refactor(app, api): calibration check middleware (#6781)

app/src/analytics/make-event.js

@@ -272,12 +272,7 @@ export function makeEvent(
     }
 
     case Sessions.DELETE_SESSION: {
-      const { robotName, sessionId } = action.payload
-      const analyticsProps = Sessions.getAnalyticsPropsForRobotSessionById(
-        state,
-        robotName,
-        sessionId
-      )
+      const analyticsProps = null
       if (analyticsProps) {
         return Promise.resolve({
           name: `${analyticsProps.sessionType}SessionExit`,

app/src/calibration/pipette-offset/epic/fetchPipetteOffsetCalibrationsOnCalibrationEnd.js

@@ -10,7 +10,7 @@ import type { Epic, State } from '../../../types'
 import type { SessionType } from '../../../sessions/types'
 import {
   DELETE_SESSION,
-  SESSION_TYPE_CALIBRATION_CHECK,
+  SESSION_TYPE_CALIBRATION_HEALTH_CHECK,
   SESSION_TYPE_TIP_LENGTH_CALIBRATION,
   SESSION_TYPE_DECK_CALIBRATION,
   SESSION_TYPE_PIPETTE_OFFSET_CALIBRATION,
@@ -19,7 +19,7 @@ import { getRobotSessionById } from '../../../sessions/selectors'
 
 const isTargetSessionType: SessionType => boolean = sessionType =>
   [
-    SESSION_TYPE_CALIBRATION_CHECK,
+    SESSION_TYPE_CALIBRATION_HEALTH_CHECK,
     SESSION_TYPE_TIP_LENGTH_CALIBRATION,
     SESSION_TYPE_DECK_CALIBRATION,
     SESSION_TYPE_PIPETTE_OFFSET_CALIBRATION,

app/src/calibration/tip-length/epic/fetchTipLengthCalibrationsOnCalibrationEnd.js

@@ -10,15 +10,15 @@ import type { Epic, State } from '../../../types'
 import type { SessionType } from '../../../sessions/types'
 import {
   DELETE_SESSION,
-  SESSION_TYPE_CALIBRATION_CHECK,
+  SESSION_TYPE_CALIBRATION_HEALTH_CHECK,
   SESSION_TYPE_TIP_LENGTH_CALIBRATION,
   SESSION_TYPE_PIPETTE_OFFSET_CALIBRATION,
 } from '../../../sessions/constants'
 import { getRobotSessionById } from '../../../sessions/selectors'
 
 const isTargetSessionType: SessionType => boolean = sessionType =>
   [
-    SESSION_TYPE_CALIBRATION_CHECK,
+    SESSION_TYPE_CALIBRATION_HEALTH_CHECK,
     SESSION_TYPE_TIP_LENGTH_CALIBRATION,
     SESSION_TYPE_PIPETTE_OFFSET_CALIBRATION,
   ].includes(sessionType)

app/src/components/CalibrationPanels/DeckSetup.js

@@ -41,6 +41,9 @@ const contentsBySessionType: {
   [Sessions.SESSION_TYPE_PIPETTE_OFFSET_CALIBRATION]: {
     moveCommandString: Sessions.sharedCalCommands.MOVE_TO_TIP_RACK,
   },
+  [Sessions.SESSION_TYPE_CALIBRATION_HEALTH_CHECK]: {
+    moveCommandString: Sessions.sharedCalCommands.MOVE_TO_TIP_RACK,
+  },
   [Sessions.SESSION_TYPE_TIP_LENGTH_CALIBRATION]: {
     moveCommandString: Sessions.sharedCalCommands.MOVE_TO_REFERENCE_POINT,
   },

app/src/components/CalibrationPanels/Introduction.js

@@ -37,6 +37,11 @@ const DECK_CAL_HEADER = 'deck calibration'
 const DECK_CAL_BODY =
   'Deck calibration ensures positional accuracy so that your robot moves as expected. It will accurately establish the OT-2’s deck orientation relative to the gantry.'
 
+const HEALTH_CHECK_HEADER = 'calibration health check'
+const HEALTH_CHECK_BODY =
+  'Checking the OT-2’s calibration is a first step towards diagnosing and troubleshooting common pipette positioning problems you may be experiencing.'
+const HEALTH_CHECK_PROCEDURE = 'to calibration health check'
+
 const PIP_OFFSET_CAL_HEADER = 'pipette offset calibration'
 const PIP_OFFSET_CAL_BODY =
   'Calibrating pipette offset enables robot to accurately establish the location of the mounted pipette’s nozzle, relative to the deck.'
@@ -54,6 +59,8 @@ const NOTE_BODY_OUTSIDE_PROTOCOL =
   'important you perform this calibration using the Opentrons tips and tip racks specified above, as the robot determines accuracy based on the measurements of these tips.'
 const NOTE_BODY_PRE_PROTOCOL =
   'important you perform this calibration using the exact tips specified in your protocol, as the robot uses the corresponding labware definition data to find the tip.'
+const NOTE_HEALTH_CHECK_OUTCOMES =
+  'If the difference between the two coordinates falls within the acceptable tolerance range for the given pipette, the check will pass. Otherwise, it will fail and you’ll be provided with troubleshooting guidance. You may exit at any point or continue through to the end to check the overall calibration status of your robot.'
 const VIEW_TIPRACK_MEASUREMENTS = 'View measurements'
 
 const contentsBySessionType: {
@@ -82,6 +89,13 @@ const contentsBySessionType: {
     continueButtonText: `${START} ${TIP_LENGTH_CAL_HEADER}`,
     noteBody: NOTE_BODY_PRE_PROTOCOL,
   },
+  [Sessions.SESSION_TYPE_CALIBRATION_HEALTH_CHECK]: {
+    headerText: HEALTH_CHECK_HEADER,
+    bodyText: HEALTH_CHECK_BODY,
+    continueButtonText: `${START} ${HEALTH_CHECK_HEADER}`,
+    continuingToText: HEALTH_CHECK_PROCEDURE,
+    noteBody: NOTE_HEALTH_CHECK_OUTCOMES,
+  },
 }
 
 export function Introduction(props: CalibrationPanelProps): React.Node {
@@ -100,6 +114,8 @@ export function Introduction(props: CalibrationPanelProps): React.Node {
   const lookupType = isExtendedPipOffset
     ? Sessions.SESSION_TYPE_TIP_LENGTH_CALIBRATION
     : sessionType
+  const isHealthCheck =
+    sessionType === Sessions.SESSION_TYPE_CALIBRATION_HEALTH_CHECK
 
   const proceed = () =>
     sendCommands({ command: Sessions.sharedCalCommands.LOAD_LABWARE })
@@ -149,16 +165,27 @@ export function Introduction(props: CalibrationPanelProps): React.Node {
           )}
         </Flex>
         <Box fontSize={FONT_SIZE_BODY_1} marginY={SPACING_3}>
-          <Text>
-            <b
-              css={css`
-                text-transform: uppercase;
-              `}
-            >{`${NOTE_HEADER} `}</b>
-            {IT_IS}
-            <u>{` ${EXTREMELY} `}</u>
-            {noteBody}
-          </Text>
+          {!isHealthCheck ? (
+            <Text>
+              <b
+                css={css`
+                  text-transform: uppercase;
+                `}
+              >{`${NOTE_HEADER} `}</b>
+              {IT_IS}
+              <u>{` ${EXTREMELY} `}</u>
+              {noteBody}
+            </Text>
+          ) : (
+            <Text>
+              <b
+                css={css`
+                  text-transform: uppercase;
+                `}
+              >{`${NOTE_HEADER} `}</b>
+              {noteBody}
+            </Text>
+          )}
         </Box>
       </Flex>
       <Flex width="100%" justifyContent={JUSTIFY_CENTER}>

app/src/components/CalibrationPanels/SaveXYPoint.js

@@ -21,9 +21,9 @@ import * as Sessions from '../../sessions'
 import type { JogAxis, JogDirection, JogStep } from '../../http-api-client'
 import type { CalibrationPanelProps } from './types'
 import type {
-  SessionCommandString,
   SessionType,
   CalibrationSessionStep,
+  SessionCommandString,
 } from '../../sessions/types'
 import { JogControls } from '../JogControls'
 import { formatJogVector } from './utils'
@@ -76,59 +76,92 @@ const assetMap = {
 }
 
 const SAVE_XY_POINT_HEADER = 'Calibrate the X and Y-axis in'
+const CHECK_POINT_XY_HEADER = 'Check the X and Y-axis in'
 const SLOT = 'slot'
 const JOG_UNTIL = 'Jog the robot until the tip is'
 const PRECISELY_CENTERED = 'precisely centered'
 const ABOVE_THE_CROSS = 'above the cross in'
 const THEN = 'Then press the'
 const TO_SAVE = 'button to calibrate the x and y-axis in'
+const TO_CHECK =
+  'button to determine how this position compares to the previously-saved x and y-axis calibration coordinates.'
 
 const BASE_BUTTON_TEXT = 'save calibration'
+const HEALTH_BUTTON_TEXT = 'check x and y-axis'
 const MOVE_TO_POINT_TWO_BUTTON_TEXT = `${BASE_BUTTON_TEXT} and move to slot 3`
 const MOVE_TO_POINT_THREE_BUTTON_TEXT = `${BASE_BUTTON_TEXT} and move to slot 7`
+const HEALTH_POINT_TWO_BUTTON_TEXT = `${HEALTH_BUTTON_TEXT} and move to slot 3`
+const HEALTH_POINT_THREE_BUTTON_TEXT = `${HEALTH_BUTTON_TEXT} and move to slot 7`
 
 const contentsBySessionTypeByCurrentStep: {
   [SessionType]: {
     [CalibrationSessionStep]: {
       slotNumber: string,
       buttonText: string,
-      moveCommandString: SessionCommandString | null,
+      moveCommand: SessionCommandString | null,
+      finalCommand?: SessionCommandString | null,
     },
   },
 } = {
   [Sessions.SESSION_TYPE_DECK_CALIBRATION]: {
     [Sessions.DECK_STEP_SAVING_POINT_ONE]: {
       slotNumber: '1',
       buttonText: MOVE_TO_POINT_TWO_BUTTON_TEXT,
-      moveCommandString: Sessions.deckCalCommands.MOVE_TO_POINT_TWO,
+      moveCommand: Sessions.deckCalCommands.MOVE_TO_POINT_TWO,
     },
     [Sessions.DECK_STEP_SAVING_POINT_TWO]: {
       slotNumber: '3',
       buttonText: MOVE_TO_POINT_THREE_BUTTON_TEXT,
-      moveCommandString: Sessions.deckCalCommands.MOVE_TO_POINT_THREE,
+      moveCommand: Sessions.deckCalCommands.MOVE_TO_POINT_THREE,
     },
     [Sessions.DECK_STEP_SAVING_POINT_THREE]: {
       slotNumber: '7',
       buttonText: BASE_BUTTON_TEXT,
-      moveCommandString: Sessions.sharedCalCommands.MOVE_TO_TIP_RACK,
+      moveCommand: Sessions.sharedCalCommands.MOVE_TO_TIP_RACK,
     },
   },
   [Sessions.SESSION_TYPE_PIPETTE_OFFSET_CALIBRATION]: {
     [Sessions.PIP_OFFSET_STEP_SAVING_POINT_ONE]: {
       slotNumber: '1',
       buttonText: BASE_BUTTON_TEXT,
-      moveCommandString: null,
+      moveCommand: null,
+    },
+  },
+  [Sessions.SESSION_TYPE_CALIBRATION_HEALTH_CHECK]: {
+    [Sessions.CHECK_STEP_COMPARING_POINT_ONE]: {
+      slotNumber: '1',
+      buttonText: HEALTH_POINT_TWO_BUTTON_TEXT,
+      moveCommand: Sessions.deckCalCommands.MOVE_TO_POINT_TWO,
+      finalCommand: Sessions.sharedCalCommands.MOVE_TO_TIP_RACK,
+    },
+    [Sessions.CHECK_STEP_COMPARING_POINT_TWO]: {
+      slotNumber: '3',
+      buttonText: HEALTH_POINT_THREE_BUTTON_TEXT,
+      moveCommand: Sessions.deckCalCommands.MOVE_TO_POINT_THREE,
+    },
+    [Sessions.CHECK_STEP_COMPARING_POINT_THREE]: {
+      slotNumber: '7',
+      buttonText: HEALTH_BUTTON_TEXT,
+      moveCommand: Sessions.sharedCalCommands.MOVE_TO_TIP_RACK,
     },
   },
 }
 
 export function SaveXYPoint(props: CalibrationPanelProps): React.Node {
-  const { isMulti, mount, sendCommands, currentStep, sessionType } = props
+  const {
+    isMulti,
+    mount,
+    sendCommands,
+    currentStep,
+    sessionType,
+    activePipette,
+  } = props
 
   const {
     slotNumber,
     buttonText,
-    moveCommandString,
+    moveCommand,
+    finalCommand,
   } = contentsBySessionTypeByCurrentStep[sessionType][currentStep]
 
   const demoAsset = React.useMemo(
@@ -137,6 +170,8 @@ export function SaveXYPoint(props: CalibrationPanelProps): React.Node {
     [slotNumber, mount, isMulti]
   )
 
+  const isHealthCheck =
+    sessionType === Sessions.SESSION_TYPE_CALIBRATION_HEALTH_CHECK
   const jog = (axis: JogAxis, dir: JogDirection, step: JogStep) => {
     sendCommands({
       command: Sessions.sharedCalCommands.JOG,
@@ -147,10 +182,19 @@ export function SaveXYPoint(props: CalibrationPanelProps): React.Node {
   }
 
   const savePoint = () => {
-    let commands = [{ command: Sessions.sharedCalCommands.SAVE_OFFSET }]
-
-    if (moveCommandString) {
-      commands = [...commands, { command: moveCommandString }]
+    let commands = null
+    if (isHealthCheck) {
+      commands = [{ command: Sessions.checkCommands.COMPARE_POINT }]
+    } else {
+      commands = [{ command: Sessions.sharedCalCommands.SAVE_OFFSET }]
+    }
+    if (
+      finalCommand &&
+      activePipette?.rank === Sessions.CHECK_PIPETTE_RANK_SECOND
+    ) {
+      commands = [...commands, { command: finalCommand }]
+    } else if (moveCommand) {
+      commands = [...commands, { command: moveCommand }]
     }
     sendCommands(...commands)
   }
@@ -167,7 +211,7 @@ export function SaveXYPoint(props: CalibrationPanelProps): React.Node {
         fontWeight={FONT_WEIGHT_SEMIBOLD}
         textTransform={TEXT_TRANSFORM_UPPERCASE}
       >
-        {SAVE_XY_POINT_HEADER}
+        {isHealthCheck ? CHECK_POINT_XY_HEADER : SAVE_XY_POINT_HEADER}
         {` ${SLOT} ${slotNumber || ''}`}
       </Text>
       <Flex
@@ -185,7 +229,7 @@ export function SaveXYPoint(props: CalibrationPanelProps): React.Node {
           <br />
           {THEN}
           <b>{` ${buttonText} `}</b>
-          {`${TO_SAVE} ${SLOT} ${slotNumber}`}.
+          {`${isHealthCheck ? TO_CHECK : TO_SAVE} ${SLOT} ${slotNumber}`}.
         </Text>
         <video
           key={String(demoAsset)}