fix(app,robot-server): Account for failed commands not having a pipet…

…teId (#16859)

Co-authored-by: Jamey Huffnagle <[email protected]>

api-client/src/runs/types.ts

@@ -120,6 +120,7 @@ export interface Runs {
 export interface RunCurrentStateData {
   estopEngaged: boolean
   activeNozzleLayouts: Record<string, NozzleLayoutValues> // keyed by pipetteId
+  tipStates: Record<string, TipStates> // keyed by pipetteId
   placeLabwareState?: PlaceLabwareState
 }
 
@@ -218,3 +219,7 @@ export interface PlaceLabwareState {
   location: OnDeckLabwareLocation
   shouldPlaceDown: boolean
 }
+
+export interface TipStates {
+  hasTip: boolean
+}

api/src/opentrons/protocol_runner/run_orchestrator.py

@@ -418,6 +418,21 @@ def get_nozzle_maps(self) -> Dict[str, NozzleMap]:
         """Get current nozzle maps keyed by pipette id."""
         return self._protocol_engine.state_view.tips.get_pipette_nozzle_maps()
 
+    def get_tip_attached(self) -> Dict[str, bool]:
+        """Get current tip state keyed by pipette id."""
+
+        def has_tip_attached(pipette_id: str) -> bool:
+            return (
+                self._protocol_engine.state_view.pipettes.get_attached_tip(pipette_id)
+                is not None
+            )
+
+        pipette_ids = (
+            pipette.id
+            for pipette in self._protocol_engine.state_view.pipettes.get_all()
+        )
+        return {pipette_id: has_tip_attached(pipette_id) for pipette_id in pipette_ids}
+
     def set_error_recovery_policy(self, policy: ErrorRecoveryPolicy) -> None:
         """Create error recovery policy for the run."""
         self._protocol_engine.set_error_recovery_policy(policy)

api/tests/opentrons/protocol_runner/test_run_orchestrator.py

@@ -525,7 +525,7 @@ def get_next_to_execute() -> Generator[str, None, None]:
         index = index + 1
 
 
-async def test_create_error_recovery_policy(
+def test_create_error_recovery_policy(
     decoy: Decoy,
     mock_protocol_engine: ProtocolEngine,
     live_protocol_subject: RunOrchestrator,

app/src/organisms/ErrorRecoveryFlows/RecoveryOptions/ManageTips.tsx

@@ -202,6 +202,7 @@ export function useDropTipFlowUtils({
   subMapUtils,
   routeUpdateActions,
   recoveryMap,
+  errorKind,
 }: RecoveryContentProps): FixitCommandTypeUtils {
   const { t } = useTranslation('error_recovery')
   const {
@@ -210,7 +211,7 @@ export function useDropTipFlowUtils({
     ERROR_WHILE_RECOVERING,
     DROP_TIP_FLOWS,
   } = RECOVERY_MAP
-  const { runId } = tipStatusUtils
+  const { runId, gripperErrorFirstPipetteWithTip } = tipStatusUtils
   const { step } = recoveryMap
   const { selectedRecoveryOption } = currentRecoveryOptionUtils
   const { proceedToRouteAndStep } = routeUpdateActions
@@ -304,11 +305,12 @@ export function useDropTipFlowUtils({
   }
 
   const pipetteId =
-    failedCommand != null &&
+    gripperErrorFirstPipetteWithTip ??
+    (failedCommand != null &&
     'params' in failedCommand.byRunRecord &&
     'pipetteId' in failedCommand.byRunRecord.params
       ? failedCommand.byRunRecord.params.pipetteId
-      : null
+      : null)
 
   return {
     runId,

app/src/organisms/ErrorRecoveryFlows/hooks/useERUtils.ts

@@ -139,6 +139,7 @@ export function useERUtils({
   const tipStatusUtils = useRecoveryTipStatus({
     runId,
     runRecord,
+    failedCommand,
     attachedInstruments,
     failedPipetteInfo,
   })

app/src/organisms/ErrorRecoveryFlows/hooks/useRecoveryTipStatus.ts

@@ -1,18 +1,22 @@
 import { useState } from 'react'
 import head from 'lodash/head'
 
-import { useHost } from '@opentrons/react-api-client'
+import { useHost, useRunCurrentState } from '@opentrons/react-api-client'
 import { getPipetteModelSpecs } from '@opentrons/shared-data'
 import { useTipAttachmentStatus } from '/app/organisms/DropTipWizardFlows'
+import { ERROR_KINDS } from '/app/organisms/ErrorRecoveryFlows/constants'
+import { getErrorKind } from '/app/organisms/ErrorRecoveryFlows/utils'
 
 import type { Run, Instruments, PipetteData } from '@opentrons/api-client'
 import type {
   PipetteWithTip,
   TipAttachmentStatusResult,
 } from '/app/organisms/DropTipWizardFlows'
+import type { ERUtilsProps } from '/app/organisms/ErrorRecoveryFlows/hooks/useERUtils'
 
 interface UseRecoveryTipStatusProps {
   runId: string
+  failedCommand: ERUtilsProps['failedCommand']
   failedPipetteInfo: PipetteData | null
   attachedInstruments?: Instruments
   runRecord?: Run
@@ -22,6 +26,7 @@ export type RecoveryTipStatusUtils = TipAttachmentStatusResult & {
   /* Whether the robot is currently determineTipStatus() */
   isLoadingTipStatus: boolean
   runId: string
+  gripperErrorFirstPipetteWithTip: string | null
 }
 
 // Wraps the tip attachment status utils with Error Recovery specific states and values.
@@ -77,11 +82,26 @@ export function useRecoveryTipStatus(
     })
   }
 
+  // TODO(jh, 11-15-24): This is temporary. Collaborate with design a better way to do drop tip wizard for multiple
+  //  pipettes during error recovery. The tip detection logic will shortly be simplified, too!
+  const errorKind = getErrorKind(props.failedCommand)
+  const currentTipStates =
+    useRunCurrentState(props.runId, {
+      enabled: errorKind === ERROR_KINDS.GRIPPER_ERROR,
+    }).data?.data.tipStates ?? null
+
+  const gripperErrorFirstPipetteWithTip =
+    // eslint-disable-next-line @typescript-eslint/no-unsafe-argument
+    Object.entries(currentTipStates ?? {}).find(
+      ([_, state]) => state.hasTip
+    )?.[0] ?? null
+
   return {
     ...tipAttachmentStatusUtils,
     aPipetteWithTip: failedCommandPipette,
     determineTipStatus: determineTipStatusWithLoading,
     isLoadingTipStatus,
     runId: props.runId,
+    gripperErrorFirstPipetteWithTip,
   }
 }

robot-server/robot_server/runs/router/base_router.py

@@ -61,6 +61,7 @@
     RunCurrentState,
     CommandLinkNoMeta,
     NozzleLayoutConfig,
+    TipState,
 )
 from ..run_auto_deleter import RunAutoDeleter
 from ..run_models import Run, BadRun, RunCreate, RunUpdate
@@ -591,33 +592,27 @@ async def get_current_state(  # noqa: C901
     """
     try:
         run = run_data_manager.get(run_id=runId)
-        active_nozzle_maps = run_data_manager.get_nozzle_maps(run_id=runId)
-
-        nozzle_layouts = {
-            pipetteId: ActiveNozzleLayout.construct(
-                startingNozzle=nozzle_map.starting_nozzle,
-                activeNozzles=list(nozzle_map.map_store.keys()),
-                config=NozzleLayoutConfig(nozzle_map.configuration.value.lower()),
-            )
-            for pipetteId, nozzle_map in active_nozzle_maps.items()
-        }
-
-        run = run_data_manager.get(run_id=runId)
-        current_command = run_data_manager.get_current_command(run_id=runId)
-        last_completed_command = run_data_manager.get_last_completed_command(
-            run_id=runId
-        )
     except RunNotCurrentError as e:
         raise RunStopped(detail=str(e)).as_error(status.HTTP_409_CONFLICT)
 
-    links = CurrentStateLinks.construct(
-        lastCompleted=CommandLinkNoMeta.construct(
-            id=last_completed_command.command_id,
-            href=f"/runs/{runId}/commands/{last_completed_command.command_id}",
+    active_nozzle_maps = run_data_manager.get_nozzle_maps(run_id=runId)
+    nozzle_layouts = {
+        pipetteId: ActiveNozzleLayout.construct(
+            startingNozzle=nozzle_map.starting_nozzle,
+            activeNozzles=list(nozzle_map.map_store.keys()),
+            config=NozzleLayoutConfig(nozzle_map.configuration.value.lower()),
         )
-        if last_completed_command is not None
-        else None
-    )
+        for pipetteId, nozzle_map in active_nozzle_maps.items()
+    }
+
+    tip_states = {
+        pipette_id: TipState.construct(hasTip=has_tip)
+        for pipette_id, has_tip in run_data_manager.get_tip_attached(
+            run_id=runId
+        ).items()
+    }
+
+    current_command = run_data_manager.get_current_command(run_id=runId)
 
     estop_engaged = False
     place_labware = None
@@ -672,11 +667,22 @@ async def get_current_state(  # noqa: C901
                 if place_labware:
                     break
 
+    last_completed_command = run_data_manager.get_last_completed_command(run_id=runId)
+    links = CurrentStateLinks.construct(
+        lastCompleted=CommandLinkNoMeta.construct(
+            id=last_completed_command.command_id,
+            href=f"/runs/{runId}/commands/{last_completed_command.command_id}",
+        )
+        if last_completed_command is not None
+        else None
+    )
+
     return await PydanticResponse.create(
         content=Body.construct(
             data=RunCurrentState.construct(
                 estopEngaged=estop_engaged,
                 activeNozzleLayouts=nozzle_layouts,
+                tipStates=tip_states,
                 placeLabwareState=place_labware,
             ),
             links=links,

robot-server/robot_server/runs/run_data_manager.py

@@ -516,6 +516,13 @@ def get_nozzle_maps(self, run_id: str) -> Dict[str, NozzleMap]:
 
         raise RunNotCurrentError()
 
+    def get_tip_attached(self, run_id: str) -> Dict[str, bool]:
+        """Get current tip attached states, keyed by pipette id."""
+        if run_id == self._run_orchestrator_store.current_run_id:
+            return self._run_orchestrator_store.get_tip_attached()
+
+        raise RunNotCurrentError()
+
     def get_all_commands_as_preserialized_list(
         self, run_id: str, include_fixit_commands: bool
     ) -> List[str]:

robot-server/robot_server/runs/run_models.py

@@ -316,6 +316,16 @@ class ActiveNozzleLayout(BaseModel):
     )
 
 
+class TipState(BaseModel):
+    """Information about the tip, if any, currently attached to a pipette."""
+
+    hasTip: bool
+
+    # todo(mm, 2024-11-15): I think the frontend is currently scraping the commands
+    # list to figure out where the current tip came from. Extend this class with that
+    # information so the frontend doesn't have to do that.
+
+
 class PlaceLabwareState(BaseModel):
     """Details the labware being placed by the gripper."""
 
@@ -331,9 +341,21 @@ class PlaceLabwareState(BaseModel):
 class RunCurrentState(BaseModel):
     """Current details about a run."""
 
-    estopEngaged: bool = Field(..., description="")
-    activeNozzleLayouts: Dict[str, ActiveNozzleLayout] = Field(...)
-    placeLabwareState: Optional[PlaceLabwareState] = Field(None)
+    # todo(mm, 2024-11-15): Having estopEngaged here is a bit of an odd man out because
+    # it's sensor state that can change on its own at any time, whereas the rest of
+    # these fields are logical state that changes only when commands are run.
+    #
+    # Our current mechanism for anchoring these fields to a specific point in time
+    # (important for avoiding torn-read problems when a client combines this info with
+    # info from other endpoints) is `links.currentCommand`, which is based on the idea
+    # that these fields only change when the current command changes.
+    #
+    # We should see if clients can replace this with `GET /robot/control/estopStatus`.
+    estopEngaged: bool
+
+    activeNozzleLayouts: Dict[str, ActiveNozzleLayout]
+    tipStates: Dict[str, TipState]
+    placeLabwareState: Optional[PlaceLabwareState]
 
 
 class CommandLinkNoMeta(BaseModel):

robot-server/robot_server/runs/run_orchestrator_store.py

@@ -295,6 +295,9 @@ async def clear(self) -> RunResult:
             state_summary=run_data, commands=commands, parameters=run_time_parameters
         )
 
+    # todo(mm, 2024-11-15): Are all of these pass-through methods helpful?
+    # Can we delete them and make callers just call .run_orchestrator.play(), etc.?
+
     def play(self, deck_configuration: Optional[DeckConfigurationType] = None) -> None:
         """Start or resume the run."""
         self.run_orchestrator.play(deck_configuration=deck_configuration)
@@ -331,6 +334,10 @@ def get_nozzle_maps(self) -> Dict[str, NozzleMap]:
         """Get the current nozzle map keyed by pipette id."""
         return self.run_orchestrator.get_nozzle_maps()
 
+    def get_tip_attached(self) -> Dict[str, bool]:
+        """Get current tip state keyed by pipette id."""
+        return self.run_orchestrator.get_tip_attached()
+
     def get_run_time_parameters(self) -> List[RunTimeParameter]:
         """Parameter definitions defined by protocol, if any. Will always be empty before execution."""
         return self.run_orchestrator.get_run_time_parameters()

robot-server/tests/runs/router/test_base_router.py

@@ -1,6 +1,4 @@
 """Tests for base /runs routes."""
-from typing import Dict
-
 from opentrons.hardware_control import HardwareControlAPI
 from opentrons_shared_data.robot.types import RobotTypeEnum
 import pytest
@@ -53,6 +51,7 @@
     ActiveNozzleLayout,
     CommandLinkNoMeta,
     NozzleLayoutConfig,
+    TipState,
 )
 from robot_server.runs.run_orchestrator_store import RunConflictError
 from robot_server.runs.run_data_manager import (
@@ -112,23 +111,6 @@ def labware_offset_create() -> LabwareOffsetCreate:
     )
 
 
-@pytest.fixture
-def mock_nozzle_maps() -> Dict[str, NozzleMap]:
-    """Get mock NozzleMaps."""
-    return {
-        "mock-pipette-id": NozzleMap(
-            configuration=NozzleConfigurationType.FULL,
-            columns={"1": ["A1"]},
-            rows={"A": ["A1"]},
-            map_store={"A1": Point(0, 0, 0)},
-            starting_nozzle="A1",
-            valid_map_key="mock-key",
-            full_instrument_map_store={},
-            full_instrument_rows={},
-        )
-    }
-
-
 async def test_create_run(
     decoy: Decoy,
     mock_run_data_manager: RunDataManager,
@@ -876,7 +858,6 @@ async def test_get_current_state_success(
     decoy: Decoy,
     mock_run_data_manager: RunDataManager,
     mock_hardware_api: HardwareControlAPI,
-    mock_nozzle_maps: Dict[str, NozzleMap],
 ) -> None:
     """It should return different state from the current run.
 
@@ -885,8 +866,23 @@ async def test_get_current_state_success(
     """
     run_id = "test-run-id"
 
+    decoy.when(mock_run_data_manager.get_tip_attached(run_id=run_id)).then_return(
+        {"mock-pipette-id": True}
+    )
+
     decoy.when(mock_run_data_manager.get_nozzle_maps(run_id=run_id)).then_return(
-        mock_nozzle_maps
+        {
+            "mock-pipette-id": NozzleMap(
+                configuration=NozzleConfigurationType.FULL,
+                columns={"1": ["A1"]},
+                rows={"A": ["A1"]},
+                map_store={"A1": Point(0, 0, 0)},
+                starting_nozzle="A1",
+                valid_map_key="mock-key",
+                full_instrument_map_store={},
+                full_instrument_rows={},
+            )
+        }
     )
     command_pointer = CommandPointer(
         command_id="command-id",
@@ -918,6 +914,7 @@ async def test_get_current_state_success(
                 config=NozzleLayoutConfig.FULL,
             )
         },
+        tipStates={"mock-pipette-id": TipState(hasTip=True)},
     )
     assert result.content.links == CurrentStateLinks(
         lastCompleted=CommandLinkNoMeta(
@@ -935,7 +932,7 @@ async def test_get_current_state_run_not_current(
     """It should raise RunStopped when the run is not current."""
     run_id = "non-current-run-id"
 
-    decoy.when(mock_run_data_manager.get_nozzle_maps(run_id=run_id)).then_raise(
+    decoy.when(mock_run_data_manager.get(run_id=run_id)).then_raise(
         RunNotCurrentError("Run is not current")
     )