Merge branch 'edge' into chore_7.1.0-mergeback-into-edge

.github/workflows/components-test-build-deploy.yaml

@@ -69,7 +69,7 @@ jobs:
           files: ./coverage/lcov.info
           flags: components
 
-  build-components:
+  build-components-storybook:
     name: 'build components artifact'
     runs-on: 'ubuntu-22.04'
     if: github.event_name != 'pull_request'
@@ -102,11 +102,32 @@ jobs:
         with:
           name: 'components-artifact'
           path: storybook-static
+
+  determine-build-type:
+      runs-on: 'ubuntu-latest'
+      name: 'Determine build type'
+      outputs:
+        type: ${{steps.determine-build-type.outputs.type}}
+      steps:
+        - id: determine-build-type
+          run: |
+            echo "Determining build type for event ${{github.event_type}} and ref ${{github.ref}}"
+            if [ "${{ format('{0}', github.ref == 'refs/heads/edge') }}" = "true" ] ; then
+              echo "storybook s3 builds for edge"
+              echo 'type=storybook' >> $GITHUB_OUTPUT
+            elif [ "${{ format('{0}', startsWith(github.ref, 'refs/tags/components')) }}" = "true" ] ; then
+              echo "publish builds for components tags"
+              echo 'type=publish' >> $GITHUB_OUTPUT
+            else
+              echo "No build for ref ${{github.ref}} and event ${{github.event_type}}"
+              echo 'type=none' >> $GITHUB_OUTPUT
+            fi
+
   deploy-components:
-    name: 'deploy components artifact to S3'
+    name: 'deploy components storybook artifact to S3'
     runs-on: 'ubuntu-22.04'
-    needs: ['js-unit-test', 'build-components']
-    if: github.event_name != 'pull_request'
+    needs: ['js-unit-test', 'build-components-storybook', 'determine-build-type']
+    if: needs.determine-build-type.outputs.type != 'none'
     steps:
       - uses: 'actions/checkout@v3'
       # https://github.com/actions/checkout/issues/290
@@ -137,3 +158,58 @@ jobs:
           AWS_DEFAULT_REGION: us-east-2
         run: |
           aws s3 sync ./dist s3://opentrons-components/${{ env.OT_BRANCH}} --acl public-read
+
+  publish-components:
+    name: 'publish components package to npm'
+    runs-on: 'ubuntu-latest'
+    needs: ['js-unit-test', 'determine-build-type']
+    if: needs.determine-build-type.outputs.type == 'publish'
+    steps:
+      - uses: 'actions/checkout@v3'
+      # https://github.com/actions/checkout/issues/290
+      - name: 'Fix actions/checkout odd handling of tags'
+        if: startsWith(github.ref, 'refs/tags')
+        run: |
+          git fetch -f origin ${{ github.ref }}:${{ github.ref }}
+          git checkout ${{ github.ref }}
+      - uses: 'actions/setup-node@v3'
+        with:
+          node-version: '16'
+          registry-url: 'https://registry.npmjs.org'
+      - name: 'cache yarn cache'
+        uses: actions/cache@v3
+        with:
+          path: |
+            ${{ github.workspace }}/.yarn-cache
+            ${{ github.workspace }}/.npm-cache
+          key: js-${{ secrets.GH_CACHE_VERSION }}-${{ runner.os }}-yarn-${{ hashFiles('yarn.lock') }}
+          restore-keys: |
+            js-${{ secrets.GH_CACHE_VERSION }}-${{ runner.os }}-yarn-
+      - name: 'setup-js'
+        run: |
+          npm config set cache ./.npm-cache
+          yarn config set cache-folder ./.yarn-cache
+          yarn config set network-timeout 60000
+          yarn
+      - name: 'build library'
+        run: |
+          make -C components lib
+      # replace package.json stub version number with version from tag
+      - name: 'set version number'
+        run: |
+          npm install -g json
+          VERSION_STRING=$(echo ${{ github.ref }} | sed 's/refs\/tags\/components@//')
+          json -I -f ./components/package.json -e "this.version=\"$VERSION_STRING\""
+          json -I -f ./components/package.json -e "this.dependencies['@opentrons/shared-data']=\"$VERSION_STRING\""
+      - uses: 'actions/setup-node@v3'
+        with:
+          node-version: '16'
+          registry-url: 'https://registry.npmjs.org'
+      - name: 'publish to npm registry'
+        env: 
+          NODE_AUTH_TOKEN: ${{ secrets.NPM_TOKEN }}
+        run: |
+          cd ./components && echo "//registry.npmjs.org/:_authToken=${NODE_AUTH_TOKEN}" > ./.npmrc && npm publish --access public
+          
+
+      

.github/workflows/shared-data-test-lint-deploy.yaml

@@ -19,6 +19,8 @@ on:
       - '*hotfix*'
     tags:
       - 'v*'
+      - 'shared-data*'
+      - 'components*'
   pull_request:
     paths:
       - 'Makefile'
@@ -127,7 +129,7 @@ jobs:
           key: js-${{ secrets.GH_CACHE_VERSION }}-${{ runner.os }}-yarn-${{ hashFiles('yarn.lock') }}
           restore-keys: |
             js-${{ secrets.GH_CACHE_VERSION }}-${{ runner.os }}-yarn-
-      - name: 'setup-js'
+      - name: 'js deps'
         run: |
           npm config set cache ./.npm-cache
           yarn config set cache-folder ./.yarn-cache
@@ -187,3 +189,76 @@ jobs:
           project: 'shared-data/python'
           repository_url: 'https://upload.pypi.org/legacy/'
           password: '${{ secrets.OT_PYPI_PASSWORD }}'
+
+  publish-switch:
+      runs-on: 'ubuntu-latest'
+      name: 'Determine whether or not to publish artifacts'
+      outputs:
+        should_publish: ${{steps.publish-switch.outputs.should_publish}}
+      steps:
+        - id: publish-switch
+          run: |
+            echo "Determining whether to publish artifacts for event ${{github.event_type}} and ref ${{github.ref}}"
+            if [ "${{ format('{0}', startsWith(github.ref, 'refs/tags/shared-data')) }}" = "true"] ; then
+              echo "Publishing builds for shared-data@ tags"
+              echo 'should_publish=true' >> $GITHUB_OUTPUT
+            elif [ "${{ format('{0}', startsWith(github.ref, 'refs/tags/components')) }}" = "true"] ; then
+              echo "Publishing builds for components@ tags"
+              echo 'should_publish=true' >> $GITHUB_OUTPUT
+            else 
+              echo "No publish for ref ${{github.ref}} and event ${{github.event_type}}"
+              echo 'should_publish=false' >> $GITHUB_OUTPUT
+            fi
+
+  publish-to-npm:
+    name: 'publish shared-data package to npm'
+    runs-on: 'ubuntu-latest'
+    needs: ['js-test', 'publish-switch']
+    if: needs.publish-switch.outputs.should_publish == 'true'
+    steps:
+      - uses: 'actions/checkout@v3'
+      # https://github.com/actions/checkout/issues/290
+      - name: 'Fix actions/checkout odd handling of tags'
+        if: startsWith(github.ref, 'refs/tags')
+        run: |
+          git fetch -f origin ${{ github.ref }}:${{ github.ref }}
+          git checkout ${{ github.ref }}
+      - uses: 'actions/setup-node@v3'
+        with:
+          node-version: '16'
+          registry-url: 'https://registry.npmjs.org'
+      - name: 'cache yarn cache'
+        uses: actions/cache@v3
+        with:
+          path: |
+            ${{ github.workspace }}/.yarn-cache
+            ${{ github.workspace }}/.npm-cache
+          key: js-${{ secrets.GH_CACHE_VERSION }}-${{ runner.os }}-yarn-${{ hashFiles('yarn.lock') }}
+          restore-keys: |
+            js-${{ secrets.GH_CACHE_VERSION }}-${{ runner.os }}-yarn-
+      - name: 'js deps'
+        run: |
+          npm config set cache ./.npm-cache
+          yarn config set cache-folder ./.yarn-cache
+          yarn config set network-timeout 60000
+          yarn
+      - name: 'build library'
+        run: |
+          make -C shared-data lib-js
+      # replace package.json stub version number with version from tag
+      - name: 'set version number'
+        run: |
+          npm install -g json
+          VERSION_STRING=$(echo ${{ github.ref }} | sed -E 's/refs\/tags\/(components|shared-data)@//')
+          json -I -f ./shared-data/package.json -e "this.version=\"$VERSION_STRING\""
+          cd ./shared-data
+      - uses: 'actions/setup-node@v3'
+        with:
+          node-version: '16'
+          registry-url: 'https://registry.npmjs.org'
+      - name: 'publish to npm registry'
+        env: 
+          NODE_AUTH_TOKEN: ${{ secrets.NPM_TOKEN }}
+        run: |
+          cd ./shared-data && echo "//registry.npmjs.org/:_authToken=${NODE_AUTH_TOKEN}" > ./.npmrc && npm publish --access public
+          

Makefile

@@ -61,7 +61,6 @@ setup-js:
 	yarn
 	$(MAKE) -C $(APP_SHELL_DIR) setup
 	$(MAKE) -C $(APP_SHELL_ODD_DIR) setup
-	$(MAKE) -C $(SHARED_DATA_DIR) setup-js
 
 PYTHON_SETUP_TARGETS := $(addsuffix -py-setup, $(PYTHON_DIRS))
 

api/docs/v2/robot_position.rst

@@ -116,6 +116,8 @@ All positions relative to labware are adjusted automatically based on labware of
 
 You should only adjust labware offsets in your Python code if you plan to run your protocol in Jupyter Notebook or from the command line. See :ref:`using_lpc` in the Advanced Control article for information.
 
+.. _protocol-api-deck-coords:
+
 Position Relative to the Deck
 =============================
 

api/src/opentrons/hardware_control/__init__.py

@@ -13,24 +13,29 @@
 from .api import API
 from .pause_manager import PauseManager
 from .backends import Controller, Simulator
-from .types import CriticalPoint, ExecutionState
+from .types import CriticalPoint, ExecutionState, OT3Mount
 from .constants import DROP_TIP_RELEASE_DISTANCE
 from .thread_manager import ThreadManager
 from .execution_manager import ExecutionManager
 from .threaded_async_lock import ThreadedAsyncLock, ThreadedAsyncForbidden
-from .protocols import HardwareControlInterface
+from .protocols import HardwareControlInterface, FlexHardwareControlInterface
 from .instruments import AbstractInstrument, Gripper
 from typing import Union
 from .ot3_calibration import OT3Transforms
 from .robot_calibration import RobotCalibration
+from opentrons.config.types import RobotConfig, OT3Config
+
+from opentrons.types import Mount
 
 # TODO (lc 12-05-2022) We should 1. figure out if we need
 # to globally export a class that is strictly used in the hardware controller
 # and 2. how to properly export an ot2 and ot3 pipette.
 from .instruments.ot2.pipette import Pipette
 
-OT2HardwareControlAPI = HardwareControlInterface[RobotCalibration]
-OT3HardwareControlAPI = HardwareControlInterface[OT3Transforms]
+OT2HardwareControlAPI = HardwareControlInterface[RobotCalibration, Mount, RobotConfig]
+OT3HardwareControlAPI = FlexHardwareControlInterface[
+    OT3Transforms, Union[Mount, OT3Mount], OT3Config
+]
 HardwareControlAPI = Union[OT2HardwareControlAPI, OT3HardwareControlAPI]
 
 ThreadManagedHardware = ThreadManager[HardwareControlAPI]
@@ -55,4 +60,6 @@
     "ThreadedAsyncForbidden",
     "ThreadManagedHardware",
     "SyncHardwareAPI",
+    "OT2HardwareControlAPI",
+    "OT3HardwareControlAPI",
 ]

api/src/opentrons/hardware_control/api.py

@@ -88,7 +88,7 @@ class API(
     # of methods that are present in the protocol will call the (empty,
     # do-nothing) methods in the protocol. This will happily make all the
     # tests fail.
-    HardwareControlInterface[RobotCalibration],
+    HardwareControlInterface[RobotCalibration, top_types.Mount, RobotConfig],
 ):
     """This API is the primary interface to the hardware controller.
 
@@ -426,6 +426,9 @@ async def update_firmware(
             firmware_file, checked_loop, explicit_modeset
         )
 
+    def has_gripper(self) -> bool:
+        return False
+
     async def cache_instruments(
         self, require: Optional[Dict[top_types.Mount, PipetteName]] = None
     ) -> None:

api/src/opentrons/hardware_control/instruments/ot3/gripper.py

@@ -22,7 +22,10 @@
 )
 from ..instrument_abc import AbstractInstrument
 from opentrons.hardware_control.dev_types import AttachedGripper, GripperDict
-from opentrons_shared_data.errors.exceptions import CommandPreconditionViolated
+from opentrons_shared_data.errors.exceptions import (
+    CommandPreconditionViolated,
+    FailedGripperPickupError,
+)
 
 from opentrons_shared_data.gripper import (
     GripperDefinition,
@@ -101,6 +104,10 @@ def remove_probe(self) -> None:
         assert self.attached_probe
         self._attached_probe = None
 
+    @property
+    def max_allowed_grip_error(self) -> float:
+        return self._geometry.max_allowed_grip_error
+
     @property
     def jaw_width(self) -> float:
         jaw_max = self.geometry.jaw_width["max"]
@@ -196,6 +203,23 @@ def check_calibration_pin_location_is_accurate(self) -> None:
                 },
             )
 
+    def check_labware_pickup(self, labware_width: float) -> None:
+        """Ensure that a gripper pickup succeeded."""
+        # check if the gripper is at an acceptable position after attempting to
+        #  pick up labware
+        expected_gripper_position = labware_width
+        current_gripper_position = self.jaw_width
+        if (
+            abs(current_gripper_position - expected_gripper_position)
+            > self.max_allowed_grip_error
+        ):
+            raise FailedGripperPickupError(
+                details={
+                    "expected jaw width": expected_gripper_position,
+                    "actual jaw width": current_gripper_position,
+                },
+            )
+
     def critical_point(self, cp_override: Optional[CriticalPoint] = None) -> Point:
         """
         The vector from the gripper mount to the critical point, which is selectable