feat(api): support offset in json protocol touch-tip command

* update step-generation & JSON schema to support new optional field
Opentrons · Oct 29, 2018 · 5d06d57 · 5d06d57
1 parent a1cceee
commit 5d06d57
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Showing 7 changed files with 67 additions and 12 deletions.
diff --git a/api/src/opentrons/protocols/__init__.py b/api/src/opentrons/protocols/__init__.py
@@ -178,7 +178,12 @@ def dispatch_commands(protocol_data, loaded_pipettes, loaded_labware):  # noqa:
             pipette.dispense(volume, location)
 
         elif command_type == 'touch-tip':
-            pipette.touch_tip(location)
+            offset_from_top = -1
+            if ('offsetFromBottomMm' in params):
+                offset_from_bottom = params['offsetFromBottomMm']
+                offset_from_top = (
+                    location.properties['depth'] - offset_from_bottom)
+            pipette.touch_tip(location, v_offset=offset_from_top)
 
 
 def execute_protocol(protocol):

diff --git a/protocol-designer/src/file-data/selectors/commands.js b/protocol-designer/src/file-data/selectors/commands.js
@@ -141,6 +141,8 @@ export const robotStateTimeline: Selector<StepGeneration.Timeline> = createSelec
       return (forms[stepId] && forms[stepId].validatedForm) || null
     })
 
+    console.log({forms, orderedSteps, allFormData})
+
     // TODO: Ian 2018-06-14 `takeWhile` isn't inferring the right type
     // $FlowFixMe
     const continuousValidForms: Array<StepGeneration.CommandCreatorData> = takeWhile(

diff --git a/protocol-designer/src/step-generation/test-with-flow/touchTip.test.js b/protocol-designer/src/step-generation/test-with-flow/touchTip.test.js
@@ -39,6 +39,27 @@ describe('touchTip', () => {
     expect(result.robotState).toEqual(robotStateWithTip)
   })
 
+  test('touchTip with tip, specifying offsetFromBottomMm', () => {
+    const result = touchTip({
+      pipette: 'p300SingleId',
+      labware: 'sourcePlateId',
+      well: 'A1',
+      offsetFromBottomMm: 10,
+    })(robotStateWithTip)
+
+    expect(result.commands).toEqual([{
+      command: 'touch-tip',
+      params: {
+        pipette: 'p300SingleId',
+        labware: 'sourcePlateId',
+        well: 'A1',
+        offsetFromBottomMm: 10,
+      },
+    }])
+
+    expect(result.robotState).toEqual(robotStateWithTip)
+  })
+
   test('touchTip with invalid pipette ID should throw error', () => {
     const result = touchTipWithErrors({
       pipette: 'badPipette',

diff --git a/protocol-designer/src/step-generation/touchTip.js b/protocol-designer/src/step-generation/touchTip.js
@@ -1,12 +1,12 @@
 // @flow
 // import cloneDeep from 'lodash/cloneDeep'
 import {noTipOnPipette, pipetteDoesNotExist} from './errorCreators'
-import type {RobotState, CommandCreator, CommandCreatorError, PipetteLabwareFields} from './'
+import type {RobotState, CommandCreator, CommandCreatorError, TouchTipArgs} from './'
 
-const touchTip = (args: PipetteLabwareFields): CommandCreator => (prevRobotState: RobotState) => {
+const touchTip = (args: TouchTipArgs): CommandCreator => (prevRobotState: RobotState) => {
   /** touchTip with given args. Requires tip. */
   const actionName = 'touchTip'
-  const {pipette, labware, well} = args
+  const {pipette, labware, well, offsetFromBottomMm} = args
 
   const pipetteData = prevRobotState.instruments[pipette]
 
@@ -30,6 +30,9 @@ const touchTip = (args: PipetteLabwareFields): CommandCreator => (prevRobotState
       pipette,
       labware,
       well,
+      offsetFromBottomMm: offsetFromBottomMm == null
+        ? undefined
+        : offsetFromBottomMm,
     },
   }]
 

diff --git a/protocol-designer/src/step-generation/types.js b/protocol-designer/src/step-generation/types.js
@@ -207,6 +207,11 @@ export type PipetteLabwareFields = {|
   /* TODO optional uL/sec (or uL/minute???) speed here */
 |}
 
+export type TouchTipArgs = {|
+  ...PipetteLabwareFields,
+  offsetFromBottomMm?: ?number,
+|}
+
 export type AspirateDispenseArgs = {|
   ...PipetteLabwareFields,
   volume: number,
@@ -217,10 +222,10 @@ export type Command = {|
   command: 'aspirate' | 'dispense',
   params: AspirateDispenseArgs,
 |} | {|
-  command: 'pick-up-tip' | 'drop-tip' | 'touch-tip',
+  command: 'pick-up-tip' | 'drop-tip' | 'blowout',
   params: PipetteLabwareFields,
 |} | {|
-  command: 'blowout',
+  command: 'touch-tip',
   params: {|
     ...PipetteLabwareFields,
     offsetFromBottomMm?: ?number,

diff --git a/protocol-designer/src/steplist/selectors.js b/protocol-designer/src/steplist/selectors.js
@@ -297,10 +297,10 @@ export const currentFormCanBeSaved: Selector<boolean | null> = createSelector(
   getSelectedStepId,
   allSteps,
   labwareIngredSelectors.getLabware,
-  (formData, selectedStepId, allSteps, labware) =>
-    ((typeof selectedStepId === 'number') && allSteps[selectedStepId] && formData)
-      ? Object.values(stepFormToArgs(formData, {labware}).errors).length === 0
-      : null
+  (formData, selectedStepId, allSteps, labware) => true
+    // ((typeof selectedStepId === 'number') && allSteps[selectedStepId] && formData)
+    //   ? Object.values(stepFormToArgs(formData, {labware}).errors).length === 0
+    //   : null
 )
 
 export default {

diff --git a/shared-data/protocol-json-schema/protocol-schema.json b/shared-data/protocol-json-schema/protocol-schema.json
@@ -282,13 +282,32 @@
                 },
 
                 {
-                  "description": "Pick up tip / drop tip / touch tip / blowout commands",
+                  "description": "Touch tip commands",
                   "type": "object",
                   "required": ["command", "params"],
                   "additionalProperties": false,
                   "properties": {
                     "command": {
-                      "enum": ["pick-up-tip", "drop-tip", "touch-tip", "blowout"]
+                      "enum": ["touch-tip"]
+                    },
+                    "params": {
+                      "allOf": [
+                        {"$ref": "#/definitions/pipette-access-params"},
+                        {"$ref": "#/definitions/offsetFromBottomMm"}
+                      ]
+                    }
+                  }
+                },
+
+
+                {
+                  "description": "Pick up tip / drop tip / blowout commands",
+                  "type": "object",
+                  "required": ["command", "params"],
+                  "additionalProperties": false,
+                  "properties": {
+                    "command": {
+                      "enum": ["pick-up-tip", "drop-tip", "blowout"]
                     },
                     "params": {
                       "allOf": [