fix(app, api): expose failOnNotHomed parameter for save_position comm…

…and (#14139) Drop tip flows require saving pipette positions without homing the plunger axis (we definitely do not want to home the plunger). The save_position command should optionally expose a failOnNotHomed parameter to prevent an error from being thrown when the plunger is not homed.
Opentrons · Dec 7, 2023 · 7677f9a · 7677f9a
1 parent bd38336
commit 7677f9a
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Showing 8 changed files with 22 additions and 5 deletions.
diff --git a/api/src/opentrons/protocol_engine/commands/save_position.py b/api/src/opentrons/protocol_engine/commands/save_position.py
@@ -26,6 +26,9 @@ class SavePositionParams(BaseModel):
         description="An optional ID to assign to this command instance. "
         "Auto-assigned if not defined.",
     )
+    failOnNotHomed: Optional[bool] = Field(
+        True, descrption="Require all axes to be homed before saving position."
+    )
 
 
 class SavePositionResult(BaseModel):
@@ -58,8 +61,11 @@ def __init__(
     async def execute(self, params: SavePositionParams) -> SavePositionResult:
         """Check the requested pipette's current position."""
         position_id = self._model_utils.ensure_id(params.positionId)
+        fail_on_not_homed = (
+            params.failOnNotHomed if params.failOnNotHomed is not None else True
+        )
         x, y, z = await self._gantry_mover.get_position(
-            pipette_id=params.pipetteId, fail_on_not_homed=True
+            pipette_id=params.pipetteId, fail_on_not_homed=fail_on_not_homed
         )
 
         return SavePositionResult(

diff --git a/api/tests/opentrons/protocol_engine/commands/test_save_position.py b/api/tests/opentrons/protocol_engine/commands/test_save_position.py
@@ -35,10 +35,7 @@ async def test_save_position_implementation(
     subject = SavePositionImplementation(
         model_utils=mock_model_utils, gantry_mover=mock_gantry_mover
     )
-    params = SavePositionParams(
-        pipetteId="abc",
-        positionId="123",
-    )
+    params = SavePositionParams(pipetteId="abc", positionId="123", failOnNotHomed=True)
 
     decoy.when(mock_model_utils.ensure_id("123")).then_return("456")
 

diff --git a/app/src/organisms/DropTipWizard/index.tsx b/app/src/organisms/DropTipWizard/index.tsx
@@ -292,6 +292,7 @@ export const DropTipWizardComponent = (
         commandType: 'savePosition' as const,
         params: {
           pipetteId: MANAGED_PIPETTE_ID,
+          failOnNotHomed: false,
         },
       },
     ]

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
@@ -507,6 +507,7 @@ stages:
                 status: succeeded
                 params:
                   pipetteId: pipetteId
+                  failOnNotHomed: true
                 result:
                   positionId: !anystr
                   position:
@@ -539,6 +540,7 @@ stages:
                 params:
                   pipetteId: pipetteId
                   positionId: positionId
+                  failOnNotHomed: true
                 result:
                   positionId: positionId
                   position:

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
@@ -542,6 +542,7 @@ stages:
                 status: succeeded
                 params:
                   pipetteId: pipetteId
+                  failOnNotHomed: true
                 result:
                   positionId: !anystr
                   position:
@@ -574,6 +575,7 @@ stages:
                 params:
                   pipetteId: pipetteId
                   positionId: positionId
+                  failOnNotHomed: true
                 result:
                   positionId: positionId
                   position:

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
@@ -539,6 +539,7 @@ stages:
                 status: succeeded
                 params:
                   pipetteId: pipetteId
+                  failOnNotHomed: true
                 result:
                   positionId: !anystr
                   position:
@@ -571,6 +572,7 @@ stages:
                 params:
                   pipetteId: pipetteId
                   positionId: positionId
+                  failOnNotHomed: true
                 result:
                   positionId: positionId
                   position:

diff --git a/shared-data/command/schemas/8.json b/shared-data/command/schemas/8.json
@@ -2205,6 +2205,12 @@
           "title": "Positionid",
           "description": "An optional ID to assign to this command instance. Auto-assigned if not defined.",
           "type": "string"
+        },
+        "failOnNotHomed": {
+          "title": "Failonnothomed",
+          "default": true,
+          "descrption": "Require all axes to be homed before saving position.",
+          "type": "boolean"
         }
       },
       "required": ["pipetteId"]

diff --git a/shared-data/command/types/gantry.ts b/shared-data/command/types/gantry.ts
@@ -156,6 +156,7 @@ interface MoveRelativeParams {
 interface SavePositionParams {
   pipetteId: string // pipette to use in measurement
   positionId?: string // position ID, auto-assigned if left blank
+  failOnNotHomed?: boolean // Defaults to true if blank. Require every possible axis to be homed to save.
 }
 
 interface HomeParams {