCommand | BlowoutRunTimeCommand | ConfigureForVolumeRunTimeCommand @@ -14,6 +16,7 @@ export type PipettingRunTimeCommand = export type PipettingCreateCommand = | AspirateCreateCommand + | AspirateInPlaceCreateCommand | BlowoutCreateCommand | BlowoutInPlaceCreateCommand | ConfigureForVolumeCreateCommand @@ -50,6 +53,16 @@ export interface AspirateRunTimeCommand result?: BasicLiquidHandlingResult } +export interface AspirateInPlaceCreateCommand extends CommonCommandCreateInfo { + commandType: 'aspirateInPlace' + params: AspirateInPlaceParams +} +export interface AspirateInPlaceRunTimeCommand + extends CommonCommandRunTimeInfo, + AspirateInPlaceCreateCommand { + result?: BasicLiquidHandlingResult +} + export type DispenseParams = AspDispAirgapParams & { pushOut?: number } export interface DispenseCreateCommand extends CommonCommandCreateInfo { commandType: 'dispense' @@ -174,6 +187,11 @@ export interface DispenseInPlaceParams { pushOut?: number } +export interface AspirateInPlaceParams { + pipetteId: string + volume: number + flowRate: number // µL/s +} interface FlowRateParams { flowRate: number // µL/s } diff --git a/shared-data/command/types/setup.ts b/shared-data/command/types/setup.ts index fd43093d16c..2fd53972e7b 100644 --- a/shared-data/command/types/setup.ts +++ b/shared-data/command/types/setup.ts @@ -5,7 +5,6 @@ import type { LabwareOffset, PipetteName, ModuleModel, - FixtureLoadName, Cutout, } from '../../js' @@ -71,7 +70,20 @@ export interface LoadFixtureRunTimeCommand result?: LoadLabwareResult } +export interface ConfigureNozzleLayoutCreateCommand + extends CommonCommandCreateInfo { + commandType: 'configureNozzleLayout' + params: ConfigureNozzleLayoutParams +} + +export interface ConfigureNozzleLayoutRunTimeCommand + extends CommonCommandRunTimeInfo, + ConfigureNozzleLayoutCreateCommand { + result?: {} +} + export type SetupRunTimeCommand = + | ConfigureNozzleLayoutRunTimeCommand | LoadPipetteRunTimeCommand | LoadLabwareRunTimeCommand | LoadFixtureRunTimeCommand @@ -80,6 +92,7 @@ export type SetupRunTimeCommand = | MoveLabwareRunTimeCommand export type SetupCreateCommand = + | ConfigureNozzleLayoutCreateCommand | LoadPipetteCreateCommand | LoadLabwareCreateCommand | LoadFixtureCreateCommand @@ -92,11 +105,13 @@ export type LabwareLocation = | { slotName: string } | { moduleId: string } | { labwareId: string } + | { addressableAreaName: string } export type NonStackedLocation = | 'offDeck' | { slotName: string } | { moduleId: string } + | { addressableAreaName: string } export interface ModuleLocation { slotName: string @@ -156,6 +171,29 @@ interface LoadLiquidResult { interface LoadFixtureParams { location: { cutout: Cutout } - loadName: FixtureLoadName + loadName: string fixtureId?: string } + +const COLUMN = 'COLUMN' +const SINGLE = 'SINGLE' +const ROW = 'ROW' +const QUADRANT = 'QUADRANT' +const EMPTY = 'EMPTY' + +export type NozzleConfigurationStyle = + | typeof COLUMN + | typeof SINGLE + | typeof ROW + | typeof QUADRANT + | typeof EMPTY + +interface NozzleConfigurationParams { + primary_nozzle: string + style: NozzleConfigurationStyle +} + +interface ConfigureNozzleLayoutParams { + pipetteId: string + configuration_params: NozzleConfigurationParams +} diff --git a/shared-data/deck/definitions/3/ot3_standard.json b/shared-data/deck/definitions/3/ot3_standard.json index 775ba50960f..bead3586dba 100644 --- a/shared-data/deck/definitions/3/ot3_standard.json +++ b/shared-data/deck/definitions/3/ot3_standard.json @@ -982,7 +982,7 @@ "dropOffset": { "x": 0, "y": 0, - "z": -0.25 + "z": -0.75 } } } diff --git a/shared-data/deck/definitions/4/ot2_short_trash.json b/shared-data/deck/definitions/4/ot2_short_trash.json index 64ebd34a511..7dfb7cfc1aa 100644 --- a/shared-data/deck/definitions/4/ot2_short_trash.json +++ b/shared-data/deck/definitions/4/ot2_short_trash.json @@ -200,6 +200,18 @@ "heaterShakerModuleType" ] }, + { + "id": "12", + "areaType": "slot", + "offsetFromCutoutFixture": [0.0, 0.0, 0.0], + "boundingBox": { + "xDimension": 128.0, + "yDimension": 86.0, + "zDimension": 0 + }, + "displayName": "Slot 12", + "compatibleModuleTypes": [] + }, { "id": "shortFixedTrash", "areaType": "fixedTrash", @@ -375,7 +387,8 @@ "cutout8": ["8"], "cutout9": ["9"], "cutout10": ["10"], - "cutout11": ["11"] + "cutout11": ["11"], + "cutout12": ["12"] } }, { diff --git a/shared-data/deck/definitions/4/ot2_standard.json b/shared-data/deck/definitions/4/ot2_standard.json index e28257ca332..eb6d446f69a 100644 --- a/shared-data/deck/definitions/4/ot2_standard.json +++ b/shared-data/deck/definitions/4/ot2_standard.json @@ -200,6 +200,18 @@ "heaterShakerModuleType" ] }, + { + "id": "12", + "areaType": "slot", + "offsetFromCutoutFixture": [0.0, 0.0, 0.0], + "boundingBox": { + "xDimension": 128.0, + "yDimension": 86.0, + "zDimension": 0 + }, + "displayName": "Slot 12", + "compatibleModuleTypes": [] + }, { "id": "fixedTrash", "areaType": "fixedTrash", @@ -375,7 +387,8 @@ "cutout8": ["8"], "cutout9": ["9"], "cutout10": ["10"], - "cutout11": ["11"] + "cutout11": ["11"], + "cutout12": ["12"] } }, { diff --git a/shared-data/deck/definitions/4/ot3_standard.json b/shared-data/deck/definitions/4/ot3_standard.json index 333fd6d59c3..5f4b348a0d4 100644 --- a/shared-data/deck/definitions/4/ot3_standard.json +++ b/shared-data/deck/definitions/4/ot3_standard.json @@ -203,8 +203,9 @@ }, { "id": "A4", - "areaType": "slot", + "areaType": "stagingSlot", "offsetFromCutoutFixture": [164.0, 0.0, 14.5], + "matingSurfaceUnitVector": [-1, 1, -1], "boundingBox": { "xDimension": 128.0, "yDimension": 86.0, @@ -215,8 +216,9 @@ }, { "id": "B4", - "areaType": "slot", + "areaType": "stagingSlot", "offsetFromCutoutFixture": [164.0, 0.0, 14.5], + "matingSurfaceUnitVector": [-1, 1, -1], "boundingBox": { "xDimension": 128.0, "yDimension": 86.0, @@ -227,8 +229,9 @@ }, { "id": "C4", - "areaType": "slot", + "areaType": "stagingSlot", "offsetFromCutoutFixture": [164.0, 0.0, 14.5], + "matingSurfaceUnitVector": [-1, 1, -1], "boundingBox": { "xDimension": 128.0, "yDimension": 86.0, @@ -239,8 +242,9 @@ }, { "id": "D4", - "areaType": "slot", + "areaType": "stagingSlot", "offsetFromCutoutFixture": [164.0, 0.0, 14.5], + "matingSurfaceUnitVector": [-1, 1, -1], "boundingBox": { "xDimension": 128.0, "yDimension": 86.0, @@ -250,7 +254,98 @@ "compatibleModuleTypes": [] }, { - "id": "movableTrash", + "id": "movableTrashD1", + "areaType": "movableTrash", + "offsetFromCutoutFixture": [-101.5, -2.75, 0.0], + "boundingBox": { + "xDimension": 246.5, + "yDimension": 91.5, + "zDimension": 40 + }, + "displayName": "Trash Bin", + "ableToDropTips": true, + "dropTipsOffset": [123.25, 45.75, 40.0] + }, + { + "id": "movableTrashC1", + "areaType": "movableTrash", + "offsetFromCutoutFixture": [-101.5, -2.75, 0.0], + "boundingBox": { + "xDimension": 246.5, + "yDimension": 91.5, + "zDimension": 40 + }, + "displayName": "Trash Bin", + "ableToDropTips": true, + "dropTipsOffset": [123.25, 45.75, 40.0] + }, + { + "id": "movableTrashB1", + "areaType": "movableTrash", + "offsetFromCutoutFixture": [-101.5, -2.75, 0.0], + "boundingBox": { + "xDimension": 246.5, + "yDimension": 91.5, + "zDimension": 40 + }, + "displayName": "Trash Bin", + "ableToDropTips": true, + "dropTipsOffset": [123.25, 45.75, 40.0] + }, + { + "id": "movableTrashA1", + "areaType": "movableTrash", + "offsetFromCutoutFixture": [-101.5, -2.75, 0.0], + "boundingBox": { + "xDimension": 246.5, + "yDimension": 91.5, + "zDimension": 40 + }, + "displayName": "Trash Bin", + "ableToDropTips": true, + "dropTipsOffset": [123.25, 45.75, 40.0] + }, + { + "id": "movableTrashD3", + "areaType": "movableTrash", + "offsetFromCutoutFixture": [-17.0, -2.75, 0.0], + "boundingBox": { + "xDimension": 246.5, + "yDimension": 91.5, + "zDimension": 40 + }, + "displayName": "Trash Bin", + "ableToDropTips": true, + "dropTipsOffset": [123.25, 45.75, 40.0] + }, + { + "id": "movableTrashC3", + "areaType": "movableTrash", + "offsetFromCutoutFixture": [-17.0, -2.75, 0.0], + "boundingBox": { + "xDimension": 246.5, + "yDimension": 91.5, + "zDimension": 40 + }, + "displayName": "Trash Bin", + "ableToDropTips": true, + "dropTipsOffset": [123.25, 45.75, 40.0] + }, + { + "id": "movableTrashB3", + "areaType": "movableTrash", + "offsetFromCutoutFixture": [-17.0, -2.75, 0.0], + "boundingBox": { + "xDimension": 246.5, + "yDimension": 91.5, + "zDimension": 40 + }, + "displayName": "Trash Bin", + "ableToDropTips": true, + "dropTipsOffset": [123.25, 45.75, 40.0] + }, + { + "id": "movableTrashA3", "areaType": "movableTrash", "offsetFromCutoutFixture": [-17.0, -2.75, 0.0], "boundingBox": { @@ -433,14 +528,14 @@ ], "displayName": "Slot With Movable Trash", "providesAddressableAreas": { - "cutoutD1": ["movableTrash"], - "cutoutC1": ["movableTrash"], - "cutoutB1": ["movableTrash"], - "cutoutA1": ["movableTrash"], - "cutoutD3": ["movableTrash"], - "cutoutC3": ["movableTrash"], - "cutoutB3": ["movableTrash"], - "cutoutA3": ["movableTrash"] + "cutoutD1": ["movableTrashD1"], + "cutoutC1": ["movableTrashC1"], + "cutoutB1": ["movableTrashB1"], + "cutoutA1": ["movableTrashA1"], + "cutoutD3": ["movableTrashD3"], + "cutoutC3": ["movableTrashC3"], + "cutoutB3": ["movableTrashB3"], + "cutoutA3": ["movableTrashA3"] } }, { @@ -495,7 +590,7 @@ "dropOffset": { "x": 0, "y": 0, - "z": -0.25 + "z": -0.75 } } } diff --git a/shared-data/deck/index.ts b/shared-data/deck/index.ts new file mode 100644 index 00000000000..f05ccb33b7f --- /dev/null +++ b/shared-data/deck/index.ts @@ -0,0 +1 @@ +export * from './types/schemaV4' diff --git a/shared-data/deck/schemas/4.json b/shared-data/deck/schemas/4.json index 7b6f6693b58..368d2d50d31 100644 --- a/shared-data/deck/schemas/4.json +++ b/shared-data/deck/schemas/4.json @@ -137,7 +137,13 @@ "areaType": { "description": "The type of deck item, defining allowed behavior.", "type": "string", - "enum": ["slot", "movableTrash", "fixedTrash", "wasteChute"] + "enum": [ + "slot", + "stagingSlot", + "movableTrash", + "fixedTrash", + "wasteChute" + ] }, "offsetFromCutoutFixture": { "$ref": "#/definitions/xyzArray", diff --git a/shared-data/deck/types/schemaV4.ts b/shared-data/deck/types/schemaV4.ts new file mode 100644 index 00000000000..c13c1d1421c --- /dev/null +++ b/shared-data/deck/types/schemaV4.ts @@ -0,0 +1,84 @@ +export type FlexAddressableAreaName = + | 'D1' + | 'D2' + | 'D3' + | 'C1' + | 'C2' + | 'C3' + | 'B1' + | 'B2' + | 'B3' + | 'A1' + | 'A2' + | 'A3' + | 'A4' + | 'B4' + | 'C4' + | 'D4' + | 'movableTrashA1' + | 'movableTrashA3' + | 'movableTrashB1' + | 'movableTrashB3' + | 'movableTrashC1' + | 'movableTrashC3' + | 'movableTrashD1' + | 'movableTrashD3' + | '1and8ChannelWasteChute' + | '96ChannelWasteChute' + | 'gripperWasteChute' + +export type OT2AddressableAreaName = + | '1' + | '2' + | '3' + | '4' + | '5' + | '6' + | '7' + | '8' + | '9' + | '10' + | '11' + | 'fixedTrash' + +export type AddressableAreaName = + | FlexAddressableAreaName + | OT2AddressableAreaName + +export type CutoutId = + | 'cutoutD1' + | 'cutoutD2' + | 'cutoutD3' + | 'cutoutC1' + | 'cutoutC2' + | 'cutoutC3' + | 'cutoutB1' + | 'cutoutB2' + | 'cutoutB3' + | 'cutoutA1' + | 'cutoutA2' + | 'cutoutA3' + +export type SingleSlotCutoutFixtureId = + | 'singleLeftSlot' + | 'singleCenterSlot' + | 'singleRightSlot' + +export type StagingAreaRightSlotFixtureId = 'stagingAreaRightSlot' + +export type TrashBinAdapterCutoutFixtureId = 'trashBinAdapter' + +export type WasteChuteCutoutFixtureId = + | 'wasteChuteRightAdapterCovered' + | 'wasteChuteRightAdapterNoCover' + | 'stagingAreaSlotWithWasteChuteRightAdapterCovered' + | 'stagingAreaSlotWithWasteChuteRightAdapterNoCover' + +export type CutoutFixtureId = + | SingleSlotCutoutFixtureId + | StagingAreaRightSlotFixtureId + | TrashBinAdapterCutoutFixtureId + | WasteChuteCutoutFixtureId + | 'stagingAreaRightSlot' + | 'trashBinAdapter' + | 'fixedTrashSlot' diff --git a/shared-data/js/__tests__/pipetteSchemaV2.test.ts b/shared-data/js/__tests__/pipetteSchemaV2.test.ts index ae85233ab8c..1dce5ef754b 100644 --- a/shared-data/js/__tests__/pipetteSchemaV2.test.ts +++ b/shared-data/js/__tests__/pipetteSchemaV2.test.ts @@ -13,12 +13,12 @@ const allGeometryDefinitions = path.join( const allGeneralDefinitions = path.join( __dirname, - '../../labware/definitions/2/general/**/**/*.json' + '../../pipette/definitions/2/general/**/**/*.json' ) const allLiquidDefinitions = path.join( __dirname, - '../../labware/definitions/2/liquid/**/**/*.json' + '../../pipette/definitions/2/liquid/**/**/*.json' ) const ajv = new Ajv({ allErrors: true, jsonPointers: true }) @@ -29,11 +29,8 @@ const validateGeneralSpecs = ajv.compile(generalSpecsSchema) describe('test schema against all liquid specs definitions', () => { const liquidPaths = glob.sync(allLiquidDefinitions) - - beforeAll(() => { - // Make sure definitions path didn't break, which would give you false positives - expect(liquidPaths.length).toBeGreaterThan(0) - }) + // Make sure definitions path didn't break, which would give you false positives + expect(liquidPaths.length).toBeGreaterThan(0) liquidPaths.forEach(liquidPath => { const liquidDef = require(liquidPath) @@ -45,22 +42,24 @@ describe('test schema against all liquid specs definitions', () => { expect(valid).toBe(true) }) - it(`parent dir matches pipette model: ${liquidPath}`, () => { - expect(['p10', 'p20', 'p50', 'p300', 'p1000']).toContain( + it(`parent dir matches a liquid class: ${liquidPath}`, () => { + expect(['default', 'lowVolumeDefault']).toContain( path.basename(path.dirname(liquidPath)) ) }) + + it(`second parent dir matches pipette model: ${liquidPath}`, () => { + expect(['p10', 'p20', 'p50', 'p300', 'p1000']).toContain( + path.basename(path.dirname(path.dirname(liquidPath))) + ) + }) }) }) describe('test schema against all geometry specs definitions', () => { const geometryPaths = glob.sync(allGeometryDefinitions) - - beforeAll(() => { - // Make sure definitions path didn't break, which would give you false positives - expect(geometryPaths.length).toBeGreaterThan(0) - }) - + // Make sure definitions path didn't break, which would give you false positives + expect(geometryPaths.length).toBeGreaterThan(0) geometryPaths.forEach(geometryPath => { const geometryDef = require(geometryPath) const geometryParentDir = path.dirname(geometryPath) @@ -88,16 +87,11 @@ describe('test schema against all geometry specs definitions', () => { describe('test schema against all general specs definitions', () => { const generalPaths = glob.sync(allGeneralDefinitions) - - beforeAll(() => { - // Make sure definitions path didn't break, which would give you false positives - expect(generalPaths.length).toBeGreaterThan(0) - }) + expect(generalPaths.length).toBeGreaterThan(0) generalPaths.forEach(generalPath => { - const generalDef = require(generalPath) - it(`${generalPath} validates against schema`, () => { + const generalDef = require(generalPath) const valid = validateGeneralSpecs(generalDef) const validationErrors = validateGeneralSpecs.errors expect(validationErrors).toBe(null) diff --git a/shared-data/js/constants.ts b/shared-data/js/constants.ts index 51de83946cc..c944c7943dc 100644 --- a/shared-data/js/constants.ts +++ b/shared-data/js/constants.ts @@ -1,3 +1,4 @@ +import type { CutoutFixtureId, CutoutId, AddressableAreaName } from '../deck' import type { ModuleType } from './types' // constants for dealing with robot coordinate system (eg in labwareTools) @@ -183,9 +184,153 @@ export const TC_MODULE_LOCATION_OT3: 'A1+B1' = 'A1+B1' export const WEIGHT_OF_96_CHANNEL: '~10kg' = '~10kg' -export const WASTE_CHUTE_SLOT: 'D3' = 'D3' +export const SINGLE_LEFT_CUTOUTS: CutoutId[] = [ + 'cutoutA1', + 'cutoutB1', + 'cutoutC1', + 'cutoutD1', +] + +export const SINGLE_CENTER_CUTOUTS: CutoutId[] = [ + 'cutoutA2', + 'cutoutB2', + 'cutoutC2', + 'cutoutD2', +] + +export const SINGLE_RIGHT_CUTOUTS: CutoutId[] = [ + 'cutoutA3', + 'cutoutB3', + 'cutoutC3', + 'cutoutD3', +] + +export const STAGING_AREA_CUTOUTS: CutoutId[] = [ + 'cutoutA3', + 'cutoutB3', + 'cutoutC3', + 'cutoutD3', +] + +export const WASTE_CHUTE_CUTOUT: 'cutoutD3' = 'cutoutD3' + +export const A1_ADDRESSABLE_AREA: 'A1' = 'A1' +export const A2_ADDRESSABLE_AREA: 'A2' = 'A2' +export const A3_ADDRESSABLE_AREA: 'A3' = 'A3' +export const A4_ADDRESSABLE_AREA: 'A4' = 'A4' +export const B1_ADDRESSABLE_AREA: 'B1' = 'B1' +export const B2_ADDRESSABLE_AREA: 'B2' = 'B2' +export const B3_ADDRESSABLE_AREA: 'B3' = 'B3' +export const B4_ADDRESSABLE_AREA: 'B4' = 'B4' +export const C1_ADDRESSABLE_AREA: 'C1' = 'C1' +export const C2_ADDRESSABLE_AREA: 'C2' = 'C2' +export const C3_ADDRESSABLE_AREA: 'C3' = 'C3' +export const C4_ADDRESSABLE_AREA: 'C4' = 'C4' +export const D1_ADDRESSABLE_AREA: 'D1' = 'D1' +export const D2_ADDRESSABLE_AREA: 'D2' = 'D2' +export const D3_ADDRESSABLE_AREA: 'D3' = 'D3' +export const D4_ADDRESSABLE_AREA: 'D4' = 'D4' + +export const MOVABLE_TRASH_A1_ADDRESSABLE_AREA: 'movableTrashA1' = + 'movableTrashA1' +export const MOVABLE_TRASH_A3_ADDRESSABLE_AREA: 'movableTrashA3' = + 'movableTrashA3' +export const MOVABLE_TRASH_B1_ADDRESSABLE_AREA: 'movableTrashB1' = + 'movableTrashB1' +export const MOVABLE_TRASH_B3_ADDRESSABLE_AREA: 'movableTrashB3' = + 'movableTrashB3' +export const MOVABLE_TRASH_C1_ADDRESSABLE_AREA: 'movableTrashC1' = + 'movableTrashC1' +export const MOVABLE_TRASH_C3_ADDRESSABLE_AREA: 'movableTrashC3' = + 'movableTrashC3' +export const MOVABLE_TRASH_D1_ADDRESSABLE_AREA: 'movableTrashD1' = + 'movableTrashD1' +export const MOVABLE_TRASH_D3_ADDRESSABLE_AREA: 'movableTrashD3' = + 'movableTrashD3' + +export const ONE_AND_EIGHT_CHANNEL_WASTE_CHUTE_ADDRESSABLE_AREA: '1and8ChannelWasteChute' = + '1and8ChannelWasteChute' +export const NINETY_SIX_CHANNEL_WASTE_CHUTE_ADDRESSABLE_AREA: '96ChannelWasteChute' = + '96ChannelWasteChute' +export const GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA: 'gripperWasteChute' = + 'gripperWasteChute' + +export const FLEX_SINGLE_SLOT_ADDRESSABLE_AREAS: AddressableAreaName[] = [ + A1_ADDRESSABLE_AREA, + A2_ADDRESSABLE_AREA, + A3_ADDRESSABLE_AREA, + B1_ADDRESSABLE_AREA, + B2_ADDRESSABLE_AREA, + B3_ADDRESSABLE_AREA, + C1_ADDRESSABLE_AREA, + C2_ADDRESSABLE_AREA, + C3_ADDRESSABLE_AREA, + D1_ADDRESSABLE_AREA, + D2_ADDRESSABLE_AREA, + D3_ADDRESSABLE_AREA, +] + +export const FLEX_STAGING_AREA_SLOT_ADDRESSABLE_AREAS: AddressableAreaName[] = [ + A4_ADDRESSABLE_AREA, + B4_ADDRESSABLE_AREA, + C4_ADDRESSABLE_AREA, + D4_ADDRESSABLE_AREA, +] + +export const MOVABLE_TRASH_ADDRESSABLE_AREAS: AddressableAreaName[] = [ + MOVABLE_TRASH_A1_ADDRESSABLE_AREA, + MOVABLE_TRASH_A3_ADDRESSABLE_AREA, + MOVABLE_TRASH_B1_ADDRESSABLE_AREA, + MOVABLE_TRASH_B3_ADDRESSABLE_AREA, + MOVABLE_TRASH_C1_ADDRESSABLE_AREA, + MOVABLE_TRASH_C3_ADDRESSABLE_AREA, + MOVABLE_TRASH_D1_ADDRESSABLE_AREA, + MOVABLE_TRASH_D3_ADDRESSABLE_AREA, +] -export const STAGING_AREA_LOAD_NAME = 'stagingArea' -export const STANDARD_SLOT_LOAD_NAME = 'standardSlot' -export const TRASH_BIN_LOAD_NAME = 'trashBin' -export const WASTE_CHUTE_LOAD_NAME = 'wasteChute' +export const WASTE_CHUTE_ADDRESSABLE_AREAS: AddressableAreaName[] = [ + ONE_AND_EIGHT_CHANNEL_WASTE_CHUTE_ADDRESSABLE_AREA, + NINETY_SIX_CHANNEL_WASTE_CHUTE_ADDRESSABLE_AREA, + GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA, +] + +export const SINGLE_LEFT_SLOT_FIXTURE: 'singleLeftSlot' = 'singleLeftSlot' +export const SINGLE_CENTER_SLOT_FIXTURE: 'singleCenterSlot' = 'singleCenterSlot' +export const SINGLE_RIGHT_SLOT_FIXTURE: 'singleRightSlot' = 'singleRightSlot' + +export const STAGING_AREA_RIGHT_SLOT_FIXTURE: 'stagingAreaRightSlot' = + 'stagingAreaRightSlot' + +export const TRASH_BIN_ADAPTER_FIXTURE: 'trashBinAdapter' = 'trashBinAdapter' + +export const WASTE_CHUTE_RIGHT_ADAPTER_COVERED_FIXTURE: 'wasteChuteRightAdapterCovered' = + 'wasteChuteRightAdapterCovered' +export const WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE: 'wasteChuteRightAdapterNoCover' = + 'wasteChuteRightAdapterNoCover' +export const STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_COVERED_FIXTURE: 'stagingAreaSlotWithWasteChuteRightAdapterCovered' = + 'stagingAreaSlotWithWasteChuteRightAdapterCovered' +export const STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE: 'stagingAreaSlotWithWasteChuteRightAdapterNoCover' = + 'stagingAreaSlotWithWasteChuteRightAdapterNoCover' + +export const SINGLE_SLOT_FIXTURES: CutoutFixtureId[] = [ + SINGLE_LEFT_SLOT_FIXTURE, + SINGLE_CENTER_SLOT_FIXTURE, + SINGLE_RIGHT_SLOT_FIXTURE, +] + +export const WASTE_CHUTE_FIXTURES: CutoutFixtureId[] = [ + WASTE_CHUTE_RIGHT_ADAPTER_COVERED_FIXTURE, + WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, + STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_COVERED_FIXTURE, + STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, +] + +export const WASTE_CHUTE_ONLY_FIXTURES: CutoutFixtureId[] = [ + WASTE_CHUTE_RIGHT_ADAPTER_COVERED_FIXTURE, + WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, +] + +export const WASTE_CHUTE_STAGING_AREA_FIXTURES: CutoutFixtureId[] = [ + STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_COVERED_FIXTURE, + STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, +] diff --git a/shared-data/js/fixtures.ts b/shared-data/js/fixtures.ts index d424464e43d..cbfd463ab7d 100644 --- a/shared-data/js/fixtures.ts +++ b/shared-data/js/fixtures.ts @@ -1,18 +1,161 @@ import { - STAGING_AREA_LOAD_NAME, - TRASH_BIN_LOAD_NAME, - WASTE_CHUTE_LOAD_NAME, + FLEX_ROBOT_TYPE, + STAGING_AREA_RIGHT_SLOT_FIXTURE, + TRASH_BIN_ADAPTER_FIXTURE, + WASTE_CHUTE_RIGHT_ADAPTER_COVERED_FIXTURE, + WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, + STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_COVERED_FIXTURE, + STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, } from './constants' -import type { FixtureLoadName } from './types' - -export function getFixtureDisplayName(loadName: FixtureLoadName): string { - if (loadName === STAGING_AREA_LOAD_NAME) { - return 'Staging Area Slot' - } else if (loadName === TRASH_BIN_LOAD_NAME) { - return 'Trash Bin' - } else if (loadName === WASTE_CHUTE_LOAD_NAME) { - return 'Waste Chute' +import type { CutoutFixtureId } from '../deck' +import type { + AddressableArea, + CoordinateTuple, + Cutout, + DeckDefinition, + OT2Cutout, +} from './types' + +export function getCutoutDisplayName(cutout: Cutout): string { + return cutout.replace('cutout', '') +} + +// mapping of OT-2 deck slots to cutouts +export const OT2_CUTOUT_BY_SLOT_ID: { [slotId: string]: OT2Cutout } = { + 1: 'cutout1', + 2: 'cutout2', + 3: 'cutout3', + 4: 'cutout4', + 5: 'cutout5', + 6: 'cutout6', + 7: 'cutout7', + 8: 'cutout8', + 9: 'cutout9', + 10: 'cutout10', + 11: 'cutout11', +} + +// mapping of Flex deck slots to cutouts +export const FLEX_CUTOUT_BY_SLOT_ID: { [slotId: string]: Cutout } = { + A1: 'cutoutA1', + A2: 'cutoutA2', + A3: 'cutoutA3', + A4: 'cutoutA3', + B1: 'cutoutB1', + B2: 'cutoutB2', + B3: 'cutoutB3', + B4: 'cutoutB3', + C1: 'cutoutC1', + C2: 'cutoutC2', + C3: 'cutoutC3', + C4: 'cutoutC3', + D1: 'cutoutD1', + D2: 'cutoutD2', + D3: 'cutoutD3', + D4: 'cutoutD3', +} + +// returns the position associated with a slot id +export function getPositionFromSlotId( + slotId: string, + deckDef: DeckDefinition +): CoordinateTuple | null { + const cutoutWithSlot = + deckDef.robot.model === FLEX_ROBOT_TYPE + ? FLEX_CUTOUT_BY_SLOT_ID[slotId] + : OT2_CUTOUT_BY_SLOT_ID[slotId] + + const cutoutPosition = + deckDef.locations.cutouts.find(cutout => cutout.id === cutoutWithSlot) + ?.position ?? null + + // adjust for offset from cutout + const offsetFromCutoutFixture = getAddressableAreaFromSlotId(slotId, deckDef) + ?.offsetFromCutoutFixture ?? [0, 0, 0] + + const slotPosition: CoordinateTuple | null = + cutoutPosition != null + ? [ + cutoutPosition[0] + offsetFromCutoutFixture[0], + cutoutPosition[1] + offsetFromCutoutFixture[1], + cutoutPosition[2] + offsetFromCutoutFixture[2], + ] + : null + + return slotPosition +} + +export function getAddressableAreaFromSlotId( + slotId: string, + deckDef: DeckDefinition +): AddressableArea | null { + return ( + deckDef.locations.addressableAreas.find( + addressableArea => addressableArea.id === slotId + ) ?? null + ) +} + +export function getFixtureDisplayName( + cutoutFixtureId: CutoutFixtureId | null +): string { + if (cutoutFixtureId === STAGING_AREA_RIGHT_SLOT_FIXTURE) { + return 'Staging area slot' + } else if (cutoutFixtureId === TRASH_BIN_ADAPTER_FIXTURE) { + return 'Trash bin' + } else if (cutoutFixtureId === WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE) { + return 'Waste chute only' + } else if (cutoutFixtureId === WASTE_CHUTE_RIGHT_ADAPTER_COVERED_FIXTURE) { + return 'Waste chute only with cover' + } else if ( + cutoutFixtureId === + STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE + ) { + return 'Waste chute with staging area slot' + } else if ( + cutoutFixtureId === + STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_COVERED_FIXTURE + ) { + return 'Waste chute with staging area slot and cover' } else { return 'Slot' } } + +const STANDARD_OT2_SLOTS = [ + '1', + '2', + '3', + '4', + '5', + '6', + '7', + '8', + '9', + '10', + '11', +] + +const STANDARD_FLEX_SLOTS = [ + 'A1', + 'A2', + 'A3', + 'B1', + 'B2', + 'B3', + 'C1', + 'C2', + 'C3', + 'D1', + 'D2', + 'D3', +] + +export const isAddressableAreaStandardSlot = ( + addressableAreaId: string, + deckDef: DeckDefinition +): boolean => + (deckDef.robot.model === FLEX_ROBOT_TYPE + ? STANDARD_FLEX_SLOTS + : STANDARD_OT2_SLOTS + ).includes(addressableAreaId) diff --git a/shared-data/js/helpers/__tests__/getDeckDefFromLoadedLabware.test.ts b/shared-data/js/helpers/__tests__/getDeckDefFromLoadedLabware.test.ts index 8a9609b4baf..840753899ce 100644 --- a/shared-data/js/helpers/__tests__/getDeckDefFromLoadedLabware.test.ts +++ b/shared-data/js/helpers/__tests__/getDeckDefFromLoadedLabware.test.ts @@ -1,5 +1,5 @@ -import ot2DeckDef from '../../../deck/definitions/3/ot2_standard.json' -import ot3DeckDef from '../../../deck/definitions/3/ot3_standard.json' +import ot2DeckDef from '../../../deck/definitions/4/ot2_standard.json' +import ot3DeckDef from '../../../deck/definitions/4/ot3_standard.json' import { getDeckDefFromRobotType } from '..' describe('getDeckDefFromRobotType', () => { diff --git a/shared-data/js/helpers/__tests__/getRobotTypeFromLoadedLabware.test.ts b/shared-data/js/helpers/__tests__/getRobotTypeFromLoadedLabware.test.ts deleted file mode 100644 index ecba27c7b89..00000000000 --- a/shared-data/js/helpers/__tests__/getRobotTypeFromLoadedLabware.test.ts +++ /dev/null @@ -1,31 +0,0 @@ -import { getRobotTypeFromLoadedLabware } from '..' -import type { LoadedLabware } from '../..' - -describe('getRobotTypeFromLoadedLabware', () => { - it('should return an OT-2 when an OT-2 trash is loaded into the protocol', () => { - const labware: LoadedLabware[] = [ - { - id: 'fixedTrash', - loadName: 'opentrons_1_trash_1100ml_fixed', - definitionUri: 'opentrons/opentrons_1_trash_1100ml_fixed/1', - location: { - slotName: '12', - }, - }, - ] - expect(getRobotTypeFromLoadedLabware(labware)).toBe('OT-2 Standard') - }) - it('should return an OT-3 when an OT-3 trash is loaded into the protocol', () => { - const labware: LoadedLabware[] = [ - { - id: 'fixedTrash', - loadName: 'opentrons_1_trash_3200ml_fixed', - definitionUri: 'opentrons/opentrons_1_trash_3200ml_fixed/1', - location: { - slotName: '12', - }, - }, - ] - expect(getRobotTypeFromLoadedLabware(labware)).toBe('OT-3 Standard') - }) -}) diff --git a/shared-data/js/helpers/index.ts b/shared-data/js/helpers/index.ts index 7c6cebc3847..970e8c1a596 100644 --- a/shared-data/js/helpers/index.ts +++ b/shared-data/js/helpers/index.ts @@ -2,12 +2,11 @@ import assert from 'assert' import uniq from 'lodash/uniq' import { OPENTRONS_LABWARE_NAMESPACE } from '../constants' -import standardDeckDefOt2 from '../../deck/definitions/3/ot2_standard.json' -import standardDeckDefOt3 from '../../deck/definitions/3/ot3_standard.json' +import standardOt2DeckDef from '../../deck/definitions/4/ot2_standard.json' +import standardFlexDeckDef from '../../deck/definitions/4/ot3_standard.json' import type { DeckDefinition, LabwareDefinition2, - LoadedLabware, ModuleModel, RobotType, ThermalAdapterName, @@ -202,10 +201,10 @@ export const getWellsDepth = ( export const getSlotHasMatingSurfaceUnitVector = ( deckDef: DeckDefinition, - slotNumber: string + addressableAreaName: string ): boolean => { - const matingSurfaceUnitVector = deckDef.locations.orderedSlots.find( - orderedSlot => orderedSlot.id === slotNumber + const matingSurfaceUnitVector = deckDef.locations.addressableAreas.find( + aa => aa.id === addressableAreaName )?.matingSurfaceUnitVector return Boolean(matingSurfaceUnitVector) @@ -220,14 +219,12 @@ export const getAreSlotsHorizontallyAdjacent = ( } const slotANumber = parseInt(slotNameA) const slotBNumber = parseInt(slotNameB) - if (isNaN(slotBNumber) || isNaN(slotANumber)) { return false } - const orderedSlots = standardDeckDefOt2.locations.orderedSlots + const orderedSlots = standardOt2DeckDef.locations.cutouts // intentionally not substracting by 1 because trash (slot 12) should not count const numSlots = orderedSlots.length - if (slotBNumber > numSlots || slotANumber > numSlots) { return false } @@ -260,7 +257,7 @@ export const getAreSlotsVerticallyAdjacent = ( if (isNaN(slotBNumber) || isNaN(slotANumber)) { return false } - const orderedSlots = standardDeckDefOt2.locations.orderedSlots + const orderedSlots = standardOt2DeckDef.locations.cutouts // intentionally not substracting by 1 because trash (slot 12) should not count const numSlots = orderedSlots.length @@ -284,6 +281,9 @@ export const getAreSlotsVerticallyAdjacent = ( return areSlotsVerticallyAdjacent } +// TODO(jr, 11/12/23): rename this utility to mention that it +// is only used in the OT-2, same with getAreSlotsHorizontallyAdjacent +// and getAreSlotsVerticallyAdjacent export const getAreSlotsAdjacent = ( slotNameA?: string | null, slotNameB?: string | null @@ -336,18 +336,11 @@ export const getCalibrationAdapterLoadName = ( } } -export const getRobotTypeFromLoadedLabware = ( - labware: LoadedLabware[] -): RobotType => { - const isProtocolForOT3 = labware.some( - l => l.loadName === 'opentrons_1_trash_3200ml_fixed' - ) - return isProtocolForOT3 ? 'OT-3 Standard' : 'OT-2 Standard' -} - export const getDeckDefFromRobotType = ( robotType: RobotType ): DeckDefinition => { // @ts-expect-error imported JSON not playing nice with TS. see https://github.com/microsoft/TypeScript/issues/32063 - return robotType === 'OT-3 Standard' ? standardDeckDefOt3 : standardDeckDefOt2 + return robotType === 'OT-3 Standard' + ? standardFlexDeckDef + : standardOt2DeckDef } diff --git a/shared-data/js/index.ts b/shared-data/js/index.ts index 61fe3babedf..ce7335fa426 100644 --- a/shared-data/js/index.ts +++ b/shared-data/js/index.ts @@ -8,6 +8,7 @@ export * from './modules' export * from './fixtures' export * from './gripper' export * from '../protocol' +export * from '../deck' export * from './titleCase' export * from './errors' export * from './fixtures' diff --git a/shared-data/js/types.ts b/shared-data/js/types.ts index 07b5302b63d..3570d42ddbf 100644 --- a/shared-data/js/types.ts +++ b/shared-data/js/types.ts @@ -24,15 +24,11 @@ import { GRIPPER_V1_2, EXTENSION, MAGNETIC_BLOCK_V1, - STAGING_AREA_LOAD_NAME, - STANDARD_SLOT_LOAD_NAME, - TRASH_BIN_LOAD_NAME, - WASTE_CHUTE_LOAD_NAME, } from './constants' import type { INode } from 'svgson' -import type { RunTimeCommand } from '../command/types' +import type { RunTimeCommand, LabwareLocation } from '../command/types' +import type { AddressableAreaName, CutoutFixtureId, CutoutId } from '../deck' import type { PipetteName } from './pipettes' -import type { LabwareLocation } from '../protocol/types/schemaV7/command/setup' export type RobotType = 'OT-2 Standard' | 'OT-3 Standard' @@ -232,18 +228,6 @@ export type ModuleModelWithLegacy = | typeof MAGDECK | typeof TEMPDECK -export type FixtureLoadName = - | typeof STAGING_AREA_LOAD_NAME - | typeof STANDARD_SLOT_LOAD_NAME - | typeof TRASH_BIN_LOAD_NAME - | typeof WASTE_CHUTE_LOAD_NAME - -export interface DeckOffset { - x: number - y: number - z: number -} - export interface Dimensions { xDimension: number yDimension: number @@ -254,13 +238,6 @@ export interface DeckRobot { model: RobotType } -export interface DeckFixture { - id: string - slot: string - labware: string - displayName: string -} - export type CoordinateTuple = [number, number, number] export type UnitDirection = 1 | -1 @@ -284,10 +261,27 @@ export interface DeckCalibrationPoint { displayName: string } -export interface DeckLocations { - orderedSlots: DeckSlot[] - calibrationPoints: DeckCalibrationPoint[] - fixtures: DeckFixture[] +export interface CutoutFixture { + id: CutoutFixtureId + mayMountTo: CutoutId[] + displayName: string + providesAddressableAreas: Record +} + +type AreaType = 'slot' | 'movableTrash' | 'wasteChute' | 'fixedTrash' + +export interface AddressableArea { + id: AddressableAreaName + areaType: AreaType + offsetFromCutoutFixture: CoordinateTuple + boundingBox: Dimensions + displayName: string + compatibleModuleTypes: ModuleType[] + ableToDropLabware?: boolean + ableToDropTips?: boolean + dropLabwareOffset?: CoordinateTuple + dropTipsOffset?: CoordinateTuple + matingSurfaceUnitVector?: UnitVectorTuple } export interface DeckMetadata { @@ -295,6 +289,26 @@ export interface DeckMetadata { tags: string[] } +export interface DeckCutout { + id: string + position: CoordinateTuple + displayName: string +} + +export interface LegacyFixture { + id: string + slot: string + labware: string + displayName: string +} + +export interface DeckLocations { + addressableAreas: AddressableArea[] + calibrationPoints: DeckCalibrationPoint[] + cutouts: DeckCutout[] + legacyFixtures: LegacyFixture[] +} + export interface DeckDefinition { otId: string cornerOffsetFromOrigin: CoordinateTuple @@ -302,7 +316,7 @@ export interface DeckDefinition { robot: DeckRobot locations: DeckLocations metadata: DeckMetadata - layers: INode[] + cutoutFixtures: CutoutFixture[] } export interface ModuleDimensions { @@ -459,6 +473,7 @@ export interface CompletedProtocolAnalysis { liquids: Liquid[] commands: RunTimeCommand[] errors: AnalysisError[] + robotType?: RobotType | null } export interface ResourceFile { @@ -531,8 +546,35 @@ export type StatusBarAnimation = export type StatusBarAnimations = StatusBarAnimation[] -// TODO(bh, 2023-09-28): refine types when settled export type Cutout = + | 'cutoutA1' + | 'cutoutB1' + | 'cutoutC1' + | 'cutoutD1' + | 'cutoutA2' + | 'cutoutB2' + | 'cutoutC2' + | 'cutoutD2' + | 'cutoutA3' + | 'cutoutB3' + | 'cutoutC3' + | 'cutoutD3' + +export type OT2Cutout = + | 'cutout1' + | 'cutout2' + | 'cutout3' + | 'cutout4' + | 'cutout5' + | 'cutout6' + | 'cutout7' + | 'cutout8' + | 'cutout9' + | 'cutout10' + | 'cutout11' + | 'cutout12' + +export type FlexSlot = | 'A1' | 'B1' | 'C1' @@ -545,11 +587,14 @@ export type Cutout = | 'B3' | 'C3' | 'D3' + | 'A4' + | 'B4' + | 'C4' + | 'D4' -export interface Fixture { - fixtureId: string - fixtureLocation: Cutout - loadName: FixtureLoadName +export interface CutoutConfig { + cutoutId: CutoutId + cutoutFixtureId: CutoutFixtureId | null } -export type DeckConfiguration = Fixture[] +export type DeckConfiguration = CutoutConfig[] diff --git a/shared-data/labware/definitions/2/armadillo_96_wellplate_200ul_pcr_full_skirt/2.json b/shared-data/labware/definitions/2/armadillo_96_wellplate_200ul_pcr_full_skirt/2.json index f0704d43cca..dec71b2b4e1 100644 --- a/shared-data/labware/definitions/2/armadillo_96_wellplate_200ul_pcr_full_skirt/2.json +++ b/shared-data/labware/definitions/2/armadillo_96_wellplate_200ul_pcr_full_skirt/2.json @@ -55,7 +55,7 @@ "z": 10.7 } }, - "gripForce": 15, + "gripForce": 9, "gripHeightFromLabwareBottom": 10, "ordering": [ ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"], diff --git a/shared-data/labware/definitions/2/opentrons_96_pcr_adapter/1.json b/shared-data/labware/definitions/2/opentrons_96_pcr_adapter/1.json index 9447d404d0c..459922d3f22 100644 --- a/shared-data/labware/definitions/2/opentrons_96_pcr_adapter/1.json +++ b/shared-data/labware/definitions/2/opentrons_96_pcr_adapter/1.json @@ -1014,5 +1014,19 @@ "x": 8.5, "y": 5.5, "z": 0 + }, + "gripperOffsets": { + "default": { + "pickUpOffset": { + "x": 0, + "y": 0, + "z": 0 + }, + "dropOffset": { + "x": 0, + "y": 0, + "z": 1.0 + } + } } } diff --git a/shared-data/labware/definitions/2/opentrons_96_well_aluminum_block/1.json b/shared-data/labware/definitions/2/opentrons_96_well_aluminum_block/1.json index 01db61ae047..2eadb732440 100644 --- a/shared-data/labware/definitions/2/opentrons_96_well_aluminum_block/1.json +++ b/shared-data/labware/definitions/2/opentrons_96_well_aluminum_block/1.json @@ -1014,5 +1014,19 @@ "x": 0, "y": 0, "z": 0 + }, + "gripperOffsets": { + "default": { + "pickUpOffset": { + "x": 0, + "y": 0, + "z": 0 + }, + "dropOffset": { + "x": 0, + "y": 0, + "z": 1.0 + } + } } } diff --git a/shared-data/labware/definitions/2/opentrons_96_wellplate_200ul_pcr_full_skirt/2.json b/shared-data/labware/definitions/2/opentrons_96_wellplate_200ul_pcr_full_skirt/2.json index fb6420bac45..4e8314698aa 100644 --- a/shared-data/labware/definitions/2/opentrons_96_wellplate_200ul_pcr_full_skirt/2.json +++ b/shared-data/labware/definitions/2/opentrons_96_wellplate_200ul_pcr_full_skirt/2.json @@ -55,7 +55,7 @@ "z": 10.7 } }, - "gripForce": 15, + "gripForce": 9, "gripHeightFromLabwareBottom": 10, "ordering": [ ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"], diff --git a/shared-data/labware/fixtures/2/fixture_flex_96_tiprack_1000ul.json b/shared-data/labware/fixtures/2/fixture_flex_96_tiprack_1000ul.json new file mode 100644 index 00000000000..5eaa01f9440 --- /dev/null +++ b/shared-data/labware/fixtures/2/fixture_flex_96_tiprack_1000ul.json @@ -0,0 +1,1026 @@ +{ + "ordering": [ + ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"], + ["A2", "B2", "C2", "D2", "E2", "F2", "G2", "H2"], + ["A3", "B3", "C3", "D3", "E3", "F3", "G3", "H3"], + ["A4", "B4", "C4", "D4", "E4", "F4", "G4", "H4"], + ["A5", "B5", "C5", "D5", "E5", "F5", "G5", "H5"], + ["A6", "B6", "C6", "D6", "E6", "F6", "G6", "H6"], + ["A7", "B7", "C7", "D7", "E7", "F7", "G7", "H7"], + ["A8", "B8", "C8", "D8", "E8", "F8", "G8", "H8"], + ["A9", "B9", "C9", "D9", "E9", "F9", "G9", "H9"], + ["A10", "B10", "C10", "D10", "E10", "F10", "G10", "H10"], + ["A11", "B11", "C11", "D11", "E11", "F11", "G11", "H11"], + ["A12", "B12", "C12", "D12", "E12", "F12", "G12", "H12"] + ], + "brand": { + "brand": "Fixture", + "brandId": [] + }, + "metadata": { + "displayName": "Fixture Flex Tiprack 1000 uL", + "displayCategory": "tipRack", + "displayVolumeUnits": "µL", + "tags": [] + }, + "dimensions": { + "xDimension": 127.75, + "yDimension": 85.75, + "zDimension": 99 + }, + "gripForce": 16, + "gripHeightFromLabwareBottom": 23.9, + "wells": { + "A1": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 14.38, + "y": 74.38, + "z": 1.5 + }, + "B1": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 14.38, + "y": 65.38, + "z": 1.5 + }, + "C1": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 14.38, + "y": 56.38, + "z": 1.5 + }, + "D1": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 14.38, + "y": 47.38, + "z": 1.5 + }, + "E1": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 14.38, + "y": 38.38, + "z": 1.5 + }, + "F1": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 14.38, + "y": 29.38, + "z": 1.5 + }, + "G1": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 14.38, + "y": 20.38, + "z": 1.5 + }, + "H1": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 14.38, + "y": 11.38, + "z": 1.5 + }, + "A2": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 23.38, + "y": 74.38, + "z": 1.5 + }, + "B2": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 23.38, + "y": 65.38, + "z": 1.5 + }, + "C2": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 23.38, + "y": 56.38, + "z": 1.5 + }, + "D2": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 23.38, + "y": 47.38, + "z": 1.5 + }, + "E2": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 23.38, + "y": 38.38, + "z": 1.5 + }, + "F2": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 23.38, + "y": 29.38, + "z": 1.5 + }, + "G2": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 23.38, + "y": 20.38, + "z": 1.5 + }, + "H2": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 23.38, + "y": 11.38, + "z": 1.5 + }, + "A3": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 32.38, + "y": 74.38, + "z": 1.5 + }, + "B3": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 32.38, + "y": 65.38, + "z": 1.5 + }, + "C3": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 32.38, + "y": 56.38, + "z": 1.5 + }, + "D3": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 32.38, + "y": 47.38, + "z": 1.5 + }, + "E3": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 32.38, + "y": 38.38, + "z": 1.5 + }, + "F3": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 32.38, + "y": 29.38, + "z": 1.5 + }, + "G3": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 32.38, + "y": 20.38, + "z": 1.5 + }, + "H3": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 32.38, + "y": 11.38, + "z": 1.5 + }, + "A4": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 41.38, + "y": 74.38, + "z": 1.5 + }, + "B4": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 41.38, + "y": 65.38, + "z": 1.5 + }, + "C4": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 41.38, + "y": 56.38, + "z": 1.5 + }, + "D4": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 41.38, + "y": 47.38, + "z": 1.5 + }, + "E4": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 41.38, + "y": 38.38, + "z": 1.5 + }, + "F4": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 41.38, + "y": 29.38, + "z": 1.5 + }, + "G4": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 41.38, + "y": 20.38, + "z": 1.5 + }, + "H4": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 41.38, + "y": 11.38, + "z": 1.5 + }, + "A5": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 50.38, + "y": 74.38, + "z": 1.5 + }, + "B5": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 50.38, + "y": 65.38, + "z": 1.5 + }, + "C5": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 50.38, + "y": 56.38, + "z": 1.5 + }, + "D5": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 50.38, + "y": 47.38, + "z": 1.5 + }, + "E5": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 50.38, + "y": 38.38, + "z": 1.5 + }, + "F5": { + "depth": 97.5, + 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"shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 68.38, + "y": 47.38, + "z": 1.5 + }, + "E7": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 68.38, + "y": 38.38, + "z": 1.5 + }, + "F7": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 68.38, + "y": 29.38, + "z": 1.5 + }, + "G7": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 68.38, + "y": 20.38, + "z": 1.5 + }, + "H7": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 68.38, + "y": 11.38, + "z": 1.5 + }, + "A8": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 77.38, + "y": 74.38, + "z": 1.5 + }, + "B8": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 77.38, + "y": 65.38, + "z": 1.5 + }, + "C8": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 77.38, + "y": 56.38, + "z": 1.5 + }, + "D8": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 77.38, + "y": 47.38, + "z": 1.5 + }, + "E8": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 77.38, + "y": 38.38, + "z": 1.5 + }, + "F8": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 77.38, + "y": 29.38, + "z": 1.5 + }, + "G8": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 77.38, + "y": 20.38, + "z": 1.5 + }, + "H8": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 77.38, + "y": 11.38, + "z": 1.5 + }, + "A9": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 86.38, + "y": 74.38, + "z": 1.5 + }, + "B9": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 86.38, + "y": 65.38, + "z": 1.5 + }, + "C9": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 86.38, + "y": 56.38, + "z": 1.5 + }, + "D9": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 86.38, + "y": 47.38, + "z": 1.5 + }, + "E9": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 86.38, + "y": 38.38, + "z": 1.5 + }, + "F9": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 86.38, + "y": 29.38, + "z": 1.5 + }, + "G9": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 86.38, + "y": 20.38, + "z": 1.5 + }, + "H9": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 86.38, + "y": 11.38, + "z": 1.5 + }, + "A10": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 95.38, + "y": 74.38, + "z": 1.5 + }, + "B10": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 95.38, + "y": 65.38, + "z": 1.5 + }, + "C10": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 95.38, + "y": 56.38, + "z": 1.5 + }, + "D10": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 95.38, + "y": 47.38, + "z": 1.5 + }, + "E10": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 95.38, + "y": 38.38, + "z": 1.5 + }, + "F10": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 95.38, + "y": 29.38, + "z": 1.5 + }, + "G10": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 95.38, + "y": 20.38, + "z": 1.5 + }, + "H10": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 95.38, + "y": 11.38, + "z": 1.5 + }, + "A11": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 104.38, + "y": 74.38, + "z": 1.5 + }, + "B11": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 104.38, + "y": 65.38, + "z": 1.5 + }, + "C11": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 104.38, + "y": 56.38, + "z": 1.5 + }, + "D11": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 104.38, + "y": 47.38, + "z": 1.5 + }, + "E11": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 104.38, + "y": 38.38, + "z": 1.5 + }, + "F11": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 104.38, + "y": 29.38, + "z": 1.5 + }, + "G11": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 104.38, + "y": 20.38, + "z": 1.5 + }, + "H11": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 104.38, + "y": 11.38, + "z": 1.5 + }, + "A12": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 113.38, + "y": 74.38, + "z": 1.5 + }, + "B12": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 113.38, + "y": 65.38, + "z": 1.5 + }, + "C12": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 113.38, + "y": 56.38, + "z": 1.5 + }, + "D12": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 113.38, + "y": 47.38, + "z": 1.5 + }, + "E12": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 113.38, + "y": 38.38, + "z": 1.5 + }, + "F12": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 113.38, + "y": 29.38, + "z": 1.5 + }, + "G12": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 113.38, + "y": 20.38, + "z": 1.5 + }, + "H12": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 113.38, + "y": 11.38, + "z": 1.5 + } + }, + "groups": [ + { + "metadata": {}, + "wells": [ + "A1", + "B1", + "C1", + "D1", + "E1", + "F1", + "G1", + "H1", + "A2", + "B2", + "C2", + "D2", + "E2", + "F2", + "G2", + "H2", + "A3", + "B3", + "C3", + "D3", + "E3", + "F3", + "G3", + "H3", + "A4", + "B4", + "C4", + "D4", + "E4", + "F4", + "G4", + "H4", + "A5", + "B5", + "C5", + "D5", + "E5", + "F5", + "G5", + "H5", + "A6", + "B6", + "C6", + "D6", + "E6", + "F6", + "G6", + "H6", + "A7", + "B7", + "C7", + "D7", + "E7", + "F7", + "G7", + "H7", + "A8", + "B8", + "C8", + "D8", + "E8", + "F8", + "G8", + "H8", + "A9", + "B9", + "C9", + "D9", + "E9", + "F9", + "G9", + "H9", + "A10", + "B10", + "C10", + "D10", + "E10", + "F10", + "G10", + "H10", + "A11", + "B11", + "C11", + "D11", + "E11", + "F11", + "G11", + "H11", + "A12", + "B12", + "C12", + "D12", + "E12", + "F12", + "G12", + "H12" + ] + } + ], + "parameters": { + "format": "96Standard", + "quirks": [], + "isTiprack": true, + "tipLength": 95.6, + "tipOverlap": 10.5, + "isMagneticModuleCompatible": false, + "loadName": "fixture_flex_96_tiprack_1000ul" + }, + "namespace": "fixture", + "version": 1, + "schemaVersion": 2, + "cornerOffsetFromSlot": { + "x": 0, + "y": 0, + "z": 0 + }, + "stackingOffsetWithLabware": { + "opentrons_flex_96_tiprack_adapter": { + "x": 0, + "y": 0, + "z": 121 + } + } +} diff --git a/shared-data/labware/fixtures/2/fixture_flex_96_tiprack_adapter.json b/shared-data/labware/fixtures/2/fixture_flex_96_tiprack_adapter.json new file mode 100644 index 00000000000..a97b50810f5 --- /dev/null +++ b/shared-data/labware/fixtures/2/fixture_flex_96_tiprack_adapter.json @@ -0,0 +1,41 @@ +{ + "ordering": [], + "brand": { + "brand": "Fixture", + "brandId": [] + }, + "metadata": { + "displayName": "Fixture Flex 96 Tip Rack Adapter", + "displayCategory": "adapter", + "displayVolumeUnits": "µL", + "tags": [] + }, + "dimensions": { + "xDimension": 156.5, + "yDimension": 93, + "zDimension": 132 + }, + "wells": {}, + "groups": [ + { + "metadata": {}, + "wells": [] + } + ], + "parameters": { + "format": "96Standard", + "quirks": [], + "isTiprack": false, + "isMagneticModuleCompatible": false, + "loadName": "fixture_flex_96_tiprack_adapter" + }, + "namespace": "fixture", + "version": 1, + "schemaVersion": 2, + "allowedRoles": ["adapter"], + "cornerOffsetFromSlot": { + "x": -14.25, + "y": -3.5, + "z": 0 + } +} diff --git a/shared-data/module/definitions/3/heaterShakerModuleV1.json b/shared-data/module/definitions/3/heaterShakerModuleV1.json index 63d6dd31998..30164bd8607 100644 --- a/shared-data/module/definitions/3/heaterShakerModuleV1.json +++ b/shared-data/module/definitions/3/heaterShakerModuleV1.json @@ -43,7 +43,7 @@ "dropOffset": { "x": 0, "y": 0, - "z": 0.5 + "z": 1.0 } } }, diff --git a/shared-data/module/definitions/3/magneticBlockV1.json b/shared-data/module/definitions/3/magneticBlockV1.json index 2dea6a9d2ca..a1fd0a39248 100644 --- a/shared-data/module/definitions/3/magneticBlockV1.json +++ b/shared-data/module/definitions/3/magneticBlockV1.json @@ -38,7 +38,7 @@ "dropOffset": { "x": 0, "y": 0, - "z": 0.5 + "z": 1.0 } } }, diff --git a/shared-data/module/definitions/3/temperatureModuleV2.json b/shared-data/module/definitions/3/temperatureModuleV2.json index cc16e0b1ec4..7e67659eba7 100644 --- a/shared-data/module/definitions/3/temperatureModuleV2.json +++ b/shared-data/module/definitions/3/temperatureModuleV2.json @@ -41,7 +41,7 @@ "dropOffset": { "x": 0, "y": 0, - "z": 0.5 + "z": 1.0 } } }, diff --git a/shared-data/module/definitions/3/thermocyclerModuleV2.json b/shared-data/module/definitions/3/thermocyclerModuleV2.json index 9c7965eb49a..531890def74 100644 --- a/shared-data/module/definitions/3/thermocyclerModuleV2.json +++ b/shared-data/module/definitions/3/thermocyclerModuleV2.json @@ -44,7 +44,7 @@ "dropOffset": { "x": 0, "y": 0, - "z": 4.6 + "z": 5.6 } } }, diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_0.json index a3a7a9a8fc4..61bb1a9b8e4 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_0.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_0.json @@ -4,17 +4,28 @@ "model": "p10", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 1.0, - "distance": 10.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 1.0, + "distance": 10.0, + "currentByTipCount": { + "1": 0.1, + "2": 0.1, + "3": 0.15, + "4": 0.2, + "5": 0.25, + "6": 0.3, + "7": 0.35, + "8": 0.4 + } + } }, "dropTipConfigurations": { - "current": 0.5, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.5, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,17 +44,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], - "perTipPickupCurrent": { - "1": 0.1, - "2": 0.1, - "3": 0.15, - "4": 0.2, - "5": 0.25, - "6": 0.3, - "7": 0.35, - "8": 0.4 - } + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] }, "channels": 8, "shaftDiameter": 1.0, @@ -54,6 +55,5 @@ "plungerHomingConfigurations": { "current": 0.5, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_3.json b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_3.json index 3f6700dc816..c8e07ba071b 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_3.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_3.json @@ -4,17 +4,28 @@ "model": "p10", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 1.0, - "distance": 10.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 1.0, + "distance": 10.0, + "currentByTipCount": { + "1": 0.1, + "2": 0.1, + "3": 0.15, + "4": 0.2, + "5": 0.25, + "6": 0.3, + "7": 0.35, + "8": 0.4 + } + } }, "dropTipConfigurations": { - "current": 0.5, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.5, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,17 +44,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], - "perTipPickupCurrent": { - "1": 0.1, - "2": 0.1, - "3": 0.15, - "4": 0.2, - "5": 0.25, - "6": 0.3, - "7": 0.35, - "8": 0.4 - } + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] }, "channels": 8, "shaftDiameter": 1.0, @@ -54,6 +55,5 @@ "plungerHomingConfigurations": { "current": 0.5, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_4.json b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_4.json index f183e7aab87..d673992b6d2 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_4.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_4.json @@ -4,17 +4,28 @@ "model": "p10", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 1.0, - "distance": 10.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 1.0, + "distance": 10.0, + "currentByTipCount": { + "1": 0.1, + "2": 0.1, + "3": 0.15, + "4": 0.2, + "5": 0.25, + "6": 0.3, + "7": 0.35, + "8": 0.4 + } + } }, "dropTipConfigurations": { - "current": 0.5, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.5, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,17 +44,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], - "perTipPickupCurrent": { - "1": 0.1, - "2": 0.1, - "3": 0.15, - "4": 0.2, - "5": 0.25, - "6": 0.3, - "7": 0.35, - "8": 0.4 - } + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] }, "channels": 8, "shaftDiameter": 1.0, @@ -54,6 +55,5 @@ "plungerHomingConfigurations": { "current": 0.5, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_5.json b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_5.json index ef35a1587c8..dbcb7f8dbc7 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_5.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_5.json @@ -4,17 +4,28 @@ "model": "p10", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 3.0, - "distance": 10.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 3.0, + "distance": 10.0, + "currentByTipCount": { + "1": 0.1, + "2": 0.14, + "3": 0.21, + "4": 0.28, + "5": 0.34, + "6": 0.41, + "7": 0.48, + "8": 0.55 + } + } }, "dropTipConfigurations": { - "current": 0.5, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.5, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,17 +44,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], - "perTipPickupCurrent": { - "1": 0.1, - "2": 0.14, - "3": 0.21, - "4": 0.28, - "5": 0.34, - "6": 0.41, - "7": 0.48, - "8": 0.55 - } + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] }, "channels": 8, "shaftDiameter": 1.0, @@ -54,6 +55,5 @@ "plungerHomingConfigurations": { "current": 0.5, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_6.json b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_6.json index ef35a1587c8..dbcb7f8dbc7 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_6.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_6.json @@ -4,17 +4,28 @@ "model": "p10", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 3.0, - "distance": 10.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 3.0, + "distance": 10.0, + "currentByTipCount": { + "1": 0.1, + "2": 0.14, + "3": 0.21, + "4": 0.28, + "5": 0.34, + "6": 0.41, + "7": 0.48, + "8": 0.55 + } + } }, "dropTipConfigurations": { - "current": 0.5, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.5, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,17 +44,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], - "perTipPickupCurrent": { - "1": 0.1, - "2": 0.14, - "3": 0.21, - "4": 0.28, - "5": 0.34, - "6": 0.41, - "7": 0.48, - "8": 0.55 - } + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] }, "channels": 8, "shaftDiameter": 1.0, @@ -54,6 +55,5 @@ "plungerHomingConfigurations": { "current": 0.5, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p1000/1_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p1000/1_0.json index 1d17191c93f..e557a84a71e 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p1000/1_0.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p1000/1_0.json @@ -4,14 +4,28 @@ "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "presses": 1, - "speed": 10, - "increment": 0.0, - "distance": 13.0 + "pressFit": { + "presses": 1, + "speed": 10, + "increment": 0.0, + "distance": 13.0, + "currentByTipCount": { + "1": 0.15, + "2": 0.13, + "3": 0.19, + "4": 0.25, + "5": 0.31, + "6": 0.38, + "7": 0.44, + "8": 0.5 + } + } }, "dropTipConfigurations": { - "current": 1.0, - "speed": 10 + "plungerEject": { + "current": 1.0, + "speed": 10 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -39,17 +53,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], - "perTipPickupCurrent": { - "1": 0.15, - "2": 0.13, - "3": 0.19, - "4": 0.25, - "5": 0.31, - "6": 0.38, - "7": 0.44, - "8": 0.5 - } + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] }, "backCompatNames": [], "channels": 8, @@ -60,6 +64,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_0.json index 8bd59075ccc..16a0931ec7c 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_0.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_0.json @@ -4,14 +4,28 @@ "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "presses": 1, - "speed": 10, - "increment": 0.0, - "distance": 13.0 + "pressFit": { + "presses": 1, + "speed": 10, + "increment": 0.0, + "distance": 13.0, + "currentByTipCount": { + "1": 0.15, + "2": 0.13, + "3": 0.19, + "4": 0.25, + "5": 0.31, + "6": 0.38, + "7": 0.44, + "8": 0.5 + } + } }, "dropTipConfigurations": { - "current": 1.0, - "speed": 10 + "plungerEject": { + "current": 1.0, + "speed": 10 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -39,17 +53,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], - "perTipPickupCurrent": { - "1": 0.15, - "2": 0.13, - "3": 0.19, - "4": 0.25, - "5": 0.31, - "6": 0.38, - "7": 0.44, - "8": 0.5 - } + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] }, "backCompatNames": [], "channels": 8, @@ -60,6 +64,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_3.json b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_3.json index 8bd59075ccc..16a0931ec7c 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_3.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_3.json @@ -4,14 +4,28 @@ "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "presses": 1, - "speed": 10, - "increment": 0.0, - "distance": 13.0 + "pressFit": { + "presses": 1, + "speed": 10, + "increment": 0.0, + "distance": 13.0, + "currentByTipCount": { + "1": 0.15, + "2": 0.13, + "3": 0.19, + "4": 0.25, + "5": 0.31, + "6": 0.38, + "7": 0.44, + "8": 0.5 + } + } }, "dropTipConfigurations": { - "current": 1.0, - "speed": 10 + "plungerEject": { + "current": 1.0, + "speed": 10 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -39,17 +53,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], - "perTipPickupCurrent": { - "1": 0.15, - "2": 0.13, - "3": 0.19, - "4": 0.25, - "5": 0.31, - "6": 0.38, - "7": 0.44, - "8": 0.5 - } + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] }, "backCompatNames": [], "channels": 8, @@ -60,6 +64,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_4.json b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_4.json index 862266f22fe..47ace6a4e52 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_4.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_4.json @@ -4,14 +4,28 @@ "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "presses": 1, - "speed": 10, - "increment": 0.0, - "distance": 13.0 + "pressFit": { + "presses": 1, + "speed": 10, + "increment": 0.0, + "distance": 13.0, + "currentByTipCount": { + "1": 0.2, + "2": 0.14, + "3": 0.21, + "4": 0.28, + "5": 0.34, + "6": 0.41, + "7": 0.48, + "8": 0.55 + } + } }, "dropTipConfigurations": { - "current": 1.0, - "speed": 10 + "plungerEject": { + "current": 1.0, + "speed": 10 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -39,17 +53,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], - "perTipPickupCurrent": { - "1": 0.2, - "2": 0.14, - "3": 0.21, - "4": 0.28, - "5": 0.34, - "6": 0.41, - "7": 0.48, - "8": 0.55 - } + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] }, "backCompatNames": [], "channels": 8, @@ -60,6 +64,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_5.json b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_5.json index 862266f22fe..47ace6a4e52 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_5.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_5.json @@ -4,14 +4,28 @@ "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "presses": 1, - "speed": 10, - "increment": 0.0, - "distance": 13.0 + "pressFit": { + "presses": 1, + "speed": 10, + "increment": 0.0, + "distance": 13.0, + "currentByTipCount": { + "1": 0.2, + "2": 0.14, + "3": 0.21, + "4": 0.28, + "5": 0.34, + "6": 0.41, + "7": 0.48, + "8": 0.55 + } + } }, "dropTipConfigurations": { - "current": 1.0, - "speed": 10 + "plungerEject": { + "current": 1.0, + "speed": 10 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -39,17 +53,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], - "perTipPickupCurrent": { - "1": 0.2, - "2": 0.14, - "3": 0.21, - "4": 0.28, - "5": 0.34, - "6": 0.41, - "7": 0.48, - "8": 0.55 - } + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] }, "backCompatNames": [], "channels": 8, @@ -60,6 +64,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p20/2_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p20/2_0.json index 9530ac8428c..b204977b556 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p20/2_0.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p20/2_0.json @@ -4,17 +4,28 @@ "model": "p20", "displayCategory": "GEN2", "pickUpTipConfigurations": { - "speed": 10.0, - "presses": 1, - "increment": 0.0, - "distance": 11.0 + "pressFit": { + "speed": 10.0, + "presses": 1, + "increment": 0.0, + "distance": 11.0, + "currentByTipCount": { + "1": 0.1, + "2": 0.15, + "3": 0.23, + "4": 0.28, + "5": 0.38, + "6": 0.45, + "7": 0.53, + "8": 0.6 + } + } }, "dropTipConfigurations": { - "current": 1.25, - "speed": 15.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 1.25, + "speed": 15.0 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -33,17 +44,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], - "perTipPickupCurrent": { - "1": 0.1, - "2": 0.15, - "3": 0.23, - "4": 0.28, - "5": 0.38, - "6": 0.45, - "7": 0.53, - "8": 0.6 - } + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] }, "channels": 8, "shaftDiameter": 1.0, @@ -54,6 +55,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p20/2_1.json b/shared-data/pipette/definitions/2/general/eight_channel/p20/2_1.json index 9530ac8428c..b204977b556 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p20/2_1.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p20/2_1.json @@ -4,17 +4,28 @@ "model": "p20", "displayCategory": "GEN2", "pickUpTipConfigurations": { - "speed": 10.0, - "presses": 1, - "increment": 0.0, - "distance": 11.0 + "pressFit": { + "speed": 10.0, + "presses": 1, + "increment": 0.0, + "distance": 11.0, + "currentByTipCount": { + "1": 0.1, + "2": 0.15, + "3": 0.23, + "4": 0.28, + "5": 0.38, + "6": 0.45, + "7": 0.53, + "8": 0.6 + } + } }, "dropTipConfigurations": { - "current": 1.25, - "speed": 15.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 1.25, + "speed": 15.0 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -33,17 +44,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], - "perTipPickupCurrent": { - "1": 0.1, - "2": 0.15, - "3": 0.23, - "4": 0.28, - "5": 0.38, - "6": 0.45, - "7": 0.53, - "8": 0.6 - } + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] }, "channels": 8, "shaftDiameter": 1.0, @@ -54,6 +55,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_0.json index 0d1ed8808cc..8a0560e150a 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_0.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_0.json @@ -4,17 +4,28 @@ "model": "p300", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 1.0, - "distance": 10.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 1.0, + "distance": 10.0, + "currentByTipCount": { + "1": 0.1, + "2": 0.15, + "3": 0.23, + "4": 0.3, + "5": 0.38, + "6": 0.45, + "7": 0.53, + "8": 0.6 + } + } }, "dropTipConfigurations": { - "current": 0.5, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.5, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,17 +44,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], - "perTipPickupCurrent": { - "1": 0.1, - "2": 0.15, - "3": 0.23, - "4": 0.3, - "5": 0.38, - "6": 0.45, - "7": 0.53, - "8": 0.6 - } + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] }, "channels": 8, "shaftDiameter": 5.0, @@ -54,6 +55,5 @@ "plungerHomingConfigurations": { "current": 0.5, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_3.json b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_3.json index 602bf5df703..ce299da8595 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_3.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_3.json @@ -4,17 +4,28 @@ "model": "p300", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 1.0, - "distance": 10.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 1.0, + "distance": 10.0, + "currentByTipCount": { + "1": 0.1, + "2": 0.15, + "3": 0.23, + "4": 0.3, + "5": 0.38, + "6": 0.45, + "7": 0.53, + "8": 0.6 + } + } }, "dropTipConfigurations": { - "current": 0.5, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.5, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,17 +44,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], - "perTipPickupCurrent": { - "1": 0.1, - "2": 0.15, - "3": 0.23, - "4": 0.3, - "5": 0.38, - "6": 0.45, - "7": 0.53, - "8": 0.6 - } + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] }, "channels": 8, "shaftDiameter": 5.0, @@ -54,6 +55,5 @@ "plungerHomingConfigurations": { "current": 0.5, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_4.json b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_4.json index 602bf5df703..ce299da8595 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_4.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_4.json @@ -4,17 +4,28 @@ "model": "p300", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 1.0, - "distance": 10.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 1.0, + "distance": 10.0, + "currentByTipCount": { + "1": 0.1, + "2": 0.15, + "3": 0.23, + "4": 0.3, + "5": 0.38, + "6": 0.45, + "7": 0.53, + "8": 0.6 + } + } }, "dropTipConfigurations": { - "current": 0.5, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.5, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,17 +44,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], - "perTipPickupCurrent": { - "1": 0.1, - "2": 0.15, - "3": 0.23, - "4": 0.3, - "5": 0.38, - "6": 0.45, - "7": 0.53, - "8": 0.6 - } + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] }, "channels": 8, "shaftDiameter": 5.0, @@ -54,6 +55,5 @@ "plungerHomingConfigurations": { "current": 0.5, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_5.json b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_5.json index 972cc766d78..c420477d1cb 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_5.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_5.json @@ -4,17 +4,28 @@ "model": "p300", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 3.0, - "distance": 10.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 3.0, + "distance": 10.0, + "currentByTipCount": { + "1": 0.1, + "2": 0.23, + "3": 0.34, + "4": 0.45, + "5": 0.56, + "6": 0.68, + "7": 0.79, + "8": 0.9 + } + } }, "dropTipConfigurations": { - "current": 0.5, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.5, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,17 +44,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], - "perTipPickupCurrent": { - "1": 0.1, - "2": 0.23, - "3": 0.34, - "4": 0.45, - "5": 0.56, - "6": 0.68, - "7": 0.79, - "8": 0.9 - } + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] }, "channels": 8, "shaftDiameter": 5.0, @@ -54,6 +55,5 @@ "plungerHomingConfigurations": { "current": 0.5, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p300/2_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p300/2_0.json index 412f0b9c90d..3096fd46333 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p300/2_0.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p300/2_0.json @@ -4,17 +4,28 @@ "model": "p300", "displayCategory": "GEN2", "pickUpTipConfigurations": { - "speed": 10.0, - "presses": 1, - "increment": 0.0, - "distance": 11.0 + "pressFit": { + "speed": 10.0, + "presses": 1, + "increment": 0.0, + "distance": 11.0, + "currentByTipCount": { + "1": 0.13, + "2": 0.2, + "3": 0.3, + "4": 0.4, + "5": 0.5, + "6": 0.6, + "7": 0.7, + "8": 0.8 + } + } }, "dropTipConfigurations": { - "current": 1.25, - "speed": 7.5, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 1.25, + "speed": 7.5 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -33,17 +44,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], - "perTipPickupCurrent": { - "1": 0.13, - "2": 0.2, - "3": 0.3, - "4": 0.4, - "5": 0.5, - "6": 0.6, - "7": 0.7, - "8": 0.8 - } + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] }, "channels": 8, "shaftDiameter": 3.5, @@ -54,6 +55,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p300/2_1.json b/shared-data/pipette/definitions/2/general/eight_channel/p300/2_1.json index 412f0b9c90d..3096fd46333 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p300/2_1.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p300/2_1.json @@ -4,17 +4,28 @@ "model": "p300", "displayCategory": "GEN2", "pickUpTipConfigurations": { - "speed": 10.0, - "presses": 1, - "increment": 0.0, - "distance": 11.0 + "pressFit": { + "speed": 10.0, + "presses": 1, + "increment": 0.0, + "distance": 11.0, + "currentByTipCount": { + "1": 0.13, + "2": 0.2, + "3": 0.3, + "4": 0.4, + "5": 0.5, + "6": 0.6, + "7": 0.7, + "8": 0.8 + } + } }, "dropTipConfigurations": { - "current": 1.25, - "speed": 7.5, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 1.25, + "speed": 7.5 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -33,17 +44,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], - "perTipPickupCurrent": { - "1": 0.13, - "2": 0.2, - "3": 0.3, - "4": 0.4, - "5": 0.5, - "6": 0.6, - "7": 0.7, - "8": 0.8 - } + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] }, "channels": 8, "shaftDiameter": 3.5, @@ -54,6 +55,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_0.json index 489a8a97191..472de5d3a2e 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_0.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_0.json @@ -4,17 +4,28 @@ "model": "p50", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 1.0, - "distance": 10.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 1.0, + "distance": 10.0, + "currentByTipCount": { + "1": 0.1, + "2": 0.15, + "3": 0.23, + "4": 0.3, + "5": 0.38, + "6": 0.45, + "7": 0.53, + "8": 0.6 + } + } }, "dropTipConfigurations": { - "current": 0.5, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.5, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,17 +44,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], - "perTipPickupCurrent": { - "1": 0.1, - "2": 0.15, - "3": 0.23, - "4": 0.3, - "5": 0.38, - "6": 0.45, - "7": 0.53, - "8": 0.6 - } + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] }, "channels": 8, "shaftDiameter": 2.0, @@ -54,6 +55,5 @@ "plungerHomingConfigurations": { "current": 0.5, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_3.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_3.json index 2931fbd0351..f6542bbe5ae 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_3.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_3.json @@ -4,17 +4,28 @@ "model": "p50", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 1.0, - "distance": 10.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 1.0, + "distance": 10.0, + "currentByTipCount": { + "1": 0.1, + "2": 0.15, + "3": 0.23, + "4": 0.3, + "5": 0.38, + "6": 0.45, + "7": 0.53, + "8": 0.6 + } + } }, "dropTipConfigurations": { - "current": 0.5, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.5, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,17 +44,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], - "perTipPickupCurrent": { - "1": 0.1, - "2": 0.15, - "3": 0.23, - "4": 0.3, - "5": 0.38, - "6": 0.45, - "7": 0.53, - "8": 0.6 - } + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] }, "channels": 8, "shaftDiameter": 2.0, @@ -54,6 +55,5 @@ "plungerHomingConfigurations": { "current": 0.5, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_4.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_4.json index d05487517e8..dd7d9415c45 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_4.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_4.json @@ -4,17 +4,28 @@ "model": "p50", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 1.0, - "distance": 10.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 1.0, + "distance": 10.0, + "currentByTipCount": { + "1": 0.1, + "2": 0.15, + "3": 0.23, + "4": 0.3, + "5": 0.38, + "6": 0.45, + "7": 0.53, + "8": 0.6 + } + } }, "dropTipConfigurations": { - "current": 0.5, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.5, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,17 +44,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], - "perTipPickupCurrent": { - "1": 0.1, - "2": 0.15, - "3": 0.23, - "4": 0.3, - "5": 0.38, - "6": 0.45, - "7": 0.53, - "8": 0.6 - } + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] }, "channels": 8, "shaftDiameter": 2.0, @@ -54,6 +55,5 @@ "plungerHomingConfigurations": { "current": 0.5, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_5.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_5.json index 6204217a21f..5e35bb44b29 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_5.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_5.json @@ -4,17 +4,28 @@ "model": "p50", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 3.0, - "distance": 10.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 3.0, + "distance": 10.0, + "currentByTipCount": { + "1": 0.1, + "2": 0.2, + "3": 0.3, + "4": 0.4, + "5": 0.5, + "6": 0.6, + "7": 0.7, + "8": 0.8 + } + } }, "dropTipConfigurations": { - "current": 0.5, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.5, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,17 +44,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], - "perTipPickupCurrent": { - "1": 0.1, - "2": 0.2, - "3": 0.3, - "4": 0.4, - "5": 0.5, - "6": 0.6, - "7": 0.7, - "8": 0.8 - } + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] }, "channels": 8, "shaftDiameter": 2.0, @@ -54,6 +55,5 @@ "plungerHomingConfigurations": { "current": 0.5, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_0.json index 4ea113546b3..9a22b968ebc 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_0.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_0.json @@ -4,14 +4,28 @@ "model": "p50", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "presses": 1, - "speed": 10, - "increment": 0.0, - "distance": 13.0 + "pressFit": { + "presses": 1, + "speed": 10, + "increment": 0.0, + "distance": 13.0, + "currentByTipCount": { + "1": 0.15, + "2": 0.13, + "3": 0.19, + "4": 0.25, + "5": 0.31, + "6": 0.38, + "7": 0.44, + "8": 0.5 + } + } }, "dropTipConfigurations": { - "current": 1.0, - "speed": 10 + "plungerEject": { + "current": 1.0, + "speed": 10 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -45,17 +59,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], - "perTipPickupCurrent": { - "1": 0.15, - "2": 0.13, - "3": 0.19, - "4": 0.25, - "5": 0.31, - "6": 0.38, - "7": 0.44, - "8": 0.5 - } + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] }, "backCompatNames": [], "channels": 8, @@ -66,6 +70,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_3.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_3.json index 4ea113546b3..9a22b968ebc 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_3.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_3.json @@ -4,14 +4,28 @@ "model": "p50", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "presses": 1, - "speed": 10, - "increment": 0.0, - "distance": 13.0 + "pressFit": { + "presses": 1, + "speed": 10, + "increment": 0.0, + "distance": 13.0, + "currentByTipCount": { + "1": 0.15, + "2": 0.13, + "3": 0.19, + "4": 0.25, + "5": 0.31, + "6": 0.38, + "7": 0.44, + "8": 0.5 + } + } }, "dropTipConfigurations": { - "current": 1.0, - "speed": 10 + "plungerEject": { + "current": 1.0, + "speed": 10 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -45,17 +59,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], - "perTipPickupCurrent": { - "1": 0.15, - "2": 0.13, - "3": 0.19, - "4": 0.25, - "5": 0.31, - "6": 0.38, - "7": 0.44, - "8": 0.5 - } + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] }, "backCompatNames": [], "channels": 8, @@ -66,6 +70,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_4.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_4.json index cffcc3d65e9..fef2c2cb87e 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_4.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_4.json @@ -4,14 +4,28 @@ "model": "p50", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "presses": 1, - "speed": 10, - "increment": 0.0, - "distance": 13.0 + "pressFit": { + "presses": 1, + "speed": 10, + "increment": 0.0, + "distance": 13.0, + "currentByTipCount": { + "1": 0.2, + "2": 0.14, + "3": 0.2, + "4": 0.28, + "5": 0.34, + "6": 0.41, + "7": 0.48, + "8": 0.55 + } + } }, "dropTipConfigurations": { - "current": 1.0, - "speed": 10 + "plungerEject": { + "current": 1.0, + "speed": 10 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -45,17 +59,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], - "perTipPickupCurrent": { - "1": 0.2, - "2": 0.14, - "3": 0.2, - "4": 0.28, - "5": 0.34, - "6": 0.41, - "7": 0.48, - "8": 0.55 - } + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] }, "backCompatNames": [], "channels": 8, @@ -66,6 +70,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_5.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_5.json index cffcc3d65e9..fef2c2cb87e 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_5.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_5.json @@ -4,14 +4,28 @@ "model": "p50", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "presses": 1, - "speed": 10, - "increment": 0.0, - "distance": 13.0 + "pressFit": { + "presses": 1, + "speed": 10, + "increment": 0.0, + "distance": 13.0, + "currentByTipCount": { + "1": 0.2, + "2": 0.14, + "3": 0.2, + "4": 0.28, + "5": 0.34, + "6": 0.41, + "7": 0.48, + "8": 0.55 + } + } }, "dropTipConfigurations": { - "current": 1.0, - "speed": 10 + "plungerEject": { + "current": 1.0, + "speed": 10 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -45,17 +59,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], - "perTipPickupCurrent": { - "1": 0.2, - "2": 0.14, - "3": 0.2, - "4": 0.28, - "5": 0.34, - "6": 0.41, - "7": 0.48, - "8": 0.55 - } + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] }, "backCompatNames": [], "channels": 8, @@ -66,6 +70,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/1_0.json b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/1_0.json index 2fa4e3e803a..e5ae64d98cc 100644 --- a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/1_0.json +++ b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/1_0.json @@ -4,19 +4,45 @@ "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "presses": 0.0, - "speed": 5.5, - "increment": 0.0, - "distance": 10.0, - "prep_move_distance": 9.0, - "prep_move_speed": 10.0 + "pressFit": { + "presses": 1, + "increment": 0.0, + "speed": 10.0, + "distance": 13.0, + "currentByTipCount": { + "1": 0.2, + "2": 0.25, + "3": 0.3, + "4": 0.35, + "5": 0.4, + "6": 0.45, + "7": 0.5, + "8": 0.55, + "12": 0.19, + "16": 0.25, + "24": 0.38, + "48": 0.75 + } + }, + "camAction": { + "prep_move_distance": 9.0, + "prep_move_speed": 10.0, + "speed": 5.5, + "distance": 10.0, + "connectTiprackDistanceMM": 7.0, + "currentByTipCount": { + "96": 1.5 + } + } }, "dropTipConfigurations": { - "current": 1.5, - "speed": 5.5, - "distance": 26.5, - "prep_move_distance": 16.0, - "prep_move_speed": 10.5 + "camAction": { + "current": 1.5, + "speed": 5.5, + "distance": 26.5, + "prep_move_distance": 16.0, + "prep_move_speed": 10.5 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -44,22 +70,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 8, 12, 96], - "perTipPickupCurrent": { - "1": 0.02, - "2": 0.03, - "3": 0.05, - "4": 0.06, - "5": 0.08, - "6": 0.09, - "7": 0.11, - "8": 0.13, - "12": 0.19, - "16": 0.25, - "24": 0.38, - "48": 0.75, - "96": 1.5 - } + "availableConfigurations": [1, 8, 12, 96] }, "backCompatNames": [], "channels": 96, @@ -71,7 +82,6 @@ "current": 2.0, "speed": 5 }, - "tipPresenceCheckDistanceMM": "8.0", - "connectTiprackDistanceMM": "7.0", - "endTipActionRetractDistanceMM": "2.0" + "tipPresenceCheckDistanceMM": 8.0, + "endTipActionRetractDistanceMM": 2.0 } diff --git a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_0.json b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_0.json index bef06d53c03..3db9976b4e9 100644 --- a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_0.json +++ b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_0.json @@ -4,19 +4,50 @@ "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "presses": 0.0, - "speed": 5.5, - "increment": 0.0, - "distance": 10.0, - "prep_move_distance": 9.0, - "prep_move_speed": 10.0 + "pressFit": { + "presses": 1, + "increment": 0.0, + "speed": 10.0, + "distance": 13.0, + "currentByTipCount": { + "1": 0.2, + "2": 0.25, + "3": 0.3, + "4": 0.35, + "5": 0.4, + "6": 0.45, + "7": 0.5, + "8": 0.55, + "12": 0.19, + "16": 0.25, + "24": 0.38, + "48": 0.75 + } + }, + "camAction": { + "speed": 5.5, + "distance": 10.0, + "prep_move_distance": 9.0, + "prep_move_speed": 10.0, + "connectTiprackDistanceMM": 7.0, + "currentByTipCount": { + "96": 1.5 + } + } }, "dropTipConfigurations": { - "current": 1.5, - "speed": 5.5, - "distance": 10.5, - "prep_move_distance": 16.0, - "prep_move_speed": 10.0 + "plungerEject": { + "current": 1.5, + "speed": 5.5, + "distance": 10.5 + }, + "camAction": { + "current": 1.5, + "speed": 5.5, + "distance": 10.5, + "prep_move_distance": 16.0, + "prep_move_speed": 10.0 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -44,22 +75,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 8, 12, 96], - "perTipPickupCurrent": { - "1": 0.02, - "2": 0.03, - "3": 0.05, - "4": 0.06, - "5": 0.08, - "6": 0.09, - "7": 0.11, - "8": 0.13, - "12": 0.19, - "16": 0.25, - "24": 0.38, - "48": 0.75, - "96": 1.5 - } + "availableConfigurations": [1, 8, 12, 16, 24, 48, 96] }, "backCompatNames": [], "channels": 96, @@ -71,7 +87,6 @@ "current": 2.0, "speed": 5 }, - "tipPresenceCheckDistanceMM": "8.0", - "connectTiprackDistanceMM": "7.0", - "endTipActionRetractDistanceMM": "2.0" + "tipPresenceCheckDistanceMM": 8.0, + "endTipActionRetractDistanceMM": 2.0 } diff --git a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_3.json b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_3.json index bef06d53c03..f5108478b2d 100644 --- a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_3.json +++ b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_3.json @@ -4,19 +4,45 @@ "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "presses": 0.0, - "speed": 5.5, - "increment": 0.0, - "distance": 10.0, - "prep_move_distance": 9.0, - "prep_move_speed": 10.0 + "pressFit": { + "presses": 1, + "increment": 0.0, + "speed": 10.0, + "distance": 13.0, + "currentByTipCount": { + "1": 0.2, + "2": 0.25, + "3": 0.3, + "4": 0.35, + "5": 0.4, + "6": 0.45, + "7": 0.5, + "8": 0.55, + "12": 0.19, + "16": 0.25, + "24": 0.38, + "48": 0.75 + } + }, + "camAction": { + "speed": 5.5, + "distance": 10.0, + "prep_move_distance": 9.0, + "prep_move_speed": 10.0, + "connectTiprackDistanceMM": 7.0, + "currentByTipCount": { + "96": 1.5 + } + } }, "dropTipConfigurations": { - "current": 1.5, - "speed": 5.5, - "distance": 10.5, - "prep_move_distance": 16.0, - "prep_move_speed": 10.0 + "camAction": { + "current": 1.5, + "speed": 5.5, + "distance": 10.5, + "prep_move_distance": 16.0, + "prep_move_speed": 10.0 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -44,22 +70,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 8, 12, 96], - "perTipPickupCurrent": { - "1": 0.02, - "2": 0.03, - "3": 0.05, - "4": 0.06, - "5": 0.08, - "6": 0.09, - "7": 0.11, - "8": 0.13, - "12": 0.19, - "16": 0.25, - "24": 0.38, - "48": 0.75, - "96": 1.5 - } + "availableConfigurations": [1, 8, 12, 16, 24, 48, 96] }, "backCompatNames": [], "channels": 96, @@ -71,7 +82,6 @@ "current": 2.0, "speed": 5 }, - "tipPresenceCheckDistanceMM": "8.0", - "connectTiprackDistanceMM": "7.0", - "endTipActionRetractDistanceMM": "2.0" + "tipPresenceCheckDistanceMM": 8.0, + "endTipActionRetractDistanceMM": 2.0 } diff --git a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_4.json b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_4.json index 4d7eaff5487..c3bb411ab2a 100644 --- a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_4.json +++ b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_4.json @@ -4,19 +4,46 @@ "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "presses": 0.0, - "speed": 5.5, - "increment": 0.0, - "distance": 10.0, - "prep_move_distance": 9.0, - "prep_move_speed": 10.0 + "pressFit": { + "presses": 1, + "increment": 0.0, + "speed": 10.0, + "distance": 13.0, + "currentByTipCount": { + "1": 0.2, + "2": 0.25, + "3": 0.3, + "4": 0.35, + "5": 0.4, + "6": 0.45, + "7": 0.5, + "8": 0.55, + "12": 0.19, + "16": 0.25, + "24": 0.38, + "48": 0.75 + } + }, + "camAction": { + "speed": 5.5, + "distance": 10.0, + "prep_move_distance": 9.0, + "prep_move_speed": 10.0, + "connectTiprackDistanceMM": 7.0, + + "currentByTipCount": { + "96": 1.5 + } + } }, "dropTipConfigurations": { - "current": 1.5, - "speed": 5.5, - "distance": 10.8, - "prep_move_distance": 19.0, - "prep_move_speed": 10.0 + "camAction": { + "current": 1.5, + "speed": 5.5, + "distance": 10.8, + "prep_move_distance": 19.0, + "prep_move_speed": 10.0 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -44,22 +71,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 8, 12, 96], - "perTipPickupCurrent": { - "1": 0.02, - "2": 0.03, - "3": 0.05, - "4": 0.06, - "5": 0.08, - "6": 0.09, - "7": 0.11, - "8": 0.13, - "12": 0.19, - "16": 0.25, - "24": 0.38, - "48": 0.75, - "96": 1.5 - } + "availableConfigurations": [1, 8, 12, 16, 24, 48, 96] }, "backCompatNames": [], "channels": 96, @@ -71,7 +83,6 @@ "current": 0.8, "speed": 5 }, - "tipPresenceCheckDistanceMM": "8.0", - "connectTiprackDistanceMM": "7.0", - "endTipActionRetractDistanceMM": "2.0" + "tipPresenceCheckDistanceMM": 8.0, + "endTipActionRetractDistanceMM": 2.0 } diff --git a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_5.json b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_5.json index 2494dfeccca..264c351d0b5 100644 --- a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_5.json +++ b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_5.json @@ -4,19 +4,45 @@ "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "presses": 0.0, - "speed": 5.5, - "increment": 0.0, - "distance": 10.0, - "prep_move_distance": 8.25, - "prep_move_speed": 10.0 + "pressFit": { + "presses": 1, + "increment": 0.0, + "speed": 10.0, + "distance": 13.0, + "currentByTipCount": { + "1": 0.2, + "2": 0.25, + "3": 0.3, + "4": 0.35, + "5": 0.4, + "6": 0.45, + "7": 0.5, + "8": 0.55, + "12": 0.19, + "16": 0.25, + "24": 0.38, + "48": 0.75 + } + }, + "camAction": { + "speed": 5.5, + "distance": 10.0, + "prep_move_distance": 8.25, + "prep_move_speed": 10.0, + "connectTiprackDistanceMM": 7.0, + "currentByTipCount": { + "96": 1.5 + } + } }, "dropTipConfigurations": { - "current": 1.5, - "speed": 5.5, - "distance": 10.8, - "prep_move_distance": 19.0, - "prep_move_speed": 10.0 + "camAction": { + "current": 1.5, + "speed": 5.5, + "distance": 10.8, + "prep_move_distance": 19.0, + "prep_move_speed": 10.0 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -44,22 +70,7 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 8, 12, 16, 24, 48, 96], - "perTipPickupCurrent": { - "1": 0.02, - "2": 0.03, - "3": 0.05, - "4": 0.06, - "5": 0.08, - "6": 0.09, - "7": 0.11, - "8": 0.13, - "12": 0.19, - "16": 0.25, - "24": 0.38, - "48": 0.75, - "96": 1.5 - } + "availableConfigurations": [1, 8, 12, 16, 24, 48, 96] }, "backCompatNames": [], "channels": 96, @@ -71,7 +82,6 @@ "current": 0.8, "speed": 5 }, - "tipPresenceCheckDistanceMM": "8.0", - "connectTiprackDistanceMM": "7.0", - "endTipActionRetractDistanceMM": "2.0" + "tipPresenceCheckDistanceMM": 8.0, + "endTipActionRetractDistanceMM": 2.0 } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p10/1_0.json b/shared-data/pipette/definitions/2/general/single_channel/p10/1_0.json index 1d66d202d5f..802c8c7b89b 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p10/1_0.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p10/1_0.json @@ -4,17 +4,21 @@ "model": "p10", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 1.0, - "distance": 10.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 1.0, + "distance": 10.0, + "currentByTipCount": { + "1": 0.1 + } + } }, "dropTipConfigurations": { - "current": 0.5, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.5, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,10 +37,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null, - "perTipPickupCurrent": { - "1": 0.1 - } + "availableConfigurations": null }, "channels": 1, "shaftDiameter": 1.0, @@ -47,6 +48,5 @@ "plungerHomingConfigurations": { "current": 0.3, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p10/1_3.json b/shared-data/pipette/definitions/2/general/single_channel/p10/1_3.json index 93bc4d1e0a2..d202a50bc01 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p10/1_3.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p10/1_3.json @@ -4,17 +4,21 @@ "model": "p10", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 1.0, - "distance": 10.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 1.0, + "distance": 10.0, + "currentByTipCount": { + "1": 0.1 + } + } }, "dropTipConfigurations": { - "current": 0.5, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.5, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,10 +37,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null, - "perTipPickupCurrent": { - "1": 0.1 - } + "availableConfigurations": null }, "channels": 1, "shaftDiameter": 1.0, @@ -47,6 +48,5 @@ "plungerHomingConfigurations": { "current": 0.3, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p10/1_4.json b/shared-data/pipette/definitions/2/general/single_channel/p10/1_4.json index 44fba8ac981..e1668578f56 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p10/1_4.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p10/1_4.json @@ -4,17 +4,21 @@ "model": "p10", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 1.0, - "distance": 10.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 1.0, + "distance": 10.0, + "currentByTipCount": { + "1": 0.1 + } + } }, "dropTipConfigurations": { - "current": 0.5, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.5, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,10 +37,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null, - "perTipPickupCurrent": { - "1": 0.1 - } + "availableConfigurations": null }, "channels": 1, "shaftDiameter": 1.0, @@ -47,6 +48,5 @@ "plungerHomingConfigurations": { "current": 0.3, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p10/1_5.json b/shared-data/pipette/definitions/2/general/single_channel/p10/1_5.json index 44fba8ac981..e1668578f56 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p10/1_5.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p10/1_5.json @@ -4,17 +4,21 @@ "model": "p10", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 1.0, - "distance": 10.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 1.0, + "distance": 10.0, + "currentByTipCount": { + "1": 0.1 + } + } }, "dropTipConfigurations": { - "current": 0.5, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.5, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,10 +37,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null, - "perTipPickupCurrent": { - "1": 0.1 - } + "availableConfigurations": null }, "channels": 1, "shaftDiameter": 1.0, @@ -47,6 +48,5 @@ "plungerHomingConfigurations": { "current": 0.3, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_0.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_0.json index e2145b88696..771b4ca2e80 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_0.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_0.json @@ -4,17 +4,21 @@ "model": "p1000", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 1.0, - "distance": 15.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 1.0, + "distance": 15.0, + "currentByTipCount": { + "1": 0.1 + } + } }, "dropTipConfigurations": { - "current": 0.5, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.5, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,10 +37,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null, - "perTipPickupCurrent": { - "1": 0.1 - } + "availableConfigurations": null }, "channels": 1, "shaftDiameter": 9.0, @@ -47,6 +48,5 @@ "plungerHomingConfigurations": { "current": 0.5, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_3.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_3.json index 2cfca4bd684..4aa2f4c192f 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_3.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_3.json @@ -4,17 +4,21 @@ "model": "p1000", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 1.0, - "distance": 15.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 1.0, + "distance": 15.0, + "currentByTipCount": { + "1": 0.1 + } + } }, "dropTipConfigurations": { - "current": 0.7, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.7, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,10 +37,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null, - "perTipPickupCurrent": { - "1": 0.1 - } + "availableConfigurations": null }, "channels": 1, "shaftDiameter": 9.0, @@ -47,6 +48,5 @@ "plungerHomingConfigurations": { "current": 0.5, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_4.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_4.json index 2cfca4bd684..4aa2f4c192f 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_4.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_4.json @@ -4,17 +4,21 @@ "model": "p1000", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 1.0, - "distance": 15.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 1.0, + "distance": 15.0, + "currentByTipCount": { + "1": 0.1 + } + } }, "dropTipConfigurations": { - "current": 0.7, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.7, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,10 +37,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null, - "perTipPickupCurrent": { - "1": 0.1 - } + "availableConfigurations": null }, "channels": 1, "shaftDiameter": 9.0, @@ -47,6 +48,5 @@ "plungerHomingConfigurations": { "current": 0.5, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_5.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_5.json index 4199255baf5..d4244fd5d61 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_5.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_5.json @@ -4,17 +4,21 @@ "model": "p1000", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 1.0, - "distance": 15.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 1.0, + "distance": 15.0, + "currentByTipCount": { + "1": 0.15 + } + } }, "dropTipConfigurations": { - "current": 0.7, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.7, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,10 +37,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null, - "perTipPickupCurrent": { - "1": 0.15 - } + "availableConfigurations": null }, "channels": 1, "shaftDiameter": 9.0, @@ -47,6 +48,5 @@ "plungerHomingConfigurations": { "current": 0.5, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/2_0.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/2_0.json index 90dca46ec79..f7478e116ec 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p1000/2_0.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/2_0.json @@ -4,17 +4,21 @@ "model": "p1000", "displayCategory": "GEN2", "pickUpTipConfigurations": { - "speed": 10.0, - "presses": 1, - "increment": 0.0, - "distance": 17.0 + "pressFit": { + "speed": 10.0, + "presses": 1, + "increment": 0.0, + "distance": 17.0, + "currentByTipCount": { + "1": 0.17 + } + } }, "dropTipConfigurations": { - "current": 1.25, - "speed": 7.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 1.25, + "speed": 7.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,10 +37,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null, - "perTipPickupCurrent": { - "1": 0.17 - } + "availableConfigurations": null }, "channels": 1, "shaftDiameter": 6.0, @@ -47,6 +48,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/2_1.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/2_1.json index 9ecf3e0909b..52e697b7dc5 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p1000/2_1.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/2_1.json @@ -4,17 +4,21 @@ "model": "p1000", "displayCategory": "GEN2", "pickUpTipConfigurations": { - "speed": 10.0, - "presses": 1, - "increment": 0.0, - "distance": 17.0 + "pressFit": { + "speed": 10.0, + "presses": 1, + "increment": 0.0, + "distance": 17.0, + "currentByTipCount": { + "1": 0.17 + } + } }, "dropTipConfigurations": { - "current": 1.25, - "speed": 7.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 1.25, + "speed": 7.0 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -33,10 +37,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null, - "perTipPickupCurrent": { - "1": 0.17 - } + "availableConfigurations": null }, "channels": 1, "shaftDiameter": 6.0, @@ -47,6 +48,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/2_2.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/2_2.json index 9ecf3e0909b..52e697b7dc5 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p1000/2_2.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/2_2.json @@ -4,17 +4,21 @@ "model": "p1000", "displayCategory": "GEN2", "pickUpTipConfigurations": { - "speed": 10.0, - "presses": 1, - "increment": 0.0, - "distance": 17.0 + "pressFit": { + "speed": 10.0, + "presses": 1, + "increment": 0.0, + "distance": 17.0, + "currentByTipCount": { + "1": 0.17 + } + } }, "dropTipConfigurations": { - "current": 1.25, - "speed": 7.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 1.25, + "speed": 7.0 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -33,10 +37,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null, - "perTipPickupCurrent": { - "1": 0.17 - } + "availableConfigurations": null }, "channels": 1, "shaftDiameter": 6.0, @@ -47,6 +48,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/3_0.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/3_0.json index 3475cb66bd4..320387e75b2 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p1000/3_0.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/3_0.json @@ -4,14 +4,21 @@ "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "presses": 1, - "speed": 5, - "increment": 0.0, - "distance": 13.0 + "pressFit": { + "presses": 1, + "speed": 5, + "increment": 0.0, + "distance": 13.0, + "currentByTipCount": { + "1": 0.15 + } + } }, "dropTipConfigurations": { - "current": 1.0, - "speed": 10 + "plungerEject": { + "current": 1.0, + "speed": 10 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -39,9 +46,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "perTipPickupCurrent": { - "1": 0.15 - } + "availableConfigurations": null }, "backCompatNames": [], "channels": 1, @@ -52,6 +57,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/3_3.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/3_3.json index 3475cb66bd4..320387e75b2 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p1000/3_3.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/3_3.json @@ -4,14 +4,21 @@ "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "presses": 1, - "speed": 5, - "increment": 0.0, - "distance": 13.0 + "pressFit": { + "presses": 1, + "speed": 5, + "increment": 0.0, + "distance": 13.0, + "currentByTipCount": { + "1": 0.15 + } + } }, "dropTipConfigurations": { - "current": 1.0, - "speed": 10 + "plungerEject": { + "current": 1.0, + "speed": 10 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -39,9 +46,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "perTipPickupCurrent": { - "1": 0.15 - } + "availableConfigurations": null }, "backCompatNames": [], "channels": 1, @@ -52,6 +57,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/3_4.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/3_4.json index 1298625e578..209ff556963 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p1000/3_4.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/3_4.json @@ -4,14 +4,21 @@ "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "presses": 1, - "speed": 10, - "increment": 0.0, - "distance": 13.0 + "pressFit": { + "presses": 1, + "speed": 10, + "increment": 0.0, + "distance": 13.0, + "currentByTipCount": { + "1": 0.2 + } + } }, "dropTipConfigurations": { - "current": 1.0, - "speed": 15 + "plungerEject": { + "current": 1.0, + "speed": 15 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -39,9 +46,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "perTipPickupCurrent": { - "1": 0.2 - } + "availableConfigurations": null }, "backCompatNames": [], "channels": 1, @@ -52,6 +57,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/3_5.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/3_5.json index 1298625e578..209ff556963 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p1000/3_5.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/3_5.json @@ -4,14 +4,21 @@ "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "presses": 1, - "speed": 10, - "increment": 0.0, - "distance": 13.0 + "pressFit": { + "presses": 1, + "speed": 10, + "increment": 0.0, + "distance": 13.0, + "currentByTipCount": { + "1": 0.2 + } + } }, "dropTipConfigurations": { - "current": 1.0, - "speed": 15 + "plungerEject": { + "current": 1.0, + "speed": 15 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -39,9 +46,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "perTipPickupCurrent": { - "1": 0.2 - } + "availableConfigurations": null }, "backCompatNames": [], "channels": 1, @@ -52,6 +57,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p20/2_0.json b/shared-data/pipette/definitions/2/general/single_channel/p20/2_0.json index 1b5a8b392ae..105d5e8b24b 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p20/2_0.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p20/2_0.json @@ -4,17 +4,21 @@ "model": "p20", "displayCategory": "GEN2", "pickUpTipConfigurations": { - "speed": 10.0, - "presses": 1, - "increment": 0.0, - "distance": 14.0 + "pressFit": { + "speed": 10.0, + "presses": 1, + "increment": 0.0, + "distance": 14.0, + "currentByTipCount": { + "1": 0.1 + } + } }, "dropTipConfigurations": { - "current": 1.0, - "speed": 15.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 1.0, + "speed": 15.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,10 +37,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null, - "perTipPickupCurrent": { - "1": 0.1 - } + "availableConfigurations": null }, "channels": 1, "shaftDiameter": 1.0, @@ -47,6 +48,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p20/2_1.json b/shared-data/pipette/definitions/2/general/single_channel/p20/2_1.json index fd041576730..78c0f57cb88 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p20/2_1.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p20/2_1.json @@ -4,17 +4,21 @@ "model": "p20", "displayCategory": "GEN2", "pickUpTipConfigurations": { - "speed": 10.0, - "presses": 1, - "increment": 0.0, - "distance": 14.0 + "pressFit": { + "speed": 10.0, + "presses": 1, + "increment": 0.0, + "distance": 14.0, + "currentByTipCount": { + "1": 0.1 + } + } }, "dropTipConfigurations": { - "current": 1.0, - "speed": 15.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 1.0, + "speed": 15.0 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -33,10 +37,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null, - "perTipPickupCurrent": { - "1": 0.1 - } + "availableConfigurations": null }, "channels": 1, "shaftDiameter": 1.0, @@ -47,6 +48,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p20/2_2.json b/shared-data/pipette/definitions/2/general/single_channel/p20/2_2.json index fd041576730..78c0f57cb88 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p20/2_2.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p20/2_2.json @@ -4,17 +4,21 @@ "model": "p20", "displayCategory": "GEN2", "pickUpTipConfigurations": { - "speed": 10.0, - "presses": 1, - "increment": 0.0, - "distance": 14.0 + "pressFit": { + "speed": 10.0, + "presses": 1, + "increment": 0.0, + "distance": 14.0, + "currentByTipCount": { + "1": 0.1 + } + } }, "dropTipConfigurations": { - "current": 1.0, - "speed": 15.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 1.0, + "speed": 15.0 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -33,10 +37,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null, - "perTipPickupCurrent": { - "1": 0.1 - } + "availableConfigurations": null }, "channels": 1, "shaftDiameter": 1.0, @@ -47,6 +48,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p300/1_0.json b/shared-data/pipette/definitions/2/general/single_channel/p300/1_0.json index ebd868f0a03..889cd38633f 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p300/1_0.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p300/1_0.json @@ -4,17 +4,21 @@ "model": "p300", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 1.0, - "distance": 10.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 1.0, + "distance": 10.0, + "currentByTipCount": { + "1": 0.1 + } + } }, "dropTipConfigurations": { - "current": 0.5, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.5, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,10 +37,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null, - "perTipPickupCurrent": { - "1": 0.1 - } + "availableConfigurations": null }, "channels": 1, "shaftDiameter": 5.0, @@ -47,6 +48,5 @@ "plungerHomingConfigurations": { "current": 0.3, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p300/1_3.json b/shared-data/pipette/definitions/2/general/single_channel/p300/1_3.json index 426e391d012..ff662bdb79e 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p300/1_3.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p300/1_3.json @@ -4,17 +4,21 @@ "model": "p300", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 1.0, - "distance": 10.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 1.0, + "distance": 10.0, + "currentByTipCount": { + "1": 0.1 + } + } }, "dropTipConfigurations": { - "current": 0.5, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.5, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,10 +37,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null, - "perTipPickupCurrent": { - "1": 0.1 - } + "availableConfigurations": null }, "channels": 1, "shaftDiameter": 5.0, @@ -47,6 +48,5 @@ "plungerHomingConfigurations": { "current": 0.3, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p300/1_4.json b/shared-data/pipette/definitions/2/general/single_channel/p300/1_4.json index 6d469c910ba..6c36696faa2 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p300/1_4.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p300/1_4.json @@ -4,17 +4,21 @@ "model": "p300", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 1.0, - "distance": 10.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 1.0, + "distance": 10.0, + "currentByTipCount": { + "1": 0.1 + } + } }, "dropTipConfigurations": { - "current": 0.5, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.5, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,10 +37,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null, - "perTipPickupCurrent": { - "1": 0.1 - } + "availableConfigurations": null }, "channels": 1, "shaftDiameter": 5.0, @@ -47,6 +48,5 @@ "plungerHomingConfigurations": { "current": 0.3, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p300/1_5.json b/shared-data/pipette/definitions/2/general/single_channel/p300/1_5.json index 6d469c910ba..6c36696faa2 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p300/1_5.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p300/1_5.json @@ -4,17 +4,21 @@ "model": "p300", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 1.0, - "distance": 10.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 1.0, + "distance": 10.0, + "currentByTipCount": { + "1": 0.1 + } + } }, "dropTipConfigurations": { - "current": 0.5, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.5, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,10 +37,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null, - "perTipPickupCurrent": { - "1": 0.1 - } + "availableConfigurations": null }, "channels": 1, "shaftDiameter": 5.0, @@ -47,6 +48,5 @@ "plungerHomingConfigurations": { "current": 0.3, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p300/2_0.json b/shared-data/pipette/definitions/2/general/single_channel/p300/2_0.json index d5aea0fa6cf..8166c7dbaeb 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p300/2_0.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p300/2_0.json @@ -4,17 +4,21 @@ "model": "p300", "displayCategory": "GEN2", "pickUpTipConfigurations": { - "speed": 10.0, - "presses": 1, - "increment": 0.0, - "distance": 17.0 + "pressFit": { + "speed": 10.0, + "presses": 1, + "increment": 0.0, + "distance": 17.0, + "currentByTipCount": { + "1": 0.125 + } + } }, "dropTipConfigurations": { - "current": 1.25, - "speed": 7.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 1.25, + "speed": 7.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,10 +37,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null, - "perTipPickupCurrent": { - "1": 0.125 - } + "availableConfigurations": null }, "channels": 1, "shaftDiameter": 3.5, @@ -47,6 +48,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p300/2_1.json b/shared-data/pipette/definitions/2/general/single_channel/p300/2_1.json index d8c36634655..4342b7cf7c9 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p300/2_1.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p300/2_1.json @@ -4,17 +4,21 @@ "model": "p300", "displayCategory": "GEN2", "pickUpTipConfigurations": { - "speed": 10.0, - "presses": 1, - "increment": 0.0, - "distance": 17.0 + "pressFit": { + "speed": 10.0, + "presses": 1, + "increment": 0.0, + "distance": 17.0, + "currentByTipCount": { + "1": 0.125 + } + } }, "dropTipConfigurations": { - "current": 1.25, - "speed": 7.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 1.25, + "speed": 7.0 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -33,10 +37,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null, - "perTipPickupCurrent": { - "1": 0.125 - } + "availableConfigurations": null }, "channels": 1, "shaftDiameter": 3.5, @@ -47,6 +48,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p50/1_0.json b/shared-data/pipette/definitions/2/general/single_channel/p50/1_0.json index f07934753bb..ef647527024 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p50/1_0.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p50/1_0.json @@ -4,17 +4,21 @@ "model": "p50", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 1.0, - "distance": 10.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 1.0, + "distance": 10.0, + "currentByTipCount": { + "1": 0.1 + } + } }, "dropTipConfigurations": { - "current": 0.5, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.5, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,10 +37,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null, - "perTipPickupCurrent": { - "1": 0.1 - } + "availableConfigurations": null }, "channels": 1, "shaftDiameter": 2.0, @@ -47,6 +48,5 @@ "plungerHomingConfigurations": { "current": 0.3, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p50/1_3.json b/shared-data/pipette/definitions/2/general/single_channel/p50/1_3.json index 01bce6c8c90..4820cd9271e 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p50/1_3.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p50/1_3.json @@ -4,17 +4,21 @@ "model": "p50", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 1.0, - "distance": 10.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 1.0, + "distance": 10.0, + "currentByTipCount": { + "1": 0.1 + } + } }, "dropTipConfigurations": { - "current": 0.5, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.5, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,10 +37,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null, - "perTipPickupCurrent": { - "1": 0.1 - } + "availableConfigurations": null }, "channels": 1, "shaftDiameter": 2.0, @@ -47,6 +48,5 @@ "plungerHomingConfigurations": { "current": 0.3, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p50/1_4.json b/shared-data/pipette/definitions/2/general/single_channel/p50/1_4.json index a205e79cbc8..1ba3ca439f6 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p50/1_4.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p50/1_4.json @@ -4,17 +4,21 @@ "model": "p50", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 1.0, - "distance": 10.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 1.0, + "distance": 10.0, + "currentByTipCount": { + "1": 0.1 + } + } }, "dropTipConfigurations": { - "current": 0.5, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.5, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,10 +37,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null, - "perTipPickupCurrent": { - "1": 0.1 - } + "availableConfigurations": null }, "channels": 1, "shaftDiameter": 2.0, @@ -47,6 +48,5 @@ "plungerHomingConfigurations": { "current": 0.3, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p50/1_5.json b/shared-data/pipette/definitions/2/general/single_channel/p50/1_5.json index a205e79cbc8..1ba3ca439f6 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p50/1_5.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p50/1_5.json @@ -4,17 +4,21 @@ "model": "p50", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "speed": 30.0, - "presses": 3, - "increment": 1.0, - "distance": 10.0 + "pressFit": { + "speed": 30.0, + "presses": 3, + "increment": 1.0, + "distance": 10.0, + "currentByTipCount": { + "1": 0.1 + } + } }, "dropTipConfigurations": { - "current": 0.5, - "speed": 5.0, - "presses": 0, - "increment": 0.0, - "distance": 0.0 + "plungerEject": { + "current": 0.5, + "speed": 5.0 + } }, "plungerMotorConfigurations": { "idle": 0.05, @@ -33,10 +37,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null, - "perTipPickupCurrent": { - "1": 0.1 - } + "availableConfigurations": null }, "channels": 1, "shaftDiameter": 2.0, @@ -47,6 +48,5 @@ "plungerHomingConfigurations": { "current": 0.3, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p50/3_0.json b/shared-data/pipette/definitions/2/general/single_channel/p50/3_0.json index 04aaedc093a..1c81a8b8a2f 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p50/3_0.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p50/3_0.json @@ -4,14 +4,21 @@ "model": "p50", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "presses": 1, - "speed": 5, - "increment": 0.0, - "distance": 13.0 + "pressFit": { + "presses": 1, + "speed": 5, + "increment": 0.0, + "distance": 13.0, + "currentByTipCount": { + "1": 0.15 + } + } }, "dropTipConfigurations": { - "current": 1.0, - "speed": 10 + "plungerEject": { + "current": 1.0, + "speed": 10 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -45,9 +52,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "perTipPickupCurrent": { - "1": 0.15 - } + "availableConfigurations": null }, "backCompatNames": [], "channels": 1, @@ -58,6 +63,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p50/3_3.json b/shared-data/pipette/definitions/2/general/single_channel/p50/3_3.json index 04aaedc093a..1c81a8b8a2f 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p50/3_3.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p50/3_3.json @@ -4,14 +4,21 @@ "model": "p50", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "presses": 1, - "speed": 5, - "increment": 0.0, - "distance": 13.0 + "pressFit": { + "presses": 1, + "speed": 5, + "increment": 0.0, + "distance": 13.0, + "currentByTipCount": { + "1": 0.15 + } + } }, "dropTipConfigurations": { - "current": 1.0, - "speed": 10 + "plungerEject": { + "current": 1.0, + "speed": 10 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -45,9 +52,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "perTipPickupCurrent": { - "1": 0.15 - } + "availableConfigurations": null }, "backCompatNames": [], "channels": 1, @@ -58,6 +63,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p50/3_4.json b/shared-data/pipette/definitions/2/general/single_channel/p50/3_4.json index b46c3773f3c..43961d8b22a 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p50/3_4.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p50/3_4.json @@ -4,14 +4,21 @@ "model": "p50", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "presses": 1, - "speed": 10, - "increment": 0.0, - "distance": 13.0 + "pressFit": { + "presses": 1, + "speed": 10, + "increment": 0.0, + "distance": 13.0, + "currentByTipCount": { + "1": 0.2 + } + } }, "dropTipConfigurations": { - "current": 1.0, - "speed": 15 + "plungerEject": { + "current": 1.0, + "speed": 15 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -45,9 +52,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "perTipPickupCurrent": { - "1": 0.2 - } + "availableConfigurations": null }, "backCompatNames": [], "channels": 1, @@ -58,6 +63,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/general/single_channel/p50/3_5.json b/shared-data/pipette/definitions/2/general/single_channel/p50/3_5.json index b46c3773f3c..43961d8b22a 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p50/3_5.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p50/3_5.json @@ -4,14 +4,21 @@ "model": "p50", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "presses": 1, - "speed": 10, - "increment": 0.0, - "distance": 13.0 + "pressFit": { + "presses": 1, + "speed": 10, + "increment": 0.0, + "distance": 13.0, + "currentByTipCount": { + "1": 0.2 + } + } }, "dropTipConfigurations": { - "current": 1.0, - "speed": 15 + "plungerEject": { + "current": 1.0, + "speed": 15 + } }, "plungerMotorConfigurations": { "idle": 0.3, @@ -45,9 +52,7 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "perTipPickupCurrent": { - "1": 0.2 - } + "availableConfigurations": null }, "backCompatNames": [], "channels": 1, @@ -58,6 +63,5 @@ "plungerHomingConfigurations": { "current": 1.0, "speed": 30 - }, - "tipPresenceCheckDistanceMM": "0.0" + } } diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_0.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_0.json index 62ab42193de..d214a493141 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_0.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_0.json @@ -2,6 +2,28 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 31.5, 0.8], "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p10/placeholder.gltf", + "orderedRows": [ + { + "key": "A", + "orderedNozzles": ["A1"] + }, + { + "key": "B", + "orderedNozzles": ["B1"] + }, + { "key": "C", "orderedNozzles": ["C1"] }, + { "key": "D", "orderedNozzles": ["D1"] }, + { "key": "E", "orderedNozzles": ["E1"] }, + { "key": "F", "orderedNozzles": ["F1"] }, + { "key": "G", "orderedNozzles": ["G1"] }, + { "key": "H", "orderedNozzles": ["H1"] } + ], + "orderedColumns": [ + { + "key": "1", + "orderedNozzles": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"] + } + ], "nozzleMap": { "A1": [0.0, 31.5, 0.8], "B1": [0.0, 22.5, 0.8], diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_3.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_3.json index 62ab42193de..d214a493141 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_3.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_3.json @@ -2,6 +2,28 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 31.5, 0.8], "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p10/placeholder.gltf", + "orderedRows": [ + { + "key": "A", + "orderedNozzles": ["A1"] + }, + { + "key": "B", + "orderedNozzles": ["B1"] + }, + { "key": "C", "orderedNozzles": ["C1"] }, + { "key": "D", "orderedNozzles": ["D1"] }, + { "key": "E", "orderedNozzles": ["E1"] }, + { "key": "F", "orderedNozzles": ["F1"] }, + { "key": "G", "orderedNozzles": ["G1"] }, + { "key": "H", "orderedNozzles": ["H1"] } + ], + "orderedColumns": [ + { + "key": "1", + "orderedNozzles": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"] + } + ], "nozzleMap": { "A1": [0.0, 31.5, 0.8], "B1": [0.0, 22.5, 0.8], diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_4.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_4.json index 62ab42193de..d214a493141 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_4.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_4.json @@ -2,6 +2,28 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 31.5, 0.8], "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p10/placeholder.gltf", + "orderedRows": [ + { + "key": "A", + "orderedNozzles": ["A1"] + }, + { + "key": "B", + "orderedNozzles": ["B1"] + }, + { "key": "C", "orderedNozzles": ["C1"] }, + { "key": "D", "orderedNozzles": ["D1"] }, + { "key": "E", "orderedNozzles": ["E1"] }, + { "key": "F", "orderedNozzles": ["F1"] }, + { "key": "G", "orderedNozzles": ["G1"] }, + { "key": "H", "orderedNozzles": ["H1"] } + ], + "orderedColumns": [ + { + "key": "1", + "orderedNozzles": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"] + } + ], "nozzleMap": { "A1": [0.0, 31.5, 0.8], "B1": [0.0, 22.5, 0.8], diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_5.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_5.json index 62ab42193de..d214a493141 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_5.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_5.json @@ -2,6 +2,28 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 31.5, 0.8], "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p10/placeholder.gltf", + "orderedRows": [ + { + "key": "A", + "orderedNozzles": ["A1"] + }, + { + "key": "B", + "orderedNozzles": ["B1"] + }, + { "key": "C", "orderedNozzles": ["C1"] }, + { "key": "D", "orderedNozzles": ["D1"] }, + { "key": "E", "orderedNozzles": ["E1"] }, + { "key": "F", "orderedNozzles": ["F1"] }, + { "key": "G", "orderedNozzles": ["G1"] }, + { "key": "H", "orderedNozzles": ["H1"] } + ], + "orderedColumns": [ + { + "key": "1", + "orderedNozzles": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"] + } + ], "nozzleMap": { "A1": [0.0, 31.5, 0.8], "B1": [0.0, 22.5, 0.8], diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_6.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_6.json index 62ab42193de..d214a493141 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_6.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_6.json @@ -2,6 +2,28 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 31.5, 0.8], "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p10/placeholder.gltf", + "orderedRows": [ + { + "key": "A", + "orderedNozzles": ["A1"] + }, + { + "key": "B", + "orderedNozzles": ["B1"] + }, + { "key": "C", "orderedNozzles": ["C1"] }, + { "key": "D", "orderedNozzles": ["D1"] }, + { "key": "E", "orderedNozzles": ["E1"] }, + { "key": "F", "orderedNozzles": ["F1"] }, + { "key": "G", "orderedNozzles": ["G1"] }, + { "key": "H", "orderedNozzles": ["H1"] } + ], + "orderedColumns": [ + { + "key": "1", + "orderedNozzles": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"] + } + ], "nozzleMap": { "A1": [0.0, 31.5, 0.8], "B1": [0.0, 22.5, 0.8], diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/1_0.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/1_0.json index 280d149c350..85dd2ff91e3 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/1_0.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/1_0.json @@ -2,6 +2,28 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p50/placeholder.gltf", "nozzleOffset": [-8.0, -16.0, -259.15], + "orderedRows": [ + { + "key": "A", + "orderedNozzles": ["A1"] + }, + { + "key": "B", + "orderedNozzles": ["B1"] + }, + { "key": "C", "orderedNozzles": ["C1"] }, + { "key": "D", "orderedNozzles": ["D1"] }, + { "key": "E", "orderedNozzles": ["E1"] }, + { "key": "F", "orderedNozzles": ["F1"] }, + { "key": "G", "orderedNozzles": ["G1"] }, + { "key": "H", "orderedNozzles": ["H1"] } + ], + "orderedColumns": [ + { + "key": "1", + "orderedNozzles": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"] + } + ], "nozzleMap": { "A1": [-8.0, -16.0, -259.15], "B1": [-8.0, -25.0, -259.15], diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_0.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_0.json index 280d149c350..85dd2ff91e3 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_0.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_0.json @@ -2,6 +2,28 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p50/placeholder.gltf", "nozzleOffset": [-8.0, -16.0, -259.15], + "orderedRows": [ + { + "key": "A", + "orderedNozzles": ["A1"] + }, + { + "key": "B", + "orderedNozzles": ["B1"] + }, + { "key": "C", "orderedNozzles": ["C1"] }, + { "key": "D", "orderedNozzles": ["D1"] }, + { "key": "E", "orderedNozzles": ["E1"] }, + { "key": "F", "orderedNozzles": ["F1"] }, + { "key": "G", "orderedNozzles": ["G1"] }, + { "key": "H", "orderedNozzles": ["H1"] } + ], + "orderedColumns": [ + { + "key": "1", + "orderedNozzles": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"] + } + ], "nozzleMap": { "A1": [-8.0, -16.0, -259.15], "B1": [-8.0, -25.0, -259.15], diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_3.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_3.json index 280d149c350..85dd2ff91e3 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_3.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_3.json @@ -2,6 +2,28 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p50/placeholder.gltf", "nozzleOffset": [-8.0, -16.0, -259.15], + "orderedRows": [ + { + "key": "A", + "orderedNozzles": ["A1"] + }, + { + "key": "B", + "orderedNozzles": ["B1"] + }, + { "key": "C", "orderedNozzles": ["C1"] }, + { "key": "D", "orderedNozzles": ["D1"] }, + { "key": "E", "orderedNozzles": ["E1"] }, + { "key": "F", "orderedNozzles": ["F1"] }, + { "key": "G", "orderedNozzles": ["G1"] }, + { "key": "H", "orderedNozzles": ["H1"] } + ], + "orderedColumns": [ + { + "key": "1", + "orderedNozzles": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"] + } + ], "nozzleMap": { "A1": [-8.0, -16.0, -259.15], "B1": [-8.0, -25.0, -259.15], diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_4.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_4.json index 280d149c350..85dd2ff91e3 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_4.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_4.json @@ -2,6 +2,28 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p50/placeholder.gltf", "nozzleOffset": [-8.0, -16.0, -259.15], + "orderedRows": [ + { + "key": "A", + "orderedNozzles": ["A1"] + }, + { + "key": "B", + "orderedNozzles": ["B1"] + }, + { "key": "C", "orderedNozzles": ["C1"] }, + { "key": "D", "orderedNozzles": ["D1"] }, + { "key": "E", "orderedNozzles": ["E1"] }, + { "key": "F", "orderedNozzles": ["F1"] }, + { "key": "G", "orderedNozzles": ["G1"] }, + { "key": "H", "orderedNozzles": ["H1"] } + ], + "orderedColumns": [ + { + "key": "1", + "orderedNozzles": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"] + } + ], "nozzleMap": { "A1": [-8.0, -16.0, -259.15], "B1": [-8.0, -25.0, -259.15], diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_5.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_5.json index 280d149c350..85dd2ff91e3 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_5.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_5.json @@ -2,6 +2,28 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p50/placeholder.gltf", "nozzleOffset": [-8.0, -16.0, -259.15], + "orderedRows": [ + { + "key": "A", + "orderedNozzles": ["A1"] + }, + { + "key": "B", + "orderedNozzles": ["B1"] + }, + { "key": "C", "orderedNozzles": ["C1"] }, + { "key": "D", "orderedNozzles": ["D1"] }, + { "key": "E", "orderedNozzles": ["E1"] }, + { "key": "F", "orderedNozzles": ["F1"] }, + { "key": "G", "orderedNozzles": ["G1"] }, + { "key": "H", "orderedNozzles": ["H1"] } + ], + "orderedColumns": [ + { + "key": "1", + "orderedNozzles": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"] + } + ], "nozzleMap": { "A1": [-8.0, -16.0, -259.15], "B1": [-8.0, -25.0, -259.15], diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p20/2_0.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p20/2_0.json index 67fdef7b76b..330b04d4bb8 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p20/2_0.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p20/2_0.json @@ -2,6 +2,28 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 31.5, 19.4], "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p20/placeholder.gltf", + "orderedRows": [ + { + "key": "A", + "orderedNozzles": ["A1"] + }, + { + "key": "B", + "orderedNozzles": ["B1"] + }, + { "key": "C", "orderedNozzles": ["C1"] }, + { "key": "D", "orderedNozzles": ["D1"] }, + { "key": "E", "orderedNozzles": ["E1"] }, + { "key": "F", "orderedNozzles": ["F1"] }, + { "key": "G", "orderedNozzles": ["G1"] }, + { "key": "H", "orderedNozzles": ["H1"] } + ], + "orderedColumns": [ + { + "key": "1", + "orderedNozzles": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"] + } + ], "nozzleMap": { "A1": [0.0, 31.5, 19.4], "B1": [0.0, 22.5, 19.4], diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p20/2_1.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p20/2_1.json index 67fdef7b76b..330b04d4bb8 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p20/2_1.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p20/2_1.json @@ -2,6 +2,28 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 31.5, 19.4], "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p20/placeholder.gltf", + "orderedRows": [ + { + "key": "A", + "orderedNozzles": ["A1"] + }, + { + "key": "B", + "orderedNozzles": ["B1"] + }, + { "key": "C", "orderedNozzles": ["C1"] }, + { "key": "D", "orderedNozzles": ["D1"] }, + { "key": "E", "orderedNozzles": ["E1"] }, + { "key": "F", "orderedNozzles": ["F1"] }, + { "key": "G", "orderedNozzles": ["G1"] }, + { "key": "H", "orderedNozzles": ["H1"] } + ], + "orderedColumns": [ + { + "key": "1", + "orderedNozzles": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"] + } + ], "nozzleMap": { "A1": [0.0, 31.5, 19.4], "B1": [0.0, 22.5, 19.4], diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_0.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_0.json index 5a9430100c8..0df1381c03e 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_0.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_0.json @@ -2,6 +2,28 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 31.5, 0.8], "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p300/placeholder.gltf", + "orderedRows": [ + { + "key": "A", + "orderedNozzles": ["A1"] + }, + { + "key": "B", + "orderedNozzles": ["B1"] + }, + { "key": "C", "orderedNozzles": ["C1"] }, + { "key": "D", "orderedNozzles": ["D1"] }, + { "key": "E", "orderedNozzles": ["E1"] }, + { "key": "F", "orderedNozzles": ["F1"] }, + { "key": "G", "orderedNozzles": ["G1"] }, + { "key": "H", "orderedNozzles": ["H1"] } + ], + "orderedColumns": [ + { + "key": "1", + "orderedNozzles": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"] + } + ], "nozzleMap": { "A1": [0.0, 31.5, 0.8], "B1": [0.0, 22.5, 0.8], diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_3.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_3.json index 5a9430100c8..0df1381c03e 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_3.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_3.json @@ -2,6 +2,28 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 31.5, 0.8], "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p300/placeholder.gltf", + "orderedRows": [ + { + "key": "A", + "orderedNozzles": ["A1"] + }, + { + "key": "B", + "orderedNozzles": ["B1"] + }, + { "key": "C", "orderedNozzles": ["C1"] }, + { "key": "D", "orderedNozzles": ["D1"] }, + { "key": "E", "orderedNozzles": ["E1"] }, + { "key": "F", "orderedNozzles": ["F1"] }, + { "key": "G", "orderedNozzles": ["G1"] }, + { "key": "H", "orderedNozzles": ["H1"] } + ], + "orderedColumns": [ + { + "key": "1", + "orderedNozzles": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"] + } + ], "nozzleMap": { "A1": [0.0, 31.5, 0.8], "B1": [0.0, 22.5, 0.8], diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_4.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_4.json index 5a9430100c8..0df1381c03e 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_4.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_4.json @@ -2,6 +2,28 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 31.5, 0.8], "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p300/placeholder.gltf", + "orderedRows": [ + { + "key": "A", + "orderedNozzles": ["A1"] + }, + { + "key": "B", + "orderedNozzles": ["B1"] + }, + { "key": "C", "orderedNozzles": ["C1"] }, + { "key": "D", "orderedNozzles": ["D1"] }, + { "key": "E", "orderedNozzles": ["E1"] }, + { "key": "F", "orderedNozzles": ["F1"] }, + { "key": "G", "orderedNozzles": ["G1"] }, + { "key": "H", "orderedNozzles": ["H1"] } + ], + "orderedColumns": [ + { + "key": "1", + "orderedNozzles": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"] + } + ], "nozzleMap": { "A1": [0.0, 31.5, 0.8], "B1": [0.0, 22.5, 0.8], diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_5.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_5.json index 5a9430100c8..0df1381c03e 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_5.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_5.json @@ -2,6 +2,28 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 31.5, 0.8], "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p300/placeholder.gltf", + "orderedRows": [ + { + "key": "A", + "orderedNozzles": ["A1"] + }, + { + "key": "B", + "orderedNozzles": ["B1"] + }, + { "key": "C", "orderedNozzles": ["C1"] }, + { "key": "D", "orderedNozzles": ["D1"] }, + { "key": "E", "orderedNozzles": ["E1"] }, + { "key": "F", "orderedNozzles": ["F1"] }, + { "key": "G", "orderedNozzles": ["G1"] }, + { "key": "H", "orderedNozzles": ["H1"] } + ], + "orderedColumns": [ + { + "key": "1", + "orderedNozzles": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"] + } + ], "nozzleMap": { "A1": [0.0, 31.5, 0.8], "B1": [0.0, 22.5, 0.8], diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p300/2_0.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p300/2_0.json index f79ca279af5..afc2468175b 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p300/2_0.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p300/2_0.json @@ -2,6 +2,28 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 31.5, 35.52], "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p300/placeholder.gltf", + "orderedRows": [ + { + "key": "A", + "orderedNozzles": ["A1"] + }, + { + "key": "B", + "orderedNozzles": ["B1"] + }, + { "key": "C", "orderedNozzles": ["C1"] }, + { "key": "D", "orderedNozzles": ["D1"] }, + { "key": "E", "orderedNozzles": ["E1"] }, + { "key": "F", "orderedNozzles": ["F1"] }, + { "key": "G", "orderedNozzles": ["G1"] }, + { "key": "H", "orderedNozzles": ["H1"] } + ], + "orderedColumns": [ + { + "key": "1", + "orderedNozzles": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"] + } + ], "nozzleMap": { "A1": [0.0, 31.5, 35.52], "B1": [0.0, 22.5, 35.52], diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p300/2_1.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p300/2_1.json index f79ca279af5..afc2468175b 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p300/2_1.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p300/2_1.json @@ -2,6 +2,28 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 31.5, 35.52], "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p300/placeholder.gltf", + "orderedRows": [ + { + "key": "A", + "orderedNozzles": ["A1"] + }, + { + "key": "B", + "orderedNozzles": ["B1"] + }, + { "key": "C", "orderedNozzles": ["C1"] }, + { "key": "D", "orderedNozzles": ["D1"] }, + { "key": "E", "orderedNozzles": ["E1"] }, + { "key": "F", "orderedNozzles": ["F1"] }, + { "key": "G", "orderedNozzles": ["G1"] }, + { "key": "H", "orderedNozzles": ["H1"] } + ], + "orderedColumns": [ + { + "key": "1", + "orderedNozzles": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"] + } + ], "nozzleMap": { "A1": [0.0, 31.5, 35.52], "B1": [0.0, 22.5, 35.52], diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_0.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_0.json index 167a0e0cf79..aa8e5807bb4 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_0.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_0.json @@ -2,6 +2,28 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 31.5, 0.8], "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p50/placeholder.gltf", + "orderedRows": [ + { + "key": "A", + "orderedNozzles": ["A1"] + }, + { + "key": "B", + "orderedNozzles": ["B1"] + }, + { "key": "C", "orderedNozzles": ["C1"] }, + { "key": "D", "orderedNozzles": ["D1"] }, + { "key": "E", "orderedNozzles": ["E1"] }, + { "key": "F", "orderedNozzles": ["F1"] }, + { "key": "G", "orderedNozzles": ["G1"] }, + { "key": "H", "orderedNozzles": ["H1"] } + ], + "orderedColumns": [ + { + "key": "1", + "orderedNozzles": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"] + } + ], "nozzleMap": { "A1": [0.0, 31.5, 0.8], "B1": [0.0, 22.5, 0.8], diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_3.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_3.json index 167a0e0cf79..aa8e5807bb4 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_3.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_3.json @@ -2,6 +2,28 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 31.5, 0.8], "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p50/placeholder.gltf", + "orderedRows": [ + { + "key": "A", + "orderedNozzles": ["A1"] + }, + { + "key": "B", + "orderedNozzles": ["B1"] + }, + { "key": "C", "orderedNozzles": ["C1"] }, + { "key": "D", "orderedNozzles": ["D1"] }, + { "key": "E", "orderedNozzles": ["E1"] }, + { "key": "F", "orderedNozzles": ["F1"] }, + { "key": "G", "orderedNozzles": ["G1"] }, + { "key": "H", "orderedNozzles": ["H1"] } + ], + "orderedColumns": [ + { + "key": "1", + "orderedNozzles": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"] + } + ], "nozzleMap": { "A1": [0.0, 31.5, 0.8], "B1": [0.0, 22.5, 0.8], diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_4.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_4.json index 167a0e0cf79..aa8e5807bb4 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_4.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_4.json @@ -2,6 +2,28 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 31.5, 0.8], "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p50/placeholder.gltf", + "orderedRows": [ + { + "key": "A", + "orderedNozzles": ["A1"] + }, + { + "key": "B", + "orderedNozzles": ["B1"] + }, + { "key": "C", "orderedNozzles": ["C1"] }, + { "key": "D", "orderedNozzles": ["D1"] }, + { "key": "E", "orderedNozzles": ["E1"] }, + { "key": "F", "orderedNozzles": ["F1"] }, + { "key": "G", "orderedNozzles": ["G1"] }, + { "key": "H", "orderedNozzles": ["H1"] } + ], + "orderedColumns": [ + { + "key": "1", + "orderedNozzles": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"] + } + ], "nozzleMap": { "A1": [0.0, 31.5, 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a/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_0.json +++ b/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_0.json @@ -2,6 +2,194 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "pathTo3D": "pipette/definitions/2/geometry/ninety_six_channel/p1000/placeholder.gltf", "nozzleOffset": [-36.0, -25.5, -259.15], + "orderedRows": [ + { + "key": "A", + "orderedNozzles": [ + "A1", + "A2", + "A3", + "A4", + "A5", + "A6", + "A7", + "A8", + "A9", + "A10", + "A11", + "A12" + ] + }, + { + "key": "B", + "orderedNozzles": [ + "B1", + "B2", + "B3", + "B4", + "B5", + "B6", + "B7", + "B8", + "B9", + "B10", + "B11", + "B12" + ] + }, + { + "key": "C", + "orderedNozzles": [ + "C1", + "C2", + "C3", + "C4", + "C5", + "C6", + "C7", + "C8", + "C9", + "C10", + "C11", + "C12" + ] + }, + { + "key": "D", + "orderedNozzles": [ + "D1", + "D2", + "D3", + "D4", + "D5", + "D6", + "D7", + "D8", + "D9", + "D10", + "D11", + "D12" + ] + }, + { + "key": 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8924881092c..770e7a9af58 100644 --- a/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_3.json +++ b/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_3.json @@ -2,6 +2,194 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "pathTo3D": "pipette/definitions/2/geometry/ninety_six_channel/p1000/placeholder.gltf", "nozzleOffset": [-36.0, -25.5, -259.15], + "orderedRows": [ + { + "key": "A", + "orderedNozzles": [ + "A1", + "A2", + "A3", + "A4", + "A5", + "A6", + "A7", + "A8", + "A9", + "A10", + "A11", + "A12" + ] + }, + { + "key": "B", + "orderedNozzles": [ + "B1", + "B2", + "B3", + "B4", + "B5", + "B6", + "B7", + "B8", + "B9", + "B10", + "B11", + "B12" + ] + }, + { + "key": "C", + "orderedNozzles": [ + "C1", + "C2", + "C3", + "C4", + "C5", + "C6", + "C7", + "C8", + "C9", + "C10", + "C11", + "C12" + ] + }, + { + "key": "D", + "orderedNozzles": [ + "D1", + "D2", + "D3", + "D4", + "D5", + "D6", + "D7", + "D8", + "D9", + "D10", + "D11", + "D12" + ] + }, + { + "key": "E", + "orderedNozzles": [ + "E1", + "E2", + "E3", + "E4", + "E5", + "E6", + "E7", + "E8", + "E9", + "E10", + "E11", + "E12" + ] + }, + { + "key": "F", + "orderedNozzles": [ + "F1", + "F2", + "F3", + "F4", + "F5", + "F6", + "F7", + "F8", + "F9", + "F10", + "F11", + "F12" + ] + }, + { + "key": "G", + "orderedNozzles": [ + "G1", + "G2", + "G3", + "G4", + "G5", + "G6", + "G7", + "G8", + "G9", + "G10", + "G11", + "G12" + ] + }, + { + "key": "H", + "orderedNozzles": [ + "H1", + "H2", + "H3", + "H4", + "H5", + "H6", + "H7", + "H8", + "H9", + "H10", + "H11", + "H12" + ] + } + ], + "orderedColumns": [ + { + "key": "1", + "orderedNozzles": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"] + }, + { + "key": "2", + "orderedNozzles": ["A2", "B2", "C2", "D2", "E2", "F2", "G2", "H2"] + }, + { + "key": "3", + "orderedNozzles": ["A3", "B3", "C3", "D3", "E3", "F3", "G3", "H3"] + }, + { + "key": "4", + "orderedNozzles": ["A4", "B4", "C4", "D4", "E4", "F4", "G4", "H4"] + }, + { + "key": "5", + "orderedNozzles": ["A5", "B5", "C5", "D5", "E5", "F5", "G5", "H5"] + }, + { + "key": "6", + "orderedNozzles": ["A6", "B6", "C6", "D6", "E6", "F6", "G6", "H6"] + }, + { + "key": "7", + "orderedNozzles": ["A7", "B7", "C7", "D7", "E7", "F7", "G7", "H7"] + }, + { + "key": "8", + "orderedNozzles": ["A8", "B8", "C8", "D8", "E8", "F8", "G8", "H8"] + }, + { + "key": "9", + "orderedNozzles": ["A9", "B9", "C9", "D9", "E9", "F9", "G9", "H9"] + }, + { + "key": "10", + "orderedNozzles": ["A10", "B10", "C10", "D10", "E10", "F10", "G10", "H10"] + }, + { + "key": "11", + "orderedNozzles": ["A11", "B11", "C11", "D11", "E11", "F11", "G11", "H11"] + }, + { + "key": "12", + "orderedNozzles": ["A12", "B12", "C12", "D12", "E12", "F12", "G12", "H12"] + } + ], "nozzleMap": { "A1": [-36.0, -25.5, -259.15], "A2": [-27.0, -25.5, -259.15], diff --git a/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_4.json b/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_4.json index 8924881092c..770e7a9af58 100644 --- a/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_4.json +++ b/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_4.json @@ -2,6 +2,194 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "pathTo3D": "pipette/definitions/2/geometry/ninety_six_channel/p1000/placeholder.gltf", "nozzleOffset": [-36.0, -25.5, -259.15], + "orderedRows": [ + { + "key": "A", + "orderedNozzles": [ + "A1", + "A2", + "A3", + "A4", + "A5", + "A6", + "A7", + "A8", + "A9", + "A10", + "A11", + "A12" + ] + }, + { + "key": "B", + "orderedNozzles": [ + "B1", + "B2", + "B3", + "B4", + "B5", + "B6", + "B7", + "B8", + "B9", + "B10", + "B11", + "B12" + ] + }, + { + "key": "C", + "orderedNozzles": [ + "C1", + "C2", + "C3", + "C4", + "C5", + "C6", + "C7", + "C8", + "C9", + "C10", + "C11", + "C12" + ] + }, + { + "key": "D", + "orderedNozzles": [ + "D1", + "D2", + "D3", + "D4", + "D5", + "D6", + "D7", + "D8", + "D9", + "D10", + "D11", + "D12" + ] + }, + { + "key": "E", + "orderedNozzles": [ + "E1", + "E2", + "E3", + "E4", + "E5", + "E6", + "E7", + "E8", + "E9", + "E10", + "E11", + "E12" + ] + }, + { + "key": "F", + "orderedNozzles": [ + "F1", + "F2", + "F3", + "F4", + "F5", + "F6", + "F7", + "F8", + "F9", + "F10", + "F11", + "F12" + ] + }, + { + "key": "G", + "orderedNozzles": [ + "G1", + "G2", + "G3", + "G4", + "G5", + "G6", + "G7", + "G8", + "G9", + "G10", + "G11", + "G12" + ] + }, + { + "key": "H", + "orderedNozzles": [ + "H1", + "H2", + "H3", + "H4", + "H5", + "H6", + "H7", + "H8", + "H9", + "H10", + "H11", + "H12" + ] + } + ], + "orderedColumns": [ + { + "key": "1", + "orderedNozzles": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"] + }, + { + "key": "2", + "orderedNozzles": ["A2", "B2", "C2", "D2", "E2", "F2", "G2", "H2"] + }, + { + "key": "3", + "orderedNozzles": ["A3", "B3", "C3", "D3", "E3", "F3", "G3", "H3"] + }, + { + "key": "4", + "orderedNozzles": ["A4", "B4", "C4", "D4", "E4", "F4", "G4", "H4"] + }, + { + "key": "5", + "orderedNozzles": ["A5", "B5", "C5", "D5", "E5", "F5", "G5", "H5"] + }, + { + "key": "6", + "orderedNozzles": ["A6", "B6", "C6", "D6", "E6", "F6", "G6", "H6"] + }, + { + "key": "7", + "orderedNozzles": ["A7", "B7", "C7", "D7", "E7", "F7", "G7", "H7"] + }, + { + "key": "8", + "orderedNozzles": ["A8", "B8", "C8", "D8", "E8", "F8", "G8", "H8"] + }, + { + "key": "9", + "orderedNozzles": ["A9", "B9", "C9", "D9", "E9", "F9", "G9", "H9"] + }, + { + "key": "10", + "orderedNozzles": ["A10", "B10", "C10", "D10", "E10", "F10", "G10", "H10"] + }, + { + "key": "11", + "orderedNozzles": ["A11", "B11", "C11", "D11", "E11", "F11", "G11", "H11"] + }, + { + "key": "12", + "orderedNozzles": ["A12", "B12", "C12", "D12", "E12", "F12", "G12", "H12"] + } + ], "nozzleMap": { "A1": [-36.0, -25.5, -259.15], "A2": [-27.0, -25.5, -259.15], diff --git a/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_5.json b/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_5.json index 8924881092c..770e7a9af58 100644 --- a/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_5.json +++ b/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_5.json @@ -2,6 +2,194 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "pathTo3D": "pipette/definitions/2/geometry/ninety_six_channel/p1000/placeholder.gltf", "nozzleOffset": [-36.0, -25.5, -259.15], + "orderedRows": [ + { + "key": "A", + "orderedNozzles": [ + "A1", + "A2", + "A3", + "A4", + "A5", + "A6", + "A7", + "A8", + "A9", + "A10", + "A11", + "A12" + ] + }, + { + "key": "B", + "orderedNozzles": [ + "B1", + "B2", + "B3", + "B4", + "B5", + "B6", + "B7", + "B8", + "B9", + "B10", + "B11", + "B12" + ] + }, + { + "key": "C", + "orderedNozzles": [ + "C1", + "C2", + "C3", + "C4", + "C5", + "C6", + "C7", + "C8", + "C9", + "C10", + "C11", + "C12" + ] + }, + { + "key": "D", + "orderedNozzles": [ + "D1", + "D2", + "D3", + "D4", + "D5", + "D6", + "D7", + "D8", + "D9", + "D10", + "D11", + "D12" + ] + }, + { + "key": "E", + "orderedNozzles": [ + "E1", + "E2", + "E3", + "E4", + "E5", + "E6", + "E7", + "E8", + "E9", + "E10", + "E11", + "E12" + ] + }, + { + "key": "F", + "orderedNozzles": [ + "F1", + "F2", + "F3", + "F4", + "F5", + "F6", + "F7", + "F8", + "F9", + "F10", + "F11", + "F12" + ] + }, + { + "key": "G", + "orderedNozzles": [ + "G1", + "G2", + "G3", + "G4", + "G5", + "G6", + "G7", + "G8", + "G9", + "G10", + "G11", + "G12" + ] + }, + { + "key": "H", + "orderedNozzles": [ + "H1", + "H2", + "H3", + "H4", + "H5", + "H6", + "H7", + "H8", + "H9", + "H10", + "H11", + "H12" + ] + } + ], + "orderedColumns": [ + { + "key": "1", + "orderedNozzles": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"] + }, + { + "key": "2", + "orderedNozzles": ["A2", "B2", "C2", "D2", "E2", "F2", "G2", "H2"] + }, + { + "key": "3", + "orderedNozzles": ["A3", "B3", "C3", "D3", "E3", "F3", "G3", "H3"] + }, + { + "key": "4", + "orderedNozzles": ["A4", "B4", "C4", "D4", "E4", "F4", "G4", "H4"] + }, + { + "key": "5", + "orderedNozzles": ["A5", "B5", "C5", "D5", "E5", "F5", "G5", "H5"] + }, + { + "key": "6", + "orderedNozzles": ["A6", "B6", "C6", "D6", "E6", "F6", "G6", "H6"] + }, + { + "key": "7", + "orderedNozzles": ["A7", "B7", "C7", "D7", "E7", "F7", "G7", "H7"] + }, + { + "key": "8", + "orderedNozzles": ["A8", "B8", "C8", "D8", "E8", "F8", "G8", "H8"] + }, + { + "key": "9", + "orderedNozzles": ["A9", "B9", "C9", "D9", "E9", "F9", "G9", "H9"] + }, + { + "key": "10", + "orderedNozzles": ["A10", "B10", "C10", "D10", "E10", "F10", "G10", "H10"] + }, + { + "key": "11", + "orderedNozzles": ["A11", "B11", "C11", "D11", "E11", "F11", "G11", "H11"] + }, + { + "key": "12", + "orderedNozzles": ["A12", "B12", "C12", "D12", "E12", "F12", "G12", "H12"] + } + ], "nozzleMap": { "A1": [-36.0, -25.5, -259.15], "A2": [-27.0, -25.5, -259.15], diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p10/1_0.json b/shared-data/pipette/definitions/2/geometry/single_channel/p10/1_0.json index 8411e4e44dd..46813106020 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p10/1_0.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p10/1_0.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 0.0, 12.0], "pathTo3D": "pipette/definitions/2/geometry/single_channel/p10/placeholder.gltf", + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [0.0, 0.0, 12.0] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p10/1_3.json b/shared-data/pipette/definitions/2/geometry/single_channel/p10/1_3.json index 8411e4e44dd..46813106020 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p10/1_3.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p10/1_3.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 0.0, 12.0], "pathTo3D": "pipette/definitions/2/geometry/single_channel/p10/placeholder.gltf", + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [0.0, 0.0, 12.0] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p10/1_4.json b/shared-data/pipette/definitions/2/geometry/single_channel/p10/1_4.json index 8411e4e44dd..46813106020 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p10/1_4.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p10/1_4.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 0.0, 12.0], "pathTo3D": "pipette/definitions/2/geometry/single_channel/p10/placeholder.gltf", + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [0.0, 0.0, 12.0] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p10/1_5.json b/shared-data/pipette/definitions/2/geometry/single_channel/p10/1_5.json index 8411e4e44dd..46813106020 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p10/1_5.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p10/1_5.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 0.0, 12.0], "pathTo3D": "pipette/definitions/2/geometry/single_channel/p10/placeholder.gltf", + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [0.0, 0.0, 12.0] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p1000/1_0.json b/shared-data/pipette/definitions/2/geometry/single_channel/p1000/1_0.json index 64e0cde09c9..6e0f777ff79 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p1000/1_0.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p1000/1_0.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 0.0, 45.0], "pathTo3D": "pipette/definitions/2/geometry/single_channel/p1000/placeholder.gltf", + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [0.0, 0.0, 45.0] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p1000/1_3.json b/shared-data/pipette/definitions/2/geometry/single_channel/p1000/1_3.json index 64e0cde09c9..6e0f777ff79 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p1000/1_3.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p1000/1_3.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 0.0, 45.0], "pathTo3D": "pipette/definitions/2/geometry/single_channel/p1000/placeholder.gltf", + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [0.0, 0.0, 45.0] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p1000/1_4.json b/shared-data/pipette/definitions/2/geometry/single_channel/p1000/1_4.json index 64e0cde09c9..6e0f777ff79 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p1000/1_4.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p1000/1_4.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 0.0, 45.0], "pathTo3D": "pipette/definitions/2/geometry/single_channel/p1000/placeholder.gltf", + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [0.0, 0.0, 45.0] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p1000/1_5.json b/shared-data/pipette/definitions/2/geometry/single_channel/p1000/1_5.json index 64e0cde09c9..6e0f777ff79 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p1000/1_5.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p1000/1_5.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 0.0, 45.0], "pathTo3D": "pipette/definitions/2/geometry/single_channel/p1000/placeholder.gltf", + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [0.0, 0.0, 45.0] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p1000/2_0.json b/shared-data/pipette/definitions/2/geometry/single_channel/p1000/2_0.json index a69cd078a60..03e44b6b76d 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p1000/2_0.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p1000/2_0.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 0.0, 50.14], "pathTo3D": "pipette/definitions/2/geometry/single_channel/p1000/placeholder.gltf", + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [0.0, 0.0, 50.14] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p1000/2_1.json b/shared-data/pipette/definitions/2/geometry/single_channel/p1000/2_1.json index a69cd078a60..03e44b6b76d 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p1000/2_1.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p1000/2_1.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 0.0, 50.14], "pathTo3D": "pipette/definitions/2/geometry/single_channel/p1000/placeholder.gltf", + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [0.0, 0.0, 50.14] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p1000/2_2.json b/shared-data/pipette/definitions/2/geometry/single_channel/p1000/2_2.json index a69cd078a60..03e44b6b76d 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p1000/2_2.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p1000/2_2.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 0.0, 50.14], "pathTo3D": "pipette/definitions/2/geometry/single_channel/p1000/placeholder.gltf", + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [0.0, 0.0, 50.14] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p1000/3_0.json b/shared-data/pipette/definitions/2/geometry/single_channel/p1000/3_0.json index e2a461538c3..50baf715160 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p1000/3_0.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p1000/3_0.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "pathTo3D": "pipette/definitions/2/geometry/single_channel/p1000/placeholder.gltf", "nozzleOffset": [-8.0, -22.0, -259.15], + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [-8.0, -22.0, -259.15] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p1000/3_3.json b/shared-data/pipette/definitions/2/geometry/single_channel/p1000/3_3.json index e2a461538c3..50baf715160 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p1000/3_3.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p1000/3_3.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "pathTo3D": "pipette/definitions/2/geometry/single_channel/p1000/placeholder.gltf", "nozzleOffset": [-8.0, -22.0, -259.15], + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [-8.0, -22.0, -259.15] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p1000/3_4.json b/shared-data/pipette/definitions/2/geometry/single_channel/p1000/3_4.json index e2a461538c3..50baf715160 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p1000/3_4.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p1000/3_4.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "pathTo3D": "pipette/definitions/2/geometry/single_channel/p1000/placeholder.gltf", "nozzleOffset": [-8.0, -22.0, -259.15], + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [-8.0, -22.0, -259.15] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p1000/3_5.json b/shared-data/pipette/definitions/2/geometry/single_channel/p1000/3_5.json index e2a461538c3..50baf715160 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p1000/3_5.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p1000/3_5.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "pathTo3D": "pipette/definitions/2/geometry/single_channel/p1000/placeholder.gltf", "nozzleOffset": [-8.0, -22.0, -259.15], + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [-8.0, -22.0, -259.15] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p20/2_0.json b/shared-data/pipette/definitions/2/geometry/single_channel/p20/2_0.json index 30c3eb29e71..db8fa79ea87 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p20/2_0.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p20/2_0.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 0.0, 10.45], "pathTo3D": "pipette/definitions/2/geometry/single_channel/p20/placeholder.gltf", + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [0.0, 0.0, 10.45] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p20/2_1.json b/shared-data/pipette/definitions/2/geometry/single_channel/p20/2_1.json index 30c3eb29e71..db8fa79ea87 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p20/2_1.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p20/2_1.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 0.0, 10.45], "pathTo3D": "pipette/definitions/2/geometry/single_channel/p20/placeholder.gltf", + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [0.0, 0.0, 10.45] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p20/2_2.json b/shared-data/pipette/definitions/2/geometry/single_channel/p20/2_2.json index 30c3eb29e71..db8fa79ea87 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p20/2_2.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p20/2_2.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 0.0, 10.45], "pathTo3D": "pipette/definitions/2/geometry/single_channel/p20/placeholder.gltf", + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [0.0, 0.0, 10.45] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p300/1_0.json b/shared-data/pipette/definitions/2/geometry/single_channel/p300/1_0.json index 3d97efe13fe..636b42cd596 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p300/1_0.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p300/1_0.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 0.0, 25.0], "pathTo3D": "pipette/definitions/2/geometry/single_channel/p300/placeholder.gltf", + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [0.0, 0.0, 25.0] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p300/1_3.json b/shared-data/pipette/definitions/2/geometry/single_channel/p300/1_3.json index 3d97efe13fe..636b42cd596 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p300/1_3.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p300/1_3.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 0.0, 25.0], "pathTo3D": "pipette/definitions/2/geometry/single_channel/p300/placeholder.gltf", + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [0.0, 0.0, 25.0] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p300/1_4.json b/shared-data/pipette/definitions/2/geometry/single_channel/p300/1_4.json index 3d97efe13fe..636b42cd596 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p300/1_4.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p300/1_4.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 0.0, 25.0], "pathTo3D": "pipette/definitions/2/geometry/single_channel/p300/placeholder.gltf", + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [0.0, 0.0, 25.0] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p300/1_5.json b/shared-data/pipette/definitions/2/geometry/single_channel/p300/1_5.json index 3d97efe13fe..636b42cd596 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p300/1_5.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p300/1_5.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 0.0, 25.0], "pathTo3D": "pipette/definitions/2/geometry/single_channel/p300/placeholder.gltf", + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [0.0, 0.0, 25.0] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p300/2_0.json b/shared-data/pipette/definitions/2/geometry/single_channel/p300/2_0.json index 1b56f8b667a..c43a1fd1f10 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p300/2_0.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p300/2_0.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 0.0, 29.45], "pathTo3D": "pipette/definitions/2/geometry/single_channel/p300/placeholder.gltf", + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [0.0, 0.0, 29.45] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p300/2_1.json b/shared-data/pipette/definitions/2/geometry/single_channel/p300/2_1.json index 1b56f8b667a..c43a1fd1f10 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p300/2_1.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p300/2_1.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 0.0, 29.45], "pathTo3D": "pipette/definitions/2/geometry/single_channel/p300/placeholder.gltf", + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [0.0, 0.0, 29.45] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p50/1_0.json b/shared-data/pipette/definitions/2/geometry/single_channel/p50/1_0.json index 1d4a8b299bc..a67e53f92f5 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p50/1_0.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p50/1_0.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 0.0, 25.0], "pathTo3D": "pipette/definitions/2/geometry/single_channel/p50/placeholder.gltf", + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [0.0, 0.0, 25.0] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p50/1_3.json b/shared-data/pipette/definitions/2/geometry/single_channel/p50/1_3.json index 1d4a8b299bc..a67e53f92f5 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p50/1_3.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p50/1_3.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 0.0, 25.0], "pathTo3D": "pipette/definitions/2/geometry/single_channel/p50/placeholder.gltf", + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [0.0, 0.0, 25.0] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p50/1_4.json b/shared-data/pipette/definitions/2/geometry/single_channel/p50/1_4.json index 1d4a8b299bc..a67e53f92f5 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p50/1_4.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p50/1_4.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 0.0, 25.0], "pathTo3D": "pipette/definitions/2/geometry/single_channel/p50/placeholder.gltf", + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [0.0, 0.0, 25.0] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p50/1_5.json b/shared-data/pipette/definitions/2/geometry/single_channel/p50/1_5.json index 1d4a8b299bc..a67e53f92f5 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p50/1_5.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p50/1_5.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "nozzleOffset": [0.0, 0.0, 25.0], "pathTo3D": "pipette/definitions/2/geometry/single_channel/p50/placeholder.gltf", + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [0.0, 0.0, 25.0] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p50/3_0.json b/shared-data/pipette/definitions/2/geometry/single_channel/p50/3_0.json index 30252f1ef03..96414e8ec41 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p50/3_0.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p50/3_0.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "pathTo3D": "pipette/definitions/2/geometry/single_channel/p50/placeholder.gltf", "nozzleOffset": [-8.0, -22.0, -259.15], + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [-8.0, -22.0, -259.15] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p50/3_3.json b/shared-data/pipette/definitions/2/geometry/single_channel/p50/3_3.json index 30252f1ef03..96414e8ec41 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p50/3_3.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p50/3_3.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "pathTo3D": "pipette/definitions/2/geometry/single_channel/p50/placeholder.gltf", "nozzleOffset": [-8.0, -22.0, -259.15], + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [-8.0, -22.0, -259.15] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p50/3_4.json b/shared-data/pipette/definitions/2/geometry/single_channel/p50/3_4.json index 30252f1ef03..96414e8ec41 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p50/3_4.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p50/3_4.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "pathTo3D": "pipette/definitions/2/geometry/single_channel/p50/placeholder.gltf", "nozzleOffset": [-8.0, -22.0, -259.15], + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [-8.0, -22.0, -259.15] } diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p50/3_5.json b/shared-data/pipette/definitions/2/geometry/single_channel/p50/3_5.json index 30252f1ef03..96414e8ec41 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p50/3_5.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p50/3_5.json @@ -2,6 +2,8 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json", "pathTo3D": "pipette/definitions/2/geometry/single_channel/p50/placeholder.gltf", "nozzleOffset": [-8.0, -22.0, -259.15], + "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }], + "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }], "nozzleMap": { "A1": [-8.0, -22.0, -259.15] } diff --git a/shared-data/pipette/definitions/2/liquid/ninety_six_channel/p1000/default/1_0.json b/shared-data/pipette/definitions/2/liquid/ninety_six_channel/p1000/default/1_0.json index a3794ba520e..8ca9dc4ece4 100644 --- a/shared-data/pipette/definitions/2/liquid/ninety_six_channel/p1000/default/1_0.json +++ b/shared-data/pipette/definitions/2/liquid/ninety_six_channel/p1000/default/1_0.json @@ -20,96 +20,36 @@ "aspirate": { "default": { "1": [ - [0.4148, -1705.1015, 20.5455], - [0.4476, -80.633, 47.2788], - [0.5512, -1.5936, 11.9026], - [0.6027, -18.9998, 21.4972], - [0.6503, -15.8781, 19.6156], - [0.7733, 3.0612, 7.2993], - [0.8391, -5.2227, 13.7056], - [0.9736, 3.0706, 6.7467], - [1.16, -0.374, 10.1005], - [1.3964, 1.3004, 8.1582], - [1.5815, -0.4837, 10.6494], - [1.8306, 1.1464, 8.0714], - [2.0345, 0.0132, 10.1459], - [2.6221, 0.5374, 9.0794], - [2.9655, -1.7582, 15.0986], - [3.5124, 0.2754, 9.0681], - [4.6591, 1.406, 5.097], - [5.367, 0.394, 9.8123], - [6.0839, 0.3365, 10.1205], - [6.8312, 0.3379, 10.1121], - [7.5676, 0.2611, 10.637], - [8.2397, 0.095, 11.8939], - [8.9776, 0.2015, 11.0165], - [10.413, 0.1332, 11.6294], - [11.8539, 0.1074, 11.8979], - [13.3655, 0.1286, 11.6464], - [14.8236, 0.0758, 12.3519], - [16.3203, 0.083, 12.2457], - [17.7915, 0.0581, 12.6515], - [19.2145, 0.0273, 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10.852249], + [7.69375, 0.267029, 11.541523], + [8.67875, 0.210129, 11.979299], + [47.05, 0.030309, 13.539909], + [95.24375, 0.003774, 14.78837], + [211.0225, 0.000928, 15.059476] ] } }, @@ -246,94 +126,46 @@ "aspirate": { "default": { "1": [ - [0.7511, 3.9556, 6.455], - [1.3075, 2.1664, 5.8839], - [1.8737, 1.1513, 7.2111], - [3.177, 0.9374, 7.612], - [4.5368, 0.5531, 8.8328], - [7.3103, 0.3035, 9.9651], - [10.0825, 0.1513, 11.0781], - [12.9776, 0.1293, 11.2991], - [15.9173, 0.0976, 11.7115], - [18.8243, 0.0624, 12.2706], - [21.8529, 0.07, 12.1275], - [24.8068, 0.0418, 12.7442], - [27.7744, 0.0356, 12.8984], - [35.2873, 0.0303, 13.0454], - [42.7989, 0.0202, 13.4038], - [50.4562, 0.0196, 13.4293], - [58.1081, 0.0145, 13.6843], - [65.7267, 0.0104, 13.9252], - [73.2857, 0.0068, 14.1606], - [81.0016, 0.0091, 13.9883], - [88.6617, 0.0064, 14.2052], - [103.9829, 0.0051, 14.3271], - [119.4408, 0.0049, 14.3475], - [134.889, 0.0037, 14.485], - [150.273, 0.0026, 14.6402], - [181.2798, 0.0026, 14.6427], - [212.4724, 0.0022, 14.7002], - [243.577, 0.0015, 14.8558], - [274.7216, 0.0012, 14.9205], - [305.8132, 0.0009, 15.0118], - [368.0697, 0.0007, 15.0668], - [430.2513, 0.0005, 15.1594], - [492.3487, 0.0003, 15.2291], - [554.5713, 0.0003, 15.2367], - [616.6825, 0.0002, 15.2949], - [694.4168, 0.0002, 15.3027], - [772.0327, 0.0001, 15.3494], - [849.617, 0.0001, 15.3717], - [927.2556, 0.0001, 15.3745], - [1004.87, 0.0001, 15.3912], - [1051.4648, 0.0001, 15.391] + [3.76, 2.041301, 4.284751], + [5.684286, 0.49624, 10.09418], + [8.445714, 0.187358, 11.849952], + [12.981429, 0.073135, 12.814653], + [17.667143, 0.060853, 12.974083], + [46.515714, 0.025888, 13.591828], + [95.032857, 0.006561, 14.490827], + [114.488571, 0.00306, 14.823556], + [192.228571, 0.001447, 15.00822], + [309.921429, 0.000995, 15.095087], + [436.984286, 0.000322, 15.303634], + [632.861429, 0.000208, 15.353582], + [828.952857, 0.00013, 15.402544], + [976.118571, 0.000095, 15.431673], + [1005.275714, -0.000067, 15.589843], + [1024.768571, -0.000021, 15.543681], + [1049.145714, -0.000013, 15.535884] ] } }, "dispense": { "default": { "1": [ - [0.7511, 3.9556, 6.455], - [1.3075, 2.1664, 5.8839], - [1.8737, 1.1513, 7.2111], - [3.177, 0.9374, 7.612], - [4.5368, 0.5531, 8.8328], - [7.3103, 0.3035, 9.9651], - [10.0825, 0.1513, 11.0781], - [12.9776, 0.1293, 11.2991], - [15.9173, 0.0976, 11.7115], - [18.8243, 0.0624, 12.2706], - [21.8529, 0.07, 12.1275], - [24.8068, 0.0418, 12.7442], - [27.7744, 0.0356, 12.8984], - [35.2873, 0.0303, 13.0454], - [42.7989, 0.0202, 13.4038], - [50.4562, 0.0196, 13.4293], - [58.1081, 0.0145, 13.6843], - [65.7267, 0.0104, 13.9252], - [73.2857, 0.0068, 14.1606], - [81.0016, 0.0091, 13.9883], - [88.6617, 0.0064, 14.2052], - [103.9829, 0.0051, 14.3271], - [119.4408, 0.0049, 14.3475], - [134.889, 0.0037, 14.485], - [150.273, 0.0026, 14.6402], - [181.2798, 0.0026, 14.6427], - [212.4724, 0.0022, 14.7002], - [243.577, 0.0015, 14.8558], - [274.7216, 0.0012, 14.9205], - [305.8132, 0.0009, 15.0118], - [368.0697, 0.0007, 15.0668], - [430.2513, 0.0005, 15.1594], - [492.3487, 0.0003, 15.2291], - [554.5713, 0.0003, 15.2367], - [616.6825, 0.0002, 15.2949], - [694.4168, 0.0002, 15.3027], - [772.0327, 0.0001, 15.3494], - [849.617, 0.0001, 15.3717], - [927.2556, 0.0001, 15.3745], - [1004.87, 0.0001, 15.3912], - [1051.4648, 0.0001, 15.391] + [3.76, 2.041301, 4.284751], + [5.684286, 0.49624, 10.09418], + [8.445714, 0.187358, 11.849952], + [12.981429, 0.073135, 12.814653], + [17.667143, 0.060853, 12.974083], + [46.515714, 0.025888, 13.591828], + [95.032857, 0.006561, 14.490827], + [114.488571, 0.00306, 14.823556], + [192.228571, 0.001447, 15.00822], + [309.921429, 0.000995, 15.095087], + [436.984286, 0.000322, 15.303634], + [632.861429, 0.000208, 15.353582], + [828.952857, 0.00013, 15.402544], + [976.118571, 0.000095, 15.431673], + [1005.275714, -0.000067, 15.589843], + [1024.768571, -0.000021, 15.543681], + [1049.145714, -0.000013, 15.535884] ] } }, diff --git a/shared-data/pipette/fixtures/name/index.ts b/shared-data/pipette/fixtures/name/index.ts index 1625636981e..0831ffc7fdd 100644 --- a/shared-data/pipette/fixtures/name/index.ts +++ b/shared-data/pipette/fixtures/name/index.ts @@ -16,3 +16,4 @@ export const fixtureP300Multi: PipetteNameSpecs = pipetteNameSpecFixtures.p300_multi export const fixtureP1000Single: PipetteNameSpecs = pipetteNameSpecFixtures.p1000_single +export const fixtureP100096: PipetteNameSpecs = pipetteNameSpecFixtures.p1000_96 diff --git a/shared-data/pipette/schemas/2/pipetteGeometrySchema.json b/shared-data/pipette/schemas/2/pipetteGeometrySchema.json index df75f98ef08..4dd243304f9 100644 --- a/shared-data/pipette/schemas/2/pipetteGeometrySchema.json +++ b/shared-data/pipette/schemas/2/pipetteGeometrySchema.json @@ -7,6 +7,20 @@ "items": { "type": "number" }, "minItems": 3, "maxItems": 3 + }, + "nozzleName": { + "type": "string", + "pattern": "[A-Z]+[0-9]+" + }, + "rowName": { + "type": "string", + "pattern": "[A-Z]+", + "description": "The name of a row of nozzles" + }, + "columnName": { + "type": "string", + "pattern": "[0-9]+", + "description": "The name of a column of nozzles" } }, "type": "object", @@ -23,6 +37,38 @@ "type": "string", "pattern": "^pipette/definitions/[2]/geometry/([a-z]*_[a-z]*)+/p[0-9]{2,4}/[a-z]*[.]gltf" }, + "orderedRows": { + "type": "array", + "items": { + "type": "object", + "description": "A row of nozzle keys", + "required": ["key", "orderedNozzles"], + "properties": { + "key": { "$ref": "#/definitions/rowName" }, + "orderedNozzles": { + "type": "array", + "description": "The list of nozzle names in this row", + "items": { "$ref": "#/definitions/nozzleName" } + } + } + } + }, + "orderedColumns": { + "type": "array", + "items": { + "type": "object", + "description": "A column of nozzle keys", + "required": ["key", "orderedNozzles"], + "properties": { + "key": { "$ref": "#/definitions/columnName" }, + "orderedNozzles": { + "type": "array", + "description": "The list of nozzle names in this column", + "items": { "$ref": "#/definitions/nozzleName" } + } + } + } + }, "nozzleMap": { "type": "object", "description": "Unordered object of well objects with position and dimensional information", diff --git a/shared-data/pipette/schemas/2/pipettePropertiesSchema.json b/shared-data/pipette/schemas/2/pipettePropertiesSchema.json index 94c6482f155..b45870167c5 100644 --- a/shared-data/pipette/schemas/2/pipettePropertiesSchema.json +++ b/shared-data/pipette/schemas/2/pipettePropertiesSchema.json @@ -1,13 +1,13 @@ { "$schema": "http://json-schema.org/draft-07/schema#", - "$id": "opentronsPipetteGeometrySchemaV2", + "$id": "opentronsPipettePropertiesSchemaV2", "definitions": { "channels": { "enum": [1, 8, 96, 384] }, "displayCategory": { "type": "string", - "enum": ["GEN1"] + "enum": ["GEN1", "GEN2", "FLEX"] }, "positiveNumber": { "type": "number", @@ -18,33 +18,6 @@ "minimum": 0.01, "maximum": 2.5 }, - "xyzArray": { - "type": "array", - "description": "Array of 3 numbers, [x, y, z]", - "items": { "type": "number" }, - "minItems": 3, - "maxItems": 3 - }, - "linearEquations": { - "description": "Array containing any number of 3-arrays. Each inner 3-array describes a line segment: [boundary, slope, intercept]. So [1, 2, 3] would mean 'where (next_boundary > x >= 1), y = 2x + 3'", - "type": "array", - "items": { - "type": "array", - "items": { "type": "number" }, - "minItems": 3, - "maxItems": 3 - } - }, - "liquidHandlingSpecs": { - "description": "Object containing linear equations for translating between uL of liquid and mm of plunger travel. There is one linear equation for aspiration and one for dispense", - "type": "object", - "required": ["aspirate", "dispense"], - "additionalProperties": false, - "properties": { - "aspirate": { "$ref": "#/definitions/linearEquations" }, - "dispense": { "$ref": "#/definitions/linearEquations" } - } - }, "editConfigurations": { "type": "object", "description": "Object allowing you to modify a config", @@ -58,16 +31,14 @@ "displayName": { "type": "string" } } }, - "tipConfigurations": { + "partialTipCount": { + "type": "number", + "enum": [1, 2, 3, 4, 5, 6, 7, 8, 12, 96, 384] + }, + "currentByTipCount": { "type": "object", - "description": "Object containing configurations specific to tip handling", - "required": ["current", "speed"], - "properties": { - "current": { "$ref": "#/definitions/currentRange" }, - "presses": {}, - "speed": { "$ref": "#/definitions/editConfigurations" }, - "increment": {}, - "distance": {} + "patternProperties": { + "\\d+": { "$ref": "#/definitions/currentRange" } } } }, @@ -104,20 +75,29 @@ }, "channels": { "$ref": "#/definitions/channels" }, "partialTipConfigurations": { - "type": "object", "description": "Object containing information on partial tip configurations", - "required": ["partialTipSupported"], - "properties": { - "partialTipSupported": { "type": "boolean" }, - "availableConfigurations": { - "type": "array", - "description": "Array of available configurations", - "items": { - "type": "number", - "enum": [1, 2, 3, 4, 5, 6, 7, 8, 12, 96, 384] + "oneof": [ + { + "type": "object", + "required": ["partialTipSupported"], + "properties": { + "partialTipSupported": { "const": false }, + "availableConfigurations": null + } + }, + { + "type": "object", + "required": ["partialTipSupported", "availableConfigurations"], + "properties": { + "partialTipSupported": { "const": true }, + "availableConfigurations": { + "type": "array", + "description": "Array of available configurations", + "items": { "$ref": "#/definitions/partialTipCount" } + } } } - } + ] }, "availableSensors": { "type": "object", @@ -143,13 +123,20 @@ }, "plungerPositionsConfigurations": { "type": "object", - "description": "Object containing configurations specific to tip handling", - "required": ["top", "bottom", "blowout", "drop"], - "properties": { - "top": { "$ref": "#/definitions/currentRange" }, - "bottom": {}, - "blowout": { "$ref": "#/definitions/editConfigurations" }, - "drop": {} + "description": "Key positions of the plunger, by liquid configuration", + "required": ["default"], + "patternProperties": { + "\\w+": { + "type": "object", + "description": "Plunger positions for this liquid configuration", + "required": ["top", "bottom", "blowout", "drop"], + "properties": { + "top": { "type": "number" }, + "bottom": { "type": "number" }, + "blowout": { "type": "number" }, + "drop": { "type": "number" } + } + } } }, "plungerMotorConfigurations": { @@ -171,25 +158,124 @@ } }, "pickUpTipConfigurations": { - "$ref": "#/definitions/tipConfigurations" + "description": "Object containing configurations for picking up tips common to all partial configurations", + "anyOf": [ + { + "type": "object", + "required": ["pressFit"], + "properties": { + "pressFit": { + "type": "object", + "required": [ + "presses", + "speed", + "increment", + "distance", + "currentByTipCount" + ], + "additionalProperties": false, + "properties": { + "presses": { "$ref": "#/definitions/positiveNumber" }, + "speed": { "$ref": "#/definitions/positiveNumber" }, + "increment": { "$ref": "#/definitions/positiveNumber" }, + "distance": { "$ref": "#/definitions/positiveNumber" }, + "currentByTipCount": { + "$ref": "#/definitions/currentByTipCount" + } + } + } + } + }, + { + "type": "object", + "required": ["camAction"], + "properties": { + "camAction": { + "type": "object", + "required": [ + "prep_move_distance", + "prep_move_speed", + "speed", + "distance", + "currentByTipCount" + ], + "additionalProperties": false, + "properties": { + "prep_move_distance": { + "$ref": "#/definitions/positiveNumber" + }, + "prep_move_speed": { "$ref": "#/definitions/positiveNumber" }, + "speed": { "$ref": "#/definitions/positiveNumber" }, + "distance": { "$ref": "#/definitions/positiveNumber" }, + "currentByTipCount": { + "$ref": "#/definitions/currentByTipCount" + }, + "connectTiprackDistanceMM": { + "$ref": "#/definitions/positiveNumber" + } + } + } + } + } + ] }, "dropTipConfigurations": { - "$ref": "#/definitions/tipConfigurations" + "type": "object", + "description": "Object containing configurations specific to dropping tips", + "anyOf": [ + { + "type": "object", + "required": ["plungerEject"], + "properties": { + "plungerEject": { + "type": "object", + "required": ["current", "speed"], + "additionalProperties": false, + "properties": { + "current": { "$ref": "#/definitions/currentRange" }, + "speed": { "$ref": "#/definitions/positiveNumber" } + } + } + } + }, + { + "type": "object", + "required": ["camAction"], + "properties": { + "camAction": { + "type": "object", + "required": [ + "current", + "prep_move_distance", + "prep_move_speed", + "distance", + "speed" + ], + "additionalProperties": false, + "properties": { + "current": { "$ref": "#/definitions/currentRange" }, + "prep_move_distance": { + "$ref": "#/definitions/positiveNumber" + }, + "prep_move_speed": { "$ref": "#/definitions/positiveNumber" }, + "distance": { "$ref": "#/definitions/positiveNumber" }, + "speed": { "$ref": "#/definitions/positiveNumber" } + } + } + } + } + ] }, "displayName": { "type": "string", "description": "Display name of the pipette include model and generation number in readable format." }, "tipPresenceCheckDistanceMM": { - "type": "string", + "$ref": "#/definitions/positiveNumber", "description": "The distance to move the gear motors down to check tip presence status." }, - "connectTiprackDistanceMM": { - "type": "string", - "description": "The distance to move the z stage down to connect with the tiprack before clamping." - }, "endTipActionRetractDistanceMM": { - "type": "string", + "$ref": "#/definitions/positiveNumber", "description": "The distance to move the z stage up after a tip pickup or dropoff." }, "model": { diff --git a/shared-data/protocol/fixtures/6/simpleV6.json b/shared-data/protocol/fixtures/6/simpleV6.json index a6ac284e790..6349396dcf6 100644 --- a/shared-data/protocol/fixtures/6/simpleV6.json +++ b/shared-data/protocol/fixtures/6/simpleV6.json @@ -1289,16 +1289,6 @@ "location": { "slotName": "8" } } }, - { - "commandType": "loadLabware", - "id": "6abc123", - "params": { - "labwareId": "fixedTrash", - "location": { - "slotName": "12" - } - } - }, { "commandType": "loadLiquid", "id": "7abc123", diff --git a/shared-data/protocol/types/schemaV7/command/setup.ts b/shared-data/protocol/types/schemaV7/command/setup.ts index f0d3ff0b0da..e6048ef58c9 100644 --- a/shared-data/protocol/types/schemaV7/command/setup.ts +++ b/shared-data/protocol/types/schemaV7/command/setup.ts @@ -5,7 +5,6 @@ import type { LabwareOffset, PipetteName, ModuleModel, - FixtureLoadName, Cutout, } from '../../../../js' @@ -154,6 +153,6 @@ interface LoadLiquidResult { interface LoadFixtureParams { location: { cutout: Cutout } - loadName: FixtureLoadName + loadName: string fixtureId?: string } diff --git a/shared-data/python/opentrons_shared_data/deck/__init__.py b/shared-data/python/opentrons_shared_data/deck/__init__.py index 1c8d140e762..e922d905ec2 100644 --- a/shared-data/python/opentrons_shared_data/deck/__init__.py +++ b/shared-data/python/opentrons_shared_data/deck/__init__.py @@ -1,11 +1,11 @@ """ opentrons_shared_data.deck: types and bindings for deck definitions """ -from typing import Dict, NamedTuple, cast, overload, TYPE_CHECKING +from typing import Dict, List, NamedTuple, cast, overload, TYPE_CHECKING from typing_extensions import Final import json -from .. import load_shared_data +from .. import get_shared_data_root, load_shared_data if TYPE_CHECKING: from .dev_types import ( @@ -60,6 +60,14 @@ def load_schema(version: int) -> "DeckSchema": ) +def list_names(version: int) -> List[str]: + """Return all loadable deck definition names, for the given schema version.""" + definitions_directory = ( + get_shared_data_root() / "deck" / "definitions" / f"{version}" + ) + return [file.stem for file in definitions_directory.iterdir()] + + def get_calibration_square_position_in_slot(slot: int) -> Offset: """Get the position of an OT-3 deck slot's calibration square. diff --git a/shared-data/python/opentrons_shared_data/deck/deck_definitions.py b/shared-data/python/opentrons_shared_data/deck/deck_definitions.py deleted file mode 100644 index 8c1278e7a78..00000000000 --- a/shared-data/python/opentrons_shared_data/deck/deck_definitions.py +++ /dev/null @@ -1,203 +0,0 @@ -""" -This was initially generated by datamodel-codegen from the v4 Deck Definitions schema in -shared-data. It's been modified for compliancy. -""" - -from __future__ import annotations - -from enum import Enum -from typing import Dict, List, Optional - -from pydantic import BaseModel, Extra, Field, PositiveFloat - - -class SchemaVersion(Enum): - int_4 = 4 - - -class Metadata(BaseModel): - displayName: Optional[str] = Field( - None, description="A short, human-readable name for the deck" - ) - tags: Optional[List[str]] = Field( - None, description="Tags to be used in searching for this deck" - ) - - -class Model(Enum): - OT_2_Standard = "OT-2 Standard" - OT_3_Standard = "OT-3 Standard" - - -class Robot(BaseModel): - model: Model = Field(..., description="Model of the robot") - - -class AreaType(Enum): - slot = "slot" - movableTrash = "movableTrash" - fixedTrash = "fixedTrash" - wasteChute = "wasteChute" - - -class CutoutFixture(BaseModel): - id: str = Field(..., description="Unique identifier for the cutout fixture.") - mayMountTo: List[str] = Field( - ..., - description="A list of compatible cutouts this fixture may be mounted to. These must match `id`s in `cutouts`.", - ) - displayName: str = Field( - ..., - description='A human-readable nickname for this area e.g. "Standard Right Slot" or "Slot With Movable Trash"', - ) - providesAddressableAreas: Dict[str, List[str]] = Field( - ..., description="A mapping of mayMountTo locations to addressableArea ids." - ) - - -class PositiveNumber(BaseModel): - __root__: PositiveFloat - - -class XyzArray(BaseModel): - __root__: List[float] = Field( - ..., description="Array of 3 numbers, [x, y, z]", max_items=3, min_items=3 - ) - - -class Coordinates(BaseModel): - class Config: - extra = Extra.forbid - - x: float - y: float - z: float - - -class UnitVectorEnum(Enum): - number_1 = 1 - number__1 = -1 - - -class UnitVector(BaseModel): - __root__: List[UnitVectorEnum] = Field( - ..., - description="Array of 3 unit directions, [x, y, z]", - max_items=3, - min_items=3, - ) - - -class BoundingBox(BaseModel): - xDimension: PositiveNumber - yDimension: PositiveNumber - zDimension: PositiveNumber - - -class AddressableArea(BaseModel): - id: str = Field(..., description="Unique identifier for slot") - areaType: AreaType = Field( - ..., description="The type of deck item, defining allowed behavior." - ) - offsetFromCutoutFixture: XyzArray = Field( - ..., - description="Relative offset of the addressable area as it sits on the cutout slot.", - ) - matingSurfaceUnitVector: Optional[UnitVector] = Field( - None, - description="An optional diagonal direction of force, defined by spring location, which governs the mating surface of objects placed in slot.", - ) - boundingBox: BoundingBox - displayName: str = Field( - ..., - description='A human-readable nickname for this area e.g. "Slot A1" or "Movable Trash"', - ) - compatibleModuleTypes: Optional[List[str]] = Field( - None, - description="An array of module types that can be placed in this area. The module type names can be found in the moduleType field of a module definition.", - ) - ableToDropTips: Optional[bool] = Field( - None, description="Whether tips are allowed to be dropped into this area." - ) - ableToDropLabware: Optional[bool] = Field( - None, - description="Whether labware is allowed to be dropped (different then being placed) into this area.", - ) - dropTipsOffset: Optional[XyzArray] = Field( - None, - description="Relative positional offset of where the pipette should drop tips from.", - ) - dropLabwareOffset: Optional[XyzArray] = Field( - None, - description="Relative positional offset of where the gripper should drop labware from.", - ) - - -class CalibrationPoint(BaseModel): - id: str = Field(..., description="Unique identifier for calibration point") - position: XyzArray - displayName: str = Field( - ..., - description='An optional human-readable nickname for this point Eg "Slot 3 Cross" or "Slot 1 Dot"', - ) - - -class Cutout(BaseModel): - id: str = Field(..., description="Unique identifier for the cutout") - position: XyzArray = Field(..., description="Absolute position of the cutout") - displayName: str = Field( - ..., - description='An optional human-readable nickname for this cutout e.g. "Cutout A1"', - ) - - -class Locations(BaseModel): - addressableAreas: List[AddressableArea] = Field( - ..., description="Ordered slots available for placing labware" - ) - calibrationPoints: List[CalibrationPoint] = Field( - ..., description="Key points for deck calibration" - ) - cutouts: List[Cutout] = Field( - ..., description="The machined cutout slots on the deck surface." - ) - - -class Default(BaseModel): - pickUpOffset: Coordinates = Field( - ..., - description="Offset added to calculate pick-up coordinates of a labware placed on this deck.", - ) - dropOffset: Coordinates = Field( - ..., - description="Offset added to calculate drop coordinates of a labware placed on this deck.", - ) - - -class GripperOffsets(BaseModel): - default: Default - - -class DeckDefinitionV4(BaseModel): - class Config: - extra = Extra.forbid - - otId: str = Field(..., description="Unique internal ID generated using UUID") - schemaVersion: SchemaVersion = Field( - ..., description="Schema version of a deck is a single integer" - ) - cornerOffsetFromOrigin: XyzArray = Field( - ..., - description="Position of left-front-bottom corner of entire deck to robot coordinate system origin", - ) - dimensions: XyzArray = Field( - ..., description="Outer dimensions of a deck bounding box" - ) - metadata: Metadata = Field(..., description="Optional metadata about the Deck") - robot: Robot - locations: Locations - cutoutFixtures: List[CutoutFixture] - gripperOffsets: Optional[GripperOffsets] = Field( - None, - description="Offsets to be added when calculating the coordinates a gripper should go to when picking up or dropping a labware on this deck.", - ) diff --git a/shared-data/python/opentrons_shared_data/pipette/load_data.py b/shared-data/python/opentrons_shared_data/pipette/load_data.py index abf5fa1c2b0..4dc6b200574 100644 --- a/shared-data/python/opentrons_shared_data/pipette/load_data.py +++ b/shared-data/python/opentrons_shared_data/pipette/load_data.py @@ -1,7 +1,7 @@ import json import os -from typing import Dict, Any, Union, Optional +from typing import Dict, Any, Union, Optional, List from typing_extensions import Literal from functools import lru_cache @@ -152,7 +152,41 @@ def _change_to_camel_case(c: str) -> str: return f"{config_name[0]}" + "".join(s.capitalize() for s in config_name[1::]) -def update_pipette_configuration( # noqa: C901 +def _edit_non_quirk_with_lc_override( + mutable_config_key: str, + new_mutable_value: Any, + base_dict: Dict[str, Any], + liquid_class: Optional[LiquidClasses], +) -> None: + def _do_edit_non_quirk( + new_value: Any, existing: Dict[Any, Any], keypath: List[Any] + ) -> None: + thiskey: Any = keypath[0] + if thiskey in [lc.name for lc in LiquidClasses]: + if liquid_class: + thiskey = liquid_class + else: + thiskey = LiquidClasses[thiskey] + if len(keypath) > 1: + restkeys = keypath[1:] + if thiskey == "##EACHTIP##": + for key in existing.keys(): + _do_edit_non_quirk(new_value, existing[key], restkeys) + else: + _do_edit_non_quirk(new_value, existing[thiskey], restkeys) + else: + # This was the last key + if thiskey == "##EACHTIP##": + for key in existing.keys(): + existing[key] = new_value + else: + existing[thiskey] = new_value + + new_names = _MAP_KEY_TO_V2[mutable_config_key] + _do_edit_non_quirk(new_mutable_value, base_dict, new_names) + + +def update_pipette_configuration( base_configurations: PipetteConfigurations, v1_configuration_changes: Dict[str, Any], liquid_class: Optional[LiquidClasses] = None, @@ -169,40 +203,11 @@ def update_pipette_configuration( # noqa: C901 lookup_key = _change_to_camel_case(c) if c == "quirks" and isinstance(v, dict): quirks_list.extend([b.name for b in v.values() if b.value]) - elif liquid_class: - if lookup_key == "tipLength": - new_names = _MAP_KEY_TO_V2[lookup_key] - top_name = new_names["top_level_name"] - nested_name = new_names["nested_name"] - # This is only a concern for OT-2 configs and I think we can - # be less smart about handling multiple tip types by updating - # all tips. - for k in dict_of_base_model["liquid_properties"][liquid_class][ - new_names["top_level_name"] - ].keys(): - dict_of_base_model["liquid_properties"][liquid_class][top_name][k][ - nested_name - ] = v - else: - dict_of_base_model["liquid_properties"][liquid_class].pop(lookup_key) - dict_of_base_model["liquid_properties"][liquid_class][lookup_key] = v else: - try: - dict_of_base_model.pop(lookup_key) - dict_of_base_model[lookup_key] = v - except KeyError: - # The name is not the same format as previous so - # we need to look it up from the V2 key map - new_names = _MAP_KEY_TO_V2[lookup_key] - top_name = new_names["top_level_name"] - nested_name = new_names["nested_name"] - if new_names.get("liquid_class"): - # isinstances are needed for type checking. - liquid_class = LiquidClasses[new_names["liquid_class"]] - dict_of_base_model[top_name][liquid_class][nested_name] = v - else: - # isinstances are needed for type checking. - dict_of_base_model[top_name][nested_name] = v + _edit_non_quirk_with_lc_override( + lookup_key, v, dict_of_base_model, liquid_class + ) + dict_of_base_model["quirks"] = list( set(dict_of_base_model["quirks"]) - set(quirks_list) ) diff --git a/shared-data/python/opentrons_shared_data/pipette/model_constants.py b/shared-data/python/opentrons_shared_data/pipette/model_constants.py index 00c577823d2..ea79ecd1154 100644 --- a/shared-data/python/opentrons_shared_data/pipette/model_constants.py +++ b/shared-data/python/opentrons_shared_data/pipette/model_constants.py @@ -1,4 +1,4 @@ -from typing import Dict, Union +from typing import Dict, Union, List from .types import ( Quirks, @@ -54,57 +54,29 @@ RESTRICTED_MUTABLE_CONFIG_KEYS = [*VALID_QUIRKS, "model"] -_MAP_KEY_TO_V2: Dict[str, Dict[str, str]] = { - "top": { - "top_level_name": "plungerPositionsConfigurations", - "nested_name": "top", - "liquid_class": "default", - }, - "bottom": { - "top_level_name": "plungerPositionsConfigurations", - "nested_name": "bottom", - "liquid_class": "default", - }, - "blowout": { - "top_level_name": "plungerPositionsConfigurations", - "nested_name": "blowout", - "liquid_class": "default", - }, - "dropTip": { - "top_level_name": "plungerPositionsConfigurations", - "nested_name": "drop", - "liquid_class": "default", - }, - "pickUpCurrent": { - "top_level_name": "partialTipConfigurations", - "nested_name": "perTipPickupCurrent", - }, - "pickUpDistance": { - "top_level_name": "pickUpTipConfigurations", - "nested_name": "distance", - }, - "pickUpIncrement": { - "top_level_name": "pickUpTipConfigurations", - "nested_name": "increment", - }, - "pickUpPresses": { - "top_level_name": "pickUpTipConfigurations", - "nested_name": "presses", - }, - "pickUpSpeed": { - "top_level_name": "pickUpTipConfigurations", - "nested_name": "speed", - }, - "plungerCurrent": { - "top_level_name": "plungerMotorConfigurations", - "nested_name": "run", - }, - "dropTipCurrent": { - "top_level_name": "dropTipConfigurations", - "nested_name": "current", - }, - "dropTipSpeed": {"top_level_name": "dropTipConfigurations", "nested_name": "speed"}, - "tipLength": {"top_level_name": "supportedTips", "nested_name": "defaultTipLength"}, + +_MAP_KEY_TO_V2: Dict[str, List[str]] = { + "top": ["plungerPositionsConfigurations", "default", "top"], + "bottom": ["plungerPositionsConfigurations", "default", "bottom"], + "blowout": ["plungerPositionsConfigurations", "default", "blowout"], + "dropTip": ["plungerPositionsConfigurations", "default", "drop"], + "pickUpCurrent": ["pickUpTipConfigurations", "pressFit", "currentByTipCount"], + "pickUpDistance": ["pickUpTipConfigurations", "pressFit", "distance"], + "pickUpIncrement": ["pickUpTipConfigurations", "pressFit", "increment"], + "pickUpPresses": ["pickUpTipConfigurations", "pressFit", "presses"], + "pickUpSpeed": ["pickUpTipConfigurations", "pressFit", "speed"], + "plungerCurrent": ["plungerMotorConfigurations", "run"], + "dropTipCurrent": ["dropTipConfigurations", "plungerEject", "current"], + "dropTipSpeed": ["dropTipConfigurations", "plungerEject", "speed"], + "maxVolume": ["liquid_properties", "default", "maxVolume"], + "minVolume": ["liquid_properties", "default", "minVolume"], + "tipLength": [ + "liquid_properties", + "default", + "supportedTips", + "##EACHTIP##", + "defaultTipLength", + ], } diff --git a/shared-data/python/opentrons_shared_data/pipette/mutable_configurations.py b/shared-data/python/opentrons_shared_data/pipette/mutable_configurations.py index 2475353e12b..93d4b4c7d53 100644 --- a/shared-data/python/opentrons_shared_data/pipette/mutable_configurations.py +++ b/shared-data/python/opentrons_shared_data/pipette/mutable_configurations.py @@ -40,6 +40,34 @@ LIQUID_CLASS = LiquidClasses.default +def _edit_non_quirk( + mutable_config_key: str, new_mutable_value: MutableConfig, base_dict: Dict[str, Any] +) -> None: + def _do_edit_non_quirk( + new_value: MutableConfig, existing: Dict[Any, Any], keypath: List[Any] + ) -> None: + thiskey: Any = keypath[0] + if thiskey in [lc.name for lc in LiquidClasses]: + thiskey = LiquidClasses[thiskey] + if len(keypath) > 1: + restkeys = keypath[1:] + if thiskey == "##EACHTIP##": + for key in existing.keys(): + _do_edit_non_quirk(new_value, existing[key], restkeys) + else: + _do_edit_non_quirk(new_value, existing[thiskey], restkeys) + else: + # This was the last key + if thiskey == "##EACHTIP##": + for key in existing.keys(): + existing[key] = new_value.value + else: + existing[thiskey] = new_value.value + + new_names = _MAP_KEY_TO_V2[mutable_config_key] + _do_edit_non_quirk(new_mutable_value, base_dict, new_names) + + def _migrate_to_v2_configurations( base_configurations: PipetteConfigurations, v1_mutable_configs: OverrideType, @@ -59,26 +87,9 @@ def _migrate_to_v2_configurations( continue if c == "quirks" and isinstance(v, dict): quirks_list.extend([b.name for b in v.values() if b.value]) - else: - new_names = _MAP_KEY_TO_V2[c] - top_name = new_names["top_level_name"] - nested_name = new_names["nested_name"] - if c == "tipLength" and isinstance(v, MutableConfig): - # This is only a concern for OT-2 configs and I think we can - # be less smart about handling multiple tip types by updating - # all tips. - for k in dict_of_base_model["liquid_properties"][LIQUID_CLASS][ - new_names["top_level_name"] - ].keys(): - dict_of_base_model["liquid_properties"][LIQUID_CLASS][top_name][k][ - nested_name - ] = v - elif new_names.get("liquid_class") and isinstance(v, MutableConfig): - _class = LiquidClasses[new_names["liquid_class"]] - dict_of_base_model[top_name][_class][nested_name] = v.value - elif isinstance(v, MutableConfig): - # isinstances are needed for type checking. - dict_of_base_model[top_name][nested_name] = v.value + elif isinstance(v, MutableConfig): + _edit_non_quirk(c, v, dict_of_base_model) + dict_of_base_model["quirks"] = list( set(dict_of_base_model["quirks"]).union(set(quirks_list)) ) @@ -143,10 +154,40 @@ def _list_all_mutable_configs( return default_configurations +def _get_default_value_for(config: Dict[str, Any], keypath: List[str]) -> Any: + def _do_get_default_value_for( + remaining_config: Dict[Any, Any], keypath: List[str] + ) -> Any: + first: Any = keypath[0] + if first in [lc.name for lc in LiquidClasses]: + first = LiquidClasses[first] + if len(keypath) > 1: + rest = keypath[1:] + if first == "##EACHTIP##": + tip_list = list(remaining_config.keys()) + tip_list.sort(key=lambda o: o.value) + return _do_get_default_value_for(remaining_config[tip_list[-1]], rest) + else: + return _do_get_default_value_for(remaining_config[first], rest) + else: + if first == "###EACHTIP##": + tip_list = list(remaining_config.keys()) + tip_list.sort(key=lambda o: o.value) + return remaining_config[tip_list[-1]] + elif first == "currentByTipCount": + # return the value for the most tips at a time + cbt = remaining_config[first] + return cbt[next(reversed(sorted(cbt.keys())))] + else: + return remaining_config[first] + + return _do_get_default_value_for(config, keypath) + + def _find_default(name: str, configs: Dict[str, Any]) -> MutableConfig: """Find the default value from the configs and return it as a mutable config.""" - lookup_dict = _MAP_KEY_TO_V2[name] - nested_name = lookup_dict["nested_name"] + keypath = _MAP_KEY_TO_V2[name] + nested_name = keypath[-1] if name == "pickUpCurrent": min_max_dict = _MIN_MAX_LOOKUP["current"] @@ -156,27 +197,7 @@ def _find_default(name: str, configs: Dict[str, Any]) -> MutableConfig: min_max_dict = _MIN_MAX_LOOKUP[nested_name] type_lookup = _TYPE_LOOKUP[nested_name] units_lookup = _UNITS_LOOKUP[nested_name] - if name == "tipLength": - # This is only a concern for OT-2 configs and I think we can - # be less smart about handling multiple tip types. Instead, just - # get the max tip type. - tip_list = list( - configs["liquid_properties"][LIQUID_CLASS][ - lookup_dict["top_level_name"] - ].keys() - ) - tip_list.sort(key=lambda o: o.value) - default_value = configs["liquid_properties"][LIQUID_CLASS][ - lookup_dict["top_level_name"] - ][tip_list[-1]][nested_name] - elif name == "pickUpCurrent": - default_value_dict = configs[lookup_dict["top_level_name"]][nested_name] - default_value = default_value_dict[configs["channels"].value] - elif lookup_dict.get("liquid_class"): - _class = LiquidClasses[lookup_dict["liquid_class"]] - default_value = configs[lookup_dict["top_level_name"]][_class][nested_name] - else: - default_value = configs[lookup_dict["top_level_name"]][nested_name] + default_value = _get_default_value_for(configs, keypath) return MutableConfig( value=default_value, default=default_value, diff --git a/shared-data/python/opentrons_shared_data/pipette/pipette_definition.py b/shared-data/python/opentrons_shared_data/pipette/pipette_definition.py index 2893d0c39fe..7374972b800 100644 --- a/shared-data/python/opentrons_shared_data/pipette/pipette_definition.py +++ b/shared-data/python/opentrons_shared_data/pipette/pipette_definition.py @@ -1,5 +1,5 @@ import re -from typing import List, Dict, Tuple +from typing import List, Dict, Tuple, Optional from pydantic import BaseModel, Field, validator from typing_extensions import Literal from dataclasses import dataclass @@ -9,7 +9,9 @@ PLUNGER_CURRENT_MINIMUM = 0.1 PLUNGER_CURRENT_MAXIMUM = 1.5 -NOZZLE_MAP_NAMES = re.compile(r"[A-Z]{1}[0-9]{1,2}") +NOZZLE_MAP_NAMES = re.compile(r"(?P[A-Z]+)(?P[0-9]+)") +COLUMN_NAMES = re.compile(r"[0-9]+") +ROW_NAMES = re.compile(r"[A-Z]+") # TODO (lc 12-5-2022) Ideally we can deprecate this @@ -142,31 +144,100 @@ class PlungerPositions(BaseModel): class PlungerHomingConfigurations(BaseModel): current: float = Field( default=0.0, - description="Either the z motor current needed for picking up tip or the plunger motor current for dropping tip off the nozzle.", + description="The current to move the plunger axis for homing.", ) speed: float = Field( ..., - description="The speed to move the z or plunger axis for tip pickup or drop off.", + description="The speed to move the plunger axis for homing.", ) -class TipHandlingConfigurations(PlungerHomingConfigurations): +class PressFitPickUpTipConfiguration(BaseModel): presses: int = Field( - default=0.0, description="The number of tries required to force pick up a tip." + ..., + description="The number of times to force pickup (incrementally more each time by increment)", ) increment: float = Field( - default=0.0, - description="The increment to move the pipette down for force tip pickup retries.", + ..., + description="The increment to move the pipette down on each force tip pickup press", ) distance: float = Field( - default=0.0, description="The distance to begin a pick up tip from." + ..., description="The starting distance to begin a pick up tip from" + ) + speed: float = Field( + ..., description="The speed to move the Z axis for each force pickup" + ) + current_by_tip_count: Dict[int, float] = Field( + ..., + description="A current dictionary look-up by partial tip configuration.", + alias="currentByTipCount", ) + + +class CamActionPickUpTipConfiguration(BaseModel): + distance: float = Field(..., description="How far to move the cams once engaged") + speed: float = Field(..., description="How fast to move the cams when engaged") prep_move_distance: float = Field( - default=0.0, - description="The distance to move downward before tip pickup or drop-off.", + ..., description="How far to move the cams to engage the rack" + ) + prep_move_speed: float = Field( + ..., description="How fast to move the cams when moving to the rack" + ) + current_by_tip_count: Dict[int, float] = Field( + ..., + description="A current dictionary look-up by partial tip configuration.", + alias="currentByTipCount", + ) + connect_tiprack_distance_mm: float = Field( + description="The distance to move the head down to connect with the tiprack before clamping.", + alias="connectTiprackDistanceMM", + ) + + +class PlungerEjectDropTipConfiguration(BaseModel): + current: float = Field( + ..., description="The current to use on the plunger motor when dropping a tip" + ) + speed: float = Field( + ..., description="How fast to move the plunger motor when dropping a tip" + ) + + +class CamActionDropTipConfiguration(BaseModel): + current: float = Field( + ..., description="The current to use on the cam motors when dropping tips" + ) + distance: float = Field( + ..., description="The distance to move the cams when dropping tips" + ) + speed: float = Field( + ..., description="How fast to move the cams when dropping tips" + ) + prep_move_distance: float = Field( + ..., description="How far to move the cams after disengaging" ) prep_move_speed: float = Field( - default=0.0, description="The speed for the optional preparatory move." + ..., description="How fast to move the cams after disengaging" + ) + + +class DropTipConfigurations(BaseModel): + plunger_eject: Optional[PlungerEjectDropTipConfiguration] = Field( + description="Configuration for tip drop via plunger eject", alias="plungerEject" + ) + cam_action: Optional[CamActionDropTipConfiguration] = Field( + description="Configuration for tip drop via cam action", alias="camAction" + ) + + +class PickUpTipConfigurations(BaseModel): + press_fit: PressFitPickUpTipConfiguration = Field( + description="Configuration for tip pickup via press fit", alias="pressFit" + ) + cam_action: Optional[CamActionPickUpTipConfiguration] = Field( + default=None, + description="Configuration for tip pickup via cam action", + alias="camAction", ) @@ -187,11 +258,6 @@ class PartialTipDefinition(BaseModel): description="A list of the types of partial tip configurations supported, listed by channel ints", alias="availableConfigurations", ) - per_tip_pickup_current: Dict[int, float] = Field( - ..., - description="A current dictionary look-up by partial tip configuration.", - alias="perTipPickupCurrent", - ) class PipettePhysicalPropertiesDefinition(BaseModel): @@ -215,10 +281,10 @@ class PipettePhysicalPropertiesDefinition(BaseModel): display_category: pip_types.PipetteGenerationType = Field( ..., description="The product model of the pipette.", alias="displayCategory" ) - pick_up_tip_configurations: TipHandlingConfigurations = Field( + pick_up_tip_configurations: PickUpTipConfigurations = Field( ..., alias="pickUpTipConfigurations" ) - drop_tip_configurations: TipHandlingConfigurations = Field( + drop_tip_configurations: DropTipConfigurations = Field( ..., alias="dropTipConfigurations" ) plunger_homing_configurations: PlungerHomingConfigurations = Field( @@ -258,14 +324,10 @@ class PipettePhysicalPropertiesDefinition(BaseModel): description="The distance the high throughput tip motors will travel to check tip status.", alias="tipPresenceCheckDistanceMM", ) - connect_tiprack_distance_mm: float = Field( - default=0, - description="The distance to move the head down to connect with the tiprack before clamping.", - alias="connectTiprackDistanceMM", - ) + end_tip_action_retract_distance_mm: float = Field( - default=0, - description="The distance to move the head up after a tip pickup or dropoff.", + default=0.0, + description="The distance to move the head up after a tip drop or pickup.", alias="endTipActionRetractDistanceMM", ) @@ -302,6 +364,28 @@ class Config: } +class PipetteRowDefinition(BaseModel): + key: str + ordered_nozzles: List[str] = Field(..., alias="orderedNozzles") + + @validator("key") + def check_key_is_row(cls, v: str) -> str: + if not ROW_NAMES.search(v): + raise ValueError(f"{v} is not a valid row name") + return v + + +class PipetteColumnDefinition(BaseModel): + key: str + ordered_nozzles: List[str] = Field(..., alias="orderedNozzles") + + @validator("key") + def check_key_is_column(cls, v: str) -> str: + if not COLUMN_NAMES.search(v): + raise ValueError(f"{v} is not a valid column name") + return v + + class PipetteGeometryDefinition(BaseModel): """The geometry properties definition of a pipette.""" @@ -312,6 +396,8 @@ class PipetteGeometryDefinition(BaseModel): alias="pathTo3D", ) nozzle_map: Dict[str, List[float]] = Field(..., alias="nozzleMap") + ordered_columns: List[PipetteColumnDefinition] = Field(..., alias="orderedColumns") + ordered_rows: List[PipetteRowDefinition] = Field(..., alias="orderedRows") @validator("nozzle_map", pre=True) def check_nonempty_strings( diff --git a/shared-data/python/opentrons_shared_data/pipette/scripts/build_json_script.py b/shared-data/python/opentrons_shared_data/pipette/scripts/build_json_script.py index 90c7757b6a7..a7af2e30911 100644 --- a/shared-data/python/opentrons_shared_data/pipette/scripts/build_json_script.py +++ b/shared-data/python/opentrons_shared_data/pipette/scripts/build_json_script.py @@ -12,12 +12,15 @@ PipetteGeometryDefinition, PipetteLiquidPropertiesDefinition, PipettePhysicalPropertiesDefinition, - TipHandlingConfigurations, PlungerPositions, SupportedTipsDefinition, MotorConfigurations, PartialTipDefinition, AvailableSensorDefinition, + PickUpTipConfigurations, + PressFitPickUpTipConfiguration, + DropTipConfigurations, + PlungerEjectDropTipConfiguration, ) from ..dev_types import PipetteModelSpec @@ -33,21 +36,20 @@ GEOMETRY_SCHEMA = "#/pipette/schemas/2/pipetteGeometryPropertiesSchema.json" -def _build_tip_handling_configurations( - tip_handling_type: str, model_configurations: Optional[PipetteModelSpec] = None -) -> TipHandlingConfigurations: +def _build_pickup_tip_data( + model_configurations: Optional[PipetteModelSpec] = None, +) -> PickUpTipConfigurations: presses = 0 increment = 0 distance = 0.0 - if tip_handling_type == "pickup" and model_configurations: + if model_configurations: current = model_configurations["pickUpCurrent"]["value"] speed = model_configurations["pickUpSpeed"]["value"] presses = model_configurations["pickUpPresses"]["value"] increment = int(model_configurations["pickUpIncrement"]["value"]) distance = model_configurations["pickUpDistance"]["value"] - elif tip_handling_type == "pickup": + else: print("Handling pick up tip configurations\n") - current = float(input("please provide the current\n")) speed = float(input("please provide the speed\n")) presses = int(input("please provide the number of presses for force pick up\n")) increment = int( @@ -58,19 +60,32 @@ def _build_tip_handling_configurations( distance = float( input("please provide the starting distance for pick up tip\n") ) - elif tip_handling_type == "drop" and model_configurations: + print(f"TODO: Current {current} is not used yet") + return PickUpTipConfigurations( + pressFit=PressFitPickUpTipConfiguration( + speed=speed, + presses=presses, + increment=increment, + distance=distance, + currentByTipCount={}, + ) + ) + + +def _build_drop_tip_data( + model_configurations: Optional[PipetteModelSpec] = None, +) -> DropTipConfigurations: + if model_configurations: current = model_configurations["dropTipCurrent"]["value"] speed = model_configurations["dropTipSpeed"]["value"] - elif tip_handling_type == "drop": + else: print("Handling drop tip configurations\n") - current = float(input("please provide the current\n")) speed = float(input("please provide the speed\n")) - return TipHandlingConfigurations( - current=current, - speed=speed, - presses=presses, - increment=increment, - distance=distance, + return DropTipConfigurations( + plungerEject=PlungerEjectDropTipConfiguration( + current=current, + speed=speed, + ) ) @@ -111,18 +126,14 @@ def _build_motor_configurations( def _build_partial_tip_configurations(channels: int) -> PartialTipDefinition: if channels == 8: return PartialTipDefinition( - partialTipSupported=True, - availableConfigurations=[1, 2, 3, 4, 5, 6, 7, 8], - perTipPickupCurrent={}, + partialTipSupported=True, availableConfigurations=[1, 2, 3, 4, 5, 6, 7, 8] ) elif channels == 96: return PartialTipDefinition( - partialTipSupported=True, - availableConfigurations=[1, 8, 12, 96], - perTipPickupCurrent={}, + partialTipSupported=True, availableConfigurations=[1, 8, 12, 96] ) else: - return PartialTipDefinition(partialTipSupported=False, perTipPickupCurrent={}) + return PartialTipDefinition(partialTipSupported=False) def build_geometry_model_v2( @@ -190,8 +201,8 @@ def build_physical_model_v2( shaft_ul_per_mm = float( input(f"Please provide the uL to mm conversion for {pipette_type}\n") ) - pick_up_tip_configurations = _build_tip_handling_configurations("pickup") - drop_tip_configurations = _build_tip_handling_configurations("drop") + pick_up_tip_configurations = _build_pickup_tip_data() + drop_tip_configurations = _build_drop_tip_data() plunger_positions = _build_plunger_positions() plunger_motor_configurations = _build_motor_configurations() partial_tip_configurations = _build_partial_tip_configurations(int(channels)) diff --git a/shared-data/python/opentrons_shared_data/protocol/models/protocol_schema_v7.py b/shared-data/python/opentrons_shared_data/protocol/models/protocol_schema_v7.py index 2ee075fc3c3..46eb242b990 100644 --- a/shared-data/python/opentrons_shared_data/protocol/models/protocol_schema_v7.py +++ b/shared-data/python/opentrons_shared_data/protocol/models/protocol_schema_v7.py @@ -51,9 +51,11 @@ class Params(BaseModel): offset: Optional[OffsetVector] profile: Optional[List[ProfileStep]] radius: Optional[float] + # schema v7 add-ons newLocation: Optional[Union[Location, Literal["offDeck"]]] strategy: Optional[str] - # schema v7 add-ons + pickUpOffset: Optional[OffsetVector] + dropOffset: Optional[OffsetVector] homeAfter: Optional[bool] alternateDropLocation: Optional[bool] holdTimeSeconds: Optional[float] diff --git a/shared-data/python/opentrons_shared_data/protocol/models/protocol_schema_v8.py b/shared-data/python/opentrons_shared_data/protocol/models/protocol_schema_v8.py index 4147afb1149..efa43590e63 100644 --- a/shared-data/python/opentrons_shared_data/protocol/models/protocol_schema_v8.py +++ b/shared-data/python/opentrons_shared_data/protocol/models/protocol_schema_v8.py @@ -63,6 +63,10 @@ class Params(BaseModel): namespace: Optional[str] version: Optional[int] pushOut: Optional[float] + pickUpOffset: Optional[OffsetVector] + dropOffset: Optional[OffsetVector] + # schema v8 add-ons + addressableAreaName: Optional[str] class Command(BaseModel): diff --git a/shared-data/python/opentrons_shared_data/protocol/models/shared_models.py b/shared-data/python/opentrons_shared_data/protocol/models/shared_models.py index 48446e15f1b..ac0d92f48b9 100644 --- a/shared-data/python/opentrons_shared_data/protocol/models/shared_models.py +++ b/shared-data/python/opentrons_shared_data/protocol/models/shared_models.py @@ -81,6 +81,7 @@ class Location(BaseModel): slotName: Optional[str] moduleId: Optional[str] labwareId: Optional[str] + addressableAreaName: Optional[str] class ProfileStep(BaseModel): diff --git a/shared-data/python/tests/deck/__init__.py b/shared-data/python/tests/deck/__init__.py index b5cc3452b34..e69de29bb2d 100644 --- a/shared-data/python/tests/deck/__init__.py +++ b/shared-data/python/tests/deck/__init__.py @@ -1,18 +0,0 @@ -from typing import List -from pathlib import Path - - -def list_deck_def_paths(version: int) -> List[str]: - loadnames = [ - deffile - for deffile in ( - Path(__file__).parent - / ".." - / ".." - / ".." - / "deck" - / "definitions" - / f"{version}" - ).iterdir() - ] - return [loadname.stem for loadname in loadnames] diff --git a/shared-data/python/tests/deck/test_list_names.py b/shared-data/python/tests/deck/test_list_names.py new file mode 100644 index 00000000000..02c895f0246 --- /dev/null +++ b/shared-data/python/tests/deck/test_list_names.py @@ -0,0 +1,12 @@ +import pytest + +from opentrons_shared_data.deck import list_names + + +@pytest.mark.parametrize("version", [3, 4]) +def test_list_names(version: int) -> None: + """Make sure `list_names()` returns something. + + Just a basic test to make sure it's not looking in a nonexistent directory or something. + """ + assert len(list_names(version)) > 0 diff --git a/shared-data/python/tests/deck/test_position.py b/shared-data/python/tests/deck/test_position.py index 13aefeb21b4..4b6746d36b3 100644 --- a/shared-data/python/tests/deck/test_position.py +++ b/shared-data/python/tests/deck/test_position.py @@ -2,7 +2,10 @@ import pytest -from opentrons_shared_data.deck import load as load_deck_definition +from opentrons_shared_data.deck import ( + list_names as list_deck_definition_names, + load as load_deck_definition, +) from opentrons_shared_data.deck.dev_types import ( AddressableArea, Cutout, @@ -11,8 +14,6 @@ DeckDefinitionV4, ) -from . import list_deck_def_paths - def as_tuple(list: List[float]) -> Tuple[float, float, float]: """Convert an [x,y,z] list from the definitions to an (x,y,z) tuple, for hashability.""" @@ -91,7 +92,7 @@ def get_v4_slot_positions( return set(slot_positions) -@pytest.mark.parametrize("definition_name", list_deck_def_paths(version=4)) +@pytest.mark.parametrize("definition_name", list_deck_definition_names(version=4)) def test_v3_and_v4_positional_equivalence(definition_name: str) -> None: deck_v3 = load_deck_definition(name=definition_name, version=3) deck_v4 = load_deck_definition(name=definition_name, version=4) @@ -99,13 +100,6 @@ def test_v3_and_v4_positional_equivalence(definition_name: str) -> None: v3_slot_positions = get_v3_slot_positions(deck_v3) v4_slot_positions = get_v4_slot_positions(deck_v4) - # Exclude v4 staging area slots from this comparison, because they won't be present in v3 deck schemas. - v4_slot_positions = set( - (slot_id, slot_position) - for slot_id, slot_position in v4_slot_positions - if slot_id not in {"A4", "B4", "C4", "D4"} - ) - # For the purposes of this comparison, the v4 addressable areas named "fixedTrash" and # "shortFixedTrash" should be compared to slot 12 in v3. v4_slot_positions = set( diff --git a/shared-data/python/tests/deck/test_typechecks.py b/shared-data/python/tests/deck/test_typechecks.py index cf41f603d1f..249bbf8c909 100644 --- a/shared-data/python/tests/deck/test_typechecks.py +++ b/shared-data/python/tests/deck/test_typechecks.py @@ -3,11 +3,12 @@ import pytest import typeguard -from opentrons_shared_data.deck import load as load_deck_definition +from opentrons_shared_data.deck import ( + list_names as list_deck_definition_names, + load as load_deck_definition, +) from opentrons_shared_data.deck.dev_types import DeckDefinitionV3, DeckDefinitionV4 -from . import list_deck_def_paths - pytestmark = pytest.mark.xfail( condition=sys.version_info >= (3, 10), @@ -15,13 +16,13 @@ ) -@pytest.mark.parametrize("defname", list_deck_def_paths(version=3)) +@pytest.mark.parametrize("defname", list_deck_definition_names(version=3)) def test_v3_defs(defname): defn = load_deck_definition(name=defname, version=3) typeguard.check_type("defn", defn, DeckDefinitionV3) -@pytest.mark.parametrize("defname", list_deck_def_paths(version=4)) +@pytest.mark.parametrize("defname", list_deck_definition_names(version=4)) def test_v4_defs(defname): defn = load_deck_definition(name=defname, version=4) typeguard.check_type("defn", defn, DeckDefinitionV4) diff --git a/shared-data/python/tests/pipette/test_load_data.py b/shared-data/python/tests/pipette/test_load_data.py index 84a6344ad1b..1b9e9775c16 100644 --- a/shared-data/python/tests/pipette/test_load_data.py +++ b/shared-data/python/tests/pipette/test_load_data.py @@ -85,6 +85,7 @@ def test_update_pipette_configuration( base_configurations = load_data.load_definition( model_name.pipette_type, model_name.pipette_channels, model_name.pipette_version ) + updated_configurations = load_data.update_pipette_configuration( base_configurations, v1_configuration_changes, liquid_class ) diff --git a/shared-data/python/tests/pipette/test_mutable_configurations.py b/shared-data/python/tests/pipette/test_mutable_configurations.py index e70520fb05f..3aabfd40434 100644 --- a/shared-data/python/tests/pipette/test_mutable_configurations.py +++ b/shared-data/python/tests/pipette/test_mutable_configurations.py @@ -241,7 +241,7 @@ def test_load_with_overrides( if serial_number == TEST_SERIAL_NUMBER: dict_loaded_configs = loaded_base_configurations.dict(by_alias=True) - dict_loaded_configs["pickUpTipConfigurations"]["speed"] = 5.0 + dict_loaded_configs["pickUpTipConfigurations"]["pressFit"]["speed"] = 5.0 updated_configurations_dict = updated_configurations.dict(by_alias=True) assert set(dict_loaded_configs.pop("quirks")) == set( updated_configurations_dict.pop("quirks") diff --git a/shared-data/python/tests/pipette/test_validate_schema.py b/shared-data/python/tests/pipette/test_validate_schema.py index 1ac8d111a16..df943dceace 100644 --- a/shared-data/python/tests/pipette/test_validate_schema.py +++ b/shared-data/python/tests/pipette/test_validate_schema.py @@ -18,6 +18,7 @@ def test_check_all_models_are_valid() -> None: "ninety_six_channel": "96", "eight_channel": "multi", } + assert os.listdir(paths_to_validate), "You have a path wrong" for channel_dir in os.listdir(paths_to_validate): for model_dir in os.listdir(paths_to_validate / channel_dir): for version_file in os.listdir(paths_to_validate / channel_dir / model_dir): diff --git a/shared-data/tsconfig.json b/shared-data/tsconfig.json index 1b1c50493db..bfeef7fb684 100644 --- a/shared-data/tsconfig.json +++ b/shared-data/tsconfig.json @@ -9,6 +9,7 @@ "include": [ "js", "protocol", + "deck", "command/types", "liquid/types", "commandAnnotation/types" diff --git a/step-generation/src/__tests__/__snapshots__/fixtureGeneration.test.ts.snap b/step-generation/src/__tests__/__snapshots__/fixtureGeneration.test.ts.snap index 496ad3aed3c..bb2de4ef3aa 100644 --- a/step-generation/src/__tests__/__snapshots__/fixtureGeneration.test.ts.snap +++ b/step-generation/src/__tests__/__snapshots__/fixtureGeneration.test.ts.snap @@ -2,6 +2,7 @@ exports[`snapshot tests createEmptyLiquidState 1`] = ` Object { + "additionalEquipment": Object {}, "labware": Object { "destPlateId": Object { "A1": Object {}, @@ -496,6 +497,204 @@ Object { "H8": Object {}, "H9": Object {}, }, + "tiprack4AdapterId": Object {}, + "tiprack4Id": Object { + "A1": Object {}, + "A10": Object {}, + "A11": Object {}, + "A12": Object {}, + "A2": Object {}, + "A3": Object {}, + "A4": Object {}, + "A5": Object {}, + "A6": Object {}, + "A7": Object {}, + "A8": Object {}, + "A9": Object {}, + "B1": Object {}, + "B10": Object {}, + "B11": Object {}, + "B12": Object {}, + "B2": Object {}, + "B3": Object {}, + "B4": Object {}, + "B5": Object {}, + "B6": Object {}, + "B7": Object {}, + "B8": Object {}, + "B9": Object {}, + "C1": Object {}, + "C10": Object {}, + "C11": Object {}, + "C12": Object {}, + "C2": Object {}, + "C3": Object {}, + "C4": Object {}, + "C5": Object {}, + "C6": Object {}, + "C7": Object {}, + "C8": Object {}, + "C9": Object {}, + "D1": Object {}, + "D10": Object {}, + "D11": Object {}, + "D12": Object {}, + "D2": Object {}, + "D3": Object {}, + "D4": Object {}, + "D5": Object {}, + "D6": Object {}, + "D7": Object {}, + "D8": Object {}, + "D9": Object {}, + "E1": Object {}, + "E10": Object {}, + "E11": Object {}, + "E12": Object {}, + "E2": Object {}, + "E3": Object {}, + "E4": Object {}, + "E5": Object {}, + "E6": Object {}, + "E7": Object {}, + "E8": Object {}, + "E9": Object {}, + "F1": Object {}, + "F10": Object {}, + "F11": Object {}, + "F12": Object {}, + "F2": Object {}, + "F3": Object {}, + "F4": Object {}, + "F5": Object {}, + "F6": Object {}, + "F7": Object {}, + "F8": Object {}, + "F9": Object {}, + "G1": Object {}, + "G10": Object {}, + "G11": Object {}, + "G12": Object {}, + "G2": Object {}, + "G3": Object {}, + "G4": Object {}, + "G5": Object {}, + "G6": Object {}, + "G7": Object {}, + "G8": Object {}, + "G9": Object {}, + "H1": Object {}, + "H10": Object {}, + "H11": Object {}, + "H12": Object {}, + "H2": Object {}, + "H3": Object {}, + "H4": Object {}, + "H5": Object {}, + "H6": Object {}, + "H7": Object {}, + "H8": Object {}, + "H9": Object {}, + }, + "tiprack5AdapterId": Object {}, + "tiprack5Id": Object { + "A1": Object {}, + "A10": Object {}, + "A11": Object {}, + "A12": Object {}, + "A2": Object {}, + "A3": Object {}, + "A4": Object {}, + "A5": Object {}, + "A6": Object {}, + "A7": Object {}, + "A8": Object {}, + "A9": Object {}, + "B1": Object {}, + "B10": Object {}, + "B11": Object {}, + "B12": Object {}, + "B2": Object {}, + "B3": Object {}, + "B4": Object {}, + "B5": Object {}, + "B6": Object {}, + "B7": Object {}, + "B8": Object {}, + "B9": Object {}, + "C1": Object {}, + "C10": Object {}, + "C11": Object {}, + "C12": Object {}, + "C2": Object {}, + "C3": Object {}, + "C4": Object {}, + "C5": Object {}, + "C6": Object {}, + "C7": Object {}, + "C8": Object {}, + "C9": Object {}, + "D1": Object {}, + "D10": Object {}, + "D11": Object {}, + "D12": Object {}, + "D2": Object {}, + "D3": Object {}, + "D4": Object {}, + "D5": Object {}, + "D6": Object {}, + "D7": Object {}, + "D8": Object {}, + "D9": Object {}, + "E1": Object {}, + "E10": Object {}, + "E11": Object {}, + "E12": Object {}, + "E2": Object {}, + "E3": Object {}, + "E4": Object {}, + "E5": Object {}, + "E6": Object {}, + "E7": Object {}, + "E8": Object {}, + "E9": Object {}, + "F1": Object {}, + "F10": Object {}, + "F11": Object {}, + "F12": Object {}, + "F2": Object {}, + "F3": Object {}, + "F4": Object {}, + "F5": Object {}, + "F6": Object {}, + "F7": Object {}, + "F8": Object {}, + "F9": Object {}, + "G1": Object {}, + "G10": Object {}, + "G11": Object {}, + "G12": Object {}, + "G2": Object {}, + "G3": Object {}, + "G4": Object {}, + "G5": Object {}, + "G6": Object {}, + "G7": Object {}, + "G8": Object {}, + "G9": Object {}, + "H1": Object {}, + "H10": Object {}, + "H11": Object {}, + "H12": Object {}, + "H2": Object {}, + "H3": Object {}, + "H4": Object {}, + "H5": Object {}, + "H6": Object {}, + "H7": Object {}, + "H8": Object {}, + "H9": Object {}, + }, "troughId": Object { "A1": Object {}, "A10": Object {}, @@ -512,6 +711,104 @@ Object { }, }, "pipettes": Object { + "p100096Id": Object { + "0": Object {}, + "1": Object {}, + "10": Object {}, + "11": Object {}, + "12": Object {}, + "13": Object {}, + "14": Object {}, + "15": Object {}, + "16": Object {}, + "17": Object {}, + "18": Object {}, + "19": Object {}, + "2": Object {}, + "20": Object {}, + "21": Object {}, + "22": Object {}, + "23": Object {}, + "24": Object {}, + "25": Object {}, + "26": Object {}, + "27": Object {}, + "28": Object {}, + "29": Object {}, + "3": Object {}, + "30": Object {}, + "31": Object {}, + "32": Object {}, + "33": Object {}, + "34": Object {}, + "35": Object {}, + "36": Object {}, + "37": Object {}, + "38": Object {}, + "39": Object {}, + "4": Object {}, + "40": Object {}, + "41": Object {}, + "42": Object {}, + "43": Object {}, + "44": Object {}, + "45": Object {}, + "46": Object {}, + "47": Object {}, + "48": Object {}, + "49": Object {}, + "5": Object {}, + "50": Object {}, + "51": Object {}, + "52": Object {}, + "53": Object {}, + "54": Object {}, + "55": Object {}, + "56": Object {}, + "57": Object {}, + "58": Object {}, + "59": Object {}, + "6": Object {}, + "60": Object {}, + "61": Object {}, + "62": Object {}, + "63": Object {}, + "64": Object {}, + "65": Object {}, + "66": Object {}, + "67": Object {}, + "68": Object {}, + "69": Object {}, + "7": Object {}, + "70": Object {}, + "71": Object {}, + "72": Object {}, + "73": Object {}, + "74": Object {}, + "75": Object {}, + "76": Object {}, + "77": Object {}, + "78": Object {}, + "79": Object {}, + "8": Object {}, + "80": Object {}, + "81": Object {}, + "82": Object {}, + "83": Object {}, + "84": Object {}, + "85": Object {}, + "86": Object {}, + "87": Object {}, + "88": Object {}, + "89": Object {}, + "9": Object {}, + "90": Object {}, + "91": Object {}, + "92": Object {}, + "93": Object {}, + "94": Object {}, + "95": Object {}, + }, "p10MultiId": Object { "0": Object {}, "1": Object {}, @@ -6261,230 +6558,3755 @@ Object { "id": "tiprack3Id", "labwareDefURI": "fixture/fixture_tiprack_300_ul/1", }, - "troughId": Object { + "tiprack4AdapterId": Object { "def": Object { + "allowedRoles": Array [ + "adapter", + ], "brand": Object { - "brand": "USA Scientific", - "brandId": Array [ - "1061-8150", - ], + "brand": "Fixture", + "brandId": Array [], }, "cornerOffsetFromSlot": Object { - "x": 0, - "y": 0, + "x": -14.25, + "y": -3.5, "z": 0, }, "dimensions": Object { - "xDimension": 127.76, - "yDimension": 85.8, - "zDimension": 44.45, + "xDimension": 156.5, + "yDimension": 93, + "zDimension": 132, }, "groups": Array [ Object { - "metadata": Object { - "wellBottomShape": "v", - }, - "wells": Array [ - "A1", - "A2", - "A3", - "A4", - "A5", - "A6", - "A7", - "A8", - "A9", - "A10", - "A11", - "A12", - ], + "metadata": Object {}, + "wells": Array [], }, ], "metadata": Object { - "displayCategory": "reservoir", - "displayName": "12 Channel Trough", - "displayVolumeUnits": "mL", + "displayCategory": "adapter", + "displayName": "Fixture Flex 96 Tip Rack Adapter", + "displayVolumeUnits": "µL", + "tags": Array [], }, "namespace": "fixture", - "ordering": Array [ - Array [ - "A1", - ], - Array [ - "A2", - ], - Array [ - "A3", - ], - Array [ - "A4", - ], - Array [ - "A5", - ], - Array [ - "A6", - ], + "ordering": Array [], + "parameters": Object { + "format": "96Standard", + "isMagneticModuleCompatible": false, + "isTiprack": false, + "loadName": "fixture_flex_96_tiprack_adapter", + "quirks": Array [], + }, + "schemaVersion": 2, + "version": 1, + "wells": Object {}, + }, + "id": "tiprack4AdapterId", + "labwareDefURI": "fixture/fixture_flex_96_tiprack_adapter/1", + }, + "tiprack4Id": Object { + "def": Object { + "brand": Object { + "brand": "Fixture", + "brandId": Array [], + }, + "cornerOffsetFromSlot": Object { + "x": 0, + "y": 0, + "z": 0, + }, + "dimensions": Object { + "xDimension": 127.75, + "yDimension": 85.75, + "zDimension": 99, + }, + "gripForce": 16, + "gripHeightFromLabwareBottom": 23.9, + "groups": Array [ + Object { + "metadata": Object {}, + "wells": Array [ + "A1", + "B1", + "C1", + "D1", + "E1", + "F1", + "G1", + "H1", + "A2", + "B2", + "C2", + "D2", + "E2", + "F2", + "G2", + "H2", + "A3", + "B3", + "C3", + "D3", + "E3", + "F3", + "G3", + "H3", + "A4", + "B4", + "C4", + "D4", + "E4", + "F4", + "G4", + "H4", + "A5", + "B5", + "C5", + "D5", + "E5", + "F5", + "G5", + "H5", + "A6", + "B6", + "C6", + "D6", + "E6", + "F6", + "G6", + "H6", + "A7", + "B7", + "C7", + "D7", + "E7", + "F7", + "G7", + "H7", + "A8", + 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+ "F6", + "G6", + "H6", + ], Array [ "A7", + "B7", + "C7", + "D7", + "E7", + "F7", + "G7", + "H7", ], Array [ "A8", + "B8", + "C8", + "D8", + "E8", + "F8", + "G8", + "H8", ], Array [ "A9", + "B9", + "C9", + "D9", + "E9", + "F9", + "G9", + "H9", ], Array [ "A10", + "B10", + "C10", + "D10", + "E10", + "F10", + "G10", + "H10", ], Array [ "A11", + "B11", + "C11", + "D11", + "E11", + "F11", + "G11", + "H11", ], Array [ "A12", + "B12", + "C12", + "D12", + "E12", + "F12", + "G12", + "H12", ], ], "parameters": Object { - "format": "trough", + "format": "96Standard", "isMagneticModuleCompatible": false, - "isTiprack": false, - "loadName": "fixture_12_trough", - "quirks": Array [ - "centerMultichannelOnWells", - "touchTipDisabled", - ], + "isTiprack": true, + "loadName": "fixture_flex_96_tiprack_1000ul", + "quirks": Array [], + "tipLength": 95.6, + "tipOverlap": 10.5, }, "schemaVersion": 2, + "stackingOffsetWithLabware": Object { + "opentrons_flex_96_tiprack_adapter": Object { + "x": 0, + "y": 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"z": 1.5, + }, + "D5": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 50.38, + "y": 47.38, + "z": 1.5, + }, + "D6": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 59.38, + "y": 47.38, + "z": 1.5, + }, + "D7": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 68.38, + "y": 47.38, + "z": 1.5, + }, + "D8": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 77.38, + "y": 47.38, + "z": 1.5, + }, + "D9": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 86.38, + "y": 47.38, + "z": 1.5, + }, + "E1": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 14.38, + "y": 38.38, + "z": 1.5, + }, + "E10": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 95.38, + "y": 38.38, + "z": 1.5, + }, + "E11": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 104.38, + "y": 38.38, + "z": 1.5, + }, + "E12": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 113.38, + "y": 38.38, + "z": 1.5, + }, + "E2": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 23.38, + "y": 38.38, + "z": 1.5, + }, + "E3": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 32.38, + "y": 38.38, + "z": 1.5, + }, + "E4": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 41.38, + "y": 38.38, + "z": 1.5, + }, + "E5": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 50.38, + "y": 38.38, + "z": 1.5, + }, + "E6": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 59.38, + "y": 38.38, + "z": 1.5, + }, + "E7": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 68.38, + "y": 38.38, + "z": 1.5, + }, + "E8": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 77.38, + "y": 38.38, + "z": 1.5, + }, + "E9": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 86.38, + "y": 38.38, + "z": 1.5, + }, + "F1": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 14.38, + "y": 29.38, + "z": 1.5, + }, + "F10": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 95.38, + "y": 29.38, + "z": 1.5, + }, + "F11": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 104.38, + "y": 29.38, + "z": 1.5, + }, + "F12": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 113.38, + "y": 29.38, + "z": 1.5, + }, + "F2": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 23.38, + "y": 29.38, + "z": 1.5, + }, + "F3": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 32.38, + "y": 29.38, + "z": 1.5, + }, + "F4": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 41.38, + "y": 29.38, + "z": 1.5, + }, + "F5": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 50.38, + "y": 29.38, + "z": 1.5, + }, + "F6": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 59.38, + "y": 29.38, + "z": 1.5, + }, + "F7": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 68.38, + "y": 29.38, + "z": 1.5, + }, + "F8": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 77.38, + "y": 29.38, + "z": 1.5, + }, + "F9": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 86.38, + "y": 29.38, + "z": 1.5, + }, + "G1": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 14.38, + "y": 20.38, + "z": 1.5, + }, + "G10": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 95.38, + "y": 20.38, + "z": 1.5, + }, + "G11": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 104.38, + "y": 20.38, + "z": 1.5, + }, + "G12": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 113.38, + "y": 20.38, + "z": 1.5, + }, + "G2": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 23.38, + "y": 20.38, + "z": 1.5, + }, + "G3": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 32.38, + "y": 20.38, + "z": 1.5, + }, + "G4": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 41.38, + "y": 20.38, + "z": 1.5, + }, + "G5": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 50.38, + "y": 20.38, + "z": 1.5, + }, + "G6": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 59.38, + "y": 20.38, + "z": 1.5, + }, + "G7": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 68.38, + "y": 20.38, + "z": 1.5, + }, + "G8": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 77.38, + "y": 20.38, + "z": 1.5, + }, + "G9": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 86.38, + "y": 20.38, + "z": 1.5, + }, + "H1": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 14.38, + "y": 11.38, + "z": 1.5, + }, + "H10": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 95.38, + "y": 11.38, + "z": 1.5, + }, + "H11": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 104.38, + "y": 11.38, + "z": 1.5, + }, + "H12": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 113.38, + "y": 11.38, + "z": 1.5, + }, + "H2": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 23.38, + "y": 11.38, + "z": 1.5, + }, + "H3": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 32.38, + "y": 11.38, + "z": 1.5, + }, + "H4": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 41.38, + "y": 11.38, + "z": 1.5, }, - "A7": Object { - "depth": 42.16, - "shape": "rectangular", - "totalLiquidVolume": 22000, - "x": 68.48, - "xDimension": 8.33, - "y": 42.9, - "yDimension": 71.88, - "z": 2.29, + "H5": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 50.38, + "y": 11.38, + "z": 1.5, }, - "A8": Object { - "depth": 42.16, - "shape": "rectangular", - "totalLiquidVolume": 22000, - "x": 77.57, - "xDimension": 8.33, - "y": 42.9, - "yDimension": 71.88, - "z": 2.29, + "H6": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 59.38, + "y": 11.38, + "z": 1.5, }, - "A9": Object { - "depth": 42.16, - "shape": "rectangular", - "totalLiquidVolume": 22000, - "x": 86.66, - "xDimension": 8.33, - "y": 42.9, - "yDimension": 71.88, - "z": 2.29, + "H7": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 68.38, + "y": 11.38, + "z": 1.5, + }, + "H8": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 77.38, + "y": 11.38, + "z": 1.5, + }, + "H9": Object { + "depth": 97.5, + "diameter": 5.47, + "shape": "circular", + "totalLiquidVolume": 1000, + "x": 86.38, + "y": 11.38, + "z": 1.5, }, }, }, - "id": "troughId", - "labwareDefURI": "fixture/fixture_12_trough/1", }, - }, - "moduleEntities": Object {}, - "pipetteEntities": Object { "p10MultiId": Object { "id": "p10MultiId", "name": "p10_multi", @@ -11088,8 +14910,21 @@ Object { "tiprack2Id": Object { "slot": "2", }, + "tiprack4AdapterId": Object { + "slot": "7", + }, + "tiprack4Id": Object { + "slot": "tiprack4AdapterId", + }, + "tiprack5AdapterId": Object { + "slot": "8", + }, + "tiprack5Id": Object { + "slot": "tiprack5AdapterId", + }, }, "liquidState": Object { + "additionalEquipment": Object {}, "labware": Object { "destPlateId": Object { "A1": Object {}, @@ -11584,6 +15419,204 @@ Object { "H8": Object {}, "H9": Object {}, }, + "tiprack4AdapterId": Object {}, + "tiprack4Id": Object { + "A1": Object {}, + "A10": Object {}, + "A11": Object {}, + "A12": Object {}, + "A2": Object {}, + "A3": Object {}, + "A4": Object {}, + "A5": Object {}, + "A6": Object {}, + "A7": Object {}, + "A8": Object {}, + "A9": Object {}, + "B1": Object {}, + "B10": Object {}, + "B11": Object {}, + "B12": Object {}, + "B2": Object {}, + "B3": Object {}, + "B4": Object {}, + "B5": Object {}, + "B6": Object {}, + "B7": Object {}, + "B8": Object {}, + "B9": Object {}, + "C1": Object {}, + "C10": Object {}, + "C11": Object {}, + "C12": Object {}, + "C2": Object {}, + "C3": Object {}, + "C4": Object {}, + "C5": Object {}, + "C6": Object {}, + "C7": Object {}, + "C8": Object {}, + "C9": Object {}, + "D1": Object {}, + "D10": Object {}, + "D11": Object {}, + "D12": Object {}, + "D2": Object {}, + "D3": Object {}, + "D4": Object {}, + "D5": Object {}, + "D6": Object {}, + "D7": Object {}, + "D8": Object {}, + "D9": Object {}, + "E1": Object {}, + "E10": Object {}, + "E11": Object {}, + "E12": Object {}, + "E2": Object {}, + "E3": Object {}, + "E4": Object {}, + "E5": Object {}, + "E6": Object {}, + "E7": Object {}, + "E8": Object {}, + "E9": Object {}, + "F1": Object {}, + "F10": Object {}, + "F11": Object {}, + "F12": Object {}, + "F2": Object {}, + "F3": Object {}, + "F4": Object {}, + "F5": Object {}, + "F6": Object {}, + "F7": Object {}, + "F8": Object {}, + "F9": Object {}, + "G1": Object {}, + "G10": Object {}, + "G11": Object {}, + "G12": Object {}, + "G2": Object {}, + "G3": Object {}, + "G4": Object {}, + "G5": Object {}, + "G6": Object {}, + "G7": Object {}, + "G8": Object {}, + "G9": Object {}, + "H1": Object {}, + "H10": Object {}, + "H11": Object {}, + "H12": Object {}, + "H2": Object {}, + "H3": Object {}, + "H4": Object {}, + "H5": Object {}, + "H6": Object {}, + "H7": Object {}, + "H8": Object {}, + "H9": Object {}, + }, + "tiprack5AdapterId": Object {}, + "tiprack5Id": Object { + "A1": Object {}, + "A10": Object {}, + "A11": Object {}, + "A12": Object {}, + "A2": Object {}, + "A3": Object {}, + "A4": Object {}, + "A5": Object {}, + "A6": Object {}, + "A7": Object {}, + "A8": Object {}, + "A9": Object {}, + "B1": Object {}, + "B10": Object {}, + "B11": Object {}, + "B12": Object {}, + "B2": Object {}, + "B3": Object {}, + "B4": Object {}, + "B5": Object {}, + "B6": Object {}, + "B7": Object {}, + "B8": Object {}, + "B9": Object {}, + "C1": Object {}, + "C10": Object {}, + "C11": Object {}, + "C12": Object {}, + "C2": Object {}, + "C3": Object {}, + "C4": Object {}, + "C5": Object {}, + "C6": Object {}, + "C7": Object {}, + "C8": Object {}, + "C9": Object {}, + "D1": Object {}, + "D10": Object {}, + "D11": Object {}, + "D12": Object {}, + "D2": Object {}, + "D3": Object {}, + "D4": Object {}, + "D5": Object {}, + "D6": Object {}, + "D7": Object {}, + "D8": Object {}, + "D9": Object {}, + "E1": Object {}, + "E10": Object {}, + "E11": Object {}, + "E12": Object {}, + "E2": Object {}, + "E3": Object {}, + "E4": Object {}, + "E5": Object {}, + "E6": Object {}, + "E7": Object {}, + "E8": Object {}, + "E9": Object {}, + "F1": Object {}, + "F10": Object {}, + "F11": Object {}, + "F12": Object {}, + "F2": Object {}, + "F3": Object {}, + "F4": Object {}, + "F5": Object {}, + "F6": Object {}, + "F7": Object {}, + "F8": Object {}, + "F9": Object {}, + "G1": Object {}, + "G10": Object {}, + "G11": Object {}, + "G12": Object {}, + "G2": Object {}, + "G3": Object {}, + "G4": Object {}, + "G5": Object {}, + "G6": Object {}, + "G7": Object {}, + "G8": Object {}, + "G9": Object {}, + "H1": Object {}, + "H10": Object {}, + "H11": Object {}, + "H12": Object {}, + "H2": Object {}, + "H3": Object {}, + "H4": Object {}, + "H5": Object {}, + "H6": Object {}, + "H7": Object {}, + "H8": Object {}, + "H9": Object {}, + }, "troughId": Object { "A1": Object {}, "A10": Object {}, @@ -11600,6 +15633,104 @@ Object { }, }, "pipettes": Object { + "p100096Id": Object { + "0": Object {}, + "1": Object {}, + "10": Object {}, + "11": Object {}, + "12": Object {}, + "13": Object {}, + "14": Object {}, + "15": Object {}, + "16": Object {}, + "17": Object {}, + "18": Object {}, + "19": Object {}, + "2": Object {}, + "20": Object {}, + "21": Object {}, + "22": Object {}, + "23": Object {}, + "24": Object {}, + "25": Object {}, + "26": Object {}, + "27": Object {}, + "28": Object {}, + "29": Object {}, + "3": Object {}, + "30": Object {}, + "31": Object {}, + "32": Object {}, + "33": Object {}, + "34": Object {}, + "35": Object {}, + "36": Object {}, + "37": Object {}, + "38": Object {}, + "39": Object {}, + "4": Object {}, + "40": Object {}, + "41": Object {}, + "42": Object {}, + "43": Object {}, + "44": Object {}, + "45": Object {}, + "46": Object {}, + "47": Object {}, + "48": Object {}, + "49": Object {}, + "5": Object {}, + "50": Object {}, + "51": Object {}, + "52": Object {}, + "53": Object {}, + "54": Object {}, + "55": Object {}, + "56": Object {}, + "57": Object {}, + "58": Object {}, + "59": Object {}, + "6": Object {}, + "60": Object {}, + "61": Object {}, + "62": Object {}, + "63": Object {}, + "64": Object {}, + "65": Object {}, + "66": Object {}, + "67": Object {}, + "68": Object {}, + "69": Object {}, + "7": Object {}, + "70": Object {}, + "71": Object {}, + "72": Object {}, + "73": Object {}, + "74": Object {}, + "75": Object {}, + "76": Object {}, + "77": Object {}, + "78": Object {}, + "79": Object {}, + "8": Object {}, + "80": Object {}, + "81": Object {}, + "82": Object {}, + "83": Object {}, + "84": Object {}, + "85": Object {}, + "86": Object {}, + "87": Object {}, + "88": Object {}, + "89": Object {}, + "9": Object {}, + "90": Object {}, + "91": Object {}, + "92": Object {}, + "93": Object {}, + "94": Object {}, + "95": Object {}, + }, "p10MultiId": Object { "0": Object {}, "1": Object {}, diff --git a/step-generation/src/__tests__/__snapshots__/utils.test.ts.snap b/step-generation/src/__tests__/__snapshots__/utils.test.ts.snap index 984210e3334..b9e797fe96e 100644 --- a/step-generation/src/__tests__/__snapshots__/utils.test.ts.snap +++ b/step-generation/src/__tests__/__snapshots__/utils.test.ts.snap @@ -17,6 +17,7 @@ Object { }, }, "liquidState": Object { + "additionalEquipment": Object {}, "labware": Object { "fixedTrash": Object { "A1": Object {}, diff --git a/step-generation/src/__tests__/aspirate.test.ts b/step-generation/src/__tests__/aspirate.test.ts index 4c6b3ab8911..ab9b7869327 100644 --- a/step-generation/src/__tests__/aspirate.test.ts +++ b/step-generation/src/__tests__/aspirate.test.ts @@ -198,6 +198,29 @@ describe('aspirate', () => { type: 'LABWARE_DOES_NOT_EXIST', }) }) + it('should return an error when aspirating from the 4th column', () => { + robotStateWithTip = { + ...robotStateWithTip, + labware: { + [SOURCE_LABWARE]: { slot: 'A4' }, + }, + } + const result = aspirate( + { + ...flowRateAndOffsets, + pipette: DEFAULT_PIPETTE, + volume: 50, + labware: SOURCE_LABWARE, + well: 'A1', + } as AspDispAirgapParams, + invariantContext, + robotStateWithTip + ) + expect(getErrorResult(result).errors).toHaveLength(1) + expect(getErrorResult(result).errors[0]).toMatchObject({ + type: 'PIPETTING_INTO_COLUMN_4', + }) + }) it('should return an error when aspirating from labware off deck', () => { initialRobotState = getInitialRobotStateWithOffDeckLabwareStandard( invariantContext diff --git a/step-generation/src/__tests__/aspirateInPlace.test.ts b/step-generation/src/__tests__/aspirateInPlace.test.ts new file mode 100644 index 00000000000..9d2a1ecd97f --- /dev/null +++ b/step-generation/src/__tests__/aspirateInPlace.test.ts @@ -0,0 +1,41 @@ +import { + makeContext, + getRobotStateWithTipStandard, + getSuccessResult, +} from '../fixtures' +import { aspirateInPlace } from '../commandCreators/atomic' +import type { RobotState, InvariantContext } from '../types' +import type { AspirateInPlaceArgs } from '../commandCreators/atomic/aspirateInPlace' + +describe('aspirateInPlace', () => { + let invariantContext: InvariantContext + let robotStateWithTip: RobotState + + const mockId = 'mockId' + const mockFlowRate = 10 + const mockVolume = 10 + beforeEach(() => { + invariantContext = makeContext() + robotStateWithTip = getRobotStateWithTipStandard(invariantContext) + }) + it('aspirate in place', () => { + const params: AspirateInPlaceArgs = { + pipetteId: mockId, + flowRate: mockFlowRate, + volume: mockVolume, + } + const result = aspirateInPlace(params, invariantContext, robotStateWithTip) + const res = getSuccessResult(result) + expect(res.commands).toEqual([ + { + commandType: 'aspirateInPlace', + key: expect.any(String), + params: { + pipetteId: mockId, + volume: mockVolume, + flowRate: mockFlowRate, + }, + }, + ]) + }) +}) diff --git a/step-generation/src/__tests__/blowoutUtil.test.ts b/step-generation/src/__tests__/blowoutUtil.test.ts index 2612660affb..3d45f5e5d2e 100644 --- a/step-generation/src/__tests__/blowoutUtil.test.ts +++ b/step-generation/src/__tests__/blowoutUtil.test.ts @@ -5,6 +5,7 @@ import { blowoutUtil, SOURCE_WELL_BLOWOUT_DESTINATION, DEST_WELL_BLOWOUT_DESTINATION, + wasteChuteCommandsUtil, } from '../utils' import { curryCommandCreator } from '../utils/curryCommandCreator' import { @@ -34,7 +35,11 @@ let blowoutArgs: { invariantContext: InvariantContext } describe('blowoutUtil', () => { + let invariantContext: InvariantContext + beforeEach(() => { + invariantContext = makeContext() + blowoutArgs = { pipette: DEFAULT_PIPETTE, sourceLabwareId: SOURCE_LABWARE, @@ -43,7 +48,7 @@ describe('blowoutUtil', () => { destWell: 'A2', flowRate: BLOWOUT_FLOW_RATE, offsetFromTopMm: BLOWOUT_OFFSET_FROM_TOP_MM, - invariantContext: makeContext(), + invariantContext, blowoutLocation: null, } curryCommandCreatorMock.mockClear() @@ -61,6 +66,35 @@ describe('blowoutUtil', () => { offsetFromBottomMm: expect.any(Number), }) }) + it('blowoutUtil curries waste chute commands when there is no well', () => { + const wasteChuteId = 'wasteChuteId' + invariantContext = { + ...invariantContext, + additionalEquipmentEntities: { + [wasteChuteId]: { + id: wasteChuteId, + name: 'wasteChute', + location: 'D3', + }, + }, + } + blowoutUtil({ + ...blowoutArgs, + destLabwareId: wasteChuteId, + invariantContext: invariantContext, + destWell: null, + blowoutLocation: wasteChuteId, + }) + expect(curryCommandCreatorMock).toHaveBeenCalledWith( + wasteChuteCommandsUtil, + { + addressableAreaName: '1and8ChannelWasteChute', + type: 'blowOut', + pipetteId: blowoutArgs.pipette, + flowRate: 2.3, + } + ) + }) it('blowoutUtil curries blowout with dest plate params', () => { blowoutUtil({ ...blowoutArgs, @@ -75,7 +109,10 @@ describe('blowoutUtil', () => { }) }) it('blowoutUtil curries blowout with an arbitrary labware Id', () => { - blowoutUtil({ ...blowoutArgs, blowoutLocation: TROUGH_LABWARE }) + blowoutUtil({ + ...blowoutArgs, + blowoutLocation: TROUGH_LABWARE, + }) expect(curryCommandCreatorMock).toHaveBeenCalledWith(blowout, { pipette: blowoutArgs.pipette, labware: TROUGH_LABWARE, @@ -85,7 +122,10 @@ describe('blowoutUtil', () => { }) }) it('blowoutUtil returns an empty array if not given a blowoutLocation', () => { - const result = blowoutUtil({ ...blowoutArgs, blowoutLocation: null }) + const result = blowoutUtil({ + ...blowoutArgs, + blowoutLocation: null, + }) expect(curryCommandCreatorMock).not.toHaveBeenCalled() expect(result).toEqual([]) }) diff --git a/step-generation/src/__tests__/consolidate.test.ts b/step-generation/src/__tests__/consolidate.test.ts index 1b1e10dd555..73651119fd2 100644 --- a/step-generation/src/__tests__/consolidate.test.ts +++ b/step-generation/src/__tests__/consolidate.test.ts @@ -22,10 +22,13 @@ import { pickUpTipHelper, SOURCE_LABWARE, AIR_GAP_META, + moveToAddressableAreaHelper, + dropTipInPlaceHelper, } from '../fixtures' import { DEST_WELL_BLOWOUT_DESTINATION } from '../utils' import type { AspDispAirgapParams, CreateCommand } from '@opentrons/shared-data' import type { ConsolidateArgs, InvariantContext, RobotState } from '../types' + const airGapHelper = makeAirGapHelper({ wellLocation: { origin: 'bottom', @@ -70,6 +73,7 @@ let mixinArgs: Partial beforeEach(() => { invariantContext = makeContext() + initialRobotState = getInitialRobotStateStandard(invariantContext) robotStatePickedUpOneTip = getRobotStatePickedUpTipStandard(invariantContext) @@ -98,6 +102,10 @@ beforeEach(() => { blowoutLocation: null, dropTipLocation: FIXED_TRASH_ID, } + invariantContext = { + ...invariantContext, + additionalEquipmentEntities: {}, + } }) describe('consolidate single-channel', () => { @@ -120,6 +128,43 @@ describe('consolidate single-channel', () => { ]) }) + it('Minimal single-channel: A1 A2 to B1, 50uL with p300, drop in waste chute', () => { + const data = { + ...mixinArgs, + sourceWells: ['A1', 'A2'], + volume: 50, + changeTip: 'once', + dropTipLocation: 'wasteChuteId', + dispenseAirGapVolume: 5, + } as ConsolidateArgs + + invariantContext = { + ...invariantContext, + additionalEquipmentEntities: { + wasteChuteId: { + name: 'wasteChute', + id: 'wasteChuteId', + location: 'cutoutD3', + }, + }, + } + + const result = consolidate(data, invariantContext, initialRobotState) + const res = getSuccessResult(result) + + expect(res.commands).toEqual([ + pickUpTipHelper('A1'), + aspirateHelper('A1', 50), + aspirateHelper('A2', 50), + dispenseHelper('B1', 100), + airGapHelper('B1', 5, { labwareId: 'destPlateId' }), + moveToAddressableAreaHelper({ + addressableAreaName: '1and8ChannelWasteChute', + }), + dropTipInPlaceHelper(), + ]) + }) + it('Single-channel with exceeding pipette max: A1 A2 A3 A4 to B1, 150uL with p300', () => { // TODO Ian 2018-05-03 is this a duplicate of exceeding max with changeTip="once"??? const data = { diff --git a/step-generation/src/__tests__/dispense.test.ts b/step-generation/src/__tests__/dispense.test.ts index b1399c54c4a..d66fae15b5e 100644 --- a/step-generation/src/__tests__/dispense.test.ts +++ b/step-generation/src/__tests__/dispense.test.ts @@ -141,6 +141,19 @@ describe('dispense', () => { type: 'LABWARE_DOES_NOT_EXIST', }) }) + it('should return an error when dispensing from the 4th column', () => { + robotStateWithTip = { + ...robotStateWithTip, + labware: { + [SOURCE_LABWARE]: { slot: 'A4' }, + }, + } + const result = dispense(params, invariantContext, robotStateWithTip) + expect(getErrorResult(result).errors).toHaveLength(1) + expect(getErrorResult(result).errors[0]).toMatchObject({ + type: 'PIPETTING_INTO_COLUMN_4', + }) + }) it('should return an error when dispensing into thermocycler with pipette collision', () => { mockThermocyclerPipetteCollision.mockImplementationOnce( ( diff --git a/step-generation/src/__tests__/fixtureGeneration.test.ts b/step-generation/src/__tests__/fixtureGeneration.test.ts index 5f14449b473..158f0cfb6ed 100644 --- a/step-generation/src/__tests__/fixtureGeneration.test.ts +++ b/step-generation/src/__tests__/fixtureGeneration.test.ts @@ -18,6 +18,18 @@ describe('snapshot tests', () => { sourcePlateId: { slot: '4', }, + tiprack4AdapterId: { + slot: '7', + }, + tiprack5AdapterId: { + slot: '8', + }, + tiprack4Id: { + slot: 'tiprack4AdapterId', + }, + tiprack5Id: { + slot: 'tiprack5AdapterId', + }, fixedTrash: { slot: '12', }, diff --git a/step-generation/src/__tests__/movableTrashCommandsUtil.test.ts b/step-generation/src/__tests__/movableTrashCommandsUtil.test.ts new file mode 100644 index 00000000000..b8253061268 --- /dev/null +++ b/step-generation/src/__tests__/movableTrashCommandsUtil.test.ts @@ -0,0 +1,197 @@ +import { + getInitialRobotStateStandard, + makeContext, + getSuccessResult, + getErrorResult, +} from '../fixtures' +import { movableTrashCommandsUtil } from '../utils/movableTrashCommandsUtil' +import type { InvariantContext, RobotState, PipetteEntities } from '../types' + +jest.mock('../getNextRobotStateAndWarnings/dispenseUpdateLiquidState') + +const mockTrashBinId = 'mockTrashBinId' +const mockId = 'mockId' +const args = { + pipetteId: mockId, + volume: 10, + flowRate: 10, +} +const mockPipEntities: PipetteEntities = { + [mockId]: { + name: 'p50_single_flex', + id: mockId, + }, +} as any +const mockCutout = 'cutoutA3' +const mockMoveToAddressableArea = { + commandType: 'moveToAddressableArea', + key: expect.any(String), + params: { + pipetteId: mockId, + addressableAreaName: 'movableTrashA3', + }, +} + +describe('movableTrashCommandsUtil', () => { + let invariantContext: InvariantContext + let initialRobotState: RobotState + beforeEach(() => { + invariantContext = makeContext() + initialRobotState = getInitialRobotStateStandard(invariantContext) + invariantContext = { + ...invariantContext, + pipetteEntities: mockPipEntities, + additionalEquipmentEntities: { + [mockTrashBinId]: { + name: 'trashBin', + location: mockCutout, + id: mockTrashBinId, + }, + }, + } + }) + it('returns correct commands for dispensing', () => { + const result = movableTrashCommandsUtil( + { ...args, type: 'dispense' }, + invariantContext, + initialRobotState + ) + const res = getSuccessResult(result) + expect(res.commands).toEqual([ + mockMoveToAddressableArea, + { + commandType: 'dispenseInPlace', + key: expect.any(String), + params: { + pipetteId: mockId, + volume: 10, + flowRate: 10, + }, + }, + ]) + }) + it('returns correct commands for blow out', () => { + const result = movableTrashCommandsUtil( + { + ...args, + type: 'blowOut', + }, + invariantContext, + initialRobotState + ) + const res = getSuccessResult(result) + expect(res.commands).toEqual([ + mockMoveToAddressableArea, + { + commandType: 'blowOutInPlace', + key: expect.any(String), + params: { + pipetteId: mockId, + flowRate: 10, + }, + }, + ]) + }) + it('returns correct commands for drop tip', () => { + initialRobotState.tipState.pipettes[mockId] = true + const result = movableTrashCommandsUtil( + { + ...args, + type: 'dropTip', + }, + invariantContext, + initialRobotState + ) + const res = getSuccessResult(result) + expect(res.commands).toEqual([ + mockMoveToAddressableArea, + { + commandType: 'dropTipInPlace', + key: expect.any(String), + params: { + pipetteId: mockId, + }, + }, + ]) + }) + it('returns correct commands for aspirate in place (air gap)', () => { + initialRobotState.tipState.pipettes[mockId] = true + const result = movableTrashCommandsUtil( + { + ...args, + type: 'airGap', + }, + invariantContext, + initialRobotState + ) + const res = getSuccessResult(result) + expect(res.commands).toEqual([ + mockMoveToAddressableArea, + { + commandType: 'aspirateInPlace', + key: expect.any(String), + params: { + pipetteId: mockId, + volume: 10, + flowRate: 10, + }, + }, + ]) + }) + it('returns correct commands for aspirate in place', () => { + initialRobotState.tipState.pipettes[mockId] = true + const result = movableTrashCommandsUtil( + { + ...args, + type: 'aspirate', + }, + invariantContext, + initialRobotState + ) + const res = getSuccessResult(result) + expect(res.commands).toEqual([ + mockMoveToAddressableArea, + { + commandType: 'aspirateInPlace', + key: expect.any(String), + params: { + pipetteId: mockId, + volume: 10, + flowRate: 10, + }, + }, + ]) + }) + it('returns no pip attached error', () => { + const result = movableTrashCommandsUtil( + { + pipetteId: 'badPip', + type: 'dispense', + }, + invariantContext, + initialRobotState + ) + const res = getErrorResult(result) + expect(res.errors).toHaveLength(1) + expect(res.errors[0]).toMatchObject({ type: 'PIPETTE_DOES_NOT_EXIST' }) + }) + it('returns no waste chute attached error', () => { + invariantContext = { + ...invariantContext, + additionalEquipmentEntities: {}, + } + const result = movableTrashCommandsUtil( + { + ...args, + type: 'dispense', + }, + invariantContext, + initialRobotState + ) + const res = getErrorResult(result) + expect(res.errors).toHaveLength(1) + expect(res.errors[0]).toMatchObject({ + type: 'ADDITIONAL_EQUIPMENT_DOES_NOT_EXIST', + }) + }) +}) diff --git a/step-generation/src/__tests__/moveLabware.test.ts b/step-generation/src/__tests__/moveLabware.test.ts index b57f3d7d200..12ecf2e46a8 100644 --- a/step-generation/src/__tests__/moveLabware.test.ts +++ b/step-generation/src/__tests__/moveLabware.test.ts @@ -1,6 +1,6 @@ import { HEATERSHAKER_MODULE_TYPE, - WASTE_CHUTE_SLOT, + WASTE_CHUTE_CUTOUT, } from '@opentrons/shared-data' import { getInitialRobotStateStandard, @@ -17,6 +17,7 @@ import { moveLabware, MoveLabwareArgs } from '..' import type { InvariantContext, RobotState } from '../types' const mockWasteChuteId = 'mockWasteChuteId' +const mockGripperId = 'mockGripperId' describe('moveLabware', () => { let robotState: RobotState @@ -24,6 +25,16 @@ describe('moveLabware', () => { beforeEach(() => { invariantContext = makeContext() robotState = getInitialRobotStateStandard(invariantContext) + + invariantContext = { + ...invariantContext, + additionalEquipmentEntities: { + mockGripperId: { + name: 'gripper', + id: mockGripperId, + }, + }, + } }) afterEach(() => { jest.resetAllMocks() @@ -129,7 +140,7 @@ describe('moveLabware', () => { const params = { commandCreatorFnName: 'moveLabware', labware: SOURCE_LABWARE, - useGripper: true, + useGripper: false, newLocation: { moduleId: thermocyclerId }, } as MoveLabwareArgs @@ -246,10 +257,11 @@ describe('moveLabware', () => { const wasteChuteInvariantContext = { ...invariantContext, additionalEquipmentEntities: { + ...invariantContext.additionalEquipmentEntities, mockWasteChuteId: { name: 'wasteChute', id: mockWasteChuteId, - location: WASTE_CHUTE_SLOT, + location: WASTE_CHUTE_CUTOUT, }, }, } as InvariantContext @@ -266,7 +278,7 @@ describe('moveLabware', () => { commandCreatorFnName: 'moveLabware', labware: TIPRACK_1, useGripper: true, - newLocation: { slotName: WASTE_CHUTE_SLOT }, + newLocation: { addressableAreaName: 'gripperWasteChute' }, } as MoveLabwareArgs const result = moveLabware( @@ -285,10 +297,11 @@ describe('moveLabware', () => { const wasteChuteInvariantContext = { ...invariantContext, additionalEquipmentEntities: { + ...invariantContext.additionalEquipmentEntities, mockWasteChuteId: { name: 'wasteChute', id: mockWasteChuteId, - location: WASTE_CHUTE_SLOT, + location: WASTE_CHUTE_CUTOUT, }, }, } as InvariantContext @@ -304,7 +317,7 @@ describe('moveLabware', () => { commandCreatorFnName: 'moveLabware', labware: SOURCE_LABWARE, useGripper: true, - newLocation: { slotName: WASTE_CHUTE_SLOT }, + newLocation: { addressableAreaName: 'gripperWasteChute' }, } as MoveLabwareArgs const result = moveLabware( @@ -319,4 +332,49 @@ describe('moveLabware', () => { }, ]) }) + it('should return an error when trying to move with gripper when there is no gripper', () => { + invariantContext = { + ...invariantContext, + additionalEquipmentEntities: {}, + } as InvariantContext + + const params = { + commandCreatorFnName: 'moveLabware', + labware: SOURCE_LABWARE, + useGripper: true, + newLocation: { slotName: 'A1' }, + } as MoveLabwareArgs + + const result = moveLabware(params, invariantContext, robotState) + expect(getErrorResult(result).errors).toHaveLength(1) + expect(getErrorResult(result).errors[0]).toMatchObject({ + type: 'GRIPPER_REQUIRED', + }) + }) + it('should return an error when trying to move into the waste chute when useGripper is not selected', () => { + invariantContext = { + ...invariantContext, + additionalEquipmentEntities: { + ...invariantContext.additionalEquipmentEntities, + mockWasteChuteId: { + name: 'wasteChute', + id: mockWasteChuteId, + location: WASTE_CHUTE_CUTOUT, + }, + }, + } as InvariantContext + + const params = { + commandCreatorFnName: 'moveLabware', + labware: SOURCE_LABWARE, + useGripper: false, + newLocation: { addressableAreaName: 'gripperWasteChute' }, + } as MoveLabwareArgs + + const result = moveLabware(params, invariantContext, robotState) + expect(getErrorResult(result).errors).toHaveLength(1) + expect(getErrorResult(result).errors[0]).toMatchObject({ + type: 'GRIPPER_REQUIRED', + }) + }) }) diff --git a/step-generation/src/__tests__/moveToWell.test.ts b/step-generation/src/__tests__/moveToWell.test.ts index 0906d8f8629..4020cc52e08 100644 --- a/step-generation/src/__tests__/moveToWell.test.ts +++ b/step-generation/src/__tests__/moveToWell.test.ts @@ -160,6 +160,27 @@ describe('moveToWell', () => { type: 'LABWARE_OFF_DECK', }) }) + it('should return an error when dispensing from the 4th column', () => { + robotStateWithTip = { + ...robotStateWithTip, + labware: { + [SOURCE_LABWARE]: { slot: 'A4' }, + }, + } + const result = moveToWell( + { + pipette: DEFAULT_PIPETTE, + labware: SOURCE_LABWARE, + well: 'A1', + }, + invariantContext, + robotStateWithTip + ) + expect(getErrorResult(result).errors).toHaveLength(1) + expect(getErrorResult(result).errors[0]).toMatchObject({ + type: 'PIPETTING_INTO_COLUMN_4', + }) + }) it('should return an error when moving to well in a thermocycler with pipette collision', () => { mockThermocyclerPipetteCollision.mockImplementationOnce( ( diff --git a/step-generation/src/__tests__/replaceTip.test.ts b/step-generation/src/__tests__/replaceTip.test.ts index c97bc008eb8..c1044d38432 100644 --- a/step-generation/src/__tests__/replaceTip.test.ts +++ b/step-generation/src/__tests__/replaceTip.test.ts @@ -7,6 +7,8 @@ import { getSuccessResult, pickUpTipHelper, dropTipHelper, + dropTipInPlaceHelper, + moveToAddressableAreaHelper, DEFAULT_PIPETTE, } from '../fixtures' import { FIXED_TRASH_ID } from '..' @@ -15,8 +17,12 @@ import type { InvariantContext, RobotState } from '../types' const tiprack1Id = 'tiprack1Id' const tiprack2Id = 'tiprack2Id' +const tiprack4Id = 'tiprack4Id' +const tiprack5Id = 'tiprack5Id' const p300SingleId = DEFAULT_PIPETTE const p300MultiId = 'p300MultiId' +const p100096Id = 'p100096Id' +const wasteChuteId = 'wasteChuteId' describe('replaceTip', () => { let invariantContext: InvariantContext let initialRobotState: RobotState @@ -132,6 +138,44 @@ describe('replaceTip', () => { }), ]) }) + it('Single-channel: dropping tips in waste chute', () => { + invariantContext = { + ...invariantContext, + additionalEquipmentEntities: { + wasteChuteId: { + name: 'wasteChute', + id: wasteChuteId, + location: 'cutoutD3', + }, + }, + } + const initialTestRobotState = merge({}, initialRobotState, { + tipState: { + tipracks: { + [tiprack1Id]: { + A1: false, + }, + }, + pipettes: { + p300SingleId: true, + }, + }, + }) + const result = replaceTip( + { + pipette: p300SingleId, + dropTipLocation: 'wasteChuteId', + }, + invariantContext, + initialTestRobotState + ) + const res = getSuccessResult(result) + expect(res.commands).toEqual([ + moveToAddressableAreaHelper(), + dropTipInPlaceHelper(), + pickUpTipHelper('B1'), + ]) + }) }) describe('replaceTip: multi-channel', () => { it('multi-channel, all tipracks have tips', () => { @@ -205,4 +249,49 @@ describe('replaceTip', () => { ]) }) }) + describe('replaceTip: 96-channel', () => { + it('96-channel, dropping tips in waste chute', () => { + invariantContext = { + ...invariantContext, + additionalEquipmentEntities: { + wasteChuteId: { + name: 'wasteChute', + id: wasteChuteId, + location: 'cutoutD3', + }, + }, + } + const initialTestRobotState = merge({}, initialRobotState, { + tipState: { + tipracks: { + [tiprack4Id]: getTiprackTipstate(false), + [tiprack5Id]: getTiprackTipstate(true), + }, + pipettes: { + p100096Id: true, + }, + }, + }) + const result = replaceTip( + { + pipette: p100096Id, + dropTipLocation: 'wasteChuteId', + }, + invariantContext, + initialTestRobotState + ) + const res = getSuccessResult(result) + expect(res.commands).toEqual([ + moveToAddressableAreaHelper({ + pipetteId: p100096Id, + addressableAreaName: '96ChannelWasteChute', + }), + dropTipInPlaceHelper({ pipetteId: p100096Id }), + pickUpTipHelper('A1', { + pipetteId: p100096Id, + labwareId: tiprack5Id, + }), + ]) + }) + }) }) diff --git a/step-generation/src/__tests__/transfer.test.ts b/step-generation/src/__tests__/transfer.test.ts index 82a0ae78c9b..faf02db8e43 100644 --- a/step-generation/src/__tests__/transfer.test.ts +++ b/step-generation/src/__tests__/transfer.test.ts @@ -19,14 +19,17 @@ import { SOURCE_LABWARE, makeDispenseAirGapHelper, AIR_GAP_META, + dropTipInPlaceHelper, + moveToAddressableAreaHelper, } from '../fixtures' -import { FIXED_TRASH_ID } from '..' +import { FIXED_TRASH_ID } from '../constants' import { DEST_WELL_BLOWOUT_DESTINATION, SOURCE_WELL_BLOWOUT_DESTINATION, } from '../utils/misc' import { transfer } from '../commandCreators/compound/transfer' import type { InvariantContext, RobotState, TransferArgs } from '../types' +import { WASTE_CHUTE_CUTOUT } from '@opentrons/shared-data' const airGapHelper = makeAirGapHelper({ wellLocation: { @@ -109,6 +112,40 @@ describe('pick up tip if no tip on pipette', () => { expect(res.commands[0]).toEqual(pickUpTipHelper('A1')) }) }) + it('...once, drop tip in waste chute', () => { + invariantContext = { + ...invariantContext, + additionalEquipmentEntities: { + wasteChuteId: { + name: 'wasteChute', + id: 'wasteChuteId', + location: 'cutoutD3', + }, + }, + } + + noTipArgs = { + ...noTipArgs, + changeTip: 'always', + dropTipLocation: 'wasteChuteId', + dispenseAirGapVolume: 5, + } as TransferArgs + + const result = transfer(noTipArgs, invariantContext, robotStateWithTip) + + const res = getSuccessResult(result) + + expect(res.commands).toEqual([ + pickUpTipHelper('A1'), + aspirateHelper('A1', 30), + dispenseHelper('B2', 30), + airGapHelper('B2', 5, { labwareId: 'destPlateId' }), + moveToAddressableAreaHelper({ + addressableAreaName: '1and8ChannelWasteChute', + }), + dropTipInPlaceHelper(), + ]) + }) it('...never (should not pick up tip, and fail)', () => { noTipArgs = { @@ -151,6 +188,63 @@ test('single transfer: 1 source & 1 dest', () => { ]) }) +test('single transfer: 1 source & 1 dest with waste chute', () => { + const mockWasteChuteId = 'mockWasteChuteId' + + mixinArgs = { + ...mixinArgs, + destLabware: mockWasteChuteId, + sourceWells: ['A1'], + destWells: null, + changeTip: 'never', + volume: 30, + } + + invariantContext = { + ...invariantContext, + additionalEquipmentEntities: { + mockWasteChuteId: { + name: 'wasteChute', + id: mockWasteChuteId, + location: WASTE_CHUTE_CUTOUT, + }, + }, + } + robotStateWithTip.liquidState.additionalEquipment.mockWasteChuteId = { + '0': { volume: 200 }, + } + robotStateWithTip.liquidState.labware.sourcePlateId.A1 = { + '0': { volume: 200 }, + } + + const result = transfer( + mixinArgs as TransferArgs, + invariantContext, + robotStateWithTip + ) + const res = getSuccessResult(result) + expect(res.commands).toEqual([ + aspirateHelper('A1', 30), + { + commandType: 'moveToAddressableArea', + key: expect.any(String), + params: { + addressableAreaName: '1and8ChannelWasteChute', + pipetteId: 'p300SingleId', + }, + }, + { + commandType: 'dispenseInPlace', + key: expect.any(String), + params: { + flowRate: 2.2, + pipetteId: 'p300SingleId', + volume: 30, + }, + }, + ]) +}) + test('transfer with multiple sets of wells', () => { mixinArgs = { ...mixinArgs, diff --git a/step-generation/src/__tests__/wasteChuteCommandsUtil.test.ts b/step-generation/src/__tests__/wasteChuteCommandsUtil.test.ts index b202fd2e33d..77e07caaa85 100644 --- a/step-generation/src/__tests__/wasteChuteCommandsUtil.test.ts +++ b/step-generation/src/__tests__/wasteChuteCommandsUtil.test.ts @@ -1,4 +1,4 @@ -import { WASTE_CHUTE_SLOT } from '@opentrons/shared-data' +import { WASTE_CHUTE_CUTOUT } from '@opentrons/shared-data' import { getInitialRobotStateStandard, makeContext, @@ -8,6 +8,8 @@ import { import { wasteChuteCommandsUtil } from '../utils/wasteChuteCommandsUtil' import type { InvariantContext, RobotState, PipetteEntities } from '../types' +jest.mock('../getNextRobotStateAndWarnings/dispenseUpdateLiquidState') + const mockWasteChuteId = 'mockWasteChuteId' const mockAddressableAreaName = 'mockName' const mockId = 'mockId' @@ -44,7 +46,7 @@ describe('wasteChuteCommandsUtil', () => { additionalEquipmentEntities: { [mockWasteChuteId]: { name: 'wasteChute', - location: WASTE_CHUTE_SLOT, + location: WASTE_CHUTE_CUTOUT, id: 'mockId', }, }, @@ -114,6 +116,30 @@ describe('wasteChuteCommandsUtil', () => { }, ]) }) + it('returns correct commands for air gap/aspirate in place', () => { + initialRobotState.tipState.pipettes[mockId] = true + const result = wasteChuteCommandsUtil( + { + ...args, + type: 'airGap', + }, + invariantContext, + initialRobotState + ) + const res = getSuccessResult(result) + expect(res.commands).toEqual([ + mockMoveToAddressableArea, + { + commandType: 'aspirateInPlace', + key: expect.any(String), + params: { + pipetteId: mockId, + volume: 10, + flowRate: 10, + }, + }, + ]) + }) it('returns no pip attached error', () => { const result = wasteChuteCommandsUtil( { diff --git a/step-generation/src/commandCreators/atomic/aspirate.ts b/step-generation/src/commandCreators/atomic/aspirate.ts index e32c017ef2a..efc734275f9 100644 --- a/step-generation/src/commandCreators/atomic/aspirate.ts +++ b/step-generation/src/commandCreators/atomic/aspirate.ts @@ -12,6 +12,7 @@ import { getIsHeaterShakerNorthSouthOfNonTiprackWithMultiChannelPipette, uuid, } from '../../utils' +import { COLUMN_4_SLOTS } from '../../constants' import type { CreateCommand } from '@opentrons/shared-data' import type { AspirateParams } from '@opentrons/shared-data/protocol/types/schemaV3' import type { CommandCreator, CommandCreatorError } from '../../types' @@ -64,6 +65,10 @@ export const aspirate: CommandCreator = ( errors.push(errorCreators.labwareOffDeck()) } + if (COLUMN_4_SLOTS.includes(slotName)) { + errors.push(errorCreators.pipettingIntoColumn4({ typeOfStep: actionName })) + } + if ( modulePipetteCollision({ pipette, diff --git a/step-generation/src/commandCreators/atomic/aspirateInPlace.ts b/step-generation/src/commandCreators/atomic/aspirateInPlace.ts new file mode 100644 index 00000000000..33d9dd3c0cb --- /dev/null +++ b/step-generation/src/commandCreators/atomic/aspirateInPlace.ts @@ -0,0 +1,30 @@ +import { uuid } from '../../utils' +import type { CommandCreator } from '../../types' +export interface AspirateInPlaceArgs { + pipetteId: string + volume: number + flowRate: number +} + +export const aspirateInPlace: CommandCreator = ( + args, + invariantContext, + prevRobotState +) => { + const { pipetteId, volume, flowRate } = args + + const commands = [ + { + commandType: 'aspirateInPlace' as const, + key: uuid(), + params: { + pipetteId, + volume, + flowRate, + }, + }, + ] + return { + commands, + } +} diff --git a/step-generation/src/commandCreators/atomic/blowout.ts b/step-generation/src/commandCreators/atomic/blowout.ts index 7fbd13a56df..497257a98d6 100644 --- a/step-generation/src/commandCreators/atomic/blowout.ts +++ b/step-generation/src/commandCreators/atomic/blowout.ts @@ -1,8 +1,9 @@ -import { uuid } from '../../utils' +import { uuid, getLabwareSlot } from '../../utils' +import { COLUMN_4_SLOTS } from '../../constants' import * as errorCreators from '../../errorCreators' +import type { CreateCommand } from '@opentrons/shared-data' import type { BlowoutParams } from '@opentrons/shared-data/protocol/types/schemaV3' import type { CommandCreatorError, CommandCreator } from '../../types' -import { CreateCommand } from '@opentrons/shared-data' export const blowout: CommandCreator = ( args, @@ -14,7 +15,11 @@ export const blowout: CommandCreator = ( const actionName = 'blowout' const errors: CommandCreatorError[] = [] const pipetteData = prevRobotState.pipettes[pipette] - + const slotName = getLabwareSlot( + labware, + prevRobotState.labware, + prevRobotState.modules + ) // TODO Ian 2018-04-30 this logic using command creator args + robotstate to push errors // is duplicated across several command creators (eg aspirate & blowout overlap). // You can probably make higher-level error creator util fns to be more DRY @@ -45,10 +50,14 @@ export const blowout: CommandCreator = ( labware, }) ) - } else if (prevRobotState.labware[labware].slot === 'offDeck') { + } else if (prevRobotState.labware[labware]?.slot === 'offDeck') { errors.push(errorCreators.labwareOffDeck()) } + if (COLUMN_4_SLOTS.includes(slotName)) { + errors.push(errorCreators.pipettingIntoColumn4({ typeOfStep: actionName })) + } + if (errors.length > 0) { return { errors, diff --git a/step-generation/src/commandCreators/atomic/dispense.ts b/step-generation/src/commandCreators/atomic/dispense.ts index c8ddfe1dc96..58c7019fe75 100644 --- a/step-generation/src/commandCreators/atomic/dispense.ts +++ b/step-generation/src/commandCreators/atomic/dispense.ts @@ -11,6 +11,7 @@ import { getIsHeaterShakerNorthSouthOfNonTiprackWithMultiChannelPipette, uuid, } from '../../utils' +import { COLUMN_4_SLOTS } from '../../constants' import type { CreateCommand } from '@opentrons/shared-data' import type { DispenseParams } from '@opentrons/shared-data/protocol/types/schemaV3' import type { CommandCreator, CommandCreatorError } from '../../types' @@ -80,10 +81,14 @@ export const dispense: CommandCreator = ( labware, }) ) - } else if (prevRobotState.labware[labware].slot === 'offDeck') { + } else if (prevRobotState.labware[labware]?.slot === 'offDeck') { errors.push(errorCreators.labwareOffDeck()) } + if (COLUMN_4_SLOTS.includes(slotName)) { + errors.push(errorCreators.pipettingIntoColumn4({ typeOfStep: actionName })) + } + if ( thermocyclerPipetteCollision( prevRobotState.modules, diff --git a/step-generation/src/commandCreators/atomic/index.ts b/step-generation/src/commandCreators/atomic/index.ts index 5674211fad0..3a6aeae7c16 100644 --- a/step-generation/src/commandCreators/atomic/index.ts +++ b/step-generation/src/commandCreators/atomic/index.ts @@ -1,4 +1,5 @@ import { aspirate } from './aspirate' +import { aspirateInPlace } from './aspirateInPlace' import { blowout } from './blowout' import { blowOutInPlace } from './blowOutInPlace' import { deactivateTemperature } from './deactivateTemperature' @@ -19,6 +20,7 @@ import { touchTip } from './touchTip' import { waitForTemperature } from './waitForTemperature' export { aspirate, + aspirateInPlace, blowout, blowOutInPlace, deactivateTemperature, diff --git a/step-generation/src/commandCreators/atomic/moveLabware.ts b/step-generation/src/commandCreators/atomic/moveLabware.ts index 7f0d4d823a8..46962e1bb76 100644 --- a/step-generation/src/commandCreators/atomic/moveLabware.ts +++ b/step-generation/src/commandCreators/atomic/moveLabware.ts @@ -3,7 +3,6 @@ import { HEATERSHAKER_MODULE_TYPE, LabwareMovementStrategy, THERMOCYCLER_MODULE_TYPE, - WASTE_CHUTE_SLOT, } from '@opentrons/shared-data' import * as errorCreators from '../../errorCreators' import * as warningCreators from '../../warningCreators' @@ -28,6 +27,7 @@ export const moveLabware: CommandCreator = ( ) => { const { labware, useGripper, newLocation } = args const { additionalEquipmentEntities } = invariantContext + const hasWasteChute = getHasWasteChute(additionalEquipmentEntities) const tiprackHasTip = prevRobotState.tipState != null ? getTiprackHasTips(prevRobotState.tipState, labware) @@ -43,8 +43,12 @@ export const moveLabware: CommandCreator = ( const newLocationInWasteChute = newLocation !== 'offDeck' && - 'slotName' in newLocation && - newLocation.slotName === WASTE_CHUTE_SLOT + 'addressableAreaName' in newLocation && + newLocation.addressableAreaName === 'gripperWasteChute' + + const hasGripper = Object.values(additionalEquipmentEntities).find( + aE => aE.name === 'gripper' + ) if (!labware || !prevRobotState.labware[labware]) { errors.push( @@ -57,6 +61,13 @@ export const moveLabware: CommandCreator = ( errors.push(errorCreators.labwareOffDeck()) } + if ( + (newLocationInWasteChute && hasGripper && !useGripper) || + (!hasGripper && useGripper) + ) { + errors.push(errorCreators.gripperRequired()) + } + const initialLabwareSlot = prevRobotState.labware[labware]?.slot const initialAdapterSlot = prevRobotState.labware[initialLabwareSlot]?.slot const initialSlot = @@ -99,17 +110,9 @@ export const moveLabware: CommandCreator = ( errors.push(errorCreators.labwareOffDeck()) } - if ( - tiprackHasTip && - newLocationInWasteChute && - getHasWasteChute(additionalEquipmentEntities) - ) { + if (tiprackHasTip && newLocationInWasteChute && hasWasteChute) { warnings.push(warningCreators.tiprackInWasteChuteHasTips()) - } else if ( - labwareHasLiquid && - newLocationInWasteChute && - getHasWasteChute(additionalEquipmentEntities) - ) { + } else if (labwareHasLiquid && newLocationInWasteChute && hasWasteChute) { warnings.push(warningCreators.labwareInWasteChuteHasLiquid()) } @@ -154,6 +157,7 @@ export const moveLabware: CommandCreator = ( params, }, ] + return { commands, warnings: warnings.length > 0 ? warnings : undefined, diff --git a/step-generation/src/commandCreators/atomic/moveToWell.ts b/step-generation/src/commandCreators/atomic/moveToWell.ts index bf2369509cc..e16f1cff417 100644 --- a/step-generation/src/commandCreators/atomic/moveToWell.ts +++ b/step-generation/src/commandCreators/atomic/moveToWell.ts @@ -11,6 +11,7 @@ import { getIsHeaterShakerNorthSouthOfNonTiprackWithMultiChannelPipette, uuid, } from '../../utils' +import { COLUMN_4_SLOTS } from '../../constants' import type { CreateCommand } from '@opentrons/shared-data' import type { MoveToWellParams as v5MoveToWellParams } from '@opentrons/shared-data/protocol/types/schemaV5' import type { MoveToWellParams as v6MoveToWellParams } from '@opentrons/shared-data/protocol/types/schemaV6/command/gantry' @@ -58,6 +59,12 @@ export const moveToWell: CommandCreator = ( errors.push(errorCreators.labwareOffDeck()) } + if (COLUMN_4_SLOTS.includes(slotName)) { + errors.push( + errorCreators.pipettingIntoColumn4({ typeOfStep: 'move to well' }) + ) + } + if ( modulePipetteCollision({ pipette, diff --git a/step-generation/src/commandCreators/atomic/replaceTip.ts b/step-generation/src/commandCreators/atomic/replaceTip.ts index cf59d1341d2..49fa2fbe626 100644 --- a/step-generation/src/commandCreators/atomic/replaceTip.ts +++ b/step-generation/src/commandCreators/atomic/replaceTip.ts @@ -1,5 +1,6 @@ import { getNextTiprack } from '../../robotStateSelectors' import * as errorCreators from '../../errorCreators' +import { COLUMN_4_SLOTS } from '../../constants' import { dropTip } from './dropTip' import { curryCommandCreator, @@ -10,12 +11,14 @@ import { pipetteAdjacentHeaterShakerWhileShaking, getIsHeaterShakerEastWestWithLatchOpen, getIsHeaterShakerEastWestMultiChannelPipette, + wasteChuteCommandsUtil, } from '../../utils' import type { CommandCreatorError, CurriedCommandCreator, CommandCreator, } from '../../types' +import { movableTrashCommandsUtil } from '../../utils/movableTrashCommandsUtil' interface PickUpTipArgs { pipette: string tiprack: string @@ -37,6 +40,11 @@ const _pickUpTip: CommandCreator = ( if (adapterId == null && pipetteName === 'p1000_96') { errors.push(errorCreators.missingAdapter()) } + if (COLUMN_4_SLOTS.includes(tiprackSlot)) { + errors.push( + errorCreators.pipettingIntoColumn4({ typeOfStep: 'pick up tip' }) + ) + } if (errors.length > 0) { return { errors } @@ -98,6 +106,16 @@ export const replaceTip: CommandCreator = ( const labwareDef = invariantContext.labwareEntities[nextTiprack.tiprackId]?.def + const isWasteChute = + invariantContext.additionalEquipmentEntities[dropTipLocation] != null && + invariantContext.additionalEquipmentEntities[dropTipLocation].name === + 'wasteChute' + + const isTrashBin = + invariantContext.additionalEquipmentEntities[dropTipLocation] != null && + invariantContext.additionalEquipmentEntities[dropTipLocation].name === + 'trashBin' + if (!labwareDef) { return { errors: [ @@ -158,7 +176,12 @@ export const replaceTip: CommandCreator = ( } } - const commandCreators: CurriedCommandCreator[] = [ + const wasteChuteAddressableAreaName = + pipetteSpec.channels === 96 + ? '96ChannelWasteChute' + : '1and8ChannelWasteChute' + + let commandCreators: CurriedCommandCreator[] = [ curryCommandCreator(dropTip, { pipette, dropTipLocation, @@ -169,6 +192,33 @@ export const replaceTip: CommandCreator = ( well: nextTiprack.well, }), ] + if (isWasteChute) { + commandCreators = [ + curryCommandCreator(wasteChuteCommandsUtil, { + type: 'dropTip', + pipetteId: pipette, + addressableAreaName: wasteChuteAddressableAreaName, + }), + curryCommandCreator(_pickUpTip, { + pipette, + tiprack: nextTiprack.tiprackId, + well: nextTiprack.well, + }), + ] + } + if (isTrashBin) { + commandCreators = [ + curryCommandCreator(movableTrashCommandsUtil, { + type: 'dropTip', + pipetteId: pipette, + }), + curryCommandCreator(_pickUpTip, { + pipette, + tiprack: nextTiprack.tiprackId, + well: nextTiprack.well, + }), + ] + } return reduceCommandCreators( commandCreators, diff --git a/step-generation/src/commandCreators/compound/consolidate.ts b/step-generation/src/commandCreators/compound/consolidate.ts index d07841cb579..4a8d7fd4da5 100644 --- a/step-generation/src/commandCreators/compound/consolidate.ts +++ b/step-generation/src/commandCreators/compound/consolidate.ts @@ -8,12 +8,16 @@ import { blowoutUtil, curryCommandCreator, reduceCommandCreators, + wasteChuteCommandsUtil, + getWasteChuteOrLabware, + airGapHelper, + dispenseLocationHelper, + moveHelper, } from '../../utils' import { configureForVolume } from '../atomic/configureForVolume' import { aspirate, delay, - dispense, dropTip, moveToWell, replaceTip, @@ -90,12 +94,37 @@ export const consolidate: CommandCreator = ( ) const sourceLabwareDef = invariantContext.labwareEntities[args.sourceLabware].def - const destLabwareDef = invariantContext.labwareEntities[args.destLabware].def - const airGapOffsetDestWell = - getWellDepth(destLabwareDef, args.destWell) + AIR_GAP_OFFSET_FROM_TOP + + const wasteChuteOrLabware = getWasteChuteOrLabware( + invariantContext.labwareEntities, + invariantContext.additionalEquipmentEntities, + args.destLabware + ) + + const destinationWell = args.destWell + + const destLabwareDef = + wasteChuteOrLabware === 'labware' + ? invariantContext.labwareEntities[args.destLabware].def + : null + const wellDepth = + destLabwareDef != null && destinationWell != null + ? getWellDepth(destLabwareDef, destinationWell) + : 0 + const airGapOffsetDestWell = wellDepth + AIR_GAP_OFFSET_FROM_TOP const sourceWellChunks = chunk(args.sourceWells, maxWellsPerChunk) + const isWasteChute = + invariantContext.additionalEquipmentEntities[args.dropTipLocation] != + null && + invariantContext.additionalEquipmentEntities[args.dropTipLocation].name === + 'wasteChute' + const addressableAreaNameWasteChute = + invariantContext.pipetteEntities[args.pipette].spec.channels === 96 + ? '96ChannelWasteChute' + : '1and8ChannelWasteChute' + const commandCreators = flatMap( sourceWellChunks, ( @@ -194,17 +223,19 @@ export const consolidate: CommandCreator = ( }), ] } - - const touchTipAfterDispenseCommands: CurriedCommandCreator[] = args.touchTipAfterDispense - ? [ - curryCommandCreator(touchTip, { - pipette: args.pipette, - labware: args.destLabware, - well: args.destWell, - offsetFromBottomMm: args.touchTipAfterDispenseOffsetMmFromBottom, - }), - ] - : [] + // can not touch tip in a waste chute + const touchTipAfterDispenseCommands: CurriedCommandCreator[] = + args.touchTipAfterDispense && destinationWell != null + ? [ + curryCommandCreator(touchTip, { + pipette: args.pipette, + labware: args.destLabware, + well: destinationWell, + offsetFromBottomMm: + args.touchTipAfterDispenseOffsetMmFromBottom, + }), + ] + : [] const mixBeforeCommands = mixFirstAspirate != null ? mixUtil({ @@ -236,12 +267,13 @@ export const consolidate: CommandCreator = ( dispenseDelaySeconds: dispenseDelay?.seconds, }) : [] + // can not mix in a waste chute const mixAfterCommands = - mixInDestination != null + mixInDestination != null && destinationWell != null ? mixUtil({ pipette: args.pipette, labware: args.destLabware, - well: args.destWell, + well: destinationWell, volume: mixInDestination.volume, times: mixInDestination.times, aspirateOffsetFromBottomMm: dispenseOffsetFromBottomMm, @@ -252,18 +284,41 @@ export const consolidate: CommandCreator = ( dispenseDelaySeconds: dispenseDelay?.seconds, }) : [] + + const configureForVolumeCommand: CurriedCommandCreator[] = + invariantContext.pipetteEntities[args.pipette].name === + 'p50_single_flex' || + invariantContext.pipetteEntities[args.pipette].name === 'p50_multi_flex' + ? [ + curryCommandCreator(configureForVolume, { + pipetteId: args.pipette, + volume: + args.volume * sourceWellChunk.length + + aspirateAirGapVolume * sourceWellChunk.length, + }), + ] + : [] + const dispenseCommands = [ + curryCommandCreator(dispenseLocationHelper, { + pipetteId: args.pipette, + volume: + args.volume * sourceWellChunk.length + + aspirateAirGapVolume * sourceWellChunk.length, + destinationId: args.destLabware, + well: destinationWell ?? undefined, + flowRate: dispenseFlowRateUlSec, + offsetFromBottomMm: dispenseOffsetFromBottomMm, + }), + ] + const delayAfterDispenseCommands = dispenseDelay != null ? [ - curryCommandCreator(moveToWell, { - pipette: args.pipette, - labware: args.destLabware, - well: args.destWell, - offset: { - x: 0, - y: 0, - z: dispenseDelay.mmFromBottom, - }, + curryCommandCreator(moveHelper, { + pipetteId: args.pipette, + destinationId: args.destLabware, + well: destinationWell ?? undefined, + zOffset: dispenseDelay.mmFromBottom, }), curryCommandCreator(delay, { commandCreatorFnName: 'delay', @@ -274,18 +329,30 @@ export const consolidate: CommandCreator = ( }), ] : [] + + const blowoutCommand = blowoutUtil({ + pipette: args.pipette, + sourceLabwareId: args.sourceLabware, + sourceWell: sourceWellChunk[0], + destLabwareId: args.destLabware, + destWell: destinationWell, + blowoutLocation: args.blowoutLocation, + flowRate: blowoutFlowRateUlSec, + offsetFromTopMm: blowoutOffsetFromTopMm, + invariantContext, + }) + const willReuseTip = args.changeTip !== 'always' && !isLastChunk const airGapAfterDispenseCommands = dispenseAirGapVolume && !willReuseTip ? [ - curryCommandCreator(aspirate, { - pipette: args.pipette, + curryCommandCreator(airGapHelper, { + pipetteId: args.pipette, volume: dispenseAirGapVolume, - labware: args.destLabware, - well: args.destWell, + destinationId: args.destLabware, + destWell: destinationWell, flowRate: aspirateFlowRateUlSec, offsetFromBottomMm: airGapOffsetDestWell, - isAirGap: true, }), ...(aspirateDelay != null ? [ @@ -300,41 +367,21 @@ export const consolidate: CommandCreator = ( : []), ] : [] + + const dropTipCommand = isWasteChute + ? curryCommandCreator(wasteChuteCommandsUtil, { + type: 'dropTip', + pipetteId: args.pipette, + addressableAreaName: addressableAreaNameWasteChute, + }) + : curryCommandCreator(dropTip, { + pipette: args.pipette, + dropTipLocation: args.dropTipLocation, + }) + // if using dispense > air gap, drop or change the tip at the end const dropTipAfterDispenseAirGap = - airGapAfterDispenseCommands.length > 0 - ? [ - curryCommandCreator(dropTip, { - pipette: args.pipette, - dropTipLocation: dropTipLocation, - }), - ] - : [] - const blowoutCommand = blowoutUtil({ - pipette: args.pipette, - sourceLabwareId: args.sourceLabware, - sourceWell: sourceWellChunk[0], - destLabwareId: args.destLabware, - destWell: args.destWell, - blowoutLocation: args.blowoutLocation, - flowRate: blowoutFlowRateUlSec, - offsetFromTopMm: blowoutOffsetFromTopMm, - invariantContext, - }) - - const configureForVolumeCommand: CurriedCommandCreator[] = - invariantContext.pipetteEntities[args.pipette].name === - 'p50_single_flex' || - invariantContext.pipetteEntities[args.pipette].name === 'p50_multi_flex' - ? [ - curryCommandCreator(configureForVolume, { - pipetteId: args.pipette, - volume: - args.volume * sourceWellChunk.length + - aspirateAirGapVolume * sourceWellChunk.length, - }), - ] - : [] + airGapAfterDispenseCommands.length > 0 ? [dropTipCommand] : [] return [ ...tipCommands, @@ -342,16 +389,7 @@ export const consolidate: CommandCreator = ( ...preWetTipCommands, // NOTE when you both mix-before and pre-wet tip, it's kinda redundant. Prewet is like mixing once. ...configureForVolumeCommand, ...aspirateCommands, - curryCommandCreator(dispense, { - pipette: args.pipette, - volume: - args.volume * sourceWellChunk.length + - aspirateAirGapVolume * sourceWellChunk.length, - labware: args.destLabware, - well: args.destWell, - flowRate: dispenseFlowRateUlSec, - offsetFromBottomMm: dispenseOffsetFromBottomMm, - }), + ...dispenseCommands, ...delayAfterDispenseCommands, ...mixAfterCommands, ...touchTipAfterDispenseCommands, diff --git a/step-generation/src/commandCreators/compound/transfer.ts b/step-generation/src/commandCreators/compound/transfer.ts index 962885376b1..db2584628e0 100644 --- a/step-generation/src/commandCreators/compound/transfer.ts +++ b/step-generation/src/commandCreators/compound/transfer.ts @@ -7,8 +7,12 @@ import { getPipetteWithTipMaxVol } from '../../robotStateSelectors' import { blowoutUtil, curryCommandCreator, - getDispenseAirGapLocation, + airGapHelper, reduceCommandCreators, + wasteChuteCommandsUtil, + getWasteChuteOrLabware, + dispenseLocationHelper, + moveHelper, } from '../../utils' import { aspirate, @@ -49,10 +53,29 @@ export const transfer: CommandCreator = ( * 'perDest': change tip each time you encounter a new destination well (including the first one) NOTE: In some situations, different changeTip options have equivalent outcomes. That's OK. */ - assert( - args.sourceWells.length === args.destWells.length, - `Transfer command creator expected N:N source-to-dest wells ratio. Got ${args.sourceWells.length}:${args.destWells.length}` + + const wasteChuteOrLabware = getWasteChuteOrLabware( + invariantContext.labwareEntities, + invariantContext.additionalEquipmentEntities, + args.destLabware ) + + if ( + (wasteChuteOrLabware === 'labware' && + args.destWells != null && + args.sourceWells.length === args.destWells.length) || + (wasteChuteOrLabware === 'wasteChute' && + args.destWells == null && + args.sourceWells.length >= 1) + ) { + // No assertion failure, continue with the logic + } else { + assert( + false, + `Transfer command creator expected N:N source-to-dest wells ratio. Got ${args.sourceWells.length}:${args.destWells?.length} in labware` + ) + } + // TODO Ian 2018-04-02 following ~10 lines are identical to first lines of consolidate.js... const actionName = 'transfer' const errors: CommandCreatorError[] = [] @@ -91,6 +114,18 @@ export const transfer: CommandCreator = ( errors, } const pipetteSpec = invariantContext.pipetteEntities[args.pipette].spec + + const isWasteChute = + invariantContext.additionalEquipmentEntities[args.dropTipLocation] != + null && + invariantContext.additionalEquipmentEntities[args.dropTipLocation].name === + 'wasteChute' + + const addressableAreaNameWasteChute = + pipetteSpec.channels === 96 + ? '96ChannelWasteChute' + : '1and8ChannelWasteChute' + // TODO: BC 2019-07-08 these argument names are a bit misleading, instead of being values bound // to the action of aspiration of dispensing in a given command, they are actually values bound // to a given labware associated with a command (e.g. Source, Destination). For this reason we @@ -128,8 +163,9 @@ export const transfer: CommandCreator = ( .concat(splitLastVol) .concat(splitLastVol) } + // @ts-expect-error(SA, 2021-05-05): zip can return undefined so this really should be Array<[string | undefined, string | undefined]> - const sourceDestPairs: Array<[string, string]> = zip( + const sourceDestPairs: Array<[string, string | null]> = zip( args.sourceWells, args.destWells ) @@ -138,18 +174,23 @@ export const transfer: CommandCreator = ( const commandCreators = sourceDestPairs.reduce( ( outerAcc: CurriedCommandCreator[], - wellPair: [string, string], + wellPair: [string, string | null], pairIdx: number ): CurriedCommandCreator[] => { - const [sourceWell, destWell] = wellPair + const [sourceWell, destinationWell] = wellPair const sourceLabwareDef = invariantContext.labwareEntities[args.sourceLabware].def const destLabwareDef = - invariantContext.labwareEntities[args.destLabware].def + wasteChuteOrLabware === 'labware' + ? invariantContext.labwareEntities[args.destLabware].def + : null + const wellDepth = + destinationWell != null && destLabwareDef != null + ? getWellDepth(destLabwareDef, destinationWell) + : 0 const airGapOffsetSourceWell = getWellDepth(sourceLabwareDef, sourceWell) + AIR_GAP_OFFSET_FROM_TOP - const airGapOffsetDestWell = - getWellDepth(destLabwareDef, destWell) + AIR_GAP_OFFSET_FROM_TOP + const airGapOffsetDestWell = wellDepth + AIR_GAP_OFFSET_FROM_TOP const commands = subTransferVolumes.reduce( ( innerAcc: CurriedCommandCreator[], @@ -168,7 +209,8 @@ export const transfer: CommandCreator = ( } else if (args.changeTip === 'perSource') { changeTipNow = sourceWell !== prevSourceWell } else if (args.changeTip === 'perDest') { - changeTipNow = isInitialSubtransfer || destWell !== prevDestWell + changeTipNow = + isInitialSubtransfer || destinationWell !== prevDestWell } const configureForVolumeCommand: CurriedCommandCreator[] = @@ -257,23 +299,26 @@ export const transfer: CommandCreator = ( }), ] : [] - const touchTipAfterDispenseCommands = args.touchTipAfterDispense - ? [ - curryCommandCreator(touchTip, { - pipette: args.pipette, - labware: args.destLabware, - well: destWell, - offsetFromBottomMm: - args.touchTipAfterDispenseOffsetMmFromBottom, - }), - ] - : [] + // can not touch tip in a waste chute + const touchTipAfterDispenseCommands = + args.touchTipAfterDispense && destinationWell != null + ? [ + curryCommandCreator(touchTip, { + pipette: args.pipette, + labware: args.destLabware, + well: destinationWell, + offsetFromBottomMm: + args.touchTipAfterDispenseOffsetMmFromBottom, + }), + ] + : [] + // can not mix in a waste chute const mixInDestinationCommands = - args.mixInDestination != null + args.mixInDestination != null && destinationWell != null ? mixUtil({ pipette: args.pipette, labware: args.destLabware, - well: destWell, + well: destinationWell, volume: args.mixInDestination.volume, times: args.mixInDestination.times, aspirateOffsetFromBottomMm: dispenseOffsetFromBottomMm, @@ -284,72 +329,52 @@ export const transfer: CommandCreator = ( dispenseDelaySeconds: dispenseDelay?.seconds, }) : [] - const delayAfterDispenseCommands = - dispenseDelay != null + + const airGapAfterAspirateCommands = + aspirateAirGapVolume && destinationWell != null ? [ - curryCommandCreator(moveToWell, { + curryCommandCreator(aspirate, { pipette: args.pipette, - labware: args.destLabware, - well: destWell, - offset: { - x: 0, - y: 0, - z: dispenseDelay.mmFromBottom, - }, + volume: aspirateAirGapVolume, + labware: args.sourceLabware, + well: sourceWell, + flowRate: aspirateFlowRateUlSec, + offsetFromBottomMm: airGapOffsetSourceWell, + isAirGap: true, }), - curryCommandCreator(delay, { - commandCreatorFnName: 'delay', - description: null, - name: null, - meta: null, - wait: dispenseDelay.seconds, + ...(aspirateDelay != null + ? [ + curryCommandCreator(delay, { + commandCreatorFnName: 'delay', + description: null, + name: null, + meta: null, + wait: aspirateDelay.seconds, + }), + ] + : []), + curryCommandCreator(dispense, { + pipette: args.pipette, + volume: aspirateAirGapVolume, + labware: args.destLabware, + well: destinationWell, + flowRate: dispenseFlowRateUlSec, + offsetFromBottomMm: airGapOffsetDestWell, + isAirGap: true, }), + ...(dispenseDelay != null + ? [ + curryCommandCreator(delay, { + commandCreatorFnName: 'delay', + description: null, + name: null, + meta: null, + wait: dispenseDelay.seconds, + }), + ] + : []), ] : [] - const airGapAfterAspirateCommands = aspirateAirGapVolume - ? [ - curryCommandCreator(aspirate, { - pipette: args.pipette, - volume: aspirateAirGapVolume, - labware: args.sourceLabware, - well: sourceWell, - flowRate: aspirateFlowRateUlSec, - offsetFromBottomMm: airGapOffsetSourceWell, - isAirGap: true, - }), - ...(aspirateDelay != null - ? [ - curryCommandCreator(delay, { - commandCreatorFnName: 'delay', - description: null, - name: null, - meta: null, - wait: aspirateDelay.seconds, - }), - ] - : []), - curryCommandCreator(dispense, { - pipette: args.pipette, - volume: aspirateAirGapVolume, - labware: args.destLabware, - well: destWell, - flowRate: dispenseFlowRateUlSec, - offsetFromBottomMm: airGapOffsetDestWell, - isAirGap: true, - }), - ...(dispenseDelay != null - ? [ - curryCommandCreator(delay, { - commandCreatorFnName: 'delay', - description: null, - name: null, - meta: null, - wait: dispenseDelay.seconds, - }), - ] - : []), - ] - : [] // `willReuseTip` is like changeTipNow, but thinking ahead about // the NEXT subtransfer and not this current one let willReuseTip = true // never or once --> true @@ -365,31 +390,74 @@ export const transfer: CommandCreator = ( willReuseTip = nextSourceWell === sourceWell } else if (args.changeTip === 'perDest' && !isLastPair) { const nextDestWell = sourceDestPairs[pairIdx + 1][1] - willReuseTip = nextDestWell === destWell + willReuseTip = nextDestWell === destinationWell } - // TODO(IL, 2020-10-12): extract this ^ into a util to reuse in distribute/consolidate?? - const { - dispenseAirGapLabware, - dispenseAirGapWell, - } = getDispenseAirGapLocation({ + const aspirateCommand = [ + curryCommandCreator(aspirate, { + pipette: args.pipette, + volume: subTransferVol, + labware: args.sourceLabware, + well: sourceWell, + flowRate: aspirateFlowRateUlSec, + offsetFromBottomMm: aspirateOffsetFromBottomMm, + }), + ] + const dispenseCommand = [ + curryCommandCreator(dispenseLocationHelper, { + pipetteId: args.pipette, + volume: subTransferVol, + destinationId: args.destLabware, + well: destinationWell ?? undefined, + flowRate: dispenseFlowRateUlSec, + offsetFromBottomMm: dispenseOffsetFromBottomMm, + }), + ] + + const delayAfterDispenseCommands = + dispenseDelay != null + ? [ + curryCommandCreator(moveHelper, { + pipetteId: args.pipette, + destinationId: args.destLabware, + well: destinationWell ?? undefined, + zOffset: dispenseDelay.mmFromBottom, + }), + curryCommandCreator(delay, { + commandCreatorFnName: 'delay', + description: null, + name: null, + meta: null, + wait: dispenseDelay.seconds, + }), + ] + : [] + + const blowoutCommand = blowoutUtil({ + pipette: args.pipette, + sourceLabwareId: args.sourceLabware, + sourceWell: sourceWell, + destLabwareId: args.destLabware, + destWell: destinationWell, blowoutLocation: args.blowoutLocation, - sourceLabware: args.sourceLabware, - destLabware: args.destLabware, - sourceWell, - destWell, + flowRate: blowoutFlowRateUlSec, + offsetFromTopMm: blowoutOffsetFromTopMm, + invariantContext, }) + const airGapAfterDispenseCommands = dispenseAirGapVolume && !willReuseTip ? [ - curryCommandCreator(aspirate, { - pipette: args.pipette, + curryCommandCreator(airGapHelper, { + sourceWell, + blowOutLocation: args.blowoutLocation, + sourceId: args.sourceLabware, + pipetteId: args.pipette, volume: dispenseAirGapVolume, - labware: dispenseAirGapLabware, - well: dispenseAirGapWell, + destinationId: args.destLabware, + destWell: destinationWell, flowRate: aspirateFlowRateUlSec, offsetFromBottomMm: airGapOffsetDestWell, - isAirGap: true, }), ...(aspirateDelay != null ? [ @@ -404,51 +472,34 @@ export const transfer: CommandCreator = ( : []), ] : [] + + const dropTipCommand = isWasteChute + ? curryCommandCreator(wasteChuteCommandsUtil, { + type: 'dropTip', + pipetteId: args.pipette, + addressableAreaName: addressableAreaNameWasteChute, + }) + : curryCommandCreator(dropTip, { + pipette: args.pipette, + dropTipLocation: args.dropTipLocation, + }) + // if using dispense > air gap, drop or change the tip at the end const dropTipAfterDispenseAirGap = airGapAfterDispenseCommands.length > 0 && isLastChunk && isLastPair - ? [ - curryCommandCreator(dropTip, { - pipette: args.pipette, - dropTipLocation: args.dropTipLocation, - }), - ] + ? [dropTipCommand] : [] - const blowoutCommand = blowoutUtil({ - pipette: args.pipette, - sourceLabwareId: args.sourceLabware, - sourceWell: sourceWell, - destLabwareId: args.destLabware, - destWell: destWell, - blowoutLocation: args.blowoutLocation, - flowRate: blowoutFlowRateUlSec, - offsetFromTopMm: blowoutOffsetFromTopMm, - invariantContext, - }) + const nextCommands = [ ...tipCommands, ...preWetTipCommands, ...mixBeforeAspirateCommands, ...configureForVolumeCommand, - curryCommandCreator(aspirate, { - pipette: args.pipette, - volume: subTransferVol, - labware: args.sourceLabware, - well: sourceWell, - flowRate: aspirateFlowRateUlSec, - offsetFromBottomMm: aspirateOffsetFromBottomMm, - }), + ...aspirateCommand, ...delayAfterAspirateCommands, ...touchTipAfterAspirateCommands, ...airGapAfterAspirateCommands, - curryCommandCreator(dispense, { - pipette: args.pipette, - volume: subTransferVol, - labware: args.destLabware, - well: destWell, - flowRate: dispenseFlowRateUlSec, - offsetFromBottomMm: dispenseOffsetFromBottomMm, - }), + ...dispenseCommand, ...delayAfterDispenseCommands, ...mixInDestinationCommands, ...touchTipAfterDispenseCommands, @@ -458,7 +509,7 @@ export const transfer: CommandCreator = ( ] // NOTE: side-effecting prevSourceWell = sourceWell - prevDestWell = destWell + prevDestWell = destinationWell return [...innerAcc, ...nextCommands] }, [] diff --git a/step-generation/src/constants.ts b/step-generation/src/constants.ts index 17e278eadc7..63e0f0d4018 100644 --- a/step-generation/src/constants.ts +++ b/step-generation/src/constants.ts @@ -2,6 +2,8 @@ import { MAGNETIC_MODULE_V1, TEMPERATURE_MODULE_V1, } from '@opentrons/shared-data' +import type { ModuleModel } from '@opentrons/shared-data' + // Temperature statuses export const TEMPERATURE_DEACTIVATED: 'TEMPERATURE_DEACTIVATED' = 'TEMPERATURE_DEACTIVATED' @@ -10,7 +12,7 @@ export const TEMPERATURE_AT_TARGET: 'TEMPERATURE_AT_TARGET' = export const TEMPERATURE_APPROACHING_TARGET: 'TEMPERATURE_APPROACHING_TARGET' = 'TEMPERATURE_APPROACHING_TARGET' export const AIR_GAP_OFFSET_FROM_TOP = 1 -export const MODULES_WITH_COLLISION_ISSUES = [ +export const MODULES_WITH_COLLISION_ISSUES: ModuleModel[] = [ MAGNETIC_MODULE_V1, TEMPERATURE_MODULE_V1, ] @@ -18,3 +20,5 @@ export const FIXED_TRASH_ID: 'fixedTrash' = 'fixedTrash' export const OT_2_TRASH_DEF_URI = 'opentrons/opentrons_1_trash_1100ml_fixed/1' export const FLEX_TRASH_DEF_URI = 'opentrons/opentrons_1_trash_3200ml_fixed/1' + +export const COLUMN_4_SLOTS = ['A4', 'B4', 'C4', 'D4'] diff --git a/step-generation/src/errorCreators.ts b/step-generation/src/errorCreators.ts index be1407c2b97..3d6cadc5c57 100644 --- a/step-generation/src/errorCreators.ts +++ b/step-generation/src/errorCreators.ts @@ -211,3 +211,19 @@ export const additionalEquipmentDoesNotExist = (args: { message: `The ${args.additionalEquipment} does not exist`, } } + +export const gripperRequired = (): CommandCreatorError => { + return { + type: 'GRIPPER_REQUIRED', + message: 'The gripper is required to fulfill this action', + } +} + +export const pipettingIntoColumn4 = (args: { + typeOfStep: string +}): CommandCreatorError => { + return { + type: 'PIPETTING_INTO_COLUMN_4', + message: `Cannot ${args.typeOfStep} into a column 4 slot.`, + } +} diff --git a/step-generation/src/fixtures/commandFixtures.ts b/step-generation/src/fixtures/commandFixtures.ts index b3e881fa5e9..2261323f430 100644 --- a/step-generation/src/fixtures/commandFixtures.ts +++ b/step-generation/src/fixtures/commandFixtures.ts @@ -90,6 +90,7 @@ export const getFlowRateAndOffsetParamsMix = (): FlowRateAndOffsetParamsMix => ( // ================= export const DEFAULT_PIPETTE = 'p300SingleId' export const MULTI_PIPETTE = 'p300MultiId' +export const PIPETTE_96 = 'p100096Id' export const SOURCE_LABWARE = 'sourcePlateId' export const DEST_LABWARE = 'destPlateId' export const TROUGH_LABWARE = 'troughId' @@ -310,3 +311,25 @@ export const pickUpTipHelper = ( wellName: typeof tip === 'string' ? tip : tiprackWellNamesFlat[tip], }, }) +export const dropTipInPlaceHelper = (params?: { + pipetteId?: string +}): CreateCommand => ({ + commandType: 'dropTipInPlace', + key: expect.any(String), + params: { + pipetteId: DEFAULT_PIPETTE, + ...params, + }, +}) +export const moveToAddressableAreaHelper = (params?: { + pipetteId?: string + addressableAreaName: string +}): CreateCommand => ({ + commandType: 'moveToAddressableArea', + key: expect.any(String), + params: { + pipetteId: DEFAULT_PIPETTE, + addressableAreaName: '1and8ChannelWasteChute', + ...params, + }, +}) diff --git a/step-generation/src/fixtures/robotStateFixtures.ts b/step-generation/src/fixtures/robotStateFixtures.ts index aa44e110dd3..42b1fa7fa58 100644 --- a/step-generation/src/fixtures/robotStateFixtures.ts +++ b/step-generation/src/fixtures/robotStateFixtures.ts @@ -10,12 +10,15 @@ import { fixtureP10Multi as _fixtureP10Multi, fixtureP300Single as _fixtureP300Single, fixtureP300Multi as _fixtureP300Multi, + fixtureP100096 as _fixtureP100096, } from '@opentrons/shared-data/pipette/fixtures/name' import _fixtureTrash from '@opentrons/shared-data/labware/fixtures/2/fixture_trash.json' import _fixture96Plate from '@opentrons/shared-data/labware/fixtures/2/fixture_96_plate.json' import _fixture12Trough from '@opentrons/shared-data/labware/fixtures/2/fixture_12_trough.json' import _fixtureTiprack10ul from '@opentrons/shared-data/labware/fixtures/2/fixture_tiprack_10_ul.json' import _fixtureTiprack300ul from '@opentrons/shared-data/labware/fixtures/2/fixture_tiprack_300_ul.json' +import _fixtureTiprack1000ul from '@opentrons/shared-data/labware/fixtures/2/fixture_flex_96_tiprack_1000ul.json' +import _fixtureTiprackAdapter from '@opentrons/shared-data/labware/fixtures/2/fixture_flex_96_tiprack_adapter.json' import { TEMPERATURE_APPROACHING_TARGET, TEMPERATURE_AT_TARGET, @@ -26,6 +29,7 @@ import { import { DEFAULT_PIPETTE, MULTI_PIPETTE, + PIPETTE_96, SOURCE_LABWARE, DEST_LABWARE, TROUGH_LABWARE, @@ -47,12 +51,15 @@ const fixtureP10Single = _fixtureP10Single const fixtureP10Multi = _fixtureP10Multi const fixtureP300Single = _fixtureP300Single const fixtureP300Multi = _fixtureP300Multi +const fixtureP100096 = _fixtureP100096 const fixtureTrash = _fixtureTrash as LabwareDefinition2 const fixture96Plate = _fixture96Plate as LabwareDefinition2 const fixture12Trough = _fixture12Trough as LabwareDefinition2 const fixtureTiprack10ul = _fixtureTiprack10ul as LabwareDefinition2 const fixtureTiprack300ul = _fixtureTiprack300ul as LabwareDefinition2 +const fixtureTiprack1000ul = _fixtureTiprack1000ul as LabwareDefinition2 +const fixtureTiprackAdapter = _fixtureTiprackAdapter as LabwareDefinition2 export const DEFAULT_CONFIG: Config = { OT_PD_DISABLE_MODULE_RESTRICTIONS: false, @@ -120,6 +127,30 @@ export function makeContext(): InvariantContext { labwareDefURI: getLabwareDefURI(fixtureTiprack300ul), def: fixtureTiprack300ul, }, + tiprack4AdapterId: { + id: 'tiprack4AdapterId', + + labwareDefURI: getLabwareDefURI(fixtureTiprackAdapter), + def: fixtureTiprackAdapter, + }, + tiprack5AdapterId: { + id: 'tiprack5AdapterId', + + labwareDefURI: getLabwareDefURI(fixtureTiprackAdapter), + def: fixtureTiprackAdapter, + }, + tiprack4Id: { + id: 'tiprack4Id', + + labwareDefURI: getLabwareDefURI(fixtureTiprack1000ul), + def: fixtureTiprack1000ul, + }, + tiprack5Id: { + id: 'tiprack5Id', + + labwareDefURI: getLabwareDefURI(fixtureTiprack1000ul), + def: fixtureTiprack1000ul, + }, } const moduleEntities: ModuleEntities = {} const additionalEquipmentEntities: AdditionalEquipmentEntities = {} @@ -156,6 +187,14 @@ export function makeContext(): InvariantContext { tiprackLabwareDef: fixtureTiprack300ul, spec: fixtureP300Multi, }, + [PIPETTE_96]: { + name: 'p1000_96', + id: PIPETTE_96, + + tiprackDefURI: getLabwareDefURI(fixtureTiprack1000ul), + tiprackLabwareDef: fixtureTiprack1000ul, + spec: fixtureP100096, + }, } return { labwareEntities, @@ -213,6 +252,18 @@ export const makeStateArgsStandard = (): StandardMakeStateArgs => ({ tiprack2Id: { slot: '5', }, + tiprack4AdapterId: { + slot: '7', + }, + tiprack5AdapterId: { + slot: '8', + }, + tiprack4Id: { + slot: 'tiprack4AdapterId', + }, + tiprack5Id: { + slot: 'tiprack5AdapterId', + }, sourcePlateId: { slot: '2', }, diff --git a/step-generation/src/getNextRobotStateAndWarnings/dispenseUpdateLiquidState.ts b/step-generation/src/getNextRobotStateAndWarnings/dispenseUpdateLiquidState.ts index c05b430cb4e..c6e3c5521b2 100644 --- a/step-generation/src/getNextRobotStateAndWarnings/dispenseUpdateLiquidState.ts +++ b/step-generation/src/getNextRobotStateAndWarnings/dispenseUpdateLiquidState.ts @@ -17,12 +17,12 @@ type LiquidState = RobotState['liquidState'] export interface DispenseUpdateLiquidStateArgs { invariantContext: InvariantContext prevLiquidState: LiquidState - labwareId: string pipetteId: string - wellName: string - volume?: number // volume value is required when useFullVolume is false useFullVolume: boolean + wellName?: string + labwareId?: string + volume?: number } /** This is a helper to do dispense/blowout liquid state updates. */ @@ -39,7 +39,25 @@ export function dispenseUpdateLiquidState( wellName, } = args const pipetteSpec = invariantContext.pipetteEntities[pipetteId].spec - const labwareDef = invariantContext.labwareEntities[labwareId].def + const wasteChuteId = Object.values( + invariantContext.additionalEquipmentEntities + ).find(aE => aE.name === 'wasteChute')?.id + const sourceId = + labwareId != null + ? invariantContext.labwareEntities[labwareId].id + : wasteChuteId ?? '' + + if (sourceId === '') { + console.error( + `expected to find a waste chute entity id but could not, with wasteChuteId ${wasteChuteId}` + ) + } + + const well = wellName ?? null + + const labwareDef = + labwareId != null ? invariantContext.labwareEntities[labwareId].def : null + assert( !(useFullVolume && typeof volume === 'number'), 'dispenseUpdateLiquidState takes either `volume` or `useFullVolume`, but got both' @@ -48,12 +66,20 @@ export function dispenseUpdateLiquidState( typeof volume === 'number' || useFullVolume, 'in dispenseUpdateLiquidState, either volume or useFullVolume are required' ) - const { wellsForTips, allWellsShared } = getWellsForTips( - pipetteSpec.channels, - labwareDef, - wellName - ) - const liquidLabware = prevLiquidState.labware[labwareId] + const { wellsForTips, allWellsShared } = + labwareDef != null && wellName != null + ? getWellsForTips(pipetteSpec.channels, labwareDef, wellName) + : { wellsForTips: null, allWellsShared: true } + + const liquidLabware = + prevLiquidState.labware[sourceId] != null + ? prevLiquidState.labware[sourceId] + : null + const liquidWasteChute = + prevLiquidState.additionalEquipment[sourceId] != null + ? prevLiquidState.additionalEquipment[sourceId] + : null + // remove liquid from pipette tips, // create intermediate object where sources are updated tip liquid states // and dests are "droplets" that need to be merged to dest well contents @@ -73,35 +99,73 @@ export function dispenseUpdateLiquidState( return splitLiquid(volume || 0, prevTipLiquidState) } ) - const mergeLiquidtoSingleWell = { - [wellName]: reduce( + + let mergeLiquidtoSingleWell = null + if (well != null && liquidLabware != null) { + mergeLiquidtoSingleWell = { + [well]: reduce( + splitLiquidStates, + (wellLiquidStateAcc, splitLiquidStateForTip: SourceAndDest) => { + const res = mergeLiquid( + wellLiquidStateAcc, + splitLiquidStateForTip.dest + ) + return res + }, + liquidLabware[well] + ), + } + } + + if (well == null && liquidWasteChute != null) { + mergeLiquidtoSingleWell = reduce( splitLiquidStates, (wellLiquidStateAcc, splitLiquidStateForTip: SourceAndDest) => { const res = mergeLiquid(wellLiquidStateAcc, splitLiquidStateForTip.dest) return res }, - liquidLabware[wellName] - ), + liquidWasteChute + ) } - const mergeTipLiquidToOwnWell = wellsForTips.reduce( - (acc, wellForTip, tipIdx) => { - return { - ...acc, - [wellForTip]: mergeLiquid( - splitLiquidStates[`${tipIdx}`].dest, - liquidLabware[wellForTip] || {} // TODO Ian 2018-04-02 use robotState selector. (Liquid state falls back to {} for empty well) - ), - } - }, - {} - ) + + if (mergeLiquidtoSingleWell == null) { + console.assert( + `expected to merge liquid to a single well with sourceId ${sourceId}` + ) + } + + const mergeTipLiquidToOwnWell = + well != null && liquidLabware != null && wellsForTips != null + ? wellsForTips.reduce((acc, wellForTip, tipIdx) => { + return { + ...acc, + [wellForTip]: mergeLiquid( + splitLiquidStates[`${tipIdx}`].dest, + liquidLabware[wellForTip] || {} // TODO Ian 2018-04-02 use robotState selector. (Liquid state falls back to {} for empty well) + ), + } + }, {}) + : {} + // add liquid to well(s) const labwareLiquidState = allWellsShared ? mergeLiquidtoSingleWell : mergeTipLiquidToOwnWell prevLiquidState.pipettes[pipetteId] = mapValues(splitLiquidStates, 'source') - prevLiquidState.labware[labwareId] = Object.assign( - liquidLabware, - labwareLiquidState - ) + if ( + prevLiquidState.additionalEquipment[sourceId] != null && + labwareLiquidState != null + ) { + prevLiquidState.additionalEquipment[sourceId] = Object.assign( + labwareLiquidState + ) + } else if ( + prevLiquidState.labware[sourceId] != null && + labwareLiquidState != null + ) { + prevLiquidState.labware[sourceId] = Object.assign( + liquidLabware, + labwareLiquidState + ) + } } diff --git a/step-generation/src/getNextRobotStateAndWarnings/forDropTip.ts b/step-generation/src/getNextRobotStateAndWarnings/forDropTip.ts index 7a19a32ec99..4d6944d9862 100644 --- a/step-generation/src/getNextRobotStateAndWarnings/forDropTip.ts +++ b/step-generation/src/getNextRobotStateAndWarnings/forDropTip.ts @@ -21,10 +21,6 @@ export function forDropTip( ) } const { robotState } = robotStateAndWarnings - // TODO(jr, 10/02/23): wire this up properly when we support dispensing into waste chute - // i honestly am not sure why we even need to update the liquid state for dropping tip? I guess - // it is to account for if a user diliberately drops tip with liquid still in it which I didn't realize - // is supported into PD???? Maybe it is error handling? dispenseUpdateLiquidState({ invariantContext, prevLiquidState: robotState.liquidState, diff --git a/step-generation/src/getNextRobotStateAndWarnings/forMoveLabware.ts b/step-generation/src/getNextRobotStateAndWarnings/forMoveLabware.ts index 56ddf85115e..389860d302b 100644 --- a/step-generation/src/getNextRobotStateAndWarnings/forMoveLabware.ts +++ b/step-generation/src/getNextRobotStateAndWarnings/forMoveLabware.ts @@ -18,6 +18,8 @@ export function forMoveLabware( newLocationString = newLocation.slotName } else if ('labwareId' in newLocation) { newLocationString = newLocation.labwareId + } else if ('addressableAreaName' in newLocation) { + newLocationString = newLocation.addressableAreaName } robotState.labware[labwareId].slot = newLocationString diff --git a/step-generation/src/getNextRobotStateAndWarnings/inPlaceCommandUpdates.ts b/step-generation/src/getNextRobotStateAndWarnings/inPlaceCommandUpdates.ts index 19a20c04db3..9dc0cacc11d 100644 --- a/step-generation/src/getNextRobotStateAndWarnings/inPlaceCommandUpdates.ts +++ b/step-generation/src/getNextRobotStateAndWarnings/inPlaceCommandUpdates.ts @@ -1,14 +1,32 @@ +import { dispenseUpdateLiquidState } from './dispenseUpdateLiquidState' +import type { AspirateInPlaceArgs } from '../commandCreators/atomic/aspirateInPlace' import type { BlowOutInPlaceArgs } from '../commandCreators/atomic/blowOutInPlace' import type { DispenseInPlaceArgs } from '../commandCreators/atomic/dispenseInPlace' import type { DropTipInPlaceArgs } from '../commandCreators/atomic/dropTipInPlace' import type { InvariantContext, RobotStateAndWarnings } from '../types' +export const forAspirateInPlace = ( + params: AspirateInPlaceArgs, + invariantContext: InvariantContext, + robotStateAndWarnings: RobotStateAndWarnings +): void => { + // TODO(jr, 11/6/23): update state +} + export const forDispenseInPlace = ( params: DispenseInPlaceArgs, invariantContext: InvariantContext, robotStateAndWarnings: RobotStateAndWarnings ): void => { - // TODO(jr, 11/6/23): update state + const { pipetteId, volume } = params + const { robotState } = robotStateAndWarnings + dispenseUpdateLiquidState({ + invariantContext, + pipetteId, + prevLiquidState: robotState.liquidState, + useFullVolume: false, + volume, + }) } export const forBlowOutInPlace = ( @@ -16,7 +34,14 @@ export const forBlowOutInPlace = ( invariantContext: InvariantContext, robotStateAndWarnings: RobotStateAndWarnings ): void => { - // TODO(jr, 11/6/23): update state + const { pipetteId } = params + const { robotState } = robotStateAndWarnings + dispenseUpdateLiquidState({ + invariantContext, + pipetteId, + prevLiquidState: robotState.liquidState, + useFullVolume: true, + }) } export const forDropTipInPlace = ( @@ -24,5 +49,14 @@ export const forDropTipInPlace = ( invariantContext: InvariantContext, robotStateAndWarnings: RobotStateAndWarnings ): void => { - // TODO(jr, 11/6/23): update state + const { pipetteId } = params + const { robotState } = robotStateAndWarnings + robotState.tipState.pipettes[pipetteId] = false + + dispenseUpdateLiquidState({ + invariantContext, + prevLiquidState: robotState.liquidState, + pipetteId, + useFullVolume: true, + }) } diff --git a/step-generation/src/getNextRobotStateAndWarnings/index.ts b/step-generation/src/getNextRobotStateAndWarnings/index.ts index 5ae8cc86943..8a7e46973a9 100644 --- a/step-generation/src/getNextRobotStateAndWarnings/index.ts +++ b/step-generation/src/getNextRobotStateAndWarnings/index.ts @@ -34,6 +34,7 @@ import { } from './heaterShakerUpdates' import { forMoveLabware } from './forMoveLabware' import { + forAspirateInPlace, forBlowOutInPlace, forDispenseInPlace, forDropTipInPlace, @@ -97,6 +98,14 @@ function _getNextRobotStateAndWarningsSingleCommand( forMoveLabware(command.params, invariantContext, robotStateAndWarnings) break + case 'aspirateInPlace': + forAspirateInPlace( + command.params, + invariantContext, + robotStateAndWarnings + ) + break + case 'dropTipInPlace': forDropTipInPlace(command.params, invariantContext, robotStateAndWarnings) break @@ -111,7 +120,6 @@ function _getNextRobotStateAndWarningsSingleCommand( invariantContext, robotStateAndWarnings ) - break case 'touchTip': diff --git a/step-generation/src/types.ts b/step-generation/src/types.ts index 4d5fdfe5340..204d14e346f 100644 --- a/step-generation/src/types.ts +++ b/step-generation/src/types.ts @@ -112,7 +112,7 @@ export interface NormalizedPipetteById { export interface NormalizedAdditionalEquipmentById { [additionalEquipmentId: string]: { - name: 'gripper' | 'wasteChute' | 'stagingArea' + name: 'gripper' | 'wasteChute' | 'stagingArea' | 'trashBin' id: string location?: string } @@ -209,7 +209,7 @@ export type ConsolidateArgs = SharedTransferLikeArgs & { commandCreatorFnName: 'consolidate' sourceWells: string[] - destWell: string + destWell: string | null /** If given, blow out in the specified destination after dispense at the end of each asp-asp-dispense cycle */ blowoutLocation: string | null | undefined @@ -226,7 +226,7 @@ export type TransferArgs = SharedTransferLikeArgs & { commandCreatorFnName: 'transfer' sourceWells: string[] - destWells: string[] + destWells: string[] | null /** If given, blow out in the specified destination after dispense at the end of each asp-dispense cycle */ blowoutLocation: string | null | undefined @@ -486,12 +486,17 @@ export interface RobotState { [well: string]: LocationLiquidState } } + additionalEquipment: { + /** for now, the only entity in here will be the waste chute */ + [additionalEquipmentId: string]: LocationLiquidState + } } } export type ErrorType = | 'ADDITIONAL_EQUIPMENT_DOES_NOT_EXIST' | 'DROP_TIP_LOCATION_DOES_NOT_EXIST' + | 'GRIPPER_REQUIRED' | 'HEATER_SHAKER_EAST_WEST_LATCH_OPEN' | 'HEATER_SHAKER_EAST_WEST_MULTI_CHANNEL' | 'HEATER_SHAKER_IS_SHAKING' @@ -511,6 +516,7 @@ export type ErrorType = | 'NO_TIP_ON_PIPETTE' | 'PIPETTE_DOES_NOT_EXIST' | 'PIPETTE_VOLUME_EXCEEDED' + | 'PIPETTING_INTO_COLUMN_4' | 'TALL_LABWARE_EAST_WEST_OF_HEATER_SHAKER' | 'THERMOCYCLER_LID_CLOSED' | 'TIP_VOLUME_EXCEEDED' diff --git a/step-generation/src/utils/index.ts b/step-generation/src/utils/index.ts index 6d4432685d6..70d4a55346a 100644 --- a/step-generation/src/utils/index.ts +++ b/step-generation/src/utils/index.ts @@ -6,6 +6,7 @@ import { modulePipetteCollision } from './modulePipetteCollision' import { thermocyclerPipetteCollision } from './thermocyclerPipetteCollision' import { isValidSlot } from './isValidSlot' import { getLabwareSlot } from './getLabwareSlot' + export { commandCreatorsTimeline, curryCommandCreator, @@ -16,7 +17,8 @@ export { getLabwareSlot, } export * from './commandCreatorArgsGetters' -export * from './wasteChuteCommandsUtil' export * from './heaterShakerCollision' export * from './misc' +export * from './movableTrashCommandsUtil' +export * from './wasteChuteCommandsUtil' export const uuid: () => string = uuidv4 diff --git a/step-generation/src/utils/misc.ts b/step-generation/src/utils/misc.ts index 8dd2df669ff..33109edea59 100644 --- a/step-generation/src/utils/misc.ts +++ b/step-generation/src/utils/misc.ts @@ -8,7 +8,7 @@ import { getLabwareDefURI, getWellsDepth, getWellNamePerMultiTip, - WASTE_CHUTE_SLOT, + WASTE_CHUTE_CUTOUT, } from '@opentrons/shared-data' import { blowout } from '../commandCreators/atomic/blowout' import { curryCommandCreator } from './curryCommandCreator' @@ -23,10 +23,39 @@ import type { RobotState, SourceAndDest, } from '../types' -import { AdditionalEquipmentEntities } from '..' +import { + AdditionalEquipmentEntities, + AdditionalEquipmentEntity, + CommandCreator, + dispense, + LabwareEntities, + aspirate, +} from '..' +import { reduceCommandCreators, wasteChuteCommandsUtil } from './index' +import { moveToAddressableArea, moveToWell } from '../commandCreators/atomic' export const AIR: '__air__' = '__air__' export const SOURCE_WELL_BLOWOUT_DESTINATION: 'source_well' = 'source_well' export const DEST_WELL_BLOWOUT_DESTINATION: 'dest_well' = 'dest_well' + +type WasteChuteOrLabware = 'wasteChute' | 'labware' | null + +export function getWasteChuteOrLabware( + labwareEntities: LabwareEntities, + additionalEquipmentEntities: AdditionalEquipmentEntities, + destinationId: string +): WasteChuteOrLabware { + if (labwareEntities[destinationId] != null) { + return 'labware' + } else if (additionalEquipmentEntities[destinationId] != null) { + return 'wasteChute' + } else { + console.error( + `expected to determine if dest labware is a labware or waste chute with destLabware ${destinationId} but could not` + ) + return null + } +} + export function repeatArray(array: T[], repeats: number): T[] { return flatMap(range(repeats), (i: number): T[] => array) } @@ -187,11 +216,11 @@ export const blowoutUtil = (args: { sourceLabwareId: string sourceWell: BlowoutParams['well'] destLabwareId: string - destWell: BlowoutParams['well'] blowoutLocation: string | null | undefined flowRate: number offsetFromTopMm: number invariantContext: InvariantContext + destWell: BlowoutParams['well'] | null }): CurriedCommandCreator[] => { const { pipette, @@ -205,21 +234,35 @@ export const blowoutUtil = (args: { invariantContext, } = args if (!blowoutLocation) return [] - let labware - let well + const addressableAreaName = + invariantContext.pipetteEntities[pipette].spec.channels === 96 + ? '96ChannelWasteChute' + : '1and8ChannelWasteChute' + const wasteChuteOrLabware = getWasteChuteOrLabware( + invariantContext.labwareEntities, + invariantContext.additionalEquipmentEntities, + destLabwareId + ) + let labware: LabwareEntity | AdditionalEquipmentEntity | null = null + let well: string | null = null if (blowoutLocation === SOURCE_WELL_BLOWOUT_DESTINATION) { labware = invariantContext.labwareEntities[sourceLabwareId] well = sourceWell } else if (blowoutLocation === DEST_WELL_BLOWOUT_DESTINATION) { - labware = invariantContext.labwareEntities[destLabwareId] - well = destWell + labware = + wasteChuteOrLabware === 'labware' + ? invariantContext.labwareEntities[destLabwareId] + : invariantContext.additionalEquipmentEntities[destLabwareId] + well = wasteChuteOrLabware === 'labware' ? destWell : null } else { - // if it's not one of the magic strings, it's a labware id - labware = invariantContext.labwareEntities?.[blowoutLocation] - well = 'A1' + // if it's not one of the magic strings, it's a labware or waste chute id + labware = + invariantContext.labwareEntities?.[blowoutLocation] ?? + invariantContext.additionalEquipmentEntities[blowoutLocation] + well = wasteChuteOrLabware === 'labware' ? 'A1' : null - if (!labware) { + if (labware == null) { assert( false, `expected a labwareId for blowoutUtil's "blowoutLocation", got ${blowoutLocation}` @@ -227,23 +270,37 @@ export const blowoutUtil = (args: { return [] } } + const wellDepth = + 'def' in labware && well != null ? getWellsDepth(labware.def, [well]) : 0 - const offsetFromBottomMm = - getWellsDepth(labware.def, [well]) + offsetFromTopMm - return [ - curryCommandCreator(blowout, { - pipette: pipette, - labware: labware.id, - well, - flowRate, - offsetFromBottomMm, - }), - ] + const offsetFromBottomMm = wellDepth + offsetFromTopMm + return well != null + ? [ + curryCommandCreator(blowout, { + pipette: pipette, + labware: labware.id, + well, + flowRate, + offsetFromBottomMm, + }), + ] + : [ + curryCommandCreator(wasteChuteCommandsUtil, { + pipetteId: pipette, + type: 'blowOut', + flowRate, + addressableAreaName, + }), + ] } export function createEmptyLiquidState( invariantContext: InvariantContext ): RobotState['liquidState'] { - const { labwareEntities, pipetteEntities } = invariantContext + const { + labwareEntities, + pipetteEntities, + additionalEquipmentEntities, + } = invariantContext return { pipettes: reduce( pipetteEntities, @@ -260,6 +317,17 @@ export function createEmptyLiquidState( }, {} ), + additionalEquipment: reduce( + additionalEquipmentEntities, + (acc, additionalEquipment: AdditionalEquipmentEntity, id: string) => { + if (additionalEquipment.name === 'wasteChute') { + return { ...acc, [id]: {} } + } else { + return acc + } + }, + {} + ), } } export function createTipLiquidState( @@ -343,7 +411,7 @@ export const getHasWasteChute = ( ): boolean => { return Object.values(additionalEquipmentEntities).some( additionalEquipmentEntity => - additionalEquipmentEntity.location === WASTE_CHUTE_SLOT && + additionalEquipmentEntity.location === WASTE_CHUTE_CUTOUT && additionalEquipmentEntity.name === 'wasteChute' ) } @@ -369,3 +437,211 @@ export const getLabwareHasLiquid = ( ) : false } + +interface DispenseLocationHelperArgs { + // destinationId is either labware or addressableAreaName for waste chute + destinationId: string + pipetteId: string + volume: number + flowRate: number + offsetFromBottomMm?: number + well?: string +} +export const dispenseLocationHelper: CommandCreator = ( + args, + invariantContext, + prevRobotState +) => { + const { + destinationId, + pipetteId, + volume, + flowRate, + offsetFromBottomMm, + well, + } = args + + const wasteChuteOrLabware = getWasteChuteOrLabware( + invariantContext.labwareEntities, + invariantContext.additionalEquipmentEntities, + destinationId + ) + + let commands: CurriedCommandCreator[] = [] + if ( + wasteChuteOrLabware === 'labware' && + offsetFromBottomMm != null && + well != null + ) { + commands = [ + curryCommandCreator(dispense, { + pipette: pipetteId, + volume, + labware: destinationId, + well, + flowRate, + offsetFromBottomMm, + }), + ] + } else { + const pipetteChannels = + invariantContext.pipetteEntities[pipetteId].spec.channels + commands = [ + curryCommandCreator(wasteChuteCommandsUtil, { + type: 'dispense', + pipetteId, + volume, + flowRate, + addressableAreaName: + pipetteChannels === 96 + ? '96ChannelWasteChute' + : '1and8ChannelWasteChute', + }), + ] + } + + return reduceCommandCreators(commands, invariantContext, prevRobotState) +} + +interface MoveHelperArgs { + // destinationId is either labware or addressableAreaName for waste chute + destinationId: string + pipetteId: string + zOffset: number + well?: string +} +export const moveHelper: CommandCreator = ( + args, + invariantContext, + prevRobotState +) => { + const { destinationId, pipetteId, zOffset, well } = args + + const wasteChuteOrLabware = getWasteChuteOrLabware( + invariantContext.labwareEntities, + invariantContext.additionalEquipmentEntities, + destinationId + ) + + let commands: CurriedCommandCreator[] = [] + if (wasteChuteOrLabware === 'labware' && well != null) { + commands = [ + curryCommandCreator(moveToWell, { + pipette: pipetteId, + labware: destinationId, + + well, + offset: { x: 0, y: 0, z: zOffset }, + }), + ] + } else { + const pipetteChannels = + invariantContext.pipetteEntities[pipetteId].spec.channels + commands = [ + curryCommandCreator(moveToAddressableArea, { + pipetteId, + addressableAreaName: + pipetteChannels === 96 + ? '96ChannelWasteChute' + : '1and8ChannelWasteChute', + }), + ] + } + + return reduceCommandCreators(commands, invariantContext, prevRobotState) +} + +interface AirGapArgs { + // destinationId is either labware or addressableAreaName for waste chute + destinationId: string + destWell: string | null + flowRate: number + offsetFromBottomMm: number + pipetteId: string + volume: number + blowOutLocation?: string | null + sourceId?: string + sourceWell?: string +} +export const airGapHelper: CommandCreator = ( + args, + invariantContext, + prevRobotState +) => { + const { + blowOutLocation, + destinationId, + destWell, + flowRate, + offsetFromBottomMm, + pipetteId, + sourceId, + sourceWell, + volume, + } = args + + const wasteChuteOrLabware = getWasteChuteOrLabware( + invariantContext.labwareEntities, + invariantContext.additionalEquipmentEntities, + destinationId + ) + + let commands: CurriedCommandCreator[] = [] + if (wasteChuteOrLabware === 'labware' && destWell != null) { + // when aspirating out of 1 well for transfer + if (sourceId != null && sourceWell != null) { + const { + dispenseAirGapLabware, + dispenseAirGapWell, + } = getDispenseAirGapLocation({ + blowoutLocation: blowOutLocation, + sourceLabware: sourceId, + destLabware: destinationId, + sourceWell, + destWell: destWell, + }) + + commands = [ + curryCommandCreator(aspirate, { + pipette: pipetteId, + volume, + labware: dispenseAirGapLabware, + well: dispenseAirGapWell, + flowRate, + offsetFromBottomMm, + isAirGap: true, + }), + ] + // when aspirating out of multi wells for consolidate + } else { + commands = [ + curryCommandCreator(aspirate, { + pipette: pipetteId, + volume, + labware: destinationId, + well: destWell, + flowRate, + offsetFromBottomMm, + isAirGap: true, + }), + ] + } + } else { + const pipetteChannels = + invariantContext.pipetteEntities[pipetteId].spec.channels + commands = [ + curryCommandCreator(wasteChuteCommandsUtil, { + type: 'airGap', + pipetteId, + volume, + flowRate, + addressableAreaName: + pipetteChannels === 96 + ? '96ChannelWasteChute' + : '1and8ChannelWasteChute', + }), + ] + } + + return reduceCommandCreators(commands, invariantContext, prevRobotState) +} diff --git a/step-generation/src/utils/modulePipetteCollision.ts b/step-generation/src/utils/modulePipetteCollision.ts index 745becfbe02..2ab09bbb109 100644 --- a/step-generation/src/utils/modulePipetteCollision.ts +++ b/step-generation/src/utils/modulePipetteCollision.ts @@ -36,7 +36,6 @@ export const modulePipetteCollision = (args: { const labwareInDangerZone = Object.keys(invariantContext.moduleEntities).some( moduleId => { const moduleModel = invariantContext.moduleEntities[moduleId].model - // @ts-expect-error(SA, 2021-05-03): need to type narrow if (MODULES_WITH_COLLISION_ISSUES.includes(moduleModel)) { const moduleSlot: DeckSlot | null | undefined = prevRobotState.modules[moduleId]?.slot diff --git a/step-generation/src/utils/movableTrashCommandsUtil.ts b/step-generation/src/utils/movableTrashCommandsUtil.ts new file mode 100644 index 00000000000..c8b2ad82ef5 --- /dev/null +++ b/step-generation/src/utils/movableTrashCommandsUtil.ts @@ -0,0 +1,186 @@ +import { + FLEX_ROBOT_TYPE, + getDeckDefFromRobotType, + OT2_ROBOT_TYPE, +} from '@opentrons/shared-data' +import { + aspirateInPlace, + blowOutInPlace, + dispenseInPlace, + dropTipInPlace, + moveToAddressableArea, +} from '../commandCreators/atomic' +import * as errorCreators from '../errorCreators' +import { reduceCommandCreators } from './reduceCommandCreators' +import { curryCommandCreator } from './curryCommandCreator' +import type { AddressableAreaName, CutoutId } from '@opentrons/shared-data' +import type { + CommandCreator, + CommandCreatorError, + CurriedCommandCreator, +} from '../types' + +export type MovableTrashCommandsTypes = + | 'airGap' + | 'aspirate' + | 'blowOut' + | 'dispense' + | 'dropTip' + +interface MovableTrashCommandArgs { + type: MovableTrashCommandsTypes + pipetteId: string + volume?: number + flowRate?: number +} +/** Helper fn for movable trash commands for dispense, aspirate, air_gap, drop_tip and blow_out commands */ +export const movableTrashCommandsUtil: CommandCreator = ( + args, + invariantContext, + prevRobotState +) => { + const { pipetteId, type, volume, flowRate } = args + const errors: CommandCreatorError[] = [] + const pipetteName = invariantContext.pipetteEntities[pipetteId]?.name + const trash = Object.values( + invariantContext.additionalEquipmentEntities + ).find(aE => aE.name === 'trashBin') + + const trashLocation = trash != null ? (trash.location as CutoutId) : null + + let actionName: string = '' + switch (type) { + case 'blowOut': + actionName = 'blow out' + break + case 'dropTip': + actionName = 'drop tip' + break + case 'airGap': + actionName = 'air gap' + break + case 'aspirate': + actionName = 'aspirate' + break + case 'dispense': + actionName = 'dispense' + break + default: + break + } + + if (pipetteName == null) { + errors.push( + errorCreators.pipetteDoesNotExist({ + actionName, + pipette: pipetteId, + }) + ) + } + if (trashLocation == null) { + errors.push( + errorCreators.additionalEquipmentDoesNotExist({ + additionalEquipment: 'Trash bin', + }) + ) + } + + const deckDef = getDeckDefFromRobotType( + trashLocation === ('cutout12' as CutoutId) + ? OT2_ROBOT_TYPE + : FLEX_ROBOT_TYPE + ) + let cutouts: Record | null = null + if (deckDef.robot.model === FLEX_ROBOT_TYPE) { + cutouts = + deckDef.cutoutFixtures.find( + cutoutFixture => cutoutFixture.id === 'trashBinAdapter' + )?.providesAddressableAreas ?? null + } else if (deckDef.robot.model === OT2_ROBOT_TYPE) { + cutouts = + deckDef.cutoutFixtures.find( + cutoutFixture => cutoutFixture.id === 'fixedTrashSlot' + )?.providesAddressableAreas ?? null + } + + const addressableAreaName = (trashLocation != null && cutouts != null + ? cutouts[trashLocation] ?? [''] + : [''])[0] + + if (addressableAreaName === '') { + console.error( + `expected to find addressableAreaName with trashLocation ${trashLocation} but could not` + ) + } + + const addressableAreaCommand: CurriedCommandCreator[] = [ + curryCommandCreator(moveToAddressableArea, { + pipetteId, + addressableAreaName, + }), + ] + + let inPlaceCommands: CurriedCommandCreator[] = [] + switch (type) { + case 'airGap': + case 'aspirate': { + inPlaceCommands = + flowRate != null && volume != null + ? [ + curryCommandCreator(aspirateInPlace, { + pipetteId, + volume, + flowRate, + }), + ] + : [] + + break + } + case 'dropTip': { + inPlaceCommands = !prevRobotState.tipState.pipettes[pipetteId] + ? [] + : [ + curryCommandCreator(dropTipInPlace, { + pipetteId, + }), + ] + + break + } + case 'dispense': { + inPlaceCommands = + flowRate != null && volume != null + ? [ + curryCommandCreator(dispenseInPlace, { + pipetteId, + volume, + flowRate, + }), + ] + : [] + break + } + case 'blowOut': { + inPlaceCommands = + flowRate != null + ? [ + curryCommandCreator(blowOutInPlace, { + pipetteId, + flowRate, + }), + ] + : [] + break + } + } + + if (errors.length > 0) + return { + errors, + } + + const allCommands = [...addressableAreaCommand, ...inPlaceCommands] + + return reduceCommandCreators(allCommands, invariantContext, prevRobotState) +} diff --git a/step-generation/src/utils/wasteChuteCommandsUtil.ts b/step-generation/src/utils/wasteChuteCommandsUtil.ts index 29df4f550ca..97270bc7011 100644 --- a/step-generation/src/utils/wasteChuteCommandsUtil.ts +++ b/step-generation/src/utils/wasteChuteCommandsUtil.ts @@ -1,4 +1,5 @@ import { + aspirateInPlace, blowOutInPlace, dispenseInPlace, dropTipInPlace, @@ -14,7 +15,11 @@ import type { CurriedCommandCreator, } from '../types' -export type WasteChuteCommandsTypes = 'dispense' | 'blowOut' | 'dropTip' +export type WasteChuteCommandsTypes = + | 'dispense' + | 'blowOut' + | 'dropTip' + | 'airGap' interface WasteChuteCommandArgs { type: WasteChuteCommandsTypes @@ -41,6 +46,8 @@ export const wasteChuteCommandsUtil: CommandCreator = ( actionName = 'blow out' } else if (type === 'dropTip') { actionName = 'drop tip' + } else if (type === 'airGap') { + actionName = 'air gap' } if (pipetteName == null) { @@ -62,15 +69,18 @@ export const wasteChuteCommandsUtil: CommandCreator = ( let commands: CurriedCommandCreator[] = [] switch (type) { case 'dropTip': { - commands = [ - curryCommandCreator(moveToAddressableArea, { - pipetteId, - addressableAreaName, - }), - curryCommandCreator(dropTipInPlace, { - pipetteId, - }), - ] + commands = !prevRobotState.tipState.pipettes[pipetteId] + ? [] + : [ + curryCommandCreator(moveToAddressableArea, { + pipetteId, + addressableAreaName, + }), + curryCommandCreator(dropTipInPlace, { + pipetteId, + }), + ] + break } case 'dispense': { @@ -106,6 +116,23 @@ export const wasteChuteCommandsUtil: CommandCreator = ( : [] break } + case 'airGap': { + commands = + flowRate != null && volume != null + ? [ + curryCommandCreator(moveToAddressableArea, { + pipetteId, + addressableAreaName, + }), + curryCommandCreator(aspirateInPlace, { + pipetteId, + flowRate, + volume, + }), + ] + : [] + break + } } if (errors.length > 0) diff --git a/tsconfig-eslint.json b/tsconfig-eslint.json index 555566fb1f5..11672e612c6 100644 --- a/tsconfig-eslint.json +++ b/tsconfig-eslint.json @@ -19,6 +19,7 @@ "labware-designer/typings", "labware-library/src", "labware-library/typings", + "shared-data/deck", "shared-data/js", "shared-data/protocol", "shared-data/pipette",