From 6ed5aaf415ed91e2bb19c74b64069c460395dad0 Mon Sep 17 00:00:00 2001 From: Jamey Huffnagle Date: Tue, 12 Nov 2024 12:46:12 -0500 Subject: [PATCH 01/57] app(fix): Fix liquids always required during protocol setup (#16762) Closes RQA-3535 --- .../hooks/useRequiredSetupStepsInOrder.ts | 19 ++++++++++++------- 1 file changed, 12 insertions(+), 7 deletions(-) diff --git a/app/src/redux-resources/runs/hooks/useRequiredSetupStepsInOrder.ts b/app/src/redux-resources/runs/hooks/useRequiredSetupStepsInOrder.ts index 481a3622f05..31863f238e6 100644 --- a/app/src/redux-resources/runs/hooks/useRequiredSetupStepsInOrder.ts +++ b/app/src/redux-resources/runs/hooks/useRequiredSetupStepsInOrder.ts @@ -56,14 +56,19 @@ const keysInOrder = ( protocolAnalysis == null ? NO_ANALYSIS_STEPS_IN_ORDER : ALL_STEPS_IN_ORDER.filter((stepKey: StepKey) => { - if (protocolAnalysis.modules.length === 0) { - return stepKey !== MODULE_SETUP_STEP_KEY + if ( + stepKey === MODULE_SETUP_STEP_KEY && + protocolAnalysis.modules.length === 0 + ) { + return false + } else if ( + stepKey === LIQUID_SETUP_STEP_KEY && + protocolAnalysis.liquids.length === 0 + ) { + return false + } else { + return true } - - if (protocolAnalysis.liquids.length === 0) { - return stepKey !== LIQUID_SETUP_STEP_KEY - } - return true }) return { orderedSteps: orderedSteps as StepKey[], orderedApplicableSteps } } From 9e951dad2890acd0238b4fec9ae0bed6cb0ac078 Mon Sep 17 00:00:00 2001 From: Brayan Almonte Date: Wed, 13 Nov 2024 10:34:32 -0500 Subject: [PATCH 02/57] fix(api): use encoder position instead of homing gantry when placing plate reader lid. (#16781) - The plate reader lid hits the Flex side window when the gantry homes while the gripper holds the lid, don't do that! :) - Instead, let's update the gantry position from the encoders, so we don't have to home at all. --- .../commands/unsafe/unsafe_place_labware.py | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/api/src/opentrons/protocol_engine/commands/unsafe/unsafe_place_labware.py b/api/src/opentrons/protocol_engine/commands/unsafe/unsafe_place_labware.py index aa11555954d..c69cea29243 100644 --- a/api/src/opentrons/protocol_engine/commands/unsafe/unsafe_place_labware.py +++ b/api/src/opentrons/protocol_engine/commands/unsafe/unsafe_place_labware.py @@ -129,9 +129,14 @@ async def execute( module.id ) - # NOTE: When the estop is pressed, the gantry loses position, - # so the robot needs to home x, y to sync. - await ot3api.home(axes=[Axis.Z_L, Axis.Z_R, Axis.Z_G, Axis.X, Axis.Y]) + # NOTE: When the estop is pressed, the gantry loses position, lets use + # the encoders to sync position. + # Ideally, we'd do a full home, but this command is used when + # the gripper is holding the plate reader, and a full home would + # bang it into the right window. + await ot3api.home(axes=[Axis.Z_L, Axis.Z_R, Axis.Z_G]) + await ot3api.engage_axes([Axis.X, Axis.Y]) + await ot3api.update_axis_position_estimations([Axis.X, Axis.Y]) # Place the labware down await self._start_movement(ot3api, definition, location, drop_offset) From 653fb4931ec4bedc445cc043687a0aa4e594de0f Mon Sep 17 00:00:00 2001 From: Sarah Breen Date: Wed, 13 Nov 2024 12:37:58 -0500 Subject: [PATCH 03/57] fix(app, shared-data, components): add calibration not req text for plate reader, remove lid filtration (#16776) fix RQA-3396 --- .../localization/en/device_settings.json | 1 + .../Desktop/ProtocolDetails/index.tsx | 5 +- .../ModuleCalibrationItems.tsx | 86 +++++++++++-------- .../__tests__/ModuleCalibrationItems.test.tsx | 22 ++++- .../IntroScreen/getPrepCommands.ts | 4 +- .../analysis/getProtocolModulesInfo.ts | 4 +- .../getLabwareSetupItemGroups.ts | 8 +- .../ProtocolDeck/utils/getModulesInSlots.ts | 4 +- shared-data/js/constants.ts | 6 -- 9 files changed, 77 insertions(+), 63 deletions(-) diff --git a/app/src/assets/localization/en/device_settings.json b/app/src/assets/localization/en/device_settings.json index 5e40c7ce5e2..79416a09f73 100644 --- a/app/src/assets/localization/en/device_settings.json +++ b/app/src/assets/localization/en/device_settings.json @@ -177,6 +177,7 @@ "never": "Never", "new_features": "New Features", "next_step": "Next step", + "no_calibration_required": "No calibration required", "no_connection_found": "No connection found", "no_gripper_attached": "No gripper attached", "no_modules_attached": "No modules attached", diff --git a/app/src/organisms/Desktop/ProtocolDetails/index.tsx b/app/src/organisms/Desktop/ProtocolDetails/index.tsx index a54115a00f9..3bdf4be672e 100644 --- a/app/src/organisms/Desktop/ProtocolDetails/index.tsx +++ b/app/src/organisms/Desktop/ProtocolDetails/index.tsx @@ -47,7 +47,6 @@ import { parseInitialLoadedLabwareBySlot, parseInitialLoadedModulesBySlot, parseInitialPipetteNamesByMount, - NON_USER_ADDRESSABLE_LABWARE, } from '@opentrons/shared-data' import { getTopPortalEl } from '/app/App/portal' @@ -285,9 +284,7 @@ export function ProtocolDetails( : [] ), }).filter( - labware => - labware.result?.definition?.parameters?.format !== 'trash' && - !NON_USER_ADDRESSABLE_LABWARE.includes(labware?.params?.loadName) + labware => labware.result?.definition?.parameters?.format !== 'trash' ) : [] diff --git a/app/src/organisms/Desktop/RobotSettingsCalibration/CalibrationDetails/ModuleCalibrationItems.tsx b/app/src/organisms/Desktop/RobotSettingsCalibration/CalibrationDetails/ModuleCalibrationItems.tsx index 11ee8f60402..684b8269784 100644 --- a/app/src/organisms/Desktop/RobotSettingsCalibration/CalibrationDetails/ModuleCalibrationItems.tsx +++ b/app/src/organisms/Desktop/RobotSettingsCalibration/CalibrationDetails/ModuleCalibrationItems.tsx @@ -8,7 +8,10 @@ import { LegacyStyledText, TYPOGRAPHY, } from '@opentrons/components' -import { getModuleDisplayName } from '@opentrons/shared-data' +import { + getModuleDisplayName, + ABSORBANCE_READER_TYPE, +} from '@opentrons/shared-data' import { formatLastCalibrated } from './utils' import { ModuleCalibrationOverflowMenu } from './ModuleCalibrationOverflowMenu' @@ -41,42 +44,51 @@ export function ModuleCalibrationItems({ - {attachedModules.map(attachedModule => ( - - - - {getModuleDisplayName(attachedModule.moduleModel)} - - - - - {attachedModule.serialNumber} - - - - - {attachedModule.moduleOffset?.last_modified != null - ? formatLastCalibrated( - attachedModule.moduleOffset?.last_modified - ) - : t('not_calibrated_short')} - - - - - - - ))} + {attachedModules.map(attachedModule => { + const noCalibrationCopy = + attachedModule.moduleType === ABSORBANCE_READER_TYPE + ? t('no_calibration_required') + : t('not_calibrated_short') + + return ( + + + + {getModuleDisplayName(attachedModule.moduleModel)} + + + + + {attachedModule.serialNumber} + + + + + {attachedModule.moduleOffset?.last_modified != null + ? formatLastCalibrated( + attachedModule.moduleOffset?.last_modified + ) + : noCalibrationCopy} + + + + {attachedModule.moduleType !== ABSORBANCE_READER_TYPE ? ( + + ) : null} + + + ) + })} ) diff --git a/app/src/organisms/Desktop/RobotSettingsCalibration/CalibrationDetails/__tests__/ModuleCalibrationItems.test.tsx b/app/src/organisms/Desktop/RobotSettingsCalibration/CalibrationDetails/__tests__/ModuleCalibrationItems.test.tsx index 2fdd9694e5d..8cb0dd62dc6 100644 --- a/app/src/organisms/Desktop/RobotSettingsCalibration/CalibrationDetails/__tests__/ModuleCalibrationItems.test.tsx +++ b/app/src/organisms/Desktop/RobotSettingsCalibration/CalibrationDetails/__tests__/ModuleCalibrationItems.test.tsx @@ -9,6 +9,7 @@ import { formatLastCalibrated } from '../utils' import { ModuleCalibrationItems } from '../ModuleCalibrationItems' import type { AttachedModule } from '@opentrons/api-client' +import { ABSORBANCE_READER_TYPE } from '@opentrons/shared-data' vi.mock('../ModuleCalibrationOverflowMenu') @@ -42,7 +43,7 @@ const mockCalibratedModule = { totalCycleCount: 1, currentStepIndex: 1, totalStepCount: 1, - }, + } as any, usbPort: { port: 3, portGroup: 'left', @@ -101,4 +102,23 @@ describe('ModuleCalibrationItems', () => { render(props) screen.getByText(formatLastCalibrated('2023-06-01T14:42:20.131798+00:00')) }) + + it('should say no calibration required if module is absorbance reader', () => { + const absorbanceReaderAttachedModule = { + ...mockCalibratedModule, + moduleType: ABSORBANCE_READER_TYPE, + moduleOffset: undefined, + } + props = { + ...props, + attachedModules: [ + absorbanceReaderAttachedModule as AttachedModule, + ] as AttachedModule[], + } + render(props) + expect( + screen.queryByText('mock ModuleCalibrationOverflowMenu') + ).not.toBeInTheDocument() + screen.getByText('No calibration required') + }) }) diff --git a/app/src/organisms/LabwarePositionCheck/IntroScreen/getPrepCommands.ts b/app/src/organisms/LabwarePositionCheck/IntroScreen/getPrepCommands.ts index 8c2831115c9..4e8119e4d74 100644 --- a/app/src/organisms/LabwarePositionCheck/IntroScreen/getPrepCommands.ts +++ b/app/src/organisms/LabwarePositionCheck/IntroScreen/getPrepCommands.ts @@ -3,7 +3,6 @@ import { HEATERSHAKER_MODULE_TYPE, THERMOCYCLER_MODULE_TYPE, ABSORBANCE_READER_TYPE, - NON_USER_ADDRESSABLE_LABWARE, } from '@opentrons/shared-data' import type { @@ -49,8 +48,7 @@ export function getPrepCommands( return [...acc, loadWithPipetteId] } else if ( command.commandType === 'loadLabware' && - command.result?.labwareId != null && - !NON_USER_ADDRESSABLE_LABWARE.includes(command.params.loadName) + command.result?.labwareId != null ) { // load all labware off-deck so that LPC can move them on individually later return [ diff --git a/app/src/transformations/analysis/getProtocolModulesInfo.ts b/app/src/transformations/analysis/getProtocolModulesInfo.ts index ee1da1a2392..8a268c2694b 100644 --- a/app/src/transformations/analysis/getProtocolModulesInfo.ts +++ b/app/src/transformations/analysis/getProtocolModulesInfo.ts @@ -3,7 +3,6 @@ import { getModuleDef2, getLoadedLabwareDefinitionsByUri, getPositionFromSlotId, - NON_USER_ADDRESSABLE_LABWARE, } from '@opentrons/shared-data' import { getModuleInitialLoadInfo } from '../commands' import type { @@ -39,8 +38,7 @@ export const getProtocolModulesInfo = ( protocolData.commands .filter( (command): command is LoadLabwareRunTimeCommand => - command.commandType === 'loadLabware' && - !NON_USER_ADDRESSABLE_LABWARE.includes(command.params.loadName) + command.commandType === 'loadLabware' ) .find( (command: LoadLabwareRunTimeCommand) => diff --git a/app/src/transformations/commands/transformations/getLabwareSetupItemGroups.ts b/app/src/transformations/commands/transformations/getLabwareSetupItemGroups.ts index 30c79281649..ebc31e37ccc 100644 --- a/app/src/transformations/commands/transformations/getLabwareSetupItemGroups.ts +++ b/app/src/transformations/commands/transformations/getLabwareSetupItemGroups.ts @@ -1,8 +1,5 @@ import partition from 'lodash/partition' -import { - getLabwareDisplayName, - NON_USER_ADDRESSABLE_LABWARE, -} from '@opentrons/shared-data' +import { getLabwareDisplayName } from '@opentrons/shared-data' import type { LabwareDefinition2, @@ -46,8 +43,7 @@ export function getLabwareSetupItemGroups( commands.reduce((acc, c) => { if ( c.commandType === 'loadLabware' && - c.result?.definition?.metadata?.displayCategory !== 'trash' && - !NON_USER_ADDRESSABLE_LABWARE.includes(c.params?.loadName) + c.result?.definition?.metadata?.displayCategory !== 'trash' ) { const { location, displayName } = c.params const { definition } = c.result ?? {} diff --git a/components/src/hardware-sim/ProtocolDeck/utils/getModulesInSlots.ts b/components/src/hardware-sim/ProtocolDeck/utils/getModulesInSlots.ts index 612759b3d01..0d9da4b48bd 100644 --- a/components/src/hardware-sim/ProtocolDeck/utils/getModulesInSlots.ts +++ b/components/src/hardware-sim/ProtocolDeck/utils/getModulesInSlots.ts @@ -2,7 +2,6 @@ import { SPAN7_8_10_11_SLOT, getModuleDef2, getLoadedLabwareDefinitionsByUri, - NON_USER_ADDRESSABLE_LABWARE, } from '@opentrons/shared-data' import type { CompletedProtocolAnalysis, @@ -37,8 +36,7 @@ export const getModulesInSlots = ( commands .filter( (command): command is LoadLabwareRunTimeCommand => - command.commandType === 'loadLabware' && - !NON_USER_ADDRESSABLE_LABWARE.includes(command.params.loadName) + command.commandType === 'loadLabware' ) .find( (command: LoadLabwareRunTimeCommand) => diff --git a/shared-data/js/constants.ts b/shared-data/js/constants.ts index f5f764d480d..8ae6d2d6ff8 100644 --- a/shared-data/js/constants.ts +++ b/shared-data/js/constants.ts @@ -589,12 +589,6 @@ export const WASTE_CHUTE_STAGING_AREA_FIXTURES: CutoutFixtureId[] = [ export const LOW_VOLUME_PIPETTES = ['p50_single_flex', 'p50_multi_flex'] -// robot server loads absorbance reader lid as a labware but it is not -// user addressable so we need to hide it where we show labware in the app -export const NON_USER_ADDRESSABLE_LABWARE = [ - 'opentrons_flex_lid_absorbance_plate_reader_module', -] - // default hex values for liquid colors const electricPurple = '#b925ff' const goldenYellow = '#ffd600' From 21bf7474e4486867d64c165294a3537bba355a0e Mon Sep 17 00:00:00 2001 From: Jamey Huffnagle Date: Wed, 13 Nov 2024 14:48:13 -0500 Subject: [PATCH 04/57] fix(app): Bubble pipette command errors during drop tip wizard (#16793) Works toward RQA-3569 --- .../organisms/DropTipWizardFlows/DropTipWizard.tsx | 10 +++++++--- .../hooks/__tests__/useDropTipRouting.test.tsx | 11 +++++++++++ .../DropTipWizardFlows/hooks/useDropTipRouting.tsx | 5 ++++- .../organisms/ErrorRecoveryFlows/RecoveryError.tsx | 4 ++++ .../__tests__/RecoveryError.test.tsx | 6 +++++- 5 files changed, 31 insertions(+), 5 deletions(-) diff --git a/app/src/organisms/DropTipWizardFlows/DropTipWizard.tsx b/app/src/organisms/DropTipWizardFlows/DropTipWizard.tsx index be4cc9979ef..228d4f3384c 100644 --- a/app/src/organisms/DropTipWizardFlows/DropTipWizard.tsx +++ b/app/src/organisms/DropTipWizardFlows/DropTipWizard.tsx @@ -246,7 +246,13 @@ export const DropTipWizardContent = ( function buildModalContent(): JSX.Element { // Don't render the spinner screen for 1 render cycle on fixit commands. - if (currentStep === BEFORE_BEGINNING && issuedCommandsType === 'fixit') { + + if (errorDetails != null) { + return buildErrorScreen() + } else if ( + currentStep === BEFORE_BEGINNING && + issuedCommandsType === 'fixit' + ) { return buildBeforeBeginning() } else if ( activeMaintenanceRunId == null && @@ -259,8 +265,6 @@ export const DropTipWizardContent = ( return buildRobotInMotion() } else if (showConfirmExit) { return buildShowExitConfirmation() - } else if (errorDetails != null) { - return buildErrorScreen() } else if (currentStep === BEFORE_BEGINNING) { return buildBeforeBeginning() } else if (currentStep === CHOOSE_LOCATION_OPTION) { diff --git a/app/src/organisms/DropTipWizardFlows/hooks/__tests__/useDropTipRouting.test.tsx b/app/src/organisms/DropTipWizardFlows/hooks/__tests__/useDropTipRouting.test.tsx index c6cf823784c..f5622960244 100644 --- a/app/src/organisms/DropTipWizardFlows/hooks/__tests__/useDropTipRouting.test.tsx +++ b/app/src/organisms/DropTipWizardFlows/hooks/__tests__/useDropTipRouting.test.tsx @@ -144,4 +144,15 @@ describe('getInitialRouteAndStep', () => { expect(initialRoute).toBe(DT_ROUTES.DROP_TIP) expect(initialStep).toBe(DT_ROUTES.DROP_TIP[2]) }) + + it('should return the overridden route and first step when fixitUtils.routeOverride.route is provided but routeOverride.step is not provided', () => { + const fixitUtils = { + routeOverride: { route: DT_ROUTES.DROP_TIP, step: null }, + } as any + + const [initialRoute, initialStep] = getInitialRouteAndStep(fixitUtils) + + expect(initialRoute).toBe(DT_ROUTES.DROP_TIP) + expect(initialStep).toBe(DT_ROUTES.DROP_TIP[0]) + }) }) diff --git a/app/src/organisms/DropTipWizardFlows/hooks/useDropTipRouting.tsx b/app/src/organisms/DropTipWizardFlows/hooks/useDropTipRouting.tsx index b0928eca3c2..4c3e8e01064 100644 --- a/app/src/organisms/DropTipWizardFlows/hooks/useDropTipRouting.tsx +++ b/app/src/organisms/DropTipWizardFlows/hooks/useDropTipRouting.tsx @@ -218,7 +218,10 @@ export function getInitialRouteAndStep( ): [DropTipFlowsRoute, DropTipFlowsStep] { const routeOverride = fixitUtils?.routeOverride const initialRoute = routeOverride?.route ?? DT_ROUTES.BEFORE_BEGINNING - const initialStep = routeOverride?.step ?? BEFORE_BEGINNING_STEPS[0] + const initialStep = + routeOverride?.step ?? + routeOverride?.route?.[0] ?? + BEFORE_BEGINNING_STEPS[0] return [initialRoute, initialStep] } diff --git a/app/src/organisms/ErrorRecoveryFlows/RecoveryError.tsx b/app/src/organisms/ErrorRecoveryFlows/RecoveryError.tsx index dd680ed24f6..d2fe92438a4 100644 --- a/app/src/organisms/ErrorRecoveryFlows/RecoveryError.tsx +++ b/app/src/organisms/ErrorRecoveryFlows/RecoveryError.tsx @@ -92,6 +92,7 @@ export function RecoveryDropTipFlowErrors({ routeUpdateActions, getRecoveryOptionCopy, errorKind, + subMapUtils, }: RecoveryContentProps): JSX.Element { const { t } = useTranslation('error_recovery') const { step } = recoveryMap @@ -108,6 +109,9 @@ export function RecoveryDropTipFlowErrors({ errorKind ) + // Whenever there is an error during drop tip wizard, reset the submap so properly re-entry routing occurs. + subMapUtils.updateSubMap(null) + const buildTitle = (): string => { switch (step) { case ERROR_WHILE_RECOVERING.STEPS.DROP_TIP_GENERAL_ERROR: diff --git a/app/src/organisms/ErrorRecoveryFlows/__tests__/RecoveryError.test.tsx b/app/src/organisms/ErrorRecoveryFlows/__tests__/RecoveryError.test.tsx index 1394993746b..f46f3f949ba 100644 --- a/app/src/organisms/ErrorRecoveryFlows/__tests__/RecoveryError.test.tsx +++ b/app/src/organisms/ErrorRecoveryFlows/__tests__/RecoveryError.test.tsx @@ -25,12 +25,14 @@ describe('RecoveryError', () => { let getRecoverOptionCopyMock: Mock let handleMotionRoutingMock: Mock let homePipetteZAxesMock: Mock + let updateSubMapMock: Mock beforeEach(() => { proceedToRouteAndStepMock = vi.fn() getRecoverOptionCopyMock = vi.fn() handleMotionRoutingMock = vi.fn().mockResolvedValue(undefined) homePipetteZAxesMock = vi.fn().mockResolvedValue(undefined) + updateSubMapMock = vi.fn() props = { ...mockRecoveryContentProps, @@ -48,6 +50,7 @@ describe('RecoveryError', () => { route: ERROR_WHILE_RECOVERING.ROUTE, step: ERROR_WHILE_RECOVERING.STEPS.RECOVERY_ACTION_FAILED, }, + subMapUtils: { subMap: null, updateSubMap: updateSubMapMock }, } getRecoverOptionCopyMock.mockReturnValue('Retry step') @@ -95,7 +98,7 @@ describe('RecoveryError', () => { expect(screen.queryAllByText('Continue to drop tip')[0]).toBeInTheDocument() }) - it(`renders RecoveryDropTipFlowErrors when step is ${ERROR_WHILE_RECOVERING.STEPS.DROP_TIP_TIP_DROP_FAILED}`, () => { + it(`renders RecoveryDropTipFlowErrors when step is ${ERROR_WHILE_RECOVERING.STEPS.DROP_TIP_TIP_DROP_FAILED} and resets the submap`, () => { props.recoveryMap.step = RECOVERY_MAP.ERROR_WHILE_RECOVERING.STEPS.DROP_TIP_TIP_DROP_FAILED render(props) @@ -107,6 +110,7 @@ describe('RecoveryError', () => { )[0] ).toBeInTheDocument() expect(screen.queryAllByText('Return to menu')[0]).toBeInTheDocument() + expect(updateSubMapMock).toHaveBeenCalledWith(null) }) it(`calls proceedToRouteAndStep with ${RECOVERY_MAP.OPTION_SELECTION.ROUTE} when the "Return to menu" button is clicked in RecoveryDropTipFlowErrors with step ${ERROR_WHILE_RECOVERING.STEPS.DROP_TIP_GENERAL_ERROR}`, () => { From f2adaab5b25013dd0d0bf17d18ea0cc0acc6216a Mon Sep 17 00:00:00 2001 From: Jamey Huffnagle Date: Wed, 13 Nov 2024 15:10:24 -0500 Subject: [PATCH 05/57] fix(app): Fix run setup buttons (#16796) Closes RQA-3578 and RQA-3577 --- .../__tests__/SetupLabware.test.tsx | 25 +++++++++++++++++- .../ProtocolRun/SetupLabware/index.tsx | 16 +++++++++++- .../SetupLabwarePositionCheck/index.tsx | 1 - .../__tests__/SetupLiquids.test.tsx | 26 ++++++++++++++++++- .../ProtocolRun/SetupLiquids/index.tsx | 15 ++++++++++- 5 files changed, 78 insertions(+), 5 deletions(-) diff --git a/app/src/organisms/Desktop/Devices/ProtocolRun/SetupLabware/__tests__/SetupLabware.test.tsx b/app/src/organisms/Desktop/Devices/ProtocolRun/SetupLabware/__tests__/SetupLabware.test.tsx index 9aa6b7cee22..6acaf42445b 100644 --- a/app/src/organisms/Desktop/Devices/ProtocolRun/SetupLabware/__tests__/SetupLabware.test.tsx +++ b/app/src/organisms/Desktop/Devices/ProtocolRun/SetupLabware/__tests__/SetupLabware.test.tsx @@ -3,6 +3,8 @@ import { fireEvent, screen } from '@testing-library/react' import { describe, it, beforeEach, vi, afterEach, expect } from 'vitest' import { when } from 'vitest-when' +import { useHoverTooltip } from '@opentrons/components' + import { renderWithProviders } from '/app/__testing-utils__' import { i18n } from '/app/i18n' import { useLPCSuccessToast } from '../../../hooks/useLPCSuccessToast' @@ -20,6 +22,13 @@ import { useUnmatchedModulesForProtocol, } from '/app/resources/runs' +vi.mock('@opentrons/components', async () => { + const actual = await vi.importActual('@opentrons/components') + return { + ...actual, + useHoverTooltip: vi.fn(), + } +}) vi.mock('../SetupLabwareList') vi.mock('../SetupLabwareMap') vi.mock('/app/organisms/LabwarePositionCheck') @@ -78,7 +87,6 @@ describe('SetupLabware', () => { .thenReturn({ complete: true, }) - when(vi.mocked(useRunHasStarted)).calledWith(RUN_ID).thenReturn(false) vi.mocked(getIsLabwareOffsetCodeSnippetsOn).mockReturnValue(false) vi.mocked(SetupLabwareMap).mockReturnValue(
mock setup labware map
@@ -88,6 +96,8 @@ describe('SetupLabware', () => { ) vi.mocked(useLPCDisabledReason).mockReturnValue(null) vi.mocked(useNotifyRunQuery).mockReturnValue({} as any) + vi.mocked(useHoverTooltip).mockReturnValue([{}, {}] as any) + vi.mocked(useRunHasStarted).mockReturnValue(false) }) afterEach(() => { @@ -98,8 +108,21 @@ describe('SetupLabware', () => { render() screen.getByText('mock setup labware list') screen.getByRole('button', { name: 'List View' }) + screen.getByRole('button', { name: 'Confirm placements' }) const mapView = screen.getByRole('button', { name: 'Map View' }) fireEvent.click(mapView) screen.getByText('mock setup labware map') }) + + it('disables the confirmation button if the run has already started', () => { + vi.mocked(useRunHasStarted).mockReturnValue(true) + + render() + + const btn = screen.getByRole('button', { + name: 'Confirm placements', + }) + + expect(btn).toBeDisabled() + }) }) diff --git a/app/src/organisms/Desktop/Devices/ProtocolRun/SetupLabware/index.tsx b/app/src/organisms/Desktop/Devices/ProtocolRun/SetupLabware/index.tsx index 38963d79dda..687c1a739ab 100644 --- a/app/src/organisms/Desktop/Devices/ProtocolRun/SetupLabware/index.tsx +++ b/app/src/organisms/Desktop/Devices/ProtocolRun/SetupLabware/index.tsx @@ -1,17 +1,22 @@ import { useTranslation } from 'react-i18next' import map from 'lodash/map' + import { JUSTIFY_CENTER, Flex, SPACING, PrimaryButton, DIRECTION_COLUMN, + Tooltip, + useHoverTooltip, } from '@opentrons/components' + import { useToggleGroup } from '/app/molecules/ToggleGroup/useToggleGroup' import { getModuleTypesThatRequireExtraAttention } from '../utils/getModuleTypesThatRequireExtraAttention' import { useMostRecentCompletedAnalysis, useModuleRenderInfoForProtocolById, + useRunHasStarted, } from '/app/resources/runs' import { useIsFlex } from '/app/redux-resources/robots' import { useStoredProtocolAnalysis } from '/app/resources/analysis' @@ -46,6 +51,11 @@ export function SetupLabware(props: SetupLabwareProps): JSX.Element { moduleModels ) + // TODO(jh, 11-13-24): These disabled tooltips are used throughout setup flows. Let's consolidate them. + const [targetProps, tooltipProps] = useHoverTooltip() + const runHasStarted = useRunHasStarted(runId) + const tooltipText = runHasStarted ? t('protocol_run_started') : null + return ( <> { setLabwareConfirmed(true) }} - disabled={labwareConfirmed} + disabled={labwareConfirmed || runHasStarted} + {...targetProps} > {t('confirm_placements')} + {tooltipText != null ? ( + {tooltipText} + ) : null} ) diff --git a/app/src/organisms/Desktop/Devices/ProtocolRun/SetupLabwarePositionCheck/index.tsx b/app/src/organisms/Desktop/Devices/ProtocolRun/SetupLabwarePositionCheck/index.tsx index 9d2c6223373..637a4814936 100644 --- a/app/src/organisms/Desktop/Devices/ProtocolRun/SetupLabwarePositionCheck/index.tsx +++ b/app/src/organisms/Desktop/Devices/ProtocolRun/SetupLabwarePositionCheck/index.tsx @@ -143,7 +143,6 @@ export function SetupLabwarePositionCheck( ) : null} { launchLPC() setIsShowingLPCSuccessToast(false) diff --git a/app/src/organisms/Desktop/Devices/ProtocolRun/SetupLiquids/__tests__/SetupLiquids.test.tsx b/app/src/organisms/Desktop/Devices/ProtocolRun/SetupLiquids/__tests__/SetupLiquids.test.tsx index 097f30447ee..736d5f5bc85 100644 --- a/app/src/organisms/Desktop/Devices/ProtocolRun/SetupLiquids/__tests__/SetupLiquids.test.tsx +++ b/app/src/organisms/Desktop/Devices/ProtocolRun/SetupLiquids/__tests__/SetupLiquids.test.tsx @@ -1,15 +1,26 @@ import type * as React from 'react' -import { describe, it, beforeEach, vi } from 'vitest' +import { describe, it, beforeEach, vi, expect } from 'vitest' import { screen, fireEvent } from '@testing-library/react' +import { useHoverTooltip } from '@opentrons/components' + import { renderWithProviders } from '/app/__testing-utils__' import { i18n } from '/app/i18n' import { SetupLiquids } from '../index' import { SetupLiquidsList } from '../SetupLiquidsList' import { SetupLiquidsMap } from '../SetupLiquidsMap' +import { useRunHasStarted } from '/app/resources/runs' +vi.mock('@opentrons/components', async () => { + const actual = await vi.importActual('@opentrons/components') + return { + ...actual, + useHoverTooltip: vi.fn(), + } +}) vi.mock('../SetupLiquidsList') vi.mock('../SetupLiquidsMap') +vi.mock('/app/resources/runs') describe('SetupLiquids', () => { const render = ( @@ -44,6 +55,8 @@ describe('SetupLiquids', () => { vi.mocked(SetupLiquidsMap).mockReturnValue(
Mock setup liquids map
) + vi.mocked(useHoverTooltip).mockReturnValue([{}, {}] as any) + vi.mocked(useRunHasStarted).mockReturnValue(false) }) it('renders the list and map view buttons and proceed button', () => { @@ -64,4 +77,15 @@ describe('SetupLiquids', () => { fireEvent.click(mapViewButton) screen.getByText('Mock setup liquids list') }) + it('disables the confirmation button if the run has already started', () => { + vi.mocked(useRunHasStarted).mockReturnValue(true) + + render(props) + + const btn = screen.getByRole('button', { + name: 'Confirm locations and volumes', + }) + + expect(btn).toBeDisabled() + }) }) diff --git a/app/src/organisms/Desktop/Devices/ProtocolRun/SetupLiquids/index.tsx b/app/src/organisms/Desktop/Devices/ProtocolRun/SetupLiquids/index.tsx index 28a6f84e2d4..685d14a2ae5 100644 --- a/app/src/organisms/Desktop/Devices/ProtocolRun/SetupLiquids/index.tsx +++ b/app/src/organisms/Desktop/Devices/ProtocolRun/SetupLiquids/index.tsx @@ -6,11 +6,14 @@ import { DIRECTION_COLUMN, ALIGN_CENTER, PrimaryButton, + useHoverTooltip, + Tooltip, } from '@opentrons/components' import { useToggleGroup } from '/app/molecules/ToggleGroup/useToggleGroup' import { ANALYTICS_LIQUID_SETUP_VIEW_TOGGLE } from '/app/redux/analytics' import { SetupLiquidsList } from './SetupLiquidsList' import { SetupLiquidsMap } from './SetupLiquidsMap' +import { useRunHasStarted } from '/app/resources/runs' import type { CompletedProtocolAnalysis, @@ -38,6 +41,12 @@ export function SetupLiquids({ t('map_view') as string, ANALYTICS_LIQUID_SETUP_VIEW_TOGGLE ) + + // TODO(jh, 11-13-24): These disabled tooltips are used throughout setup flows. Let's consolidate them. + const [targetProps, tooltipProps] = useHoverTooltip() + const runHasStarted = useRunHasStarted(runId) + const tooltipText = runHasStarted ? t('protocol_run_started') : null + return ( { setLiquidSetupConfirmed(true) }} - disabled={isLiquidSetupConfirmed} + disabled={isLiquidSetupConfirmed || runHasStarted} + {...targetProps} > {t('confirm_locations_and_volumes')}
+ {tooltipText != null ? ( + {tooltipText} + ) : null} ) From 20c98e6aca500133c1bf2eccd1c098a9dff6e1b4 Mon Sep 17 00:00:00 2001 From: Sarah Breen Date: Wed, 13 Nov 2024 17:41:58 -0500 Subject: [PATCH 06/57] fix(app): enable about plate reader button when run is in progress (#16803) fix RQA-3561 --- app/src/organisms/ModuleCard/ModuleOverflowMenu.tsx | 2 +- app/src/organisms/ModuleCard/hooks.tsx | 7 +++++++ 2 files changed, 8 insertions(+), 1 deletion(-) diff --git a/app/src/organisms/ModuleCard/ModuleOverflowMenu.tsx b/app/src/organisms/ModuleCard/ModuleOverflowMenu.tsx index a22c7591360..a668fc48e70 100644 --- a/app/src/organisms/ModuleCard/ModuleOverflowMenu.tsx +++ b/app/src/organisms/ModuleCard/ModuleOverflowMenu.tsx @@ -150,7 +150,7 @@ export const ModuleOverflowMenu = ( item.onClick(item.isSecondary)} - disabled={item.disabledReason || isDisabled} + disabled={item.isSettingDisabled} whiteSpace={NO_WRAP} > {item.setSetting} diff --git a/app/src/organisms/ModuleCard/hooks.tsx b/app/src/organisms/ModuleCard/hooks.tsx index 10b0e9fd30b..da44c64d983 100644 --- a/app/src/organisms/ModuleCard/hooks.tsx +++ b/app/src/organisms/ModuleCard/hooks.tsx @@ -80,6 +80,7 @@ export function useLatchControls(module: AttachedModule): LatchControls { export type MenuItemsByModuleType = { [moduleType in AttachedModule['moduleType']]: Array<{ setSetting: string + isSettingDisabled: boolean isSecondary: boolean menuButtons: JSX.Element[] | null onClick: (isSecondary: boolean) => void @@ -267,6 +268,7 @@ export function useModuleOverflowMenu( module.data.lidTargetTemperature != null ? t('overflow_menu_deactivate_lid') : t('overflow_menu_lid_temp'), + isSettingDisabled: isDisabled, isSecondary: true, menuButtons: null, onClick: @@ -285,6 +287,7 @@ export function useModuleOverflowMenu( module.data.lidStatus === 'open' ? t('close_lid') : t('open_lid'), + isSettingDisabled: isDisabled, isSecondary: false, menuButtons: [thermoSetBlockTempBtn, aboutModuleBtn], onClick: controlTCLid, @@ -298,6 +301,7 @@ export function useModuleOverflowMenu( ? t('overflow_menu_deactivate_temp') : t('overflow_menu_mod_temp'), isSecondary: false, + isSettingDisabled: isDisabled, menuButtons: [aboutModuleBtn], onClick: module.data.status !== 'idle' @@ -317,6 +321,7 @@ export function useModuleOverflowMenu( ? t('overflow_menu_disengage') : t('overflow_menu_engage'), isSecondary: false, + isSettingDisabled: isDisabled, menuButtons: [aboutModuleBtn], onClick: module.data.status !== 'disengaged' @@ -336,6 +341,7 @@ export function useModuleOverflowMenu( ? t('heater_shaker:deactivate_heater') : t('heater_shaker:set_temperature'), isSecondary: false, + isSettingDisabled: isDisabled, menuButtons: [ labwareLatchBtn, aboutModuleBtn, @@ -358,6 +364,7 @@ export function useModuleOverflowMenu( { setSetting: t('overflow_menu_about'), isSecondary: false, + isSettingDisabled: false, menuButtons: [], onClick: handleAboutClick, }, From 91b40aec8288a835be7b181752b5e6e86f3a5152 Mon Sep 17 00:00:00 2001 From: Max Marrone Date: Thu, 14 Nov 2024 09:19:01 -0500 Subject: [PATCH 07/57] fix(api): Skip updating position estimators for axes that are not present (#16804) --- api/src/opentrons/hardware_control/ot3api.py | 10 +++---- .../protocols/position_estimator.py | 4 ++- .../unsafe/update_position_estimators.py | 6 +++- .../hardware_control/test_ot3_api.py | 29 ++++++++++++++----- .../hooks/useDropTipCommands.ts | 6 ---- .../hardware_control/motor_position_status.py | 6 +--- shared-data/command/schemas/10.json | 2 +- 7 files changed, 36 insertions(+), 27 deletions(-) diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py index f90a0a539dc..7f28d861a2c 100644 --- a/api/src/opentrons/hardware_control/ot3api.py +++ b/api/src/opentrons/hardware_control/ot3api.py @@ -775,12 +775,12 @@ async def _update_position_estimation( """ Function to update motor estimation for a set of axes """ + if axes is None: + axes = [ax for ax in Axis] - if axes: - checked_axes = [ax for ax in axes if ax in Axis] - else: - checked_axes = [ax for ax in Axis] - await self._backend.update_motor_estimation(checked_axes) + axes = [ax for ax in axes if self._backend.axis_is_present(ax)] + + await self._backend.update_motor_estimation(axes) # Global actions API def pause(self, pause_type: PauseType) -> None: diff --git a/api/src/opentrons/hardware_control/protocols/position_estimator.py b/api/src/opentrons/hardware_control/protocols/position_estimator.py index 04d551020c3..fc4e1521a89 100644 --- a/api/src/opentrons/hardware_control/protocols/position_estimator.py +++ b/api/src/opentrons/hardware_control/protocols/position_estimator.py @@ -10,7 +10,7 @@ async def update_axis_position_estimations(self, axes: Sequence[Axis]) -> None: """Update the specified axes' position estimators from their encoders. This will allow these axes to make a non-home move even if they do not currently have - a position estimation (unless there is no tracked poition from the encoders, as would be + a position estimation (unless there is no tracked position from the encoders, as would be true immediately after boot). Axis encoders have less precision than their position estimators. Calling this function will @@ -19,6 +19,8 @@ async def update_axis_position_estimations(self, axes: Sequence[Axis]) -> None: This function updates only the requested axes. If other axes have bad position estimation, moves that require those axes or attempts to get the position of those axes will still fail. + Axes that are not currently available (like a plunger for a pipette that is not connected) + will be ignored. """ ... diff --git a/api/src/opentrons/protocol_engine/commands/unsafe/update_position_estimators.py b/api/src/opentrons/protocol_engine/commands/unsafe/update_position_estimators.py index cf5454db332..ff06b6c22ed 100644 --- a/api/src/opentrons/protocol_engine/commands/unsafe/update_position_estimators.py +++ b/api/src/opentrons/protocol_engine/commands/unsafe/update_position_estimators.py @@ -23,7 +23,11 @@ class UpdatePositionEstimatorsParams(BaseModel): """Payload required for an UpdatePositionEstimators command.""" axes: List[MotorAxis] = Field( - ..., description="The axes for which to update the position estimators." + ..., + description=( + "The axes for which to update the position estimators." + " Any axes that are not physically present will be ignored." + ), ) diff --git a/api/tests/opentrons/hardware_control/test_ot3_api.py b/api/tests/opentrons/hardware_control/test_ot3_api.py index 064ea087c6b..8d07999646e 100644 --- a/api/tests/opentrons/hardware_control/test_ot3_api.py +++ b/api/tests/opentrons/hardware_control/test_ot3_api.py @@ -2037,23 +2037,36 @@ def set_mock_plunger_configs() -> None: @pytest.mark.parametrize( - "axes", - [[Axis.X], [Axis.X, Axis.Y], [Axis.X, Axis.Y, Axis.P_L], None], + ("axes_in", "axes_present", "expected_axes"), + [ + ([Axis.X, Axis.Y], [Axis.X, Axis.Y], [Axis.X, Axis.Y]), + ([Axis.X, Axis.Y], [Axis.Y, Axis.Z_L], [Axis.Y]), + (None, list(Axis), list(Axis)), + (None, [Axis.Y, Axis.Z_L], [Axis.Y, Axis.Z_L]), + ], ) async def test_update_position_estimation( ot3_hardware: ThreadManager[OT3API], hardware_backend: OT3Simulator, - axes: List[Axis], + axes_in: List[Axis], + axes_present: List[Axis], + expected_axes: List[Axis], ) -> None: + def _axis_is_present(axis: Axis) -> bool: + return axis in axes_present + with patch.object( hardware_backend, "update_motor_estimation", AsyncMock(spec=hardware_backend.update_motor_estimation), - ) as mock_update: - await ot3_hardware._update_position_estimation(axes) - if axes is None: - axes = [ax for ax in Axis] - mock_update.assert_called_once_with(axes) + ) as mock_update, patch.object( + hardware_backend, + "axis_is_present", + Mock(spec=hardware_backend.axis_is_present), + ) as mock_axis_is_present: + mock_axis_is_present.side_effect = _axis_is_present + await ot3_hardware._update_position_estimation(axes_in) + mock_update.assert_called_once_with(expected_axes) async def test_refresh_positions( diff --git a/app/src/organisms/DropTipWizardFlows/hooks/useDropTipCommands.ts b/app/src/organisms/DropTipWizardFlows/hooks/useDropTipCommands.ts index 6bb8915505e..493b4a77bff 100644 --- a/app/src/organisms/DropTipWizardFlows/hooks/useDropTipCommands.ts +++ b/app/src/organisms/DropTipWizardFlows/hooks/useDropTipCommands.ts @@ -369,12 +369,6 @@ const buildBlowoutCommands = ( ), }, }, - { - commandType: 'prepareToAspirate', - params: { - pipetteId: pipetteId ?? MANAGED_PIPETTE_ID, - }, - }, Z_HOME, ] : [ diff --git a/hardware/opentrons_hardware/hardware_control/motor_position_status.py b/hardware/opentrons_hardware/hardware_control/motor_position_status.py index 90319764922..1ce9bbe3ce5 100644 --- a/hardware/opentrons_hardware/hardware_control/motor_position_status.py +++ b/hardware/opentrons_hardware/hardware_control/motor_position_status.py @@ -152,11 +152,7 @@ def _listener_filter(arbitration_id: ArbitrationId) -> bool: log.warning("Update motor position estimation timed out") raise CommandTimedOutError( "Update motor position estimation timed out", - detail={ - "missing-nodes": ", ".join( - node.name for node in set(nodes).difference(set(data)) - ) - }, + detail={"missing-node": node.name}, ) return data diff --git a/shared-data/command/schemas/10.json b/shared-data/command/schemas/10.json index 7e8f87a6c22..33a65c4d4fe 100644 --- a/shared-data/command/schemas/10.json +++ b/shared-data/command/schemas/10.json @@ -4624,7 +4624,7 @@ "type": "object", "properties": { "axes": { - "description": "The axes for which to update the position estimators.", + "description": "The axes for which to update the position estimators. Any axes that are not physically present will be ignored.", "type": "array", "items": { "$ref": "#/definitions/MotorAxis" From a0fe00fba2e7394260eecf6c31de88b73fadbabb Mon Sep 17 00:00:00 2001 From: Jamey Huffnagle Date: Thu, 14 Nov 2024 11:17:09 -0500 Subject: [PATCH 08/57] fix(app): add error handling for failed maintenance run creation (#16818) Closes RABR-663 and RABR-667 During calibration flows, we currently don't have any error handling for failure to create a maintenance run. If a user exits pipette calibration and re-enters too quickly, for example, the "Move gantry to front" button is disabled indefinitely. This PR just adds some basic error handling if a maintenance run fails to be created successfully. --- app/src/organisms/GripperWizardFlows/index.tsx | 12 +++++++++--- app/src/organisms/PipetteWizardFlows/index.tsx | 9 +++++++-- 2 files changed, 16 insertions(+), 5 deletions(-) diff --git a/app/src/organisms/GripperWizardFlows/index.tsx b/app/src/organisms/GripperWizardFlows/index.tsx index 34f07d39a35..1a4bab512eb 100644 --- a/app/src/organisms/GripperWizardFlows/index.tsx +++ b/app/src/organisms/GripperWizardFlows/index.tsx @@ -71,6 +71,7 @@ export function GripperWizardFlows( const [createdMaintenanceRunId, setCreatedMaintenanceRunId] = useState< string | null >(null) + const [errorMessage, setErrorMessage] = useState(null) // we should start checking for run deletion only after the maintenance run is created // and the useCurrentRun poll has returned that created id @@ -86,6 +87,9 @@ export function GripperWizardFlows( onSuccess: response => { setCreatedMaintenanceRunId(response.data.id) }, + onError: error => { + setErrorMessage(error.message) + }, }) const { data: maintenanceRunData } = useNotifyCurrentMaintenanceRun({ @@ -117,7 +121,6 @@ export function GripperWizardFlows( ]) const [isExiting, setIsExiting] = useState(false) - const [errorMessage, setErrorMessage] = useState(null) const handleClose = (): void => { if (props?.onComplete != null) { @@ -298,9 +301,12 @@ export const GripperWizard = ( isRobotMoving={isRobotMoving} /> ) - } else if ( + } + // These flows often have custom error messaging, so this fallback modal is shown only in specific circumstances. + else if ( (isExiting && errorMessage != null) || - maintenanceRunStatus === RUN_STATUS_FAILED + maintenanceRunStatus === RUN_STATUS_FAILED || + (errorMessage != null && createdMaintenanceRunId == null) ) { onExit = handleClose modalContent = ( diff --git a/app/src/organisms/PipetteWizardFlows/index.tsx b/app/src/organisms/PipetteWizardFlows/index.tsx index 39022810b56..ed11df4352d 100644 --- a/app/src/organisms/PipetteWizardFlows/index.tsx +++ b/app/src/organisms/PipetteWizardFlows/index.tsx @@ -113,6 +113,7 @@ export const PipetteWizardFlows = ( const [createdMaintenanceRunId, setCreatedMaintenanceRunId] = useState< string | null >(null) + const [errorMessage, setShowErrorMessage] = useState(null) // we should start checking for run deletion only after the maintenance run is created // and the useCurrentRun poll has returned that created id const [ @@ -143,6 +144,9 @@ export const PipetteWizardFlows = ( onSuccess: response => { setCreatedMaintenanceRunId(response.data.id) }, + onError: error => { + setShowErrorMessage(error.message) + }, }, host ) @@ -169,7 +173,6 @@ export const PipetteWizardFlows = ( closeFlow, ]) - const [errorMessage, setShowErrorMessage] = useState(null) const [isExiting, setIsExiting] = useState(false) const proceed = (): void => { if (!isCommandMutationLoading) { @@ -281,9 +284,11 @@ export const PipetteWizardFlows = ( let onExit if (currentStep == null) return null let modalContent: JSX.Element =
UNASSIGNED STEP
+ // These flows often have custom error messaging, so this fallback modal is shown only in specific circumstances. if ( (isExiting && errorMessage != null) || - maintenanceRunData?.data.status === RUN_STATUS_FAILED + maintenanceRunData?.data.status === RUN_STATUS_FAILED || + (errorMessage != null && createdMaintenanceRunId == null) ) { modalContent = ( Date: Thu, 14 Nov 2024 12:08:11 -0500 Subject: [PATCH 09/57] fix(robot-server): update data_files_table with uploaded source (#16813) --- .../persistence/_migrations/v6_to_v7.py | 16 ++++------------ 1 file changed, 4 insertions(+), 12 deletions(-) diff --git a/robot-server/robot_server/persistence/_migrations/v6_to_v7.py b/robot-server/robot_server/persistence/_migrations/v6_to_v7.py index ce528a12ab7..f2c0f2ad93d 100644 --- a/robot-server/robot_server/persistence/_migrations/v6_to_v7.py +++ b/robot-server/robot_server/persistence/_migrations/v6_to_v7.py @@ -100,16 +100,8 @@ def _migrate_data_files_table_with_new_source_col( dest_transaction: sqlalchemy.engine.Connection, ) -> None: """Add a new 'source' column to data_files table.""" - select_data_files = sqlalchemy.select(schema_7.data_files_table).order_by( - sqlite_rowid - ) - insert_new_data = sqlalchemy.insert(schema_7.data_files_table) - for old_row in dest_transaction.execute(select_data_files).all(): - dest_transaction.execute( - insert_new_data, - id=old_row.id, - name=old_row.name, - file_hash=old_row.file_hash, - created_at=old_row.created_at, - source=DataFileSourceSQLEnum.UPLOADED, + dest_transaction.execute( + sqlalchemy.update(schema_7.data_files_table).values( + {"source": DataFileSourceSQLEnum.UPLOADED} ) + ) From 0ae04149e87b115bcc524a2ee77c93fcc710576a Mon Sep 17 00:00:00 2001 From: Brayan Almonte Date: Thu, 14 Nov 2024 12:15:36 -0500 Subject: [PATCH 10/57] fix(api): add supported wavelengths to runtime error when initializing the plate reader. (#16797) --- .../commands/absorbance_reader/initialize.py | 26 ++++++++++++++----- .../protocol_engine/errors/__init__.py | 2 ++ .../protocol_engine/errors/exceptions.py | 13 ++++++++++ 3 files changed, 34 insertions(+), 7 deletions(-) diff --git a/api/src/opentrons/protocol_engine/commands/absorbance_reader/initialize.py b/api/src/opentrons/protocol_engine/commands/absorbance_reader/initialize.py index 4b28154ed17..458225ad1bb 100644 --- a/api/src/opentrons/protocol_engine/commands/absorbance_reader/initialize.py +++ b/api/src/opentrons/protocol_engine/commands/absorbance_reader/initialize.py @@ -10,6 +10,7 @@ from ..command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData from ...errors.error_occurrence import ErrorOccurrence +from ...errors import InvalidWavelengthError if TYPE_CHECKING: from opentrons.protocol_engine.state.state import StateView @@ -69,30 +70,41 @@ async def execute(self, params: InitializeParams) -> SuccessData[InitializeResul unsupported_wavelengths = sample_wavelengths.difference( supported_wavelengths ) + sample_wl_str = ", ".join([str(w) + "nm" for w in sample_wavelengths]) + supported_wl_str = ", ".join([str(w) + "nm" for w in supported_wavelengths]) + unsupported_wl_str = ", ".join( + [str(w) + "nm" for w in unsupported_wavelengths] + ) if unsupported_wavelengths: - raise ValueError(f"Unsupported wavelengths: {unsupported_wavelengths}") + raise InvalidWavelengthError( + f"Unsupported wavelengths: {unsupported_wl_str}. " + f" Use one of {supported_wl_str} instead." + ) if params.measureMode == "single": if sample_wavelengths_len != 1: raise ValueError( - f"single requires one sample wavelength, provided {sample_wavelengths}" + f"Measure mode `single` requires one sample wavelength," + f" {sample_wl_str} provided instead." ) if ( reference_wavelength is not None and reference_wavelength not in supported_wavelengths ): - raise ValueError( - f"Reference wavelength {reference_wavelength} not supported {supported_wavelengths}" + raise InvalidWavelengthError( + f"Reference wavelength {reference_wavelength}nm is not supported." + f" Use one of {supported_wl_str} instead." ) if params.measureMode == "multi": if sample_wavelengths_len < 1 or sample_wavelengths_len > 6: raise ValueError( - f"multi requires 1-6 sample wavelengths, provided {sample_wavelengths}" + f"Measure mode `multi` requires 1-6 sample wavelengths," + f" {sample_wl_str} provided instead." ) if reference_wavelength is not None: - raise RuntimeError( - "Reference wavelength cannot be used with multi mode." + raise ValueError( + "Reference wavelength cannot be used with Measure mode `multi`." ) await abs_reader.set_sample_wavelength( diff --git a/api/src/opentrons/protocol_engine/errors/__init__.py b/api/src/opentrons/protocol_engine/errors/__init__.py index b25dfdb2d0e..0db3d7ebdf2 100644 --- a/api/src/opentrons/protocol_engine/errors/__init__.py +++ b/api/src/opentrons/protocol_engine/errors/__init__.py @@ -55,6 +55,7 @@ InvalidTargetTemperatureError, InvalidBlockVolumeError, InvalidHoldTimeError, + InvalidWavelengthError, CannotPerformModuleAction, PauseNotAllowedError, ResumeFromRecoveryNotAllowedError, @@ -137,6 +138,7 @@ "InvalidTargetSpeedError", "InvalidBlockVolumeError", "InvalidHoldTimeError", + "InvalidWavelengthError", "CannotPerformModuleAction", "ResumeFromRecoveryNotAllowedError", "PauseNotAllowedError", diff --git a/api/src/opentrons/protocol_engine/errors/exceptions.py b/api/src/opentrons/protocol_engine/errors/exceptions.py index 12f45f4936d..43efc7b05b0 100644 --- a/api/src/opentrons/protocol_engine/errors/exceptions.py +++ b/api/src/opentrons/protocol_engine/errors/exceptions.py @@ -773,6 +773,19 @@ def __init__( super().__init__(ErrorCodes.GENERAL_ERROR, message, details, wrapping) +class InvalidWavelengthError(ProtocolEngineError): + """Raised when attempting to set an invalid absorbance wavelength.""" + + def __init__( + self, + message: Optional[str] = None, + details: Optional[Dict[str, Any]] = None, + wrapping: Optional[Sequence[EnumeratedError]] = None, + ) -> None: + """Build a InvalidWavelengthError.""" + super().__init__(ErrorCodes.GENERAL_ERROR, message, details, wrapping) + + class InvalidHoldTimeError(ProtocolEngineError): """An error raised when attempting to set an invalid temperature hold time.""" From 7cbee8ec434b7a1f9aab1864f57db666c507fe2c Mon Sep 17 00:00:00 2001 From: koji Date: Thu, 14 Nov 2024 13:07:52 -0500 Subject: [PATCH 11/57] fix(app, components) fix csv name wrapping issue (#16785) * fix(app, components) fix csv name wrapping issue --- .../ProtocolSetupParameters/ChooseCsvFile.tsx | 2 +- .../ProtocolSetupParameters.tsx | 1 - .../ProtocolSetup/ProtocolSetupStep/index.tsx | 21 ++++++++++++------- components/src/atoms/buttons/RadioButton.tsx | 6 ++++-- 4 files changed, 18 insertions(+), 12 deletions(-) diff --git a/app/src/organisms/ODD/ProtocolSetup/ProtocolSetupParameters/ChooseCsvFile.tsx b/app/src/organisms/ODD/ProtocolSetup/ProtocolSetupParameters/ChooseCsvFile.tsx index d8dcf237caa..bcaaca86182 100644 --- a/app/src/organisms/ODD/ProtocolSetup/ProtocolSetupParameters/ChooseCsvFile.tsx +++ b/app/src/organisms/ODD/ProtocolSetup/ProtocolSetupParameters/ChooseCsvFile.tsx @@ -11,8 +11,8 @@ import { DIRECTION_ROW, Flex, LegacyStyledText, - SPACING, RadioButton, + SPACING, truncateString, TYPOGRAPHY, } from '@opentrons/components' diff --git a/app/src/organisms/ODD/ProtocolSetup/ProtocolSetupParameters/ProtocolSetupParameters.tsx b/app/src/organisms/ODD/ProtocolSetup/ProtocolSetupParameters/ProtocolSetupParameters.tsx index a80ea2b1f84..ec4df679049 100644 --- a/app/src/organisms/ODD/ProtocolSetup/ProtocolSetupParameters/ProtocolSetupParameters.tsx +++ b/app/src/organisms/ODD/ProtocolSetup/ProtocolSetupParameters/ProtocolSetupParameters.tsx @@ -321,7 +321,6 @@ export function ProtocolSetupParameters({ ) - // ToDo (kk:06/18/2024) ff will be removed when we freeze the code if (chooseCsvFileScreen != null) { children = ( - {detail} + {title === 'CSV File' && detail != null + ? truncateString(detail, CSV_FILE_MAX_LENGTH) + : detail} {subDetail != null && detail != null ?
: null} {subDetail} diff --git a/components/src/atoms/buttons/RadioButton.tsx b/components/src/atoms/buttons/RadioButton.tsx index e271f509a6c..ff991941fe4 100644 --- a/components/src/atoms/buttons/RadioButton.tsx +++ b/components/src/atoms/buttons/RadioButton.tsx @@ -14,6 +14,7 @@ import { SPACING, StyledText, } from '../..' + import type { IconName } from '../..' import type { StyleProps } from '../../primitives' @@ -28,7 +29,7 @@ interface RadioButtonProps extends StyleProps { radioButtonType?: 'large' | 'small' subButtonLabel?: string id?: string - maxLines?: number | null + maxLines?: number // used for mouseEnter and mouseLeave setNoHover?: () => void setHovered?: () => void @@ -51,7 +52,7 @@ export function RadioButton(props: RadioButtonProps): JSX.Element { : `RadioButtonId_${buttonValue}`, largeDesktopBorderRadius = false, iconName, - maxLines = null, + maxLines = 1, setHovered, setNoHover, } = props @@ -118,6 +119,7 @@ export function RadioButton(props: RadioButtonProps): JSX.Element { -webkit-line-clamp: ${maxLines ?? undefined}; -webkit-box-orient: ${maxLines != null ? 'vertical' : undefined}; word-wrap: break-word; + word-break: break-all; } ` From 59814e62614518dfe0125542bea98e5e8487c1b5 Mon Sep 17 00:00:00 2001 From: Jamey Huffnagle Date: Thu, 14 Nov 2024 13:32:55 -0500 Subject: [PATCH 12/57] fix(app): support special cased slot name copy (#16823) Closes RQA-3585 --- .../en/protocol_command_text.json | 1 + .../getLabwareDisplayLocation.test.tsx | 18 +++++++++++++++ .../utils/getLabwareDisplayLocation.ts | 23 ++++++++++++++++++- shared-data/js/constants.ts | 1 + 4 files changed, 42 insertions(+), 1 deletion(-) diff --git a/app/src/assets/localization/en/protocol_command_text.json b/app/src/assets/localization/en/protocol_command_text.json index a472c55432c..e8dee50f26c 100644 --- a/app/src/assets/localization/en/protocol_command_text.json +++ b/app/src/assets/localization/en/protocol_command_text.json @@ -78,6 +78,7 @@ "tc_starting_extended_profile_cycle": "{{repetitions}} repetitions of the following steps:", "tc_starting_profile": "Running thermocycler profile with {{stepCount}} steps:", "touch_tip": "Touching tip", + "trash_bin": "Trash Bin", "trash_bin_in_slot": "Trash Bin in {{slot_name}}", "turning_rail_lights_off": "Turning rail lights off", "turning_rail_lights_on": "Turning rail lights on", diff --git a/app/src/local-resources/labware/utils/__tests__/getLabwareDisplayLocation.test.tsx b/app/src/local-resources/labware/utils/__tests__/getLabwareDisplayLocation.test.tsx index ca4b095f00e..beed2d012c0 100644 --- a/app/src/local-resources/labware/utils/__tests__/getLabwareDisplayLocation.test.tsx +++ b/app/src/local-resources/labware/utils/__tests__/getLabwareDisplayLocation.test.tsx @@ -137,6 +137,24 @@ describe('getLabwareDisplayLocation with translations', () => { screen.getByText('Slot C1') }) + it('should special case the slotName if it contains "waste chute"', () => { + render({ + location: { slotName: 'gripperWasteChute' }, + params: { ...defaultParams, detailLevel: 'slot-only' }, + }) + + screen.getByText('Waste Chute') + }) + + it('should special case the slotName if it contains "trash bin"', () => { + render({ + location: { slotName: 'trashBin' }, + params: { ...defaultParams, detailLevel: 'slot-only' }, + }) + + screen.getByText('Trash Bin') + }) + it('should handle an adapter on module location when the detail level is full', () => { const mockLoadedLabwares = [ { diff --git a/app/src/local-resources/labware/utils/getLabwareDisplayLocation.ts b/app/src/local-resources/labware/utils/getLabwareDisplayLocation.ts index 2e02199e667..63804cba764 100644 --- a/app/src/local-resources/labware/utils/getLabwareDisplayLocation.ts +++ b/app/src/local-resources/labware/utils/getLabwareDisplayLocation.ts @@ -4,6 +4,8 @@ import { getOccludedSlotCountForModule, THERMOCYCLER_MODULE_V1, THERMOCYCLER_MODULE_V2, + TRASH_BIN_FIXTURE, + WASTE_CHUTE_ADDRESSABLE_AREAS, } from '@opentrons/shared-data' import { getLabwareLocation } from './getLabwareLocation' @@ -12,6 +14,7 @@ import type { LocationSlotOnlyParams, LocationFullParams, } from './getLabwareLocation' +import type { AddressableAreaName } from '@opentrons/shared-data' export interface DisplayLocationSlotOnlyParams extends LocationSlotOnlyParams { t: TFunction @@ -47,7 +50,8 @@ export function getLabwareDisplayLocation( } // Simple slot location else if (moduleModel == null && adapterName == null) { - return isOnDevice ? slotName : t('slot', { slot_name: slotName }) + const validatedSlotCopy = handleSpecialSlotNames(slotName, t) + return isOnDevice ? validatedSlotCopy.odd : validatedSlotCopy.desktop } // Module location without adapter else if (moduleModel != null && adapterName == null) { @@ -91,3 +95,20 @@ export function getLabwareDisplayLocation( return '' } } + +// Sometimes we don't want to show the actual slotName, so we special case the text here. +function handleSpecialSlotNames( + slotName: string, + t: TFunction +): { odd: string; desktop: string } { + if (WASTE_CHUTE_ADDRESSABLE_AREAS.includes(slotName as AddressableAreaName)) { + return { odd: t('waste_chute'), desktop: t('waste_chute') } + } else if (slotName === TRASH_BIN_FIXTURE) { + return { odd: t('trash_bin'), desktop: t('trash_bin') } + } else { + return { + odd: slotName, + desktop: t('slot', { slot_name: slotName }), + } + } +} diff --git a/shared-data/js/constants.ts b/shared-data/js/constants.ts index 8ae6d2d6ff8..de68e5d996e 100644 --- a/shared-data/js/constants.ts +++ b/shared-data/js/constants.ts @@ -513,6 +513,7 @@ export const SINGLE_RIGHT_SLOT_FIXTURE: 'singleRightSlot' = 'singleRightSlot' export const STAGING_AREA_RIGHT_SLOT_FIXTURE: 'stagingAreaRightSlot' = 'stagingAreaRightSlot' +export const TRASH_BIN_FIXTURE: 'trashBin' = 'trashBin' export const TRASH_BIN_ADAPTER_FIXTURE: 'trashBinAdapter' = 'trashBinAdapter' export const WASTE_CHUTE_RIGHT_ADAPTER_COVERED_FIXTURE: 'wasteChuteRightAdapterCovered' = From 9bf09d81c997a9df1867e498d1db51dae5e496aa Mon Sep 17 00:00:00 2001 From: koji Date: Thu, 14 Nov 2024 15:46:34 -0500 Subject: [PATCH 13/57] fix(components) fix long unit wrapping issue (#16836) * fix(components) fix long unit wrapping issue --- components/src/atoms/InputField/index.tsx | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/components/src/atoms/InputField/index.tsx b/components/src/atoms/InputField/index.tsx index 14a4f520377..713930bb233 100644 --- a/components/src/atoms/InputField/index.tsx +++ b/components/src/atoms/InputField/index.tsx @@ -2,7 +2,12 @@ import * as React from 'react' import styled, { css } from 'styled-components' import { Flex } from '../../primitives' -import { ALIGN_CENTER, DIRECTION_COLUMN, TEXT_ALIGN_RIGHT } from '../../styles' +import { + ALIGN_CENTER, + DIRECTION_COLUMN, + NO_WRAP, + TEXT_ALIGN_RIGHT, +} from '../../styles' import { BORDERS, COLORS } from '../../helix-design-system' import { Icon } from '../../icons' import { RESPONSIVENESS, SPACING, TYPOGRAPHY } from '../../ui-style-constants' @@ -233,6 +238,7 @@ export const InputField = React.forwardRef( font-weight: ${TYPOGRAPHY.fontWeightRegular}; line-height: ${TYPOGRAPHY.lineHeight28}; justify-content: ${textAlign}; + white-space: ${NO_WRAP}; } ` From 972c5924034ade27037973a343447afe4479e693 Mon Sep 17 00:00:00 2001 From: Jamey Huffnagle Date: Thu, 14 Nov 2024 15:47:08 -0500 Subject: [PATCH 14/57] fix(app): add affordances for tip detection failures (#16828) Closes RQA-3589 At the end of a protocol run, we execute tip detection logic to determine whether or not we should pop drop tip CTAs. There are a few network requests necessary to make this work, and we are not error handling if any of these requests fail. This PR adds a general fallback: if almost any network request fails, let's just assume both pipettes have tips attached and pop the CTAs (assuming the pipettes have ok firmware status). It's probably better to be more conservative here, and in practice, this exact scenario should occur rarely. Note that the very first request we make is to get the currently attached instruments. If this request fails, we can't do drop tip wizard, so we shouldn't show CTAs. The only workaround here would be going to design and coming up with some sort of "can't detect tips" copy. At the very least, the user can always go to drop tip wizard manually and handle tips there. --- .../getPipettesWithTipAttached.test.ts | 59 +++++++++++++++++-- .../getPipettesWithTipAttached.ts | 36 +++++++---- 2 files changed, 80 insertions(+), 15 deletions(-) diff --git a/app/src/organisms/DropTipWizardFlows/hooks/useTipAttachmentStatus/__tests__/getPipettesWithTipAttached.test.ts b/app/src/organisms/DropTipWizardFlows/hooks/useTipAttachmentStatus/__tests__/getPipettesWithTipAttached.test.ts index eb969f46820..bdaeff2dee0 100644 --- a/app/src/organisms/DropTipWizardFlows/hooks/useTipAttachmentStatus/__tests__/getPipettesWithTipAttached.test.ts +++ b/app/src/organisms/DropTipWizardFlows/hooks/useTipAttachmentStatus/__tests__/getPipettesWithTipAttached.test.ts @@ -20,11 +20,21 @@ const DROP_TIP_IN_PLACE = 'dropTipInPlace' const LOAD_PIPETTE = 'loadPipette' const FIXIT_INTENT = 'fixit' +const LEFT_PIPETTE = { + mount: LEFT, + state: { tipDetected: true }, + instrumentType: 'pipette', + ok: true, +} +const RIGHT_PIPETTE = { + mount: RIGHT, + state: { tipDetected: true }, + instrumentType: 'pipette', + ok: true, +} + const mockAttachedInstruments = { - data: [ - { mount: LEFT, state: { tipDetected: true } }, - { mount: RIGHT, state: { tipDetected: true } }, - ], + data: [LEFT_PIPETTE, RIGHT_PIPETTE], meta: { cursor: 0, totalLength: 2 }, } @@ -185,4 +195,45 @@ describe('getPipettesWithTipAttached', () => { const result = await getPipettesWithTipAttached(DEFAULT_PARAMS) expect(result).toEqual([mockAttachedInstruments.data[0]]) }) + + it('returns all valid attached pipettes when an error occurs', async () => { + vi.mocked(getCommands).mockRejectedValueOnce( + new Error('Example network error') + ) + + const result = await getPipettesWithTipAttached(DEFAULT_PARAMS) + + expect(result).toEqual([LEFT_PIPETTE, RIGHT_PIPETTE]) + }) + + it('filters out not ok pipettes', async () => { + vi.mocked(getCommands).mockRejectedValueOnce(new Error('Network error')) + + const mockInvalidPipettes = { + data: [ + LEFT_PIPETTE, + { + ...RIGHT_PIPETTE, + ok: false, + }, + ], + meta: { cursor: 0, totalLength: 2 }, + } + + const params = { + ...DEFAULT_PARAMS, + attachedInstruments: mockInvalidPipettes as any, + } + + const result = await getPipettesWithTipAttached(params) + + expect(result).toEqual([ + { + mount: LEFT, + state: { tipDetected: true }, + instrumentType: 'pipette', + ok: true, + }, + ]) + }) }) diff --git a/app/src/organisms/DropTipWizardFlows/hooks/useTipAttachmentStatus/getPipettesWithTipAttached.ts b/app/src/organisms/DropTipWizardFlows/hooks/useTipAttachmentStatus/getPipettesWithTipAttached.ts index 42b006ca0b2..02cf7343497 100644 --- a/app/src/organisms/DropTipWizardFlows/hooks/useTipAttachmentStatus/getPipettesWithTipAttached.ts +++ b/app/src/organisms/DropTipWizardFlows/hooks/useTipAttachmentStatus/getPipettesWithTipAttached.ts @@ -31,15 +31,17 @@ export function getPipettesWithTipAttached({ return Promise.resolve([]) } - return getCommandsExecutedDuringRun( - host as HostConfig, - runId - ).then(executedCmdData => - checkPipettesForAttachedTips( - executedCmdData.data, - runRecord.data.pipettes, - attachedInstruments.data as PipetteData[] - ) + return ( + getCommandsExecutedDuringRun(host as HostConfig, runId) + .then(executedCmdData => + checkPipettesForAttachedTips( + executedCmdData.data, + runRecord.data.pipettes, + attachedInstruments.data as PipetteData[] + ) + ) + // If any network error occurs, return all attached pipettes as having tips attached for safety reasons. + .catch(() => Promise.resolve(getPipettesDataFrom(attachedInstruments))) ) } @@ -119,8 +121,10 @@ function checkPipettesForAttachedTips( } // Convert the array of mounts with attached tips to PipetteData with attached tips. - const pipettesWithTipAttached = attachedPipettes.filter(attachedPipette => - mountsWithTipAttached.includes(attachedPipette.mount) + const pipettesWithTipAttached = attachedPipettes.filter( + attachedPipette => + mountsWithTipAttached.includes(attachedPipette.mount) && + attachedPipette.ok ) // Preferentially assign the left mount as the first element. @@ -136,3 +140,13 @@ function checkPipettesForAttachedTips( return pipettesWithTipAttached } + +function getPipettesDataFrom( + attachedInstruments: Instruments | null +): PipetteData[] { + return attachedInstruments != null + ? (attachedInstruments.data.filter( + instrument => instrument.instrumentType === 'pipette' && instrument.ok + ) as PipetteData[]) + : [] +} From df802636a513f3e733058b4054aeb038ffba1a9c Mon Sep 17 00:00:00 2001 From: Jamey Huffnagle Date: Fri, 15 Nov 2024 11:33:34 -0500 Subject: [PATCH 15/57] fix(app, robot-server): support `retryLocation` when retrying `dropTipInPlace` during Error Recovery (#16839) Closes RQA-3591 When dropping a tip in a trash bin or waste chute, the pipette moves downwards before doing the drop tip. During Error Recovery, when we retry the failed command with a fixit intent, we need to perform a moveToCoordinates first before dispatching the dropTipInPlace or the robot drops the tip(s) from too high a location. To know how far to move, we need the failedCommand to contain retryLocation metadata. We have a pattern for this already with overpressure in place commands, so we extend the same functionality here. Co-authored-by: Max Marrone --- .../commands/aspirate_in_place.py | 6 +-- .../protocol_engine/commands/command.py | 4 +- .../commands/dispense_in_place.py | 2 +- .../protocol_engine/commands/drop_tip.py | 3 +- .../commands/drop_tip_in_place.py | 9 ++++- .../commands/pipetting_common.py | 9 ++++- .../errors/error_occurrence.py | 11 ++++-- .../protocol_engine/commands/test_drop_tip.py | 1 + .../commands/test_drop_tip_in_place.py | 23 ++++++++++-- .../__tests__/useRecoveryCommands.test.ts | 37 ++++++++++++++----- .../hooks/useRecoveryCommands.ts | 14 ++++++- 11 files changed, 93 insertions(+), 26 deletions(-) diff --git a/api/src/opentrons/protocol_engine/commands/aspirate_in_place.py b/api/src/opentrons/protocol_engine/commands/aspirate_in_place.py index 4c7ab2cc01c..3bca160e50b 100644 --- a/api/src/opentrons/protocol_engine/commands/aspirate_in_place.py +++ b/api/src/opentrons/protocol_engine/commands/aspirate_in_place.py @@ -83,10 +83,11 @@ async def execute(self, params: AspirateInPlaceParams) -> _ExecuteReturn: TipNotAttachedError: if no tip is attached to the pipette. PipetteNotReadyToAspirateError: pipette plunger is not ready. """ + state_update = StateUpdate() + ready_to_aspirate = self._pipetting.get_is_ready_to_aspirate( pipette_id=params.pipetteId, ) - if not ready_to_aspirate: raise PipetteNotReadyToAspirateError( "Pipette cannot aspirate in place because of a previous blow out." @@ -94,11 +95,10 @@ async def execute(self, params: AspirateInPlaceParams) -> _ExecuteReturn: " so the plunger can be reset in a known safe position." ) - state_update = StateUpdate() current_location = self._state_view.pipettes.get_current_location() + current_position = await self._gantry_mover.get_position(params.pipetteId) try: - current_position = await self._gantry_mover.get_position(params.pipetteId) volume = await self._pipetting.aspirate_in_place( pipette_id=params.pipetteId, volume=params.volume, diff --git a/api/src/opentrons/protocol_engine/commands/command.py b/api/src/opentrons/protocol_engine/commands/command.py index 1fefcbf7315..bea6bed084d 100644 --- a/api/src/opentrons/protocol_engine/commands/command.py +++ b/api/src/opentrons/protocol_engine/commands/command.py @@ -185,7 +185,9 @@ class BaseCommand( ) error: Union[ _ErrorT, - # ErrorOccurrence here is for undefined errors not captured by _ErrorT. + # ErrorOccurrence here is a catch-all for undefined errors not captured by + # _ErrorT, or defined errors that don't parse into _ErrorT because, for example, + # they are from an older software version that was missing some fields. ErrorOccurrence, None, ] = Field( diff --git a/api/src/opentrons/protocol_engine/commands/dispense_in_place.py b/api/src/opentrons/protocol_engine/commands/dispense_in_place.py index 7df9471b038..7935f7f72e9 100644 --- a/api/src/opentrons/protocol_engine/commands/dispense_in_place.py +++ b/api/src/opentrons/protocol_engine/commands/dispense_in_place.py @@ -76,8 +76,8 @@ async def execute(self, params: DispenseInPlaceParams) -> _ExecuteReturn: """Dispense without moving the pipette.""" state_update = StateUpdate() current_location = self._state_view.pipettes.get_current_location() + current_position = await self._gantry_mover.get_position(params.pipetteId) try: - current_position = await self._gantry_mover.get_position(params.pipetteId) volume = await self._pipetting.dispense_in_place( pipette_id=params.pipetteId, volume=params.volume, diff --git a/api/src/opentrons/protocol_engine/commands/drop_tip.py b/api/src/opentrons/protocol_engine/commands/drop_tip.py index 81a34a5ad39..36b7a7c22c2 100644 --- a/api/src/opentrons/protocol_engine/commands/drop_tip.py +++ b/api/src/opentrons/protocol_engine/commands/drop_tip.py @@ -145,6 +145,7 @@ async def execute(self, params: DropTipParams) -> _ExecuteReturn: error=exception, ) ], + errorInfo={"retryLocation": position}, ) state_update_if_false_positive = update_types.StateUpdate() state_update_if_false_positive.update_pipette_tip_state( @@ -165,7 +166,7 @@ async def execute(self, params: DropTipParams) -> _ExecuteReturn: ) -class DropTip(BaseCommand[DropTipParams, DropTipResult, ErrorOccurrence]): +class DropTip(BaseCommand[DropTipParams, DropTipResult, TipPhysicallyAttachedError]): """Drop tip command model.""" commandType: DropTipCommandType = "dropTip" diff --git a/api/src/opentrons/protocol_engine/commands/drop_tip_in_place.py b/api/src/opentrons/protocol_engine/commands/drop_tip_in_place.py index aa40384ac6a..b0390632d6a 100644 --- a/api/src/opentrons/protocol_engine/commands/drop_tip_in_place.py +++ b/api/src/opentrons/protocol_engine/commands/drop_tip_in_place.py @@ -18,7 +18,7 @@ from ..state import update_types if TYPE_CHECKING: - from ..execution import TipHandler + from ..execution import TipHandler, GantryMover DropTipInPlaceCommandType = Literal["dropTipInPlace"] @@ -57,15 +57,19 @@ def __init__( self, tip_handler: TipHandler, model_utils: ModelUtils, + gantry_mover: GantryMover, **kwargs: object, ) -> None: self._tip_handler = tip_handler self._model_utils = model_utils + self._gantry_mover = gantry_mover async def execute(self, params: DropTipInPlaceParams) -> _ExecuteReturn: """Drop a tip using the requested pipette.""" state_update = update_types.StateUpdate() + retry_location = await self._gantry_mover.get_position(params.pipetteId) + try: await self._tip_handler.drop_tip( pipette_id=params.pipetteId, home_after=params.homeAfter @@ -85,6 +89,7 @@ async def execute(self, params: DropTipInPlaceParams) -> _ExecuteReturn: error=exception, ) ], + errorInfo={"retryLocation": retry_location}, ) return DefinedErrorData( public=error, @@ -99,7 +104,7 @@ async def execute(self, params: DropTipInPlaceParams) -> _ExecuteReturn: class DropTipInPlace( - BaseCommand[DropTipInPlaceParams, DropTipInPlaceResult, ErrorOccurrence] + BaseCommand[DropTipInPlaceParams, DropTipInPlaceResult, TipPhysicallyAttachedError] ): """Drop tip in place command model.""" diff --git a/api/src/opentrons/protocol_engine/commands/pipetting_common.py b/api/src/opentrons/protocol_engine/commands/pipetting_common.py index 2dafb4c81b2..ef53b585e87 100644 --- a/api/src/opentrons/protocol_engine/commands/pipetting_common.py +++ b/api/src/opentrons/protocol_engine/commands/pipetting_common.py @@ -148,7 +148,12 @@ class DestinationPositionResult(BaseModel): class ErrorLocationInfo(TypedDict): - """Holds a retry location for in-place error recovery.""" + """Holds a retry location for in-place error recovery. + + This is appropriate to pass to a `moveToCoordinates` command, + assuming the pipette has not been configured with a different nozzle layout + in the meantime. + """ retryLocation: Tuple[float, float, float] @@ -201,3 +206,5 @@ class TipPhysicallyAttachedError(ErrorOccurrence): errorCode: str = ErrorCodes.TIP_DROP_FAILED.value.code detail: str = ErrorCodes.TIP_DROP_FAILED.value.detail + + errorInfo: ErrorLocationInfo diff --git a/api/src/opentrons/protocol_engine/errors/error_occurrence.py b/api/src/opentrons/protocol_engine/errors/error_occurrence.py index 02bcfb38b62..4141befe9b8 100644 --- a/api/src/opentrons/protocol_engine/errors/error_occurrence.py +++ b/api/src/opentrons/protocol_engine/errors/error_occurrence.py @@ -12,8 +12,6 @@ log = getLogger(__name__) -# TODO(mc, 2021-11-12): flesh this model out with structured error data -# for each error type so client may produce better error messages class ErrorOccurrence(BaseModel): """An occurrence of a specific error during protocol execution.""" @@ -44,8 +42,15 @@ def from_failed( id: str = Field(..., description="Unique identifier of this error occurrence.") createdAt: datetime = Field(..., description="When the error occurred.") + # Our Python should probably always set this to False--if we want it to be True, + # we should probably be using a more specific subclass of ErrorOccurrence anyway. + # However, we can't make this Literal[False], because we want this class to be able + # to act as a catch-all for parsing defined errors that might be missing some + # `errorInfo` fields because they were serialized by older software. isDefined: bool = Field( - default=False, # default=False for database backwards compatibility. + # default=False for database backwards compatibility, so we can parse objects + # serialized before isDefined existed. + default=False, description=dedent( """\ Whether this error is *defined.* diff --git a/api/tests/opentrons/protocol_engine/commands/test_drop_tip.py b/api/tests/opentrons/protocol_engine/commands/test_drop_tip.py index 1d113c999c3..64368de1ff2 100644 --- a/api/tests/opentrons/protocol_engine/commands/test_drop_tip.py +++ b/api/tests/opentrons/protocol_engine/commands/test_drop_tip.py @@ -281,6 +281,7 @@ async def test_tip_attached_error( id="error-id", createdAt=datetime(year=1, month=2, day=3), wrappedErrors=[matchers.Anything()], + errorInfo={"retryLocation": (111, 222, 333)}, ), state_update=update_types.StateUpdate( pipette_location=update_types.PipetteLocationUpdate( diff --git a/api/tests/opentrons/protocol_engine/commands/test_drop_tip_in_place.py b/api/tests/opentrons/protocol_engine/commands/test_drop_tip_in_place.py index 292aa532879..807d702e2bc 100644 --- a/api/tests/opentrons/protocol_engine/commands/test_drop_tip_in_place.py +++ b/api/tests/opentrons/protocol_engine/commands/test_drop_tip_in_place.py @@ -14,12 +14,13 @@ DropTipInPlaceImplementation, ) from opentrons.protocol_engine.errors.exceptions import TipAttachedError -from opentrons.protocol_engine.execution import TipHandler +from opentrons.protocol_engine.execution import TipHandler, GantryMover from opentrons.protocol_engine.resources.model_utils import ModelUtils from opentrons.protocol_engine.state.update_types import ( PipetteTipStateUpdate, StateUpdate, ) +from opentrons.types import Point @pytest.fixture @@ -34,14 +35,23 @@ def mock_model_utils(decoy: Decoy) -> ModelUtils: return decoy.mock(cls=ModelUtils) +@pytest.fixture +def mock_gantry_mover(decoy: Decoy) -> GantryMover: + """Get a mock GantryMover.""" + return decoy.mock(cls=GantryMover) + + async def test_success( decoy: Decoy, mock_tip_handler: TipHandler, mock_model_utils: ModelUtils, + mock_gantry_mover: GantryMover, ) -> None: """A DropTip command should have an execution implementation.""" subject = DropTipInPlaceImplementation( - tip_handler=mock_tip_handler, model_utils=mock_model_utils + tip_handler=mock_tip_handler, + model_utils=mock_model_utils, + gantry_mover=mock_gantry_mover, ) params = DropTipInPlaceParams(pipetteId="abc", homeAfter=False) @@ -64,14 +74,20 @@ async def test_tip_attached_error( decoy: Decoy, mock_tip_handler: TipHandler, mock_model_utils: ModelUtils, + mock_gantry_mover: GantryMover, ) -> None: """A DropTip command should have an execution implementation.""" subject = DropTipInPlaceImplementation( - tip_handler=mock_tip_handler, model_utils=mock_model_utils + tip_handler=mock_tip_handler, + model_utils=mock_model_utils, + gantry_mover=mock_gantry_mover, ) params = DropTipInPlaceParams(pipetteId="abc", homeAfter=False) + decoy.when(await mock_gantry_mover.get_position(pipette_id="abc")).then_return( + Point(9, 8, 7) + ) decoy.when( await mock_tip_handler.drop_tip(pipette_id="abc", home_after=False) ).then_raise(TipAttachedError("Egads!")) @@ -88,6 +104,7 @@ async def test_tip_attached_error( id="error-id", createdAt=datetime(year=1, month=2, day=3), wrappedErrors=[matchers.Anything()], + errorInfo={"retryLocation": (9, 8, 7)}, ), state_update=StateUpdate(), state_update_if_false_positive=StateUpdate( diff --git a/app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useRecoveryCommands.test.ts b/app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useRecoveryCommands.test.ts index ca2e086d9fd..21307b8e4e8 100644 --- a/app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useRecoveryCommands.test.ts +++ b/app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useRecoveryCommands.test.ts @@ -139,24 +139,41 @@ describe('useRecoveryCommands', () => { false ) }) - ;([ + + const IN_PLACE_COMMANDS = [ 'aspirateInPlace', 'dispenseInPlace', 'blowOutInPlace', 'dropTipInPlace', 'prepareToAspirate', - ] as const).forEach(inPlaceCommandType => { - it(`Should move to retryLocation if failed command is ${inPlaceCommandType} and error is appropriate when retrying`, async () => { + ] as const + + const ERROR_SCENARIOS = [ + { type: 'overpressure', code: '3006' }, + { type: 'tipPhysicallyAttached', code: '3007' }, + ] as const + + it.each( + ERROR_SCENARIOS.flatMap(error => + IN_PLACE_COMMANDS.map(commandType => ({ + errorType: error.type, + errorCode: error.code, + commandType, + })) + ) + )( + 'Should move to retryLocation if failed command is $commandType and error is $errorType when retrying', + async ({ errorType, errorCode, commandType }) => { const { result } = renderHook(() => { const failedCommand = { ...mockFailedCommand, - commandType: inPlaceCommandType, + commandType, params: { pipetteId: 'mock-pipette-id', }, error: { - errorType: 'overpressure', - errorCode: '3006', + errorType, + errorCode, isDefined: true, errorInfo: { retryLocation: [1, 2, 3], @@ -180,9 +197,11 @@ describe('useRecoveryCommands', () => { selectedRecoveryOption: RECOVERY_MAP.RETRY_NEW_TIPS.ROUTE, }) }) + await act(async () => { await result.current.retryFailedCommand() }) + expect(mockChainRunCommands).toHaveBeenLastCalledWith( [ { @@ -194,14 +213,14 @@ describe('useRecoveryCommands', () => { }, }, { - commandType: inPlaceCommandType, + commandType, params: { pipetteId: 'mock-pipette-id' }, }, ], false ) - }) - }) + } + ) it('should call resumeRun with runId and show success toast on success', async () => { const { result } = renderHook(() => useRecoveryCommands(props)) diff --git a/app/src/organisms/ErrorRecoveryFlows/hooks/useRecoveryCommands.ts b/app/src/organisms/ErrorRecoveryFlows/hooks/useRecoveryCommands.ts index 4ce5194aca4..65bd77eed0b 100644 --- a/app/src/organisms/ErrorRecoveryFlows/hooks/useRecoveryCommands.ts +++ b/app/src/organisms/ErrorRecoveryFlows/hooks/useRecoveryCommands.ts @@ -9,7 +9,7 @@ import { } from '@opentrons/react-api-client' import { useChainRunCommands } from '/app/resources/runs' -import { ERROR_KINDS, RECOVERY_MAP } from '../constants' +import { DEFINED_ERROR_TYPES, ERROR_KINDS, RECOVERY_MAP } from '../constants' import { getErrorKind } from '/app/organisms/ErrorRecoveryFlows/utils' import type { @@ -127,6 +127,7 @@ export function useRecoveryCommands({ | DispenseInPlaceRunTimeCommand | DropTipInPlaceRunTimeCommand | PrepareToAspirateRunTimeCommand + const IN_PLACE_COMMAND_TYPES = [ 'aspirateInPlace', 'dispenseInPlace', @@ -134,16 +135,25 @@ export function useRecoveryCommands({ 'dropTipInPlace', 'prepareToAspirate', ] as const + + const RETRY_ERROR_TYPES = [ + DEFINED_ERROR_TYPES.OVERPRESSURE, + DEFINED_ERROR_TYPES.TIP_PHYSICALLY_ATTACHED, + ] as const + const isInPlace = ( failedCommand: FailedCommand ): failedCommand is InPlaceCommand => IN_PLACE_COMMAND_TYPES.includes( (failedCommand as InPlaceCommand).commandType ) + return unvalidatedFailedCommand != null ? isInPlace(unvalidatedFailedCommand) ? unvalidatedFailedCommand.error?.isDefined && - unvalidatedFailedCommand.error?.errorType === 'overpressure' && + RETRY_ERROR_TYPES.includes( + unvalidatedFailedCommand.error?.errorType + ) && // Paranoia: this value comes from the wire and may be unevenly implemented typeof unvalidatedFailedCommand.error?.errorInfo?.retryLocation?.at( 0 From d49f9908c8e65b6e2088bd7eebc94e4ff9f00338 Mon Sep 17 00:00:00 2001 From: Brayan Almonte Date: Fri, 15 Nov 2024 13:25:27 -0500 Subject: [PATCH 16/57] fix(api): update the plate reader parsing of the serial + version to account for the new format. (#16824) --- .../drivers/absorbance_reader/async_byonoy.py | 9 +++--- .../drivers/absorbance_reader/test_driver.py | 30 +++++++++++++++++++ 2 files changed, 35 insertions(+), 4 deletions(-) diff --git a/api/src/opentrons/drivers/absorbance_reader/async_byonoy.py b/api/src/opentrons/drivers/absorbance_reader/async_byonoy.py index 0460a016229..6f405c9af32 100644 --- a/api/src/opentrons/drivers/absorbance_reader/async_byonoy.py +++ b/api/src/opentrons/drivers/absorbance_reader/async_byonoy.py @@ -23,7 +23,8 @@ SN_PARSER = re.compile(r'ATTRS{serial}=="(?P.+?)"') -VERSION_PARSER = re.compile(r"Absorbance (?PV\d+\.\d+\.\d+)") +# match semver V0.0.0 (old format) or one integer (latest format) +VERSION_PARSER = re.compile(r"(?P(V\d+\.\d+\.\d+|^\d+$))") SERIAL_PARSER = re.compile(r"(?P(OPT|BYO)[A-Z]{3}[0-9]+)") @@ -156,10 +157,10 @@ async def get_device_information(self) -> Dict[str, str]: func=partial(self._interface.get_device_information, handle), ) self._raise_if_error(err.name, f"Error getting device information: {err}") - serial_match = SERIAL_PARSER.fullmatch(device_info.sn) - version_match = VERSION_PARSER.match(device_info.version) + serial_match = SERIAL_PARSER.match(device_info.sn) + version_match = VERSION_PARSER.search(device_info.version) serial = serial_match["serial"].strip() if serial_match else "OPTMAA00000" - version = version_match["version"].lower() if version_match else "v0.0.0" + version = version_match["version"].lower() if version_match else "v0" info = { "serial": serial, "version": version, diff --git a/api/tests/opentrons/drivers/absorbance_reader/test_driver.py b/api/tests/opentrons/drivers/absorbance_reader/test_driver.py index 58552695f44..b4db8d604b2 100644 --- a/api/tests/opentrons/drivers/absorbance_reader/test_driver.py +++ b/api/tests/opentrons/drivers/absorbance_reader/test_driver.py @@ -124,6 +124,36 @@ async def test_driver_get_device_info( mock_interface.get_device_information.assert_called_once() mock_interface.reset_mock() + # Test Device info with updated version format + DEVICE_INFO.sn = "OPTMAA00034" + DEVICE_INFO.version = "8" + + mock_interface.get_device_information.return_value = ( + MockErrorCode.NO_ERROR, + DEVICE_INFO, + ) + + info = await connected_driver.get_device_info() + + assert info == {"serial": "OPTMAA00034", "model": "ABS96", "version": "8"} + mock_interface.get_device_information.assert_called_once() + mock_interface.reset_mock() + + # Test Device info with invalid version format + DEVICE_INFO.sn = "OPTMAA00034" + DEVICE_INFO.version = "asd" + + mock_interface.get_device_information.return_value = ( + MockErrorCode.NO_ERROR, + DEVICE_INFO, + ) + + info = await connected_driver.get_device_info() + + assert info == {"serial": "OPTMAA00034", "model": "ABS96", "version": "v0"} + mock_interface.get_device_information.assert_called_once() + mock_interface.reset_mock() + @pytest.mark.parametrize( "parts_aligned, module_status", From 62b1e9ddf66bdf078c2968c54bbf2355c458a777 Mon Sep 17 00:00:00 2001 From: CaseyBatten Date: Fri, 15 Nov 2024 13:53:22 -0500 Subject: [PATCH 17/57] fix(shared-data): deck riser and auto sealing lid labware definition updates (#16852) Covers PLAT-602 Update new maximum height dimension of the riser and adjust stacking offset of auto sealing lid --- .../labware/definitions/2/opentrons_flex_deck_riser/1.json | 2 +- .../definitions/2/opentrons_tough_pcr_auto_sealing_lid/1.json | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/shared-data/labware/definitions/2/opentrons_flex_deck_riser/1.json b/shared-data/labware/definitions/2/opentrons_flex_deck_riser/1.json index 59f0548ca32..94533e059b2 100644 --- a/shared-data/labware/definitions/2/opentrons_flex_deck_riser/1.json +++ b/shared-data/labware/definitions/2/opentrons_flex_deck_riser/1.json @@ -13,7 +13,7 @@ "dimensions": { "xDimension": 140, "yDimension": 98, - "zDimension": 21 + "zDimension": 55 }, "wells": {}, "groups": [ diff --git a/shared-data/labware/definitions/2/opentrons_tough_pcr_auto_sealing_lid/1.json b/shared-data/labware/definitions/2/opentrons_tough_pcr_auto_sealing_lid/1.json index f872649a027..b08bb84409f 100644 --- a/shared-data/labware/definitions/2/opentrons_tough_pcr_auto_sealing_lid/1.json +++ b/shared-data/labware/definitions/2/opentrons_tough_pcr_auto_sealing_lid/1.json @@ -69,7 +69,7 @@ "opentrons_flex_deck_riser": { "x": 0, "y": 0, - "z": 0 + "z": 34 } }, "gripForce": 15, From c90aaea51c22d19346f69de87fb54222cdcba40e Mon Sep 17 00:00:00 2001 From: Ryan Howard Date: Fri, 15 Nov 2024 14:47:08 -0500 Subject: [PATCH 18/57] fix(api): add stopped state so a stop request doesn't mean the gripper needs to re-home (#16853) # Overview This fixes an error that happens during error recovery where the gripper needs to re-home because the error flow sends a stop request. This fixes that by adding a new state called stop, and if the firmware responds with STOPPED instead of UNHOMED then we know we can just continue on without re-homing. The gripper will still go into a UNHOMED state during the following: Labware droped Collision Estop ## Test Plan and Hands on Testing ## Changelog ## Review requests ## Risk assessment --- api/src/opentrons/hardware_control/backends/ot3utils.py | 1 + api/src/opentrons/hardware_control/types.py | 2 ++ hardware/opentrons_hardware/firmware_bindings/constants.py | 1 + 3 files changed, 4 insertions(+) diff --git a/api/src/opentrons/hardware_control/backends/ot3utils.py b/api/src/opentrons/hardware_control/backends/ot3utils.py index 6d62ffc4581..167f16f5cb8 100644 --- a/api/src/opentrons/hardware_control/backends/ot3utils.py +++ b/api/src/opentrons/hardware_control/backends/ot3utils.py @@ -652,6 +652,7 @@ def update( FirmwareGripperjawState.force_controlling_home: GripperJawState.HOMED_READY, FirmwareGripperjawState.force_controlling: GripperJawState.GRIPPING, FirmwareGripperjawState.position_controlling: GripperJawState.HOLDING, + FirmwareGripperjawState.stopped: GripperJawState.STOPPED, } diff --git a/api/src/opentrons/hardware_control/types.py b/api/src/opentrons/hardware_control/types.py index 62265afffcc..bc32431d2a5 100644 --- a/api/src/opentrons/hardware_control/types.py +++ b/api/src/opentrons/hardware_control/types.py @@ -625,6 +625,8 @@ class GripperJawState(enum.Enum): #: the gripper is actively force-control gripping something HOLDING = enum.auto() #: the gripper is in position-control mode + STOPPED = enum.auto() + #: the gripper has been homed before but is stopped now class InstrumentProbeType(enum.Enum): diff --git a/hardware/opentrons_hardware/firmware_bindings/constants.py b/hardware/opentrons_hardware/firmware_bindings/constants.py index 923d8eb0725..91a3ab9800e 100644 --- a/hardware/opentrons_hardware/firmware_bindings/constants.py +++ b/hardware/opentrons_hardware/firmware_bindings/constants.py @@ -461,3 +461,4 @@ class GripperJawState(int, Enum): force_controlling_home = 0x1 force_controlling = 0x2 position_controlling = 0x3 + stopped = 0x4 From 6d5b3a23220419317d68f01b15405371ce8953cb Mon Sep 17 00:00:00 2001 From: Jamey Huffnagle Date: Fri, 15 Nov 2024 16:19:48 -0500 Subject: [PATCH 19/57] fix(app): fix post run tip detection after error recovery (#16860) Closes RQA-3589 It's insufficient to check if a run entered error recovery as the sole condition for whether or not to run the post-run drop tip wizard, because it's possible for a run to proceed through error recovery then encounter a terminal error. In these spots, we must show drop tip wizard. To fix, determine whether the run just entered error recovery (or not). If it didn't, do the tip detection logic. --- .../local-resources/commands/utils/index.ts | 1 + .../lastRunCommandPromptedErrorRecovery.ts | 13 +++++++++++ .../hooks/useRunHeaderDropTip.ts | 23 ++++++++++++++++--- .../getPipettesWithTipAttached.ts | 7 +++++- app/src/pages/ODD/RunSummary/index.tsx | 16 +++++++++++-- 5 files changed, 54 insertions(+), 6 deletions(-) create mode 100644 app/src/local-resources/commands/utils/lastRunCommandPromptedErrorRecovery.ts diff --git a/app/src/local-resources/commands/utils/index.ts b/app/src/local-resources/commands/utils/index.ts index 7aa84d14de5..cc4e9c2579a 100644 --- a/app/src/local-resources/commands/utils/index.ts +++ b/app/src/local-resources/commands/utils/index.ts @@ -1 +1,2 @@ export * from './getCommandTextData' +export * from './lastRunCommandPromptedErrorRecovery' diff --git a/app/src/local-resources/commands/utils/lastRunCommandPromptedErrorRecovery.ts b/app/src/local-resources/commands/utils/lastRunCommandPromptedErrorRecovery.ts new file mode 100644 index 00000000000..dd07756ef43 --- /dev/null +++ b/app/src/local-resources/commands/utils/lastRunCommandPromptedErrorRecovery.ts @@ -0,0 +1,13 @@ +import type { RunCommandSummary } from '@opentrons/api-client' + +// Whether the last run protocol command prompted Error Recovery. +export function lastRunCommandPromptedErrorRecovery( + summary: RunCommandSummary[] +): boolean { + const lastProtocolCommand = summary.findLast( + command => command.intent !== 'fixit' && command.error != null + ) + + // All recoverable protocol commands have defined errors. + return lastProtocolCommand?.error?.isDefined ?? false +} diff --git a/app/src/organisms/Desktop/Devices/ProtocolRun/ProtocolRunHeader/RunHeaderModalContainer/hooks/useRunHeaderDropTip.ts b/app/src/organisms/Desktop/Devices/ProtocolRun/ProtocolRunHeader/RunHeaderModalContainer/hooks/useRunHeaderDropTip.ts index e41b7edc8ec..48887d4ac17 100644 --- a/app/src/organisms/Desktop/Devices/ProtocolRun/ProtocolRunHeader/RunHeaderModalContainer/hooks/useRunHeaderDropTip.ts +++ b/app/src/organisms/Desktop/Devices/ProtocolRun/ProtocolRunHeader/RunHeaderModalContainer/hooks/useRunHeaderDropTip.ts @@ -9,8 +9,13 @@ import { useTipAttachmentStatus, } from '/app/organisms/DropTipWizardFlows' import { useProtocolDropTipModal } from '../modals' -import { useCloseCurrentRun, useIsRunCurrent } from '/app/resources/runs' +import { + useCloseCurrentRun, + useCurrentRunCommands, + useIsRunCurrent, +} from '/app/resources/runs' import { isTerminalRunStatus } from '../../utils' +import { lastRunCommandPromptedErrorRecovery } from '/app/local-resources/commands' import type { RobotType } from '@opentrons/shared-data' import type { Run, RunStatus } from '@opentrons/api-client' @@ -102,6 +107,15 @@ export function useRunHeaderDropTip({ : { showDTWiz: false, dtWizProps: null } } + const runSummaryNoFixit = useCurrentRunCommands( + { + includeFixitCommands: false, + pageLength: 1, + cursor: null, + }, + { enabled: isTerminalRunStatus(runStatus) } + ) + // Manage tip checking useEffect(() => { // If a user begins a new run without navigating away from the run page, reset tip status. @@ -111,11 +125,14 @@ export function useRunHeaderDropTip({ } // Only determine tip status when necessary as this can be an expensive operation. Error Recovery handles tips, so don't // have to do it here if done during Error Recovery. - else if (isTerminalRunStatus(runStatus) && !enteredER) { + else if ( + runSummaryNoFixit != null && + !lastRunCommandPromptedErrorRecovery(runSummaryNoFixit) + ) { void determineTipStatus() } } - }, [runStatus, robotType, enteredER]) + }, [runStatus, robotType, runSummaryNoFixit]) // TODO(jh, 08-15-24): The enteredER condition is a hack, because errorCommands are only returned when a run is current. // Ideally the run should not need to be current to view errorCommands. diff --git a/app/src/organisms/DropTipWizardFlows/hooks/useTipAttachmentStatus/getPipettesWithTipAttached.ts b/app/src/organisms/DropTipWizardFlows/hooks/useTipAttachmentStatus/getPipettesWithTipAttached.ts index 02cf7343497..b710ba5a810 100644 --- a/app/src/organisms/DropTipWizardFlows/hooks/useTipAttachmentStatus/getPipettesWithTipAttached.ts +++ b/app/src/organisms/DropTipWizardFlows/hooks/useTipAttachmentStatus/getPipettesWithTipAttached.ts @@ -63,7 +63,12 @@ function getCommandsExecutedDuringRun( }) } -const TIP_EXCHANGE_COMMAND_TYPES = ['dropTip', 'dropTipInPlace', 'pickUpTip'] +const TIP_EXCHANGE_COMMAND_TYPES = [ + 'dropTip', + 'dropTipInPlace', + 'pickUpTip', + 'moveToAddressableAreaForDropTip', +] function checkPipettesForAttachedTips( commands: RunCommandSummary[], diff --git a/app/src/pages/ODD/RunSummary/index.tsx b/app/src/pages/ODD/RunSummary/index.tsx index 6d1f9ddfc2d..ce7fd3c0ef6 100644 --- a/app/src/pages/ODD/RunSummary/index.tsx +++ b/app/src/pages/ODD/RunSummary/index.tsx @@ -65,11 +65,13 @@ import { useRunCreatedAtTimestamp, useCloseCurrentRun, EMPTY_TIMESTAMP, + useCurrentRunCommands, } from '/app/resources/runs' import { useTipAttachmentStatus, handleTipsAttachedModal, } from '/app/organisms/DropTipWizardFlows' +import { lastRunCommandPromptedErrorRecovery } from '/app/local-resources/commands' import type { IconName } from '@opentrons/components' import type { OnDeviceRouteParams } from '/app/App/types' @@ -238,11 +240,21 @@ export function RunSummary(): JSX.Element { }) // Determine tip status on initial render only. Error Recovery always handles tip status, so don't show it twice. + const runSummaryNoFixit = useCurrentRunCommands({ + includeFixitCommands: false, + pageLength: 1, + cursor: null, + }) useEffect(() => { - if (isRunCurrent && enteredER === false) { + if ( + isRunCurrent && + runSummaryNoFixit != null && + !lastRunCommandPromptedErrorRecovery(runSummaryNoFixit) + ) { + console.log('HITTING THIS') void determineTipStatus() } - }, [isRunCurrent, enteredER]) + }, [runSummaryNoFixit, isRunCurrent]) const returnToQuickTransfer = (): void => { closeCurrentRunIfValid(() => { From 29e03aea6c5af18f48d77614f06549e62cf57325 Mon Sep 17 00:00:00 2001 From: Max Marrone Date: Mon, 18 Nov 2024 10:20:31 -0500 Subject: [PATCH 20/57] fix(app,robot-server): Account for failed commands not having a pipetteId (#16859) Co-authored-by: Jamey Huffnagle --- api-client/src/runs/types.ts | 5 ++ .../protocol_runner/run_orchestrator.py | 15 ++++++ .../protocol_runner/test_run_orchestrator.py | 2 +- .../RecoveryOptions/ManageTips.tsx | 8 +-- .../ErrorRecoveryFlows/hooks/useERUtils.ts | 1 + .../hooks/useRecoveryTipStatus.ts | 22 +++++++- .../robot_server/runs/router/base_router.py | 52 +++++++++++-------- .../robot_server/runs/run_data_manager.py | 7 +++ robot-server/robot_server/runs/run_models.py | 28 ++++++++-- .../runs/run_orchestrator_store.py | 7 +++ .../tests/runs/router/test_base_router.py | 41 +++++++-------- 11 files changed, 135 insertions(+), 53 deletions(-) diff --git a/api-client/src/runs/types.ts b/api-client/src/runs/types.ts index a6279d12145..bf8596b66d7 100644 --- a/api-client/src/runs/types.ts +++ b/api-client/src/runs/types.ts @@ -120,6 +120,7 @@ export interface Runs { export interface RunCurrentStateData { estopEngaged: boolean activeNozzleLayouts: Record // keyed by pipetteId + tipStates: Record // keyed by pipetteId placeLabwareState?: PlaceLabwareState } @@ -218,3 +219,7 @@ export interface PlaceLabwareState { location: OnDeckLabwareLocation shouldPlaceDown: boolean } + +export interface TipStates { + hasTip: boolean +} diff --git a/api/src/opentrons/protocol_runner/run_orchestrator.py b/api/src/opentrons/protocol_runner/run_orchestrator.py index dfa66e6a55a..94e6fe48eb0 100644 --- a/api/src/opentrons/protocol_runner/run_orchestrator.py +++ b/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) diff --git a/api/tests/opentrons/protocol_runner/test_run_orchestrator.py b/api/tests/opentrons/protocol_runner/test_run_orchestrator.py index ff0938a2e6d..c2cea3e0e7e 100644 --- a/api/tests/opentrons/protocol_runner/test_run_orchestrator.py +++ b/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, diff --git a/app/src/organisms/ErrorRecoveryFlows/RecoveryOptions/ManageTips.tsx b/app/src/organisms/ErrorRecoveryFlows/RecoveryOptions/ManageTips.tsx index 0cd49fec3ea..57eef74d2d6 100644 --- a/app/src/organisms/ErrorRecoveryFlows/RecoveryOptions/ManageTips.tsx +++ b/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, diff --git a/app/src/organisms/ErrorRecoveryFlows/hooks/useERUtils.ts b/app/src/organisms/ErrorRecoveryFlows/hooks/useERUtils.ts index 533b30aa6c4..ecf03e4f56b 100644 --- a/app/src/organisms/ErrorRecoveryFlows/hooks/useERUtils.ts +++ b/app/src/organisms/ErrorRecoveryFlows/hooks/useERUtils.ts @@ -139,6 +139,7 @@ export function useERUtils({ const tipStatusUtils = useRecoveryTipStatus({ runId, runRecord, + failedCommand, attachedInstruments, failedPipetteInfo, }) diff --git a/app/src/organisms/ErrorRecoveryFlows/hooks/useRecoveryTipStatus.ts b/app/src/organisms/ErrorRecoveryFlows/hooks/useRecoveryTipStatus.ts index a715d12c83f..0a12b59d089 100644 --- a/app/src/organisms/ErrorRecoveryFlows/hooks/useRecoveryTipStatus.ts +++ b/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, } } diff --git a/robot-server/robot_server/runs/router/base_router.py b/robot-server/robot_server/runs/router/base_router.py index 7e20e62881a..1c4b6bf65a9 100644 --- a/robot-server/robot_server/runs/router/base_router.py +++ b/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, diff --git a/robot-server/robot_server/runs/run_data_manager.py b/robot-server/robot_server/runs/run_data_manager.py index d30f5c33979..b5ac801a117 100644 --- a/robot-server/robot_server/runs/run_data_manager.py +++ b/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]: diff --git a/robot-server/robot_server/runs/run_models.py b/robot-server/robot_server/runs/run_models.py index 2ed77b0d0bc..b18906fb39d 100644 --- a/robot-server/robot_server/runs/run_models.py +++ b/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): diff --git a/robot-server/robot_server/runs/run_orchestrator_store.py b/robot-server/robot_server/runs/run_orchestrator_store.py index ee82ea034ac..68a9dfba36d 100644 --- a/robot-server/robot_server/runs/run_orchestrator_store.py +++ b/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() diff --git a/robot-server/tests/runs/router/test_base_router.py b/robot-server/tests/runs/router/test_base_router.py index 9052b588bc9..30a4072f7cf 100644 --- a/robot-server/tests/runs/router/test_base_router.py +++ b/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") ) From c94a64c8e8e15d83955db513b4e4f49a88b32bb2 Mon Sep 17 00:00:00 2001 From: TamarZanzouri Date: Mon, 18 Nov 2024 11:59:23 -0500 Subject: [PATCH 21/57] fix(api): update error message to title case (#16851) --- api/src/opentrons/protocol_engine/commands/pick_up_tip.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/api/src/opentrons/protocol_engine/commands/pick_up_tip.py b/api/src/opentrons/protocol_engine/commands/pick_up_tip.py index 898929566fe..1c434e54f51 100644 --- a/api/src/opentrons/protocol_engine/commands/pick_up_tip.py +++ b/api/src/opentrons/protocol_engine/commands/pick_up_tip.py @@ -82,7 +82,7 @@ class TipPhysicallyMissingError(ErrorOccurrence): isDefined: bool = True errorType: Literal["tipPhysicallyMissing"] = "tipPhysicallyMissing" errorCode: str = ErrorCodes.TIP_PICKUP_FAILED.value.code - detail: str = "No tip detected." + detail: str = "No Tip Detected" _ExecuteReturn = Union[ From 57ea4aecf4eaacc603c6f2b76f0e43a902e36674 Mon Sep 17 00:00:00 2001 From: Jamey Huffnagle Date: Mon, 18 Nov 2024 12:37:03 -0500 Subject: [PATCH 22/57] fix(app): fix timestamp used for protocol completion (#16855) Closes RQA-3596 --- .../RobotDashboard/RecentRunProtocolCard.tsx | 3 +- .../__tests__/RecentRunProtocolCard.test.tsx | 4 +- .../ODD/ProtocolDashboard/ProtocolCard.tsx | 28 +++++--------- app/src/pages/ODD/ProtocolDashboard/hooks.ts | 38 +++++++++++++++++++ app/src/pages/ODD/ProtocolDashboard/index.tsx | 5 ++- 5 files changed, 55 insertions(+), 23 deletions(-) create mode 100644 app/src/pages/ODD/ProtocolDashboard/hooks.ts diff --git a/app/src/organisms/ODD/RobotDashboard/RecentRunProtocolCard.tsx b/app/src/organisms/ODD/RobotDashboard/RecentRunProtocolCard.tsx index 17ef7de2c3c..e522fb1dae7 100644 --- a/app/src/organisms/ODD/RobotDashboard/RecentRunProtocolCard.tsx +++ b/app/src/organisms/ODD/RobotDashboard/RecentRunProtocolCard.tsx @@ -160,7 +160,8 @@ export function ProtocolWithLastRun({ } // TODO(BC, 2023-06-05): see if addSuffix false allow can remove usage of .replace here const formattedLastRunTime = formatDistance( - new Date(runData.createdAt), + // Fallback to current date if completedAt is null, though this should never happen since runs must be completed to appear in dashboard + new Date(runData.completedAt ?? new Date()), new Date(), { addSuffix: true, diff --git a/app/src/organisms/ODD/RobotDashboard/__tests__/RecentRunProtocolCard.test.tsx b/app/src/organisms/ODD/RobotDashboard/__tests__/RecentRunProtocolCard.test.tsx index e03f548f069..10ee119176e 100644 --- a/app/src/organisms/ODD/RobotDashboard/__tests__/RecentRunProtocolCard.test.tsx +++ b/app/src/organisms/ODD/RobotDashboard/__tests__/RecentRunProtocolCard.test.tsx @@ -87,7 +87,7 @@ const missingBoth = [ const mockRunData = { id: RUN_ID, createdAt: '2022-05-03T21:36:12.494778+00:00', - completedAt: 'thistime', + completedAt: '2023-05-03T21:36:12.494778+00:00', startedAt: 'thistime', protocolId: 'mockProtocolId', status: RUN_STATUS_FAILED, @@ -169,7 +169,7 @@ describe('RecentRunProtocolCard', () => { it('should render text', () => { render(props) const lastRunTime = formatDistance( - new Date(mockRunData.createdAt), + new Date(mockRunData.completedAt), new Date(), { addSuffix: true, diff --git a/app/src/pages/ODD/ProtocolDashboard/ProtocolCard.tsx b/app/src/pages/ODD/ProtocolDashboard/ProtocolCard.tsx index 4be3c6f0e69..61a0bcb9061 100644 --- a/app/src/pages/ODD/ProtocolDashboard/ProtocolCard.tsx +++ b/app/src/pages/ODD/ProtocolDashboard/ProtocolCard.tsx @@ -1,8 +1,7 @@ -import * as React from 'react' +import { useEffect, useState } from 'react' import { useNavigate } from 'react-router-dom' import { Trans, useTranslation } from 'react-i18next' import { useQueryClient } from 'react-query' -import { formatDistance } from 'date-fns' import last from 'lodash/last' import { css } from 'styled-components' @@ -34,6 +33,7 @@ import { SmallButton } from '/app/atoms/buttons' import { OddModal } from '/app/molecules/OddModal' import { LongPressModal } from './LongPressModal' import { formatTimeWithUtcLabel } from '/app/resources/runs' +import { useUpdatedLastRunTime } from '/app/pages/ODD/ProtocolDashboard/hooks' import type { UseLongPressResult } from '@opentrons/components' import type { ProtocolResource } from '@opentrons/shared-data' @@ -60,16 +60,17 @@ export function ProtocolCard(props: ProtocolCardProps): JSX.Element { setIsRequiredCSV, } = props const navigate = useNavigate() - const [showIcon, setShowIcon] = React.useState(false) + const [showIcon, setShowIcon] = useState(false) const [ showFailedAnalysisModal, setShowFailedAnalysisModal, - ] = React.useState(false) + ] = useState(false) const { t, i18n } = useTranslation(['protocol_info', 'branded']) const protocolName = protocol.metadata.protocolName ?? protocol.files[0].name const longpress = useLongPress() const queryClient = useQueryClient() const host = useHost() + const updatedLastRun = useUpdatedLastRunTime(lastRun) const { id: protocolId, analysisSummaries } = protocol const { @@ -121,7 +122,7 @@ export function ProtocolCard(props: ProtocolCardProps): JSX.Element { } } - React.useEffect(() => { + useEffect(() => { if (longpress.isLongPressed) { longPress(true) setTargetProtocolId(protocol.id) @@ -195,13 +196,8 @@ export function ProtocolCard(props: ProtocolCardProps): JSX.Element { if (isFailedAnalysis) protocolCardBackgroundColor = COLORS.red35 if (isRequiredCSV) protocolCardBackgroundColor = COLORS.yellow35 - const textWrap = (lastRun?: string): string => { - if (lastRun != null) { - lastRun = formatDistance(new Date(lastRun), new Date(), { - addSuffix: true, - }).replace('about ', '') - } - return lastRun === 'less than a minute ago' ? 'normal' : 'nowrap' + const textWrap = (updatedLastRun: string): string => { + return updatedLastRun === 'less than a minute ago' ? 'normal' : 'nowrap' } return ( @@ -257,13 +253,9 @@ export function ProtocolCard(props: ProtocolCardProps): JSX.Element { - {lastRun != null - ? formatDistance(new Date(lastRun), new Date(), { - addSuffix: true, - }).replace('about ', '') - : t('no_history')} + {updatedLastRun} diff --git a/app/src/pages/ODD/ProtocolDashboard/hooks.ts b/app/src/pages/ODD/ProtocolDashboard/hooks.ts new file mode 100644 index 00000000000..6db041786ff --- /dev/null +++ b/app/src/pages/ODD/ProtocolDashboard/hooks.ts @@ -0,0 +1,38 @@ +import { useEffect, useState } from 'react' +import { formatDistance } from 'date-fns' +import { useTranslation } from 'react-i18next' + +import type { TFunction } from 'i18next' + +const UPDATE_TIME_INTERVAL_MS = 60000 + +// Given the last run timestamp, update the time since the last run on an interval. +export function useUpdatedLastRunTime(lastRun: string | undefined): string { + const { t } = useTranslation(['protocol_info']) + + const [updatedLastRun, setUpdatedLastRun] = useState(() => + computeLastRunFromNow(lastRun, t as TFunction) + ) + useEffect(() => { + const timer = setInterval(() => { + setUpdatedLastRun(computeLastRunFromNow(lastRun, t as TFunction)) + }, UPDATE_TIME_INTERVAL_MS) + + return () => { + clearInterval(timer) + } + }, [lastRun, t]) + + return updatedLastRun +} + +function computeLastRunFromNow( + lastRun: string | undefined, + t: TFunction +): string { + return lastRun != null + ? formatDistance(new Date(lastRun), new Date(), { + addSuffix: true, + }).replace('about ', '') + : t('no_history') +} diff --git a/app/src/pages/ODD/ProtocolDashboard/index.tsx b/app/src/pages/ODD/ProtocolDashboard/index.tsx index de775795ded..cddc9ee0a1f 100644 --- a/app/src/pages/ODD/ProtocolDashboard/index.tsx +++ b/app/src/pages/ODD/ProtocolDashboard/index.tsx @@ -252,9 +252,10 @@ export function ProtocolDashboard(): JSX.Element { {sortedProtocols.map(protocol => { - const lastRun = runs.data?.data.find( + // Run data is ordered based on timestamp. We want the last time a matching run was ran. + const lastRun = runs.data?.data.findLast( run => run.protocolId === protocol.id - )?.createdAt + )?.completedAt return ( Date: Mon, 18 Nov 2024 13:38:38 -0500 Subject: [PATCH 23/57] docs(api): Absorbance Plate Reader in Python API docs (#16668) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit # Overview Adds a docs page and publishes API Reference entries for the Absorbance Plate Reader. Addresses RTC-488, RTC-508. ## Test Plan and Hands on Testing [Sandbox](http://sandbox.docs.opentrons.com/docs-plate-reader/v2/modules/absorbance_plate_reader.html) ## Changelog - Adds a new page, Absorbance Plate Reader Module, under Hardware Modules - Links to new page from Hardware Modules landing page - Adds Absorbance Plate Reader to Module Setup page - Adds H3s for modules in API Reference for easier navigation - Edits to `AbsorbanceReaderContext` docstrings in `module_contexts.py` - Cleaned up malformed note syntax _for Thermocycler_ in `module_contexts.py` - Removed nitpick rule from `conf.py` now that `AbsorbanceReaderContext` is published - 🆕 Instruct authors not to detect CSV dialect when using plate reader output as RTP. ## Review requests - Check that all descriptions are true to how the plate reader behaves. - Double check that my code simulates — I have done this once. - Do we need more information in any area, especially for CSV files? - Should we provide a sample? If so, where to put it? - ✅ Should we give more concrete guidance on parsing the CSV other than "you know how to write code, yeah"? - 🆕 Do we need to list the four `wavelengths` values that actually function on a default HW config? ## Risk assessment v low, docs only --- api/docs/v2/conf.py | 1 - .../v2/modules/absorbance_plate_reader.rst | 147 ++++++++++++++++++ api/docs/v2/modules/setup.rst | 7 +- api/docs/v2/new_modules.rst | 4 +- api/docs/v2/new_protocol_api.rst | 26 +++- .../opentrons/protocol_api/module_contexts.py | 82 ++++++---- .../parameters/csv_parameter_interface.py | 4 +- 7 files changed, 239 insertions(+), 32 deletions(-) create mode 100644 api/docs/v2/modules/absorbance_plate_reader.rst diff --git a/api/docs/v2/conf.py b/api/docs/v2/conf.py index 5ab0fdaad76..708d800ce3e 100644 --- a/api/docs/v2/conf.py +++ b/api/docs/v2/conf.py @@ -445,7 +445,6 @@ ("py:class", r".*protocol_api\.config.*"), ("py:class", r".*opentrons_shared_data.*"), ("py:class", r".*protocol_api._parameters.Parameters.*"), - ("py:class", r".*AbsorbanceReaderContext"), ("py:class", r".*RobotContext"), # shh it's a secret (for now) ("py:class", r'.*AbstractLabware|APIVersion|LabwareLike|LoadedCoreMap|ModuleTypes|NoneType|OffDeckType|ProtocolCore|WellCore'), # laundry list of not fully qualified things ] diff --git a/api/docs/v2/modules/absorbance_plate_reader.rst b/api/docs/v2/modules/absorbance_plate_reader.rst new file mode 100644 index 00000000000..9f96d5e90d3 --- /dev/null +++ b/api/docs/v2/modules/absorbance_plate_reader.rst @@ -0,0 +1,147 @@ +:og:description: How to use the Absorbance Plate Reader Module in a Python protocol. + +.. _absorbance-plate-reader-module: + +****************************** +Absorbance Plate Reader Module +****************************** + +The Absorbance Plate Reader Module is an on-deck microplate spectrophotometer that works with the Flex robot only. The module uses light absorbance to determine sample concentrations in 96-well plates. + +The Absorbance Plate Reader is represented in code by an :py:class:`.AbsorbanceReaderContext` object, which has methods for moving the module lid with the Flex Gripper, initializing the module to read at a single wavelength or multiple wavelengths, and reading a plate. With the Python Protocol API, you can process plate reader data immediately in your protocol or export it to a CSV for post-run use. + +This page explains the actions necessary for using the Absorbance Plate Reader. These combine to form the typical reader workflow: + + 1. Close the lid with no plate inside + 2. Initialize the reader + 3. Open the lid + 4. Move a plate onto the module + 5. Close the lid + 6. Read the plate + + +Loading and Deck Slots +====================== + +The Absorbance Plate Reader can only be loaded in slots A3–D3. If you try to load it in any other slot, the API will raise an error. The module's caddy is designed such that the detection unit is in deck column 3 and the special staging area for the lid/illumination unit is in deck column 4. You can't load or move other labware on the Absorbance Plate Reader caddy in deck column 4, even while the lid is in the closed position (on top of the detection unit in deck column 3). + +The examples in this section will use an Absorbance Plate Reader Module loaded as follows:: + + pr_mod = protocol.load_module( + module_name="absorbanceReaderV1", + location="D3" + ) + +.. versionadded:: 2.21 + +Lid Control +=========== + +Flex uses the gripper to move the lid between its two positions. + + - :py:meth:`~.AbsorbanceReaderContext.open_lid()` moves the lid to the righthand side of the caddy, in deck column 4. + - :py:meth:`~.AbsorbanceReaderContext.close_lid()` moves the lid onto the detection unit, in deck column 3. + +If you call ``open_lid()`` or ``close_lid()`` and the lid is already in the corresponding position, the method will succeed immediately. You can also check the position of the lid with :py:meth:`~.AbsorbanceReaderContext.is_lid_on()`. + +You need to call ``close_lid()`` before initializing the reader, even if the reader was in the closed position at the start of the protocol. + +.. warning:: + Do not move the lid manually, during or outside of a protocol. The API does not allow manual lid movement because there is a risk of damaging the module. + +.. _absorbance-initialization: + +Initialization +============== + +Initializing the reader prepares it to read a plate later in your protocol. The :py:meth:`.AbsorbanceReaderContext.initialize` method accepts parameters for the number of readings you want to take, the wavelengths to read, and whether you want to compare the reading to a reference wavelength. In the default hardware configuration, the supported wavelengths are 450 nm (blue), 562 nm (green), 600 nm (orange), and 650 nm (red). + +The module uses these parameters immediately to perform the physical initialization. Additionally, the API preserves these values and uses them when you read the plate later in your protocol. + +Let's take a look at examples of how to combine these parameters to prepare different types of readings. The simplest reading measures one wavelength, with no reference wavelength:: + + pr_mod.initialize(mode="single", wavelengths=[450]) + +.. versionadded:: 2.21 + +Now the reader is prepared to read at 450 nm. Note that the ``wavelengths`` parameter always takes a list of integer wavelengths, even when only reading a single wavelength. + +This example can be extended by adding a reference wavelength:: + + pr_mod.initialize( + mode="single", wavelengths=[450], reference_wavelength=[562] + ) + +When configured this way, the module will read twice. In the :ref:`output data `, the values read for ``reference_wavelength`` will be subtracted from the values read for the single member of ``wavelengths``. This is useful for normalization, or to correct for background interference in wavelength measurements. + +The reader can also be initialized to take multiple measurements. When ``mode="multi"``, the ``wavelengths`` list can have up to six elements. This example will initialize the reader to read at three wavelengths:: + + pr_mod.initialize(mode="multi", wavelengths=[450, 562, 600]) + +You can't use a reference wavelength when performing multiple measurements. + + +Reading a Plate +=============== + +Use :py:meth:`.AbsorbanceReaderContext.read` to have the module read the plate, using the parameters that you specified during initialization:: + + pr_data = pr_mod.read() + +.. versionadded:: 2.21 + +The ``read()`` method returns the results in a dictionary, which the above example saves to the variable ``pr_data``. + +If you need to access this data after the conclusion of your protocol, add the ``export_filename`` parameter to instruct the API to output a CSV file, which is available in the Opentrons App by going to your Flex and viewing Recent Protocol Runs:: + + pr_data = pr_mod.read(export_filename="plate_data") + +In the above example, the API both saves the data to a variable and outputs a CSV file. If you only need the data post-run, you can omit the variable assignment. + +.. _plate-reader-data: + +Using Plate Reader Data +======================= + +There are two ways to use output data from the Absorbance Plate Reader: + +- Within your protocol as a nested dictionary object. +- Outside of your protocol, as a tabular CSV file. + +The two formats are structured differently, even though they contain the same measurement data. + +Dictionary Data +--------------- + +The dictionary object returned by ``read()`` has two nested levels. The keys at the top level are the wavelengths you provided to ``initialize()``. The keys at the second level are string names of each of the 96 wells, ``"A1"`` through ``"H12"``. The values at the second level are the measured values for each wells. These values are floating point numbers, representing the optical density (OD) of the samples in each well. OD ranges from 0.0 (low sample concentration) to 4.0 (high sample concentration). + +The nested dictionary structure allows you to access results by index later in your protocol. This example initializes a multiple read and then accesses different portions of the results:: + + # initializing and reading + pr_mod.initialize(mode="multi", wavelengths=[450, 600]) + pr_mod.open_lid() + protocol.move_labware(plate, pr_mod, use_gripper=True) + pr_mod.close_lid() + pr_data = pr_mod.read() + + # accessing results + pr_data[450]["A1"] # value for well A1 at 450 nm + pr_data[600]["H12"] # value for well H12 at 600 nm + pr_data[450] # dict of all wells at 450 nm + +You can write additional code to transform this data in any way that you need. For example, you could use a list comprehension to create a list of only the 450 nm values for column 1, ordered by well from A1 to H1:: + + [pr_data[450][w.well_name] for w in plate.columns()[0]] + +.. _absorbance-csv: + +CSV data +-------- + +The CSV exported when specifying ``export_filename`` consists of tabular data followed by additional information. Each measurement produces 9 rows in the CSV file, representing the layout of the well plate that has been read. These rows form a table with numeric labels in the first row and alphabetic labels in the first column, as you would see on physical labware. Each "cell" of the table contains the measured OD value for the well (0.0–4.0) in the corresponding position on the plate. + +Additional information, starting with one blank labware grid, is output at the end of the file. The last few lines of the file list the sample wavelengths, serial number of the module, and timestamps for when measurement started and finished. + +Each output file for your protocol is available in the Opentrons App by going to your Flex and viewing Recent Protocol Runs. After downloading the file from your Flex, you can read it with any software that reads CSV files, and you can write additional code to parse and act upon its contents. + +You can also select the output CSV as the value of a CSV runtime parameter in a subsequent protocol. When you :ref:`parse the CSV data `, make sure to set ``detect_dialect=False``, or the API will raise an error. \ No newline at end of file diff --git a/api/docs/v2/modules/setup.rst b/api/docs/v2/modules/setup.rst index c6badd82954..a0cbe18bf0e 100644 --- a/api/docs/v2/modules/setup.rst +++ b/api/docs/v2/modules/setup.rst @@ -66,7 +66,7 @@ Available Modules The first parameter of :py:meth:`.ProtocolContext.load_module` is the module's *API load name*. The load name tells your robot which module you're going to use in a protocol. The table below lists the API load names for the currently available modules. .. table:: - :widths: 4 5 2 + :widths: 4 4 2 +--------------------+-------------------------------+---------------------------+ | Module | API Load Name | Introduced in API Version | @@ -95,6 +95,9 @@ The first parameter of :py:meth:`.ProtocolContext.load_module` is the module's | Magnetic Block | ``magneticBlockV1`` | 2.15 | | GEN1 | | | +--------------------+-------------------------------+---------------------------+ + | Absorbance Plate | ``absorbanceReaderV1`` | 2.21 | + | Reader Module | | | + +--------------------+-------------------------------+---------------------------+ Some modules were added to our Python API later than others, and others span multiple hardware generations. When writing a protocol that requires a module, make sure your ``requirements`` or ``metadata`` code block specifies an :ref:`API version ` high enough to support all the module generations you want to use. @@ -124,7 +127,7 @@ Any :ref:`custom labware ` added to your Opentrons App is als Module and Labware Compatibility -------------------------------- -It's your responsibility to ensure the labware and module combinations you load together work together. The Protocol API won't raise a warning or error if you load an unusual combination, like placing a tube rack on a Thermocycler. See `What labware can I use with my modules? `_ for more information about labware/module combinations. +It's your responsibility to ensure the labware and module combinations you load together work together. The API generally won't raise a warning or error if you load an unusual combination, like placing a tube rack on a Thermocycler. The API will raise an error if you try to load a labware on an unsupported adapter. When working with custom labware and module adapters, be sure to add stacking offsets for the adapter to your custom labware definition. Additional Labware Parameters diff --git a/api/docs/v2/new_modules.rst b/api/docs/v2/new_modules.rst index 956a2bc7989..594ceca3867 100644 --- a/api/docs/v2/new_modules.rst +++ b/api/docs/v2/new_modules.rst @@ -8,6 +8,7 @@ Hardware Modules .. toctree:: modules/setup + modules/absorbance_plate_reader modules/heater_shaker modules/magnetic_block modules/magnetic_module @@ -17,13 +18,14 @@ Hardware Modules Hardware modules are powered and unpowered deck-mounted peripherals. The Flex and OT-2 are aware of deck-mounted powered modules when they're attached via a USB connection and used in an uploaded protocol. The robots do not know about unpowered modules until you use one in a protocol and upload it to the Opentrons App. -Powered modules include the Heater-Shaker Module, Magnetic Module, Temperature Module, and Thermocycler Module. The 96-well Magnetic Block is an unpowered module. +Powered modules include the Absorbance Plate Reader Module, Heater-Shaker Module, Magnetic Module, Temperature Module, and Thermocycler Module. The 96-well Magnetic Block is an unpowered module. Pages in this section of the documentation cover: - :ref:`Setting up modules and their labware `. - Working with the module contexts for each type of module. + - :ref:`Absorbance Plate Reader Module ` - :ref:`Heater-Shaker Module ` - :ref:`Magnetic Block ` - :ref:`Magnetic Module ` diff --git a/api/docs/v2/new_protocol_api.rst b/api/docs/v2/new_protocol_api.rst index a71ad5cf4a2..2ce4c39e3cc 100644 --- a/api/docs/v2/new_protocol_api.rst +++ b/api/docs/v2/new_protocol_api.rst @@ -53,29 +53,53 @@ Wells and Liquids Modules ======= +Absorbance Plate Reader +----------------------- + +.. autoclass:: opentrons.protocol_api.AbsorbanceReaderContext + :members: + :exclude-members: broker, geometry, load_labware_object, load_adapter, load_adapter_from_definition + :inherited-members: + + +Heater-Shaker +------------- + .. autoclass:: opentrons.protocol_api.HeaterShakerContext :members: :exclude-members: broker, geometry, load_labware_object :inherited-members: +Magnetic Block +-------------- + .. autoclass:: opentrons.protocol_api.MagneticBlockContext :members: :exclude-members: broker, geometry, load_labware_object :inherited-members: +Magnetic Module +--------------- + .. autoclass:: opentrons.protocol_api.MagneticModuleContext :members: :exclude-members: calibrate, broker, geometry, load_labware_object :inherited-members: +Temperature Module +------------------ + .. autoclass:: opentrons.protocol_api.TemperatureModuleContext :members: :exclude-members: start_set_temperature, await_temperature, broker, geometry, load_labware_object :inherited-members: +Thermocycler +------------ + .. autoclass:: opentrons.protocol_api.ThermocyclerContext :members: - :exclude-members: total_step_count, current_cycle_index, total_cycle_count, hold_time, ramp_rate, current_step_index, broker, geometry, load_labware_object + :exclude-members: total_step_count, current_cycle_index, total_cycle_count, hold_time, ramp_rate, current_step_index, broker, geometry, load_labware_object, load_adapter, load_adapter_from_definition :inherited-members: diff --git a/api/src/opentrons/protocol_api/module_contexts.py b/api/src/opentrons/protocol_api/module_contexts.py index 7beab69c53f..8890981e32a 100644 --- a/api/src/opentrons/protocol_api/module_contexts.py +++ b/api/src/opentrons/protocol_api/module_contexts.py @@ -581,7 +581,7 @@ def set_block_temperature( individual well of the loaded labware, in µL. If not specified, the default is 25 µL. - .. note: + .. note:: If ``hold_time_minutes`` and ``hold_time_seconds`` are not specified, the Thermocycler will proceed to the next command @@ -605,7 +605,7 @@ def set_lid_temperature(self, temperature: float) -> None: :param temperature: A value between 37 and 110, representing the target temperature in °C. - .. note: + .. note:: The Thermocycler will proceed to the next command immediately after ``temperature`` has been reached. @@ -635,13 +635,13 @@ def execute_profile( individual well of the loaded labware, in µL. If not specified, the default is 25 µL. - .. note: + .. note:: Unlike with :py:meth:`set_block_temperature`, either or both of ``hold_time_minutes`` and ``hold_time_seconds`` must be defined and for each step. - .. note: + .. note:: Before API Version 2.21, Thermocycler profiles run with this command would be listed in the app as having a number of repetitions equal to @@ -991,7 +991,7 @@ class MagneticBlockContext(ModuleContext): class AbsorbanceReaderContext(ModuleContext): - """An object representing a connected Absorbance Reader Module. + """An object representing a connected Absorbance Plate Reader Module. It should not be instantiated directly; instead, it should be created through :py:meth:`.ProtocolContext.load_module`. @@ -1009,17 +1009,21 @@ def serial_number(self) -> str: @requires_version(2, 21) def close_lid(self) -> None: - """Close the lid of the Absorbance Reader.""" + """Use the Flex Gripper to close the lid of the Absorbance Plate Reader. + + You must call this method before initializing the reader, even if the reader was + in the closed position at the start of the protocol. + """ self._core.close_lid() @requires_version(2, 21) def open_lid(self) -> None: - """Open the lid of the Absorbance Reader.""" + """Use the Flex Gripper to open the lid of the Absorbance Plate Reader.""" self._core.open_lid() @requires_version(2, 21) def is_lid_on(self) -> bool: - """Return ``True`` if the Absorbance Reader's lid is currently closed.""" + """Return ``True`` if the Absorbance Plate Reader's lid is currently closed.""" return self._core.is_lid_on() @requires_version(2, 21) @@ -1029,19 +1033,28 @@ def initialize( wavelengths: List[int], reference_wavelength: Optional[int] = None, ) -> None: - """Take a zero reading on the Absorbance Plate Reader Module. + """Prepare the Absorbance Plate Reader to read a plate. + + See :ref:`absorbance-initialization` for examples. :param mode: Either ``"single"`` or ``"multi"``. - - In single measurement mode, :py:meth:`.AbsorbanceReaderContext.read` uses - one sample wavelength and an optional reference wavelength. - - In multiple measurement mode, :py:meth:`.AbsorbanceReaderContext.read` uses - a list of up to six sample wavelengths. - :param wavelengths: A list of wavelengths, in mm, to measure. - - Must contain only one item when initializing a single measurement. - - Must contain one to six items when initializing a multiple measurement. - :param reference_wavelength: An optional reference wavelength, in mm. Cannot be - used with multiple measurements. + - In single measurement mode, :py:meth:`.AbsorbanceReaderContext.read` uses + one sample wavelength and an optional reference wavelength. + - In multiple measurement mode, :py:meth:`.AbsorbanceReaderContext.read` uses + a list of up to six sample wavelengths. + :param wavelengths: A list of wavelengths, in nm, to measure. + + - In the default hardware configuration, each wavelength must be one of + ``450`` (blue), ``562`` (green), ``600`` (orange), or ``650`` (red). In + custom hardware configurations, the module may accept other integers + between 350 and 1000. + - The list must contain only one item when initializing a single measurement. + - The list can contain one to six items when initializing a multiple measurement. + :param reference_wavelength: An optional reference wavelength, in nm. If provided, + :py:meth:`.AbsorbanceReaderContext.read` will read at the reference + wavelength and then subtract the reference wavelength values from the + measurement wavelength values. Can only be used with single measurements. """ self._core.initialize( mode, wavelengths, reference_wavelength=reference_wavelength @@ -1051,16 +1064,33 @@ def initialize( def read( self, export_filename: Optional[str] = None ) -> Dict[int, Dict[str, float]]: - """Initiate read on the Absorbance Reader. + """Read a plate on the Absorbance Plate Reader. + + This method always returns a dictionary of measurement data. It optionally will + save a CSV file of the results to the Flex filesystem, which you can access from + the Recent Protocol Runs screen in the Opentrons App. These files are `only` saved + if you specify ``export_filename``. + + In simulation, the values for each well key in the dictionary are set to zero, and + no files are written. + + .. note:: + + Avoid divide-by-zero errors when simulating and using the results of this + method later in the protocol. If you divide by any of the measurement + values, use :py:meth:`.ProtocolContext.is_simulating` to use alternate dummy + data or skip the division step. - Returns a dictionary of wavelengths to dictionary of values ordered by well name. + :param export_filename: An optional file basename. If provided, this method + will write a CSV file for each measurement in the read operation. File + names will use the value of this parameter, the measurement wavelength + supplied in :py:meth:`~.AbsorbanceReaderContext.initialize`, and a + ``.csv`` extension. For example, when reading at wavelengths 450 and 562 + with ``export_filename="my_data"``, there will be two output files: + ``my_data_450.csv`` and ``my_data_562.csv``. - :param export_filename: Optional, if a filename is provided a CSV file will be saved - as a result of the read action containing measurement data. The filename will - be modified to include the wavelength used during measurement. If multiple - measurements are taken, then a file will be generated for each wavelength provided. + See :ref:`absorbance-csv` for information on working with these CSV files. - Example: If `export_filename="my_data"` and wavelengths 450 and 531 are used during - measurement, the output files will be "my_data_450.csv" and "my_data_531.csv". + :returns: A dictionary of wavelengths to dictionary of values ordered by well name. """ return self._core.read(filename=export_filename) diff --git a/api/src/opentrons/protocols/parameters/csv_parameter_interface.py b/api/src/opentrons/protocols/parameters/csv_parameter_interface.py index 6da9a0f7aaf..ff460b48f21 100644 --- a/api/src/opentrons/protocols/parameters/csv_parameter_interface.py +++ b/api/src/opentrons/protocols/parameters/csv_parameter_interface.py @@ -60,7 +60,9 @@ def parse_as_csv( as appropriate. :param detect_dialect: If ``True``, examine the file and try to assign it a - :py:class:`csv.Dialect` to improve parsing behavior. + :py:class:`csv.Dialect` to improve parsing behavior. Set this to ``False`` + when using the file output of :py:meth:`.AbsorbanceReaderContext.read` as + a runtime parameter. :param kwargs: For advanced CSV handling, you can pass any of the `formatting parameters `_ accepted by :py:func:`csv.reader` from the Python standard library. From 9c5fdb55cd903504c018210cdd720cabd8f76aa3 Mon Sep 17 00:00:00 2001 From: Max Marrone Date: Mon, 18 Nov 2024 17:32:20 -0500 Subject: [PATCH 24/57] chore(release): Update command schema for merge. --- shared-data/command/schemas/11.json | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/shared-data/command/schemas/11.json b/shared-data/command/schemas/11.json index 27de3c75b54..60aefa9820d 100644 --- a/shared-data/command/schemas/11.json +++ b/shared-data/command/schemas/11.json @@ -5608,7 +5608,7 @@ "type": "object", "properties": { "axes": { - "description": "The axes for which to update the position estimators.", + "description": "The axes for which to update the position estimators. Any axes that are not physically present will be ignored.", "type": "array", "items": { "$ref": "#/definitions/MotorAxis" From 8e84bb48ee2fe802725ae7dab8524fc032c0d1af Mon Sep 17 00:00:00 2001 From: Max Marrone Date: Mon, 18 Nov 2024 17:37:00 -0500 Subject: [PATCH 25/57] chore(release): Merge fixups. --- robot-server/robot_server/runs/run_data_manager.py | 2 +- robot-server/robot_server/runs/run_orchestrator_store.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/robot-server/robot_server/runs/run_data_manager.py b/robot-server/robot_server/runs/run_data_manager.py index 4541fcacb14..6825dfb14a3 100644 --- a/robot-server/robot_server/runs/run_data_manager.py +++ b/robot-server/robot_server/runs/run_data_manager.py @@ -1,7 +1,7 @@ """Manage current and historical run data.""" from datetime import datetime -from typing import List, Optional, Callable, Union, Mapping +from typing import Dict, List, Optional, Callable, Union, Mapping from opentrons_shared_data.labware.labware_definition import LabwareDefinition from opentrons_shared_data.errors.exceptions import InvalidStoredData, EnumeratedError diff --git a/robot-server/robot_server/runs/run_orchestrator_store.py b/robot-server/robot_server/runs/run_orchestrator_store.py index 6abd7a3a2f5..b4bd757150e 100644 --- a/robot-server/robot_server/runs/run_orchestrator_store.py +++ b/robot-server/robot_server/runs/run_orchestrator_store.py @@ -2,7 +2,7 @@ import asyncio import logging -from typing import List, Optional, Callable, Mapping +from typing import Dict, List, Optional, Callable, Mapping from opentrons.types import NozzleMapInterface from opentrons.protocol_engine.errors.exceptions import EStopActivatedError From fa28e4799e5a87a875f4f1e863fa3ac5d960cc52 Mon Sep 17 00:00:00 2001 From: Jethary Alcid <66035149+jerader@users.noreply.github.com> Date: Fri, 22 Nov 2024 09:02:21 -0500 Subject: [PATCH 26/57] feat(protocol-designer): onboarding animations (#16927) closes 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zQ0U~W=%kec6eG@zrk`oR#cNpmRKwIL%A;zg$fNt!w4jJb3L5d&J_4zSu7hOJO&hiL zrHe)8L8H^)DAX|+eans%YDC^@W@hx5WR&hQqr1CmC~LG3fg)|o5@s|NGD?wCBWJ+~ zudA_?(MvR=+%?yXZkiQ|@SxH4R681q6fpXp9s#9BKy++v0J~r(?QP5`^}1>JzjWi7 z*2av$CHN>Xqg%JFlV|uk5K5#z(Qr2{HZ|F;cdhfV8)8gg8>iK@s_Z#l~E-0D1X^m(!v#UlR=?o+aI^z5Q(B`FXQdVUy00000NkvXXu0mjfQ}Cbc diff --git a/protocol-designer/src/pages/CreateNewProtocolWizard/WizardBody.tsx b/protocol-designer/src/pages/CreateNewProtocolWizard/WizardBody.tsx index bfac8f51a19..442f6d0e4ed 100644 --- a/protocol-designer/src/pages/CreateNewProtocolWizard/WizardBody.tsx +++ b/protocol-designer/src/pages/CreateNewProtocolWizard/WizardBody.tsx @@ -1,6 +1,6 @@ -import type * as React from 'react' import { useTranslation } from 'react-i18next' -import styled from 'styled-components' +import { css } from 'styled-components' +import { useState, useLayoutEffect } from 'react' import { ALIGN_CENTER, ALIGN_END, @@ -18,7 +18,12 @@ import { TYPOGRAPHY, useHoverTooltip, } from '@opentrons/components' -import temporaryImg from '../../assets/images/placeholder_image_delete.png' +import one from '../../assets/images/onboarding_animation_1.webm' +import two from '../../assets/images/onboarding_animation_2.webm' +import three from '../../assets/images/onboarding_animation_3.webm' +import four from '../../assets/images/onboarding_animation_4.webm' +import five from '../../assets/images/onboarding_animation_5.webm' +import six from '../../assets/images/onboarding_animation_6.webm' import { BUTTON_LINK_STYLE } from '../../atoms' interface WizardBodyProps { @@ -29,9 +34,18 @@ interface WizardBodyProps { disabled?: boolean goBack?: () => void subHeader?: string - imgSrc?: string tooltipOnDisabled?: string } + +const ONBOARDING_ANIMATIONS: Record = { + 1: one, + 2: two, + 3: three, + 4: four, + 5: five, + 6: six, +} + export function WizardBody(props: WizardBodyProps): JSX.Element { const { stepNumber, @@ -41,13 +55,26 @@ export function WizardBody(props: WizardBodyProps): JSX.Element { subHeader, proceed, disabled = false, - imgSrc, tooltipOnDisabled, } = props const { t } = useTranslation('shared') const [targetProps, tooltipProps] = useHoverTooltip({ placement: 'top', }) + const [asset, setAsset] = useState(null) + const [loaded, setLoaded] = useState(false) + + useLayoutEffect(() => { + const videoAsset = ONBOARDING_ANIMATIONS[stepNumber] + setLoaded(false) + setAsset(videoAsset) + const timeout = setTimeout(() => { + setLoaded(true) + }, 100) + return () => { + clearTimeout(timeout) + } + }, [stepNumber]) return ( - - + + ) } - -const StyledImg = styled.img` - border-radius: ${BORDERS.borderRadius16}; - max-height: 844px; -` diff --git a/protocol-designer/src/pages/CreateNewProtocolWizard/__tests__/WizardBody.test.tsx b/protocol-designer/src/pages/CreateNewProtocolWizard/__tests__/WizardBody.test.tsx index 085e2e76efc..f0493707774 100644 --- a/protocol-designer/src/pages/CreateNewProtocolWizard/__tests__/WizardBody.test.tsx +++ b/protocol-designer/src/pages/CreateNewProtocolWizard/__tests__/WizardBody.test.tsx @@ -37,6 +37,6 @@ describe('WizardBody', () => { expect(props.proceed).toHaveBeenCalled() fireEvent.click(screen.getByRole('button', { name: 'Go back' })) expect(props.goBack).toHaveBeenCalled() - screen.getByRole('img', { name: '' }) + screen.getByLabelText('onboarding animation for page 1') }) }) From 9404144b1a08bb470de8913ddcffbf21f6a413dd Mon Sep 17 00:00:00 2001 From: Jeremy Leon Date: Fri, 22 Nov 2024 09:18:32 -0500 Subject: [PATCH 27/57] test(api): fix or ignore Decoy related warnings in unit tests (#16944) Selectively ignore or otherwise fix all Decoy related warnings in api tests --- api/pytest.ini | 6 + .../protocol_api/test_instrument_context.py | 108 +++++++++++++++--- .../commands/test_verify_tip_presence.py | 12 +- .../unsafe/test_update_position_estimators.py | 5 - .../protocol_engine/test_protocol_engine.py | 3 +- .../protocol_runner/test_protocol_runner.py | 1 + 6 files changed, 105 insertions(+), 30 deletions(-) diff --git a/api/pytest.ini b/api/pytest.ini index a8e3bbb1933..61288b3f3c1 100644 --- a/api/pytest.ini +++ b/api/pytest.ini @@ -5,3 +5,9 @@ markers = ot3_only: Test only functions using the OT3 hardware addopts = --color=yes --strict-markers asyncio_mode = auto + +# TODO this should be looked into being removed upon updating the Decoy library. The purpose of this warning is to +# catch missing attributes, but it raises for any property referenced in a test which accounts for about ~250 warnings +# which aren't serving any useful purpose and obscure other warnings. +filterwarnings = + ignore::decoy.warnings.MissingSpecAttributeWarning diff --git a/api/tests/opentrons/protocol_api/test_instrument_context.py b/api/tests/opentrons/protocol_api/test_instrument_context.py index 1b8445ed7b2..8282f660a44 100644 --- a/api/tests/opentrons/protocol_api/test_instrument_context.py +++ b/api/tests/opentrons/protocol_api/test_instrument_context.py @@ -1501,6 +1501,7 @@ def test_mix_no_lpd( mock_well = decoy.mock(cls=Well) bottom_location = Location(point=Point(1, 2, 3), labware=mock_well) + top_location = Location(point=Point(3, 2, 1), labware=None) input_location = Location(point=Point(2, 2, 2), labware=None) last_location = Location(point=Point(9, 9, 9), labware=None) @@ -1516,6 +1517,7 @@ def test_mix_no_lpd( mock_validation.validate_location(location=None, last_location=last_location) ).then_return(WellTarget(well=mock_well, location=None, in_place=False)) decoy.when(mock_well.bottom(z=1.0)).then_return(bottom_location) + decoy.when(mock_well.top()).then_return(top_location) decoy.when(mock_instrument_core.get_aspirate_flow_rate(1.23)).then_return(5.67) decoy.when(mock_instrument_core.get_dispense_flow_rate(1.23)).then_return(5.67) decoy.when(mock_instrument_core.has_tip()).then_return(True) @@ -1523,19 +1525,63 @@ def test_mix_no_lpd( subject.mix(repetitions=10, volume=10.0, location=input_location, rate=1.23) decoy.verify( - mock_instrument_core.aspirate(), # type: ignore[call-arg] - ignore_extra_args=True, - times=10, - ) - decoy.verify( - mock_instrument_core.dispense(), # type: ignore[call-arg] - ignore_extra_args=True, + mock_instrument_core.aspirate( + bottom_location, + mock_well._core, + 10.0, + 1.23, + 5.67, + False, + None, + ), times=10, ) + # Slight differences in dispense push-out logic for 2.14 and 2.15 api levels + if subject.api_version < APIVersion(2, 16): + decoy.verify( + mock_instrument_core.dispense( + bottom_location, + mock_well._core, + 10.0, + 1.23, + 5.67, + False, + None, + None, + ), + times=10, + ) + else: + decoy.verify( + mock_instrument_core.dispense( + bottom_location, + mock_well._core, + 10.0, + 1.23, + 5.67, + False, + 0.0, + None, + ), + times=9, + ) + decoy.verify( + mock_instrument_core.dispense( + bottom_location, + mock_well._core, + 10.0, + 1.23, + 5.67, + False, + None, + None, + ), + times=1, + ) + decoy.verify( - mock_instrument_core.liquid_probe_with_recovery(), # type: ignore[call-arg] - ignore_extra_args=True, + mock_instrument_core.liquid_probe_with_recovery(mock_well._core, top_location), times=0, ) @@ -1551,6 +1597,7 @@ def test_mix_with_lpd( """It should aspirate/dispense to a well several times and do 1 lpd.""" mock_well = decoy.mock(cls=Well) bottom_location = Location(point=Point(1, 2, 3), labware=mock_well) + top_location = Location(point=Point(3, 2, 1), labware=None) input_location = Location(point=Point(2, 2, 2), labware=None) last_location = Location(point=Point(9, 9, 9), labware=None) @@ -1566,6 +1613,7 @@ def test_mix_with_lpd( mock_validation.validate_location(location=None, last_location=last_location) ).then_return(WellTarget(well=mock_well, location=None, in_place=False)) decoy.when(mock_well.bottom(z=1.0)).then_return(bottom_location) + decoy.when(mock_well.top()).then_return(top_location) decoy.when(mock_instrument_core.get_aspirate_flow_rate(1.23)).then_return(5.67) decoy.when(mock_instrument_core.get_dispense_flow_rate(1.23)).then_return(5.67) decoy.when(mock_instrument_core.has_tip()).then_return(True) @@ -1577,19 +1625,45 @@ def test_mix_with_lpd( subject.liquid_presence_detection = True subject.mix(repetitions=10, volume=10.0, location=input_location, rate=1.23) decoy.verify( - mock_instrument_core.aspirate(), # type: ignore[call-arg] - ignore_extra_args=True, + mock_instrument_core.aspirate( + bottom_location, + mock_well._core, + 10.0, + 1.23, + 5.67, + False, + None, + ), times=10, ) decoy.verify( - mock_instrument_core.dispense(), # type: ignore[call-arg] - ignore_extra_args=True, - times=10, + mock_instrument_core.dispense( + bottom_location, + mock_well._core, + 10.0, + 1.23, + 5.67, + False, + 0.0, + None, + ), + times=9, + ) + decoy.verify( + mock_instrument_core.dispense( + bottom_location, + mock_well._core, + 10.0, + 1.23, + 5.67, + False, + None, + None, + ), + times=1, ) - decoy.verify( - mock_instrument_core.liquid_probe_with_recovery(), # type: ignore[call-arg] - ignore_extra_args=True, + mock_instrument_core.liquid_probe_with_recovery(mock_well._core, top_location), times=1, ) diff --git a/api/tests/opentrons/protocol_engine/commands/test_verify_tip_presence.py b/api/tests/opentrons/protocol_engine/commands/test_verify_tip_presence.py index 53eb1f5a59e..ef6d79629be 100644 --- a/api/tests/opentrons/protocol_engine/commands/test_verify_tip_presence.py +++ b/api/tests/opentrons/protocol_engine/commands/test_verify_tip_presence.py @@ -23,13 +23,13 @@ async def test_verify_tip_presence_implementation( expectedState=TipPresenceStatus.PRESENT, ) - decoy.when( + result = await subject.execute(data) + + assert result == SuccessData(public=VerifyTipPresenceResult()) + decoy.verify( await tip_handler.verify_tip_presence( pipette_id="pipette-id", expected=TipPresenceStatus.PRESENT, + follow_singular_sensor=None, ) - ).then_return(None) - - result = await subject.execute(data) - - assert result == SuccessData(public=VerifyTipPresenceResult()) + ) diff --git a/api/tests/opentrons/protocol_engine/commands/unsafe/test_update_position_estimators.py b/api/tests/opentrons/protocol_engine/commands/unsafe/test_update_position_estimators.py index 79131994299..da381635ce3 100644 --- a/api/tests/opentrons/protocol_engine/commands/unsafe/test_update_position_estimators.py +++ b/api/tests/opentrons/protocol_engine/commands/unsafe/test_update_position_estimators.py @@ -37,11 +37,6 @@ async def test_update_position_estimators_implementation( decoy.when(gantry_mover.motor_axis_to_hardware_axis(MotorAxis.Y)).then_return( Axis.Y ) - decoy.when( - await ot3_hardware_api.update_axis_position_estimations( - [Axis.Z_L, Axis.P_L, Axis.X, Axis.Y] - ) - ).then_return(None) result = await subject.execute(data) diff --git a/api/tests/opentrons/protocol_engine/test_protocol_engine.py b/api/tests/opentrons/protocol_engine/test_protocol_engine.py index bc581114ab2..d7e4b32e02a 100644 --- a/api/tests/opentrons/protocol_engine/test_protocol_engine.py +++ b/api/tests/opentrons/protocol_engine/test_protocol_engine.py @@ -997,8 +997,7 @@ async def test_estop_noops_if_invalid( subject.estop() # Should not raise. decoy.verify( - action_dispatcher.dispatch(), # type: ignore - ignore_extra_args=True, + action_dispatcher.dispatch(expected_action), times=0, ) decoy.verify( diff --git a/api/tests/opentrons/protocol_runner/test_protocol_runner.py b/api/tests/opentrons/protocol_runner/test_protocol_runner.py index 2f06e27c2c2..15e0192175e 100644 --- a/api/tests/opentrons/protocol_runner/test_protocol_runner.py +++ b/api/tests/opentrons/protocol_runner/test_protocol_runner.py @@ -448,6 +448,7 @@ async def test_run_json_runner_stop_requested_stops_enqueuing( await run_func() +@pytest.mark.filterwarnings("ignore::decoy.warnings.RedundantVerifyWarning") @pytest.mark.parametrize( "schema_version, json_protocol", [ From 46d19118ef5fe7dfdcdbc568240d3274f2ba1996 Mon Sep 17 00:00:00 2001 From: syao1226 <146495172+syao1226@users.noreply.github.com> Date: Fri, 22 Nov 2024 10:35:26 -0500 Subject: [PATCH 28/57] fix(protocol-designer): fix copy of incompatible file type modal and update settings page to match design (#16937) fix RQA-3656, RQA-3650 # Overview 1. updated copy of incompatible file type modal to match with design 2. updated `Settings` to match with design ## Test Plan and Hands on Testing ## Changelog ## Review requests ## Risk assessment --------- Co-authored-by: shiyaochen Co-authored-by: shiyaochen --- protocol-designer/cypress/support/commands.ts | 4 ++-- .../assets/localization/en/feature_flags.json | 4 ++-- .../src/assets/localization/en/shared.json | 18 ++++++++-------- .../_tests__/LabwareUploadModal.test.tsx | 8 ++++--- .../Settings/__tests__/Settings.test.tsx | 21 ++++++++----------- .../src/pages/Settings/index.tsx | 11 +++++----- 6 files changed, 33 insertions(+), 33 deletions(-) diff --git a/protocol-designer/cypress/support/commands.ts b/protocol-designer/cypress/support/commands.ts index b97c11f2bd2..3f9ffd8ddd8 100644 --- a/protocol-designer/cypress/support/commands.ts +++ b/protocol-designer/cypress/support/commands.ts @@ -45,9 +45,9 @@ export const content = { charSet: 'UTF-8', header: 'Protocol Designer', welcome: 'Welcome to Protocol Designer!', - appSettings: 'App settings', + appSettings: 'App Info', privacy: 'Privacy', - shareSessions: 'Share sessions with Opentrons', + shareSessions: 'Share analytics with Opentrons', } export const locators = { diff --git a/protocol-designer/src/assets/localization/en/feature_flags.json b/protocol-designer/src/assets/localization/en/feature_flags.json index 74c524de0e0..c39e10a8785 100644 --- a/protocol-designer/src/assets/localization/en/feature_flags.json +++ b/protocol-designer/src/assets/localization/en/feature_flags.json @@ -25,7 +25,7 @@ "description": "You can choose which tip to pick up and where to drop tip." }, "OT_PD_ENABLE_HOT_KEYS_DISPLAY": { - "title": "Timeline editing tips", - "description": "Show tips for working with steps next to the protocol timeline" + "title": "Timeline editing guidance", + "description": "Show information about working with steps next to the protocol timeline" } } diff --git a/protocol-designer/src/assets/localization/en/shared.json b/protocol-designer/src/assets/localization/en/shared.json index 3a6545622a5..58579da36ff 100644 --- a/protocol-designer/src/assets/localization/en/shared.json +++ b/protocol-designer/src/assets/localization/en/shared.json @@ -3,7 +3,7 @@ "agree": "Agree", "amount": "Amount:", "analytics_tracking": "I consent to analytics tracking:", - "app_settings": "App settings", + "app_info": "App Info", "ask_for_labware_overwrite": "Duplicate labware name", "back": "Back", "cancel": "Cancel", @@ -17,7 +17,7 @@ "create_a_protocol": "Create a protocol", "create_new": "Create new", "destination_well": "Destination Well", - "developer_ff": "Developer feature flags", + "developer_ff": "Developer Feature Flags", "done": "Done", "edit_existing": "Edit existing protocol", "edit_instruments": "Edit Instruments", @@ -84,7 +84,7 @@ }, "message_exact_labware_match": "This labware is identical to one you have already uploaded.", "message_invalid_json_file": "Protocol Designer only accepts custom JSON labware definitions made with our Labware Creator", - "message_not_json": "Protocol Designer only accepts JSON files.", + "message_not_json": "Protocol Designer only accepts custom JSON labware definitions made with our Labware Creator. Upload a valid file to continue.", "message_only_tiprack": "This labware definition is not a tip rack.", "message_uses_standard_namespace": "This labware definition uses the Opentrons standard labware namespace. Change the namespace if it is custom, or use the standard labware in your protocol.", "mismatched": "The new labware has a different arrangement of wells than the labware it is replacing. Clicking Overwrite will deselect all wells in any existing steps that use this labware. You will have to edit each of those steps and select new wells.", @@ -96,7 +96,7 @@ "no-code-required": "The easiest way to automate liquid handling on your Opentrons robot. No code required.", "no": "No", "none": "None", - "not_json": "Incompatible file type", + "not_json": "Invalid file type", "one_channel": "1-Channel", "only_tiprack": "Incompatible file type", "opentrons_flex": "Opentrons Flex", @@ -116,8 +116,8 @@ "release_notes": "Release notes", "reload_app": "Reload app", "remove": "remove", - "reset_hints_and_tips": "Reset all hints and tips notifications", - "reset_hints": "Reset hints", + "show_hints_and_tips": "Show all hints and tips notifications again", + "reset": "Reset", "reset_to_default": "Reset to default", "resize_your_browser": "Resize your browser to at least 768px wide and 650px tall to continue editing your protocol", "review_our_privacy_policy": "You can adjust this setting at any time by clicking on the settings icon. Find detailed information in our privacy policy.", @@ -127,7 +127,7 @@ "settings": "Settings", "shared_display_name": "Shared display name: ", "shared_load_name": "Shared load name: ", - "shared_sessions": "Share sessions with Opentrons", + "shared_analytics": "Share analytics with Opentrons", "shares_name": "This labware has the same load name or display name as {{customOrStandard}}, which is already in this protocol.", "slot_detail": "Slot Detail", "software_manual": "Software manual", @@ -147,14 +147,14 @@ "tip_position": "Edit {{prefix}} tip position", "trashBin": "Trash Bin", "updated_protocol_designer": "We've updated Protocol Designer!", - "user_settings": "User settings", + "user_settings": "User Settings", "uses_standard_namespace": "Opentrons verified labware", "version": "Version {{version}}", "view_release_notes": "View release notes", "warning": "WARNING:", "wasteChute": "Waste chute", "wasteChuteAndStagingArea": "Waste chute and staging area slot", - "we_are_improving": "In order to improve our products, Opentrons would like to collect data related to your use of Protocol Designer. With your consent, Opentrons will collect and store analytics and session data, including through the use of cookies and similar technologies, solely for the purpose enhancing our products. Find detailed information in our privacy policy. By using Protocol Designer, you consent to the Opentrons EULA.", + "we_are_improving": "Help Opentrons improve its products and services by automatically sending anonymous diagnostics and usage data.", "welcome": "Welcome to Protocol Designer!", "yes": "Yes", "your_screen_is_too_small": "Your browser size is too small" diff --git a/protocol-designer/src/organisms/LabwareUploadModal/_tests__/LabwareUploadModal.test.tsx b/protocol-designer/src/organisms/LabwareUploadModal/_tests__/LabwareUploadModal.test.tsx index 0a7aba37a2f..4d3277453b6 100644 --- a/protocol-designer/src/organisms/LabwareUploadModal/_tests__/LabwareUploadModal.test.tsx +++ b/protocol-designer/src/organisms/LabwareUploadModal/_tests__/LabwareUploadModal.test.tsx @@ -24,10 +24,12 @@ describe('LabwareUploadModal', () => { it('renders modal for not json', () => { render() - screen.getByText('Protocol Designer only accepts JSON files.') - screen.getByText('Incompatible file type') + screen.getByText( + 'Protocol Designer only accepts custom JSON labware definitions made with our Labware Creator. Upload a valid file to continue.' + ) + screen.getByText('Invalid file type') fireEvent.click( - screen.getByTestId('ModalHeader_icon_close_Incompatible file type') + screen.getByTestId('ModalHeader_icon_close_Invalid file type') ) expect(vi.mocked(dismissLabwareUploadMessage)).toHaveBeenCalled() }) diff --git a/protocol-designer/src/pages/Settings/__tests__/Settings.test.tsx b/protocol-designer/src/pages/Settings/__tests__/Settings.test.tsx index 76846c4c830..8a1b948e953 100644 --- a/protocol-designer/src/pages/Settings/__tests__/Settings.test.tsx +++ b/protocol-designer/src/pages/Settings/__tests__/Settings.test.tsx @@ -39,24 +39,21 @@ describe('Settings', () => { it('renders the settings page without the dev ffs visible', () => { render() screen.getByText('Settings') - screen.getByText('App settings') + screen.getByText('App Info') screen.getByText('Protocol designer version') screen.getByText('fake_PD_version') screen.getAllByText('Release notes') - screen.getByText('User settings') + screen.getByText('User Settings') screen.getByText('Hints') - screen.getByText('Reset all hints and tips notifications') - screen.getByText('Timeline editing tips') + screen.getByText('Show all hints and tips notifications again') + screen.getByText('Timeline editing guidance') screen.getByText( - 'Show tips for working with steps next to the protocol timeline' + 'Show information about working with steps next to the protocol timeline' ) - screen.getByText('Reset hints') + screen.getByText('Reset') screen.getByText('Privacy') - screen.getByText('Share sessions with Opentrons') + screen.getByText('Share analytics with Opentrons') screen.debug() - screen.getByRole('link', { name: 'privacy policy' }) - screen.getByRole('link', { name: 'EULA' }) - screen.getByRole('link', { name: 'Software manual' }) }) it('renders the announcement modal when view release notes button is clicked', () => { vi.mocked(AnnouncementModal).mockReturnValue( @@ -70,7 +67,7 @@ describe('Settings', () => { }) it('renders the hints button and calls to dismiss them when text is pressed', () => { render() - fireEvent.click(screen.getByText('Reset hints')) + fireEvent.click(screen.getByText('Reset')) expect(vi.mocked(clearAllHintDismissals)).toHaveBeenCalled() }) it('renders the analytics toggle and calls the action when pressed', () => { @@ -85,7 +82,7 @@ describe('Settings', () => { }) render() - screen.getByText('Developer feature flags') + screen.getByText('Developer Feature Flags') screen.getByText('Use prerelease mode') screen.getByText('Show in-progress features for testing & internal use') screen.getByText('Disable module placement restrictions') diff --git a/protocol-designer/src/pages/Settings/index.tsx b/protocol-designer/src/pages/Settings/index.tsx index 32669c3bd60..b678327adb8 100644 --- a/protocol-designer/src/pages/Settings/index.tsx +++ b/protocol-designer/src/pages/Settings/index.tsx @@ -52,6 +52,7 @@ export function Settings(): JSX.Element { : analyticsActions.optIn const prereleaseModeEnabled = flags.PRERELEASE_MODE === true + const pdVersion = process.env.OT_PD_VERSION const allFlags = Object.keys(flags) as FlagTypes[] @@ -126,7 +127,7 @@ export function Settings(): JSX.Element { - {t('shared:app_settings')} + {t('shared:app_info')} - {process.env.OT_PD_VERSION} + {pdVersion} @@ -185,7 +186,7 @@ export function Settings(): JSX.Element { - {t('shared:reset_hints_and_tips')} + {t('shared:show_hints_and_tips')} @@ -202,7 +203,7 @@ export function Settings(): JSX.Element { > {canClearHintDismissals - ? t('shared:reset_hints') + ? t('shared:reset') : t('shared:no_hints_to_restore')} @@ -245,7 +246,7 @@ export function Settings(): JSX.Element { > - {t('shared:shared_sessions')} + {t('shared:shared_analytics')} Date: Fri, 22 Nov 2024 12:29:18 -0500 Subject: [PATCH 29/57] fix(protocol-designer): fix padding on batch edit toolbox (#16953) For both mix and move liquid batch edit toolboxes, fix padding for each field Closes RQA-3679 --- .../src/organisms/EditInstrumentsModal/index.tsx | 4 ++-- .../BatchEditToolbox/BatchEditMixTools.tsx | 14 ++++++++++---- .../BatchEditToolbox/BatchEditMoveLiquidTools.tsx | 12 +++++++++--- 3 files changed, 21 insertions(+), 9 deletions(-) diff --git a/protocol-designer/src/organisms/EditInstrumentsModal/index.tsx b/protocol-designer/src/organisms/EditInstrumentsModal/index.tsx index eefcad8f4bd..5aac9eeb3f1 100644 --- a/protocol-designer/src/organisms/EditInstrumentsModal/index.tsx +++ b/protocol-designer/src/organisms/EditInstrumentsModal/index.tsx @@ -89,7 +89,7 @@ export function EditInstrumentsModal( ): JSX.Element { const { onClose } = props const dispatch = useDispatch>() - const { t } = useTranslation([ + const { i18n, t } = useTranslation([ 'create_new_protocol', 'protocol_overview', 'shared', @@ -347,7 +347,7 @@ export function EditInstrumentsModal( desktopStyle="bodyDefaultRegular" color={COLORS.grey60} > - {t('gripper')} + {i18n.format(t('gripper'), 'capitalize')} - + + - + @@ -159,6 +164,7 @@ export function BatchEditMixTools(props: BatchEditMixToolsProps): JSX.Element { options={getBlowoutLocationOptionsForForm({ stepType: 'mix', })} + padding="0" /> ) : null} diff --git a/protocol-designer/src/pages/Designer/ProtocolSteps/BatchEditToolbox/BatchEditMoveLiquidTools.tsx b/protocol-designer/src/pages/Designer/ProtocolSteps/BatchEditToolbox/BatchEditMoveLiquidTools.tsx index b032bab56b3..f459d059703 100644 --- a/protocol-designer/src/pages/Designer/ProtocolSteps/BatchEditToolbox/BatchEditMoveLiquidTools.tsx +++ b/protocol-designer/src/pages/Designer/ProtocolSteps/BatchEditToolbox/BatchEditMoveLiquidTools.tsx @@ -73,12 +73,16 @@ export function BatchEditMoveLiquidTools( } return ( - + - + @@ -227,6 +231,7 @@ export function BatchEditMoveLiquidTools( path: propsForFields.path.value as any, stepType: 'moveLiquid', })} + padding="0" /> Date: Fri, 22 Nov 2024 14:43:07 -0500 Subject: [PATCH 30/57] fix(protocol-designer): add fallback for well order (#16956) This fixes a case where in batch edit move liquid toolbox, well order was set to null, displaying an unknown translation in the WellOrder component. This PR refactors the util used to set the first and second well order values, providing a fallback if the value is null. --- .../BatchEditToolbox/BatchEditMixTools.tsx | 22 ++++++++----------- .../BatchEditMoveLiquidTools.tsx | 22 +++++-------------- 2 files changed, 15 insertions(+), 29 deletions(-) diff --git a/protocol-designer/src/pages/Designer/ProtocolSteps/BatchEditToolbox/BatchEditMixTools.tsx b/protocol-designer/src/pages/Designer/ProtocolSteps/BatchEditToolbox/BatchEditMixTools.tsx index 38916f2a09d..6f39f7ff632 100644 --- a/protocol-designer/src/pages/Designer/ProtocolSteps/BatchEditToolbox/BatchEditMixTools.tsx +++ b/protocol-designer/src/pages/Designer/ProtocolSteps/BatchEditToolbox/BatchEditMixTools.tsx @@ -22,6 +22,7 @@ import { getBlowoutLocationOptionsForForm, getLabwareFieldForPositioningField, } from '../StepForm/utils' + import type { WellOrderOption } from '../../../../form-types' import type { FieldPropsByName } from '../StepForm/types' @@ -59,17 +60,6 @@ export function BatchEditMixTools(props: BatchEditMixToolsProps): JSX.Element { return pipetteId ? String(pipetteId) : null } - const getWellOrderFieldValue = ( - name: string - ): WellOrderOption | null | undefined => { - const val = propsForFields[name]?.value - if (val === 'l2r' || val === 'r2l' || val === 't2b' || val === 'b2t') { - return val - } else { - return null - } - } - return ( diff --git a/protocol-designer/src/pages/Designer/ProtocolSteps/BatchEditToolbox/BatchEditMoveLiquidTools.tsx b/protocol-designer/src/pages/Designer/ProtocolSteps/BatchEditToolbox/BatchEditMoveLiquidTools.tsx index f459d059703..561a926cc8f 100644 --- a/protocol-designer/src/pages/Designer/ProtocolSteps/BatchEditToolbox/BatchEditMoveLiquidTools.tsx +++ b/protocol-designer/src/pages/Designer/ProtocolSteps/BatchEditToolbox/BatchEditMoveLiquidTools.tsx @@ -61,16 +61,6 @@ export function BatchEditMoveLiquidTools( const labwareId = propsForFields[labwareField]?.value return labwareId ? String(labwareId) : null } - const getWellOrderFieldValue = ( - name: string - ): WellOrderOption | null | undefined => { - const val = propsForFields[name]?.value - if (val === 'l2r' || val === 'r2l' || val === 't2b' || val === 'b2t') { - return val - } else { - return null - } - } return ( From 9bdd8c18deaa8709ddb90466afd82d4802382835 Mon Sep 17 00:00:00 2001 From: Jethary Alcid <66035149+jerader@users.noreply.github.com> Date: Fri, 22 Nov 2024 15:07:23 -0500 Subject: [PATCH 31/57] fix(protocol-designer) make deck map bigger in deck setup (#16947) closes RQA-3666 --- .../Designer/DeckSetup/DeckSetupContainer.tsx | 45 ++++++++++--------- .../src/pages/Designer/DeckSetup/utils.ts | 6 +-- .../src/pages/Designer/index.tsx | 7 ++- 3 files changed, 33 insertions(+), 25 deletions(-) diff --git a/protocol-designer/src/pages/Designer/DeckSetup/DeckSetupContainer.tsx b/protocol-designer/src/pages/Designer/DeckSetup/DeckSetupContainer.tsx index 921e9c1fc55..91e793f5005 100644 --- a/protocol-designer/src/pages/Designer/DeckSetup/DeckSetupContainer.tsx +++ b/protocol-designer/src/pages/Designer/DeckSetup/DeckSetupContainer.tsx @@ -195,15 +195,14 @@ export function DeckSetupContainer(props: DeckSetupTabType): JSX.Element { ) return ( - + - - {hoverSlot != null && - breakPointSize !== 'small' && - LEFT_SLOTS.includes(hoverSlot) ? ( - - ) : null} - + {zoomIn.slot == null ? ( + + {hoverSlot != null && + breakPointSize !== 'small' && + LEFT_SLOTS.includes(hoverSlot) ? ( + + ) : null} + + ) : null} {() => ( <> @@ -356,13 +357,15 @@ export function DeckSetupContainer(props: DeckSetupTabType): JSX.Element { )} - - {hoverSlot != null && - breakPointSize !== 'small' && - !LEFT_SLOTS.includes(hoverSlot) ? ( - - ) : null} - + {zoomIn.slot == null ? ( + + {hoverSlot != null && + breakPointSize !== 'small' && + !LEFT_SLOTS.includes(hoverSlot) ? ( + + ) : null} + + ) : null} {zoomIn.slot != null && zoomIn.cutout != null ? ( diff --git a/protocol-designer/src/pages/Designer/DeckSetup/utils.ts b/protocol-designer/src/pages/Designer/DeckSetup/utils.ts index 7a1c7c09be3..a288947365a 100644 --- a/protocol-designer/src/pages/Designer/DeckSetup/utils.ts +++ b/protocol-designer/src/pages/Designer/DeckSetup/utils.ts @@ -215,15 +215,15 @@ export function zoomInOnCoordinate(props: ZoomInOnCoordinateProps): string { const { x, y, deckDef } = props const [width, height] = [deckDef.dimensions[0], deckDef.dimensions[1]] - const zoomFactor = 0.6 + const zoomFactor = 0.55 const newWidth = width * zoomFactor const newHeight = height * zoomFactor // +125 and +50 to get the approximate center of the screen point - const newMinX = x - newWidth / 2 + 125 + const newMinX = x - newWidth / 2 + 20 const newMinY = y - newHeight / 2 + 50 - return `${newMinX} ${newMinY} ${newWidth} ${newHeight}` + return `${newMinX} ${newMinY} ${newWidth} ${newHeight + 70}` } export interface AnimateZoomProps { diff --git a/protocol-designer/src/pages/Designer/index.tsx b/protocol-designer/src/pages/Designer/index.tsx index 8993d271420..9b2c1beda35 100644 --- a/protocol-designer/src/pages/Designer/index.tsx +++ b/protocol-designer/src/pages/Designer/index.tsx @@ -161,10 +161,15 @@ export function Designer(): JSX.Element { - + {zoomIn.slot == null ? ( Date: Fri, 22 Nov 2024 15:15:27 -0500 Subject: [PATCH 32/57] refactor(app): Use `currentState` for tip detection (#16904) Closes EXEC-1027 After completing a run or during Error Recovery, the app runs tip detection logic to determine whether or not to pop the drop tip wizard. It does so by iterating through protocol analysis, keeping track of attached pipettes, and looking at specific tip exchange commands to determine whether a not a pipette has tips attached. While this approach works, it's both brittle (any changes to tip exchange commands breaks the logic) and also a command scanning operation. Now that we have tip status on our new /runs/:runId/currentState endpoint, we have a more robust option for determining tip status. There's one caveat: the robot and this util do have ideas of when a tip should be considered attached. On the app, because we want to show drop tip wizard when there might be a tip attached, such as during a failed pick up tip command, we assume there is a tip attached. In this instance however, the robot server does not think a tip is attached. Unfortunately, there's no way around manually accounting for these differences, but luckily they are few, and it's still a significant improvement over tracking every tip exchange command. There's another optimization we can make too: we don't actually need to poll /instruments for pipette data, because now, the only place we use that data is during the tip detection util. Instead, we can fetch it along with the other necessary resources when determineTipStatus is invoked. In short, these changes give us: * Much easier to reason about tip detection logic. * Significantly less brittle. * No command scanning. * No /instruments polling. --- .../hooks/useRunHeaderDropTip.ts | 15 +- .../modals/ProtocolDropTipModal.tsx | 2 +- .../DropTipWizardFlows/TipsAttachedModal.tsx | 2 +- .../__tests__/TipsAttachedModal.test.tsx | 2 +- .../__tests__/useTipAttachmentStatus.test.tsx | 119 -------- .../DropTipWizardFlows/hooks/index.ts | 1 - .../getPipettesWithTipAttached.test.ts | 239 --------------- .../getPipettesWithTipAttached.ts | 157 ---------- .../hooks/useTipAttachmentStatus/index.ts | 118 -------- app/src/organisms/DropTipWizardFlows/index.ts | 2 - .../RecoveryOptions/ManageTips.tsx | 6 +- .../RecoveryOptions/SelectRecoveryOption.tsx | 2 +- .../hooks/useRecoveryTipStatus.ts | 8 +- app/src/pages/ODD/RunSummary/index.tsx | 9 +- .../__tests__/useTipAttachmentStatus.test.ts | 277 ++++++++++++++++++ app/src/resources/instruments/index.ts | 1 + .../instruments/useTipAttachmentStatus.ts | 235 +++++++++++++++ 17 files changed, 529 insertions(+), 666 deletions(-) delete mode 100644 app/src/organisms/DropTipWizardFlows/hooks/__tests__/useTipAttachmentStatus.test.tsx delete mode 100644 app/src/organisms/DropTipWizardFlows/hooks/useTipAttachmentStatus/__tests__/getPipettesWithTipAttached.test.ts delete mode 100644 app/src/organisms/DropTipWizardFlows/hooks/useTipAttachmentStatus/getPipettesWithTipAttached.ts delete mode 100644 app/src/organisms/DropTipWizardFlows/hooks/useTipAttachmentStatus/index.ts create mode 100644 app/src/resources/instruments/__tests__/useTipAttachmentStatus.test.ts create mode 100644 app/src/resources/instruments/useTipAttachmentStatus.ts diff --git a/app/src/organisms/Desktop/Devices/ProtocolRun/ProtocolRunHeader/RunHeaderModalContainer/hooks/useRunHeaderDropTip.ts b/app/src/organisms/Desktop/Devices/ProtocolRun/ProtocolRunHeader/RunHeaderModalContainer/hooks/useRunHeaderDropTip.ts index 48887d4ac17..687b0d404c5 100644 --- a/app/src/organisms/Desktop/Devices/ProtocolRun/ProtocolRunHeader/RunHeaderModalContainer/hooks/useRunHeaderDropTip.ts +++ b/app/src/organisms/Desktop/Devices/ProtocolRun/ProtocolRunHeader/RunHeaderModalContainer/hooks/useRunHeaderDropTip.ts @@ -1,13 +1,9 @@ import { useEffect } from 'react' -import { useHost } from '@opentrons/react-api-client' import { RUN_STATUS_IDLE, RUN_STATUS_STOPPED } from '@opentrons/api-client' import { FLEX_ROBOT_TYPE, OT2_ROBOT_TYPE } from '@opentrons/shared-data' -import { - useDropTipWizardFlows, - useTipAttachmentStatus, -} from '/app/organisms/DropTipWizardFlows' +import { useDropTipWizardFlows } from '/app/organisms/DropTipWizardFlows' import { useProtocolDropTipModal } from '../modals' import { useCloseCurrentRun, @@ -16,13 +12,12 @@ import { } from '/app/resources/runs' import { isTerminalRunStatus } from '../../utils' import { lastRunCommandPromptedErrorRecovery } from '/app/local-resources/commands' +import { useTipAttachmentStatus } from '/app/resources/instruments' import type { RobotType } from '@opentrons/shared-data' import type { Run, RunStatus } from '@opentrons/api-client' -import type { - DropTipWizardFlowsProps, - PipetteWithTip, -} from '/app/organisms/DropTipWizardFlows' +import type { PipetteWithTip } from '/app/resources/instruments' +import type { DropTipWizardFlowsProps } from '/app/organisms/DropTipWizardFlows' import type { UseProtocolDropTipModalResult } from '../modals' import type { PipetteDetails } from '/app/resources/maintenance_runs' @@ -49,7 +44,6 @@ export function useRunHeaderDropTip({ robotType, runStatus, }: UseRunHeaderDropTipParams): UseRunHeaderDropTipResult { - const host = useHost() const isRunCurrent = useIsRunCurrent(runId) const enteredER = runRecord?.data.hasEverEnteredErrorRecovery ?? false @@ -66,7 +60,6 @@ export function useRunHeaderDropTip({ } = useTipAttachmentStatus({ runId, runRecord: runRecord ?? null, - host, }) const dropTipModalUtils = useProtocolDropTipModal({ diff --git a/app/src/organisms/Desktop/Devices/ProtocolRun/ProtocolRunHeader/RunHeaderModalContainer/modals/ProtocolDropTipModal.tsx b/app/src/organisms/Desktop/Devices/ProtocolRun/ProtocolRunHeader/RunHeaderModalContainer/modals/ProtocolDropTipModal.tsx index e1f1be57d22..b9f30de446f 100644 --- a/app/src/organisms/Desktop/Devices/ProtocolRun/ProtocolRunHeader/RunHeaderModalContainer/modals/ProtocolDropTipModal.tsx +++ b/app/src/organisms/Desktop/Devices/ProtocolRun/ProtocolRunHeader/RunHeaderModalContainer/modals/ProtocolDropTipModal.tsx @@ -21,7 +21,7 @@ import { useHomePipettes } from '/app/local-resources/instruments' import type { PipetteData } from '@opentrons/api-client' import type { IconProps } from '@opentrons/components' import type { UseHomePipettesProps } from '/app/local-resources/instruments' -import type { TipAttachmentStatusResult } from '/app/organisms/DropTipWizardFlows' +import type { TipAttachmentStatusResult } from '/app/resources/instruments' type UseProtocolDropTipModalProps = Pick< UseHomePipettesProps, diff --git a/app/src/organisms/DropTipWizardFlows/TipsAttachedModal.tsx b/app/src/organisms/DropTipWizardFlows/TipsAttachedModal.tsx index 7198d8bb5ea..86778afe97b 100644 --- a/app/src/organisms/DropTipWizardFlows/TipsAttachedModal.tsx +++ b/app/src/organisms/DropTipWizardFlows/TipsAttachedModal.tsx @@ -19,8 +19,8 @@ import { useHomePipettes } from '/app/local-resources/instruments' import type { HostConfig } from '@opentrons/api-client' import type { OddModalHeaderBaseProps } from '/app/molecules/OddModal/types' import type { UseHomePipettesProps } from '/app/local-resources/instruments' -import type { PipetteWithTip } from './hooks' import type { PipetteDetails } from '/app/resources/maintenance_runs' +import type { PipetteWithTip } from '/app/resources/instruments' type TipsAttachedModalProps = Pick & { aPipetteWithTip: PipetteWithTip diff --git a/app/src/organisms/DropTipWizardFlows/__tests__/TipsAttachedModal.test.tsx b/app/src/organisms/DropTipWizardFlows/__tests__/TipsAttachedModal.test.tsx index 917c770c10e..2a71920c4fc 100644 --- a/app/src/organisms/DropTipWizardFlows/__tests__/TipsAttachedModal.test.tsx +++ b/app/src/organisms/DropTipWizardFlows/__tests__/TipsAttachedModal.test.tsx @@ -14,7 +14,7 @@ import { useDropTipWizardFlows } from '..' import type { Mock } from 'vitest' import type { PipetteModelSpecs } from '@opentrons/shared-data' import type { HostConfig } from '@opentrons/api-client' -import type { PipetteWithTip } from '../hooks' +import type { PipetteWithTip } from '/app/resources/instruments' vi.mock('/app/resources/runs/useCloseCurrentRun') vi.mock('..') diff --git a/app/src/organisms/DropTipWizardFlows/hooks/__tests__/useTipAttachmentStatus.test.tsx b/app/src/organisms/DropTipWizardFlows/hooks/__tests__/useTipAttachmentStatus.test.tsx deleted file mode 100644 index 6d9d25719d2..00000000000 --- a/app/src/organisms/DropTipWizardFlows/hooks/__tests__/useTipAttachmentStatus.test.tsx +++ /dev/null @@ -1,119 +0,0 @@ -import { afterEach, beforeEach, describe, expect, it, vi } from 'vitest' -import { act, renderHook } from '@testing-library/react' - -import { getPipetteModelSpecs } from '@opentrons/shared-data' -import { useInstrumentsQuery } from '@opentrons/react-api-client' - -import { mockPipetteInfo } from '/app/redux/pipettes/__fixtures__' -import { getPipettesWithTipAttached } from '../useTipAttachmentStatus/getPipettesWithTipAttached' -import { DropTipWizard } from '../../DropTipWizard' -import { useTipAttachmentStatus } from '../useTipAttachmentStatus' - -import type { Mock } from 'vitest' -import type { PipetteModelSpecs } from '@opentrons/shared-data' -import type { PipetteWithTip } from '../useTipAttachmentStatus' - -vi.mock('@opentrons/shared-data', async importOriginal => { - const actual = await importOriginal() - return { - ...actual, - getPipetteModelSpecs: vi.fn(), - } -}) -vi.mock('@opentrons/react-api-client') -vi.mock('../useTipAttachmentStatus/getPipettesWithTipAttached') -vi.mock('../../DropTipWizard') - -const MOCK_ACTUAL_PIPETTE = { - ...mockPipetteInfo.pipetteSpecs, - model: 'model', - tipLength: { - value: 20, - }, -} as PipetteModelSpecs - -const mockPipetteWithTip: PipetteWithTip = { - mount: 'left', - specs: MOCK_ACTUAL_PIPETTE, -} - -const mockSecondPipetteWithTip: PipetteWithTip = { - mount: 'right', - specs: MOCK_ACTUAL_PIPETTE, -} - -const mockPipettesWithTip: PipetteWithTip[] = [ - mockPipetteWithTip, - mockSecondPipetteWithTip, -] - -describe('useTipAttachmentStatus', () => { - let mockGetPipettesWithTipAttached: Mock - - beforeEach(() => { - mockGetPipettesWithTipAttached = vi.mocked(getPipettesWithTipAttached) - vi.mocked(getPipetteModelSpecs).mockReturnValue(MOCK_ACTUAL_PIPETTE) - vi.mocked(DropTipWizard).mockReturnValue(

MOCK DROP TIP WIZ
) - mockGetPipettesWithTipAttached.mockResolvedValue(mockPipettesWithTip) - vi.mocked(useInstrumentsQuery).mockReturnValue({ data: {} } as any) - }) - - afterEach(() => { - vi.clearAllMocks() - }) - - it('should return the correct initial state', () => { - const { result } = renderHook(() => useTipAttachmentStatus({} as any)) - - expect(result.current.areTipsAttached).toBe(false) - expect(result.current.aPipetteWithTip).toEqual(null) - }) - - it('should determine tip status and update state accordingly', async () => { - const { result } = renderHook(() => useTipAttachmentStatus({} as any)) - - await act(async () => { - await result.current.determineTipStatus() - }) - - expect(result.current.areTipsAttached).toBe(true) - expect(result.current.aPipetteWithTip).toEqual(mockPipetteWithTip) - }) - - it('should reset tip status', async () => { - const { result } = renderHook(() => useTipAttachmentStatus({} as any)) - - await act(async () => { - await result.current.determineTipStatus() - result.current.resetTipStatus() - }) - - expect(result.current.areTipsAttached).toBe(false) - expect(result.current.aPipetteWithTip).toEqual(null) - }) - - it('should set tip status resolved and update state', async () => { - const { result } = renderHook(() => useTipAttachmentStatus({} as any)) - - await act(async () => { - await result.current.determineTipStatus() - result.current.setTipStatusResolved() - }) - - expect(result.current.aPipetteWithTip).toEqual(mockSecondPipetteWithTip) - }) - - it('should call onEmptyCache callback when cache becomes empty', async () => { - mockGetPipettesWithTipAttached.mockResolvedValueOnce([mockPipetteWithTip]) - - const onEmptyCacheMock = vi.fn() - const { result } = renderHook(() => useTipAttachmentStatus({} as any)) - - await act(async () => { - await result.current.determineTipStatus() - result.current.setTipStatusResolved(onEmptyCacheMock) - }) - - expect(onEmptyCacheMock).toHaveBeenCalled() - }) -}) diff --git a/app/src/organisms/DropTipWizardFlows/hooks/index.ts b/app/src/organisms/DropTipWizardFlows/hooks/index.ts index 3f3f531a9d8..f3145d7d083 100644 --- a/app/src/organisms/DropTipWizardFlows/hooks/index.ts +++ b/app/src/organisms/DropTipWizardFlows/hooks/index.ts @@ -1,6 +1,5 @@ export * from './errors' export * from './useDropTipWithType' -export * from './useTipAttachmentStatus' export * from './useDropTipLocations' export { useDropTipRouting } from './useDropTipRouting' export { useDropTipWithType } from './useDropTipWithType' diff --git a/app/src/organisms/DropTipWizardFlows/hooks/useTipAttachmentStatus/__tests__/getPipettesWithTipAttached.test.ts b/app/src/organisms/DropTipWizardFlows/hooks/useTipAttachmentStatus/__tests__/getPipettesWithTipAttached.test.ts deleted file mode 100644 index bdaeff2dee0..00000000000 --- a/app/src/organisms/DropTipWizardFlows/hooks/useTipAttachmentStatus/__tests__/getPipettesWithTipAttached.test.ts +++ /dev/null @@ -1,239 +0,0 @@ -import { describe, it, beforeEach, expect, vi } from 'vitest' -import { getCommands } from '@opentrons/api-client' - -import { getPipettesWithTipAttached } from '../getPipettesWithTipAttached' -import { LEFT, RIGHT } from '@opentrons/shared-data' - -import type { GetPipettesWithTipAttached } from '../getPipettesWithTipAttached' - -vi.mock('@opentrons/api-client') - -const HOST_NAME = 'localhost' -const RUN_ID = 'testRunId' -const LEFT_PIPETTE_ID = 'testId1' -const RIGHT_PIPETTE_ID = 'testId2' -const LEFT_PIPETTE_NAME = 'testLeftName' -const RIGHT_PIPETTE_NAME = 'testRightName' -const PICK_UP_TIP = 'pickUpTip' -const DROP_TIP = 'dropTip' -const DROP_TIP_IN_PLACE = 'dropTipInPlace' -const LOAD_PIPETTE = 'loadPipette' -const FIXIT_INTENT = 'fixit' - -const LEFT_PIPETTE = { - mount: LEFT, - state: { tipDetected: true }, - instrumentType: 'pipette', - ok: true, -} -const RIGHT_PIPETTE = { - mount: RIGHT, - state: { tipDetected: true }, - instrumentType: 'pipette', - ok: true, -} - -const mockAttachedInstruments = { - data: [LEFT_PIPETTE, RIGHT_PIPETTE], - meta: { cursor: 0, totalLength: 2 }, -} - -const createMockCommand = ( - type: string, - id: string, - pipetteId: string, - status = 'succeeded' -) => ({ - id, - key: `${id}-key`, - commandType: type, - status, - params: { pipetteId }, -}) - -const mockCommands = { - data: [ - createMockCommand(LOAD_PIPETTE, 'load-left', LEFT_PIPETTE_ID), - createMockCommand(LOAD_PIPETTE, 'load-right', RIGHT_PIPETTE_ID), - createMockCommand(PICK_UP_TIP, 'pickup-left', LEFT_PIPETTE_ID), - createMockCommand(DROP_TIP, 'drop-left', LEFT_PIPETTE_ID, 'succeeded'), - ], - meta: { cursor: 0, totalLength: 4 }, -} - -const mockRunRecord = { - data: { - pipettes: [ - { id: LEFT_PIPETTE_ID, pipetteName: LEFT_PIPETTE_NAME, mount: LEFT }, - { id: RIGHT_PIPETTE_ID, pipetteName: RIGHT_PIPETTE_NAME, mount: RIGHT }, - ], - }, -} - -describe('getPipettesWithTipAttached', () => { - let DEFAULT_PARAMS: GetPipettesWithTipAttached - - beforeEach(() => { - DEFAULT_PARAMS = { - host: { hostname: HOST_NAME }, - runId: RUN_ID, - attachedInstruments: mockAttachedInstruments as any, - runRecord: mockRunRecord as any, - } - - vi.mocked(getCommands).mockResolvedValue({ - data: mockCommands, - } as any) - }) - - it('returns an empty array if attachedInstruments is null', async () => { - const params = { ...DEFAULT_PARAMS, attachedInstruments: null } - const result = await getPipettesWithTipAttached(params) - expect(result).toEqual([]) - }) - - it('returns an empty array if runRecord is null', async () => { - const params = { ...DEFAULT_PARAMS, runRecord: null } - const result = await getPipettesWithTipAttached(params) - expect(result).toEqual([]) - }) - - it('returns an empty array when no tips are attached according to protocol', async () => { - const mockCommandsWithoutAttachedTips = { - ...mockCommands, - data: [ - createMockCommand(LOAD_PIPETTE, 'load-left', LEFT_PIPETTE_ID), - createMockCommand(LOAD_PIPETTE, 'load-right', RIGHT_PIPETTE_ID), - createMockCommand(PICK_UP_TIP, 'pickup-left', LEFT_PIPETTE_ID), - createMockCommand(DROP_TIP, 'drop-left', LEFT_PIPETTE_ID, 'succeeded'), - ], - } - - vi.mocked(getCommands).mockResolvedValue({ - data: mockCommandsWithoutAttachedTips, - } as any) - - const result = await getPipettesWithTipAttached(DEFAULT_PARAMS) - expect(result).toEqual([]) - }) - - it('returns pipettes with protocol detected tip attachment', async () => { - const mockCommandsWithPickUpTip = { - ...mockCommands, - data: [ - ...mockCommands.data, - createMockCommand(PICK_UP_TIP, 'pickup-left-2', LEFT_PIPETTE_ID), - createMockCommand(PICK_UP_TIP, 'pickup-right', RIGHT_PIPETTE_ID), - ], - } - - vi.mocked(getCommands).mockResolvedValue({ - data: mockCommandsWithPickUpTip, - } as any) - - const result = await getPipettesWithTipAttached(DEFAULT_PARAMS) - expect(result).toEqual(mockAttachedInstruments.data) - }) - - it('always returns the left mount before the right mount if both pipettes have tips attached', async () => { - const mockCommandsWithPickUpTip = { - ...mockCommands, - data: [ - ...mockCommands.data, - createMockCommand(PICK_UP_TIP, 'pickup-right', RIGHT_PIPETTE_ID), - createMockCommand(PICK_UP_TIP, 'pickup-left-2', LEFT_PIPETTE_ID), - ], - } - - vi.mocked(getCommands).mockResolvedValue({ - data: mockCommandsWithPickUpTip, - } as any) - - const result = await getPipettesWithTipAttached(DEFAULT_PARAMS) - expect(result.length).toBe(2) - expect(result[0].mount).toEqual(LEFT) - expect(result[1].mount).toEqual(RIGHT) - }) - - it('does not return otherwise legitimate failed tip exchange commands if fixit intent tip commands are present and successful', async () => { - const mockCommandsWithFixit = { - ...mockCommands, - data: [ - ...mockCommands.data, - { - ...createMockCommand( - DROP_TIP_IN_PLACE, - 'fixit-drop', - LEFT_PIPETTE_ID - ), - intent: FIXIT_INTENT, - }, - ], - } - - vi.mocked(getCommands).mockResolvedValue({ - data: mockCommandsWithFixit, - } as any) - - const result = await getPipettesWithTipAttached(DEFAULT_PARAMS) - expect(result).toEqual([]) - }) - - it('considers a tip attached only if the last tip exchange command was pickUpTip', async () => { - const mockCommandsWithPickUpTip = { - ...mockCommands, - data: [ - ...mockCommands.data, - createMockCommand(PICK_UP_TIP, 'pickup-left-2', LEFT_PIPETTE_ID), - ], - } - - vi.mocked(getCommands).mockResolvedValue({ - data: mockCommandsWithPickUpTip, - } as any) - - const result = await getPipettesWithTipAttached(DEFAULT_PARAMS) - expect(result).toEqual([mockAttachedInstruments.data[0]]) - }) - - it('returns all valid attached pipettes when an error occurs', async () => { - vi.mocked(getCommands).mockRejectedValueOnce( - new Error('Example network error') - ) - - const result = await getPipettesWithTipAttached(DEFAULT_PARAMS) - - expect(result).toEqual([LEFT_PIPETTE, RIGHT_PIPETTE]) - }) - - it('filters out not ok pipettes', async () => { - vi.mocked(getCommands).mockRejectedValueOnce(new Error('Network error')) - - const mockInvalidPipettes = { - data: [ - LEFT_PIPETTE, - { - ...RIGHT_PIPETTE, - ok: false, - }, - ], - meta: { cursor: 0, totalLength: 2 }, - } - - const params = { - ...DEFAULT_PARAMS, - attachedInstruments: mockInvalidPipettes as any, - } - - const result = await getPipettesWithTipAttached(params) - - expect(result).toEqual([ - { - mount: LEFT, - state: { tipDetected: true }, - instrumentType: 'pipette', - ok: true, - }, - ]) - }) -}) diff --git a/app/src/organisms/DropTipWizardFlows/hooks/useTipAttachmentStatus/getPipettesWithTipAttached.ts b/app/src/organisms/DropTipWizardFlows/hooks/useTipAttachmentStatus/getPipettesWithTipAttached.ts deleted file mode 100644 index b710ba5a810..00000000000 --- a/app/src/organisms/DropTipWizardFlows/hooks/useTipAttachmentStatus/getPipettesWithTipAttached.ts +++ /dev/null @@ -1,157 +0,0 @@ -import { getCommands } from '@opentrons/api-client' -import { LEFT } from '@opentrons/shared-data' - -import type { - HostConfig, - PipetteData, - Run, - CommandsData, - RunCommandSummary, - Instruments, -} from '@opentrons/api-client' -import type { - LoadedPipette, - PipettingRunTimeCommand, -} from '@opentrons/shared-data' - -export interface GetPipettesWithTipAttached { - host: HostConfig | null - runId: string - attachedInstruments: Instruments | null - runRecord: Run | null -} - -export function getPipettesWithTipAttached({ - host, - runId, - attachedInstruments, - runRecord, -}: GetPipettesWithTipAttached): Promise { - if (attachedInstruments == null || runRecord == null) { - return Promise.resolve([]) - } - - return ( - getCommandsExecutedDuringRun(host as HostConfig, runId) - .then(executedCmdData => - checkPipettesForAttachedTips( - executedCmdData.data, - runRecord.data.pipettes, - attachedInstruments.data as PipetteData[] - ) - ) - // If any network error occurs, return all attached pipettes as having tips attached for safety reasons. - .catch(() => Promise.resolve(getPipettesDataFrom(attachedInstruments))) - ) -} - -function getCommandsExecutedDuringRun( - host: HostConfig, - runId: string -): Promise { - return getCommands(host, runId, { - cursor: null, - pageLength: 0, - includeFixitCommands: true, - }).then(response => { - const { totalLength } = response.data.meta - return getCommands(host, runId, { - cursor: 0, - pageLength: totalLength, - includeFixitCommands: null, - }).then(response => response.data) - }) -} - -const TIP_EXCHANGE_COMMAND_TYPES = [ - 'dropTip', - 'dropTipInPlace', - 'pickUpTip', - 'moveToAddressableAreaForDropTip', -] - -function checkPipettesForAttachedTips( - commands: RunCommandSummary[], - pipettesUsedInRun: LoadedPipette[], - attachedPipettes: PipetteData[] -): PipetteData[] { - let pipettesWithUnknownTipStatus = pipettesUsedInRun - const mountsWithTipAttached: Array = [] - - // Iterate backwards through commands, finding first tip exchange command for each pipette. - // If there's a chance the tip is still attached, flag the pipette. - for (let i = commands.length - 1; i >= 0; i--) { - if (pipettesWithUnknownTipStatus.length === 0) { - break - } - - const commandType = commands[i].commandType - const pipetteUsedInCommand = (commands[i] as PipettingRunTimeCommand).params - .pipetteId - const isTipExchangeCommand = TIP_EXCHANGE_COMMAND_TYPES.includes( - commandType - ) - const pipetteUsedInCommandWithUnknownTipStatus = - pipettesWithUnknownTipStatus.find( - pipette => pipette.id === pipetteUsedInCommand - ) ?? null - - // If the currently iterated command is a fixit command, we can safely assume the user - // had the option to fix pipettes with tips in this command and all commands - // earlier in the run, during Error Recovery flows. - if ( - commands[i].intent === 'fixit' && - isTipExchangeCommand && - commands[i].status === 'succeeded' - ) { - break - } - - if ( - isTipExchangeCommand && - pipetteUsedInCommandWithUnknownTipStatus != null - ) { - const tipPossiblyAttached = - commands[i].status !== 'succeeded' || commandType === 'pickUpTip' - - if (tipPossiblyAttached) { - mountsWithTipAttached.push( - pipetteUsedInCommandWithUnknownTipStatus.mount - ) - } - pipettesWithUnknownTipStatus = pipettesWithUnknownTipStatus.filter( - pipette => pipette.id !== pipetteUsedInCommand - ) - } - } - - // Convert the array of mounts with attached tips to PipetteData with attached tips. - const pipettesWithTipAttached = attachedPipettes.filter( - attachedPipette => - mountsWithTipAttached.includes(attachedPipette.mount) && - attachedPipette.ok - ) - - // Preferentially assign the left mount as the first element. - if ( - pipettesWithTipAttached.length === 2 && - pipettesWithTipAttached[1].mount === LEFT - ) { - ;[pipettesWithTipAttached[0], pipettesWithTipAttached[1]] = [ - pipettesWithTipAttached[1], - pipettesWithTipAttached[0], - ] - } - - return pipettesWithTipAttached -} - -function getPipettesDataFrom( - attachedInstruments: Instruments | null -): PipetteData[] { - return attachedInstruments != null - ? (attachedInstruments.data.filter( - instrument => instrument.instrumentType === 'pipette' && instrument.ok - ) as PipetteData[]) - : [] -} diff --git a/app/src/organisms/DropTipWizardFlows/hooks/useTipAttachmentStatus/index.ts b/app/src/organisms/DropTipWizardFlows/hooks/useTipAttachmentStatus/index.ts deleted file mode 100644 index 99d4ea9abd8..00000000000 --- a/app/src/organisms/DropTipWizardFlows/hooks/useTipAttachmentStatus/index.ts +++ /dev/null @@ -1,118 +0,0 @@ -import { useState, useCallback } from 'react' -import head from 'lodash/head' - -import { useInstrumentsQuery } from '@opentrons/react-api-client' -import { getPipetteModelSpecs } from '@opentrons/shared-data' - -import { getPipettesWithTipAttached } from './getPipettesWithTipAttached' - -import type { Mount } from '@opentrons/api-client' -import type { PipetteModelSpecs } from '@opentrons/shared-data' -import type { GetPipettesWithTipAttached } from './getPipettesWithTipAttached' - -const INSTRUMENTS_POLL_MS = 5000 - -export interface PipetteWithTip { - mount: Mount - specs: PipetteModelSpecs -} - -export interface TipAttachmentStatusResult { - /** Updates the pipettes with tip cache. Determine whether tips are likely attached on one or more pipettes. - * - * NOTE: Use responsibly! This function can potentially (but not likely) iterate over the entire length of a protocol run. - * */ - determineTipStatus: () => Promise - /* Whether tips are likely attached on *any* pipette. Typically called after determineTipStatus() */ - areTipsAttached: boolean - /* Resets the cached pipettes with tip statuses to null. */ - resetTipStatus: () => void - /** Removes the first element from the tip attached cache if present. - * @param {Function} onEmptyCache After removing the pipette from the cache, if the attached tip cache is empty, invoke this callback. - * @param {Function} onTipsDetected After removing the pipette from the cache, if the attached tip cache is not empty, invoke this callback. - * */ - setTipStatusResolved: ( - onEmptyCache?: () => void, - onTipsDetected?: () => void - ) => Promise - /* Relevant pipette information for a pipette with a tip attached. If both pipettes have tips attached, return the left pipette. */ - aPipetteWithTip: PipetteWithTip | null - /* The initial number of pipettes with tips. Null if there has been no tip check yet. */ - initialPipettesWithTipsCount: number | null -} - -// Returns various utilities for interacting with the cache of pipettes with tips attached. -export function useTipAttachmentStatus( - params: Omit -): TipAttachmentStatusResult { - const [pipettesWithTip, setPipettesWithTip] = useState([]) - const [initialPipettesCount, setInitialPipettesCount] = useState< - number | null - >(null) - const { data: attachedInstruments } = useInstrumentsQuery({ - refetchInterval: INSTRUMENTS_POLL_MS, - }) - - const aPipetteWithTip = head(pipettesWithTip) ?? null - const areTipsAttached = - pipettesWithTip.length > 0 && head(pipettesWithTip)?.specs != null - - const determineTipStatus = useCallback((): Promise => { - return getPipettesWithTipAttached({ - ...params, - attachedInstruments: attachedInstruments ?? null, - }).then(pipettesWithTip => { - const pipettesWithTipsData = pipettesWithTip.map(pipette => { - const specs = getPipetteModelSpecs(pipette.instrumentModel) - return { - specs, - mount: pipette.mount, - } - }) - const pipettesWithTipAndSpecs = pipettesWithTipsData.filter( - pipette => pipette.specs != null - ) as PipetteWithTip[] - - setPipettesWithTip(pipettesWithTipAndSpecs) - // Set only once. - if (initialPipettesCount === null) { - setInitialPipettesCount(pipettesWithTipAndSpecs.length) - } - - return Promise.resolve(pipettesWithTipAndSpecs) - }) - }, [params]) - - const resetTipStatus = (): void => { - setPipettesWithTip([]) - setInitialPipettesCount(null) - } - - const setTipStatusResolved = ( - onEmptyCache?: () => void, - onTipsDetected?: () => void - ): Promise => { - return new Promise(resolve => { - setPipettesWithTip(prevPipettesWithTip => { - const newState = [...prevPipettesWithTip.slice(1)] - if (newState.length === 0) { - onEmptyCache?.() - } else { - onTipsDetected?.() - } - - resolve(newState[0]) - return newState - }) - }) - } - - return { - areTipsAttached, - determineTipStatus, - resetTipStatus, - aPipetteWithTip, - setTipStatusResolved, - initialPipettesWithTipsCount: initialPipettesCount, - } -} diff --git a/app/src/organisms/DropTipWizardFlows/index.ts b/app/src/organisms/DropTipWizardFlows/index.ts index 1b53f36e5c8..05a16f92e49 100644 --- a/app/src/organisms/DropTipWizardFlows/index.ts +++ b/app/src/organisms/DropTipWizardFlows/index.ts @@ -1,6 +1,4 @@ export * from './DropTipWizardFlows' -export { useTipAttachmentStatus } from './hooks' export * from './TipsAttachedModal' -export type { TipAttachmentStatusResult, PipetteWithTip } from './hooks' export type { FixitCommandTypeUtils } from './types' diff --git a/app/src/organisms/ErrorRecoveryFlows/RecoveryOptions/ManageTips.tsx b/app/src/organisms/ErrorRecoveryFlows/RecoveryOptions/ManageTips.tsx index 57eef74d2d6..1609acfa0ca 100644 --- a/app/src/organisms/ErrorRecoveryFlows/RecoveryOptions/ManageTips.tsx +++ b/app/src/organisms/ErrorRecoveryFlows/RecoveryOptions/ManageTips.tsx @@ -24,10 +24,8 @@ import { DT_ROUTES } from '/app/organisms/DropTipWizardFlows/constants' import { SelectRecoveryOption } from './SelectRecoveryOption' import type { RecoveryContentProps, RecoveryRoute, RouteStep } from '../types' -import type { - FixitCommandTypeUtils, - PipetteWithTip, -} from '/app/organisms/DropTipWizardFlows' +import type { FixitCommandTypeUtils } from '/app/organisms/DropTipWizardFlows' +import type { PipetteWithTip } from '/app/resources/instruments' // The Drop Tip flow entry point. Includes entry from SelectRecoveryOption and CancelRun. export function ManageTips(props: RecoveryContentProps): JSX.Element { diff --git a/app/src/organisms/ErrorRecoveryFlows/RecoveryOptions/SelectRecoveryOption.tsx b/app/src/organisms/ErrorRecoveryFlows/RecoveryOptions/SelectRecoveryOption.tsx index c44252e2da9..59888c39c42 100644 --- a/app/src/organisms/ErrorRecoveryFlows/RecoveryOptions/SelectRecoveryOption.tsx +++ b/app/src/organisms/ErrorRecoveryFlows/RecoveryOptions/SelectRecoveryOption.tsx @@ -20,7 +20,7 @@ import { import { RecoverySingleColumnContentWrapper } from '../shared' import type { ErrorKind, RecoveryContentProps, RecoveryRoute } from '../types' -import type { PipetteWithTip } from '/app/organisms/DropTipWizardFlows' +import type { PipetteWithTip } from '/app/resources/instruments' // The "home" route within Error Recovery. When a user completes a non-terminal flow or presses "Go back" enough // to escape the boundaries of any route, they will be redirected here. diff --git a/app/src/organisms/ErrorRecoveryFlows/hooks/useRecoveryTipStatus.ts b/app/src/organisms/ErrorRecoveryFlows/hooks/useRecoveryTipStatus.ts index 0a12b59d089..8db4af030ea 100644 --- a/app/src/organisms/ErrorRecoveryFlows/hooks/useRecoveryTipStatus.ts +++ b/app/src/organisms/ErrorRecoveryFlows/hooks/useRecoveryTipStatus.ts @@ -1,9 +1,9 @@ import { useState } from 'react' import head from 'lodash/head' -import { useHost, useRunCurrentState } from '@opentrons/react-api-client' +import { useRunCurrentState } from '@opentrons/react-api-client' import { getPipetteModelSpecs } from '@opentrons/shared-data' -import { useTipAttachmentStatus } from '/app/organisms/DropTipWizardFlows' +import { useTipAttachmentStatus } from '/app/resources/instruments' import { ERROR_KINDS } from '/app/organisms/ErrorRecoveryFlows/constants' import { getErrorKind } from '/app/organisms/ErrorRecoveryFlows/utils' @@ -11,7 +11,7 @@ import type { Run, Instruments, PipetteData } from '@opentrons/api-client' import type { PipetteWithTip, TipAttachmentStatusResult, -} from '/app/organisms/DropTipWizardFlows' +} from '/app/resources/instruments' import type { ERUtilsProps } from '/app/organisms/ErrorRecoveryFlows/hooks/useERUtils' interface UseRecoveryTipStatusProps { @@ -38,11 +38,9 @@ export function useRecoveryTipStatus( failedCommandPipette, setFailedCommandPipette, ] = useState(null) - const host = useHost() const tipAttachmentStatusUtils = useTipAttachmentStatus({ ...props, - host, runRecord: props.runRecord ?? null, }) diff --git a/app/src/pages/ODD/RunSummary/index.tsx b/app/src/pages/ODD/RunSummary/index.tsx index ce7fd3c0ef6..98a53f591d4 100644 --- a/app/src/pages/ODD/RunSummary/index.tsx +++ b/app/src/pages/ODD/RunSummary/index.tsx @@ -67,15 +67,13 @@ import { EMPTY_TIMESTAMP, useCurrentRunCommands, } from '/app/resources/runs' -import { - useTipAttachmentStatus, - handleTipsAttachedModal, -} from '/app/organisms/DropTipWizardFlows' +import { handleTipsAttachedModal } from '/app/organisms/DropTipWizardFlows' import { lastRunCommandPromptedErrorRecovery } from '/app/local-resources/commands' +import { useTipAttachmentStatus } from '/app/resources/instruments' import type { IconName } from '@opentrons/components' import type { OnDeviceRouteParams } from '/app/App/types' -import type { PipetteWithTip } from '/app/organisms/DropTipWizardFlows' +import type { PipetteWithTip } from '/app/resources/instruments' export function RunSummary(): JSX.Element { const { runId } = useParams< @@ -236,7 +234,6 @@ export function RunSummary(): JSX.Element { } = useTipAttachmentStatus({ runId, runRecord: runRecord ?? null, - host, }) // Determine tip status on initial render only. Error Recovery always handles tip status, so don't show it twice. diff --git a/app/src/resources/instruments/__tests__/useTipAttachmentStatus.test.ts b/app/src/resources/instruments/__tests__/useTipAttachmentStatus.test.ts new file mode 100644 index 00000000000..6d0de5c6d05 --- /dev/null +++ b/app/src/resources/instruments/__tests__/useTipAttachmentStatus.test.ts @@ -0,0 +1,277 @@ +import { beforeEach, describe, expect, it, vi } from 'vitest' +import { act, renderHook, waitFor } from '@testing-library/react' + +import { + getCommands, + getInstruments, + getRunCurrentState, +} from '@opentrons/api-client' +import { getPipetteModelSpecs } from '@opentrons/shared-data' +import { useHost } from '@opentrons/react-api-client' + +import { mockPipetteInfo } from '/app/redux/pipettes/__fixtures__' +import { useTipAttachmentStatus } from '../useTipAttachmentStatus' + +import type { PipetteModelSpecs } from '@opentrons/shared-data' +import type { PipetteData } from '@opentrons/api-client' + +vi.mock('@opentrons/shared-data', async importOriginal => { + const actual = await importOriginal() + return { + ...actual, + getPipetteModelSpecs: vi.fn(), + } +}) +vi.mock('@opentrons/api-client') +vi.mock('@opentrons/react-api-client') + +const MOCK_HOST = { ip: '1.2.3.4', port: 31950 } as any +const MOCK_RUN_ID = 'run-123' + +const MOCK_ACTUAL_PIPETTE = { + ...mockPipetteInfo.pipetteSpecs, + model: 'model', + tipLength: { + value: 20, + }, +} as PipetteModelSpecs + +const mockPipetteData: PipetteData = { + mount: 'left', + instrumentType: 'pipette', + instrumentModel: 'p1000_single_v3.6', + ok: true, +} as any + +const mockSecondPipetteData: PipetteData = { + ...mockPipetteData, + mount: 'right', +} + +const mockRunRecord = { + data: { + pipettes: [ + { id: 'pipette-1', mount: 'left' }, + { id: 'pipette-2', mount: 'right' }, + ], + }, +} as any + +const mockTipStates = { + 'pipette-1': { hasTip: true }, + 'pipette-2': { hasTip: true }, +} + +describe('useTipAttachmentStatus', () => { + beforeEach(() => { + vi.mocked(useHost).mockReturnValue(MOCK_HOST) + vi.mocked(getPipetteModelSpecs).mockReturnValue(MOCK_ACTUAL_PIPETTE) + + vi.mocked(getInstruments).mockResolvedValue({ + data: { data: [mockPipetteData, mockSecondPipetteData] }, + } as any) + + vi.mocked(getRunCurrentState).mockResolvedValue({ + data: { data: { tipStates: mockTipStates } }, + } as any) + + vi.mocked(getCommands).mockResolvedValue({ + data: { data: [{ commandType: 'mockType' }] }, + } as any) + }) + + const renderTipAttachmentStatus = () => { + return renderHook(() => + useTipAttachmentStatus({ + runId: MOCK_RUN_ID, + runRecord: mockRunRecord, + }) + ) + } + + it('should return the correct initial state', async () => { + const { result } = renderTipAttachmentStatus() + + await waitFor(() => { + expect(result.current).toBeDefined() + }) + + expect(result.current.areTipsAttached).toBe(false) + expect(result.current.aPipetteWithTip).toEqual(null) + expect(result.current.initialPipettesWithTipsCount).toEqual(null) + }) + + it('should determine tip status and update state accordingly', async () => { + const { result } = renderTipAttachmentStatus() + + await waitFor(() => { + expect(result.current).toBeDefined() + }) + + await act(async () => { + await result.current.determineTipStatus() + }) + + expect(result.current.areTipsAttached).toBe(true) + expect(result.current.aPipetteWithTip).toMatchObject({ + mount: 'left', + specs: MOCK_ACTUAL_PIPETTE, + }) + expect(result.current.initialPipettesWithTipsCount).toBe(2) + }) + + it('should handle network errors', async () => { + vi.mocked(getInstruments).mockRejectedValueOnce(new Error('Error')) + const { result } = renderTipAttachmentStatus() + + await waitFor(() => { + expect(result.current).toBeDefined() + }) + + await act(async () => { + await result.current.determineTipStatus() + }) + + expect(result.current.areTipsAttached).toBe(false) + expect(result.current.aPipetteWithTip).toBeNull() + }) + + it('should reset tip status', async () => { + const { result } = renderTipAttachmentStatus() + + await waitFor(() => { + expect(result.current).toBeDefined() + }) + + await act(async () => { + await result.current.determineTipStatus() + }) + + act(() => { + result.current.resetTipStatus() + }) + + expect(result.current.areTipsAttached).toBe(false) + expect(result.current.aPipetteWithTip).toEqual(null) + expect(result.current.initialPipettesWithTipsCount).toEqual(null) + }) + + it('should set tip status resolved and a state', async () => { + const { result } = renderTipAttachmentStatus() + + await waitFor(() => { + expect(result.current).toBeDefined() + }) + + await act(async () => { + await result.current.determineTipStatus() + }) + + expect(result.current.aPipetteWithTip).toMatchObject({ + mount: 'left', + specs: MOCK_ACTUAL_PIPETTE, + }) + + act(() => { + result.current.setTipStatusResolved() + }) + + await waitFor(() => + expect(result.current.aPipetteWithTip?.mount).toBe('right') + ) + }) + + it('should call onEmptyCache callback when cache becomes empty', async () => { + vi.mocked(getRunCurrentState).mockResolvedValueOnce({ + data: { + data: { + tipStates: { + 'pipette-1': { hasTip: true }, + 'pipette-2': { hasTip: false }, + }, + }, + }, + } as any) + + const onEmptyCacheMock = vi.fn() + const { result } = renderTipAttachmentStatus() + + await waitFor(() => { + expect(result.current).toBeDefined() + }) + + await act(async () => { + await result.current.determineTipStatus() + }) + + expect(result.current.aPipetteWithTip).toMatchObject({ + mount: 'left', + specs: MOCK_ACTUAL_PIPETTE, + }) + + act(() => { + result.current.setTipStatusResolved(onEmptyCacheMock) + }) + + await waitFor(() => { + expect(onEmptyCacheMock).toHaveBeenCalled() + }) + }) + + it('should handle tipPhysicallyMissing error by assuming tip is attached', async () => { + vi.mocked(getCommands).mockResolvedValueOnce({ + data: { + data: [ + { + error: { + errorType: 'tipPhysicallyMissing', + }, + }, + ], + }, + } as any) + + const { result } = renderTipAttachmentStatus() + + await waitFor(() => { + expect(result.current).toBeDefined() + }) + + await act(async () => { + await result.current.determineTipStatus() + }) + + expect(result.current.areTipsAttached).toBe(true) + }) + + it('should call onTipsDetected callback when tips remain after resolution', async () => { + const onTipsDetectedMock = vi.fn() + const { result } = renderTipAttachmentStatus() + + await waitFor(() => { + expect(result.current).toBeDefined() + }) + + await act(async () => { + await result.current.determineTipStatus() + }) + + expect(result.current.aPipetteWithTip).toMatchObject({ + mount: 'left', + specs: MOCK_ACTUAL_PIPETTE, + }) + + act(() => { + result.current.setTipStatusResolved(undefined, onTipsDetectedMock) + }) + + await waitFor(() => { + expect(onTipsDetectedMock).toHaveBeenCalled() + }) + + expect(result.current.aPipetteWithTip).toMatchObject({ + mount: 'right', + specs: MOCK_ACTUAL_PIPETTE, + }) + }) +}) diff --git a/app/src/resources/instruments/index.ts b/app/src/resources/instruments/index.ts index 16fae1ecad8..d88a2c7215f 100644 --- a/app/src/resources/instruments/index.ts +++ b/app/src/resources/instruments/index.ts @@ -1,3 +1,4 @@ export * from './useAttachedPipettes' export * from './useAttachedPipetteCalibrations' export * from './useAttachedPipettesFromInstrumentsQuery' +export * from './useTipAttachmentStatus' diff --git a/app/src/resources/instruments/useTipAttachmentStatus.ts b/app/src/resources/instruments/useTipAttachmentStatus.ts new file mode 100644 index 00000000000..ee0d6449ea6 --- /dev/null +++ b/app/src/resources/instruments/useTipAttachmentStatus.ts @@ -0,0 +1,235 @@ +import { useState, useCallback } from 'react' +import head from 'lodash/head' + +import { useHost } from '@opentrons/react-api-client' +import { + getCommands, + getInstruments, + getRunCurrentState, +} from '@opentrons/api-client' +import { getPipetteModelSpecs } from '@opentrons/shared-data' + +import type { + HostConfig, + Mount, + PipetteData, + Run, + RunCommandSummary, +} from '@opentrons/api-client' +import type { PipetteModelSpecs } from '@opentrons/shared-data' + +export interface PipetteWithTip { + mount: Mount + specs: PipetteModelSpecs +} + +export interface PipetteTipState { + specs: PipetteModelSpecs | null + mount: Mount + hasTip: boolean +} + +export interface TipAttachmentStatusParams { + runId: string + runRecord: Run | null +} + +export interface TipAttachmentStatusResult { + /** Updates the pipettes with tip cache. Determine whether tips are likely attached on one or more pipettes, assuming + * tips are attached when there's uncertainty. + * + * NOTE: This function makes a few network requests on each invocation! + * */ + determineTipStatus: () => Promise + /* Whether tips are likely attached on *any* pipette. Typically called after determineTipStatus() */ + areTipsAttached: boolean + /* Resets the cached pipettes with tip statuses to null. */ + resetTipStatus: () => void + /** Removes the first element from the tip attached cache if present. + * @param {Function} onEmptyCache After removing the pipette from the cache, if the attached tip cache is empty, invoke this callback. + * @param {Function} onTipsDetected After removing the pipette from the cache, if the attached tip cache is not empty, invoke this callback. + * */ + setTipStatusResolved: ( + onEmptyCache?: () => void, + onTipsDetected?: () => void + ) => Promise + /* Relevant pipette information for a pipette with a tip attached. If both pipettes have tips attached, return the left pipette. */ + aPipetteWithTip: PipetteWithTip | null + /* The initial number of pipettes with tips. Null if there has been no tip check yet. */ + initialPipettesWithTipsCount: number | null +} + +// Returns various utilities for interacting with the cache of pipettes with tips attached. +export function useTipAttachmentStatus( + params: TipAttachmentStatusParams +): TipAttachmentStatusResult { + const { runId, runRecord } = params + const host = useHost() + const [pipettesWithTip, setPipettesWithTip] = useState([]) + const [initialPipettesCount, setInitialPipettesCount] = useState< + number | null + >(null) + + const aPipetteWithTip = head(pipettesWithTip) ?? null + const areTipsAttached = + pipettesWithTip.length > 0 && head(pipettesWithTip)?.specs != null + + const determineTipStatus = useCallback((): Promise => { + return Promise.all([ + getInstruments(host as HostConfig), + getRunCurrentState(host as HostConfig, runId), + getCommands(host as HostConfig, runId, { + includeFixitCommands: false, + pageLength: 1, + cursor: null, + }), + ]) + .then(([attachedInstruments, currentState, commandsData]) => { + const { tipStates } = currentState.data.data + + const pipetteInfo = validatePipetteInfo( + attachedInstruments?.data.data as PipetteData[] + ) + + const pipetteInfoById = createPipetteInfoById(runRecord, pipetteInfo) + const pipettesWithTipsData = getPipettesWithTipsData( + // eslint-disable-next-line + tipStates, + pipetteInfoById, + commandsData.data.data as RunCommandSummary[] + ) + const pipettesWithTipAndSpecs = filterPipettesWithTips( + pipettesWithTipsData + ) + + setPipettesWithTip(pipettesWithTipAndSpecs) + + if (initialPipettesCount === null) { + setInitialPipettesCount(pipettesWithTipAndSpecs.length) + } + + return Promise.resolve(pipettesWithTipAndSpecs) + }) + .catch(e => { + console.error(`Error during tip status check: ${e.message}`) + return Promise.resolve([]) + }) + }, [host, initialPipettesCount, runId, runRecord]) + + const resetTipStatus = (): void => { + setPipettesWithTip([]) + setInitialPipettesCount(null) + } + + const setTipStatusResolved = ( + onEmptyCache?: () => void, + onTipsDetected?: () => void + ): Promise => { + return new Promise(resolve => { + setPipettesWithTip(prevPipettesWithTip => { + const newState = [...prevPipettesWithTip.slice(1)] + if (newState.length === 0) { + onEmptyCache?.() + } else { + onTipsDetected?.() + } + + resolve(newState[0]) + return newState + }) + }) + } + + return { + areTipsAttached, + determineTipStatus, + resetTipStatus, + aPipetteWithTip, + setTipStatusResolved, + initialPipettesWithTipsCount: initialPipettesCount, + } +} + +// Return good pipettes from instrument data. +const validatePipetteInfo = ( + attachedInstruments: PipetteData[] | null +): PipetteData[] => { + const goodPipetteInfo = + attachedInstruments?.filter( + instr => instr.instrumentType === 'pipette' && instr.ok + ) ?? null + + if (goodPipetteInfo == null) { + throw new Error( + 'Attached instrument pipettes differ from current state pipettes.' + ) + } + + return goodPipetteInfo +} + +// Associate pipette info with a pipette id. +const createPipetteInfoById = ( + runRecord: Run | null, + pipetteInfo: PipetteData[] +): Record => { + const pipetteInfoById: Record = {} + + runRecord?.data.pipettes.forEach(p => { + const pipetteInfoForThisPipette = pipetteInfo.find( + goodPipette => p.mount === goodPipette.mount + ) + if (pipetteInfoForThisPipette != null) { + pipetteInfoById[p.id] = pipetteInfoForThisPipette + } + }) + + return pipetteInfoById +} + +const getPipettesWithTipsData = ( + tipStates: Record, + pipetteInfoById: Record, + commands: RunCommandSummary[] +): PipetteTipState[] => { + return Object.entries(tipStates).map(([pipetteId, tipInfo]) => { + const pipetteInfo = pipetteInfoById[pipetteId] + const specs = getPipetteModelSpecs(pipetteInfo.instrumentModel) + return { + specs, + mount: pipetteInfo.mount, + hasTip: getMightHaveTipGivenCommands(Boolean(tipInfo.hasTip), commands), + } + }) +} + +const PICK_UP_TIP_COMMAND_TYPES: Array = [ + 'pickUpTip', +] as const + +// Sometimes, the robot and the tip status util have different ideas of when tips are attached. +// For example, if a pickUpTip command fails, the robot does not think a tip is attached. However, we want to be +// conservative and prompt drop tip wizard in case there are tips attached unexpectedly. +const getMightHaveTipGivenCommands = ( + hasTip: boolean, + commands: RunCommandSummary[] +): boolean => { + const lastRunProtocolCommand = commands[commands.length - 1] + + if ( + PICK_UP_TIP_COMMAND_TYPES.includes(lastRunProtocolCommand.commandType) || + lastRunProtocolCommand?.error?.errorType === 'tipPhysicallyMissing' + ) { + return true + } else { + return hasTip + } +} + +const filterPipettesWithTips = ( + pipettesWithTipsData: PipetteTipState[] +): PipetteWithTip[] => { + return pipettesWithTipsData.filter( + pipette => pipette.specs != null && pipette.hasTip + ) as PipetteWithTip[] +} From 02a57a12519da1710516da8394480578ac4c1575 Mon Sep 17 00:00:00 2001 From: Caila Marashaj <98041399+caila-marashaj@users.noreply.github.com> Date: Fri, 22 Nov 2024 15:21:58 -0500 Subject: [PATCH 33/57] feat(api): disable pressure sensor capabilities for PEEK pipettes (#16921) --- .../backends/flex_protocol.py | 8 + .../backends/ot3controller.py | 26 +- .../opentrons/hardware_control/dev_types.py | 2 + api/src/opentrons/hardware_control/ot3api.py | 23 ++ .../protocol_api/core/engine/instrument.py | 15 + .../opentrons/protocol_api/core/instrument.py | 4 + .../core/legacy/legacy_instrument_core.py | 3 + .../legacy_instrument_core.py | 3 + .../protocol_api/instrument_context.py | 14 +- .../protocol_engine/commands/liquid_probe.py | 9 + .../resources/pipette_data_provider.py | 9 + .../protocol_engine/state/pipettes.py | 9 + .../backends/test_ot3_controller.py | 38 +++ .../protocol_api/test_instrument_context.py | 2 +- .../commands/test_configure_for_volume.py | 13 +- .../commands/test_liquid_probe.py | 273 +++++++++++++++++- .../commands/test_load_pipette.py | 11 + .../execution/test_equipment_handler.py | 10 + .../resources/test_pipette_data_provider.py | 18 ++ .../state/test_geometry_view.py | 10 + .../state/test_pipette_store.py | 13 + .../state/test_pipette_view.py | 27 +- .../protocol_engine/state/test_tip_state.py | 43 ++- 23 files changed, 574 insertions(+), 9 deletions(-) diff --git a/api/src/opentrons/hardware_control/backends/flex_protocol.py b/api/src/opentrons/hardware_control/backends/flex_protocol.py index 8b81d2c66ef..e5bc7ba1905 100644 --- a/api/src/opentrons/hardware_control/backends/flex_protocol.py +++ b/api/src/opentrons/hardware_control/backends/flex_protocol.py @@ -60,6 +60,14 @@ def restore_system_constraints(self) -> AsyncIterator[None]: def grab_pressure(self, channels: int, mount: OT3Mount) -> AsyncIterator[None]: ... + def set_pressure_sensor_available( + self, pipette_axis: Axis, available: bool + ) -> None: + ... + + def get_pressure_sensor_available(self, pipette_axis: Axis) -> bool: + ... + def update_constraints_for_gantry_load(self, gantry_load: GantryLoad) -> None: ... diff --git a/api/src/opentrons/hardware_control/backends/ot3controller.py b/api/src/opentrons/hardware_control/backends/ot3controller.py index 87f886f1c74..a7c30677910 100644 --- a/api/src/opentrons/hardware_control/backends/ot3controller.py +++ b/api/src/opentrons/hardware_control/backends/ot3controller.py @@ -198,6 +198,7 @@ PipetteLiquidNotFoundError, CommunicationError, PythonException, + UnsupportedHardwareCommand, ) from .subsystem_manager import SubsystemManager @@ -363,6 +364,7 @@ def __init__( self._configuration.motion_settings, GantryLoad.LOW_THROUGHPUT ) ) + self._pressure_sensor_available: Dict[NodeId, bool] = {} @asynccontextmanager async def restore_system_constraints(self) -> AsyncIterator[None]: @@ -381,6 +383,16 @@ async def grab_pressure( async with grab_pressure(channels, tool, self._messenger): yield + def set_pressure_sensor_available( + self, pipette_axis: Axis, available: bool + ) -> None: + pip_node = axis_to_node(pipette_axis) + self._pressure_sensor_available[pip_node] = available + + def get_pressure_sensor_available(self, pipette_axis: Axis) -> bool: + pip_node = axis_to_node(pipette_axis) + return self._pressure_sensor_available[pip_node] + def update_constraints_for_calibration_with_gantry_load( self, gantry_load: GantryLoad, @@ -775,7 +787,8 @@ async def _runner_coroutine( for runner, is_gear_move in maybe_runners if runner ] - async with self._monitor_overpressure(pipettes_moving): + checked_moving_pipettes = self._pipettes_to_monitor_pressure(pipettes_moving) + async with self._monitor_overpressure(checked_moving_pipettes): all_positions = await asyncio.gather(*coros) for positions, handle_gear_move in all_positions: @@ -884,7 +897,8 @@ async def home( moving_pipettes = [ axis_to_node(ax) for ax in checked_axes if ax in Axis.pipette_axes() ] - async with self._monitor_overpressure(moving_pipettes): + checked_moving_pipettes = self._pipettes_to_monitor_pressure(moving_pipettes) + async with self._monitor_overpressure(checked_moving_pipettes): positions = await asyncio.gather(*coros) # TODO(CM): default gear motor homing routine to have some acceleration if Axis.Q in checked_axes: @@ -899,6 +913,9 @@ async def home( self._handle_motor_status_response(position) return axis_convert(self._position, 0.0) + def _pipettes_to_monitor_pressure(self, pipettes: List[NodeId]) -> List[NodeId]: + return [pip for pip in pipettes if self._pressure_sensor_available[pip]] + def _filter_move_group(self, move_group: MoveGroup) -> MoveGroup: new_group: MoveGroup = [] for step in move_group: @@ -1486,6 +1503,11 @@ async def liquid_probe( ) -> float: head_node = axis_to_node(Axis.by_mount(mount)) tool = sensor_node_for_pipette(OT3Mount(mount.value)) + if tool not in self._pipettes_to_monitor_pressure([tool]): + raise UnsupportedHardwareCommand( + "Liquid Presence Detection not available on this pipette." + ) + positions = await liquid_probe( messenger=self._messenger, tool=tool, diff --git a/api/src/opentrons/hardware_control/dev_types.py b/api/src/opentrons/hardware_control/dev_types.py index 575a5e612d9..981e95e114e 100644 --- a/api/src/opentrons/hardware_control/dev_types.py +++ b/api/src/opentrons/hardware_control/dev_types.py @@ -20,6 +20,7 @@ PipetteConfigurations, SupportedTipsDefinition, PipetteBoundingBoxOffsetDefinition, + AvailableSensorDefinition, ) from opentrons_shared_data.gripper import ( GripperModel, @@ -102,6 +103,7 @@ class PipetteDict(InstrumentDict): lld_settings: Optional[Dict[str, Dict[str, float]]] plunger_positions: Dict[str, float] shaft_ul_per_mm: float + available_sensors: AvailableSensorDefinition class PipetteStateDict(TypedDict): diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py index de2de9ae9ab..af170484150 100644 --- a/api/src/opentrons/hardware_control/ot3api.py +++ b/api/src/opentrons/hardware_control/ot3api.py @@ -32,6 +32,7 @@ ) from opentrons_shared_data.pipette import ( pipette_load_name_conversions as pipette_load_name, + pipette_definition, ) from opentrons_shared_data.robot.types import RobotType @@ -634,8 +635,13 @@ async def cache_pipette( self._feature_flags.use_old_aspiration_functions, ) self._pipette_handler.hardware_instruments[mount] = p + if self._pipette_handler.has_pipette(mount): self._confirm_pipette_motion_constraints(mount) + + if config is not None: + self._set_pressure_sensor_available(mount, instrument_config=config) + # TODO (lc 12-5-2022) Properly support backwards compatibility # when applicable return skipped @@ -649,6 +655,23 @@ def _confirm_pipette_motion_constraints( mount, self.gantry_load ) + def get_pressure_sensor_available(self, mount: OT3Mount) -> bool: + pip_axis = Axis.of_main_tool_actuator(mount) + return self._backend.get_pressure_sensor_available(pip_axis) + + def _set_pressure_sensor_available( + self, + mount: OT3Mount, + instrument_config: pipette_definition.PipetteConfigurations, + ) -> None: + pressure_sensor_available = ( + "pressure" in instrument_config.available_sensors.sensors + ) + pip_axis = Axis.of_main_tool_actuator(mount) + self._backend.set_pressure_sensor_available( + pipette_axis=pip_axis, available=pressure_sensor_available + ) + async def cache_gripper(self, instrument_data: AttachedGripper) -> bool: """Set up gripper based on scanned information.""" grip_cal = load_gripper_calibration_offset(instrument_data.get("id")) diff --git a/api/src/opentrons/protocol_api/core/engine/instrument.py b/api/src/opentrons/protocol_api/core/engine/instrument.py index 2f172c8cda2..8fc707541f0 100644 --- a/api/src/opentrons/protocol_api/core/engine/instrument.py +++ b/api/src/opentrons/protocol_api/core/engine/instrument.py @@ -32,6 +32,9 @@ from opentrons.protocol_engine.clients import SyncClient as EngineClient from opentrons.protocols.api_support.definitions import MAX_SUPPORTED_VERSION from opentrons_shared_data.pipette.types import PipetteNameType +from opentrons_shared_data.errors.exceptions import ( + UnsupportedHardwareCommand, +) from opentrons.protocol_api._nozzle_layout import NozzleLayout from . import overlap_versions, pipette_movement_conflict @@ -85,6 +88,13 @@ def __init__( self._liquid_presence_detection = bool( self._engine_client.state.pipettes.get_liquid_presence_detection(pipette_id) ) + if ( + self._liquid_presence_detection + and not self._pressure_supported_by_pipette() + ): + raise UnsupportedHardwareCommand( + "Pressure sensor not available for this pipette" + ) @property def pipette_id(self) -> str: @@ -859,6 +869,11 @@ def retract(self) -> None: z_axis = self._engine_client.state.pipettes.get_z_axis(self._pipette_id) self._engine_client.execute_command(cmd.HomeParams(axes=[z_axis])) + def _pressure_supported_by_pipette(self) -> bool: + return self._engine_client.state.pipettes.get_pipette_supports_pressure( + self.pipette_id + ) + def detect_liquid_presence(self, well_core: WellCore, loc: Location) -> bool: labware_id = well_core.labware_id well_name = well_core.get_name() diff --git a/api/src/opentrons/protocol_api/core/instrument.py b/api/src/opentrons/protocol_api/core/instrument.py index d17ab43dd4f..f110bde928d 100644 --- a/api/src/opentrons/protocol_api/core/instrument.py +++ b/api/src/opentrons/protocol_api/core/instrument.py @@ -260,6 +260,10 @@ def get_blow_out_flow_rate(self, rate: float = 1.0) -> float: def get_liquid_presence_detection(self) -> bool: ... + @abstractmethod + def _pressure_supported_by_pipette(self) -> bool: + ... + @abstractmethod def set_liquid_presence_detection(self, enable: bool) -> None: ... diff --git a/api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py b/api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py index 90a8a05c6da..76d49b40557 100644 --- a/api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py +++ b/api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py @@ -586,6 +586,9 @@ def liquid_probe_without_recovery( """This will never be called because it was added in API 2.20.""" assert False, "liquid_probe_without_recovery only supported in API 2.20 & later" + def _pressure_supported_by_pipette(self) -> bool: + return False + def nozzle_configuration_valid_for_lld(self) -> bool: """Check if the nozzle configuration currently supports LLD.""" return False diff --git a/api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py b/api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py index 66c33aae511..f55bf05c447 100644 --- a/api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py +++ b/api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py @@ -504,6 +504,9 @@ def liquid_probe_without_recovery( """This will never be called because it was added in API 2.20.""" assert False, "liquid_probe_without_recovery only supported in API 2.20 & later" + def _pressure_supported_by_pipette(self) -> bool: + return False + def nozzle_configuration_valid_for_lld(self) -> bool: """Check if the nozzle configuration currently supports LLD.""" return False diff --git a/api/src/opentrons/protocol_api/instrument_context.py b/api/src/opentrons/protocol_api/instrument_context.py index a8d0a4b5765..7cc2d43bac2 100644 --- a/api/src/opentrons/protocol_api/instrument_context.py +++ b/api/src/opentrons/protocol_api/instrument_context.py @@ -6,6 +6,7 @@ CommandPreconditionViolated, CommandParameterLimitViolated, UnexpectedTipRemovalError, + UnsupportedHardwareCommand, ) from opentrons.legacy_broker import LegacyBroker from opentrons.hardware_control.dev_types import PipetteDict @@ -259,6 +260,7 @@ def aspirate( and self._core.nozzle_configuration_valid_for_lld() and self._core.get_current_volume() == 0 ): + self._raise_if_pressure_not_supported_by_pipette() self.require_liquid_presence(well=well) with publisher.publish_context( @@ -1705,6 +1707,8 @@ def liquid_presence_detection(self) -> bool: @liquid_presence_detection.setter @requires_version(2, 20) def liquid_presence_detection(self, enable: bool) -> None: + if enable: + self._raise_if_pressure_not_supported_by_pipette() self._core.set_liquid_presence_detection(enable) @property @@ -2141,6 +2145,7 @@ def detect_liquid_presence(self, well: labware.Well) -> bool: .. note:: The pressure sensors for the Flex 8-channel pipette are on channels 1 and 8 (positions A1 and H1). For the Flex 96-channel pipette, the pressure sensors are on channels 1 and 96 (positions A1 and H12). Other channels on multi-channel pipettes do not have sensors and cannot detect liquid. """ + self._raise_if_pressure_not_supported_by_pipette() loc = well.top() return self._core.detect_liquid_presence(well._core, loc) @@ -2153,6 +2158,7 @@ def require_liquid_presence(self, well: labware.Well) -> None: .. note:: The pressure sensors for the Flex 8-channel pipette are on channels 1 and 8 (positions A1 and H1). For the Flex 96-channel pipette, the pressure sensors are on channels 1 and 96 (positions A1 and H12). Other channels on multi-channel pipettes do not have sensors and cannot detect liquid. """ + self._raise_if_pressure_not_supported_by_pipette() loc = well.top() self._core.liquid_probe_with_recovery(well._core, loc) @@ -2166,7 +2172,7 @@ def measure_liquid_height(self, well: labware.Well) -> float: This is intended for Opentrons internal use only and is not a guaranteed API. """ - + self._raise_if_pressure_not_supported_by_pipette() loc = well.top() height = self._core.liquid_probe_without_recovery(well._core, loc) return height @@ -2187,6 +2193,12 @@ def _raise_if_configuration_not_supported_by_pipette( ) # SINGLE, QUADRANT and ALL are supported by all pipettes + def _raise_if_pressure_not_supported_by_pipette(self) -> None: + if not self._core._pressure_supported_by_pipette(): + raise UnsupportedHardwareCommand( + "Pressure sensor not available for this pipette" + ) + def _handle_aspirate_target( self, target: validation.ValidTarget ) -> tuple[types.Location, Optional[labware.Well], Optional[bool]]: diff --git a/api/src/opentrons/protocol_engine/commands/liquid_probe.py b/api/src/opentrons/protocol_engine/commands/liquid_probe.py index b99e6ac11b1..1bf58e8be26 100644 --- a/api/src/opentrons/protocol_engine/commands/liquid_probe.py +++ b/api/src/opentrons/protocol_engine/commands/liquid_probe.py @@ -17,6 +17,7 @@ from opentrons.types import MountType from opentrons_shared_data.errors.exceptions import ( PipetteLiquidNotFoundError, + UnsupportedHardwareCommand, ) from ..types import DeckPoint @@ -119,6 +120,14 @@ async def _execute_common( pipette_id = params.pipetteId labware_id = params.labwareId well_name = params.wellName + if ( + "pressure" + not in state_view.pipettes.get_config(pipette_id).available_sensors.sensors + ): + raise UnsupportedHardwareCommand( + "Pressure sensor not available for this pipette" + ) + if not state_view.pipettes.get_nozzle_configuration_supports_lld(pipette_id): raise TipNotAttachedError( "Either the front right or back left nozzle must have a tip attached to probe liquid height." diff --git a/api/src/opentrons/protocol_engine/resources/pipette_data_provider.py b/api/src/opentrons/protocol_engine/resources/pipette_data_provider.py index 6387bf5dcf1..4df6b0d4d77 100644 --- a/api/src/opentrons/protocol_engine/resources/pipette_data_provider.py +++ b/api/src/opentrons/protocol_engine/resources/pipette_data_provider.py @@ -69,6 +69,7 @@ class LoadedStaticPipetteData: pipette_lld_settings: Optional[Dict[str, Dict[str, float]]] plunger_positions: Dict[str, float] shaft_ul_per_mm: float + available_sensors: pipette_definition.AvailableSensorDefinition class VirtualPipetteDataProvider: @@ -290,6 +291,8 @@ def _get_virtual_pipette_static_config_by_model( # noqa: C901 "drop_tip": plunger_positions.drop_tip, }, shaft_ul_per_mm=config.shaft_ul_per_mm, + available_sensors=config.available_sensors + or pipette_definition.AvailableSensorDefinition(sensors=[]), ) def get_virtual_pipette_static_config( @@ -308,6 +311,11 @@ def get_pipette_static_config( """Get the config for a pipette, given the state/config object from the HW API.""" back_left_offset = pipette_dict["pipette_bounding_box_offsets"].back_left_corner front_right_offset = pipette_dict["pipette_bounding_box_offsets"].front_right_corner + available_sensors = ( + pipette_dict["available_sensors"] + if "available_sensors" in pipette_dict.keys() + else pipette_definition.AvailableSensorDefinition(sensors=[]) + ) return LoadedStaticPipetteData( model=pipette_dict["model"], display_name=pipette_dict["display_name"], @@ -339,6 +347,7 @@ def get_pipette_static_config( pipette_lld_settings=pipette_dict["lld_settings"], plunger_positions=pipette_dict["plunger_positions"], shaft_ul_per_mm=pipette_dict["shaft_ul_per_mm"], + available_sensors=available_sensors, ) diff --git a/api/src/opentrons/protocol_engine/state/pipettes.py b/api/src/opentrons/protocol_engine/state/pipettes.py index d20b8665318..6418f50ee90 100644 --- a/api/src/opentrons/protocol_engine/state/pipettes.py +++ b/api/src/opentrons/protocol_engine/state/pipettes.py @@ -105,6 +105,7 @@ class StaticPipetteConfig: lld_settings: Optional[Dict[str, Dict[str, float]]] plunger_positions: Dict[str, float] shaft_ul_per_mm: float + available_sensors: pipette_definition.AvailableSensorDefinition @dataclasses.dataclass @@ -296,6 +297,7 @@ def _update_pipette_config(self, state_update: update_types.StateUpdate) -> None lld_settings=config.pipette_lld_settings, plunger_positions=config.plunger_positions, shaft_ul_per_mm=config.shaft_ul_per_mm, + available_sensors=config.available_sensors, ) self._state.flow_rates_by_id[ state_update.pipette_config.pipette_id @@ -761,6 +763,13 @@ def get_pipette_bounds_at_specified_move_to_position( pip_front_left_bound, ) + def get_pipette_supports_pressure(self, pipette_id: str) -> bool: + """Return if this pipette supports a pressure sensor.""" + return ( + "pressure" + in self._state.static_config_by_id[pipette_id].available_sensors.sensors + ) + def get_liquid_presence_detection(self, pipette_id: str) -> bool: """Determine if liquid presence detection is enabled for this pipette.""" try: diff --git a/api/tests/opentrons/hardware_control/backends/test_ot3_controller.py b/api/tests/opentrons/hardware_control/backends/test_ot3_controller.py index 1035649b7f5..9c03bed68b2 100644 --- a/api/tests/opentrons/hardware_control/backends/test_ot3_controller.py +++ b/api/tests/opentrons/hardware_control/backends/test_ot3_controller.py @@ -374,6 +374,8 @@ async def test_home_execute( **config ) as mock_runner: present_axes = set(ax for ax in axes if controller.axis_is_present(ax)) + controller.set_pressure_sensor_available(Axis.P_L, True) + controller.set_pressure_sensor_available(Axis.P_R, True) # nothing has been homed assert not controller._motor_status @@ -485,6 +487,8 @@ async def test_home_only_present_devices( homed_position = {} controller._position = starting_position + controller.set_pressure_sensor_available(Axis.P_L, True) + controller.set_pressure_sensor_available(Axis.P_R, True) mock_move_group_run.side_effect = move_group_run_side_effect_home(controller, axes) @@ -729,6 +733,9 @@ async def test_liquid_probe( mock_move_group_run.side_effect = probe_move_group_run_side_effect( head_node, tool_node ) + controller._pipettes_to_monitor_pressure = mock.MagicMock( # type: ignore[method-assign] + return_value=[sensor_node_for_mount(mount)] + ) try: await controller.liquid_probe( mount=mount, @@ -1413,3 +1420,34 @@ async def test_controller_move( assert position == expected_pos assert gear_position == gear_position + + +@pytest.mark.parametrize( + argnames=["axes", "pipette_has_sensor"], + argvalues=[[[Axis.P_L, Axis.P_R], True], [[Axis.P_L, Axis.P_R], False]], +) +async def test_pressure_disable( + controller: OT3Controller, + axes: List[Axis], + mock_present_devices: None, + mock_check_overpressure: None, + pipette_has_sensor: bool, +) -> None: + config = {"run.side_effect": move_group_run_side_effect_home(controller, axes)} + with mock.patch( # type: ignore [call-overload] + "opentrons.hardware_control.backends.ot3controller.MoveGroupRunner", + spec=MoveGroupRunner, + **config + ): + with mock.patch.object(controller, "_monitor_overpressure") as monitor: + controller.set_pressure_sensor_available(Axis.P_L, pipette_has_sensor) + controller.set_pressure_sensor_available(Axis.P_R, True) + + await controller.home(axes, GantryLoad.LOW_THROUGHPUT) + + if pipette_has_sensor: + monitor.assert_called_once_with( + [NodeId.pipette_left, NodeId.pipette_right] + ) + else: + monitor.assert_called_once_with([NodeId.pipette_right]) diff --git a/api/tests/opentrons/protocol_api/test_instrument_context.py b/api/tests/opentrons/protocol_api/test_instrument_context.py index 8282f660a44..1caae624377 100644 --- a/api/tests/opentrons/protocol_api/test_instrument_context.py +++ b/api/tests/opentrons/protocol_api/test_instrument_context.py @@ -85,7 +85,7 @@ def mock_instrument_core(decoy: Decoy) -> InstrumentCore: """Get a mock instrument implementation core.""" instrument_core = decoy.mock(cls=InstrumentCore) decoy.when(instrument_core.get_mount()).then_return(Mount.LEFT) - + decoy.when(instrument_core._pressure_supported_by_pipette()).then_return(True) # we need to add this for the mock of liquid_presence detection to actually work # this replaces the mock with a a property again instrument_core._liquid_presence_detection = False # type: ignore[attr-defined] diff --git a/api/tests/opentrons/protocol_engine/commands/test_configure_for_volume.py b/api/tests/opentrons/protocol_engine/commands/test_configure_for_volume.py index 9be08a0a71b..2d8685109ed 100644 --- a/api/tests/opentrons/protocol_engine/commands/test_configure_for_volume.py +++ b/api/tests/opentrons/protocol_engine/commands/test_configure_for_volume.py @@ -22,10 +22,17 @@ ConfigureForVolumeImplementation, ) from opentrons_shared_data.pipette.types import PipetteNameType +from opentrons_shared_data.pipette.pipette_definition import AvailableSensorDefinition from ..pipette_fixtures import get_default_nozzle_map from opentrons.types import Point +@pytest.fixture +def available_sensors() -> AvailableSensorDefinition: + """Provide a list of sensors.""" + return AvailableSensorDefinition(sensors=["pressure", "capacitive", "environment"]) + + @pytest.mark.parametrize( "data", [ @@ -41,7 +48,10 @@ ], ) async def test_configure_for_volume_implementation( - decoy: Decoy, equipment: EquipmentHandler, data: ConfigureForVolumeParams + decoy: Decoy, + equipment: EquipmentHandler, + data: ConfigureForVolumeParams, + available_sensors: AvailableSensorDefinition, ) -> None: """A ConfigureForVolume command should have an execution implementation.""" subject = ConfigureForVolumeImplementation(equipment=equipment) @@ -70,6 +80,7 @@ async def test_configure_for_volume_implementation( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ) decoy.when( diff --git a/api/tests/opentrons/protocol_engine/commands/test_liquid_probe.py b/api/tests/opentrons/protocol_engine/commands/test_liquid_probe.py index ab46c4b03e2..34b979901aa 100644 --- a/api/tests/opentrons/protocol_engine/commands/test_liquid_probe.py +++ b/api/tests/opentrons/protocol_engine/commands/test_liquid_probe.py @@ -16,9 +16,20 @@ PipetteLiquidNotFoundError, StallOrCollisionDetectedError, ) +from opentrons_shared_data.pipette.pipette_definition import ( + AvailableSensorDefinition, + SupportedTipsDefinition, +) + +from opentrons_shared_data.pipette.types import PipetteNameType from opentrons.protocol_engine.commands.pipetting_common import LiquidNotFoundError from opentrons.protocol_engine.state.state import StateView +from opentrons.protocol_engine.state.pipettes import ( + StaticPipetteConfig, + BoundingNozzlesOffsets, + PipetteBoundingBoxOffsets, +) from opentrons.protocol_engine.state import update_types from opentrons.types import MountType, Point from opentrons.protocol_engine import WellLocation, WellOrigin, WellOffset, DeckPoint @@ -41,6 +52,8 @@ ) from opentrons.protocol_engine.resources.model_utils import ModelUtils +from ..pipette_fixtures import get_default_nozzle_map + EitherImplementationType = Union[ Type[LiquidProbeImplementation], Type[TryLiquidProbeImplementation] ] @@ -49,6 +62,12 @@ EitherResultType = Union[Type[LiquidProbeResult], Type[TryLiquidProbeResult]] +@pytest.fixture +def available_sensors() -> AvailableSensorDefinition: + """Provide a list of sensors.""" + return AvailableSensorDefinition(sensors=["pressure", "capacitive", "environment"]) + + @pytest.fixture( params=[ (LiquidProbeImplementation, LiquidProbeParams, LiquidProbeResult), @@ -108,6 +127,8 @@ async def test_liquid_probe_implementation( params_type: EitherParamsType, result_type: EitherResultType, model_utils: ModelUtils, + available_sensors: AvailableSensorDefinition, + supported_tip_fixture: SupportedTipsDefinition, ) -> None: """It should move to the destination and do a liquid probe there.""" location = WellLocation(origin=WellOrigin.BOTTOM, offset=WellOffset(x=0, y=0, z=1)) @@ -157,6 +178,41 @@ async def test_liquid_probe_implementation( state_view.pipettes.get_nozzle_configuration_supports_lld("abc") ).then_return(True) + decoy.when(state_view.pipettes.get_config("abc")).then_return( + StaticPipetteConfig( + min_volume=1, + max_volume=9001, + channels=1, + model="blah", + display_name="bleh", + serial_number="", + tip_configuration_lookup_table={9001: supported_tip_fixture}, + nominal_tip_overlap={}, + home_position=0, + nozzle_offset_z=0, + bounding_nozzle_offsets=BoundingNozzlesOffsets( + back_left_offset=Point(x=10, y=20, z=30), + front_right_offset=Point(x=40, y=50, z=60), + ), + default_nozzle_map=get_default_nozzle_map(PipetteNameType.P1000_96), + pipette_bounding_box_offsets=PipetteBoundingBoxOffsets( + back_left_corner=Point(x=10, y=20, z=30), + front_right_corner=Point(x=40, y=50, z=60), + front_left_corner=Point(x=10, y=50, z=60), + back_right_corner=Point(x=40, y=20, z=60), + ), + lld_settings={}, + plunger_positions={ + "top": 0.0, + "bottom": 5.0, + "blow_out": 19.0, + "drop_tip": 20.0, + }, + shaft_ul_per_mm=5.0, + available_sensors=available_sensors, + ) + ) + timestamp = datetime(year=2020, month=1, day=2) decoy.when(model_utils.get_timestamp()).then_return(timestamp) @@ -190,6 +246,8 @@ async def test_liquid_not_found_error( subject: EitherImplementation, params_type: EitherParamsType, model_utils: ModelUtils, + available_sensors: AvailableSensorDefinition, + supported_tip_fixture: SupportedTipsDefinition, ) -> None: """It should return a liquid not found error if the hardware API indicates that.""" pipette_id = "pipette-id" @@ -212,7 +270,40 @@ async def test_liquid_not_found_error( ) decoy.when(state_view.pipettes.get_aspirated_volume(pipette_id)).then_return(0) - + decoy.when(state_view.pipettes.get_config("pipette-id")).then_return( + StaticPipetteConfig( + min_volume=1, + max_volume=9001, + channels=1, + model="blah", + display_name="bleh", + serial_number="", + tip_configuration_lookup_table={9001: supported_tip_fixture}, + nominal_tip_overlap={}, + home_position=0, + nozzle_offset_z=0, + bounding_nozzle_offsets=BoundingNozzlesOffsets( + back_left_offset=Point(x=10, y=20, z=30), + front_right_offset=Point(x=40, y=50, z=60), + ), + default_nozzle_map=get_default_nozzle_map(PipetteNameType.P1000_96), + pipette_bounding_box_offsets=PipetteBoundingBoxOffsets( + back_left_corner=Point(x=10, y=20, z=30), + front_right_corner=Point(x=40, y=50, z=60), + front_left_corner=Point(x=10, y=50, z=60), + back_right_corner=Point(x=40, y=20, z=60), + ), + lld_settings={}, + plunger_positions={ + "top": 0.0, + "bottom": 5.0, + "blow_out": 19.0, + "drop_tip": 20.0, + }, + shaft_ul_per_mm=5.0, + available_sensors=available_sensors, + ) + ) decoy.when( await movement.move_to_well( pipette_id=pipette_id, @@ -281,6 +372,8 @@ async def test_liquid_probe_tip_checking( state_view: StateView, subject: EitherImplementation, params_type: EitherParamsType, + available_sensors: AvailableSensorDefinition, + supported_tip_fixture: SupportedTipsDefinition, ) -> None: """It should raise a TipNotAttached error if the state view indicates that.""" pipette_id = "pipette-id" @@ -302,6 +395,40 @@ async def test_liquid_probe_tip_checking( decoy.when(state_view.pipettes.get_aspirated_volume(pipette_id)).then_raise( TipNotAttachedError() ) + decoy.when(state_view.pipettes.get_config("pipette-id")).then_return( + StaticPipetteConfig( + min_volume=1, + max_volume=9001, + channels=1, + model="blah", + display_name="bleh", + serial_number="", + tip_configuration_lookup_table={9001: supported_tip_fixture}, + nominal_tip_overlap={}, + home_position=0, + nozzle_offset_z=0, + bounding_nozzle_offsets=BoundingNozzlesOffsets( + back_left_offset=Point(x=10, y=20, z=30), + front_right_offset=Point(x=40, y=50, z=60), + ), + default_nozzle_map=get_default_nozzle_map(PipetteNameType.P1000_96), + pipette_bounding_box_offsets=PipetteBoundingBoxOffsets( + back_left_corner=Point(x=10, y=20, z=30), + front_right_corner=Point(x=40, y=50, z=60), + front_left_corner=Point(x=10, y=50, z=60), + back_right_corner=Point(x=40, y=20, z=60), + ), + lld_settings={}, + plunger_positions={ + "top": 0.0, + "bottom": 5.0, + "blow_out": 19.0, + "drop_tip": 20.0, + }, + shaft_ul_per_mm=5.0, + available_sensors=available_sensors, + ) + ) with pytest.raises(TipNotAttachedError): await subject.execute(data) @@ -311,6 +438,8 @@ async def test_liquid_probe_plunger_preparedness_checking( state_view: StateView, subject: EitherImplementation, params_type: EitherParamsType, + available_sensors: AvailableSensorDefinition, + supported_tip_fixture: SupportedTipsDefinition, ) -> None: """It should raise a PipetteNotReadyToAspirate error if the state view indicates that.""" pipette_id = "pipette-id" @@ -329,6 +458,40 @@ async def test_liquid_probe_plunger_preparedness_checking( decoy.when( state_view.pipettes.get_nozzle_configuration_supports_lld(pipette_id) ).then_return(True) + decoy.when(state_view.pipettes.get_config("pipette-id")).then_return( + StaticPipetteConfig( + min_volume=1, + max_volume=9001, + channels=1, + model="blah", + display_name="bleh", + serial_number="", + tip_configuration_lookup_table={9001: supported_tip_fixture}, + nominal_tip_overlap={}, + home_position=0, + nozzle_offset_z=0, + bounding_nozzle_offsets=BoundingNozzlesOffsets( + back_left_offset=Point(x=10, y=20, z=30), + front_right_offset=Point(x=40, y=50, z=60), + ), + default_nozzle_map=get_default_nozzle_map(PipetteNameType.P1000_96), + pipette_bounding_box_offsets=PipetteBoundingBoxOffsets( + back_left_corner=Point(x=10, y=20, z=30), + front_right_corner=Point(x=40, y=50, z=60), + front_left_corner=Point(x=10, y=50, z=60), + back_right_corner=Point(x=40, y=20, z=60), + ), + lld_settings={}, + plunger_positions={ + "top": 0.0, + "bottom": 5.0, + "blow_out": 19.0, + "drop_tip": 20.0, + }, + shaft_ul_per_mm=5.0, + available_sensors=available_sensors, + ) + ) decoy.when(state_view.pipettes.get_aspirated_volume(pipette_id)).then_return(None) with pytest.raises(PipetteNotReadyToAspirateError): await subject.execute(data) @@ -339,6 +502,8 @@ async def test_liquid_probe_volume_checking( state_view: StateView, subject: EitherImplementation, params_type: EitherParamsType, + available_sensors: AvailableSensorDefinition, + supported_tip_fixture: SupportedTipsDefinition, ) -> None: """It should return a TipNotEmptyError if the hardware API indicates that.""" pipette_id = "pipette-id" @@ -358,6 +523,40 @@ async def test_liquid_probe_volume_checking( decoy.when( state_view.pipettes.get_aspirated_volume(pipette_id=pipette_id), ).then_return(123) + decoy.when(state_view.pipettes.get_config("pipette-id")).then_return( + StaticPipetteConfig( + min_volume=1, + max_volume=9001, + channels=1, + model="blah", + display_name="bleh", + serial_number="", + tip_configuration_lookup_table={9001: supported_tip_fixture}, + nominal_tip_overlap={}, + home_position=0, + nozzle_offset_z=0, + bounding_nozzle_offsets=BoundingNozzlesOffsets( + back_left_offset=Point(x=10, y=20, z=30), + front_right_offset=Point(x=40, y=50, z=60), + ), + default_nozzle_map=get_default_nozzle_map(PipetteNameType.P1000_96), + pipette_bounding_box_offsets=PipetteBoundingBoxOffsets( + back_left_corner=Point(x=10, y=20, z=30), + front_right_corner=Point(x=40, y=50, z=60), + front_left_corner=Point(x=10, y=50, z=60), + back_right_corner=Point(x=40, y=20, z=60), + ), + lld_settings={}, + plunger_positions={ + "top": 0.0, + "bottom": 5.0, + "blow_out": 19.0, + "drop_tip": 20.0, + }, + shaft_ul_per_mm=5.0, + available_sensors=available_sensors, + ) + ) decoy.when( state_view.pipettes.get_nozzle_configuration_supports_lld(pipette_id) ).then_return(True) @@ -379,6 +578,8 @@ async def test_liquid_probe_location_checking( movement: MovementHandler, subject: EitherImplementation, params_type: EitherParamsType, + available_sensors: AvailableSensorDefinition, + supported_tip_fixture: SupportedTipsDefinition, ) -> None: """It should return a PositionUnkownError if the hardware API indicates that.""" pipette_id = "pipette-id" @@ -395,6 +596,40 @@ async def test_liquid_probe_location_checking( wellLocation=well_location, ) decoy.when(state_view.pipettes.get_aspirated_volume(pipette_id)).then_return(0) + decoy.when(state_view.pipettes.get_config("pipette-id")).then_return( + StaticPipetteConfig( + min_volume=1, + max_volume=9001, + channels=1, + model="blah", + display_name="bleh", + serial_number="", + tip_configuration_lookup_table={9001: supported_tip_fixture}, + nominal_tip_overlap={}, + home_position=0, + nozzle_offset_z=0, + bounding_nozzle_offsets=BoundingNozzlesOffsets( + back_left_offset=Point(x=10, y=20, z=30), + front_right_offset=Point(x=40, y=50, z=60), + ), + default_nozzle_map=get_default_nozzle_map(PipetteNameType.P1000_96), + pipette_bounding_box_offsets=PipetteBoundingBoxOffsets( + back_left_corner=Point(x=10, y=20, z=30), + front_right_corner=Point(x=40, y=50, z=60), + front_left_corner=Point(x=10, y=50, z=60), + back_right_corner=Point(x=40, y=20, z=60), + ), + lld_settings={}, + plunger_positions={ + "top": 0.0, + "bottom": 5.0, + "blow_out": 19.0, + "drop_tip": 20.0, + }, + shaft_ul_per_mm=5.0, + available_sensors=available_sensors, + ) + ) decoy.when( await movement.check_for_valid_position( mount=MountType.LEFT, @@ -415,6 +650,8 @@ async def test_liquid_probe_stall( subject: EitherImplementation, params_type: EitherParamsType, model_utils: ModelUtils, + available_sensors: AvailableSensorDefinition, + supported_tip_fixture: SupportedTipsDefinition, ) -> None: """It should move to the destination and do a liquid probe there.""" location = WellLocation(origin=WellOrigin.BOTTOM, offset=WellOffset(x=0, y=0, z=1)) @@ -429,6 +666,40 @@ async def test_liquid_probe_stall( decoy.when(state_view.pipettes.get_aspirated_volume(pipette_id="abc")).then_return( 0 ) + decoy.when(state_view.pipettes.get_config("abc")).then_return( + StaticPipetteConfig( + min_volume=1, + max_volume=9001, + channels=1, + model="blah", + display_name="bleh", + serial_number="", + tip_configuration_lookup_table={9001: supported_tip_fixture}, + nominal_tip_overlap={}, + home_position=0, + nozzle_offset_z=0, + bounding_nozzle_offsets=BoundingNozzlesOffsets( + back_left_offset=Point(x=10, y=20, z=30), + front_right_offset=Point(x=40, y=50, z=60), + ), + default_nozzle_map=get_default_nozzle_map(PipetteNameType.P1000_96), + pipette_bounding_box_offsets=PipetteBoundingBoxOffsets( + back_left_corner=Point(x=10, y=20, z=30), + front_right_corner=Point(x=40, y=50, z=60), + front_left_corner=Point(x=10, y=50, z=60), + back_right_corner=Point(x=40, y=20, z=60), + ), + lld_settings={}, + plunger_positions={ + "top": 0.0, + "bottom": 5.0, + "blow_out": 19.0, + "drop_tip": 20.0, + }, + shaft_ul_per_mm=5.0, + available_sensors=available_sensors, + ) + ) decoy.when( state_view.pipettes.get_nozzle_configuration_supports_lld("abc") ).then_return(True) diff --git a/api/tests/opentrons/protocol_engine/commands/test_load_pipette.py b/api/tests/opentrons/protocol_engine/commands/test_load_pipette.py index 570666e9c98..a251c6aef1f 100644 --- a/api/tests/opentrons/protocol_engine/commands/test_load_pipette.py +++ b/api/tests/opentrons/protocol_engine/commands/test_load_pipette.py @@ -10,6 +10,7 @@ from opentrons_shared_data.pipette.types import PipetteNameType from opentrons_shared_data.robot.types import RobotType +from opentrons_shared_data.pipette.pipette_definition import AvailableSensorDefinition from opentrons.types import MountType, Point from opentrons.protocol_engine.errors import InvalidSpecificationForRobotTypeError @@ -28,6 +29,12 @@ from ..pipette_fixtures import get_default_nozzle_map +@pytest.fixture +def available_sensors() -> AvailableSensorDefinition: + """Provide a list of sensors.""" + return AvailableSensorDefinition(sensors=["pressure", "capacitive", "environment"]) + + @pytest.mark.parametrize( "data", [ @@ -49,6 +56,7 @@ async def test_load_pipette_implementation( equipment: EquipmentHandler, state_view: StateView, data: LoadPipetteParams, + available_sensors: AvailableSensorDefinition, ) -> None: """A LoadPipette command should have an execution implementation.""" subject = LoadPipetteImplementation(equipment=equipment, state_view=state_view) @@ -76,6 +84,7 @@ async def test_load_pipette_implementation( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ) decoy.when( @@ -118,6 +127,7 @@ async def test_load_pipette_implementation_96_channel( decoy: Decoy, equipment: EquipmentHandler, state_view: StateView, + available_sensors: AvailableSensorDefinition, ) -> None: """A LoadPipette command should have an execution implementation.""" subject = LoadPipetteImplementation(equipment=equipment, state_view=state_view) @@ -151,6 +161,7 @@ async def test_load_pipette_implementation_96_channel( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ) decoy.when( diff --git a/api/tests/opentrons/protocol_engine/execution/test_equipment_handler.py b/api/tests/opentrons/protocol_engine/execution/test_equipment_handler.py index 3ee027c24c1..39208184754 100644 --- a/api/tests/opentrons/protocol_engine/execution/test_equipment_handler.py +++ b/api/tests/opentrons/protocol_engine/execution/test_equipment_handler.py @@ -69,6 +69,14 @@ def _make_config(use_virtual_modules: bool) -> Config: ) +@pytest.fixture +def available_sensors() -> pipette_definition.AvailableSensorDefinition: + """Provide a list of sensors.""" + return pipette_definition.AvailableSensorDefinition( + sensors=["pressure", "capacitive", "environment"] + ) + + @pytest.fixture(autouse=True) def patch_mock_pipette_data_provider( decoy: Decoy, @@ -133,6 +141,7 @@ def tip_overlap_versions(request: SubRequest) -> str: def loaded_static_pipette_data( supported_tip_fixture: pipette_definition.SupportedTipsDefinition, target_tip_overlap_data: Dict[str, float], + available_sensors: pipette_definition.AvailableSensorDefinition, ) -> LoadedStaticPipetteData: """Get a pipette config data value object.""" return LoadedStaticPipetteData( @@ -161,6 +170,7 @@ def loaded_static_pipette_data( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ) diff --git a/api/tests/opentrons/protocol_engine/resources/test_pipette_data_provider.py b/api/tests/opentrons/protocol_engine/resources/test_pipette_data_provider.py index cbf7fa6174e..ae3d78d2230 100644 --- a/api/tests/opentrons/protocol_engine/resources/test_pipette_data_provider.py +++ b/api/tests/opentrons/protocol_engine/resources/test_pipette_data_provider.py @@ -7,6 +7,7 @@ from opentrons_shared_data.pipette.pipette_definition import ( PipetteBoundingBoxOffsetDefinition, TIP_OVERLAP_VERSION_MAXIMUM, + AvailableSensorDefinition, ) from opentrons.hardware_control.dev_types import PipetteDict @@ -24,6 +25,12 @@ from opentrons.types import Point +@pytest.fixture +def available_sensors() -> AvailableSensorDefinition: + """Provide a list of sensors.""" + return AvailableSensorDefinition(sensors=["pressure", "capacitive", "environment"]) + + @pytest.fixture def subject_instance() -> VirtualPipetteDataProvider: """Instance of a VirtualPipetteDataProvider for test.""" @@ -32,6 +39,7 @@ def subject_instance() -> VirtualPipetteDataProvider: def test_get_virtual_pipette_static_config( subject_instance: VirtualPipetteDataProvider, + available_sensors: AvailableSensorDefinition, ) -> None: """It should return config data given a pipette name.""" result = subject_instance.get_virtual_pipette_static_config( @@ -72,11 +80,13 @@ def test_get_virtual_pipette_static_config( "drop_tip": -27.0, }, shaft_ul_per_mm=0.785, + available_sensors=AvailableSensorDefinition(sensors=[]), ) def test_configure_virtual_pipette_for_volume( subject_instance: VirtualPipetteDataProvider, + available_sensors: AvailableSensorDefinition, ) -> None: """It should return an updated config if the liquid class changes.""" result1 = subject_instance.get_virtual_pipette_static_config( @@ -108,6 +118,7 @@ def test_configure_virtual_pipette_for_volume( "drop_tip": 90.5, }, shaft_ul_per_mm=0.785, + available_sensors=available_sensors, ) subject_instance.configure_virtual_pipette_for_volume( "my-pipette", 1, result1.model @@ -141,11 +152,13 @@ def test_configure_virtual_pipette_for_volume( "drop_tip": 90.5, }, shaft_ul_per_mm=0.785, + available_sensors=available_sensors, ) def test_load_virtual_pipette_by_model_string( subject_instance: VirtualPipetteDataProvider, + available_sensors: AvailableSensorDefinition, ) -> None: """It should return config data given a pipette model.""" result = subject_instance.get_virtual_pipette_static_config_by_model_string( @@ -177,6 +190,7 @@ def test_load_virtual_pipette_by_model_string( "drop_tip": -33.4, }, shaft_ul_per_mm=9.621, + available_sensors=AvailableSensorDefinition(sensors=[]), ) @@ -221,6 +235,7 @@ def test_load_virtual_pipette_nozzle_layout( @pytest.fixture def pipette_dict( supported_tip_fixture: pipette_definition.SupportedTipsDefinition, + available_sensors: AvailableSensorDefinition, ) -> PipetteDict: """Get a pipette dict.""" return { @@ -276,6 +291,7 @@ def pipette_dict( }, "plunger_positions": {"top": 100, "bottom": 20, "blow_out": 10, "drop_tip": 0}, "shaft_ul_per_mm": 5.0, + "available_sensors": available_sensors, } @@ -293,6 +309,7 @@ def test_get_pipette_static_config( pipette_dict: PipetteDict, tip_overlap_version: str, overlap_data: Dict[str, float], + available_sensors: AvailableSensorDefinition, ) -> None: """It should return config data given a PipetteDict.""" result = subject.get_pipette_static_config(pipette_dict, tip_overlap_version) @@ -324,6 +341,7 @@ def test_get_pipette_static_config( }, plunger_positions={"top": 100, "bottom": 20, "blow_out": 10, "drop_tip": 0}, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ) diff --git a/api/tests/opentrons/protocol_engine/state/test_geometry_view.py b/api/tests/opentrons/protocol_engine/state/test_geometry_view.py index abfb31f5f2a..b145458649d 100644 --- a/api/tests/opentrons/protocol_engine/state/test_geometry_view.py +++ b/api/tests/opentrons/protocol_engine/state/test_geometry_view.py @@ -101,6 +101,14 @@ from ...protocol_runner.test_json_translator import _load_labware_definition_data +@pytest.fixture +def available_sensors() -> pipette_definition.AvailableSensorDefinition: + """Provide a list of sensors.""" + return pipette_definition.AvailableSensorDefinition( + sensors=["pressure", "capacitive", "environment"] + ) + + @pytest.fixture def mock_labware_view(decoy: Decoy) -> LabwareView: """Get a mock in the shape of a LabwareView.""" @@ -2575,6 +2583,7 @@ def test_get_next_drop_tip_location( pipette_mount: MountType, expected_locations: List[DropTipWellLocation], supported_tip_fixture: pipette_definition.SupportedTipsDefinition, + available_sensors: pipette_definition.AvailableSensorDefinition, ) -> None: """It should provide the next location to drop tips into within a labware.""" decoy.when(mock_labware_view.is_fixed_trash(labware_id="abc")).then_return(True) @@ -2618,6 +2627,7 @@ def test_get_next_drop_tip_location( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ) ) decoy.when(mock_pipette_view.get_mount("pip-123")).then_return(pipette_mount) diff --git a/api/tests/opentrons/protocol_engine/state/test_pipette_store.py b/api/tests/opentrons/protocol_engine/state/test_pipette_store.py index 60c857e4911..e88f7886b81 100644 --- a/api/tests/opentrons/protocol_engine/state/test_pipette_store.py +++ b/api/tests/opentrons/protocol_engine/state/test_pipette_store.py @@ -53,6 +53,14 @@ from ..pipette_fixtures import get_default_nozzle_map +@pytest.fixture +def available_sensors() -> pipette_definition.AvailableSensorDefinition: + """Provide a list of sensors.""" + return pipette_definition.AvailableSensorDefinition( + sensors=["pressure", "capacitive", "environment"] + ) + + @pytest.fixture def subject() -> PipetteStore: """Get a PipetteStore test subject for all subsequent tests.""" @@ -190,6 +198,7 @@ def test_location_state_update(subject: PipetteStore) -> None: def test_handles_load_pipette( subject: PipetteStore, supported_tip_fixture: pipette_definition.SupportedTipsDefinition, + available_sensors: pipette_definition.AvailableSensorDefinition, ) -> None: """It should add the pipette data to the state.""" dummy_command = create_succeeded_command() @@ -227,6 +236,7 @@ def test_handles_load_pipette( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ) config_update = update_types.PipetteConfigUpdate( pipette_id="pipette-id", @@ -752,6 +762,7 @@ def test_set_movement_speed(subject: PipetteStore) -> None: def test_add_pipette_config( subject: PipetteStore, supported_tip_fixture: pipette_definition.SupportedTipsDefinition, + available_sensors: pipette_definition.AvailableSensorDefinition, ) -> None: """It should update state from any pipette config private result.""" command = cmd.LoadPipette.construct( # type: ignore[call-arg] @@ -786,6 +797,7 @@ def test_add_pipette_config( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ) subject.handle_action( @@ -831,6 +843,7 @@ def test_add_pipette_config( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ) assert subject.state.flow_rates_by_id["pipette-id"].default_aspirate == {"a": 1.0} assert subject.state.flow_rates_by_id["pipette-id"].default_dispense == {"b": 2.0} diff --git a/api/tests/opentrons/protocol_engine/state/test_pipette_view.py b/api/tests/opentrons/protocol_engine/state/test_pipette_view.py index 14c43bf70f6..c3addf9f1d7 100644 --- a/api/tests/opentrons/protocol_engine/state/test_pipette_view.py +++ b/api/tests/opentrons/protocol_engine/state/test_pipette_view.py @@ -9,7 +9,10 @@ from opentrons_shared_data.pipette.types import PipetteNameType from opentrons_shared_data.pipette import pipette_definition -from opentrons_shared_data.pipette.pipette_definition import ValidNozzleMaps +from opentrons_shared_data.pipette.pipette_definition import ( + ValidNozzleMaps, + AvailableSensorDefinition, +) from opentrons.config.defaults_ot2 import Z_RETRACT_DISTANCE from opentrons.hardware_control import CriticalPoint @@ -58,6 +61,12 @@ ) +@pytest.fixture +def available_sensors() -> AvailableSensorDefinition: + """Provide a list of sensors.""" + return AvailableSensorDefinition(sensors=["pressure", "capacitive", "environment"]) + + def get_pipette_view( pipettes_by_id: Optional[Dict[str, LoadedPipette]] = None, current_well: Optional[CurrentPipetteLocation] = None, @@ -269,6 +278,7 @@ def test_get_aspirated_volume(decoy: Decoy) -> None: def test_get_pipette_working_volume( supported_tip_fixture: pipette_definition.SupportedTipsDefinition, + available_sensors: AvailableSensorDefinition, ) -> None: """It should get the minimum value of tip volume and max volume.""" subject = get_pipette_view( @@ -298,6 +308,7 @@ def test_get_pipette_working_volume( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ) }, ) @@ -307,6 +318,7 @@ def test_get_pipette_working_volume( def test_get_pipette_working_volume_raises_if_tip_volume_is_none( supported_tip_fixture: pipette_definition.SupportedTipsDefinition, + available_sensors: AvailableSensorDefinition, ) -> None: """Should raise an exception that no tip is attached.""" subject = get_pipette_view( @@ -336,6 +348,7 @@ def test_get_pipette_working_volume_raises_if_tip_volume_is_none( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ) }, ) @@ -348,7 +361,9 @@ def test_get_pipette_working_volume_raises_if_tip_volume_is_none( def test_get_pipette_available_volume( - supported_tip_fixture: pipette_definition.SupportedTipsDefinition, decoy: Decoy + supported_tip_fixture: pipette_definition.SupportedTipsDefinition, + decoy: Decoy, + available_sensors: AvailableSensorDefinition, ) -> None: """It should get the available volume for a pipette.""" stack = decoy.mock(cls=fluid_stack.FluidStack) @@ -385,6 +400,7 @@ def test_get_pipette_available_volume( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ), "pipette-id-none": StaticPipetteConfig( min_volume=1, @@ -408,6 +424,7 @@ def test_get_pipette_available_volume( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ), }, ) @@ -503,6 +520,7 @@ def test_get_deck_point( def test_get_static_config( supported_tip_fixture: pipette_definition.SupportedTipsDefinition, + available_sensors: AvailableSensorDefinition, ) -> None: """It should return the static pipette configuration that was set for the given pipette.""" config = StaticPipetteConfig( @@ -527,6 +545,7 @@ def test_get_static_config( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ) subject = get_pipette_view( @@ -558,6 +577,7 @@ def test_get_static_config( def test_get_nominal_tip_overlap( supported_tip_fixture: pipette_definition.SupportedTipsDefinition, + available_sensors: AvailableSensorDefinition, ) -> None: """It should return the static pipette configuration that was set for the given pipette.""" config = StaticPipetteConfig( @@ -585,6 +605,7 @@ def test_get_nominal_tip_overlap( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ) subject = get_pipette_view(static_config_by_id={"pipette-id": config}) @@ -986,6 +1007,7 @@ def test_get_pipette_bounds_at_location( destination_position: Point, critical_point: Optional[CriticalPoint], pipette_bounds_result: Tuple[Point, Point, Point, Point], + available_sensors: AvailableSensorDefinition, ) -> None: """It should get the pipette's nozzle's bounds at the given location.""" subject = get_pipette_view( @@ -1016,6 +1038,7 @@ def test_get_pipette_bounds_at_location( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ) }, ) diff --git a/api/tests/opentrons/protocol_engine/state/test_tip_state.py b/api/tests/opentrons/protocol_engine/state/test_tip_state.py index 8abcc6a24e2..7a958a37e5f 100644 --- a/api/tests/opentrons/protocol_engine/state/test_tip_state.py +++ b/api/tests/opentrons/protocol_engine/state/test_tip_state.py @@ -22,6 +22,9 @@ ) from opentrons.types import DeckSlotName, Point from opentrons_shared_data.pipette.types import PipetteNameType +from opentrons_shared_data.pipette.pipette_definition import ( + AvailableSensorDefinition, +) from ..pipette_fixtures import ( NINETY_SIX_MAP, NINETY_SIX_COLS, @@ -32,6 +35,12 @@ _tip_rack_parameters = LabwareParameters.construct(isTiprack=True) # type: ignore[call-arg] +@pytest.fixture +def available_sensors() -> AvailableSensorDefinition: + """Provide a list of sensors.""" + return AvailableSensorDefinition(sensors=["pressure", "capacitive", "environment"]) + + @pytest.fixture def subject() -> TipStore: """Get a TipStore test subject.""" @@ -94,6 +103,7 @@ def test_get_next_tip_returns_none( load_labware_action: actions.SucceedCommandAction, subject: TipStore, supported_tip_fixture: pipette_definition.SupportedTipsDefinition, + available_sensors: AvailableSensorDefinition, ) -> None: """It should start at the first tip in the labware.""" subject.handle_action(load_labware_action) @@ -126,6 +136,7 @@ def test_get_next_tip_returns_none( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ), ) subject.handle_action( @@ -151,6 +162,7 @@ def test_get_next_tip_returns_first_tip( subject: TipStore, input_tip_amount: int, supported_tip_fixture: pipette_definition.SupportedTipsDefinition, + available_sensors: AvailableSensorDefinition, ) -> None: """It should start at the first tip in the labware.""" subject.handle_action(load_labware_action) @@ -191,6 +203,7 @@ def test_get_next_tip_returns_first_tip( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ), ) subject.handle_action( @@ -217,6 +230,7 @@ def test_get_next_tip_used_starting_tip( input_tip_amount: int, result_well_name: str, supported_tip_fixture: pipette_definition.SupportedTipsDefinition, + available_sensors: AvailableSensorDefinition, ) -> None: """It should start searching at the given starting tip.""" subject.handle_action(load_labware_action) @@ -250,6 +264,7 @@ def test_get_next_tip_used_starting_tip( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ), ) subject.handle_action( @@ -291,6 +306,7 @@ def test_get_next_tip_skips_picked_up_tip( input_starting_tip: Optional[str], result_well_name: Optional[str], supported_tip_fixture: pipette_definition.SupportedTipsDefinition, + available_sensors: AvailableSensorDefinition, ) -> None: """It should get the next tip in the column if one has been picked up.""" subject.handle_action(load_labware_action) @@ -342,6 +358,7 @@ def test_get_next_tip_skips_picked_up_tip( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ), ) subject.handle_action( @@ -379,6 +396,7 @@ def test_get_next_tip_with_starting_tip( subject: TipStore, load_labware_action: actions.SucceedCommandAction, supported_tip_fixture: pipette_definition.SupportedTipsDefinition, + available_sensors: AvailableSensorDefinition, ) -> None: """It should return the starting tip, and then the following tip after that.""" subject.handle_action(load_labware_action) @@ -412,6 +430,7 @@ def test_get_next_tip_with_starting_tip( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ), ) subject.handle_action( @@ -453,6 +472,7 @@ def test_get_next_tip_with_starting_tip_8_channel( subject: TipStore, load_labware_action: actions.SucceedCommandAction, supported_tip_fixture: pipette_definition.SupportedTipsDefinition, + available_sensors: AvailableSensorDefinition, ) -> None: """It should return the starting tip, and then the following tip after that.""" subject.handle_action(load_labware_action) @@ -486,6 +506,7 @@ def test_get_next_tip_with_starting_tip_8_channel( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ), ) subject.handle_action( @@ -530,6 +551,7 @@ def test_get_next_tip_with_1_channel_followed_by_8_channel( subject: TipStore, load_labware_action: actions.SucceedCommandAction, supported_tip_fixture: pipette_definition.SupportedTipsDefinition, + available_sensors: AvailableSensorDefinition, ) -> None: """It should return the first tip of column 2 for the 8 channel after performing a single tip pickup on column 1.""" subject.handle_action(load_labware_action) @@ -563,6 +585,7 @@ def test_get_next_tip_with_1_channel_followed_by_8_channel( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ), ) subject.handle_action( @@ -601,6 +624,7 @@ def test_get_next_tip_with_1_channel_followed_by_8_channel( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ), ) subject.handle_action( @@ -645,6 +669,7 @@ def test_get_next_tip_with_starting_tip_out_of_tips( subject: TipStore, load_labware_action: actions.SucceedCommandAction, supported_tip_fixture: pipette_definition.SupportedTipsDefinition, + available_sensors: AvailableSensorDefinition, ) -> None: """It should return the starting tip of H12 and then None after that.""" subject.handle_action(load_labware_action) @@ -678,6 +703,7 @@ def test_get_next_tip_with_starting_tip_out_of_tips( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ), ) subject.handle_action( @@ -722,6 +748,7 @@ def test_get_next_tip_with_column_and_starting_tip( subject: TipStore, load_labware_action: actions.SucceedCommandAction, supported_tip_fixture: pipette_definition.SupportedTipsDefinition, + available_sensors: AvailableSensorDefinition, ) -> None: """It should return the first tip in a column, taking starting tip into account.""" subject.handle_action(load_labware_action) @@ -755,6 +782,7 @@ def test_get_next_tip_with_column_and_starting_tip( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ), ) subject.handle_action( @@ -778,6 +806,7 @@ def test_reset_tips( subject: TipStore, load_labware_action: actions.SucceedCommandAction, supported_tip_fixture: pipette_definition.SupportedTipsDefinition, + available_sensors: AvailableSensorDefinition, ) -> None: """It should be able to reset tip tracking state.""" subject.handle_action(load_labware_action) @@ -811,6 +840,7 @@ def test_reset_tips( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ), ) @@ -848,7 +878,9 @@ def get_result() -> str | None: def test_handle_pipette_config_action( - subject: TipStore, supported_tip_fixture: pipette_definition.SupportedTipsDefinition + subject: TipStore, + supported_tip_fixture: pipette_definition.SupportedTipsDefinition, + available_sensors: AvailableSensorDefinition, ) -> None: """Should add pipette channel to state.""" config_update = update_types.PipetteConfigUpdate( @@ -880,6 +912,7 @@ def test_handle_pipette_config_action( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ), ) subject.handle_action( @@ -988,6 +1021,7 @@ def test_active_channels( supported_tip_fixture: pipette_definition.SupportedTipsDefinition, nozzle_map: NozzleMap, expected_channels: int, + available_sensors: AvailableSensorDefinition, ) -> None: """Should update active channels after pipette configuration change.""" # Load pipette to update state @@ -1020,6 +1054,7 @@ def test_active_channels( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ), ) subject.handle_action( @@ -1052,6 +1087,7 @@ def test_next_tip_uses_active_channels( subject: TipStore, supported_tip_fixture: pipette_definition.SupportedTipsDefinition, load_labware_action: actions.SucceedCommandAction, + available_sensors: AvailableSensorDefinition, ) -> None: """Test that tip tracking logic uses pipette's active channels.""" # Load labware @@ -1087,6 +1123,7 @@ def test_next_tip_uses_active_channels( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ), ) subject.handle_action( @@ -1157,6 +1194,7 @@ def test_next_tip_automatic_tip_tracking_with_partial_configurations( subject: TipStore, supported_tip_fixture: pipette_definition.SupportedTipsDefinition, load_labware_action: actions.SucceedCommandAction, + available_sensors: AvailableSensorDefinition, ) -> None: """Test tip tracking logic using multiple pipette configurations.""" # Load labware @@ -1192,6 +1230,7 @@ def test_next_tip_automatic_tip_tracking_with_partial_configurations( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ), ) subject.handle_action( @@ -1316,6 +1355,7 @@ def test_next_tip_automatic_tip_tracking_tiprack_limits( subject: TipStore, supported_tip_fixture: pipette_definition.SupportedTipsDefinition, load_labware_action: actions.SucceedCommandAction, + available_sensors: AvailableSensorDefinition, ) -> None: """Test tip tracking logic to ensure once a tiprack is consumed it returns None when consuming tips using multiple pipette configurations.""" # Load labware @@ -1351,6 +1391,7 @@ def test_next_tip_automatic_tip_tracking_tiprack_limits( "drop_tip": 20.0, }, shaft_ul_per_mm=5.0, + available_sensors=available_sensors, ), ) subject.handle_action( From 6297c7b7181b0cd28e0a669d8e651219c1f66b49 Mon Sep 17 00:00:00 2001 From: Nick Diehl <47604184+ncdiehl11@users.noreply.github.com> Date: Fri, 22 Nov 2024 15:22:53 -0500 Subject: [PATCH 34/57] fix(protocol-designer): fix layout for ProtocolSteps (#16959) This PR fixes the layout for protocol steps, acocunting for TimelineAlerts. To maintain position without flickering when hovering timeline steps, we align the center content to the top of the container, and provide top padding dependent on the presence of timeline alerts. We also fix logic to not show timeline alerts if a stepform toolbox is open. Lastly, we make the container scrollable to handle timeline alerts and step summaries rendering at the same time, and set the timeline, stepform, and substeps toolbox heights to fill the view height with padding. --- .../StepForm/StepFormToolbox.tsx | 1 + .../Designer/ProtocolSteps/StepSummary.tsx | 4 +-- .../Timeline/SubstepsToolbox.tsx | 1 + .../Timeline/TimelineToolbox.tsx | 1 + .../__tests__/ProtocolSteps.test.tsx | 9 ++++++- .../pages/Designer/ProtocolSteps/index.tsx | 26 ++++++++++++------- .../src/pages/Designer/index.tsx | 3 ++- 7 files changed, 30 insertions(+), 15 deletions(-) diff --git a/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepFormToolbox.tsx b/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepFormToolbox.tsx index 2088409227e..fc452103584 100644 --- a/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepFormToolbox.tsx +++ b/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepFormToolbox.tsx @@ -272,6 +272,7 @@ export function StepFormToolbox(props: StepFormToolboxProps): JSX.Element { /> ) : null} {stepSummaryContent != null ? ( - - {stepSummaryContent} - + {stepSummaryContent} ) : null} {stepDetails != null && stepDetails !== '' ? ( diff --git a/protocol-designer/src/pages/Designer/ProtocolSteps/Timeline/SubstepsToolbox.tsx b/protocol-designer/src/pages/Designer/ProtocolSteps/Timeline/SubstepsToolbox.tsx index e2460741ebf..eb0a0ba835b 100644 --- a/protocol-designer/src/pages/Designer/ProtocolSteps/Timeline/SubstepsToolbox.tsx +++ b/protocol-designer/src/pages/Designer/ProtocolSteps/Timeline/SubstepsToolbox.tsx @@ -58,6 +58,7 @@ export function SubstepsToolbox( substeps.commandCreatorFnName === 'mix')) || substeps.substepType === THERMOCYCLER_PROFILE ? ( } onCloseClick={handleClose} diff --git a/protocol-designer/src/pages/Designer/ProtocolSteps/Timeline/TimelineToolbox.tsx b/protocol-designer/src/pages/Designer/ProtocolSteps/Timeline/TimelineToolbox.tsx index 9cd9b89230e..a5a3fc99ff1 100644 --- a/protocol-designer/src/pages/Designer/ProtocolSteps/Timeline/TimelineToolbox.tsx +++ b/protocol-designer/src/pages/Designer/ProtocolSteps/Timeline/TimelineToolbox.tsx @@ -69,6 +69,7 @@ export const TimelineToolbox = (): JSX.Element => { titlePadding={SPACING.spacing12} childrenPadding={SPACING.spacing12} confirmButton={formData != null ? undefined : } + height="calc(100vh - 6rem)" > { beforeEach(() => { vi.mocked(getDesignerTab).mockReturnValue('protocolSteps') + vi.mocked(getRobotStateTimeline).mockReturnValue({ + timeline: [], + errors: [], + }) vi.mocked(TimelineToolbox).mockReturnValue(
mock TimelineToolbox
) vi.mocked(DeckSetupContainer).mockReturnValue(
mock DeckSetupContainer
diff --git a/protocol-designer/src/pages/Designer/ProtocolSteps/index.tsx b/protocol-designer/src/pages/Designer/ProtocolSteps/index.tsx index 8cb7d8fbfe2..4617163a247 100644 --- a/protocol-designer/src/pages/Designer/ProtocolSteps/index.tsx +++ b/protocol-designer/src/pages/Designer/ProtocolSteps/index.tsx @@ -5,9 +5,9 @@ import { ALIGN_CENTER, COLORS, DIRECTION_COLUMN, + FLEX_MAX_CONTENT, Flex, JUSTIFY_CENTER, - JUSTIFY_FLEX_START, JUSTIFY_SPACE_BETWEEN, POSITION_FIXED, SPACING, @@ -34,7 +34,10 @@ import { TimelineToolbox, SubstepsToolbox } from './Timeline' import { StepForm } from './StepForm' import { StepSummary } from './StepSummary' import { BatchEditToolbox } from './BatchEditToolbox' -import { getDesignerTab } from '../../../file-data/selectors' +import { + getDesignerTab, + getRobotStateTimeline, +} from '../../../file-data/selectors' import { TimelineAlerts } from '../../../organisms' const CONTENT_MAX_WIDTH = '46.9375rem' @@ -64,31 +67,37 @@ export function ProtocolSteps(): JSX.Element { ? savedStepForms[currentstepIdForStepSummary] : null + const { errors: timelineErrors } = useSelector(getRobotStateTimeline) + const hasTimelineErrors = + timelineErrors != null ? timelineErrors.length > 0 : false + const showTimelineAlerts = + hasTimelineErrors && tab === 'protocolSteps' && formData == null const stepDetails = currentStep?.stepDetails ?? null + return ( - {tab === 'protocolSteps' ? ( + {showTimelineAlerts ? ( ) : null} @@ -128,9 +137,6 @@ export function ProtocolSteps(): JSX.Element { stepDetails={stepDetails} /> ) : null} - {selectedTerminalItem != null && currentHoveredStepId == null ? ( - - ) : null} {enableHoyKeyDisplay ? ( diff --git a/protocol-designer/src/pages/Designer/index.tsx b/protocol-designer/src/pages/Designer/index.tsx index 9b2c1beda35..f9f343735d4 100644 --- a/protocol-designer/src/pages/Designer/index.tsx +++ b/protocol-designer/src/pages/Designer/index.tsx @@ -6,6 +6,7 @@ import { ALIGN_END, COLORS, DIRECTION_COLUMN, + FLEX_MAX_CONTENT, Flex, INFO_TOAST, SPACING, @@ -149,7 +150,7 @@ export function Designer(): JSX.Element { }} /> ) : null} - + Date: Fri, 22 Nov 2024 15:36:56 -0500 Subject: [PATCH 35/57] refactor(app): Refactor effect-driven commands in Error Recovery (#16948) Closes RQA-3664 --- .../ErrorRecoveryWizard.tsx | 49 +--- .../ErrorRecoveryFlows/RecoveryInProgress.tsx | 98 ++++---- .../ErrorRecoveryFlows/RecoverySplash.tsx | 16 +- .../__tests__/ErrorRecoveryWizard.test.tsx | 75 +----- .../__tests__/RecoveryInProgress.test.tsx | 214 ++++++++++-------- .../__tests__/RecoverySplash.test.tsx | 11 + .../hooks/__tests__/useHomeGripper.test.ts | 124 ---------- .../ErrorRecoveryFlows/hooks/index.ts | 1 - .../hooks/useHomeGripper.ts | 40 ---- .../shared/RecoveryDoorOpenSpecial.tsx | 63 ++++-- .../RecoveryDoorOpenSpecial.test.tsx | 71 ++++-- 11 files changed, 293 insertions(+), 469 deletions(-) delete mode 100644 app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useHomeGripper.test.ts delete mode 100644 app/src/organisms/ErrorRecoveryFlows/hooks/useHomeGripper.ts diff --git a/app/src/organisms/ErrorRecoveryFlows/ErrorRecoveryWizard.tsx b/app/src/organisms/ErrorRecoveryFlows/ErrorRecoveryWizard.tsx index 1c62471380d..795b1517ee8 100644 --- a/app/src/organisms/ErrorRecoveryFlows/ErrorRecoveryWizard.tsx +++ b/app/src/organisms/ErrorRecoveryFlows/ErrorRecoveryWizard.tsx @@ -1,4 +1,4 @@ -import { useState, useEffect, useLayoutEffect } from 'react' +import { useState, useEffect } from 'react' import { useTranslation } from 'react-i18next' import { css } from 'styled-components' @@ -29,7 +29,6 @@ import { import { RecoveryInProgress } from './RecoveryInProgress' import { getErrorKind } from './utils' import { RECOVERY_MAP } from './constants' -import { useHomeGripper } from './hooks' import type { LabwareDefinition2, RobotType } from '@opentrons/shared-data' import type { RecoveryRoute, RouteStep, RecoveryContentProps } from './types' @@ -76,23 +75,12 @@ export type ErrorRecoveryWizardProps = ErrorRecoveryFlowsProps & export function ErrorRecoveryWizard( props: ErrorRecoveryWizardProps ): JSX.Element { - const { - hasLaunchedRecovery, - failedCommand, - recoveryCommands, - routeUpdateActions, - } = props - const errorKind = getErrorKind(failedCommand) - - useInitialPipetteHome({ - hasLaunchedRecovery, - recoveryCommands, - routeUpdateActions, - }) - - useHomeGripper(props) - - return + return ( + + ) } export function ErrorRecoveryComponent( @@ -283,26 +271,3 @@ export function ErrorRecoveryContent(props: RecoveryContentProps): JSX.Element { return buildSelectRecoveryOption() } } -interface UseInitialPipetteHomeParams { - hasLaunchedRecovery: ErrorRecoveryWizardProps['hasLaunchedRecovery'] - recoveryCommands: ErrorRecoveryWizardProps['recoveryCommands'] - routeUpdateActions: ErrorRecoveryWizardProps['routeUpdateActions'] -} -// Home the Z-axis of all attached pipettes on Error Recovery launch. -export function useInitialPipetteHome({ - hasLaunchedRecovery, - recoveryCommands, - routeUpdateActions, -}: UseInitialPipetteHomeParams): void { - const { homePipetteZAxes } = recoveryCommands - const { handleMotionRouting } = routeUpdateActions - - // Synchronously set the recovery route to "robot in motion" before initial render to prevent screen flicker on ER launch. - useLayoutEffect(() => { - if (hasLaunchedRecovery) { - void handleMotionRouting(true) - .then(() => homePipetteZAxes()) - .finally(() => handleMotionRouting(false)) - } - }, [hasLaunchedRecovery]) -} diff --git a/app/src/organisms/ErrorRecoveryFlows/RecoveryInProgress.tsx b/app/src/organisms/ErrorRecoveryFlows/RecoveryInProgress.tsx index 3a176942a74..3353c9d4b05 100644 --- a/app/src/organisms/ErrorRecoveryFlows/RecoveryInProgress.tsx +++ b/app/src/organisms/ErrorRecoveryFlows/RecoveryInProgress.tsx @@ -101,7 +101,7 @@ export function useGripperRelease({ doorStatusUtils, recoveryMap, }: UseGripperReleaseProps): number { - const { releaseGripperJaws } = recoveryCommands + const { releaseGripperJaws, homeExceptPlungers } = recoveryCommands const { selectedRecoveryOption } = currentRecoveryOptionUtils const { proceedToRouteAndStep, @@ -112,49 +112,47 @@ export function useGripperRelease({ const { MANUAL_MOVE_AND_SKIP, MANUAL_REPLACE_AND_RETRY } = RECOVERY_MAP const [countdown, setCountdown] = useState(GRIPPER_RELEASE_COUNTDOWN_S) - const proceedToValidNextStep = (): void => { - if (isDoorOpen) { - switch (selectedRecoveryOption) { - case MANUAL_MOVE_AND_SKIP.ROUTE: - void proceedToRouteAndStep( - MANUAL_MOVE_AND_SKIP.ROUTE, - MANUAL_MOVE_AND_SKIP.STEPS.CLOSE_DOOR_GRIPPER_Z_HOME - ) - break - case MANUAL_REPLACE_AND_RETRY.ROUTE: - void proceedToRouteAndStep( - MANUAL_REPLACE_AND_RETRY.ROUTE, - MANUAL_REPLACE_AND_RETRY.STEPS.CLOSE_DOOR_GRIPPER_Z_HOME - ) - break - default: { - console.error( - 'Unhandled post grip-release routing when door is open.' - ) - void proceedToRouteAndStep(RECOVERY_MAP.OPTION_SELECTION.ROUTE) - } - } - } else { - switch (selectedRecoveryOption) { - case MANUAL_MOVE_AND_SKIP.ROUTE: - void proceedToRouteAndStep( - MANUAL_MOVE_AND_SKIP.ROUTE, - MANUAL_MOVE_AND_SKIP.STEPS.MANUAL_MOVE - ) - break - case MANUAL_REPLACE_AND_RETRY.ROUTE: - void proceedToRouteAndStep( - MANUAL_REPLACE_AND_RETRY.ROUTE, - MANUAL_REPLACE_AND_RETRY.STEPS.MANUAL_REPLACE - ) - break - default: - console.error('Unhandled post grip-release routing.') - void proceedNextStep() + const proceedToDoorStep = (): void => { + switch (selectedRecoveryOption) { + case MANUAL_MOVE_AND_SKIP.ROUTE: + void proceedToRouteAndStep( + MANUAL_MOVE_AND_SKIP.ROUTE, + MANUAL_MOVE_AND_SKIP.STEPS.CLOSE_DOOR_GRIPPER_Z_HOME + ) + break + case MANUAL_REPLACE_AND_RETRY.ROUTE: + void proceedToRouteAndStep( + MANUAL_REPLACE_AND_RETRY.ROUTE, + MANUAL_REPLACE_AND_RETRY.STEPS.CLOSE_DOOR_GRIPPER_Z_HOME + ) + break + default: { + console.error('Unhandled post grip-release routing when door is open.') + void proceedToRouteAndStep(RECOVERY_MAP.OPTION_SELECTION.ROUTE) } } } + const proceedToValidNextStep = (): void => { + switch (selectedRecoveryOption) { + case MANUAL_MOVE_AND_SKIP.ROUTE: + void proceedToRouteAndStep( + MANUAL_MOVE_AND_SKIP.ROUTE, + MANUAL_MOVE_AND_SKIP.STEPS.MANUAL_MOVE + ) + break + case MANUAL_REPLACE_AND_RETRY.ROUTE: + void proceedToRouteAndStep( + MANUAL_REPLACE_AND_RETRY.ROUTE, + MANUAL_REPLACE_AND_RETRY.STEPS.MANUAL_REPLACE + ) + break + default: + console.error('Unhandled post grip-release routing.') + void proceedNextStep() + } + } + useEffect(() => { let intervalId: NodeJS.Timeout | null = null @@ -167,11 +165,21 @@ export function useGripperRelease({ if (intervalId != null) { clearInterval(intervalId) } - void releaseGripperJaws() - .finally(() => handleMotionRouting(false)) - .then(() => { - proceedToValidNextStep() - }) + + void releaseGripperJaws().then(() => { + if (isDoorOpen) { + return handleMotionRouting(false).then(() => { + proceedToDoorStep() + }) + } + + return handleMotionRouting(true) + .then(() => homeExceptPlungers()) + .then(() => handleMotionRouting(false)) + .then(() => { + proceedToValidNextStep() + }) + }) } return updatedCountdown diff --git a/app/src/organisms/ErrorRecoveryFlows/RecoverySplash.tsx b/app/src/organisms/ErrorRecoveryFlows/RecoverySplash.tsx index 7a17b443508..cd31843f834 100644 --- a/app/src/organisms/ErrorRecoveryFlows/RecoverySplash.tsx +++ b/app/src/organisms/ErrorRecoveryFlows/RecoverySplash.tsx @@ -83,13 +83,14 @@ export function RecoverySplash(props: RecoverySplashProps): JSX.Element | null { runStatus, recoveryActionMutationUtils, resumePausedRecovery, + recoveryCommands, } = props const { t } = useTranslation('error_recovery') const errorKind = getErrorKind(failedCommand) const title = useErrorName(errorKind) const { makeToast } = useToaster() - const { proceedToRouteAndStep } = routeUpdateActions + const { proceedToRouteAndStep, handleMotionRouting } = routeUpdateActions const { reportErrorEvent } = analytics const buildTitleHeadingDesktop = (): JSX.Element => { @@ -138,9 +139,16 @@ export function RecoverySplash(props: RecoverySplashProps): JSX.Element | null { const onLaunchERClick = (): void => { const onClick = (): void => { - void toggleERWizAsActiveUser(true, true).then(() => { - reportErrorEvent(failedCommand?.byRunRecord ?? null, 'launch-recovery') - }) + void toggleERWizAsActiveUser(true, true) + .then(() => { + reportErrorEvent( + failedCommand?.byRunRecord ?? null, + 'launch-recovery' + ) + }) + .then(() => handleMotionRouting(true)) + .then(() => recoveryCommands.homePipetteZAxes()) + .finally(() => handleMotionRouting(false)) } handleConditionalClick(onClick) } diff --git a/app/src/organisms/ErrorRecoveryFlows/__tests__/ErrorRecoveryWizard.test.tsx b/app/src/organisms/ErrorRecoveryFlows/__tests__/ErrorRecoveryWizard.test.tsx index 62fb2849753..dd915b72afb 100644 --- a/app/src/organisms/ErrorRecoveryFlows/__tests__/ErrorRecoveryWizard.test.tsx +++ b/app/src/organisms/ErrorRecoveryFlows/__tests__/ErrorRecoveryWizard.test.tsx @@ -1,13 +1,12 @@ import type * as React from 'react' import { vi, describe, it, expect, beforeEach } from 'vitest' -import { renderHook, act, screen, waitFor } from '@testing-library/react' +import { renderHook, act, screen } from '@testing-library/react' import { renderWithProviders } from '/app/__testing-utils__' import { i18n } from '/app/i18n' import { mockRecoveryContentProps } from '../__fixtures__' import { ErrorRecoveryContent, - useInitialPipetteHome, useERWizard, ErrorRecoveryComponent, } from '../ErrorRecoveryWizard' @@ -35,8 +34,6 @@ import { RecoveryDoorOpenSpecial, } from '../shared' -import type { Mock } from 'vitest' - vi.mock('../RecoveryOptions') vi.mock('../RecoveryInProgress') vi.mock('../RecoveryError') @@ -509,73 +506,3 @@ describe('ErrorRecoveryContent', () => { screen.getByText('MOCK_DOOR_OPEN_SPECIAL') }) }) - -describe('useInitialPipetteHome', () => { - let mockZHomePipetteZAxes: Mock - let mockhandleMotionRouting: Mock - let mockRecoveryCommands: any - let mockRouteUpdateActions: any - - beforeEach(() => { - mockZHomePipetteZAxes = vi.fn() - mockhandleMotionRouting = vi.fn() - - mockhandleMotionRouting.mockResolvedValue(() => mockZHomePipetteZAxes()) - mockZHomePipetteZAxes.mockResolvedValue(() => mockhandleMotionRouting()) - - mockRecoveryCommands = { - homePipetteZAxes: mockZHomePipetteZAxes, - } as any - mockRouteUpdateActions = { - handleMotionRouting: mockhandleMotionRouting, - } as any - }) - - it('does not z-home the pipettes if error recovery was not launched', () => { - renderHook(() => - useInitialPipetteHome({ - hasLaunchedRecovery: false, - recoveryCommands: mockRecoveryCommands, - routeUpdateActions: mockRouteUpdateActions, - }) - ) - - expect(mockhandleMotionRouting).not.toHaveBeenCalled() - }) - - it('sets the motion screen properly and z-homes all pipettes only on the initial render of Error Recovery', async () => { - const { rerender } = renderHook(() => - useInitialPipetteHome({ - hasLaunchedRecovery: true, - recoveryCommands: mockRecoveryCommands, - routeUpdateActions: mockRouteUpdateActions, - }) - ) - - await waitFor(() => { - expect(mockhandleMotionRouting).toHaveBeenCalledWith(true) - }) - await waitFor(() => { - expect(mockZHomePipetteZAxes).toHaveBeenCalledTimes(1) - }) - await waitFor(() => { - expect(mockhandleMotionRouting).toHaveBeenCalledWith(false) - }) - - expect(mockhandleMotionRouting.mock.invocationCallOrder[0]).toBeLessThan( - mockZHomePipetteZAxes.mock.invocationCallOrder[0] - ) - expect(mockZHomePipetteZAxes.mock.invocationCallOrder[0]).toBeLessThan( - mockhandleMotionRouting.mock.invocationCallOrder[1] - ) - - rerender() - - await waitFor(() => { - expect(mockhandleMotionRouting).toHaveBeenCalledTimes(2) - }) - await waitFor(() => { - expect(mockZHomePipetteZAxes).toHaveBeenCalledTimes(1) - }) - }) -}) diff --git a/app/src/organisms/ErrorRecoveryFlows/__tests__/RecoveryInProgress.test.tsx b/app/src/organisms/ErrorRecoveryFlows/__tests__/RecoveryInProgress.test.tsx index c3005c10cda..2dfa5711644 100644 --- a/app/src/organisms/ErrorRecoveryFlows/__tests__/RecoveryInProgress.test.tsx +++ b/app/src/organisms/ErrorRecoveryFlows/__tests__/RecoveryInProgress.test.tsx @@ -39,10 +39,12 @@ describe('RecoveryInProgress', () => { }, recoveryCommands: { releaseGripperJaws: vi.fn(() => Promise.resolve()), + homeExceptPlungers: vi.fn(() => Promise.resolve()), } as any, routeUpdateActions: { handleMotionRouting: vi.fn(() => Promise.resolve()), proceedNextStep: vi.fn(() => Promise.resolve()), + proceedToRouteAndStep: vi.fn(() => Promise.resolve()), } as any, } }) @@ -166,14 +168,12 @@ describe('useGripperRelease', () => { }, recoveryCommands: { releaseGripperJaws: vi.fn().mockResolvedValue(undefined), + homeExceptPlungers: vi.fn().mockResolvedValue(undefined), }, routeUpdateActions: { - proceedToRouteAndStep: vi.fn(), - proceedNextStep: vi.fn(), - handleMotionRouting: vi.fn(), - stashedMap: { - route: RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.ROUTE, - }, + proceedToRouteAndStep: vi.fn().mockResolvedValue(undefined), + proceedNextStep: vi.fn().mockResolvedValue(undefined), + handleMotionRouting: vi.fn().mockResolvedValue(undefined), }, currentRecoveryOptionUtils: { selectedRecoveryOption: RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.ROUTE, @@ -183,6 +183,7 @@ describe('useGripperRelease', () => { beforeEach(() => { vi.useFakeTimers() + vi.clearAllMocks() }) afterEach(() => { @@ -207,118 +208,143 @@ describe('useGripperRelease', () => { expect(result.current).toBe(0) }) - const IS_DOOR_OPEN = [false, true] - - IS_DOOR_OPEN.forEach(doorStatus => { - it(`releases gripper jaws and proceeds to next step after countdown for ${RECOVERY_MAP.MANUAL_REPLACE_AND_RETRY.ROUTE} when the isDoorOpen is ${doorStatus}`, async () => { - renderHook(() => - useGripperRelease({ + describe('when door is closed', () => { + it.each([ + { + recoveryOption: RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.ROUTE, + nextStep: RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.STEPS.MANUAL_MOVE, + }, + { + recoveryOption: RECOVERY_MAP.MANUAL_REPLACE_AND_RETRY.ROUTE, + nextStep: RECOVERY_MAP.MANUAL_REPLACE_AND_RETRY.STEPS.MANUAL_REPLACE, + }, + ])( + 'executes the full sequence of commands for $recoveryOption', + async ({ recoveryOption, nextStep }) => { + const props = { ...mockProps, - doorStatusUtils: { isDoorOpen: doorStatus }, - }) - ) - - act(() => { - vi.advanceTimersByTime(GRIPPER_RELEASE_COUNTDOWN_S * 1000) - }) + currentRecoveryOptionUtils: { + selectedRecoveryOption: recoveryOption, + }, + doorStatusUtils: { isDoorOpen: false }, + } - await vi.runAllTimersAsync() + renderHook(() => useGripperRelease(props)) - expect(mockProps.recoveryCommands.releaseGripperJaws).toHaveBeenCalled() - expect( - mockProps.routeUpdateActions.handleMotionRouting - ).toHaveBeenCalledWith(false) - if (!doorStatus) { - expect( - mockProps.routeUpdateActions.proceedToRouteAndStep - ).toHaveBeenCalledWith( - RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.ROUTE, - RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.STEPS.MANUAL_MOVE - ) - } else { - expect( - mockProps.routeUpdateActions.proceedToRouteAndStep - ).toHaveBeenCalledWith( - RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.ROUTE, - RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.STEPS.CLOSE_DOOR_GRIPPER_Z_HOME + act(() => { + vi.advanceTimersByTime(GRIPPER_RELEASE_COUNTDOWN_S * 1000) + }) + await vi.runAllTimersAsync() + + const { + releaseGripperJaws, + homeExceptPlungers, + } = props.recoveryCommands + const { + handleMotionRouting, + proceedToRouteAndStep, + } = props.routeUpdateActions + + expect(releaseGripperJaws).toHaveBeenCalledTimes(1) + expect(handleMotionRouting).toHaveBeenNthCalledWith(1, true) + expect(homeExceptPlungers).toHaveBeenCalledTimes(1) + expect(handleMotionRouting).toHaveBeenNthCalledWith(2, false) + expect(proceedToRouteAndStep).toHaveBeenCalledWith( + recoveryOption, + nextStep ) } + ) + + describe('when door is open', () => { + it.each([ + { + recoveryOption: RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.ROUTE, + doorStep: + RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.STEPS.CLOSE_DOOR_GRIPPER_Z_HOME, + }, + { + recoveryOption: RECOVERY_MAP.MANUAL_REPLACE_AND_RETRY.ROUTE, + doorStep: + RECOVERY_MAP.MANUAL_REPLACE_AND_RETRY.STEPS + .CLOSE_DOOR_GRIPPER_Z_HOME, + }, + ])( + 'executes proceed to door step for $recoveryOption', + async ({ recoveryOption, doorStep }) => { + const props = { + ...mockProps, + currentRecoveryOptionUtils: { + selectedRecoveryOption: recoveryOption, + }, + doorStatusUtils: { isDoorOpen: true }, + } + + const { + releaseGripperJaws, + homeExceptPlungers, + } = props.recoveryCommands + const { + handleMotionRouting, + proceedToRouteAndStep, + } = props.routeUpdateActions + + renderHook(() => useGripperRelease(props)) + + act(() => { + vi.advanceTimersByTime(GRIPPER_RELEASE_COUNTDOWN_S * 1000) + }) + await vi.runAllTimersAsync() + + expect(releaseGripperJaws).toHaveBeenCalledTimes(1) + expect(handleMotionRouting).toHaveBeenNthCalledWith(1, false) + expect(homeExceptPlungers).not.toHaveBeenCalled() + expect(proceedToRouteAndStep).toHaveBeenCalledWith( + recoveryOption, + doorStep + ) + } + ) }) - }) - IS_DOOR_OPEN.forEach(doorStatus => { - it(`releases gripper jaws and proceeds to next step after countdown for ${RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.ROUTE} when the isDoorOpen is ${doorStatus}`, async () => { - const modifiedProps = { + it('falls back to option selection for unhandled routes when door is open', async () => { + const props = { ...mockProps, - routeUpdateActions: { - ...mockProps.routeUpdateActions, - stashedMap: { - route: RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.ROUTE, - }, - }, currentRecoveryOptionUtils: { - selectedRecoveryOption: RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.ROUTE, + selectedRecoveryOption: 'UNHANDLED_ROUTE', }, + doorStatusUtils: { isDoorOpen: true }, } - renderHook(() => - useGripperRelease({ - ...modifiedProps, - doorStatusUtils: { isDoorOpen: doorStatus }, - }) - ) + renderHook(() => useGripperRelease(props)) act(() => { vi.advanceTimersByTime(GRIPPER_RELEASE_COUNTDOWN_S * 1000) }) - await vi.runAllTimersAsync() - expect(mockProps.recoveryCommands.releaseGripperJaws).toHaveBeenCalled() expect( - mockProps.routeUpdateActions.handleMotionRouting - ).toHaveBeenCalledWith(false) - if (!doorStatus) { - expect( - mockProps.routeUpdateActions.proceedToRouteAndStep - ).toHaveBeenCalledWith( - RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.ROUTE, - RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.STEPS.MANUAL_MOVE - ) - } else { - expect( - mockProps.routeUpdateActions.proceedToRouteAndStep - ).toHaveBeenCalledWith( - RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.ROUTE, - RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.STEPS.CLOSE_DOOR_GRIPPER_Z_HOME - ) - } + props.routeUpdateActions.proceedToRouteAndStep + ).toHaveBeenCalledWith(RECOVERY_MAP.OPTION_SELECTION.ROUTE) }) - }) - it('calls proceedNextStep for unhandled routes', async () => { - const modifiedProps = { - ...mockProps, - routeUpdateActions: { - ...mockProps.routeUpdateActions, - stashedMap: { - route: 'UNHANDLED_ROUTE', + it('falls back to proceedNextStep for unhandled routes when door is closed', async () => { + const props = { + ...mockProps, + currentRecoveryOptionUtils: { + selectedRecoveryOption: 'UNHANDLED_ROUTE', }, - }, - currentRecoveryOptionUtils: { - selectedRecoveryOption: RECOVERY_MAP.MANUAL_FILL_AND_SKIP.ROUTE, - }, - doorStatusUtils: { isDoorOpen: false }, - } - - renderHook(() => useGripperRelease(modifiedProps)) + doorStatusUtils: { isDoorOpen: false }, + } - act(() => { - vi.advanceTimersByTime(GRIPPER_RELEASE_COUNTDOWN_S * 1000) - }) + renderHook(() => useGripperRelease(props)) - await vi.runAllTimersAsync() + act(() => { + vi.advanceTimersByTime(GRIPPER_RELEASE_COUNTDOWN_S * 1000) + }) + await vi.runAllTimersAsync() - expect(modifiedProps.routeUpdateActions.proceedNextStep).toHaveBeenCalled() + expect(props.routeUpdateActions.proceedNextStep).toHaveBeenCalled() + }) }) }) diff --git a/app/src/organisms/ErrorRecoveryFlows/__tests__/RecoverySplash.test.tsx b/app/src/organisms/ErrorRecoveryFlows/__tests__/RecoverySplash.test.tsx index da3ddc07629..7446ea7464c 100644 --- a/app/src/organisms/ErrorRecoveryFlows/__tests__/RecoverySplash.test.tsx +++ b/app/src/organisms/ErrorRecoveryFlows/__tests__/RecoverySplash.test.tsx @@ -80,11 +80,14 @@ describe('RecoverySplash', () => { let props: React.ComponentProps const mockToggleERWiz = vi.fn(() => Promise.resolve()) const mockProceedToRouteAndStep = vi.fn() + const mockHandleMotionRouting = vi.fn(() => Promise.resolve()) const mockRouteUpdateActions = { proceedToRouteAndStep: mockProceedToRouteAndStep, + handleMotionRouting: mockHandleMotionRouting, } as any const mockMakeToast = vi.fn() const mockResumeRecovery = vi.fn() + const mockHomePipetteZAxes = vi.fn(() => Promise.resolve()) beforeEach(() => { props = { @@ -96,6 +99,7 @@ describe('RecoverySplash', () => { resumeRecovery: mockResumeRecovery, } as any, resumePausedRecovery: true, + recoveryCommands: { homePipetteZAxes: mockHomePipetteZAxes } as any, } vi.mocked(StepInfo).mockReturnValue(
MOCK STEP INFO
) @@ -162,6 +166,13 @@ describe('RecoverySplash', () => { await waitFor(() => { expect(mockToggleERWiz).toHaveBeenCalledWith(true, true) }) + + expect(mockHandleMotionRouting).toHaveBeenNthCalledWith(1, true) + expect(mockHandleMotionRouting).toHaveBeenNthCalledWith(2, false) + + await waitFor(() => { + expect(props.recoveryCommands.homePipetteZAxes).toHaveBeenCalled() + }) }) it('should render a door open toast if the door is open', () => { diff --git a/app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useHomeGripper.test.ts b/app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useHomeGripper.test.ts deleted file mode 100644 index 32de0f0096d..00000000000 --- a/app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useHomeGripper.test.ts +++ /dev/null @@ -1,124 +0,0 @@ -import { renderHook, act } from '@testing-library/react' -import { describe, it, expect, vi, beforeEach } from 'vitest' - -import { useHomeGripper } from '../useHomeGripper' -import { RECOVERY_MAP } from '/app/organisms/ErrorRecoveryFlows/constants' - -describe('useHomeGripper', () => { - const mockRecoveryCommands = { - homeExceptPlungers: vi.fn().mockResolvedValue(undefined), - } - - const mockRouteUpdateActions = { - handleMotionRouting: vi.fn().mockResolvedValue(undefined), - goBackPrevStep: vi.fn(), - } - - const mockRecoveryMap = { - step: RECOVERY_MAP.MANUAL_REPLACE_AND_RETRY.STEPS.MANUAL_REPLACE, - } - - const mockDoorStatusUtils = { - isDoorOpen: false, - } - - beforeEach(() => { - vi.clearAllMocks() - }) - - it('should home gripper Z axis when in manual gripper step and door is closed', async () => { - renderHook(() => { - useHomeGripper({ - recoveryCommands: mockRecoveryCommands, - routeUpdateActions: mockRouteUpdateActions, - recoveryMap: mockRecoveryMap, - doorStatusUtils: mockDoorStatusUtils, - } as any) - }) - - await act(async () => { - await new Promise(resolve => setTimeout(resolve, 0)) - }) - - expect(mockRouteUpdateActions.handleMotionRouting).toHaveBeenCalledWith( - true - ) - expect(mockRecoveryCommands.homeExceptPlungers).toHaveBeenCalled() - expect(mockRouteUpdateActions.handleMotionRouting).toHaveBeenCalledWith( - false - ) - }) - - it('should go back to previous step when door is open', () => { - renderHook(() => { - useHomeGripper({ - recoveryCommands: mockRecoveryCommands, - routeUpdateActions: mockRouteUpdateActions, - recoveryMap: mockRecoveryMap, - doorStatusUtils: { ...mockDoorStatusUtils, isDoorOpen: true }, - } as any) - }) - - expect(mockRouteUpdateActions.goBackPrevStep).toHaveBeenCalled() - expect(mockRecoveryCommands.homeExceptPlungers).not.toHaveBeenCalled() - }) - - it('should not home again if already homed once', async () => { - const { rerender } = renderHook(() => { - useHomeGripper({ - recoveryCommands: mockRecoveryCommands, - routeUpdateActions: mockRouteUpdateActions, - recoveryMap: mockRecoveryMap, - doorStatusUtils: mockDoorStatusUtils, - } as any) - }) - - await act(async () => { - await new Promise(resolve => setTimeout(resolve, 0)) - }) - - expect(mockRecoveryCommands.homeExceptPlungers).toHaveBeenCalledTimes(1) - - rerender() - - expect(mockRecoveryCommands.homeExceptPlungers).toHaveBeenCalledTimes(1) - }) - - it('should only reset hasHomedOnce when step changes to non-manual gripper step', async () => { - const { rerender } = renderHook( - ({ recoveryMap }) => { - useHomeGripper({ - recoveryCommands: mockRecoveryCommands, - routeUpdateActions: mockRouteUpdateActions, - recoveryMap, - doorStatusUtils: mockDoorStatusUtils, - } as any) - }, - { - initialProps: { recoveryMap: mockRecoveryMap }, - } - ) - - await act(async () => { - await new Promise(resolve => setTimeout(resolve, 0)) - }) - - expect(mockRecoveryCommands.homeExceptPlungers).toHaveBeenCalledTimes(1) - - rerender({ recoveryMap: { step: 'SOME_OTHER_STEP' } as any }) - - await act(async () => { - await new Promise(resolve => setTimeout(resolve, 0)) - }) - - expect(mockRecoveryCommands.homeExceptPlungers).toHaveBeenCalledTimes(1) - - rerender({ recoveryMap: mockRecoveryMap }) - - await act(async () => { - await new Promise(resolve => setTimeout(resolve, 0)) - }) - - expect(mockRecoveryCommands.homeExceptPlungers).toHaveBeenCalledTimes(1) - }) -}) diff --git a/app/src/organisms/ErrorRecoveryFlows/hooks/index.ts b/app/src/organisms/ErrorRecoveryFlows/hooks/index.ts index 75904a24966..497fd3223da 100644 --- a/app/src/organisms/ErrorRecoveryFlows/hooks/index.ts +++ b/app/src/organisms/ErrorRecoveryFlows/hooks/index.ts @@ -5,7 +5,6 @@ export { useRouteUpdateActions } from './useRouteUpdateActions' export { useERUtils } from './useERUtils' export { useRecoveryTakeover } from './useRecoveryTakeover' export { useRetainedFailedCommandBySource } from './useRetainedFailedCommandBySource' -export { useHomeGripper } from './useHomeGripper' export type { ERUtilsProps } from './useERUtils' export type { UseRouteUpdateActionsResult } from './useRouteUpdateActions' diff --git a/app/src/organisms/ErrorRecoveryFlows/hooks/useHomeGripper.ts b/app/src/organisms/ErrorRecoveryFlows/hooks/useHomeGripper.ts deleted file mode 100644 index 55fe64fdcc4..00000000000 --- a/app/src/organisms/ErrorRecoveryFlows/hooks/useHomeGripper.ts +++ /dev/null @@ -1,40 +0,0 @@ -import { useLayoutEffect, useState } from 'react' -import { RECOVERY_MAP } from '/app/organisms/ErrorRecoveryFlows/constants' - -import type { ErrorRecoveryWizardProps } from '/app/organisms/ErrorRecoveryFlows/ErrorRecoveryWizard' - -// Home the gripper implicitly. Because the home is not tied to a CTA, it must be handled here. -export function useHomeGripper({ - recoveryCommands, - routeUpdateActions, - recoveryMap, - doorStatusUtils, -}: ErrorRecoveryWizardProps): void { - const { step } = recoveryMap - const { isDoorOpen } = doorStatusUtils - const [hasHomedOnce, setHasHomedOnce] = useState(false) - - const isManualGripperStep = - step === RECOVERY_MAP.MANUAL_REPLACE_AND_RETRY.STEPS.MANUAL_REPLACE || - step === RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.STEPS.MANUAL_MOVE - - useLayoutEffect(() => { - const { handleMotionRouting, goBackPrevStep } = routeUpdateActions - const { homeExceptPlungers } = recoveryCommands - - if (!hasHomedOnce) { - if (isManualGripperStep) { - if (isDoorOpen) { - void goBackPrevStep() - } else { - void handleMotionRouting(true) - .then(() => homeExceptPlungers()) - .then(() => handleMotionRouting(false)) - .then(() => { - setHasHomedOnce(true) - }) - } - } - } - }, [step, hasHomedOnce, isDoorOpen, isManualGripperStep]) -} diff --git a/app/src/organisms/ErrorRecoveryFlows/shared/RecoveryDoorOpenSpecial.tsx b/app/src/organisms/ErrorRecoveryFlows/shared/RecoveryDoorOpenSpecial.tsx index 4331a976d5e..98744985225 100644 --- a/app/src/organisms/ErrorRecoveryFlows/shared/RecoveryDoorOpenSpecial.tsx +++ b/app/src/organisms/ErrorRecoveryFlows/shared/RecoveryDoorOpenSpecial.tsx @@ -1,4 +1,4 @@ -import { useState } from 'react' +import { useEffect, useState } from 'react' import { css } from 'styled-components' import { useTranslation } from 'react-i18next' @@ -20,7 +20,11 @@ import { RecoverySingleColumnContentWrapper } from './RecoveryContentWrapper' import { RecoveryFooterButtons } from './RecoveryFooterButtons' import { RECOVERY_MAP } from '../constants' -import type { RecoveryContentProps } from '../../ErrorRecoveryFlows/types' +import type { + RecoveryContentProps, + RecoveryRoute, + RouteStep, +} from '../../ErrorRecoveryFlows/types' // Whenever a step uses a custom "close the robot door" view, use this component. // Note that the allowDoorOpen metadata for the route must be set to true for this view to render. @@ -30,9 +34,11 @@ export function RecoveryDoorOpenSpecial({ recoveryActionMutationUtils, routeUpdateActions, doorStatusUtils, + recoveryCommands, }: RecoveryContentProps): JSX.Element { const { selectedRecoveryOption } = currentRecoveryOptionUtils const { resumeRecovery } = recoveryActionMutationUtils + const { proceedToRouteAndStep, handleMotionRouting } = routeUpdateActions const { t } = useTranslation('error_recovery') const [isLoading, setIsLoading] = useState(false) @@ -56,29 +62,40 @@ export function RecoveryDoorOpenSpecial({ } } - if (!doorStatusUtils.isDoorOpen) { - const { proceedToRouteAndStep } = routeUpdateActions - switch (selectedRecoveryOption) { - case RECOVERY_MAP.MANUAL_REPLACE_AND_RETRY.ROUTE: - void proceedToRouteAndStep( - RECOVERY_MAP.MANUAL_REPLACE_AND_RETRY.ROUTE, - RECOVERY_MAP.MANUAL_REPLACE_AND_RETRY.STEPS.MANUAL_REPLACE - ) - break - case RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.ROUTE: - void proceedToRouteAndStep( - RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.ROUTE, - RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.STEPS.MANUAL_MOVE - ) - break - default: { - console.error( - `Unhandled special-cased door open on route ${selectedRecoveryOption}.` - ) - void proceedToRouteAndStep(RECOVERY_MAP.OPTION_SELECTION.ROUTE) + const handleHomeExceptPlungersAndRoute = ( + route: RecoveryRoute, + step?: RouteStep + ): void => { + void handleMotionRouting(true, RECOVERY_MAP.ROBOT_IN_MOTION.ROUTE) + .then(() => recoveryCommands.homeExceptPlungers()) + .finally(() => handleMotionRouting(false)) + .then(() => proceedToRouteAndStep(route, step)) + } + + useEffect(() => { + if (!doorStatusUtils.isDoorOpen) { + switch (selectedRecoveryOption) { + case RECOVERY_MAP.MANUAL_REPLACE_AND_RETRY.ROUTE: + handleHomeExceptPlungersAndRoute( + RECOVERY_MAP.MANUAL_REPLACE_AND_RETRY.ROUTE, + RECOVERY_MAP.MANUAL_REPLACE_AND_RETRY.STEPS.MANUAL_REPLACE + ) + break + case RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.ROUTE: + handleHomeExceptPlungersAndRoute( + RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.ROUTE, + RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.STEPS.MANUAL_MOVE + ) + break + default: { + console.error( + `Unhandled special-cased door open on route ${selectedRecoveryOption}.` + ) + void proceedToRouteAndStep(RECOVERY_MAP.OPTION_SELECTION.ROUTE) + } } } - } + }, [doorStatusUtils.isDoorOpen]) return ( diff --git a/app/src/organisms/ErrorRecoveryFlows/shared/__tests__/RecoveryDoorOpenSpecial.test.tsx b/app/src/organisms/ErrorRecoveryFlows/shared/__tests__/RecoveryDoorOpenSpecial.test.tsx index 76e42a04c6d..5cc4ae74b87 100644 --- a/app/src/organisms/ErrorRecoveryFlows/shared/__tests__/RecoveryDoorOpenSpecial.test.tsx +++ b/app/src/organisms/ErrorRecoveryFlows/shared/__tests__/RecoveryDoorOpenSpecial.test.tsx @@ -1,5 +1,5 @@ import { describe, it, vi, expect, beforeEach } from 'vitest' -import { screen } from '@testing-library/react' +import { screen, waitFor } from '@testing-library/react' import { RUN_STATUS_AWAITING_RECOVERY_BLOCKED_BY_OPEN_DOOR, @@ -28,10 +28,14 @@ describe('RecoveryDoorOpenSpecial', () => { }, routeUpdateActions: { proceedToRouteAndStep: vi.fn(), + handleMotionRouting: vi.fn().mockImplementation(_ => Promise.resolve()), }, doorStatusUtils: { isDoorOpen: true, }, + recoveryCommands: { + homeExceptPlungers: vi.fn().mockResolvedValue(undefined), + }, } as any }) @@ -70,7 +74,50 @@ describe('RecoveryDoorOpenSpecial', () => { ) }) - it('renders default subtext for unhandled recovery option', () => { + it.each([ + { + recoveryOption: RECOVERY_MAP.MANUAL_REPLACE_AND_RETRY.ROUTE, + expectedRoute: RECOVERY_MAP.MANUAL_REPLACE_AND_RETRY.ROUTE, + expectedStep: RECOVERY_MAP.MANUAL_REPLACE_AND_RETRY.STEPS.MANUAL_REPLACE, + }, + { + recoveryOption: RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.ROUTE, + expectedRoute: RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.ROUTE, + expectedStep: RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.STEPS.MANUAL_MOVE, + }, + ])( + 'executes correct chain of actions when door is closed for $recoveryOption', + async ({ recoveryOption, expectedRoute, expectedStep }) => { + props.currentRecoveryOptionUtils.selectedRecoveryOption = recoveryOption + props.doorStatusUtils.isDoorOpen = false + + render(props) + + await waitFor(() => { + expect( + props.routeUpdateActions.handleMotionRouting + ).toHaveBeenCalledWith(true, RECOVERY_MAP.ROBOT_IN_MOTION.ROUTE) + }) + + await waitFor(() => { + expect(props.recoveryCommands.homeExceptPlungers).toHaveBeenCalled() + }) + + await waitFor(() => { + expect( + props.routeUpdateActions.handleMotionRouting + ).toHaveBeenCalledWith(false) + }) + + await waitFor(() => { + expect( + props.routeUpdateActions.proceedToRouteAndStep + ).toHaveBeenCalledWith(expectedRoute, expectedStep) + }) + } + ) + + it('renders default subtext for an unhandled recovery option', () => { props.currentRecoveryOptionUtils.selectedRecoveryOption = 'UNHANDLED_OPTION' as any render(props) screen.getByText('Close the robot door') @@ -79,26 +126,6 @@ describe('RecoveryDoorOpenSpecial', () => { ) }) - it(`calls proceedToRouteAndStep when door is closed for ${RECOVERY_MAP.MANUAL_REPLACE_AND_RETRY.ROUTE}`, () => { - props.doorStatusUtils.isDoorOpen = false - render(props) - expect(props.routeUpdateActions.proceedToRouteAndStep).toHaveBeenCalledWith( - RECOVERY_MAP.MANUAL_REPLACE_AND_RETRY.ROUTE, - RECOVERY_MAP.MANUAL_REPLACE_AND_RETRY.STEPS.MANUAL_REPLACE - ) - }) - - it(`calls proceedToRouteAndStep when door is closed for ${RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.ROUTE}`, () => { - props.currentRecoveryOptionUtils.selectedRecoveryOption = - RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.ROUTE - props.doorStatusUtils.isDoorOpen = false - render(props) - expect(props.routeUpdateActions.proceedToRouteAndStep).toHaveBeenCalledWith( - RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.ROUTE, - RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.STEPS.MANUAL_MOVE - ) - }) - it('calls proceedToRouteAndStep with OPTION_SELECTION for unhandled recovery option when door is closed', () => { props.currentRecoveryOptionUtils.selectedRecoveryOption = 'UNHANDLED_OPTION' as any props.doorStatusUtils.isDoorOpen = false From 6c2948e818283e6a443ebecab44164a4efae16bd Mon Sep 17 00:00:00 2001 From: syao1226 <146495172+syao1226@users.noreply.github.com> Date: Fri, 22 Nov 2024 15:48:02 -0500 Subject: [PATCH 36/57] fix(protocol-designer): fix hotkey copy (#16960) fix RQA-3682 # Overview Revert the hotkey copy to what it was before without the symbols ## Test Plan and Hands on Testing ## Changelog ## Review requests ## Risk assessment --------- Co-authored-by: shiyaochen --- .../src/assets/localization/en/starting_deck_state.json | 4 ++-- .../Designer/ProtocolSteps/__tests__/ProtocolSteps.test.tsx | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/protocol-designer/src/assets/localization/en/starting_deck_state.json b/protocol-designer/src/assets/localization/en/starting_deck_state.json index 0522cc1291a..cbf5e74587c 100644 --- a/protocol-designer/src/assets/localization/en/starting_deck_state.json +++ b/protocol-designer/src/assets/localization/en/starting_deck_state.json @@ -16,7 +16,7 @@ "clear_labware": "Clear labware", "clear_slot": "Clear slot", "clear": "Clear", - "command_click_to_multi_select": "^/⌘ + click to select multiple", + "command_click_to_multi_select": "Command + click to select multiple", "convert_gen1_to_gen2": "To convert engage heights from GEN1 to GEN2, divide your engage height by 2.", "convert_gen2_to_gen1": "To convert engage heights from GEN2 to GEN1, multiply your engage height by 2.", "custom": "Custom labware definitions", @@ -51,7 +51,7 @@ "read_more_gen1_gen2": "Read more about the differences between GEN1 and GEN2 Magnetic Modules", "rename_lab": "Rename labware", "reservoir": "Reservoirs", - "shift_click_to_select_range": "⇧ + click to select range", + "shift_click_to_select_range": "Shift + click to select range", "starting_deck_state": "Starting deck state", "tc_slots_occupied_flex": "The Thermocycler needs slots A1 and B1. Slot A1 is occupied", "tc_slots_occupied_ot2": "The Thermocycler needs slots 7, 8, 10, and 11. One or more of those slots is occupied", diff --git a/protocol-designer/src/pages/Designer/ProtocolSteps/__tests__/ProtocolSteps.test.tsx b/protocol-designer/src/pages/Designer/ProtocolSteps/__tests__/ProtocolSteps.test.tsx index 51f9baeeb10..6984d07e8b9 100644 --- a/protocol-designer/src/pages/Designer/ProtocolSteps/__tests__/ProtocolSteps.test.tsx +++ b/protocol-designer/src/pages/Designer/ProtocolSteps/__tests__/ProtocolSteps.test.tsx @@ -104,8 +104,8 @@ describe('ProtocolSteps', () => { it('renders the hot keys display', () => { render() screen.getByText('Double-click to edit') - screen.getByText('⇧ + click to select range') - screen.getByText('^/⌘ + click to select multiple') + screen.getByText('Shift + click to select range') + screen.getByText('Command + click to select multiple') }) it('renders the current step name', () => { From 7bbb1c2f40108044a6841ac1c2bea893cce8330d Mon Sep 17 00:00:00 2001 From: Jethary Alcid <66035149+jerader@users.noreply.github.com> Date: Fri, 22 Nov 2024 15:54:06 -0500 Subject: [PATCH 37/57] feat(protocol-designer): onboarding animations for ot-2 (#16958) closes RQA-3677 --- .../images/onboarding_animation_ot2_2.gif | Bin 0 -> 791398 bytes .../images/onboarding_animation_ot2_3.gif | Bin 0 -> 808934 bytes .../images/onboarding_animation_ot2_4.gif | Bin 0 -> 619803 bytes .../CreateNewProtocolWizard/AddMetadata.tsx | 1 + .../SelectFixtures.tsx | 2 + .../CreateNewProtocolWizard/SelectGripper.tsx | 3 +- .../CreateNewProtocolWizard/SelectModules.tsx | 1 + .../SelectPipettes.tsx | 1 + .../CreateNewProtocolWizard/SelectRobot.tsx | 1 + .../CreateNewProtocolWizard/WizardBody.tsx | 61 +++++++++++++----- .../__tests__/WizardBody.test.tsx | 2 + 11 files changed, 56 insertions(+), 16 deletions(-) create mode 100644 protocol-designer/src/assets/images/onboarding_animation_ot2_2.gif create mode 100644 protocol-designer/src/assets/images/onboarding_animation_ot2_3.gif create mode 100644 protocol-designer/src/assets/images/onboarding_animation_ot2_4.gif diff --git a/protocol-designer/src/assets/images/onboarding_animation_ot2_2.gif b/protocol-designer/src/assets/images/onboarding_animation_ot2_2.gif new file mode 100644 index 0000000000000000000000000000000000000000..2ce6504b28c4bac11285cf303b4f7182521b5a5a GIT binary patch literal 791398 zcmaIdWl)<>;OKj*Kxt`zHN2&ULtENXv{dl|Z7J?faEIWY;2HuUxP%B!0txOA+#v*a zcZb~m&pqePow+mj?KAsgXLfgX=QH0&T2@L}!~k{Om->*IYHNOacdqwnYvE{jb6EM? zh=w8wphvbhoeK+CNe)=ePU#cj-K;E|b^~0Tol-8&c8G2LpZNR4_=aTO?(OZZ54Y@2 zHO_>YQYe(&k+Qi|nWZB0m2&&l3YWDipY^(sji$KGmbk4Ftu4ICR=wL+N78Pq=k8F! z$@=ha4|=)OcDcm*XtHb_qqm-=vWnE+E;iW8)7UT5+h~g1?n+y42%SUfZTDu)z`t&` zCd}g_E=MD0rsh^wR(1x^(}^Fap~BNp(fK^J)4rhDETy^ZUo)9MXH$QkjKJrBQnOCq z*Ajm(g(yrING$}*E{7|QsR~c%i!J)eP5~t6ePrf5Wk!_W_lffE7wb|{QQf=u9~URL zgy7q6U%qRqYuVY^K_HNl!m`#{VjiwM|DCsMY<*>ZWA5n_{NUMK z+AsSrVLso|e7~pp{YVd#&5l&TB1;v_ zP*JF!om{_hor;<2*(JZUtQ5Pgos)&N1<=Hp-POX$oZZ~X$<9&q^=lKLnT4rDWJp`qvhGpjD zX6I$a=YaG53*ykoqQcUWQfvjDP*q)1TUX!E*woz8+ScAdOu=>5m8JJ(#B>J@cMS}Y z#?wZprg~=Q<`)*1mRDBS);BiEOWRu^yCc(>!-<*6!GqIsswG-hnWFUi0GbCp+HK0@ znvg5M4$hYDvZF&Ea%u*)g}rDse998aDqE7>9>?{^l#V+(M?UetZw>LPca5Z=JdUdq z?WK7=X`cgH2#K}}KO$s|M789~5Wj6$>^T-b{zd-DP%j0LJIYZb8ER>7bC|JKoq4}r zX;y1kZj9jUD03ZfdEBOEl+j!K2M<;2zoj16@=VTLzso9{{g7WU+)<~vQ}_agF}R*t1>?Kwuo)Sm>bbrXcQR+V3UmpqU}z4pYL zP_Z-D7WeI2RqXLX6K)^qlA3(Fr7$3EqSjqaINH+0g*~NAIFV|s0t!`?*s9Ksw&#e{ zw1r2`4Rt@yB0ueU_h%J>%_cpsKQ^EC3oDj}_}>;Cd2E|+%$XiQ{S!1D#Ate)5X5>p zkfe9!4w~e>bD1~=X3GTWgfe57XT#Ksq3KR1U-B}&6XPpp0dEeM=b}FMn;Ch$5RjRV zkd9@{r1;2Q6^aP|At-GSt)gnN5T!i4oEG^58~ie{%c3beRt;jYm}D;6J|4sHw`?-@ zp0@@(@sCix{J+onOQ~OGEI6aCxzKX@=&N#0qybVZvb_9nb}VH@OWleObY28ar8o2~ zYi1}`f)Q!Y<#<*R*@D*qxdz^+(>BI{F(fLbK{F1G$kkkVod-d#73{r5uA=HT8P4h>WKV_ZPN?8(Y=m4c4NNOHHXuIjyVUFPHP(*GlCD$#aW6ZD>NyV z&gR~DkXb?H!f#-gFvz}Vqhi@BF5=@<#K$qAMHp@qXrTbRcwegYtXi-U9HnD7TE-j6 zwNyy`+H`}>*q2lI;t+um*{gwE;A;(kbyS5hxTuJm5hgpr|o|EkZKv&ALk=};K zf}vE!dB>p9*5#Six2}sVqSTb@DRw0MeV-+O?&Ip*oZiv=2w`R6syB^-{ygZYVivyT z(R(eulUcY1L(A{~t#m54?ytlRpq<%J)`Qb~!8Iq~yPn2hXC|*gzusDn^1QpBa433Q z&ph61<~K%e`JGp>yRz+H%*%HBnR)$_@ilikh0I-tAB`-c#oEtbraycoTsL~>7ijg1 zVIbpDqus9^@2$`b##e_;g2^#{94Uqmf11}$=oE*&ZeqU~hWN@C855AGnQ^VBtyTKN zP9*Z$-0dkD>901$p;xa@v)+-#U%j-8^cYlp%9$@B$#gH)U;E_?T8mbf=3kT`@WiwK zMB1x*Fn3java@+)AMu8W+>K!J#!Dvd?xm&;F5e%J>4k}wOH1?WmrkfRJph#C@KFZyL>kBb zgx9F#as5sG3_BexY3Xru)kJc^^83vMRI)U^P<@8UDn-wS;#&6enY%jF3^ET?myis< zEX@YfI1Z5SngQC>#L=dX-$^b%2dhuz#&|J1ZsN|otkuZB%{(6pQcYG2rCA1h1k2r` zFlfNSH&sEYp<7rC)1IVv z#uBYI9rI*629UR-8@p^0mRBWg?z?yoVCL*|NE!~q!&v?g{1!$eQqQDKy7WMS=dXeB zl&^_l2hVJeIz99#394myILRTbUFSf^scH~j=zsR(PglQ7b+@(!#hqnUkLJj=;L&4% zw+~XfRWLELlDy_Gt&n{BJEra^zR2twuiB;JX!A7}d-ZSPq()I(V^26bQnquhNBc24 zh<`imwSo#`>u8(w69=Ox{NPi{aFax&gQBOr2?vD%ck;f-FRs(@j-yB+4YpW?llM0_ zOyt?&#?wgK6r(wMcij2LZX%9LGgech-AZ*QxzUn*FYTmfK#uq9e$|qAT4Il2_cmmQ zRbOh2sr{OZK*ko&q~NvF{ts-qWvSYvLQ0Fc^7T$}S_ua*e5$dE!`Vty9}; 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z@W!e%BTP2cdb@;96-}r>NIL{~7>Jr?*7vxm1EPKfqhg504-}dM2kA>7T>6LkbUE9T z$+3`lL#t$)BX!T_e9Ijts_6VDC`6`6;i|hko=E$ebb&Xb25@+K{BiE_4?(@2?&=*c zm==~0SvB%sJQ)Icy1ZqFT1z2Uw@z#pw@7#fo~^cNdd{1wNF}IT(+P-g!T^Sk5hL}u z6E-*Tjn5RLLC+oT3J8S7|0Ao9FgSI_Tz}Iug5Ib_Tx(oKy*g@2qMWo|TR_=Ko8hCP zw$qLK=Z?8;GBUZ { diff --git a/protocol-designer/src/pages/CreateNewProtocolWizard/SelectPipettes.tsx b/protocol-designer/src/pages/CreateNewProtocolWizard/SelectPipettes.tsx index b3c4e691746..57f2ec6b4b5 100644 --- a/protocol-designer/src/pages/CreateNewProtocolWizard/SelectPipettes.tsx +++ b/protocol-designer/src/pages/CreateNewProtocolWizard/SelectPipettes.tsx @@ -170,6 +170,7 @@ export function SelectPipettes(props: WizardTileProps): JSX.Element | null { ) : null} = { + 2: new URL( + '../../assets/images/onboarding_animation_ot2_2.gif', + import.meta.url + ).href, + 3: new URL( + '../../assets/images/onboarding_animation_ot2_3.gif', + import.meta.url + ).href, + 4: new URL( + '../../assets/images/onboarding_animation_ot2_4.gif', + import.meta.url + ).href, +} + const ONBOARDING_ANIMATIONS: Record = { 1: one, 2: two, @@ -56,6 +74,7 @@ export function WizardBody(props: WizardBodyProps): JSX.Element { proceed, disabled = false, tooltipOnDisabled, + robotType, } = props const { t } = useTranslation('shared') const [targetProps, tooltipProps] = useHoverTooltip({ @@ -153,21 +172,33 @@ export function WizardBody(props: WizardBodyProps): JSX.Element { transition: opacity 0.5s ease-in-out; `} > - + {robotType === FLEX_ROBOT_TYPE || stepNumber === 1 ? ( + + ) : ( + + )} ) diff --git a/protocol-designer/src/pages/CreateNewProtocolWizard/__tests__/WizardBody.test.tsx b/protocol-designer/src/pages/CreateNewProtocolWizard/__tests__/WizardBody.test.tsx index f0493707774..fe33c8266c9 100644 --- a/protocol-designer/src/pages/CreateNewProtocolWizard/__tests__/WizardBody.test.tsx +++ b/protocol-designer/src/pages/CreateNewProtocolWizard/__tests__/WizardBody.test.tsx @@ -2,6 +2,7 @@ import type * as React from 'react' import { describe, it, expect, vi, beforeEach } from 'vitest' import '@testing-library/jest-dom/vitest' import { fireEvent, screen } from '@testing-library/react' +import { FLEX_ROBOT_TYPE } from '@opentrons/shared-data' import { i18n } from '../../../assets/localization' import { renderWithProviders } from '../../../__testing-utils__' import { WizardBody } from '../WizardBody' @@ -24,6 +25,7 @@ describe('WizardBody', () => { disabled: false, goBack: vi.fn(), subHeader: 'mockSubheader', + robotType: FLEX_ROBOT_TYPE, } }) From d5b7e613e642aa0a8542fe85ca9d748c2cc7c68c Mon Sep 17 00:00:00 2001 From: Shlok Amin Date: Fri, 22 Nov 2024 16:14:52 -0500 Subject: [PATCH 38/57] feat(protocol-designer): add ability to clear staging slots directly (#16930) closes RQA-3626 --- .../Designer/DeckSetup/DeckSetupTools.tsx | 37 ++++++++++++------- .../Designer/DeckSetup/SlotOverflowMenu.tsx | 29 ++++++++++++++- .../__tests__/DeckSetupTools.test.tsx | 13 ++++++- .../__tests__/SlotOverflowMenu.test.tsx | 35 +++++++++++++++++- shared-data/js/helpers/index.ts | 26 +++++++++++++ 5 files changed, 123 insertions(+), 17 deletions(-) diff --git a/protocol-designer/src/pages/Designer/DeckSetup/DeckSetupTools.tsx b/protocol-designer/src/pages/Designer/DeckSetup/DeckSetupTools.tsx index 62a5f92d46e..44732c1e0ed 100644 --- a/protocol-designer/src/pages/Designer/DeckSetup/DeckSetupTools.tsx +++ b/protocol-designer/src/pages/Designer/DeckSetup/DeckSetupTools.tsx @@ -18,6 +18,7 @@ import { } from '@opentrons/components' import { FLEX_ROBOT_TYPE, + FLEX_STAGING_AREA_SLOT_ADDRESSABLE_AREAS, getModuleDisplayName, getModuleType, MAGNETIC_MODULE_TYPE, @@ -58,7 +59,7 @@ import { LabwareTools } from './LabwareTools' import { MagnetModuleChangeContent } from './MagnetModuleChangeContent' import { getModuleModelsBySlot, getDeckErrors } from './utils' -import type { ModuleModel } from '@opentrons/shared-data' +import type { AddressableAreaName, ModuleModel } from '@opentrons/shared-data' import type { ThunkDispatch } from '../../../types' import type { Fixture } from './constants' @@ -242,7 +243,7 @@ export function DeckSetupTools(props: DeckSetupToolsProps): JSX.Element | null { handleResetSearchTerm() } - const handleClear = (): void => { + const handleClear = (keepExistingLabware = false): void => { onDeckProps?.setHoveredModule(null) onDeckProps?.setHoveredFixture(null) if (slot !== 'offDeck') { @@ -250,31 +251,41 @@ export function DeckSetupTools(props: DeckSetupToolsProps): JSX.Element | null { if (createdModuleForSlot != null) { dispatch(deleteModule(createdModuleForSlot.id)) } - // clear fixture(s) from slot - if (createFixtureForSlots != null && createFixtureForSlots.length > 0) { - createFixtureForSlots.forEach(fixture => - dispatch(deleteDeckFixture(fixture.id)) - ) - } // clear labware from slot if ( createdLabwareForSlot != null && - createdLabwareForSlot.labwareDefURI !== selectedLabwareDefUri + (!keepExistingLabware || + createdLabwareForSlot.labwareDefURI !== selectedLabwareDefUri) ) { dispatch(deleteContainer({ labwareId: createdLabwareForSlot.id })) } // clear nested labware from slot if ( createdNestedLabwareForSlot != null && - createdNestedLabwareForSlot.labwareDefURI !== - selectedNestedLabwareDefUri + (!keepExistingLabware || + createdNestedLabwareForSlot.labwareDefURI !== + selectedNestedLabwareDefUri) ) { dispatch(deleteContainer({ labwareId: createdNestedLabwareForSlot.id })) } // clear labware on staging area 4th column slot - if (matchingLabwareFor4thColumn != null) { + if (matchingLabwareFor4thColumn != null && !keepExistingLabware) { dispatch(deleteContainer({ labwareId: matchingLabwareFor4thColumn.id })) } + // clear fixture(s) from slot + if (createFixtureForSlots != null && createFixtureForSlots.length > 0) { + createFixtureForSlots.forEach(fixture => + dispatch(deleteDeckFixture(fixture.id)) + ) + // zoom out if you're clearing a staging area slot directly from a 4th column + if ( + FLEX_STAGING_AREA_SLOT_ADDRESSABLE_AREAS.includes( + slot as AddressableAreaName + ) + ) { + dispatch(selectZoomedIntoSlot({ slot: null, cutout: null })) + } + } } handleResetToolbox() handleResetLabwareTools() @@ -285,7 +296,7 @@ export function DeckSetupTools(props: DeckSetupToolsProps): JSX.Element | null { } const handleConfirm = (): void => { // clear entities first before recreating them - handleClear() + handleClear(true) if (selectedFixture != null && cutout != null) { // create fixture(s) diff --git a/protocol-designer/src/pages/Designer/DeckSetup/SlotOverflowMenu.tsx b/protocol-designer/src/pages/Designer/DeckSetup/SlotOverflowMenu.tsx index 8cc15363ea6..c6c37c5be31 100644 --- a/protocol-designer/src/pages/Designer/DeckSetup/SlotOverflowMenu.tsx +++ b/protocol-designer/src/pages/Designer/DeckSetup/SlotOverflowMenu.tsx @@ -15,6 +15,12 @@ import { StyledText, useOnClickOutside, } from '@opentrons/components' +import { + FLEX_ROBOT_TYPE, + FLEX_STAGING_AREA_SLOT_ADDRESSABLE_AREAS, + getCutoutIdFromAddressableArea, + getDeckDefFromRobotType, +} from '@opentrons/shared-data' import { getDeckSetupForActiveItem } from '../../../top-selectors/labware-locations' import { deleteModule } from '../../../step-forms/actions' @@ -32,10 +38,12 @@ import { getStagingAreaAddressableAreas } from '../../../utils' import { selectors as labwareIngredSelectors } from '../../../labware-ingred/selectors' import type { MouseEvent, SetStateAction } from 'react' import type { + AddressableAreaName, CoordinateTuple, CutoutId, DeckSlotId, } from '@opentrons/shared-data' + import type { LabwareOnDeck } from '../../../step-forms' import type { ThunkDispatch } from '../../../types' @@ -146,6 +154,10 @@ export function SlotOverflowMenu( const hasNoItems = moduleOnSlot == null && labwareOnSlot == null && fixturesOnSlot.length === 0 + const isStagingSlot = FLEX_STAGING_AREA_SLOT_ADDRESSABLE_AREAS.includes( + location as AddressableAreaName + ) + const handleClear = (): void => { // clear module from slot if (moduleOnSlot != null) { @@ -167,6 +179,21 @@ export function SlotOverflowMenu( if (matchingLabware != null) { dispatch(deleteContainer({ labwareId: matchingLabware.id })) } + // delete staging slot if addressable area is on staging slot + if (isStagingSlot) { + const deckDef = getDeckDefFromRobotType(FLEX_ROBOT_TYPE) + const cutoutId = getCutoutIdFromAddressableArea(location, deckDef) + const stagingAreaEquipmentId = Object.values( + additionalEquipmentOnDeck + ).find(({ location }) => location === cutoutId)?.id + if (stagingAreaEquipmentId != null) { + dispatch(deleteDeckFixture(stagingAreaEquipmentId)) + } else { + console.error( + `could not find equipment id for entity in ${location} with cutout id ${cutoutId}` + ) + } + } } const showDuplicateBtn = @@ -303,7 +330,7 @@ export function SlotOverflowMenu( ) : null} { if (matchingLabware != null) { setShowDeleteLabwareModal(true) diff --git a/protocol-designer/src/pages/Designer/DeckSetup/__tests__/DeckSetupTools.test.tsx b/protocol-designer/src/pages/Designer/DeckSetup/__tests__/DeckSetupTools.test.tsx index 5371faed57c..5eab480710e 100644 --- a/protocol-designer/src/pages/Designer/DeckSetup/__tests__/DeckSetupTools.test.tsx +++ b/protocol-designer/src/pages/Designer/DeckSetup/__tests__/DeckSetupTools.test.tsx @@ -1,4 +1,4 @@ -import { describe, it, expect, vi, beforeEach } from 'vitest' +import { describe, it, expect, vi, beforeEach, afterEach } from 'vitest' import '@testing-library/jest-dom/vitest' import { fireEvent, screen } from '@testing-library/react' import { @@ -67,6 +67,9 @@ describe('DeckSetupTools', () => { }) vi.mocked(getDismissedHints).mockReturnValue([]) }) + afterEach(() => { + vi.resetAllMocks() + }) it('should render the relevant modules and fixtures for slot D3 on Flex with tabs', () => { render(props) screen.getByText('Add a module') @@ -92,6 +95,14 @@ describe('DeckSetupTools', () => { screen.getByText('mock labware tools') }) it('should clear the slot from all items when the clear cta is called', () => { + vi.mocked(selectors.getZoomedInSlotInfo).mockReturnValue({ + selectedLabwareDefUri: 'mockUri', + selectedNestedLabwareDefUri: 'mockUri', + selectedFixture: null, + selectedModuleModel: null, + selectedSlot: { slot: 'D3', cutout: 'cutoutD3' }, + }) + vi.mocked(getDeckSetupForActiveItem).mockReturnValue({ labware: { labId: { diff --git a/protocol-designer/src/pages/Designer/DeckSetup/__tests__/SlotOverflowMenu.test.tsx b/protocol-designer/src/pages/Designer/DeckSetup/__tests__/SlotOverflowMenu.test.tsx index 2ba0d4df60f..56d5af2f806 100644 --- a/protocol-designer/src/pages/Designer/DeckSetup/__tests__/SlotOverflowMenu.test.tsx +++ b/protocol-designer/src/pages/Designer/DeckSetup/__tests__/SlotOverflowMenu.test.tsx @@ -1,5 +1,5 @@ import type * as React from 'react' -import { describe, it, expect, vi, beforeEach } from 'vitest' +import { describe, it, expect, vi, beforeEach, afterEach } from 'vitest' import '@testing-library/jest-dom/vitest' import { fireEvent, screen } from '@testing-library/react' import { fixture96Plate } from '@opentrons/shared-data' @@ -42,6 +42,8 @@ const render = (props: React.ComponentProps) => { })[0] } +const MOCK_STAGING_AREA_ID = 'MOCK_STAGING_AREA_ID' + describe('SlotOverflowMenu', () => { let props: React.ComponentProps @@ -78,7 +80,11 @@ describe('SlotOverflowMenu', () => { }, }, additionalEquipmentOnDeck: { - fixture: { name: 'stagingArea', id: 'mockId', location: 'cutoutD3' }, + fixture: { + name: 'stagingArea', + id: MOCK_STAGING_AREA_ID, + location: 'cutoutD3', + }, }, }) vi.mocked(EditNickNameModal).mockReturnValue( @@ -87,6 +93,10 @@ describe('SlotOverflowMenu', () => { vi.mocked(labwareIngredSelectors.getLiquidsByLabwareId).mockReturnValue({}) }) + afterEach(() => { + vi.restoreAllMocks() + }) + it('should renders all buttons as enabled and clicking on them calls ctas', () => { render(props) fireEvent.click( @@ -134,4 +144,25 @@ describe('SlotOverflowMenu', () => { expect(mockNavigate).toHaveBeenCalled() expect(vi.mocked(openIngredientSelector)).toHaveBeenCalled() }) + it('deletes the staging area slot and all labware and modules on top of it', () => { + vi.mocked(labwareIngredSelectors.getLiquidsByLabwareId).mockReturnValue({ + labId2: { well1: { '0': { volume: 10 } } }, + }) + render(props) + fireEvent.click(screen.getByRole('button', { name: 'Clear slot' })) + + expect(vi.mocked(deleteDeckFixture)).toHaveBeenCalledOnce() + expect(vi.mocked(deleteDeckFixture)).toHaveBeenCalledWith( + MOCK_STAGING_AREA_ID + ) + expect(vi.mocked(deleteContainer)).toHaveBeenCalledTimes(2) + expect(vi.mocked(deleteContainer)).toHaveBeenNthCalledWith(1, { + labwareId: 'labId', + }) + expect(vi.mocked(deleteContainer)).toHaveBeenNthCalledWith(2, { + labwareId: 'labId2', + }) + expect(vi.mocked(deleteModule)).toHaveBeenCalledOnce() + expect(vi.mocked(deleteModule)).toHaveBeenCalledWith('modId') + }) }) diff --git a/shared-data/js/helpers/index.ts b/shared-data/js/helpers/index.ts index 4c3fde2c91e..57cb24e31ee 100644 --- a/shared-data/js/helpers/index.ts +++ b/shared-data/js/helpers/index.ts @@ -10,6 +10,7 @@ import type { RobotType, ThermalAdapterName, } from '../types' +import type { AddressableAreaName, CutoutId } from '../../deck/types/schemaV5' export { getWellNamePerMultiTip } from './getWellNamePerMultiTip' export { getWellTotalVolume } from './getWellTotalVolume' @@ -373,3 +374,28 @@ export const getDeckDefFromRobotType = ( ? standardFlexDeckDef : standardOt2DeckDef } + +export const getCutoutIdFromAddressableArea = ( + addressableAreaName: string, + deckDefinition: DeckDefinition +): CutoutId | null => { + /** + * Given an addressable area name, returns the cutout ID associated with it, or null if there is none + */ + + for (const cutoutFixture of deckDefinition.cutoutFixtures) { + for (const [cutoutId, providedAreas] of Object.entries( + cutoutFixture.providesAddressableAreas + ) as Array<[CutoutId, AddressableAreaName[]]>) { + if (providedAreas.includes(addressableAreaName as AddressableAreaName)) { + return cutoutId + } + } + } + + console.error( + `${addressableAreaName} is not provided by any cutout fixtures in deck definition ${deckDefinition.otId}` + ) + + return null +} From 9b9ed165774123460c35e0caaf4f2432af903c1d Mon Sep 17 00:00:00 2001 From: Alise Au <20424172+ahiuchingau@users.noreply.github.com> Date: Fri, 22 Nov 2024 16:26:41 -0500 Subject: [PATCH 39/57] fix(hardware-testing): flex-stacker QC script improvements (#16961) --- .../modules/flex_stacker_evt_qc/__main__.py | 24 +++++++++- .../modules/flex_stacker_evt_qc/config.py | 24 +++++----- .../modules/flex_stacker_evt_qc/driver.py | 48 +++++++++++++++---- .../modules/flex_stacker_evt_qc/test_estop.py | 3 -- .../flex_stacker_evt_qc/test_l_axis.py | 10 +--- 5 files changed, 77 insertions(+), 32 deletions(-) diff --git a/hardware-testing/hardware_testing/modules/flex_stacker_evt_qc/__main__.py b/hardware-testing/hardware_testing/modules/flex_stacker_evt_qc/__main__.py index 2c4890023d4..cc38ee2ffad 100644 --- a/hardware-testing/hardware_testing/modules/flex_stacker_evt_qc/__main__.py +++ b/hardware-testing/hardware_testing/modules/flex_stacker_evt_qc/__main__.py @@ -14,7 +14,7 @@ from hardware_testing.data.csv_report import CSVReport from .config import TestSection, TestConfig, build_report, TESTS -from .driver import FlexStacker +from .driver import FlexStacker, PlatformStatus def build_stacker_report(is_simulating: bool) -> Tuple[CSVReport, FlexStacker]: @@ -42,6 +42,28 @@ async def _main(cfg: TestConfig) -> None: # BUILD REPORT report, stacker = build_stacker_report(cfg.simulate) + if not cfg.simulate: + # Perform initial checks before starting tests + # 1. estop should not be pressed + # 2. platform should be removed + if stacker.get_estop(): + ui.print_error("ESTOP is pressed, please release it before starting") + ui.get_user_ready("Release ESTOP") + if stacker.get_estop(): + ui.print_error("ESTOP is still pressed, cannot start tests") + return + + platform_state = stacker.get_platform_status() + if platform_state is PlatformStatus.ERROR: + ui.print_error("Platform sensors are not working properly, aborting") + return + if platform_state is not PlatformStatus.REMOVED: + ui.print_error("Platform must be removed from the carrier before starting") + ui.get_user_ready("Remove platform from {platform_state.value}") + if stacker.get_platform_status() is not PlatformStatus.REMOVED: + ui.print_error("Platform is still detected, cannot start tests") + return + # RUN TESTS for section, test_run in cfg.tests.items(): ui.print_title(section.value) diff --git a/hardware-testing/hardware_testing/modules/flex_stacker_evt_qc/config.py b/hardware-testing/hardware_testing/modules/flex_stacker_evt_qc/config.py index 5b94e014f0f..7a339eddde2 100644 --- a/hardware-testing/hardware_testing/modules/flex_stacker_evt_qc/config.py +++ b/hardware-testing/hardware_testing/modules/flex_stacker_evt_qc/config.py @@ -43,22 +43,22 @@ class TestConfig: TestSection.Z_AXIS, test_z_axis.run, ), - ( - TestSection.L_AXIS, - test_l_axis.run, - ), ( TestSection.X_AXIS, test_x_axis.run, ), ( - TestSection.DOOR_SWITCH, - test_door_switch.run, + TestSection.L_AXIS, + test_l_axis.run, ), ( TestSection.ESTOP, test_estop.run, ), + ( + TestSection.DOOR_SWITCH, + test_door_switch.run, + ), ] @@ -75,21 +75,21 @@ def build_report(test_name: str) -> CSVReport: title=TestSection.Z_AXIS.value, lines=test_z_axis.build_csv_lines(), ), - CSVSection( - title=TestSection.L_AXIS.value, - lines=test_l_axis.build_csv_lines(), - ), CSVSection( title=TestSection.X_AXIS.value, lines=test_x_axis.build_csv_lines(), ), CSVSection( - title=TestSection.DOOR_SWITCH.value, - lines=test_door_switch.build_csv_lines(), + title=TestSection.L_AXIS.value, + lines=test_l_axis.build_csv_lines(), ), CSVSection( title=TestSection.ESTOP.value, lines=test_estop.build_csv_lines(), ), + CSVSection( + title=TestSection.DOOR_SWITCH.value, + lines=test_door_switch.build_csv_lines(), + ), ], ) diff --git a/hardware-testing/hardware_testing/modules/flex_stacker_evt_qc/driver.py b/hardware-testing/hardware_testing/modules/flex_stacker_evt_qc/driver.py index e219b68dae3..443140573bd 100644 --- a/hardware-testing/hardware_testing/modules/flex_stacker_evt_qc/driver.py +++ b/hardware-testing/hardware_testing/modules/flex_stacker_evt_qc/driver.py @@ -1,4 +1,5 @@ """FLEX Stacker Driver.""" +from typing import Tuple from dataclasses import dataclass import serial # type: ignore[import] from serial.tools.list_ports import comports # type: ignore[import] @@ -38,6 +39,26 @@ def __str__(self) -> str: return self.name +class PlatformStatus(Enum): + """Platform Status.""" + + REMOVED = 0 + EXTENTED = 1 + RETRACTED = 2 + ERROR = 4 + + @classmethod + def from_tuple(cls, status: Tuple[int, int]) -> "PlatformStatus": + """Get platform status from tuple.""" + if status == (0, 0): + return PlatformStatus.REMOVED + if status == (1, 0): + return PlatformStatus.EXTENTED + if status == (0, 1): + return PlatformStatus.RETRACTED + return PlatformStatus.ERROR + + class Direction(Enum): """Direction.""" @@ -67,9 +88,9 @@ class MoveParams: def __str__(self) -> str: """Convert to string.""" - v = "V:" + str(self.max_speed) if self.max_speed else "" - a = "A:" + str(self.acceleration) if self.acceleration else "" - d = "D:" + str(self.max_speed_discont) if self.max_speed_discont else "" + v = "V" + str(self.max_speed) if self.max_speed else "" + a = "A" + str(self.acceleration) if self.acceleration else "" + d = "D" + str(self.max_speed_discont) if self.max_speed_discont else "" return f"{v} {a} {d}".strip() @@ -100,7 +121,7 @@ def __init__(self, port: str, simulating: bool = False) -> None: def _send_and_recv(self, msg: str, guard_ret: str = "") -> str: """Internal utility to send a command and receive the response.""" - assert self._simulating + assert not self._simulating self._serial.write(msg.encode()) ret = self._serial.readline() if guard_ret: @@ -142,7 +163,7 @@ def get_limit_switch(self, axis: StackerAxis, direction: Direction) -> bool: if self._simulating: return True - _LS_RE = re.compile(rf"^M119 .*{axis.name}{direction.name[0]}:(\d) .* OK\n") + _LS_RE = re.compile(rf"^M119 .*{axis.name}{direction.name[0]}:(\d).* OK\n") res = self._send_and_recv("M119\n", "M119 XE:") match = _LS_RE.match(res) assert match, f"Incorrect Response for limit switch: {res}" @@ -156,12 +177,23 @@ def get_platform_sensor(self, direction: Direction) -> bool: if self._simulating: return True - _LS_RE = re.compile(rf"^M121 .*{direction.name[0]}:(\d) .* OK\n") - res = self._send_and_recv("M121\n", "M119 E:") + _LS_RE = re.compile(rf"^M121 .*{direction.name[0]}:(\d).* OK\n") + res = self._send_and_recv("M121\n", "M121 E:") match = _LS_RE.match(res) assert match, f"Incorrect Response for platform sensor: {res}" return bool(int(match.group(1))) + def get_platform_status(self) -> PlatformStatus: + """Get platform status.""" + if self._simulating: + return PlatformStatus.REMOVED + + _LS_RE = re.compile(r"^M121 E:(\d) R:(\d) OK\n") + res = self._send_and_recv("M121\n", "M121 ") + match = _LS_RE.match(res) + assert match, f"Incorrect Response for platform status: {res}" + return PlatformStatus.from_tuple((int(match.group(1)), int(match.group(2)))) + def get_hopper_door_closed(self) -> bool: """Get whether or not door is closed. @@ -205,7 +237,7 @@ def move_to_limit_switch( if self._simulating: return self._send_and_recv( - f"G5 {axis.name}{direction.value} {params or ''}\n", "G0 OK" + f"G5 {axis.name}{direction.value} {params or ''}\n", "G5 OK" ) def __del__(self) -> None: diff --git a/hardware-testing/hardware_testing/modules/flex_stacker_evt_qc/test_estop.py b/hardware-testing/hardware_testing/modules/flex_stacker_evt_qc/test_estop.py index c0ee8b4150b..2a2f24161b7 100644 --- a/hardware-testing/hardware_testing/modules/flex_stacker_evt_qc/test_estop.py +++ b/hardware-testing/hardware_testing/modules/flex_stacker_evt_qc/test_estop.py @@ -41,9 +41,6 @@ def axis_at_limit(driver: FlexStacker, axis: StackerAxis) -> Direction: def run(driver: FlexStacker, report: CSVReport, section: str) -> None: """Run.""" - if not driver._simulating and driver.get_estop(): - raise RuntimeError("E-Stop is either triggered/not attached.") - x_limit = axis_at_limit(driver, StackerAxis.X) z_limit = axis_at_limit(driver, StackerAxis.Z) l_limit = axis_at_limit(driver, StackerAxis.L) diff --git a/hardware-testing/hardware_testing/modules/flex_stacker_evt_qc/test_l_axis.py b/hardware-testing/hardware_testing/modules/flex_stacker_evt_qc/test_l_axis.py index d892bdc1fd7..4b3856e92e6 100644 --- a/hardware-testing/hardware_testing/modules/flex_stacker_evt_qc/test_l_axis.py +++ b/hardware-testing/hardware_testing/modules/flex_stacker_evt_qc/test_l_axis.py @@ -11,12 +11,6 @@ from .driver import FlexStacker, StackerAxis, Direction -class LimitSwitchError(Exception): - """Limit Switch Error.""" - - pass - - def build_csv_lines() -> List[Union[CSVLine, CSVLineRepeating]]: """Build CSV Lines.""" return [ @@ -35,12 +29,12 @@ def get_latch_held_switch(driver: FlexStacker) -> bool: def close_latch(driver: FlexStacker) -> None: """Close latch.""" - driver.move_to_limit_switch(StackerAxis.L, Direction.EXTENT) + driver.move_to_limit_switch(StackerAxis.L, Direction.RETRACT) def open_latch(driver: FlexStacker) -> None: """Open latch.""" - driver.move_in_mm(StackerAxis.L, -22) + driver.move_in_mm(StackerAxis.L, 22) def run(driver: FlexStacker, report: CSVReport, section: str) -> None: From 015e182a333b85d12a26ffb88f11d291dcbebe4d Mon Sep 17 00:00:00 2001 From: koji Date: Fri, 22 Nov 2024 16:55:20 -0500 Subject: [PATCH 40/57] fix(protocol-designer): remove DisabledModal from PD (#16964) * fix(protocol-designer): remove DisabledModal from PD --- protocol-designer/src/ProtocolEditor.tsx | 4 ---- protocol-designer/src/organisms/DisabledScreen/index.tsx | 3 +++ 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/protocol-designer/src/ProtocolEditor.tsx b/protocol-designer/src/ProtocolEditor.tsx index df486e3eee4..7ca14592e86 100644 --- a/protocol-designer/src/ProtocolEditor.tsx +++ b/protocol-designer/src/ProtocolEditor.tsx @@ -4,11 +4,8 @@ import { HTML5Backend } from 'react-dnd-html5-backend' import { DIRECTION_COLUMN, Flex, OVERFLOW_AUTO } from '@opentrons/components' import { PortalRoot as TopPortalRoot } from './components/portals/TopPortal' import { ProtocolRoutes } from './ProtocolRoutes' -import { useScreenSizeCheck } from './resources/useScreenSizeCheck' -import { DisabledScreen } from './organisms/DisabledScreen' function ProtocolEditorComponent(): JSX.Element { - const isValidSize = useScreenSizeCheck() return (

- {!isValidSize && } diff --git a/protocol-designer/src/organisms/DisabledScreen/index.tsx b/protocol-designer/src/organisms/DisabledScreen/index.tsx index 779ba446f40..2815609b469 100644 --- a/protocol-designer/src/organisms/DisabledScreen/index.tsx +++ b/protocol-designer/src/organisms/DisabledScreen/index.tsx @@ -15,6 +15,9 @@ import { } from '@opentrons/components' import { getTopPortalEl } from '../../components/portals/TopPortal' +// Note: We decided not to use this component for the release. +// We will find out a better way to handle responsiveness with user's screen size issue. +// This component may be used in the future. If not, we will remove it. export function DisabledScreen(): JSX.Element { const { t } = useTranslation('shared') From 038833c207c01244030cac367cab3a6ea277abd8 Mon Sep 17 00:00:00 2001 From: Sarah Breen Date: Fri, 22 Nov 2024 16:59:20 -0500 Subject: [PATCH 41/57] feat(app): add support for pinyin layout candidates in ODD keyboard (#16873) fix EXEC-885 --- app/package.json | 1 + .../AlphanumericKeyboard/index.css | 9 +++++++++ .../AlphanumericKeyboard/index.tsx | 12 +++++++++++- .../SoftwareKeyboard/FullKeyboard/index.css | 9 +++++++++ .../SoftwareKeyboard/FullKeyboard/index.tsx | 12 +++++++++++- app/src/atoms/SoftwareKeyboard/constants.ts | 17 +++++++++++++++++ .../SystemLanguagePreferenceModal.test.tsx | 12 ++++++++++++ .../SystemLanguagePreferenceModal/index.tsx | 13 ++++++++----- yarn.lock | 6 ++++++ 9 files changed, 84 insertions(+), 7 deletions(-) diff --git a/app/package.json b/app/package.json index e68327af200..e87da02e4b0 100644 --- a/app/package.json +++ b/app/package.json @@ -63,6 +63,7 @@ "reselect": "4.0.0", "rxjs": "^6.5.1", "semver": "5.7.2", + "simple-keyboard-layouts": "3.4.41", "styled-components": "5.3.6", "typeface-open-sans": "0.0.75", "uuid": "3.2.1" diff --git a/app/src/atoms/SoftwareKeyboard/AlphanumericKeyboard/index.css b/app/src/atoms/SoftwareKeyboard/AlphanumericKeyboard/index.css index 1fa59e2230a..61e4f80d0ca 100644 --- a/app/src/atoms/SoftwareKeyboard/AlphanumericKeyboard/index.css +++ b/app/src/atoms/SoftwareKeyboard/AlphanumericKeyboard/index.css @@ -68,3 +68,12 @@ the rest is the same */ height: 44.75px; width: 330px !important; } + +.hg-candidate-box { + max-width: 400px; +} + +li.hg-candidate-box-list-item { + height: 60px; + width: 60px; +} diff --git a/app/src/atoms/SoftwareKeyboard/AlphanumericKeyboard/index.tsx b/app/src/atoms/SoftwareKeyboard/AlphanumericKeyboard/index.tsx index dccad085c08..4ab8dab1274 100644 --- a/app/src/atoms/SoftwareKeyboard/AlphanumericKeyboard/index.tsx +++ b/app/src/atoms/SoftwareKeyboard/AlphanumericKeyboard/index.tsx @@ -1,6 +1,12 @@ import * as React from 'react' import Keyboard from 'react-simple-keyboard' -import { alphanumericKeyboardLayout, customDisplay } from '../constants' +import { useSelector } from 'react-redux' +import { getAppLanguage } from '/app/redux/config' +import { + alphanumericKeyboardLayout, + layoutCandidates, + customDisplay, +} from '../constants' import type { KeyboardReactInterface } from 'react-simple-keyboard' import '../index.css' @@ -19,6 +25,7 @@ export function AlphanumericKeyboard({ debug = false, // If true, will input a \n }: AlphanumericKeyboardProps): JSX.Element { const [layoutName, setLayoutName] = React.useState('default') + const appLanguage = useSelector(getAppLanguage) const onKeyPress = (button: string): void => { if (button === '{ABC}') handleShift() if (button === '{numbers}') handleNumber() @@ -47,6 +54,9 @@ export function AlphanumericKeyboard({ onKeyPress={onKeyPress} layoutName={layoutName} layout={alphanumericKeyboardLayout} + layoutCandidates={ + appLanguage != null ? layoutCandidates[appLanguage] : undefined + } display={customDisplay} mergeDisplay={true} useButtonTag={true} diff --git a/app/src/atoms/SoftwareKeyboard/FullKeyboard/index.css b/app/src/atoms/SoftwareKeyboard/FullKeyboard/index.css index b3ff8968da4..4fb38eb50db 100644 --- a/app/src/atoms/SoftwareKeyboard/FullKeyboard/index.css +++ b/app/src/atoms/SoftwareKeyboard/FullKeyboard/index.css @@ -103,3 +103,12 @@ color: #16212d; background-color: #e3e3e3; /* grey30 */ } + +.hg-candidate-box { + max-width: 400px; +} + +li.hg-candidate-box-list-item { + height: 60px; + width: 60px; +} diff --git a/app/src/atoms/SoftwareKeyboard/FullKeyboard/index.tsx b/app/src/atoms/SoftwareKeyboard/FullKeyboard/index.tsx index 663efdd9c24..eed2a0b5934 100644 --- a/app/src/atoms/SoftwareKeyboard/FullKeyboard/index.tsx +++ b/app/src/atoms/SoftwareKeyboard/FullKeyboard/index.tsx @@ -1,6 +1,12 @@ import * as React from 'react' import { KeyboardReact as Keyboard } from 'react-simple-keyboard' -import { customDisplay, fullKeyboardLayout } from '../constants' +import { useSelector } from 'react-redux' +import { getAppLanguage } from '/app/redux/config' +import { + customDisplay, + layoutCandidates, + fullKeyboardLayout, +} from '../constants' import type { KeyboardReactInterface } from 'react-simple-keyboard' import '../index.css' @@ -19,6 +25,7 @@ export function FullKeyboard({ debug = false, }: FullKeyboardProps): JSX.Element { const [layoutName, setLayoutName] = React.useState('default') + const appLanguage = useSelector(getAppLanguage) const handleShift = (button: string): void => { switch (button) { case '{shift}': @@ -56,6 +63,9 @@ export function FullKeyboard({ onKeyPress={onKeyPress} layoutName={layoutName} layout={fullKeyboardLayout} + layoutCandidates={ + appLanguage != null ? layoutCandidates[appLanguage] : undefined + } display={customDisplay} mergeDisplay={true} useButtonTag={true} diff --git a/app/src/atoms/SoftwareKeyboard/constants.ts b/app/src/atoms/SoftwareKeyboard/constants.ts index 1808f4bd2f3..6fccfd21b81 100644 --- a/app/src/atoms/SoftwareKeyboard/constants.ts +++ b/app/src/atoms/SoftwareKeyboard/constants.ts @@ -1,3 +1,11 @@ +import chineseLayout from 'simple-keyboard-layouts/build/layouts/chinese' + +type LayoutCandidates = + | { + [key: string]: string + } + | undefined + export const customDisplay = { '{numbers}': '123', '{shift}': 'ABC', @@ -69,3 +77,12 @@ export const numericalKeyboardLayout = { export const numericalCustom = { '{backspace}': 'del', } + +export const layoutCandidates: { + [key: string]: LayoutCandidates +} = { + // @ts-expect-error layout candidates exists but is not on the type + // in the simple-keyboard-layouts package + 'zh-CN': chineseLayout.layoutCandidates, + 'en-US': undefined, +} diff --git a/app/src/organisms/Desktop/SystemLanguagePreferenceModal/__tests__/SystemLanguagePreferenceModal.test.tsx b/app/src/organisms/Desktop/SystemLanguagePreferenceModal/__tests__/SystemLanguagePreferenceModal.test.tsx index a91d7389072..8ed93c1cb81 100644 --- a/app/src/organisms/Desktop/SystemLanguagePreferenceModal/__tests__/SystemLanguagePreferenceModal.test.tsx +++ b/app/src/organisms/Desktop/SystemLanguagePreferenceModal/__tests__/SystemLanguagePreferenceModal.test.tsx @@ -180,4 +180,16 @@ describe('SystemLanguagePreferenceModal', () => { 'zh-Hant' ) }) + + it('should not open update modal when system language changes to an unsuppported language', () => { + vi.mocked(getSystemLanguage).mockReturnValue('es-MX') + render() + + expect(screen.queryByRole('button', { name: 'Don’t change' })).toBeNull() + expect( + screen.queryByRole('button', { + name: 'Use system language', + }) + ).toBeNull() + }) }) diff --git a/app/src/organisms/Desktop/SystemLanguagePreferenceModal/index.tsx b/app/src/organisms/Desktop/SystemLanguagePreferenceModal/index.tsx index 1a3a0d7d9ba..b4bf54c0d17 100644 --- a/app/src/organisms/Desktop/SystemLanguagePreferenceModal/index.tsx +++ b/app/src/organisms/Desktop/SystemLanguagePreferenceModal/index.tsx @@ -46,11 +46,7 @@ export function SystemLanguagePreferenceModal(): JSX.Element | null { const storedSystemLanguage = useSelector(getStoredSystemLanguage) const showBootModal = appLanguage == null && systemLanguage != null - const showUpdateModal = - appLanguage != null && - systemLanguage != null && - storedSystemLanguage != null && - systemLanguage !== storedSystemLanguage + const [showUpdateModal, setShowUpdateModal] = useState(false) const title = showUpdateModal ? t('system_language_preferences_update') @@ -120,6 +116,13 @@ export function SystemLanguagePreferenceModal(): JSX.Element | null { void i18n.changeLanguage(systemLanguage) } } + // only show update modal if we support the language their system has updated to + setShowUpdateModal( + appLanguage != null && + matchedSystemLanguageOption != null && + storedSystemLanguage != null && + systemLanguage !== storedSystemLanguage + ) } }, [i18n, systemLanguage, showBootModal]) diff --git a/yarn.lock b/yarn.lock index 22621f5ebd4..22c961d6704 100644 --- a/yarn.lock +++ b/yarn.lock @@ -3403,6 +3403,7 @@ reselect "4.0.0" rxjs "^6.5.1" semver "5.7.2" + simple-keyboard-layouts "3.4.41" styled-components "5.3.6" typeface-open-sans "0.0.75" uuid "3.2.1" @@ -20041,6 +20042,11 @@ simple-git@^3.15.1: "@kwsites/promise-deferred" "^1.1.1" debug "^4.3.4" +simple-keyboard-layouts@3.4.41: + version "3.4.41" + resolved "https://registry.yarnpkg.com/simple-keyboard-layouts/-/simple-keyboard-layouts-3.4.41.tgz#eb1504c36626f29b0d5590d419ab39c43d06969a" + integrity sha512-vVnPRgZmK9DqbqUxOgZesdAlWkzY1Cvxf8YaFW3SHJHQKuvCkR8VL6TjJyrpM8BkJa3W4ry1i3CsSydlPckAoQ== + simple-swizzle@^0.2.2: version "0.2.2" resolved "https://registry.yarnpkg.com/simple-swizzle/-/simple-swizzle-0.2.2.tgz#a4da6b635ffcccca33f70d17cb92592de95e557a" From 6e407e40ae70ed110ecda7aaa76eb151adf3e50a Mon Sep 17 00:00:00 2001 From: koji Date: Fri, 22 Nov 2024 17:32:22 -0500 Subject: [PATCH 42/57] fix(protocol-designer): update Heater-shaker to Heater-Shaker (#16966) * fix(protocol-designer): update Heater-shaker to Heater-Shaker --- .../src/assets/localization/en/protocol_steps.json | 2 +- .../StepForm/StepTools/HeaterShakerTools/index.tsx | 2 +- .../ProtocolSteps/StepForm/__tests__/utils.test.ts | 5 +++++ .../pages/Designer/ProtocolSteps/StepForm/utils.ts | 13 +++++++++++-- .../ProtocolSteps/Timeline/__tests__/utils.test.tsx | 2 +- .../pages/Designer/ProtocolSteps/Timeline/utils.ts | 10 ++++++++-- 6 files changed, 27 insertions(+), 7 deletions(-) diff --git a/protocol-designer/src/assets/localization/en/protocol_steps.json b/protocol-designer/src/assets/localization/en/protocol_steps.json index 50c6f7879f8..2f498904c61 100644 --- a/protocol-designer/src/assets/localization/en/protocol_steps.json +++ b/protocol-designer/src/assets/localization/en/protocol_steps.json @@ -44,7 +44,7 @@ "open": "open" } }, - "heater_shaker_settings": "Heater-shaker settings", + "heater_shaker_settings": "Heater-Shaker Settings", "in": "in", "into": "into", "magnetic_module": { diff --git a/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepTools/HeaterShakerTools/index.tsx b/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepTools/HeaterShakerTools/index.tsx index 5d2035620d3..3447de54069 100644 --- a/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepTools/HeaterShakerTools/index.tsx +++ b/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepTools/HeaterShakerTools/index.tsx @@ -41,7 +41,7 @@ export function HeaterShakerTools(props: StepFormProps): JSX.Element { gridGap={SPACING.spacing4} paddingX={SPACING.spacing16} > - + {t('protocol_steps:heater_shaker_settings')} { 'Move labware to D3 on top of Magnetic Block' ) }) + + it('should capitalize the first letter of a step name and leave the rest unchanged', () => { + const moduleName = 'Heater-shaker' + expect(capitalizeFirstLetter(moduleName)).toBe('Heater-Shaker') + }) }) describe('getFormErrorsMappedToField', () => { diff --git a/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/utils.ts b/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/utils.ts index 3821d0ba49d..db336a0aba1 100644 --- a/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/utils.ts +++ b/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/utils.ts @@ -337,8 +337,17 @@ export const getSaveStepSnackbarText = ( } } -export const capitalizeFirstLetter = (stepName: string): string => - `${stepName.charAt(0).toUpperCase()}${stepName.slice(1)}` +export const capitalizeFirstLetter = (stepName: string): string => { + // Note - check is for heater-shaker + if (stepName.includes('-')) { + return stepName + .split('-') + .map(word => word.charAt(0).toUpperCase() + word.slice(1)) + .join('-') + } else { + return `${stepName.charAt(0).toUpperCase()}${stepName.slice(1)}` + } +} type ErrorMappedToField = Record diff --git a/protocol-designer/src/pages/Designer/ProtocolSteps/Timeline/__tests__/utils.test.tsx b/protocol-designer/src/pages/Designer/ProtocolSteps/Timeline/__tests__/utils.test.tsx index 1d6c2149c95..2baccd90d6b 100644 --- a/protocol-designer/src/pages/Designer/ProtocolSteps/Timeline/__tests__/utils.test.tsx +++ b/protocol-designer/src/pages/Designer/ProtocolSteps/Timeline/__tests__/utils.test.tsx @@ -4,7 +4,7 @@ import { capitalizeFirstLetterAfterNumber } from '../utils' describe('capitalizeFirstLetterAfterNumber', () => { it('should capitalize the first letter of a step type', () => { expect(capitalizeFirstLetterAfterNumber('1. heater-shaker')).toBe( - '1. Heater-shaker' + '1. Heater-Shaker' ) expect(capitalizeFirstLetterAfterNumber('22. thermocycler')).toBe( '22. Thermocycler' diff --git a/protocol-designer/src/pages/Designer/ProtocolSteps/Timeline/utils.ts b/protocol-designer/src/pages/Designer/ProtocolSteps/Timeline/utils.ts index 56b78507a12..2d918b7790f 100644 --- a/protocol-designer/src/pages/Designer/ProtocolSteps/Timeline/utils.ts +++ b/protocol-designer/src/pages/Designer/ProtocolSteps/Timeline/utils.ts @@ -5,8 +5,14 @@ import type { StepIdType } from '../../../../form-types' export const capitalizeFirstLetterAfterNumber = (title: string): string => title.replace( - /(^[\d\W]*)([a-zA-Z])/, - (match, prefix, firstLetter) => `${prefix}${firstLetter.toUpperCase()}` + /(^[\d\W]*)([a-zA-Z])|(-[a-zA-Z])/g, + (match, prefix, firstLetter) => { + if (prefix) { + return `${prefix}${firstLetter.toUpperCase()}` + } else { + return `${match.charAt(0)}${match.charAt(1).toUpperCase()}` + } + } ) const VOLUME_SIG_DIGITS_DEFAULT = 2 From 11f473e57667ab34fb75eff6ed7fa4f52152f007 Mon Sep 17 00:00:00 2001 From: Ed Cormany Date: Mon, 25 Nov 2024 09:56:46 -0500 Subject: [PATCH 43/57] docs(api): Python API 2.21 versioning page (#16951) # Overview List the new features of PAPI 2.21 on the Versioning page. Replaces #16935 ## Test Plan and Hands on Testing [Sandbox](http://sandbox.docs.opentrons.com/docs-versioning-2.21/v2/versioning.html#version-2-21) ## Changelog - New feature bullets (these are software-focused so they don't list all _docs_ changes) - Update version table - Bump `|apiLevel|` replacement ## Review requests Am I missing something? Feels light. But Thermocycler lids are not new API features (work in 2.16+). ## Risk assessment none, docs --- api/docs/v2/conf.py | 2 +- api/docs/v2/versioning.rst | 8 ++++++-- 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/api/docs/v2/conf.py b/api/docs/v2/conf.py index 708d800ce3e..c8d1e8e7f97 100644 --- a/api/docs/v2/conf.py +++ b/api/docs/v2/conf.py @@ -99,7 +99,7 @@ # use rst_prolog to hold the subsitution # update the apiLevel value whenever a new minor version is released rst_prolog = f""" -.. |apiLevel| replace:: 2.20 +.. |apiLevel| replace:: 2.21 .. |release| replace:: {release} """ diff --git a/api/docs/v2/versioning.rst b/api/docs/v2/versioning.rst index b808893dd53..935011f61dd 100644 --- a/api/docs/v2/versioning.rst +++ b/api/docs/v2/versioning.rst @@ -68,7 +68,7 @@ The maximum supported API version for your robot is listed in the Opentrons App If you upload a protocol that specifies a higher API level than the maximum supported, your robot won't be able to analyze or run your protocol. You can increase the maximum supported version by updating your robot software and Opentrons App. -Opentrons robots running the latest software (8.0.0) support the following version ranges: +Opentrons robots running the latest software (8.2.0) support the following version ranges: * **Flex:** version 2.15–|apiLevel|. * **OT-2:** versions 2.0–|apiLevel|. @@ -84,6 +84,8 @@ This table lists the correspondence between Protocol API versions and robot soft +-------------+------------------------------+ | API Version | Introduced in Robot Software | +=============+==============================+ +| 2.21 | 8.2.0 | ++-------------+------------------------------+ | 2.20 | 8.0.0 | +-------------+------------------------------+ | 2.19 | 7.3.1 | @@ -136,7 +138,9 @@ Changes in API Versions Version 2.21 ------------ -- :ref:`Liquid presence detection ` now only checks on the first aspiration of the :py:meth:`.mix` cycle. +- Adds :py:class:`.AbsorbanceReaderContext` to support the :ref:`Absorbance Plate Reader Module `. Use the load name ``absorbanceReaderV1`` with :py:meth:`.ProtocolContext.load_module` to add an Absorbance Plate Reader to a protocol. +- :ref:`Liquid presence detection ` now only checks on the first aspiration of the :py:meth:`.mix` cycle. +- Improved the run log output of :py:meth:`.ThermocyclerContext.execute_profile`. Version 2.20 ------------ From b6e29e97be87d972d79ca70b08395724389a3470 Mon Sep 17 00:00:00 2001 From: Seth Foster Date: Mon, 25 Nov 2024 10:05:44 -0500 Subject: [PATCH 44/57] chore(app-shell-odd): push: proper deps ordering (#16968) Make does recipe dependences left to right. This fixes an issue where pushes would push a stale frontend. --- app-shell-odd/Makefile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/app-shell-odd/Makefile b/app-shell-odd/Makefile index 5d2d7ac37bd..f94cab4a611 100644 --- a/app-shell-odd/Makefile +++ b/app-shell-odd/Makefile @@ -72,7 +72,7 @@ dist-ot3: clean lib NO_USB_DETECTION=true OT_APP_DEPLOY_BUCKET=opentrons-app OT_APP_DEPLOY_FOLDER=builds OPENTRONS_PROJECT=$(OPENTRONS_PROJECT) $(builder) --linux --arm64 .PHONY: push-ot3 -push-ot3: dist-ot3 deps +push-ot3: deps dist-ot3 tar -zcvf opentrons-robot-app.tar.gz -C ./dist/linux-arm64-unpacked/ ./ scp $(if $(ssh_key),-i $(ssh_key)) $(ssh_opts) -r ./opentrons-robot-app.tar.gz root@$(host): ssh $(if $(ssh_key),-i $(ssh_key)) $(ssh_opts) root@$(host) "mount -o remount,rw / && systemctl stop opentrons-robot-app && rm -rf /opt/opentrons-app && mkdir -p /opt/opentrons-app" From 378a1f2a4f92f53900a54a6a4fb990882a17a0b4 Mon Sep 17 00:00:00 2001 From: Elyor Kodirov Date: Mon, 25 Nov 2024 20:29:31 +0500 Subject: [PATCH 45/57] fix(openrons-ai-server, opentrons-ai-client): predict method (#16967) # Overview Two changed - **Backend**: Previously, two endpoints end up using the same model, therefore confused during message processing. Present, two endpoints use separate models. - **Frontend**: Flex gripper is concerned with only Flex robot - opentrons-ai-client/src/resources/utils/createProtocolUtils.tsx Closes AUTH-1076 ## Test Plan and Hands on Testing - Visit `opentrons.ai` - Click `Update an existing protocol` and follow instructions - Click `Create a new protocol` and follow instructions. Once you complete providing labware and other information. Click Submit then it will take you chat window where you need to see the generated protocol. It should not start like 'Simulation is successful'. ## Changelog ## Review requests All tests are passing ## Risk assessment Low --- .../resources/utils/createProtocolUtils.tsx | 3 +- .../api/domain/anthropic_predict.py | 76 ++- .../api/domain/config_anthropic.py | 36 +- opentrons-ai-server/api/handler/fast.py | 61 +- .../api/models/chat_request.py | 4 + .../api/storage/docs/standard-api-v0.0.1.md | 157 ----- .../storage/docs/standard-loadname-info.md | 599 ++++++++++++++++++ opentrons-ai-server/tests/helpers/client.py | 2 +- 8 files changed, 701 insertions(+), 237 deletions(-) delete mode 100644 opentrons-ai-server/api/storage/docs/standard-api-v0.0.1.md create mode 100644 opentrons-ai-server/api/storage/docs/standard-loadname-info.md diff --git a/opentrons-ai-client/src/resources/utils/createProtocolUtils.tsx b/opentrons-ai-client/src/resources/utils/createProtocolUtils.tsx index 06dd83061cb..b1510aaf89c 100644 --- a/opentrons-ai-client/src/resources/utils/createProtocolUtils.tsx +++ b/opentrons-ai-client/src/resources/utils/createProtocolUtils.tsx @@ -182,7 +182,8 @@ export function generateChatPrompt( .join('\n') : `- ${t(values.instruments.pipettes)}` const flexGripper = - values.instruments.flexGripper === FLEX_GRIPPER + values.instruments.flexGripper === FLEX_GRIPPER && + values.instruments.robot === OPENTRONS_FLEX ? `\n- ${t('with_flex_gripper')}` : '' const modules = values.modules diff --git a/opentrons-ai-server/api/domain/anthropic_predict.py b/opentrons-ai-server/api/domain/anthropic_predict.py index abd94b631ba..4ab71c99488 100644 --- a/opentrons-ai-server/api/domain/anthropic_predict.py +++ b/opentrons-ai-server/api/domain/anthropic_predict.py @@ -1,6 +1,6 @@ import uuid from pathlib import Path -from typing import Any, Dict, List +from typing import Any, Dict, List, Literal import requests import structlog @@ -23,7 +23,7 @@ def __init__(self, settings: Settings) -> None: self.model_name: str = settings.anthropic_model_name self.system_prompt: str = SYSTEM_PROMPT self.path_docs: Path = ROOT_PATH / "api" / "storage" / "docs" - self._messages: List[MessageParam] = [ + self.cached_docs: List[MessageParam] = [ { "role": "user", "content": [ @@ -77,19 +77,26 @@ def get_docs(self) -> str: return "\n".join(xml_output) @tracer.wrap() - def generate_message(self, max_tokens: int = 4096) -> Message: + def _process_message( + self, user_id: str, messages: List[MessageParam], message_type: Literal["create", "update"], max_tokens: int = 4096 + ) -> Message: + """ + Internal method to handle message processing with different system prompts. + For now, system prompt is the same. + """ - response = self.client.messages.create( + response: Message = self.client.messages.create( model=self.model_name, system=self.system_prompt, max_tokens=max_tokens, - messages=self._messages, + messages=messages, tools=self.tools, # type: ignore extra_headers={"anthropic-beta": "prompt-caching-2024-07-31"}, + metadata={"user_id": user_id}, ) logger.info( - "Token usage", + f"Token usage: {message_type.capitalize()}", extra={ "input_tokens": response.usage.input_tokens, "output_tokens": response.usage.output_tokens, @@ -100,15 +107,23 @@ def generate_message(self, max_tokens: int = 4096) -> Message: return response @tracer.wrap() - def predict(self, prompt: str) -> str | None: + def process_message( + self, user_id: str, prompt: str, history: List[MessageParam] | None = None, message_type: Literal["create", "update"] = "create" + ) -> str | None: + """Unified method for creating and updating messages""" try: - self._messages.append({"role": "user", "content": PROMPT.format(USER_PROMPT=prompt)}) - response = self.generate_message() + messages: List[MessageParam] = self.cached_docs.copy() + if history: + messages += history + + messages.append({"role": "user", "content": PROMPT.format(USER_PROMPT=prompt)}) + response = self._process_message(user_id=user_id, messages=messages, message_type=message_type) + if response.content[-1].type == "tool_use": tool_use = response.content[-1] - self._messages.append({"role": "assistant", "content": response.content}) + messages.append({"role": "assistant", "content": response.content}) result = self.handle_tool_use(tool_use.name, tool_use.input) # type: ignore - self._messages.append( + messages.append( { "role": "user", "content": [ @@ -120,25 +135,26 @@ def predict(self, prompt: str) -> str | None: ], } ) - follow_up = self.generate_message() - response_text = follow_up.content[0].text # type: ignore - self._messages.append({"role": "assistant", "content": response_text}) - return response_text + follow_up = self._process_message(user_id=user_id, messages=messages, message_type=message_type) + return follow_up.content[0].text # type: ignore elif response.content[0].type == "text": - response_text = response.content[0].text - self._messages.append({"role": "assistant", "content": response_text}) - return response_text + return response.content[0].text logger.error("Unexpected response type") return None - except IndexError as e: - logger.error("Invalid response format", extra={"error": str(e)}) - return None except Exception as e: - logger.error("Error in predict method", extra={"error": str(e)}) + logger.error(f"Error in {message_type} method", extra={"error": str(e)}) return None + @tracer.wrap() + def create(self, user_id: str, prompt: str, history: List[MessageParam] | None = None) -> str | None: + return self.process_message(user_id, prompt, history, "create") + + @tracer.wrap() + def update(self, user_id: str, prompt: str, history: List[MessageParam] | None = None) -> str | None: + return self.process_message(user_id, prompt, history, "update") + @tracer.wrap() def handle_tool_use(self, func_name: str, func_params: Dict[str, Any]) -> str: if func_name == "simulate_protocol": @@ -148,17 +164,6 @@ def handle_tool_use(self, func_name: str, func_params: Dict[str, Any]) -> str: logger.error("Unknown tool", extra={"tool": func_name}) raise ValueError(f"Unknown tool: {func_name}") - @tracer.wrap() - def reset(self) -> None: - self._messages = [ - { - "role": "user", - "content": [ - {"type": "text", "text": DOCUMENTS.format(doc_content=self.get_docs()), "cache_control": {"type": "ephemeral"}} # type: ignore - ], - } - ] - @tracer.wrap() def simulate_protocol(self, protocol: str) -> str: url = "https://Opentrons-simulator.hf.space/protocol" @@ -197,8 +202,9 @@ def main() -> None: settings = Settings() llm = AnthropicPredict(settings) - prompt = Prompt.ask("Type a prompt to send to the Anthropic API:") - completion = llm.predict(prompt) + Prompt.ask("Type a prompt to send to the Anthropic API:") + + completion = llm.create(user_id="1", prompt="hi", history=None) print(completion) diff --git a/opentrons-ai-server/api/domain/config_anthropic.py b/opentrons-ai-server/api/domain/config_anthropic.py index 9d511012592..beebc16d5ec 100644 --- a/opentrons-ai-server/api/domain/config_anthropic.py +++ b/opentrons-ai-server/api/domain/config_anthropic.py @@ -4,14 +4,11 @@ Your key responsibilities: 1. Welcome scientists warmly and understand their protocol needs -2. Generate accurate Python protocols using standard Opentrons labware +2. Generate accurate Python protocols using standard Opentrons labware (see standard-loadname-info.md in ) 3. Provide clear explanations and documentation 4. Flag potential safety or compatibility issues 5. Suggest protocol optimizations when appropriate -Call protocol simulation tool to validate the code - only when it is called explicitly by the user. -For all other queries, provide direct responses. - Important guidelines: - Always verify labware compatibility before generating protocols - Include appropriate error handling in generated code @@ -28,26 +25,25 @@ """ PROMPT = """ -Here are the inputs you will work with: - - -{USER_PROMPT} - - Follow these instructions to handle the user's prompt: -1. Analyze the user's prompt to determine if it's: +1. : a) A request to generate a protocol - b) A question about the Opentrons Python API v2 + b) A question about the Opentrons Python API v2 or about details of protocol c) A common task (e.g., value changes, OT-2 to Flex conversion, slot correction) d) An unrelated or unclear request + e) A tool calling. If a user calls simulate protocol explicity, then call. + f) A greeting. Respond kindly. -2. If the prompt is unrelated or unclear, ask the user for clarification. For example: - I apologize, but your prompt seems unclear. Could you please provide more details? + Note: when you respond you dont need mention the category or the type. +2. If the prompt is unrelated or unclear, ask the user for clarification. + I'm sorry, but your prompt seems unclear. Could you please provide more details? + You dont need to mention -3. If the prompt is a question about the API, answer it using only the information + +3. If the prompt is a question about the API or details, answer it using only the information provided in the section. Provide references and place them under the tag. Format your response like this: API answer: @@ -86,8 +82,8 @@ }} requirements = {{ - 'robotType': '[Robot type based on user prompt, OT-2 or Flex, default is OT-2]', - 'apiLevel': '[apiLevel, default is 2.19 ]' + 'robotType': '[Robot type: OT-2(default) for Opentrons OT-2, Flex for Opentrons Flex]', + 'apiLevel': '[apiLevel, default: 2.19]' }} def run(protocol: protocol_api.ProtocolContext): @@ -214,4 +210,10 @@ def run(protocol: protocol_api.ProtocolContext): as a reference to generate a basic protocol. Remember to use only the information provided in the . Do not introduce any external information or assumptions. + +Here are the inputs you will work with: + + +{USER_PROMPT} + """ diff --git a/opentrons-ai-server/api/handler/fast.py b/opentrons-ai-server/api/handler/fast.py index b93eb6580ce..a167693dc2c 100644 --- a/opentrons-ai-server/api/handler/fast.py +++ b/opentrons-ai-server/api/handler/fast.py @@ -199,10 +199,19 @@ async def create_chat_completion( return ChatResponse(reply="Default fake response. ", fake=body.fake) response: Optional[str] = None + + if body.history and body.history[0].get("content") and "Write a protocol using" in body.history[0]["content"]: # type: ignore + protocol_option = "create" + else: + protocol_option = "update" + if "openai" in settings.model.lower(): response = openai.predict(prompt=body.message, chat_completion_message_params=body.history) else: - response = claude.predict(prompt=body.message) + if protocol_option == "create": + response = claude.create(user_id=str(user.sub), prompt=body.message, history=body.history) # type: ignore + else: + response = claude.update(user_id=str(user.sub), prompt=body.message, history=body.history) # type: ignore if response is None or response == "": return ChatResponse(reply="No response was generated", fake=bool(body.fake)) @@ -218,35 +227,36 @@ async def create_chat_completion( @tracer.wrap() @app.post( - "/api/chat/updateProtocol", + "/api/chat/createProtocol", response_model=Union[ChatResponse, ErrorResponse], - summary="Updates protocol", - description="Generate a chat response based on the provided prompt that will update an existing protocol with the required changes.", + summary="Creates protocol", + description="Generate a chat response based on the provided prompt that will create a new protocol with the required changes.", ) -async def update_protocol( - body: UpdateProtocol, user: Annotated[User, Security(auth.verify)] +async def create_protocol( + body: CreateProtocol, user: Annotated[User, Security(auth.verify)] ) -> Union[ChatResponse, ErrorResponse]: # noqa: B008 """ Generate an updated protocol using LLM. - - **request**: The HTTP request containing the existing protocol and other relevant parameters. + - **request**: The HTTP request containing the chat message. - **returns**: A chat response or an error message. """ - logger.info("POST /api/chat/updateProtocol", extra={"body": body.model_dump(), "user": user}) + logger.info("POST /api/chat/createProtocol", extra={"body": body.model_dump(), "user": user}) try: - if not body.protocol_text or body.protocol_text == "": + + if not body.prompt or body.prompt == "": raise HTTPException( status_code=status.HTTP_400_BAD_REQUEST, detail=EmptyRequestError(message="Request body is empty").model_dump() ) if body.fake: - return ChatResponse(reply="Fake response", fake=bool(body.fake)) + return ChatResponse(reply="Fake response", fake=body.fake) response: Optional[str] = None if "openai" in settings.model.lower(): - response = openai.predict(prompt=body.prompt, chat_completion_message_params=None) + response = openai.predict(prompt=str(body.model_dump()), chat_completion_message_params=None) else: - response = claude.predict(prompt=body.prompt) + response = claude.create(user_id=str(user.sub), prompt=body.prompt, history=None) if response is None or response == "": return ChatResponse(reply="No response was generated", fake=bool(body.fake)) @@ -254,7 +264,7 @@ async def update_protocol( return ChatResponse(reply=response, fake=bool(body.fake)) except Exception as e: - logger.exception("Error processing protocol update") + logger.exception("Error processing protocol creation") raise HTTPException( status_code=status.HTTP_500_INTERNAL_SERVER_ERROR, detail=InternalServerError(exception_object=e).model_dump() ) from e @@ -262,36 +272,35 @@ async def update_protocol( @tracer.wrap() @app.post( - "/api/chat/createProtocol", + "/api/chat/updateProtocol", response_model=Union[ChatResponse, ErrorResponse], - summary="Creates protocol", - description="Generate a chat response based on the provided prompt that will create a new protocol with the required changes.", + summary="Updates protocol", + description="Generate a chat response based on the provided prompt that will update an existing protocol with the required changes.", ) -async def create_protocol( - body: CreateProtocol, user: Annotated[User, Security(auth.verify)] +async def update_protocol( + body: UpdateProtocol, user: Annotated[User, Security(auth.verify)] ) -> Union[ChatResponse, ErrorResponse]: # noqa: B008 """ Generate an updated protocol using LLM. - - **request**: The HTTP request containing the chat message. + - **request**: The HTTP request containing the existing protocol and other relevant parameters. - **returns**: A chat response or an error message. """ - logger.info("POST /api/chat/createProtocol", extra={"body": body.model_dump(), "user": user}) + logger.info("POST /api/chat/updateProtocol", extra={"body": body.model_dump(), "user": user}) try: - - if not body.prompt or body.prompt == "": + if not body.protocol_text or body.protocol_text == "": raise HTTPException( status_code=status.HTTP_400_BAD_REQUEST, detail=EmptyRequestError(message="Request body is empty").model_dump() ) if body.fake: - return ChatResponse(reply="Fake response", fake=body.fake) + return ChatResponse(reply="Fake response", fake=bool(body.fake)) response: Optional[str] = None if "openai" in settings.model.lower(): - response = openai.predict(prompt=str(body.model_dump()), chat_completion_message_params=None) + response = openai.predict(prompt=body.prompt, chat_completion_message_params=None) else: - response = claude.predict(prompt=str(body.model_dump())) + response = claude.update(user_id=str(user.sub), prompt=body.prompt, history=None) if response is None or response == "": return ChatResponse(reply="No response was generated", fake=bool(body.fake)) @@ -299,7 +308,7 @@ async def create_protocol( return ChatResponse(reply=response, fake=bool(body.fake)) except Exception as e: - logger.exception("Error processing protocol creation") + logger.exception("Error processing protocol update") raise HTTPException( status_code=status.HTTP_500_INTERNAL_SERVER_ERROR, detail=InternalServerError(exception_object=e).model_dump() ) from e diff --git a/opentrons-ai-server/api/models/chat_request.py b/opentrons-ai-server/api/models/chat_request.py index fb8c0942c9d..6135ba0618c 100644 --- a/opentrons-ai-server/api/models/chat_request.py +++ b/opentrons-ai-server/api/models/chat_request.py @@ -24,9 +24,13 @@ class Chat(BaseModel): Field(None, description="Chat history in the form of a list of messages. Type is from OpenAI's ChatCompletionMessageParam"), ] +ChatOptions = Literal["update", "create"] +ChatOptionType = Annotated[Optional[ChatOptions], Field("create", description="which chat pathway did the user enter: create or update")] + class ChatRequest(BaseModel): message: str = Field(..., description="The latest message to be processed.") history: HistoryType fake: bool = Field(True, description="When set to true, the response will be a fake. OpenAI API is not used.") fake_key: FakeKeyType + chat_options: ChatOptionType diff --git a/opentrons-ai-server/api/storage/docs/standard-api-v0.0.1.md b/opentrons-ai-server/api/storage/docs/standard-api-v0.0.1.md deleted file mode 100644 index f4b54d4308a..00000000000 --- a/opentrons-ai-server/api/storage/docs/standard-api-v0.0.1.md +++ /dev/null @@ -1,157 +0,0 @@ -Standard API - -### Approved Pipette Loadnames - -Note that the labware names are hard to differentiate sometimes, -since there are cases that they differ in terms of last digits only. - -#### OT-2 Approved Loadnames - -For OT-2 robots, use the following approved loadnames: - -- p20_single_gen2 -- p300_single_gen2 -- p1000_single_gen2 -- p300_multi_gen2 -- p20_multi_gen2 - -#### Flex Approved Loadnames - -For Flex robots, use these approved loadnames: - -- flex_1channel_50 -- flex_1channel_1000 -- flex_8channel_50 -- flex_8channel_1000 -- flex_96channel_1000 - -### Agilent Labware - -- Agilent 1 Well Reservoir 290 mL: agilent_1_reservoir_290ml - -### Applied Biosystems Labware - -- Applied Biosystems MicroAmp 384 Well Plate 40 uL: appliedbiosystemsmicroamp_384_wellplate_40ul - -### Axygen Labware - -- Axygen 1 Well Reservoir 90 mL: axygen_1_reservoir_90ml - -### Bio-Rad Labware - -- Bio-Rad 384 Well Plate 50 uL: biorad_384_wellplate_50ul -- Bio-Rad 96 Well Plate 200 uL PCR: biorad_96_wellplate_200ul_pcr - -### Corning Labware - -- Corning 12 Well Plate 6.9 mL Flat: corning_12_wellplate_6.9ml_flat -- Corning 24 Well Plate 3.4 mL Flat: corning_24_wellplate_3.4ml_flat -- Corning 384 Well Plate 112 uL Flat: corning_384_wellplate_112ul_flat -- Corning 48 Well Plate 1.6 mL Flat: corning_48_wellplate_1.6ml_flat -- Corning 6 Well Plate 16.8 mL Flat: corning_6_wellplate_16.8ml_flat -- Corning 96 Well Plate 360 uL Flat: corning_96_wellplate_360ul_flat - -### GEB Labware - -- GEB 96 Tip Rack 1000 uL: geb_96_tiprack_1000ul -- GEB 96 Tip Rack 10 uL: geb_96_tiprack_10ul - -### NEST Labware - -- NEST 12 Well Reservoir 15 mL: nest_12_reservoir_15ml -- NEST 1 Well Reservoir 195 mL: nest_1_reservoir_195ml -- NEST 1 Well Reservoir 290 mL: nest_1_reservoir_290ml -- NEST 96 Well Plate 100 uL PCR Full Skirt: nest_96_wellplate_100ul_pcr_full_skirt -- NEST 96 Well Plate 200 uL Flat: nest_96_wellplate_200ul_flat -- NEST 96 Deep Well Plate 2mL: nest_96_wellplate_2ml_deep - -### Opentrons Labware - -- Opentrons 10 Tube Rack with Falcon 4x50 mL, 6x15 mL Conical: opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical -- Opentrons 10 Tube Rack with NEST 4x50 mL, 6x15 mL Conical: opentrons_10_tuberack_nest_4x50ml_6x15ml_conical -- Opentrons 15 Tube Rack with Falcon 15 mL Conical: opentrons_15_tuberack_falcon_15ml_conical -- Opentrons 15 Tube Rack with NEST 15 mL Conical: opentrons_15_tuberack_nest_15ml_conical -- Opentrons 24 Well Aluminum Block with Generic 2 mL Screwcap: opentrons_24_aluminumblock_generic_2ml_screwcap -- Opentrons 24 Well Aluminum Block with NEST 0.5 mL Screwcap: opentrons_24_aluminumblock_nest_0.5ml_screwcap -- Opentrons 24 Well Aluminum Block with NEST 1.5 mL Screwcap: opentrons_24_aluminumblock_nest_1.5ml_screwcap -- Opentrons 24 Well Aluminum Block with NEST 1.5 mL Snapcap: opentrons_24_aluminumblock_nest_1.5ml_snapcap -- Opentrons 24 Well Aluminum Block with NEST 2 mL Screwcap: opentrons_24_aluminumblock_nest_2ml_screwcap -- Opentrons 24 Well Aluminum Block with NEST 2 mL Snapcap: opentrons_24_aluminumblock_nest_2ml_snapcap -- Opentrons 24 Tube Rack with Eppendorf 1.5 mL Safe-Lock Snapcap: opentrons_24_tuberack_eppendorf_1.5ml_safelock_snapcap -- Opentrons 24 Tube Rack with Eppendorf 2 mL Safe-Lock Snapcap: opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap -- Opentrons 24 Tube Rack with Generic 2 mL Screwcap: opentrons_24_tuberack_generic_2ml_screwcap -- Opentrons 24 Tube Rack with NEST 0.5 mL Screwcap: opentrons_24_tuberack_nest_0.5ml_screwcap # not opentrons_24_tuberack_nest_0_5ml_screwcap -- Opentrons 24 Tube Rack with NEST 1.5 mL Screwcap: opentrons_24_tuberack_nest_1.5ml_screwcap # not opentrons_24_tuberack_nest_1_5ml_screwcap -- Opentrons 24 Tube Rack with NEST 1.5 mL Snapcap: opentrons_24_tuberack_nest_1.5ml_snapcap # note the use of dot. (`.`); opentrons_24_tuberack_nest_1_5ml_snapcap is incorrect -- Opentrons 24 Tube Rack with NEST 2 mL Screwcap: opentrons_24_tuberack_nest_2ml_screwcap -- Opentrons 24 Tube Rack with NEST 2 mL Snapcap: opentrons_24_tuberack_nest_2ml_snapcap -- Opentrons 6 Tube Rack with Falcon 50 mL Conical: opentrons_6_tuberack_falcon_50ml_conical -- Opentrons 6 Tube Rack with NEST 50 mL Conical: opentrons_6_tuberack_nest_50ml_conical -- Opentrons 96 Well Aluminum Block with Bio-Rad Well Plate 200 uL: opentrons_96_aluminumblock_biorad_wellplate_200ul -- Opentrons 96 Well Aluminum Block with Generic PCR Strip 200 uL: opentrons_96_aluminumblock_generic_pcr_strip_200ul -- Opentrons 96 Well Aluminum Block with NEST Well Plate 100 uL: opentrons_96_aluminumblock_nest_wellplate_100ul -- Opentrons 96 Deep Well Heater-Shaker Adapter: opentrons_96_deep_well_adapter -- Opentrons 96 Deep Well Heater-Shaker Adapter with NEST Deep Well Plate 2 mL: opentrons_96_deep_well_adapter_nest_wellplate_2ml_deep -- Opentrons OT-2 96 Filter Tip Rack 1000 uL: opentrons_96_filtertiprack_1000ul -- Opentrons OT-2 96 Filter Tip Rack 10 uL: opentrons_96_filtertiprack_10ul -- Opentrons OT-2 96 Filter Tip Rack 200 uL: opentrons_96_filtertiprack_200ul -- Opentrons OT-2 96 Filter Tip Rack 20 uL: opentrons_96_filtertiprack_20ul -- Opentrons 96 Flat Bottom Heater-Shaker Adapter: opentrons_96_flat_bottom_adapter -- Opentrons 96 Flat Bottom Heater-Shaker Adapter with NEST 96 Well Plate 200 uL Flat: opentrons_96_flat_bottom_adapter_nest_wellplate_200ul_flat -- Opentrons 96 PCR Heater-Shaker Adapter: opentrons_96_pcr_adapter -- Opentrons 96 PCR Heater-Shaker Adapter with NEST Well Plate 100 ul: opentrons_96_pcr_adapter_nest_wellplate_100ul_pcr_full_skirt -- Opentrons OT-2 96 Tip Rack 1000 uL: opentrons_96_tiprack_1000ul -- Opentrons OT-2 96 Tip Rack 10 uL: opentrons_96_tiprack_10ul -- Opentrons OT-2 96 Tip Rack 20 uL: opentrons_96_tiprack_20ul -- Opentrons OT-2 96 Tip Rack 300 uL: opentrons_96_tiprack_300ul -- Opentrons 96 Well Aluminum Block: opentrons_96_well_aluminum_block -- Opentrons 96 Well Aluminum Block adapter: opentrons_96_well_aluminum_block -- Opentrons Tough 96 Well Plate 200 uL PCR Full Skirt: opentrons_96_wellplate_200ul_pcr_full_skirt -- Opentrons Aluminum Flat Bottom Plate: opentrons_aluminum_flat_bottom_plate -- Opentrons Flex 96 Filter Tip Rack 1000 uL: opentrons_flex_96_filtertiprack_1000ul # note that 1000ul not 200ul -- Opentrons Flex 96 Filter Tip Rack 200 uL: opentrons_flex_96_filtertiprack_200ul # note that 200ul not 1000ul -- Opentrons Flex 96 Filter Tip Rack 50 uL: opentrons_flex_96_filtertiprack_50ul -- Opentrons Flex 96 Tip Rack 1000 uL: opentrons_flex_96_tiprack_1000ul -- Opentrons Flex 96 Tip Rack 200 uL: opentrons_flex_96_tiprack_200ul -- Opentrons Flex 96 Tip Rack 50 uL: opentrons_flex_96_tiprack_50ul -- Opentrons Flex 96 Tip Rack Adapter: opentrons_flex_96_tiprack_adapter -- Opentrons Universal Flat Heater-Shaker Adapter: opentrons_universal_flat_adapter -- Opentrons Universal Flat Heater-Shaker Adapter with Corning 384 Well Plate 112 ul Flat: opentrons_universal_flat_adapter_corning_384_wellplate_112ul_flat - -### Other Labware Brands - -- Thermo Scientific Nunc 96 Well Plate 1300 uL: thermoscientificnunc_96_wellplate_1300ul -- Thermo Scientific Nunc 96 Well Plate 2000 uL: thermoscientificnunc_96_wellplate_2000ul -- USA Scientific 12 Well Reservoir 22 mL: usascientific_12_reservoir_22ml -- USA Scientific 96 Deep Well Plate 2.4 mL: usascientific_96_wellplate_2.4ml_deep - -### Additional Opentrons Tube Racks - -- 4-in-1 Tube Rack Set 15: opentrons_15_tuberack_nest_15ml_conical -- 4-in-1 Tube Rack Set 50: opentrons_6_tuberack_nest_50ml_conical - -### Flex Pipettes - -- Flex 1-Channel 50 uL Pipette (single channel): flex_1channel_50 -- Flex 1-Channel 1000 uL Pipette (single channel): flex_1channel_1000 -- Flex 8-Channel 50 uL Pipette (multi-channel): flex_8channel_50 -- Flex 8-Channel 1000 uL Pipette (multi-channel): flex_8channel_1000 -- Flex 96-Channel 1000 uL Pipette (multi-channel): flex_96channel_1000 - -### Modules - -- temperature module: temperature module gen2 -- thermocycler module: thermocycler module -- thermocycler module gen2: thermocyclerModuleV2 - -### Single channel pipettes: - -- Flex 1-Channel 50 uL Pipette -- Flex 1-Channel 1000 uL Pipette -- flex_1channel_1000 - -### Multi channel pipettes: - -- Flex 8-Channel 50 uL Pipette -- Flex 8-Channel 1000 uL Pipette -- Flex 96-Channel 1000 uL Pipette diff --git a/opentrons-ai-server/api/storage/docs/standard-loadname-info.md b/opentrons-ai-server/api/storage/docs/standard-loadname-info.md new file mode 100644 index 00000000000..5ca402ec2f3 --- /dev/null +++ b/opentrons-ai-server/api/storage/docs/standard-loadname-info.md @@ -0,0 +1,599 @@ + +Total number of labware: 73 + + + +- Loadname: agilent_1_reservoir_290ml +- Dimensions: 1 row × 1 column +- Well count: 1 +- Max volume: 290 mL +- Well shape: V-bottom + + + +- Loadname: appliedbiosystemsmicroamp_384_wellplate_40ul +- Dimensions: 16 rows × 24 columns +- Well count: 384 +- Max volume: 40 µL +- Well shape: V-bottom +- Note: Requires Opentrons software v5.0 or later + + + +- Loadname: axygen_1_reservoir_90ml +- Dimensions: 1 row × 1 column +- Well count: 1 +- Max volume: 90 mL +- Well shape: Flat-bottom + + + +- Loadname: biorad_384_wellplate_50ul +- Dimensions: 16 rows × 24 columns +- Well count: 384 +- Max volume: 50 µL +- Well shape: V-bottom +- Note: Requires Opentrons software v5.0 or later + + + +- Loadname: biorad_96_wellplate_200ul_pcr +- Dimensions: 8 rows × 12 columns +- Well count: 96 +- Max volume: 200 µL +- Well shape: V-bottom + + + +- Loadname: corning_12_wellplate_6.9ml_flat +- Dimensions: 3 rows × 4 columns +- Well count: 12 +- Max volume: 6.9 mL +- Well shape: Flat-bottom + + + +- Loadname: corning_24_wellplate_3.4ml_flat +- Dimensions: 4 rows × 6 columns +- Well count: 24 +- Max volume: 3.4 mL +- Well shape: Flat-bottom + + + +- Loadname: corning_384_wellplate_112ul_flat +- Dimensions: 16 rows × 24 columns +- Well count: 384 +- Max volume: 112 µL +- Well shape: Flat-bottom + + + +- Loadname: corning_48_wellplate_1.6ml_flat +- Dimensions: 6 rows × 8 columns +- Well count: 48 +- Max volume: 1.6 mL +- Well shape: Flat-bottom + + + +- Loadname: corning_6_wellplate_16.8ml_flat +- Dimensions: 2 rows × 3 columns +- Well count: 6 +- Max volume: 16.8 mL +- Well shape: Flat-bottom + + + +- Loadname: corning_96_wellplate_360ul_flat +- Dimensions: 8 rows × 12 columns +- Well count: 96 +- Max volume: 360 µL +- Well shape: Flat-bottom + + + +- Loadname: geb_96_tiprack_1000ul +- Dimensions: 8 rows × 12 columns +- Tip count: 96 +- Max volume: 1000 µL + + + +- Loadname: geb_96_tiprack_10ul +- Dimensions: 8 rows × 12 columns +- Tip count: 96 +- Max volume: 10 µL + + + +- Loadname: nest_12_reservoir_15ml +- Dimensions: 1 row × 12 columns +- Well count: 12 +- Max volume: 15 mL +- Well shape: V-bottom + + + +- Loadname: nest_1_reservoir_195ml +- Dimensions: 1 row × 1 column +- Well count: 1 +- Max volume: 195 mL +- Well shape: V-bottom + + + +- Loadname: nest_1_reservoir_290ml +- Dimensions: 1 row × 1 column +- Well count: 1 +- Max volume: 290 mL +- Well shape: V-bottom + + + +- Loadname: nest_96_wellplate_100ul_pcr_full_skirt +- Dimensions: 8 rows × 12 columns +- Well count: 96 +- Max volume: 100 µL +- Well shape: V-bottom + + + +- Loadname: nest_96_wellplate_200ul_flat +- Dimensions: 8 rows × 12 columns +- Well count: 96 +- Max volume: 200 µL +- Well shape: Flat-bottom + + + +- Loadname: nest_96_wellplate_2ml_deep +- Dimensions: 8 rows × 12 columns +- Well count: 96 +- Max volume: 2000 µL +- Well shape: V-bottom + + + +- Loadname: opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical +- Tube count: 10 +- Configuration: + - 6 × 15 mL tubes (V-bottom) + - 4 × 50 mL tubes (V-bottom) + + + +- Loadname: opentrons_10_tuberack_nest_4x50ml_6x15ml_conical +- Tube count: 10 +- Configuration: + - 6 × 15 mL tubes (V-bottom) + - 4 × 50 mL tubes (V-bottom) + + + +- Loadname: opentrons_15_tuberack_falcon_15ml_conical +- Dimensions: 3 rows × 5 columns +- Tube count: 15 +- Max volume: 15 mL per tube +- Tube shape: V-bottom + + + +- Loadname: opentrons_15_tuberack_nest_15ml_conical +- Dimensions: 3 rows × 5 columns +- Tube count: 15 +- Max volume: 15 mL per tube +- Tube shape: V-bottom + + + +- Loadname: opentrons_24_aluminumblock_generic_2ml_screwcap +- Dimensions: 4 rows × 6 columns +- Tube count: 24 +- Max volume: 2 mL per tube +- Tube shape: V-bottom + + + +- Loadname: opentrons_24_aluminumblock_nest_0.5ml_screwcap +- Dimensions: 4 rows × 6 columns +- Tube count: 24 +- Max volume: 0.5 mL per tube +- Tube shape: V-bottom + + + +- Loadname: opentrons_24_aluminumblock_nest_1.5ml_screwcap +- Dimensions: 4 rows × 6 columns +- Tube count: 24 +- Max volume: 1.5 mL per tube +- Tube shape: V-bottom + + + +- Loadname: opentrons_24_aluminumblock_nest_1.5ml_snapcap +- Dimensions: 4 rows × 6 columns +- Tube count: 24 +- Max volume: 1.5 mL per tube +- Tube shape: V-bottom + + + +- Loadname: opentrons_24_aluminumblock_nest_2ml_screwcap +- Dimensions: 4 rows × 6 columns +- Tube count: 24 +- Max volume: 2 mL per tube +- Tube shape: V-bottom + + + +- Loadname: opentrons_24_aluminumblock_nest_2ml_snapcap +- Dimensions: 4 rows × 6 columns +- Tube count: 24 +- Max volume: 2 mL per tube +- Tube shape: U-bottom + + + +- Loadname: opentrons_24_tuberack_eppendorf_1.5ml_safelock_snapcap +- Dimensions: 4 rows × 6 columns +- Tube count: 24 +- Max volume: 1.5 mL per tube +- Tube shape: V-bottom + + + +- Loadname: opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap +- Dimensions: 4 rows × 6 columns +- Tube count: 24 +- Max volume: 2 mL per tube +- Tube shape: U-bottom + + + +- Loadname: opentrons_24_tuberack_generic_2ml_screwcap +- Dimensions: 4 rows × 6 columns +- Tube count: 24 +- Max volume: 2 mL per tube +- Tube shape: V-bottom + + + +- Loadname: opentrons_24_tuberack_nest_0.5ml_screwcap +- Dimensions: 4 rows × 6 columns +- Tube count: 24 +- Max volume: 0.5 mL per tube +- Tube shape: V-bottom + + + +- Loadname: opentrons_24_tuberack_nest_1.5ml_screwcap +- Dimensions: 4 rows × 6 columns +- Tube count: 24 +- Max volume: 1.5 mL per tube +- Tube shape: V-bottom + + + +- Loadname: opentrons_24_tuberack_nest_1.5ml_snapcap +- Dimensions: 4 rows × 6 columns +- Tube count: 24 +- Max volume: 1.5 mL per tube +- Tube shape: V-bottom + + + +- Loadname: opentrons_24_tuberack_nest_2ml_screwcap +- Dimensions: 4 rows × 6 columns +- Tube count: 24 +- Max volume: 2 mL per tube +- Tube shape: V-bottom + + + +- Loadname: opentrons_24_tuberack_nest_2ml_snapcap +- Dimensions: 4 rows × 6 columns +- Tube count: 24 +- Max volume: 2 mL per tube +- Tube shape: U-bottom + + + +- Loadname: opentrons_6_tuberack_falcon_50ml_conical +- Dimensions: 2 rows × 3 columns +- Tube count: 6 +- Max volume: 50 mL per tube +- Tube shape: V-bottom + + + +- Loadname: opentrons_6_tuberack_nest_50ml_conical +- Dimensions: 2 rows × 3 columns +- Tube count: 6 +- Max volume: 50 mL per tube +- Tube shape: V-bottom + + + +- Loadname: opentrons_96_deep_well_temp_mod_adapter +- Dimensions: 8 rows × 12 columns +- Well count: 0 +- Max volume: Various +- Note: Adapter only + + + +- Loadname: opentrons_96_aluminumblock_biorad_wellplate_200ul +- Dimensions: 8 rows × 12 columns +- Well count: 96 +- Max volume: 200 µL +- Well shape: V-bottom + + + +- Loadname: opentrons_96_aluminumblock_generic_pcr_strip_200ul +- Dimensions: 8 rows × 12 columns +- Tube count: 96 +- Max volume: 200 µL +- Tube shape: V-bottom + + + +- Loadname: opentrons_96_aluminumblock_nest_wellplate_100ul +- Dimensions: 8 rows × 12 columns +- Well count: 96 +- Max volume: 100 µL +- Well shape: V-bottom + + + +- Loadname: opentrons_96_deep_well_adapter +- Dimensions: 8 rows × 12 columns +- Well count: 0 +- Max volume: Various +- Note: Adapter only + + + +- Loadname: opentrons_96_deep_well_adapter_nest_wellplate_2ml_deep +- Dimensions: 8 rows × 12 columns +- Well count: 96 +- Max volume: 2000 µL +- Well shape: V-bottom + + + +- Loadname: opentrons_96_filtertiprack_1000ul +- Dimensions: 8 rows × 12 columns +- Tip count: 96 +- Max volume: 1000 µL + + + +- Loadname: opentrons_96_filtertiprack_10ul +- Dimensions: 8 rows × 12 columns +- Tip count: 96 +- Max volume: 10 µL + + + +- Loadname: opentrons_96_filtertiprack_200ul +- Dimensions: 8 rows × 12 columns +- Tip count: 96 +- Max volume: 200 µL + + + +- Loadname: opentrons_96_filtertiprack_20ul +- Dimensions: 8 rows × 12 columns +- Tip count: 96 +- Max volume: 20 µL + + + +- Loadname: opentrons_96_flat_bottom_adapter +- Dimensions: 8 rows × 12 columns +- Well count: 0 +- Max volume: Various +- Note: Adapter only + + + +- Loadname: opentrons_96_flat_bottom_adapter_nest_wellplate_200ul_flat +- Dimensions: 8 rows × 12 columns +- Well count: 96 +- Max volume: 200 µL +- Well shape: Flat-bottom + + + +- Loadname: opentrons_96_pcr_adapter +- Dimensions: 8 rows × 12 columns +- Well count: 96 +- Max volume: Various +- Well shape: V-bottom + + + +- Loadname: opentrons_96_pcr_adapter_nest_wellplate_100ul_pcr_full_skirt +- Dimensions: 8 rows × 12 columns +- Well count: 96 +- Max volume: 100 µL +- Well shape: V-bottom + + + +- Loadname: opentrons_96_tiprack_1000ul +- Dimensions: 8 rows × 12 columns +- Tip count: 96 +- Max volume: 1000 µL + + + +- Loadname: opentrons_96_tiprack_10ul +- Dimensions: 8 rows × 12 columns +- Tip count: 96 +- Max volume: 10 µL + + + +- Loadname: opentrons_96_tiprack_20ul +- Dimensions: 8 rows × 12 columns +- Tip count: 96 +- Max volume: 20 µL + + + +- Loadname: opentrons_96_tiprack_300ul +- Dimensions: 8 rows × 12 columns +- Tip count: 96 +- Max volume: 300 µL + + + +- Loadname: opentrons_96_well_aluminum_block +- Dimensions: 8 rows × 12 columns +- Well count: 96 +- Max volume: Various +- Well shape: V-bottom + + + +- Loadname: opentrons_96_wellplate_200ul_pcr_full_skirt +- Dimensions: 8 rows × 12 columns +- Well count: 96 +- Max volume: 200 µL +- Well shape: V-bottom + + +- Loadname: opentrons_aluminum_flat_bottom_plate +- Dimensions: N/A (base plate) +- Well count: 0 +- Max volume: Various +- Note: Base plate only + + + +- Loadname: opentrons_flex_96_filtertiprack_1000ul +- Dimensions: 8 rows × 12 columns +- Tip count: 96 +- Max volume: 1000 µL + + + +- Loadname: opentrons_flex_96_filtertiprack_200ul +- Dimensions: 8 rows × 12 columns +- Tip count: 96 +- Max volume: 200 µL + + + +- Loadname: opentrons_flex_96_filtertiprack_50ul +- Dimensions: 8 rows × 12 columns +- Tip count: 96 +- Max volume: 50 µL + + + +- Loadname: opentrons_flex_96_tiprack_1000ul +- Dimensions: 8 rows × 12 columns +- Tip count: 96 +- Max volume: 1000 µL + + + +- Loadname: opentrons_flex_96_tiprack_200ul +- Dimensions: 8 rows × 12 columns +- Tip count: 96 +- Max volume: 200 µL + + + +- Loadname: opentrons_flex_96_tiprack_50ul +- Dimensions: 8 rows × 12 columns +- Tip count: 96 +- Max volume: 50 µL + + + +- Loadname: opentrons_flex_96_tiprack_adapter +- Dimensions: 8 rows × 12 columns +- Well count: 0 +- Max volume: Various +- Note: Adapter only + + +- Loadname: opentrons_universal_flat_adapter +- Dimensions: N/A (universal adapter) +- Well count: 0 +- Max volume: Various +- Note: Adapter only + + + +- Loadname: opentrons_universal_flat_adapter_corning_384_wellplate_112ul_flat +- Dimensions: 16 rows × 24 columns +- Well count: 384 +- Max volume: 112 µL +- Well shape: Flat-bottom + + + +- Loadname: thermoscientificnunc_96_wellplate_1300ul +- Dimensions: 8 rows × 12 columns +- Well count: 96 +- Max volume: 1300 µL +- Well shape: U-bottom +- Note: Requires Opentrons software v5.0 or later + + + +- Loadname: thermoscientificnunc_96_wellplate_2000ul +- Dimensions: 8 rows × 12 columns +- Well count: 96 +- Max volume: 2000 µL +- Well shape: U-bottom +- Note: Requires Opentrons software v5.0 or later + + + +- Loadname: usascientific_12_reservoir_22ml +- Dimensions: 1 row × 12 columns +- Well count: 12 +- Max volume: 22 mL +- Well shape: V-bottom + + + +- Loadname: usascientific_96_wellplate_2.4ml_deep +- Dimensions: 8 rows × 12 columns +- Well count: 96 +- Max volume: 2.4 mL +- Well shape: U-bottom + + + + - p20_single_gen2 + - volume: 1-20 µL + - p20_multi_gen2 + - volume: 1-20 µL + - p300_single_gen2 + - volume: 20-300 µL + - p300_multi_gen2 + - volume: 20-200 µL + - p1000_single_gen2 + - volume: 100-1000 µL + + + - flex_1channel_50 + - volume: 1–50 µL + - flex_1channel_1000 + - volume: 5–1000 µL + - flex_8channel_50 + - volume: 1–50 µL + - flex_8channel_1000 + - volume: 5–1000 µL + - flex_96channel_1000 + - volume: 5–1000 µL + + diff --git a/opentrons-ai-server/tests/helpers/client.py b/opentrons-ai-server/tests/helpers/client.py index bf5a7febb3c..3b3dcfa7511 100644 --- a/opentrons-ai-server/tests/helpers/client.py +++ b/opentrons-ai-server/tests/helpers/client.py @@ -65,7 +65,7 @@ def get_health(self) -> Response: @timeit def get_chat_completion(self, message: str, fake: bool = True, fake_key: Optional[FakeKeys] = None, bad_auth: bool = False) -> Response: """Call the /chat/completion endpoint and return the response.""" - request = ChatRequest(message=message, fake=fake, fake_key=fake_key, history=None) + request = ChatRequest(message=message, fake=fake, fake_key=fake_key, history=None, chat_options=None) headers = self.standard_headers if not bad_auth else self.invalid_auth_headers return self.httpx.post("/chat/completion", headers=headers, json=request.model_dump()) From dbe2afe3bf3a793ec4e8f9e4b0bb9f11ed4d72fb Mon Sep 17 00:00:00 2001 From: Rhyann Clarke <146747548+rclarke0@users.noreply.github.com> Date: Mon, 25 Nov 2024 10:38:59 -0500 Subject: [PATCH 46/57] feat (abr-testing): Add labels to ABR Jira Tickets (#16805) # Overview Add labels to ABR JIRA Tickets ## Test Plan and Hands on Testing Tested script with different robots on different software changes ## Changelog - Adding label for if SW version is 8.2.0 - Added label if SW version is an internal release by searching for substring "alpha" - Added additional error handling for pulling data from ABR data sheets - Removed parent field - will revisit this later - ## Review requests ## Risk assessment --- .../abr_testing/automation/jira_tool.py | 15 +++- .../data_collection/abr_robot_error.py | 72 +++++++++++-------- 2 files changed, 54 insertions(+), 33 deletions(-) diff --git a/abr-testing/abr_testing/automation/jira_tool.py b/abr-testing/abr_testing/automation/jira_tool.py index d43db612561..a61c16c7f46 100644 --- a/abr-testing/abr_testing/automation/jira_tool.py +++ b/abr-testing/abr_testing/automation/jira_tool.py @@ -107,6 +107,12 @@ def open_issue(self, issue_key: str) -> str: webbrowser.open(url) return url + def get_labels(self) -> List[str]: + """Get list of available labels.""" + url = f"{self.url}/rest/api/3/label" + response = requests.request("GET", url, headers=self.headers, auth=self.auth) + return response.json() + def create_ticket( self, summary: str, @@ -118,10 +124,12 @@ def create_ticket( priority: str, components: list, affects_versions: str, - robot: str, + labels: list, + parent_name: str, ) -> Tuple[str, str]: """Create ticket.""" # Check if software version is a field on JIRA, if not replaces with existing version + # TODO: automate parent linking data = { "fields": { "project": {"id": "10273", "key": project_key}, @@ -129,7 +137,8 @@ def create_ticket( "summary": summary, "reporter": {"id": reporter_id}, "assignee": {"id": assignee_id}, - "parent": {"key": robot}, + # "parent": {"key": parent_name}, + "labels": labels, "priority": {"name": priority}, "components": [{"name": component} for component in components], "description": { @@ -194,6 +203,7 @@ def post_attachment_to_ticket(self, issue_id: str, attachment_path: str) -> None def get_project_issues(self, project_key: str) -> Dict[str, Any]: """Retrieve all issues for the given project key.""" + # TODO: add field for ticket type. headers = {"Accept": "application/json"} query = {"jql": f"project={project_key}"} response = requests.request( @@ -203,7 +213,6 @@ def get_project_issues(self, project_key: str) -> Dict[str, Any]: params=query, auth=self.auth, ) - response.raise_for_status() return response.json() def get_project_versions(self, project_key: str) -> List[str]: diff --git a/abr-testing/abr_testing/data_collection/abr_robot_error.py b/abr-testing/abr_testing/data_collection/abr_robot_error.py index f7a4237f52a..73cf12c6253 100644 --- a/abr-testing/abr_testing/data_collection/abr_robot_error.py +++ b/abr-testing/abr_testing/data_collection/abr_robot_error.py @@ -125,15 +125,20 @@ def compare_lpc_to_historical_data( & (df_lpc_data["Robot"] == robot) & (df_lpc_data["Module"] == labware_dict["Module"]) & (df_lpc_data["Adapter"] == labware_dict["Adapter"]) - & (df_lpc_data["Run Ending Error"] < 1) + & (df_lpc_data["Run Ending Error"]) + < 1 ] # Converts coordinates to floats and finds averages. - x_float = [float(value) for value in relevant_lpc["X"]] - y_float = [float(value) for value in relevant_lpc["Y"]] - z_float = [float(value) for value in relevant_lpc["Z"]] - current_x = round(labware_dict["X"], 2) - current_y = round(labware_dict["Y"], 2) - current_z = round(labware_dict["Z"], 2) + try: + x_float = [float(value) for value in relevant_lpc["X"]] + y_float = [float(value) for value in relevant_lpc["Y"]] + z_float = [float(value) for value in relevant_lpc["Z"]] + current_x = round(labware_dict["X"], 2) + current_y = round(labware_dict["Y"], 2) + current_z = round(labware_dict["Z"], 2) + except (ValueError): + x_float, y_float, z_float = [0.0], [0.0], [0.0] + current_x, current_y, current_z = 0.0, 0.0, 0.0 try: avg_x = round(mean(x_float), 2) avg_y = round(mean(y_float), 2) @@ -247,7 +252,7 @@ def get_error_runs_from_robot(ip: str) -> List[str]: f"http://{ip}:31950/runs", headers={"opentrons-version": "3"} ) run_data = response.json() - run_list = run_data["data"] + run_list = run_data.get("data", []) for run in run_list: run_id = run["id"] num_of_errors = len(run["errors"]) @@ -258,7 +263,7 @@ def get_error_runs_from_robot(ip: str) -> List[str]: def get_robot_state( ip: str, reported_string: str -) -> Tuple[Any, Any, Any, List[str], str]: +) -> Tuple[Any, Any, Any, List[str], List[str], str]: """Get robot status in case of non run error.""" description = dict() # Get instruments attached to robot @@ -274,10 +279,11 @@ def get_robot_state( f"http://{ip}:31950/health", headers={"opentrons-version": "3"} ) health_data = response.json() - parent = health_data.get("name", "") + print(f"health data {health_data}") + robot = health_data.get("name", "") # Create summary name - description["robot_name"] = parent - summary = parent + "_" + reported_string + description["robot_name"] = robot + summary = robot + "_" + reported_string affects_version = health_data.get("api_version", "") description["affects_version"] = affects_version # Instruments Attached @@ -297,6 +303,12 @@ def get_robot_state( description[module["moduleType"]] = module components = ["Flex-RABR"] components = match_error_to_component("RABR", reported_string, components) + if "alpha" in affects_version: + components.append("flex internal releases") + labels = [robot] + if "8.2" in affects_version: + labels.append("8_2_0") + parent = affects_version + " Bugs" print(components) end_time = datetime.now() print(end_time) @@ -317,13 +329,14 @@ def get_robot_state( parent, affects_version, components, + labels, whole_description_str, ) def get_run_error_info_from_robot( ip: str, one_run: str, storage_directory: str -) -> Tuple[str, str, str, List[str], str, str]: +) -> Tuple[str, str, str, List[str], List[str], str, str]: """Get error information from robot to fill out ticket.""" description = dict() # get run information @@ -339,16 +352,19 @@ def get_run_error_info_from_robot( error_code = error_dict["Error_Code"] error_instrument = error_dict["Error_Instrument"] # JIRA Ticket Fields - + robot = results.get("robot_name", "") failure_level = "Level " + str(error_level) + " Failure" components = [failure_level, "Flex-RABR"] components = match_error_to_component("RABR", str(error_type), components) - print(components) affects_version = results["API_Version"] - parent = results.get("robot_name", "") - print(parent) - summary = parent + "_" + str(one_run) + "_" + str(error_code) + "_" + error_type + if "alpha" in affects_version: + components.append("flex internal releases") + labels = [robot] + if "8.2" in affects_version: + labels.append("8_2_0") + parent = affects_version + " Bugs" + summary = robot + "_" + str(one_run) + "_" + str(error_code) + "_" + error_type # Description of error description["protocol_name"] = results["protocol"]["metadata"].get( "protocolName", "" @@ -430,6 +446,7 @@ def get_run_error_info_from_robot( parent, affects_version, components, + labels, whole_description_str, saved_file_path, ) @@ -503,18 +520,20 @@ def get_run_error_info_from_robot( one_run = error_runs[-1] # Most recent run with error. ( summary, - robot, + parent, affects_version, components, + labels, whole_description_str, run_log_file_path, ) = get_run_error_info_from_robot(ip, one_run, storage_directory) else: ( summary, - robot, + parent, affects_version, components, + labels, whole_description_str, ) = get_robot_state(ip, run_or_other) # Get Calibration Data @@ -525,16 +544,8 @@ def get_run_error_info_from_robot( print(f"Making ticket for {summary}.") # TODO: make argument or see if I can get rid of with using board_id. project_key = "RABR" - print(robot) - try: - parent_key = project_key + "-" + robot.split("ABR")[1] - except IndexError: - parent_key = "" - - # Grab all previous issues - all_issues = ticket.issues_on_board(project_key) - # TODO: read board to see if ticket for run id already exists. + all_issues = ticket.issues_on_board(project_key) # CREATE TICKET issue_key, raw_issue_url = ticket.create_ticket( summary, @@ -546,7 +557,8 @@ def get_run_error_info_from_robot( "Medium", components, affects_version, - parent_key, + labels, + parent, ) # Link Tickets to_link = ticket.match_issues(all_issues, summary) From bc0ce0974c4e97ee460c320f06a05eb764ac8b78 Mon Sep 17 00:00:00 2001 From: Josh McVey Date: Mon, 25 Nov 2024 09:50:21 -0600 Subject: [PATCH 47/57] chore(release): release notes for ot3@2.3.0-alpha.0 (#16970) --- api/release-notes-internal.md | 4 ++++ app-shell/build/release-notes-internal.md | 4 ++++ 2 files changed, 8 insertions(+) diff --git a/api/release-notes-internal.md b/api/release-notes-internal.md index 1253f7e92fd..761f1f604f3 100644 --- a/api/release-notes-internal.md +++ b/api/release-notes-internal.md @@ -2,6 +2,10 @@ For more details about this release, please see the full [technical change log][ [technical change log]: https://github.com/Opentrons/opentrons/releases +## Internal Release 2.3.0-alpha.0 + +This internal release, pulled from the `edge` branch, contains features being developed for evo tip functionality. It's for internal testing only. + ## Internal Release 2.2.0-alpha.1 This internal release, pulled from the `edge` branch, contains features being developed for 8.2.0. It's for internal testing only. diff --git a/app-shell/build/release-notes-internal.md b/app-shell/build/release-notes-internal.md index be1008ec824..2a2b46ebb7c 100644 --- a/app-shell/build/release-notes-internal.md +++ b/app-shell/build/release-notes-internal.md @@ -1,6 +1,10 @@ For more details about this release, please see the full [technical changelog][]. [technical change log]: https://github.com/Opentrons/opentrons/releases +## Internal Release 2.3.0-alpha.0 + +This internal release, pulled from the `edge` branch, contains features being developed for evo tip functionality. It's for internal testing only. + ## Internal Release 2.2.0-alpha.1 This internal release, pulled from the `edge` branch, contains features being developed for 8.2.0. It's for internal testing only. From 2117a37baab182c3ebf9cf6d58c57c23bb9e5866 Mon Sep 17 00:00:00 2001 From: koji Date: Mon, 25 Nov 2024 11:29:12 -0500 Subject: [PATCH 48/57] fix(protocol-designer): remove unnecessary scroll bar from onboarding page (#16973) * fix(protocol-designer): remove unnecessary scroll bar from onboarding page --- .../src/pages/CreateNewProtocolWizard/WizardBody.tsx | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/protocol-designer/src/pages/CreateNewProtocolWizard/WizardBody.tsx b/protocol-designer/src/pages/CreateNewProtocolWizard/WizardBody.tsx index 828ca043176..58deec63717 100644 --- a/protocol-designer/src/pages/CreateNewProtocolWizard/WizardBody.tsx +++ b/protocol-designer/src/pages/CreateNewProtocolWizard/WizardBody.tsx @@ -12,7 +12,7 @@ import { Flex, JUSTIFY_SPACE_BETWEEN, LargeButton, - OVERFLOW_SCROLL, + OVERFLOW_AUTO, SPACING, StyledText, Tooltip, @@ -114,7 +114,7 @@ export function WizardBody(props: WizardBodyProps): JSX.Element { flexDirection={DIRECTION_COLUMN} gridGap={SPACING.spacing8} height="100%" - overflowY={OVERFLOW_SCROLL} + overflowY={OVERFLOW_AUTO} > Date: Mon, 25 Nov 2024 12:30:31 -0500 Subject: [PATCH 49/57] fix(abr-testing): Fix DVT1ABR3 plate type and liquid set up (#16971) # Overview Fixed DVT1ABR3 Protocol and Updated liquid setup. ## Test Plan and Hands on Testing ## Changelog - removed abr3 csv file since the protocol no longer uses it - updated liquid set up for abr3 - changed 96 well plate to flat bottom for better compatibility with the plate reader. ## Review requests ## Risk assessment --- .../active_protocols/3_Tartrazine Protocol.py | 59 ++++++++++++++----- .../protocols/csv_parameters/3_samplevols.csv | 25 -------- ... Setup.py => 3_Tartrazine Liquid Setup.py} | 15 +++-- 3 files changed, 56 insertions(+), 43 deletions(-) delete mode 100644 abr-testing/abr_testing/protocols/csv_parameters/3_samplevols.csv rename abr-testing/abr_testing/protocols/liquid_setups/{3_OT3 ABR Normalize with Tubes Liquid Setup.py => 3_Tartrazine Liquid Setup.py} (73%) diff --git a/abr-testing/abr_testing/protocols/active_protocols/3_Tartrazine Protocol.py b/abr-testing/abr_testing/protocols/active_protocols/3_Tartrazine Protocol.py index 05a6300e053..66db85468f4 100644 --- a/abr-testing/abr_testing/protocols/active_protocols/3_Tartrazine Protocol.py +++ b/abr-testing/abr_testing/protocols/active_protocols/3_Tartrazine Protocol.py @@ -19,55 +19,83 @@ def add_parameters(parameters: ParameterContext) -> None: - """Parameters.""" - helpers.create_single_pipette_mount_parameter(parameters) + """Add parameters.""" + parameters.add_int( + variable_name="number_of_plates", + display_name="Number of Plates", + default=4, + minimum=1, + maximum=4, + ) def run(ctx: ProtocolContext) -> None: """Protocol.""" - mount_pos_50ul = ctx.params.pipette_mount # type: ignore[attr-defined] + number_of_plates = ctx.params.number_of_plates # type: ignore [attr-defined] # Plate Reader plate_reader: AbsorbanceReaderContext = ctx.load_module( helpers.abs_mod_str, "A3" ) # type: ignore[assignment] hs: HeaterShakerContext = ctx.load_module(helpers.hs_str, "A1") # type: ignore[assignment] - hs_adapter = hs.load_adapter("opentrons_96_pcr_adapter") + hs_adapter = hs.load_adapter("opentrons_universal_flat_adapter") tube_rack = ctx.load_labware( "opentrons_10_tuberack_nest_4x50ml_6x15ml_conical", "C2", "Reagent Tube" ) tartrazine_tube = tube_rack["A3"] - + water_tube_1 = tube_rack["A4"] + water_tube_2 = tube_rack["B3"] sample_plate_1 = ctx.load_labware( - "nest_96_wellplate_200ul_flat", "D1", "Sample Plate 1" + "corning_96_wellplate_360ul_flat", "D1", "Sample Plate 1" ) sample_plate_2 = ctx.load_labware( - "nest_96_wellplate_200ul_flat", "C1", "Sample Plate 2" + "corning_96_wellplate_360ul_flat", "D2", "Sample Plate 2" ) sample_plate_3 = ctx.load_labware( - "nest_96_wellplate_200ul_flat", "B1", "Sample Plate 3" + "corning_96_wellplate_360ul_flat", "C1", "Sample Plate 3" + ) + sample_plate_4 = ctx.load_labware( + "corning_96_wellplate_360ul_flat", "B1", "Sample Plate 4" ) - sample_plate_list = [sample_plate_1, sample_plate_2, sample_plate_3] + + sample_plate_list = [sample_plate_1, sample_plate_2, sample_plate_3, sample_plate_4] tiprack_50_1 = ctx.load_labware("opentrons_flex_96_tiprack_50ul", "D3") tiprack_50_2 = ctx.load_labware("opentrons_flex_96_tiprack_50ul", "C3") tiprack_50_3 = ctx.load_labware("opentrons_flex_96_tiprack_50ul", "B3") + tiprack_1000_1 = ctx.load_labware("opentrons_flex_96_tiprack_1000ul", "A2") tip_racks = [tiprack_50_1, tiprack_50_2, tiprack_50_3] # Pipette - p50 = ctx.load_instrument("flex_1channel_50", mount_pos_50ul, tip_racks=tip_racks) + p50 = ctx.load_instrument("flex_1channel_50", "left", tip_racks=tip_racks) + p1000 = ctx.load_instrument( + "flex_1channel_1000", "right", tip_racks=[tiprack_1000_1] + ) # Probe wells liquid_vols_and_wells: Dict[str, List[Dict[str, Well | List[Well] | float]]] = { - "Tartrazine": [{"well": tartrazine_tube, "volume": 45.0}] + "Tartrazine": [{"well": tartrazine_tube, "volume": 45.0}], + "Water": [{"well": [water_tube_1, water_tube_2], "volume": 45.0}], } helpers.find_liquid_height_of_loaded_liquids(ctx, liquid_vols_and_wells, p50) i = 0 all_percent_error_dict = {} cv_dict = {} - for sample_plate in sample_plate_list: - deck_locations = ["D1", "C1", "B1"] + vol = 0.0 + tip_count = 0 + for sample_plate in sample_plate_list[:number_of_plates]: + deck_locations = ["D1", "D2", "C1", "B1"] + p1000.pick_up_tip() for well in sample_plate.wells(): + if vol < 45000: + tube_of_choice = water_tube_1 + else: + tube_of_choice = water_tube_2 p50.pick_up_tip() + p1000.aspirate(190, tube_of_choice) + p1000.air_gap(5) + p1000.dispense(5, well.top()) + p1000.dispense(190, well) + vol += 190 height = helpers.find_liquid_height(p50, tartrazine_tube) p50.aspirate(10, tartrazine_tube.bottom(z=height)) p50.air_gap(5) @@ -75,6 +103,10 @@ def run(ctx: ProtocolContext) -> None: p50.dispense(10, well.bottom(z=0.5)) p50.blow_out() p50.return_tip() + tip_count += 1 + if tip_count >= (96 * 3): + p50.reset_tipracks() + p1000.return_tip() helpers.move_labware_to_hs(ctx, sample_plate, hs, hs_adapter) helpers.set_hs_speed(ctx, hs, 1500, 2.0, True) hs.open_labware_latch() @@ -117,7 +149,6 @@ def run(ctx: ProtocolContext) -> None: plate_reader.open_lid() ctx.move_labware(sample_plate, deck_locations[i], use_gripper=True) i += 1 - # Print percent error dictionary ctx.comment("Percent Error: " + str(all_percent_error_dict)) # Print cv dictionary diff --git a/abr-testing/abr_testing/protocols/csv_parameters/3_samplevols.csv b/abr-testing/abr_testing/protocols/csv_parameters/3_samplevols.csv deleted file mode 100644 index bc952b330a1..00000000000 --- a/abr-testing/abr_testing/protocols/csv_parameters/3_samplevols.csv +++ /dev/null @@ -1,25 +0,0 @@ -Sample_Plate, Sample_well,InitialVol,InitialConc,TargetConc -sample_plate,A2,10,3.94,1 -sample_plate,B2,10,3.5,1 -sample_plate,C2,10,3.46,1 -sample_plate,D2,10,3.1,1 -sample_plate,E2,10,2.64,1 -sample_plate,F2,10,3.16,1 -sample_plate,G2,10,2.9,1 -sample_plate,H2,10,2.8,1 -sample_plate,A3,10,2.82,1 -sample_plate,B3,10,2.84,1 -sample_plate,C3,10,2.72,1 -sample_plate,D3,10,2.9,1 -sample_plate,A5,10,3.94,1 -sample_plate,B5,10,3.5,1 -sample_plate,C5,10,3.46,1 -sample_plate,D5,10,3.1,1 -sample_plate,E5,10,2.64,1 -sample_plate,F5,10,3.16,1 -sample_plate,G5,10,2.9,1 -sample_plate,H5,10,2.8,1 -sample_plate,A6,10,2.82,1 -sample_plate,B6,10,2.84,1 -sample_plate,C6,10,2.72,1 -sample_plate,D6,10,2.9,1 diff --git a/abr-testing/abr_testing/protocols/liquid_setups/3_OT3 ABR Normalize with Tubes Liquid Setup.py b/abr-testing/abr_testing/protocols/liquid_setups/3_Tartrazine Liquid Setup.py similarity index 73% rename from abr-testing/abr_testing/protocols/liquid_setups/3_OT3 ABR Normalize with Tubes Liquid Setup.py rename to abr-testing/abr_testing/protocols/liquid_setups/3_Tartrazine Liquid Setup.py index 86e4de2aeed..9e0b29a03ed 100644 --- a/abr-testing/abr_testing/protocols/liquid_setups/3_OT3 ABR Normalize with Tubes Liquid Setup.py +++ b/abr-testing/abr_testing/protocols/liquid_setups/3_Tartrazine Liquid Setup.py @@ -1,11 +1,11 @@ -"""Plate Filler Protocol for Simple Normalize Long.""" +"""Plate Filler Protocol for Tartrazine Protocol.""" from opentrons import protocol_api from abr_testing.protocols.helpers import ( load_common_liquid_setup_labware_and_instruments, ) metadata = { - "protocolName": "DVT1ABR3 Liquids: Flex Normalize with Tubes", + "protocolName": "DVT1ABR3 Liquids: Tartrazine Protocol", "author": "Rhyann clarke ", "source": "Protocol Library", } @@ -32,9 +32,16 @@ def run(protocol: protocol_api.ProtocolContext) -> None: ) # Transfer Liquid p1000.transfer( - 4000, + 45000, source_reservoir["A1"], - reagent_tube["A1"].top(), + reagent_tube["B3"].top(), + blowout=True, + blowout_location="source well", + ) + p1000.transfer( + 45000, + source_reservoir["A1"], + reagent_tube["A4"].top(), blowout=True, blowout_location="source well", ) From 33100e7a0d5da74b298b7c1be833fa300c85643d Mon Sep 17 00:00:00 2001 From: TamarZanzouri Date: Mon, 25 Nov 2024 14:55:02 -0500 Subject: [PATCH 50/57] feat(api, robot-server): get historical and current command errors (#16697) --- .../protocol_engine/state/command_history.py | 12 + .../protocol_engine/state/commands.py | 12 +- .../state/test_command_state.py | 100 ++++- .../state/test_command_store_old.py | 11 - .../state/test_command_view_old.py | 42 +- .../data_files/data_files_store.py | 2 +- .../persistence/_migrations/v6_to_v7.py | 4 +- .../persistence/_migrations/v7_to_v8.py | 135 +++++++ .../persistence/file_and_directory_names.py | 2 +- .../persistence/persistence_directory.py | 5 +- .../persistence/tables/__init__.py | 4 +- .../persistence/tables/schema_8.py | 358 ++++++++++++++++++ .../robot_server/runs/router/base_router.py | 7 +- .../robot_server/runs/run_data_manager.py | 31 +- .../runs/run_orchestrator_store.py | 4 +- robot-server/robot_server/runs/run_store.py | 131 ++++++- robot-server/tests/persistence/test_tables.py | 132 ++++++- .../tests/runs/router/test_base_router.py | 15 +- .../tests/runs/test_run_data_manager.py | 20 +- robot-server/tests/runs/test_run_store.py | 102 ++++- 20 files changed, 1019 insertions(+), 110 deletions(-) create mode 100644 robot-server/robot_server/persistence/_migrations/v7_to_v8.py create mode 100644 robot-server/robot_server/persistence/tables/schema_8.py diff --git a/api/src/opentrons/protocol_engine/state/command_history.py b/api/src/opentrons/protocol_engine/state/command_history.py index d555764e54e..0879a7cd130 100644 --- a/api/src/opentrons/protocol_engine/state/command_history.py +++ b/api/src/opentrons/protocol_engine/state/command_history.py @@ -24,6 +24,9 @@ class CommandHistory: _all_command_ids: List[str] """All command IDs, in insertion order.""" + _all_failed_command_ids: List[str] + """All failed command IDs, in insertion order.""" + _all_command_ids_but_fixit_command_ids: List[str] """All command IDs besides fixit command intents, in insertion order.""" @@ -47,6 +50,7 @@ class CommandHistory: def __init__(self) -> None: self._all_command_ids = [] + self._all_failed_command_ids = [] self._all_command_ids_but_fixit_command_ids = [] self._queued_command_ids = OrderedSet() self._queued_setup_command_ids = OrderedSet() @@ -101,6 +105,13 @@ def get_all_commands(self) -> List[Command]: for command_id in self._all_command_ids ] + def get_all_failed_commands(self) -> List[Command]: + """Get all failed commands.""" + return [ + self._commands_by_id[command_id].command + for command_id in self._all_failed_command_ids + ] + def get_filtered_command_ids(self, include_fixit_commands: bool) -> List[str]: """Get all fixit command IDs.""" if include_fixit_commands: @@ -242,6 +253,7 @@ def set_command_failed(self, command: Command) -> None: self._remove_queue_id(command.id) self._remove_setup_queue_id(command.id) self._set_most_recently_completed_command_id(command.id) + self._all_failed_command_ids.append(command.id) def _add(self, command_id: str, command_entry: CommandEntry) -> None: """Create or update a command entry.""" diff --git a/api/src/opentrons/protocol_engine/state/commands.py b/api/src/opentrons/protocol_engine/state/commands.py index 4d2009aae80..da99c14ef3e 100644 --- a/api/src/opentrons/protocol_engine/state/commands.py +++ b/api/src/opentrons/protocol_engine/state/commands.py @@ -228,9 +228,6 @@ class CommandState: This value can be used to generate future hashes. """ - failed_command_errors: List[ErrorOccurrence] - """List of command errors that occurred during run execution.""" - has_entered_error_recovery: bool """Whether the run has entered error recovery.""" @@ -269,7 +266,6 @@ def __init__( run_started_at=None, latest_protocol_command_hash=None, stopped_by_estop=False, - failed_command_errors=[], error_recovery_policy=error_recovery_policy, has_entered_error_recovery=False, ) @@ -366,7 +362,6 @@ def _handle_fail_command_action(self, action: FailCommandAction) -> None: notes=action.notes, ) self._state.failed_command = self._state.command_history.get(action.command_id) - self._state.failed_command_errors.append(public_error_occurrence) if ( prev_entry.command.intent in (CommandIntent.PROTOCOL, None) @@ -706,7 +701,12 @@ def get_error(self) -> Optional[ErrorOccurrence]: def get_all_errors(self) -> List[ErrorOccurrence]: """Get the run's full error list, if there was none, returns an empty list.""" - return self._state.failed_command_errors + failed_commands = self._state.command_history.get_all_failed_commands() + return [ + command_error.error + for command_error in failed_commands + if command_error.error is not None + ] def get_has_entered_recovery_mode(self) -> bool: """Get whether the run has entered recovery mode.""" diff --git a/api/tests/opentrons/protocol_engine/state/test_command_state.py b/api/tests/opentrons/protocol_engine/state/test_command_state.py index fde0d66e654..c52cd8ca74d 100644 --- a/api/tests/opentrons/protocol_engine/state/test_command_state.py +++ b/api/tests/opentrons/protocol_engine/state/test_command_state.py @@ -30,6 +30,7 @@ from opentrons.protocol_engine.state.commands import ( CommandStore, CommandView, + CommandErrorSlice, ) from opentrons.protocol_engine.state.config import Config from opentrons.protocol_engine.state.update_types import StateUpdate @@ -193,7 +194,7 @@ def test_command_failure(error_recovery_type: ErrorRecoveryType) -> None: ) assert subject_view.get("command-id") == expected_failed_command - assert subject.state.failed_command_errors == [expected_error_occurrence] + assert subject_view.get_all_errors() == [expected_error_occurrence] def test_command_failure_clears_queues() -> None: @@ -255,7 +256,7 @@ def test_command_failure_clears_queues() -> None: assert subject_view.get_running_command_id() is None assert subject_view.get_queue_ids() == OrderedSet() assert subject_view.get_next_to_execute() is None - assert subject.state.failed_command_errors == [expected_error_occurance] + assert subject_view.get_all_errors() == [expected_error_occurance] def test_setup_command_failure_only_clears_setup_command_queue() -> None: @@ -555,7 +556,7 @@ def test_door_during_error_recovery() -> None: subject.handle_action(play) assert subject_view.get_status() == EngineStatus.AWAITING_RECOVERY assert subject_view.get_next_to_execute() == "command-id-2" - assert subject.state.failed_command_errors == [expected_error_occurance] + assert subject_view.get_all_errors() == [expected_error_occurance] @pytest.mark.parametrize("close_door_before_queueing", [False, True]) @@ -732,7 +733,7 @@ def test_error_recovery_type_tracking() -> None: id="c2-error", createdAt=datetime(year=2023, month=3, day=3), error=exception ) - assert subject.state.failed_command_errors == [ + assert view.get_all_errors() == [ error_occurrence_1, error_occurrence_2, ] @@ -1100,3 +1101,94 @@ def test_get_state_update_for_false_positive() -> None: subject.handle_action(resume_from_recovery) assert subject_view.get_state_update_for_false_positive() == empty_state_update + + +def test_get_errors_slice_empty() -> None: + """It should return an empty error list.""" + subject = CommandStore( + config=_make_config(), + error_recovery_policy=_placeholder_error_recovery_policy, + is_door_open=False, + ) + subject_view = CommandView(subject.state) + result = subject_view.get_errors_slice(cursor=0, length=2) + + assert result == CommandErrorSlice(commands_errors=[], cursor=0, total_length=0) + + +def test_get_errors_slice() -> None: + """It should return a slice of all command errors.""" + subject = CommandStore( + config=_make_config(), + error_recovery_policy=_placeholder_error_recovery_policy, + is_door_open=False, + ) + + subject_view = CommandView(subject.state) + + queue_1 = actions.QueueCommandAction( + request=commands.WaitForResumeCreate( + params=commands.WaitForResumeParams(), key="command-key-1" + ), + request_hash=None, + created_at=datetime(year=2021, month=1, day=1), + command_id="command-id-1", + ) + subject.handle_action(queue_1) + queue_2_setup = actions.QueueCommandAction( + request=commands.WaitForResumeCreate( + params=commands.WaitForResumeParams(), + intent=commands.CommandIntent.SETUP, + key="command-key-2", + ), + request_hash=None, + created_at=datetime(year=2021, month=1, day=1), + command_id="command-id-2", + ) + subject.handle_action(queue_2_setup) + queue_3_setup = actions.QueueCommandAction( + request=commands.WaitForResumeCreate( + params=commands.WaitForResumeParams(), + intent=commands.CommandIntent.SETUP, + key="command-key-3", + ), + request_hash=None, + created_at=datetime(year=2021, month=1, day=1), + command_id="command-id-3", + ) + subject.handle_action(queue_3_setup) + + run_2_setup = actions.RunCommandAction( + command_id="command-id-2", + started_at=datetime(year=2022, month=2, day=2), + ) + subject.handle_action(run_2_setup) + fail_2_setup = actions.FailCommandAction( + command_id="command-id-2", + running_command=subject_view.get("command-id-2"), + error_id="error-id", + failed_at=datetime(year=2023, month=3, day=3), + error=errors.ProtocolEngineError(message="oh no"), + notes=[], + type=ErrorRecoveryType.CONTINUE_WITH_ERROR, + ) + subject.handle_action(fail_2_setup) + + result = subject_view.get_errors_slice(cursor=1, length=3) + + assert result == CommandErrorSlice( + [ + ErrorOccurrence( + id="error-id", + createdAt=datetime(2023, 3, 3, 0, 0), + isDefined=False, + errorType="ProtocolEngineError", + errorCode="4000", + detail="oh no", + errorInfo={}, + wrappedErrors=[], + ) + ], + cursor=0, + total_length=1, + ) diff --git a/api/tests/opentrons/protocol_engine/state/test_command_store_old.py b/api/tests/opentrons/protocol_engine/state/test_command_store_old.py index d5f171b7ea9..881719ba7ad 100644 --- a/api/tests/opentrons/protocol_engine/state/test_command_store_old.py +++ b/api/tests/opentrons/protocol_engine/state/test_command_store_old.py @@ -333,7 +333,6 @@ def test_command_store_handles_pause_action(pause_source: PauseSource) -> None: recovery_target=None, latest_protocol_command_hash=None, stopped_by_estop=False, - failed_command_errors=[], error_recovery_policy=matchers.Anything(), has_entered_error_recovery=False, ) @@ -363,7 +362,6 @@ def test_command_store_handles_play_action(pause_source: PauseSource) -> None: run_started_at=datetime(year=2021, month=1, day=1), latest_protocol_command_hash=None, stopped_by_estop=False, - failed_command_errors=[], error_recovery_policy=matchers.Anything(), has_entered_error_recovery=False, ) @@ -398,7 +396,6 @@ def test_command_store_handles_finish_action() -> None: run_started_at=datetime(year=2021, month=1, day=1), latest_protocol_command_hash=None, stopped_by_estop=False, - failed_command_errors=[], error_recovery_policy=matchers.Anything(), has_entered_error_recovery=False, ) @@ -453,7 +450,6 @@ def test_command_store_handles_stop_action( run_started_at=datetime(year=2021, month=1, day=1), latest_protocol_command_hash=None, stopped_by_estop=from_estop, - failed_command_errors=[], error_recovery_policy=matchers.Anything(), has_entered_error_recovery=False, ) @@ -491,7 +487,6 @@ def test_command_store_handles_stop_action_when_awaiting_recovery() -> None: run_started_at=datetime(year=2021, month=1, day=1), latest_protocol_command_hash=None, stopped_by_estop=False, - failed_command_errors=[], error_recovery_policy=matchers.Anything(), has_entered_error_recovery=False, ) @@ -525,7 +520,6 @@ def test_command_store_cannot_restart_after_should_stop() -> None: run_started_at=None, latest_protocol_command_hash=None, stopped_by_estop=False, - failed_command_errors=[], error_recovery_policy=matchers.Anything(), has_entered_error_recovery=False, ) @@ -672,7 +666,6 @@ def test_command_store_wraps_unknown_errors() -> None: recovery_target=None, latest_protocol_command_hash=None, stopped_by_estop=False, - failed_command_errors=[], error_recovery_policy=matchers.Anything(), has_entered_error_recovery=False, ) @@ -742,7 +735,6 @@ def __init__(self, message: str) -> None: run_started_at=None, latest_protocol_command_hash=None, stopped_by_estop=False, - failed_command_errors=[], error_recovery_policy=matchers.Anything(), has_entered_error_recovery=False, ) @@ -778,7 +770,6 @@ def test_command_store_ignores_stop_after_graceful_finish() -> None: run_started_at=datetime(year=2021, month=1, day=1), latest_protocol_command_hash=None, stopped_by_estop=False, - failed_command_errors=[], error_recovery_policy=matchers.Anything(), has_entered_error_recovery=False, ) @@ -814,7 +805,6 @@ def test_command_store_ignores_finish_after_non_graceful_stop() -> None: run_started_at=datetime(year=2021, month=1, day=1), latest_protocol_command_hash=None, stopped_by_estop=False, - failed_command_errors=[], error_recovery_policy=matchers.Anything(), has_entered_error_recovery=False, ) @@ -850,7 +840,6 @@ def test_handles_hardware_stopped() -> None: run_started_at=None, latest_protocol_command_hash=None, stopped_by_estop=False, - failed_command_errors=[], error_recovery_policy=matchers.Anything(), has_entered_error_recovery=False, ) diff --git a/api/tests/opentrons/protocol_engine/state/test_command_view_old.py b/api/tests/opentrons/protocol_engine/state/test_command_view_old.py index f7b1d6cd31f..0cbef9cf474 100644 --- a/api/tests/opentrons/protocol_engine/state/test_command_view_old.py +++ b/api/tests/opentrons/protocol_engine/state/test_command_view_old.py @@ -28,19 +28,17 @@ CommandState, CommandView, CommandSlice, - CommandErrorSlice, CommandPointer, RunResult, QueueStatus, ) -from opentrons.protocol_engine.state.command_history import CommandEntry +from opentrons.protocol_engine.state.command_history import CommandEntry, CommandHistory from opentrons.protocol_engine.errors import ProtocolCommandFailedError, ErrorOccurrence from opentrons_shared_data.errors.codes import ErrorCodes -from opentrons.protocol_engine.state.command_history import CommandHistory from opentrons.protocol_engine.state.update_types import StateUpdate from .command_fixtures import ( @@ -77,7 +75,6 @@ def get_command_view( # noqa: C901 finish_error: Optional[errors.ErrorOccurrence] = None, commands: Sequence[cmd.Command] = (), latest_command_hash: Optional[str] = None, - failed_command_errors: Optional[List[ErrorOccurrence]] = None, has_entered_error_recovery: bool = False, ) -> CommandView: """Get a command view test subject.""" @@ -121,7 +118,6 @@ def get_command_view( # noqa: C901 run_started_at=run_started_at, latest_protocol_command_hash=latest_command_hash, stopped_by_estop=False, - failed_command_errors=failed_command_errors or [], has_entered_error_recovery=has_entered_error_recovery, error_recovery_policy=_placeholder_error_recovery_policy, ) @@ -1031,42 +1027,6 @@ def test_get_slice_default_cursor_running() -> None: ) -def test_get_errors_slice_empty() -> None: - """It should return a slice from the tail if no current command.""" - subject = get_command_view(failed_command_errors=[]) - result = subject.get_errors_slice(cursor=0, length=2) - - assert result == CommandErrorSlice(commands_errors=[], cursor=0, total_length=0) - - -def test_get_errors_slice() -> None: - """It should return a slice of all command errors.""" - error_1 = ErrorOccurrence.construct(id="error-id-1") # type: ignore[call-arg] - error_2 = ErrorOccurrence.construct(id="error-id-2") # type: ignore[call-arg] - error_3 = ErrorOccurrence.construct(id="error-id-3") # type: ignore[call-arg] - error_4 = ErrorOccurrence.construct(id="error-id-4") # type: ignore[call-arg] - - subject = get_command_view( - failed_command_errors=[error_1, error_2, error_3, error_4] - ) - - result = subject.get_errors_slice(cursor=1, length=3) - - assert result == CommandErrorSlice( - commands_errors=[error_2, error_3, error_4], - cursor=1, - total_length=4, - ) - - result = subject.get_errors_slice(cursor=-3, length=10) - - assert result == CommandErrorSlice( - commands_errors=[error_1, error_2, error_3, error_4], - cursor=0, - total_length=4, - ) - - def test_get_slice_without_fixit() -> None: """It should select a cursor based on the running command, if present.""" command_1 = create_succeeded_command(command_id="command-id-1") diff --git a/robot-server/robot_server/data_files/data_files_store.py b/robot-server/robot_server/data_files/data_files_store.py index 28257dbb8d2..e0ef8fefa44 100644 --- a/robot-server/robot_server/data_files/data_files_store.py +++ b/robot-server/robot_server/data_files/data_files_store.py @@ -15,7 +15,7 @@ analysis_csv_rtp_table, run_csv_rtp_table, ) -from robot_server.persistence.tables.schema_7 import DataFileSourceSQLEnum +from robot_server.persistence.tables import DataFileSourceSQLEnum from .models import DataFileSource, FileIdNotFoundError, FileInUseError diff --git a/robot-server/robot_server/persistence/_migrations/v6_to_v7.py b/robot-server/robot_server/persistence/_migrations/v6_to_v7.py index f2c0f2ad93d..29cd284e942 100644 --- a/robot-server/robot_server/persistence/_migrations/v6_to_v7.py +++ b/robot-server/robot_server/persistence/_migrations/v6_to_v7.py @@ -16,7 +16,7 @@ import sqlalchemy from ..database import sql_engine_ctx, sqlite_rowid -from ..tables import DataFileSourceSQLEnum, schema_7 +from ..tables import schema_7 from .._folder_migrator import Migration from ..file_and_directory_names import ( @@ -102,6 +102,6 @@ def _migrate_data_files_table_with_new_source_col( """Add a new 'source' column to data_files table.""" dest_transaction.execute( sqlalchemy.update(schema_7.data_files_table).values( - {"source": DataFileSourceSQLEnum.UPLOADED} + {"source": schema_7.DataFileSourceSQLEnum.UPLOADED} ) ) diff --git a/robot-server/robot_server/persistence/_migrations/v7_to_v8.py b/robot-server/robot_server/persistence/_migrations/v7_to_v8.py new file mode 100644 index 00000000000..a5ed950a8dc --- /dev/null +++ b/robot-server/robot_server/persistence/_migrations/v7_to_v8.py @@ -0,0 +1,135 @@ +"""Migrate the persistence directory from schema 7 to 8. + +Summary of changes from schema 7: + +- Adds a new command_error to store the commands error in the commands table +- Adds a new command_status to store the commands status in the commands table +""" + +import json +from pathlib import Path +from contextlib import ExitStack +import shutil +from typing import Any + +import sqlalchemy + +from ..database import sql_engine_ctx +from ..tables import schema_8 +from .._folder_migrator import Migration + +from ..file_and_directory_names import ( + DB_FILE, +) +from ..tables.schema_8 import CommandStatusSQLEnum + + +class Migration7to8(Migration): # noqa: D101 + def migrate(self, source_dir: Path, dest_dir: Path) -> None: + """Migrate the persistence directory from schema 6 to 7.""" + # Copy over all existing directories and files to new version + for item in source_dir.iterdir(): + if item.is_dir(): + shutil.copytree(src=item, dst=dest_dir / item.name) + else: + shutil.copy(src=item, dst=dest_dir / item.name) + + dest_db_file = dest_dir / DB_FILE + + with ExitStack() as exit_stack: + dest_engine = exit_stack.enter_context(sql_engine_ctx(dest_db_file)) + + dest_transaction = exit_stack.enter_context(dest_engine.begin()) + + def add_column( + engine: sqlalchemy.engine.Engine, + table_name: str, + column: Any, + ) -> None: + column_type = column.type.compile(engine.dialect) + engine.execute( + f"ALTER TABLE {table_name} ADD COLUMN {column.key} {column_type}" + ) + + add_column( + dest_engine, + schema_8.run_command_table.name, + schema_8.run_command_table.c.command_error, + ) + + add_column( + dest_engine, + schema_8.run_command_table.name, + schema_8.run_command_table.c.command_status, + ) + + _add_missing_indexes(dest_transaction=dest_transaction) + + _migrate_command_table_with_new_command_error_col_and_command_status( + dest_transaction=dest_transaction + ) + + +def _add_missing_indexes(dest_transaction: sqlalchemy.engine.Connection) -> None: + # todo(2024-11-20): Probably add the indexes missing from prior migrations here. + # https://opentrons.atlassian.net/browse/EXEC-827 + dest_transaction.execute( + "CREATE UNIQUE INDEX ix_run_run_id_command_status_index_in_run ON run_command (run_id, command_status, index_in_run);" + ) + + +def _migrate_command_table_with_new_command_error_col_and_command_status( + dest_transaction: sqlalchemy.engine.Connection, +) -> None: + """Add a new 'command_error' and 'command_status' column to run_command_table table.""" + commands_table = schema_8.run_command_table + select_commands = sqlalchemy.select(commands_table) + commands_to_update = [] + for row in dest_transaction.execute(select_commands).all(): + data = json.loads(row.command) + new_command_error = ( + # Account for old_row.command["error"] being null. + None + if "error" not in row.command or data["error"] is None + else json.dumps(data["error"]) + ) + # parse json as enum + new_command_status = _convert_commands_status_to_sql_command_status( + data["status"] + ) + commands_to_update.append( + { + "_id": row.row_id, + "command_error": new_command_error, + "command_status": new_command_status, + } + ) + + if len(commands_to_update) > 0: + update_commands = ( + sqlalchemy.update(commands_table) + .where(commands_table.c.row_id == sqlalchemy.bindparam("_id")) + .values( + { + "command_error": sqlalchemy.bindparam("command_error"), + "command_status": sqlalchemy.bindparam("command_status"), + } + ) + ) + dest_transaction.execute(update_commands, commands_to_update) + + +def _convert_commands_status_to_sql_command_status( + status: str, +) -> CommandStatusSQLEnum: + match status: + case "queued": + return CommandStatusSQLEnum.QUEUED + case "running": + return CommandStatusSQLEnum.RUNNING + case "failed": + return CommandStatusSQLEnum.FAILED + case "succeeded": + return CommandStatusSQLEnum.SUCCEEDED + case _: + assert False, "command status is unknown" diff --git a/robot-server/robot_server/persistence/file_and_directory_names.py b/robot-server/robot_server/persistence/file_and_directory_names.py index 7074dd6db2f..220a32e7673 100644 --- a/robot-server/robot_server/persistence/file_and_directory_names.py +++ b/robot-server/robot_server/persistence/file_and_directory_names.py @@ -8,7 +8,7 @@ from typing import Final -LATEST_VERSION_DIRECTORY: Final = "7.1" +LATEST_VERSION_DIRECTORY: Final = "8" DECK_CONFIGURATION_FILE: Final = "deck_configuration.json" PROTOCOLS_DIRECTORY: Final = "protocols" diff --git a/robot-server/robot_server/persistence/persistence_directory.py b/robot-server/robot_server/persistence/persistence_directory.py index c6b40ce10ab..1f6a9fb6733 100644 --- a/robot-server/robot_server/persistence/persistence_directory.py +++ b/robot-server/robot_server/persistence/persistence_directory.py @@ -11,7 +11,7 @@ from anyio import Path as AsyncPath, to_thread from ._folder_migrator import MigrationOrchestrator -from ._migrations import up_to_3, v3_to_v4, v4_to_v5, v5_to_v6, v6_to_v7 +from ._migrations import up_to_3, v3_to_v4, v4_to_v5, v5_to_v6, v6_to_v7, v7_to_v8 from .file_and_directory_names import LATEST_VERSION_DIRECTORY _TEMP_PERSISTENCE_DIR_PREFIX: Final = "opentrons-robot-server-" @@ -59,7 +59,8 @@ def make_migration_orchestrator(prepared_root: Path) -> MigrationOrchestrator: # Subdirectory "7" was previously used on our edge branch for an in-dev # schema that was never released to the public. It may be present on # internal robots. - v6_to_v7.Migration6to7(subdirectory=LATEST_VERSION_DIRECTORY), + v6_to_v7.Migration6to7(subdirectory="7.1"), + v7_to_v8.Migration7to8(subdirectory=LATEST_VERSION_DIRECTORY), ], temp_file_prefix="temp-", ) diff --git a/robot-server/robot_server/persistence/tables/__init__.py b/robot-server/robot_server/persistence/tables/__init__.py index fa0129a4ee6..56e149d6dfd 100644 --- a/robot-server/robot_server/persistence/tables/__init__.py +++ b/robot-server/robot_server/persistence/tables/__init__.py @@ -1,7 +1,7 @@ """SQL database schemas.""" # Re-export the latest schema. -from .schema_7 import ( +from .schema_8 import ( metadata, protocol_table, analysis_table, @@ -17,6 +17,7 @@ ProtocolKindSQLEnum, BooleanSettingKey, DataFileSourceSQLEnum, + CommandStatusSQLEnum, ) @@ -36,4 +37,5 @@ "ProtocolKindSQLEnum", "BooleanSettingKey", "DataFileSourceSQLEnum", + "CommandStatusSQLEnum", ] diff --git a/robot-server/robot_server/persistence/tables/schema_8.py b/robot-server/robot_server/persistence/tables/schema_8.py new file mode 100644 index 00000000000..c92dd4645c7 --- /dev/null +++ b/robot-server/robot_server/persistence/tables/schema_8.py @@ -0,0 +1,358 @@ +"""v8 of our SQLite schema.""" +import enum +import sqlalchemy + +from robot_server.persistence._utc_datetime import UTCDateTime + +metadata = sqlalchemy.MetaData() + + +class PrimitiveParamSQLEnum(enum.Enum): + """Enum type to store primitive param type.""" + + INT = "int" + FLOAT = "float" + BOOL = "bool" + STR = "str" + + +class ProtocolKindSQLEnum(enum.Enum): + """What kind a stored protocol is.""" + + STANDARD = "standard" + QUICK_TRANSFER = "quick-transfer" + + +class DataFileSourceSQLEnum(enum.Enum): + """The source this data file is from.""" + + UPLOADED = "uploaded" + GENERATED = "generated" + + +class CommandStatusSQLEnum(enum.Enum): + """Command status sql enum.""" + + QUEUED = "queued" + RUNNING = "running" + SUCCEEDED = "succeeded" + FAILED = "failed" + + +protocol_table = sqlalchemy.Table( + "protocol", + metadata, + sqlalchemy.Column( + "id", + sqlalchemy.String, + primary_key=True, + ), + sqlalchemy.Column( + "created_at", + UTCDateTime, + nullable=False, + ), + sqlalchemy.Column("protocol_key", sqlalchemy.String, nullable=True), + sqlalchemy.Column( + "protocol_kind", + sqlalchemy.Enum( + ProtocolKindSQLEnum, + values_callable=lambda obj: [e.value for e in obj], + validate_strings=True, + create_constraint=True, + ), + index=True, + nullable=False, + ), +) + +analysis_table = sqlalchemy.Table( + "analysis", + metadata, + sqlalchemy.Column( + "id", + sqlalchemy.String, + primary_key=True, + ), + sqlalchemy.Column( + "protocol_id", + sqlalchemy.String, + sqlalchemy.ForeignKey("protocol.id"), + index=True, + nullable=False, + ), + sqlalchemy.Column( + "analyzer_version", + sqlalchemy.String, + nullable=False, + ), + sqlalchemy.Column( + "completed_analysis", + # Stores a JSON string. See CompletedAnalysisStore. + sqlalchemy.String, + nullable=False, + ), +) + +analysis_primitive_type_rtp_table = sqlalchemy.Table( + "analysis_primitive_rtp_table", + metadata, + sqlalchemy.Column( + "row_id", + sqlalchemy.Integer, + primary_key=True, + ), + sqlalchemy.Column( + "analysis_id", + sqlalchemy.ForeignKey("analysis.id"), + nullable=False, + ), + sqlalchemy.Column( + "parameter_variable_name", + sqlalchemy.String, + nullable=False, + ), + sqlalchemy.Column( + "parameter_type", + sqlalchemy.Enum( + PrimitiveParamSQLEnum, + values_callable=lambda obj: [e.value for e in obj], + create_constraint=True, + # todo(mm, 2024-09-24): Can we add validate_strings=True here? + ), + nullable=False, + ), + sqlalchemy.Column( + "parameter_value", + sqlalchemy.String, + nullable=False, + ), +) + +analysis_csv_rtp_table = sqlalchemy.Table( + "analysis_csv_rtp_table", + metadata, + sqlalchemy.Column( + "row_id", + sqlalchemy.Integer, + primary_key=True, + ), + sqlalchemy.Column( + "analysis_id", + sqlalchemy.ForeignKey("analysis.id"), + nullable=False, + ), + sqlalchemy.Column( + "parameter_variable_name", + sqlalchemy.String, + nullable=False, + ), + sqlalchemy.Column( + "file_id", + sqlalchemy.ForeignKey("data_files.id"), + nullable=True, + ), +) + +run_table = sqlalchemy.Table( + "run", + metadata, + sqlalchemy.Column( + "id", + sqlalchemy.String, + primary_key=True, + ), + sqlalchemy.Column( + "created_at", + UTCDateTime, + nullable=False, + ), + sqlalchemy.Column( + "protocol_id", + sqlalchemy.String, + sqlalchemy.ForeignKey("protocol.id"), + nullable=True, + ), + sqlalchemy.Column( + "state_summary", + sqlalchemy.String, + nullable=True, + ), + sqlalchemy.Column("engine_status", sqlalchemy.String, nullable=True), + sqlalchemy.Column("_updated_at", UTCDateTime, nullable=True), + sqlalchemy.Column( + "run_time_parameters", + # Stores a JSON string. See RunStore. + sqlalchemy.String, + nullable=True, + ), +) + +action_table = sqlalchemy.Table( + "action", + metadata, + sqlalchemy.Column( + "id", + sqlalchemy.String, + primary_key=True, + ), + sqlalchemy.Column("created_at", UTCDateTime, nullable=False), + sqlalchemy.Column("action_type", sqlalchemy.String, nullable=False), + sqlalchemy.Column( + "run_id", + sqlalchemy.String, + sqlalchemy.ForeignKey("run.id"), + nullable=False, + ), +) + +run_command_table = sqlalchemy.Table( + "run_command", + metadata, + sqlalchemy.Column("row_id", sqlalchemy.Integer, primary_key=True), + sqlalchemy.Column( + "run_id", sqlalchemy.String, sqlalchemy.ForeignKey("run.id"), nullable=False + ), + # command_index in commands enumeration + sqlalchemy.Column("index_in_run", sqlalchemy.Integer, nullable=False), + sqlalchemy.Column("command_id", sqlalchemy.String, nullable=False), + sqlalchemy.Column("command", sqlalchemy.String, nullable=False), + sqlalchemy.Column( + "command_intent", + sqlalchemy.String, + # nullable=True to match the underlying SQL, which is nullable because of a bug + # in the migration that introduced this column. This is not intended to ever be + # null in practice. + nullable=True, + ), + sqlalchemy.Column("command_error", sqlalchemy.String, nullable=True), + sqlalchemy.Column( + "command_status", + sqlalchemy.Enum( + CommandStatusSQLEnum, + values_callable=lambda obj: [e.value for e in obj], + validate_strings=True, + # nullable=True because it was easier for the migration to add the column + # this way. This is not intended to ever be null in practice. + nullable=True, + # todo(mm, 2024-11-20): We want create_constraint=True here. Something + # about the way we compare SQL in test_tables.py is making that difficult-- + # even when we correctly add the constraint in the migration, the SQL + # doesn't compare equal to what create_constraint=True here would emit. + create_constraint=False, + ), + ), + sqlalchemy.Index( + "ix_run_run_id_command_id", # An arbitrary name for the index. + "run_id", + "command_id", + unique=True, + ), + sqlalchemy.Index( + "ix_run_run_id_index_in_run", # An arbitrary name for the index. + "run_id", + "index_in_run", + unique=True, + ), + sqlalchemy.Index( + "ix_run_run_id_command_status_index_in_run", # An arbitrary name for the index. + "run_id", + "command_status", + "index_in_run", + unique=True, + ), +) + +data_files_table = sqlalchemy.Table( + "data_files", + metadata, + sqlalchemy.Column( + "id", + sqlalchemy.String, + primary_key=True, + ), + sqlalchemy.Column( + "name", + sqlalchemy.String, + nullable=False, + ), + sqlalchemy.Column( + "file_hash", + sqlalchemy.String, + nullable=False, + ), + sqlalchemy.Column( + "created_at", + UTCDateTime, + nullable=False, + ), + sqlalchemy.Column( + "source", + sqlalchemy.Enum( + DataFileSourceSQLEnum, + values_callable=lambda obj: [e.value for e in obj], + validate_strings=True, + # create_constraint=False to match the underlying SQL, which omits + # the constraint because of a bug in the migration that introduced this + # column. This is not intended to ever have values other than those in + # DataFileSourceSQLEnum. + create_constraint=False, + ), + # nullable=True to match the underlying SQL, which is nullable because of a bug + # in the migration that introduced this column. This is not intended to ever be + # null in practice. + nullable=True, + ), +) + +run_csv_rtp_table = sqlalchemy.Table( + "run_csv_rtp_table", + metadata, + sqlalchemy.Column( + "row_id", + sqlalchemy.Integer, + primary_key=True, + ), + sqlalchemy.Column( + "run_id", + sqlalchemy.ForeignKey("run.id"), + nullable=False, + ), + sqlalchemy.Column( + "parameter_variable_name", + sqlalchemy.String, + nullable=False, + ), + sqlalchemy.Column( + "file_id", + sqlalchemy.ForeignKey("data_files.id"), + nullable=True, + ), +) + + +class BooleanSettingKey(enum.Enum): + """Keys for boolean settings.""" + + ENABLE_ERROR_RECOVERY = "enable_error_recovery" + + +boolean_setting_table = sqlalchemy.Table( + "boolean_setting", + metadata, + sqlalchemy.Column( + "key", + sqlalchemy.Enum( + BooleanSettingKey, + values_callable=lambda obj: [e.value for e in obj], + validate_strings=True, + create_constraint=True, + ), + primary_key=True, + ), + sqlalchemy.Column( + "value", + sqlalchemy.Boolean, + nullable=False, + ), +) diff --git a/robot-server/robot_server/runs/router/base_router.py b/robot-server/robot_server/runs/router/base_router.py index 23153669d41..a57ed636647 100644 --- a/robot-server/robot_server/runs/router/base_router.py +++ b/robot-server/robot_server/runs/router/base_router.py @@ -527,14 +527,13 @@ async def get_run_commands_error( run_data_manager: Run data retrieval interface. """ try: - all_errors = run_data_manager.get_command_errors(run_id=runId) - total_length = len(all_errors) + all_errors_count = run_data_manager.get_command_errors_count(run_id=runId) if cursor is None: - if len(all_errors) > 0: + if all_errors_count > 0: # Get the most recent error, # which we can find just at the end of the list. - cursor = total_length - 1 + cursor = all_errors_count - 1 else: cursor = 0 diff --git a/robot-server/robot_server/runs/run_data_manager.py b/robot-server/robot_server/runs/run_data_manager.py index cbbcd022eb6..f5a06fa8172 100644 --- a/robot-server/robot_server/runs/run_data_manager.py +++ b/robot-server/robot_server/runs/run_data_manager.py @@ -15,7 +15,6 @@ CommandErrorSlice, CommandPointer, Command, - ErrorOccurrence, ) from opentrons.protocol_engine.types import ( PrimitiveRunTimeParamValuesType, @@ -368,18 +367,16 @@ async def update(self, run_id: str, current: Optional[bool]) -> Union[Run, BadRu next_current = current if current is False else True if next_current is False: - ( - commands, - state_summary, - parameters, - ) = await self._run_orchestrator_store.clear() + run_result = await self._run_orchestrator_store.clear() + state_summary = run_result.state_summary + parameters = run_result.parameters run_resource: Union[ RunResource, BadRunResource ] = self._run_store.update_run_state( run_id=run_id, - summary=state_summary, - commands=commands, - run_time_parameters=parameters, + summary=run_result.state_summary, + commands=run_result.commands, + run_time_parameters=run_result.parameters, ) self._runs_publisher.publish_pre_serialized_commands_notification(run_id) else: @@ -429,7 +426,7 @@ def get_commands_slice( def get_command_error_slice( self, run_id: str, cursor: int, length: int ) -> CommandErrorSlice: - """Get a slice of run commands. + """Get a slice of run commands errors. Args: run_id: ID of the run. @@ -443,9 +440,9 @@ def get_command_error_slice( return self._run_orchestrator_store.get_command_error_slice( cursor=cursor, length=length ) - - # TODO(tz, 8-5-2024): Change this to return to error list from the DB when we implement https://opentrons.atlassian.net/browse/EXEC-655. - raise RunNotCurrentError() + return self._run_store.get_commands_errors_slice( + run_id=run_id, cursor=cursor, length=length + ) def get_current_command(self, run_id: str) -> Optional[CommandPointer]: """Get the "current" command, if any. @@ -504,13 +501,11 @@ def get_command(self, run_id: str, command_id: str) -> Command: return self._run_store.get_command(run_id=run_id, command_id=command_id) - def get_command_errors(self, run_id: str) -> list[ErrorOccurrence]: + def get_command_errors_count(self, run_id: str) -> int: """Get all command errors.""" if run_id == self._run_orchestrator_store.current_run_id: - return self._run_orchestrator_store.get_command_errors() - - # TODO(tz, 8-5-2024): Change this to return the error list from the DB when we implement https://opentrons.atlassian.net/browse/EXEC-655. - raise RunNotCurrentError() + return len(self._run_orchestrator_store.get_command_errors()) + return self._run_store.get_command_errors_count(run_id) def get_nozzle_maps(self, run_id: str) -> Mapping[str, NozzleMapInterface]: """Get current nozzle maps keyed by pipette id.""" diff --git a/robot-server/robot_server/runs/run_orchestrator_store.py b/robot-server/robot_server/runs/run_orchestrator_store.py index b4bd757150e..a8ad429db4a 100644 --- a/robot-server/robot_server/runs/run_orchestrator_store.py +++ b/robot-server/robot_server/runs/run_orchestrator_store.py @@ -293,7 +293,9 @@ async def clear(self) -> RunResult: self._run_orchestrator = None return RunResult( - state_summary=run_data, commands=commands, parameters=run_time_parameters + state_summary=run_data, + commands=commands, + parameters=run_time_parameters, ) # todo(mm, 2024-11-15): Are all of these pass-through methods helpful? diff --git a/robot-server/robot_server/runs/run_store.py b/robot-server/robot_server/runs/run_store.py index 6ab8665c454..0148f20058b 100644 --- a/robot-server/robot_server/runs/run_store.py +++ b/robot-server/robot_server/runs/run_store.py @@ -11,7 +11,14 @@ from pydantic import ValidationError from opentrons.util.helpers import utc_now -from opentrons.protocol_engine import StateSummary, CommandSlice, CommandIntent +from opentrons.protocol_engine import ( + StateSummary, + CommandSlice, + CommandIntent, + ErrorOccurrence, + CommandErrorSlice, + CommandStatus, +) from opentrons.protocol_engine.commands import Command from opentrons.protocol_engine.types import RunTimeParameter @@ -38,6 +45,7 @@ from .action_models import RunAction, RunActionType from .run_models import RunNotFoundError +from ..persistence.tables import CommandStatusSQLEnum log = logging.getLogger(__name__) @@ -179,6 +187,12 @@ def update_run_state( "command_intent": str(command.intent.value) if command.intent else CommandIntent.PROTOCOL, + "command_error": pydantic_to_json(command.error) + if command.error + else None, + "command_status": _convert_commands_status_to_sql_command_status( + command.status + ), }, ) @@ -537,6 +551,107 @@ def get_all_commands_as_preserialized_list( commands_result = transaction.scalars(select_commands).all() return commands_result + def get_command_errors_count(self, run_id: str) -> int: + """Get run commands errors count from the store. + + Args: + run_id: Run ID to pull commands from. + + Returns: + The number of commands errors. + + Raises: + RunNotFoundError: The given run ID was not found. + """ + with self._sql_engine.begin() as transaction: + if not self._run_exists(run_id, transaction): + raise RunNotFoundError(run_id=run_id) + + select_count = sqlalchemy.select(sqlalchemy.func.count()).where( + and_( + run_command_table.c.run_id == run_id, + run_command_table.c.command_status == CommandStatusSQLEnum.FAILED, + ) + ) + errors_count: int = transaction.execute(select_count).scalar_one() + return errors_count + + def get_commands_errors_slice( + self, + run_id: str, + length: int, + cursor: Optional[int], + ) -> CommandErrorSlice: + """Get a slice of run commands errors from the store. + + Args: + run_id: Run ID to pull commands from. + length: Number of commands to return. + cursor: The starting index of the slice in the whole collection. + If `None`, up to `length` elements at the end of the collection will + be returned. + + Returns: + A collection of command errors as well as the actual cursor used and + the total length of the collection. + + Raises: + RunNotFoundError: The given run ID was not found. + """ + with self._sql_engine.begin() as transaction: + if not self._run_exists(run_id, transaction): + raise RunNotFoundError(run_id=run_id) + + select_count = sqlalchemy.select(sqlalchemy.func.count()).where( + and_( + run_command_table.c.run_id == run_id, + run_command_table.c.command_status == CommandStatusSQLEnum.FAILED, + ) + ) + count_result: int = transaction.execute(select_count).scalar_one() + + actual_cursor = cursor if cursor is not None else count_result - length + # Clamp to [0, count_result). + # cursor is 0 based index and row number starts from 1. + actual_cursor = max(0, min(actual_cursor, count_result - 1)) + 1 + select_command_errors = ( + sqlalchemy.select( + sqlalchemy.func.row_number().over().label("row_num"), + run_command_table, + ) + .where( + and_( + run_command_table.c.run_id == run_id, + run_command_table.c.command_status + == CommandStatusSQLEnum.FAILED, + ) + ) + .order_by(run_command_table.c.index_in_run) + .subquery() + ) + + select_slice = ( + sqlalchemy.select(select_command_errors.c.command_error) + .where( + and_( + select_command_errors.c.row_num >= actual_cursor, + select_command_errors.c.row_num < actual_cursor + length, + ) + ) + .order_by(select_command_errors.c.index_in_run) + ) + slice_result = transaction.execute(select_slice).all() + + sliced_commands: List[ErrorOccurrence] = [ + json_to_pydantic(ErrorOccurrence, row.command_error) for row in slice_result + ] + + return CommandErrorSlice( + cursor=actual_cursor, + total_length=count_result, + commands_errors=sliced_commands, + ) + @lru_cache(maxsize=_CACHE_ENTRIES) def get_command(self, run_id: str, command_id: str) -> Command: """Get run command by id. @@ -712,3 +827,17 @@ def _convert_state_to_sql_values( "_updated_at": utc_now(), "run_time_parameters": pydantic_list_to_json(run_time_parameters), } + + +def _convert_commands_status_to_sql_command_status( + status: CommandStatus, +) -> CommandStatusSQLEnum: + match status: + case CommandStatus.QUEUED: + return CommandStatusSQLEnum.QUEUED + case CommandStatus.RUNNING: + return CommandStatusSQLEnum.RUNNING + case CommandStatus.FAILED: + return CommandStatusSQLEnum.FAILED + case CommandStatus.SUCCEEDED: + return CommandStatusSQLEnum.SUCCEEDED diff --git a/robot-server/tests/persistence/test_tables.py b/robot-server/tests/persistence/test_tables.py index 642d2506e93..6363ed8f47f 100644 --- a/robot-server/tests/persistence/test_tables.py +++ b/robot-server/tests/persistence/test_tables.py @@ -18,6 +18,7 @@ schema_5, schema_6, schema_7, + schema_8, ) # The statements that we expect to emit when we create a fresh database. @@ -110,6 +111,8 @@ command_id VARCHAR NOT NULL, command VARCHAR NOT NULL, command_intent VARCHAR, + command_error VARCHAR, + command_status VARCHAR(9), PRIMARY KEY (row_id), FOREIGN KEY(run_id) REFERENCES run (id) ) @@ -121,6 +124,9 @@ CREATE UNIQUE INDEX ix_run_run_id_index_in_run ON run_command (run_id, index_in_run) """, """ + CREATE UNIQUE INDEX ix_run_run_id_command_status_index_in_run ON run_command (run_id, command_status, index_in_run) + """, + """ CREATE INDEX ix_protocol_protocol_kind ON protocol (protocol_kind) """, """ @@ -155,7 +161,130 @@ ] -EXPECTED_STATEMENTS_V7 = EXPECTED_STATEMENTS_LATEST +EXPECTED_STATEMENTS_V8 = EXPECTED_STATEMENTS_LATEST + + +EXPECTED_STATEMENTS_V7 = [ + """ + CREATE TABLE protocol ( + id VARCHAR NOT NULL, + created_at DATETIME NOT NULL, + protocol_key VARCHAR, + protocol_kind VARCHAR(14) NOT NULL, + PRIMARY KEY (id), + CONSTRAINT protocolkindsqlenum CHECK (protocol_kind IN ('standard', 'quick-transfer')) + ) + """, + """ + CREATE TABLE analysis ( + id VARCHAR NOT NULL, + protocol_id VARCHAR NOT NULL, + analyzer_version VARCHAR NOT NULL, + completed_analysis VARCHAR NOT NULL, + PRIMARY KEY (id), + FOREIGN KEY(protocol_id) REFERENCES protocol (id) + ) + """, + """ + CREATE TABLE analysis_primitive_rtp_table ( + row_id INTEGER NOT NULL, + analysis_id VARCHAR NOT NULL, + parameter_variable_name VARCHAR NOT NULL, + parameter_type VARCHAR(5) NOT NULL, + parameter_value VARCHAR NOT NULL, + PRIMARY KEY (row_id), + FOREIGN KEY(analysis_id) REFERENCES analysis (id), + CONSTRAINT primitiveparamsqlenum CHECK (parameter_type IN ('int', 'float', 'bool', 'str')) + ) + """, + """ + CREATE TABLE analysis_csv_rtp_table ( + row_id INTEGER NOT NULL, + analysis_id VARCHAR NOT NULL, + parameter_variable_name VARCHAR NOT NULL, + file_id VARCHAR, + PRIMARY KEY (row_id), + FOREIGN KEY(analysis_id) REFERENCES analysis (id), + FOREIGN KEY(file_id) REFERENCES data_files (id) + ) + """, + """ + CREATE INDEX ix_analysis_protocol_id ON analysis (protocol_id) + """, + """ + CREATE TABLE run ( + id VARCHAR NOT NULL, + created_at DATETIME NOT NULL, + protocol_id VARCHAR, + state_summary VARCHAR, + engine_status VARCHAR, + _updated_at DATETIME, + run_time_parameters VARCHAR, + PRIMARY KEY (id), + FOREIGN KEY(protocol_id) REFERENCES protocol (id) + ) + """, + """ + CREATE TABLE action ( + id VARCHAR NOT NULL, + created_at DATETIME NOT NULL, + action_type VARCHAR NOT NULL, + run_id VARCHAR NOT NULL, + PRIMARY KEY (id), + FOREIGN KEY(run_id) REFERENCES run (id) + ) + """, + """ + CREATE TABLE run_command ( + row_id INTEGER NOT NULL, + run_id VARCHAR NOT NULL, + index_in_run INTEGER NOT NULL, + command_id VARCHAR NOT NULL, + command VARCHAR NOT NULL, + command_intent VARCHAR, + PRIMARY KEY (row_id), + FOREIGN KEY(run_id) REFERENCES run (id) + ) + """, + """ + CREATE UNIQUE INDEX ix_run_run_id_command_id ON run_command (run_id, command_id) + """, + """ + CREATE UNIQUE INDEX ix_run_run_id_index_in_run ON run_command (run_id, index_in_run) + """, + """ + CREATE INDEX ix_protocol_protocol_kind ON protocol (protocol_kind) + """, + """ + CREATE TABLE data_files ( + id VARCHAR NOT NULL, + name VARCHAR NOT NULL, + file_hash VARCHAR NOT NULL, + created_at DATETIME NOT NULL, + source VARCHAR(9), + PRIMARY KEY (id) + ) + """, + """ + CREATE TABLE run_csv_rtp_table ( + row_id INTEGER NOT NULL, + run_id VARCHAR NOT NULL, + parameter_variable_name VARCHAR NOT NULL, + file_id VARCHAR, + PRIMARY KEY (row_id), + FOREIGN KEY(run_id) REFERENCES run (id), + FOREIGN KEY(file_id) REFERENCES data_files (id) + ) + """, + """ + CREATE TABLE boolean_setting ( + "key" VARCHAR(21) NOT NULL, + value BOOLEAN NOT NULL, + PRIMARY KEY ("key"), + CONSTRAINT booleansettingkey CHECK ("key" IN ('enable_error_recovery')) + ) + """, +] EXPECTED_STATEMENTS_V6 = [ @@ -554,6 +683,7 @@ def _normalize_statement(statement: str) -> str: ("metadata", "expected_statements"), [ (latest_metadata, EXPECTED_STATEMENTS_LATEST), + (schema_8.metadata, EXPECTED_STATEMENTS_V8), (schema_7.metadata, EXPECTED_STATEMENTS_V7), (schema_6.metadata, EXPECTED_STATEMENTS_V6), (schema_5.metadata, EXPECTED_STATEMENTS_V5), diff --git a/robot-server/tests/runs/router/test_base_router.py b/robot-server/tests/runs/router/test_base_router.py index aa27d37e66b..bb7f723138f 100644 --- a/robot-server/tests/runs/router/test_base_router.py +++ b/robot-server/tests/runs/router/test_base_router.py @@ -759,13 +759,7 @@ async def test_get_run_commands_errors( ) ).then_raise(RunNotCurrentError("oh no!")) - error = pe_errors.ErrorOccurrence( - id="error-id", - errorType="PrettyBadError", - createdAt=datetime(year=2024, month=4, day=4), - detail="Things are not looking good.", - ) - decoy.when(mock_run_data_manager.get_command_errors("run-id")).then_return([error]) + decoy.when(mock_run_data_manager.get_command_errors_count("run-id")).then_return(1) with pytest.raises(ApiError): result = await get_run_commands_error( @@ -787,7 +781,7 @@ async def test_get_run_commands_errors_raises_no_run( createdAt=datetime(year=2024, month=4, day=4), detail="Things are not looking good.", ) - decoy.when(mock_run_data_manager.get_command_errors("run-id")).then_return([error]) + decoy.when(mock_run_data_manager.get_command_errors_count("run-id")).then_return(1) command_error_slice = CommandErrorSlice( cursor=1, total_length=3, commands_errors=[error] @@ -831,10 +825,7 @@ async def test_get_run_commands_errors_defualt_cursor( expected_cursor_result: int, ) -> None: """It should return a list of all commands errors in a run.""" - print(error_list) - decoy.when(mock_run_data_manager.get_command_errors("run-id")).then_return( - error_list - ) + decoy.when(mock_run_data_manager.get_command_errors_count("run-id")).then_return(1) command_error_slice = CommandErrorSlice( cursor=expected_cursor_result, total_length=3, commands_errors=error_list diff --git a/robot-server/tests/runs/test_run_data_manager.py b/robot-server/tests/runs/test_run_data_manager.py index d27e1aebaff..a26baacadbf 100644 --- a/robot-server/tests/runs/test_run_data_manager.py +++ b/robot-server/tests/runs/test_run_data_manager.py @@ -935,16 +935,30 @@ def test_get_commands_slice_current_run( assert expected_command_slice == result -def test_get_commands_errors_slice__not_current_run_raises( +def test_get_commands_errors_slice_historical_run( decoy: Decoy, subject: RunDataManager, mock_run_orchestrator_store: RunOrchestratorStore, + mock_run_store: RunStore, ) -> None: """Should get a sliced command error list from engine store.""" + expected_commands_errors_result = [ + ErrorOccurrence.construct(id="error-id") # type: ignore[call-arg] + ] + + command_error_slice = CommandErrorSlice( + cursor=1, total_length=3, commands_errors=expected_commands_errors_result + ) + decoy.when(mock_run_orchestrator_store.current_run_id).then_return("run-not-id") - with pytest.raises(RunNotCurrentError): - subject.get_command_error_slice("run-id", 1, 2) + decoy.when(mock_run_store.get_commands_errors_slice("run-id", 2, 1)).then_return( + command_error_slice + ) + + result = subject.get_command_error_slice("run-id", 1, 2) + + assert command_error_slice == result def test_get_commands_errors_slice_current_run( diff --git a/robot-server/tests/runs/test_run_store.py b/robot-server/tests/runs/test_run_store.py index 17a5c3b252f..ab8e5f10fdf 100644 --- a/robot-server/tests/runs/test_run_store.py +++ b/robot-server/tests/runs/test_run_store.py @@ -36,6 +36,7 @@ CommandSlice, Liquid, EngineStatus, + ErrorOccurrence, ) from opentrons.types import MountType, DeckSlotName @@ -59,7 +60,7 @@ def subject( @pytest.fixture def protocol_commands() -> List[pe_commands.Command]: - """Get a StateSummary value object.""" + """Get protocol commands list.""" return [ pe_commands.WaitForResume( id="pause-1", @@ -99,6 +100,61 @@ def protocol_commands() -> List[pe_commands.Command]: ] +@pytest.fixture +def protocol_commands_errors() -> List[pe_commands.Command]: + """Get protocol commands errors list.""" + return [ + pe_commands.WaitForResume( + id="pause-4", + key="command-key", + status=pe_commands.CommandStatus.SUCCEEDED, + createdAt=datetime(year=2022, month=2, day=2), + params=pe_commands.WaitForResumeParams(message="hey world"), + result=pe_commands.WaitForResumeResult(), + intent=pe_commands.CommandIntent.PROTOCOL, + ), + pe_commands.WaitForResume( + id="pause-1", + key="command-key", + status=pe_commands.CommandStatus.FAILED, + createdAt=datetime(year=2021, month=1, day=1), + params=pe_commands.WaitForResumeParams(message="hello world"), + result=pe_commands.WaitForResumeResult(), + intent=pe_commands.CommandIntent.PROTOCOL, + error=ErrorOccurrence.construct( + id="error-id", + createdAt=datetime(2024, 1, 1), + errorType="blah-blah", + detail="test details", + ), + ), + pe_commands.WaitForResume( + id="pause-2", + key="command-key", + status=pe_commands.CommandStatus.FAILED, + createdAt=datetime(year=2022, month=2, day=2), + params=pe_commands.WaitForResumeParams(message="hey world"), + result=pe_commands.WaitForResumeResult(), + intent=pe_commands.CommandIntent.PROTOCOL, + error=ErrorOccurrence.construct( + id="error-id-2", + createdAt=datetime(2024, 1, 1), + errorType="blah-blah", + detail="test details", + ), + ), + pe_commands.WaitForResume( + id="pause-3", + key="command-key", + status=pe_commands.CommandStatus.SUCCEEDED, + createdAt=datetime(year=2022, month=2, day=2), + params=pe_commands.WaitForResumeParams(message="hey world"), + result=pe_commands.WaitForResumeResult(), + intent=pe_commands.CommandIntent.PROTOCOL, + ), + ] + + @pytest.fixture def state_summary() -> StateSummary: """Get a StateSummary test object.""" @@ -289,6 +345,50 @@ async def test_update_run_state( ) +async def test_update_run_state_command_with_errors( + subject: RunStore, + state_summary: StateSummary, + protocol_commands_errors: List[pe_commands.Command], + run_time_parameters: List[pe_types.RunTimeParameter], + mock_runs_publisher: mock.Mock, +) -> None: + """It should be able to update a run state to the store.""" + commands_with_errors = [ + command + for command in protocol_commands_errors + if command.status == pe_commands.CommandStatus.FAILED + ] + action = RunAction( + actionType=RunActionType.PLAY, + createdAt=datetime(year=2022, month=2, day=2, tzinfo=timezone.utc), + id="action-id", + ) + + subject.insert( + run_id="run-id", + protocol_id=None, + created_at=datetime(year=2021, month=1, day=1, tzinfo=timezone.utc), + ) + + subject.update_run_state( + run_id="run-id", + summary=state_summary, + commands=protocol_commands_errors, + run_time_parameters=run_time_parameters, + ) + + subject.insert_action(run_id="run-id", action=action) + command_errors_result = subject.get_commands_errors_slice( + run_id="run-id", + length=5, + cursor=0, + ) + + assert command_errors_result.commands_errors == [ + item.error for item in commands_with_errors + ] + + async def test_insert_and_get_csv_rtp( subject: RunStore, data_files_store: DataFilesStore, From 3f3a938e05c9449fa9728640cebc8d80931340b0 Mon Sep 17 00:00:00 2001 From: Nick Diehl <47604184+ncdiehl11@users.noreply.github.com> Date: Mon, 25 Nov 2024 15:07:21 -0500 Subject: [PATCH 51/57] fix(protocol-designer): fix logic for placing trash and staging area slots (#16974) Fix logic in `createProtocolFile` and associated util `getTrashSlot` to correctly place staging areas and trash bins. Priority for staging area slots should be B3, C3, D3, A3, as specified by product. Trash bin should be in A3 unless all 4 staging area slots are added, in which case it gets bumped to A1. Also, I fix a padding issue in ProtocolOverview DeckThumbnail to account for right padding if any staging area slot is added. Closes RQA-3326 --- protocol-designer/src/constants.ts | 28 ++++++++++++------- .../__tests__/utils.test.ts | 15 +++++++++- .../pages/CreateNewProtocolWizard/index.tsx | 12 ++++---- .../pages/CreateNewProtocolWizard/utils.tsx | 6 ++-- .../pages/ProtocolOverview/DeckThumbnail.tsx | 10 ++++++- 5 files changed, 50 insertions(+), 21 deletions(-) diff --git a/protocol-designer/src/constants.ts b/protocol-designer/src/constants.ts index b28f6ebee35..52fd9db947f 100644 --- a/protocol-designer/src/constants.ts +++ b/protocol-designer/src/constants.ts @@ -1,26 +1,27 @@ import mapValues from 'lodash/mapValues' import { - MAGNETIC_MODULE_TYPE, - TEMPERATURE_MODULE_TYPE, - THERMOCYCLER_MODULE_TYPE, + ABSORBANCE_READER_TYPE, + ABSORBANCE_READER_V1, HEATERSHAKER_MODULE_TYPE, + HEATERSHAKER_MODULE_V1, + MAGNETIC_BLOCK_TYPE, + MAGNETIC_BLOCK_V1, + MAGNETIC_MODULE_TYPE, MAGNETIC_MODULE_V1, MAGNETIC_MODULE_V2, + TEMPERATURE_MODULE_TYPE, TEMPERATURE_MODULE_V1, TEMPERATURE_MODULE_V2, + THERMOCYCLER_MODULE_TYPE, THERMOCYCLER_MODULE_V1, - HEATERSHAKER_MODULE_V1, THERMOCYCLER_MODULE_V2, - MAGNETIC_BLOCK_TYPE, - MAGNETIC_BLOCK_V1, - ABSORBANCE_READER_TYPE, - ABSORBANCE_READER_V1, } from '@opentrons/shared-data' import type { - LabwareDefinition2, + CutoutId, DeckSlot as DeckDefSlot, - ModuleType, + LabwareDefinition2, ModuleModel, + ModuleType, } from '@opentrons/shared-data' import type { DeckSlot, WellVolumes } from './types' @@ -167,3 +168,10 @@ export const DND_TYPES = { // Values for TC fields export const THERMOCYCLER_STATE: 'thermocyclerState' = 'thermocyclerState' export const THERMOCYCLER_PROFILE: 'thermocyclerProfile' = 'thermocyclerProfile' +// Priority for fixtures +export const STAGING_AREA_CUTOUTS_ORDERED: CutoutId[] = [ + 'cutoutB3', + 'cutoutC3', + 'cutoutD3', + 'cutoutA3', +] diff --git a/protocol-designer/src/pages/CreateNewProtocolWizard/__tests__/utils.test.ts b/protocol-designer/src/pages/CreateNewProtocolWizard/__tests__/utils.test.ts index 02039fb312e..17a46072474 100644 --- a/protocol-designer/src/pages/CreateNewProtocolWizard/__tests__/utils.test.ts +++ b/protocol-designer/src/pages/CreateNewProtocolWizard/__tests__/utils.test.ts @@ -291,12 +291,25 @@ describe('getTrashSlot', () => { const result = getTrashSlot(MOCK_FORM_STATE) expect(result).toBe('cutoutA3') }) - it('should return cutoutA1 when there is a staging area in slot A3', () => { + it('should return cutoutA3 when there are 3 or fewer staging areas', () => { MOCK_FORM_STATE = { ...MOCK_FORM_STATE, additionalEquipment: ['stagingArea'], } const result = getTrashSlot(MOCK_FORM_STATE) + expect(result).toBe('cutoutA3') + }) + it('should return cutoutA1 when there are 4 staging areas', () => { + MOCK_FORM_STATE = { + ...MOCK_FORM_STATE, + additionalEquipment: [ + 'stagingArea', + 'stagingArea', + 'stagingArea', + 'stagingArea', + ], + } + const result = getTrashSlot(MOCK_FORM_STATE) expect(result).toBe('cutoutA1') }) }) diff --git a/protocol-designer/src/pages/CreateNewProtocolWizard/index.tsx b/protocol-designer/src/pages/CreateNewProtocolWizard/index.tsx index e0a24fea138..df079c72318 100644 --- a/protocol-designer/src/pages/CreateNewProtocolWizard/index.tsx +++ b/protocol-designer/src/pages/CreateNewProtocolWizard/index.tsx @@ -16,7 +16,6 @@ import { MAGNETIC_BLOCK_TYPE, MAGNETIC_MODULE_TYPE, OT2_ROBOT_TYPE, - STAGING_AREA_CUTOUTS, TEMPERATURE_MODULE_TYPE, THERMOCYCLER_MODULE_TYPE, WASTE_CHUTE_CUTOUT, @@ -29,7 +28,10 @@ import * as labwareDefSelectors from '../../labware-defs/selectors' import * as labwareDefActions from '../../labware-defs/actions' import * as labwareIngredActions from '../../labware-ingred/actions' import { actions as steplistActions } from '../../steplist' -import { INITIAL_DECK_SETUP_STEP_ID } from '../../constants' +import { + INITIAL_DECK_SETUP_STEP_ID, + STAGING_AREA_CUTOUTS_ORDERED, +} from '../../constants' import { actions as stepFormActions } from '../../step-forms' import { createModuleWithNoSlot } from '../../modules' import { @@ -44,7 +46,6 @@ import { SelectModules } from './SelectModules' import { SelectFixtures } from './SelectFixtures' import { AddMetadata } from './AddMetadata' import { getTrashSlot } from './utils' - import type { ThunkDispatch } from 'redux-thunk' import type { NormalizedPipette } from '@opentrons/step-generation' import type { BaseState } from '../../types' @@ -283,10 +284,7 @@ export function CreateNewProtocolWizard(): JSX.Element | null { if (stagingAreas.length > 0) { stagingAreas.forEach((_, index) => { return dispatch( - createDeckFixture( - 'stagingArea', - STAGING_AREA_CUTOUTS.reverse()[index] - ) + createDeckFixture('stagingArea', STAGING_AREA_CUTOUTS_ORDERED[index]) ) }) } diff --git a/protocol-designer/src/pages/CreateNewProtocolWizard/utils.tsx b/protocol-designer/src/pages/CreateNewProtocolWizard/utils.tsx index 90e06a8368e..cbbe3d98a7f 100644 --- a/protocol-designer/src/pages/CreateNewProtocolWizard/utils.tsx +++ b/protocol-designer/src/pages/CreateNewProtocolWizard/utils.tsx @@ -8,7 +8,6 @@ import { MAGNETIC_BLOCK_V1, MAGNETIC_MODULE_V1, MAGNETIC_MODULE_V2, - STAGING_AREA_CUTOUTS, TEMPERATURE_MODULE_V1, TEMPERATURE_MODULE_V2, THERMOCYCLER_MODULE_TYPE, @@ -19,6 +18,7 @@ import { import wasteChuteImage from '../../assets/images/waste_chute.png' import trashBinImage from '../../assets/images/flex_trash_bin.png' import stagingAreaImage from '../../assets/images/staging_area.png' +import { STAGING_AREA_CUTOUTS_ORDERED } from '../../constants' import type { CutoutId, @@ -268,7 +268,9 @@ export const getTrashSlot = (values: WizardFormState): string => { equipment.includes('stagingArea') ) - const cutouts = stagingAreas.map((_, index) => STAGING_AREA_CUTOUTS[index]) + const cutouts = stagingAreas.map( + (_, index) => STAGING_AREA_CUTOUTS_ORDERED[index] + ) const hasWasteChute = additionalEquipment.find(equipment => equipment.includes('wasteChute') ) diff --git a/protocol-designer/src/pages/ProtocolOverview/DeckThumbnail.tsx b/protocol-designer/src/pages/ProtocolOverview/DeckThumbnail.tsx index 250feb06df2..f28b850919b 100644 --- a/protocol-designer/src/pages/ProtocolOverview/DeckThumbnail.tsx +++ b/protocol-designer/src/pages/ProtocolOverview/DeckThumbnail.tsx @@ -35,6 +35,7 @@ import type { StagingAreaLocation, TrashCutoutId } from '@opentrons/components' import type { CutoutId, DeckSlotId } from '@opentrons/shared-data' import type { AdditionalEquipmentEntity } from '@opentrons/step-generation' +const RIGHT_COLUMN_FIXTURE_PADDING = 50 // mm const WASTE_CHUTE_SPACE = 30 const OT2_STANDARD_DECK_VIEW_LAYER_BLOCK_LIST: string[] = [ 'calibrationMarkings', @@ -99,6 +100,8 @@ export function DeckThumbnail(props: DeckThumbnailProps): JSX.Element { const filteredAddressableAreas = deckDef.locations.addressableAreas.filter( aa => isAddressableAreaStandardSlot(aa.id, deckDef) ) + const hasRightColumnFixtures = + stagingAreaFixtures.length + wasteChuteFixtures.length > 0 return ( {() => ( <> From 36487d899d75d3dc3412dfd026521f6cb1e26c60 Mon Sep 17 00:00:00 2001 From: Max Marrone Date: Mon, 25 Nov 2024 15:33:36 -0500 Subject: [PATCH 52/57] feat(api): Allow recovering from errors that happen during the preparation part of an aspirate command (#16896) --- .../protocol_engine/commands/aspirate.py | 108 +++-- .../protocol_engine/execution/pipetting.py | 6 +- .../protocol_engine/state/update_types.py | 30 +- .../protocol_engine/commands/test_aspirate.py | 422 ++++++++++++------ .../state/test_update_types.py | 75 ++++ 5 files changed, 460 insertions(+), 181 deletions(-) create mode 100644 api/tests/opentrons/protocol_engine/state/test_update_types.py diff --git a/api/src/opentrons/protocol_engine/commands/aspirate.py b/api/src/opentrons/protocol_engine/commands/aspirate.py index 38dbe03c7e0..fa84afbde8c 100644 --- a/api/src/opentrons/protocol_engine/commands/aspirate.py +++ b/api/src/opentrons/protocol_engine/commands/aspirate.py @@ -11,6 +11,7 @@ FlowRateMixin, BaseLiquidHandlingResult, aspirate_in_place, + prepare_for_aspirate, ) from .movement_common import ( LiquidHandlingWellLocationMixin, @@ -94,6 +95,17 @@ async def execute(self, params: AspirateParams) -> _ExecuteReturn: pipette_id = params.pipetteId labware_id = params.labwareId well_name = params.wellName + well_location = params.wellLocation + + state_update = StateUpdate() + + final_location = self._state_view.geometry.get_well_position( + labware_id=labware_id, + well_name=well_name, + well_location=well_location, + operation_volume=-params.volume, + pipette_id=pipette_id, + ) ready_to_aspirate = self._pipetting.get_is_ready_to_aspirate( pipette_id=pipette_id @@ -102,14 +114,32 @@ async def execute(self, params: AspirateParams) -> _ExecuteReturn: current_well = None if not ready_to_aspirate: - await self._movement.move_to_well( + move_result = await move_to_well( + movement=self._movement, + model_utils=self._model_utils, pipette_id=pipette_id, labware_id=labware_id, well_name=well_name, well_location=WellLocation(origin=WellOrigin.TOP), ) + state_update.append(move_result.state_update) + if isinstance(move_result, DefinedErrorData): + return DefinedErrorData(move_result.public, state_update=state_update) - await self._pipetting.prepare_for_aspirate(pipette_id=pipette_id) + prepare_result = await prepare_for_aspirate( + pipette_id=pipette_id, + pipetting=self._pipetting, + model_utils=self._model_utils, + # Note that the retryLocation is the final location, inside the liquid, + # because that's where we'd want the client to try re-aspirating if this + # command fails and the run enters error recovery. + location_if_error={"retryLocation": final_location}, + ) + state_update.append(prepare_result.state_update) + if isinstance(prepare_result, DefinedErrorData): + return DefinedErrorData( + public=prepare_result.public, state_update=state_update + ) # set our current deck location to the well now that we've made # an intermediate move for the "prepare for aspirate" step @@ -125,12 +155,15 @@ async def execute(self, params: AspirateParams) -> _ExecuteReturn: pipette_id=pipette_id, labware_id=labware_id, well_name=well_name, - well_location=params.wellLocation, + well_location=well_location, current_well=current_well, operation_volume=-params.volume, ) + state_update.append(move_result.state_update) if isinstance(move_result, DefinedErrorData): - return move_result + return DefinedErrorData( + public=move_result.public, state_update=state_update + ) aspirate_result = await aspirate_in_place( pipette_id=pipette_id, @@ -147,47 +180,42 @@ async def execute(self, params: AspirateParams) -> _ExecuteReturn: pipetting=self._pipetting, model_utils=self._model_utils, ) + state_update.append(aspirate_result.state_update) if isinstance(aspirate_result, DefinedErrorData): - return DefinedErrorData( - public=aspirate_result.public, - state_update=StateUpdate.reduce( - move_result.state_update, aspirate_result.state_update - ).set_liquid_operated( - labware_id=labware_id, - well_names=self._state_view.geometry.get_wells_covered_by_pipette_with_active_well( - labware_id, - well_name, - params.pipetteId, - ), - volume_added=CLEAR, - ), - state_update_if_false_positive=StateUpdate.reduce( - move_result.state_update, - aspirate_result.state_update_if_false_positive, + state_update.set_liquid_operated( + labware_id=labware_id, + well_names=self._state_view.geometry.get_wells_covered_by_pipette_with_active_well( + labware_id, + well_name, + params.pipetteId, ), + volume_added=CLEAR, ) - else: - return SuccessData( - public=AspirateResult( - volume=aspirate_result.public.volume, - position=move_result.public.position, - ), - state_update=StateUpdate.reduce( - move_result.state_update, aspirate_result.state_update - ).set_liquid_operated( - labware_id=labware_id, - well_names=self._state_view.geometry.get_wells_covered_by_pipette_with_active_well( - labware_id, well_name, pipette_id - ), - volume_added=-aspirate_result.public.volume - * self._state_view.geometry.get_nozzles_per_well( - labware_id, - well_name, - params.pipetteId, - ), - ), + return DefinedErrorData( + public=aspirate_result.public, state_update=state_update ) + state_update.set_liquid_operated( + labware_id=labware_id, + well_names=self._state_view.geometry.get_wells_covered_by_pipette_with_active_well( + labware_id, well_name, pipette_id + ), + volume_added=-aspirate_result.public.volume + * self._state_view.geometry.get_nozzles_per_well( + labware_id, + well_name, + params.pipetteId, + ), + ) + + return SuccessData( + public=AspirateResult( + volume=aspirate_result.public.volume, + position=move_result.public.position, + ), + state_update=state_update, + ) + class Aspirate( BaseCommand[ diff --git a/api/src/opentrons/protocol_engine/execution/pipetting.py b/api/src/opentrons/protocol_engine/execution/pipetting.py index 2964f02d183..10d613e4dcf 100644 --- a/api/src/opentrons/protocol_engine/execution/pipetting.py +++ b/api/src/opentrons/protocol_engine/execution/pipetting.py @@ -91,7 +91,11 @@ def get_is_ready_to_aspirate(self, pipette_id: str) -> bool: ) async def prepare_for_aspirate(self, pipette_id: str) -> None: - """Prepare for pipette aspiration.""" + """Prepare for pipette aspiration. + + Raises: + PipetteOverpressureError, propagated as-is from the hardware controller. + """ hw_mount = self._state_view.pipettes.get_mount(pipette_id).to_hw_mount() await self._hardware_api.prepare_for_aspirate(mount=hw_mount) diff --git a/api/src/opentrons/protocol_engine/state/update_types.py b/api/src/opentrons/protocol_engine/state/update_types.py index 567ba39144c..76f16dadfbe 100644 --- a/api/src/opentrons/protocol_engine/state/update_types.py +++ b/api/src/opentrons/protocol_engine/state/update_types.py @@ -299,6 +299,19 @@ class StateUpdate: liquid_class_loaded: LiquidClassLoadedUpdate | NoChangeType = NO_CHANGE + def append(self, other: Self) -> Self: + """Apply another `StateUpdate` "on top of" this one. + + This object is mutated in-place, taking values from `other`. + If an attribute in `other` is `NO_CHANGE`, the value in this object is kept. + """ + fields = dataclasses.fields(other) + for field in fields: + other_value = other.__dict__[field.name] + if other_value != NO_CHANGE: + self.__dict__[field.name] = other_value + return self + @classmethod def reduce(cls: typing.Type[Self], *args: Self) -> Self: """Fuse multiple state updates into a single one. @@ -306,19 +319,10 @@ def reduce(cls: typing.Type[Self], *args: Self) -> Self: State updates that are later in the parameter list are preferred to those that are earlier; NO_CHANGE is ignored. """ - fields = dataclasses.fields(cls) - changes_dicts = [ - { - field.name: update.__dict__[field.name] - for field in fields - if update.__dict__[field.name] != NO_CHANGE - } - for update in args - ] - changes = {} - for changes_dict in changes_dicts: - changes.update(changes_dict) - return cls(**changes) + accumulator = cls() + for arg in args: + accumulator.append(arg) + return accumulator # These convenience functions let the caller avoid the boilerplate of constructing a # complicated dataclass tree. diff --git a/api/tests/opentrons/protocol_engine/commands/test_aspirate.py b/api/tests/opentrons/protocol_engine/commands/test_aspirate.py index 11078fb43cf..8e50d1825ae 100644 --- a/api/tests/opentrons/protocol_engine/commands/test_aspirate.py +++ b/api/tests/opentrons/protocol_engine/commands/test_aspirate.py @@ -12,7 +12,7 @@ from opentrons.protocol_engine.commands.pipetting_common import OverpressureError from opentrons.protocol_engine.commands.movement_common import StallOrCollisionError from opentrons.protocol_engine.state import update_types -from opentrons.types import MountType, Point +from opentrons.types import Point from opentrons.protocol_engine import ( LiquidHandlingWellLocation, WellOrigin, @@ -36,9 +36,9 @@ from opentrons.protocol_engine.resources.model_utils import ModelUtils from opentrons.protocol_engine.types import ( CurrentWell, - LoadedPipette, AspiratedFluid, FluidKind, + WellLocation, ) from opentrons.hardware_control import HardwareControlAPI from opentrons.protocol_engine.notes import CommandNoteAdder @@ -67,47 +67,50 @@ def subject( async def test_aspirate_implementation_no_prep( decoy: Decoy, state_view: StateView, - hardware_api: HardwareControlAPI, movement: MovementHandler, pipetting: PipettingHandler, subject: AspirateImplementation, mock_command_note_adder: CommandNoteAdder, ) -> None: """An Aspirate should have an execution implementation without preparing to aspirate.""" + pipette_id = "pipette-id" + labware_id = "labware-id" + well_name = "well-name" location = LiquidHandlingWellLocation( origin=WellOrigin.BOTTOM, offset=WellOffset(x=0, y=0, z=1) ) - - data = AspirateParams( - pipetteId="abc", - labwareId="123", - wellName="A3", + params = AspirateParams( + pipetteId=pipette_id, + labwareId=labware_id, + wellName=well_name, wellLocation=location, volume=50, flowRate=1.23, ) - decoy.when(pipetting.get_is_ready_to_aspirate(pipette_id="abc")).then_return(True) + decoy.when(pipetting.get_is_ready_to_aspirate(pipette_id=pipette_id)).then_return( + True + ) decoy.when( state_view.geometry.get_nozzles_per_well( - labware_id="123", - target_well_name="A3", - pipette_id="abc", + labware_id=labware_id, + target_well_name=well_name, + pipette_id=pipette_id, ) ).then_return(2) decoy.when( state_view.geometry.get_wells_covered_by_pipette_with_active_well( - "123", "A3", "abc" + labware_id, well_name, pipette_id ) - ).then_return(["A3", "A4"]) + ).then_return(["covered-well-1", "covered-well-2"]) decoy.when( await movement.move_to_well( - pipette_id="abc", - labware_id="123", - well_name="A3", + pipette_id=pipette_id, + labware_id=labware_id, + well_name=well_name, well_location=location, current_well=None, force_direct=False, @@ -119,30 +122,33 @@ async def test_aspirate_implementation_no_prep( decoy.when( await pipetting.aspirate_in_place( - pipette_id="abc", + pipette_id=pipette_id, volume=50, flow_rate=1.23, command_note_adder=mock_command_note_adder, ), ).then_return(50) - result = await subject.execute(data) + result = await subject.execute(params) assert result == SuccessData( public=AspirateResult(volume=50, position=DeckPoint(x=1, y=2, z=3)), state_update=update_types.StateUpdate( pipette_location=update_types.PipetteLocationUpdate( - pipette_id="abc", - new_location=update_types.Well(labware_id="123", well_name="A3"), + pipette_id=pipette_id, + new_location=update_types.Well( + labware_id=labware_id, well_name=well_name + ), new_deck_point=DeckPoint(x=1, y=2, z=3), ), liquid_operated=update_types.LiquidOperatedUpdate( - labware_id="123", - well_names=["A3", "A4"], + labware_id=labware_id, + well_names=["covered-well-1", "covered-well-2"], volume_added=-100, ), pipette_aspirated_fluid=update_types.PipetteAspiratedFluidUpdate( - pipette_id="abc", fluid=AspiratedFluid(kind=FluidKind.LIQUID, volume=50) + pipette_id=pipette_id, + fluid=AspiratedFluid(kind=FluidKind.LIQUID, volume=50), ), ), ) @@ -151,104 +157,112 @@ async def test_aspirate_implementation_no_prep( async def test_aspirate_implementation_with_prep( decoy: Decoy, state_view: StateView, - hardware_api: HardwareControlAPI, movement: MovementHandler, pipetting: PipettingHandler, mock_command_note_adder: CommandNoteAdder, subject: AspirateImplementation, ) -> None: """An Aspirate should have an execution implementation with preparing to aspirate.""" + pipette_id = "pipette-id" + labware_id = "labware-id" + well_name = "well-name" location = LiquidHandlingWellLocation( origin=WellOrigin.BOTTOM, offset=WellOffset(x=0, y=0, z=1) ) - - data = AspirateParams( - pipetteId="abc", - labwareId="123", - wellName="A3", + volume = 50 + flow_rate = 1.23 + params = AspirateParams( + pipetteId=pipette_id, + labwareId=labware_id, + wellName=well_name, wellLocation=location, - volume=50, - flowRate=1.23, + volume=volume, + flowRate=flow_rate, ) - decoy.when(pipetting.get_is_ready_to_aspirate(pipette_id="abc")).then_return(False) - - decoy.when(state_view.pipettes.get(pipette_id="abc")).then_return( - LoadedPipette.construct( # type:ignore[call-arg] - mount=MountType.LEFT - ) + decoy.when(pipetting.get_is_ready_to_aspirate(pipette_id=pipette_id)).then_return( + False ) + decoy.when( state_view.geometry.get_nozzles_per_well( - labware_id="123", - target_well_name="A3", - pipette_id="abc", + labware_id=labware_id, + target_well_name=well_name, + pipette_id=pipette_id, ) ).then_return(2) decoy.when( state_view.geometry.get_wells_covered_by_pipette_with_active_well( - "123", "A3", "abc" + labware_id, well_name, pipette_id ) - ).then_return(["A3", "A4"]) + ).then_return(["covered-well-1", "covered-well-2"]) + + decoy.when( + await movement.move_to_well( + pipette_id=pipette_id, + labware_id=labware_id, + well_name=well_name, + well_location=WellLocation(origin=WellOrigin.TOP), + current_well=None, + force_direct=False, + minimum_z_height=None, + speed=None, + operation_volume=None, + ), + ).then_return(Point()) + decoy.when( await movement.move_to_well( - pipette_id="abc", - labware_id="123", - well_name="A3", + pipette_id=pipette_id, + labware_id=labware_id, + well_name=well_name, well_location=location, current_well=CurrentWell( - pipette_id="abc", - labware_id="123", - well_name="A3", + pipette_id=pipette_id, + labware_id=labware_id, + well_name=well_name, ), force_direct=False, minimum_z_height=None, speed=None, - operation_volume=-50, + operation_volume=-volume, ), ).then_return(Point(x=1, y=2, z=3)) decoy.when( await pipetting.aspirate_in_place( - pipette_id="abc", - volume=50, - flow_rate=1.23, + pipette_id=pipette_id, + volume=volume, + flow_rate=flow_rate, command_note_adder=mock_command_note_adder, ), - ).then_return(50) + ).then_return(volume) - result = await subject.execute(data) + result = await subject.execute(params) assert result == SuccessData( public=AspirateResult(volume=50, position=DeckPoint(x=1, y=2, z=3)), state_update=update_types.StateUpdate( pipette_location=update_types.PipetteLocationUpdate( - pipette_id="abc", - new_location=update_types.Well(labware_id="123", well_name="A3"), + pipette_id=pipette_id, + new_location=update_types.Well( + labware_id=labware_id, well_name=well_name + ), new_deck_point=DeckPoint(x=1, y=2, z=3), ), liquid_operated=update_types.LiquidOperatedUpdate( - labware_id="123", - well_names=["A3", "A4"], + labware_id=labware_id, + well_names=["covered-well-1", "covered-well-2"], volume_added=-100, ), pipette_aspirated_fluid=update_types.PipetteAspiratedFluidUpdate( - pipette_id="abc", fluid=AspiratedFluid(kind=FluidKind.LIQUID, volume=50) + pipette_id=pipette_id, + fluid=AspiratedFluid(kind=FluidKind.LIQUID, volume=50), ), ), ) - decoy.verify( - await movement.move_to_well( - pipette_id="abc", - labware_id="123", - well_name="A3", - well_location=LiquidHandlingWellLocation(origin=WellOrigin.TOP), - ), - await pipetting.prepare_for_aspirate(pipette_id="abc"), - ) - async def test_aspirate_raises_volume_error( decoy: Decoy, @@ -259,40 +273,44 @@ async def test_aspirate_raises_volume_error( subject: AspirateImplementation, ) -> None: """Should raise an assertion error for volume larger than working volume.""" + pipette_id = "pipette-id" + labware_id = "labware-id" + well_name = "well-name" location = LiquidHandlingWellLocation( origin=WellOrigin.BOTTOM, offset=WellOffset(x=0, y=0, z=1) ) - - data = AspirateParams( - pipetteId="abc", - labwareId="123", - wellName="A3", + params = AspirateParams( + pipetteId=pipette_id, + labwareId=labware_id, + wellName=well_name, wellLocation=location, volume=50, flowRate=1.23, ) - decoy.when(pipetting.get_is_ready_to_aspirate(pipette_id="abc")).then_return(True) + decoy.when(pipetting.get_is_ready_to_aspirate(pipette_id=pipette_id)).then_return( + True + ) decoy.when( state_view.geometry.get_nozzles_per_well( - labware_id="123", - target_well_name="A3", - pipette_id="abc", + labware_id=labware_id, + target_well_name=well_name, + pipette_id=pipette_id, ) ).then_return(2) decoy.when( state_view.geometry.get_wells_covered_by_pipette_with_active_well( - "123", "A3", "abc" + labware_id, well_name, pipette_id ) - ).then_return(["A3", "A4"]) + ).then_return(["covered-well-1", "covered-well-2"]) decoy.when( await movement.move_to_well( - pipette_id="abc", - labware_id="123", - well_name="A3", + pipette_id=pipette_id, + labware_id=labware_id, + well_name=well_name, well_location=location, current_well=None, force_direct=False, @@ -304,7 +322,7 @@ async def test_aspirate_raises_volume_error( decoy.when( await pipetting.aspirate_in_place( - pipette_id="abc", + pipette_id=pipette_id, volume=50, flow_rate=1.23, command_note_adder=mock_command_note_adder, @@ -312,7 +330,7 @@ async def test_aspirate_raises_volume_error( ).then_raise(AssertionError("blah blah")) with pytest.raises(AssertionError): - await subject.execute(data) + await subject.execute(params) async def test_overpressure_error( @@ -337,7 +355,7 @@ async def test_overpressure_error( error_id = "error-id" error_timestamp = datetime(year=2020, month=1, day=2) - data = AspirateParams( + params = AspirateParams( pipetteId=pipette_id, labwareId=labware_id, wellName=well_name, @@ -348,17 +366,17 @@ async def test_overpressure_error( decoy.when( state_view.geometry.get_nozzles_per_well( - labware_id="labware-id", - target_well_name="well-name", - pipette_id="pipette-id", + labware_id=labware_id, + target_well_name=well_name, + pipette_id=pipette_id, ) ).then_return(2) decoy.when( state_view.geometry.get_wells_covered_by_pipette_with_active_well( - "labware-id", "well-name", "pipette-id" + labware_id, well_name, pipette_id ) - ).then_return(["A3", "A4"]) + ).then_return(["covered-well-1", "covered-well-2"]) decoy.when(pipetting.get_is_ready_to_aspirate(pipette_id=pipette_id)).then_return( True @@ -390,7 +408,7 @@ async def test_overpressure_error( decoy.when(model_utils.generate_id()).then_return(error_id) decoy.when(model_utils.get_timestamp()).then_return(error_timestamp) - result = await subject.execute(data) + result = await subject.execute(params) assert result == DefinedErrorData( public=OverpressureError.construct( @@ -409,22 +427,13 @@ async def test_overpressure_error( ), liquid_operated=update_types.LiquidOperatedUpdate( labware_id=labware_id, - well_names=["A3", "A4"], + well_names=["covered-well-1", "covered-well-2"], volume_added=update_types.CLEAR, ), pipette_aspirated_fluid=update_types.PipetteUnknownFluidUpdate( pipette_id=pipette_id ), ), - state_update_if_false_positive=update_types.StateUpdate( - pipette_location=update_types.PipetteLocationUpdate( - pipette_id=pipette_id, - new_location=update_types.Well( - labware_id=labware_id, well_name=well_name - ), - new_deck_point=DeckPoint(x=position.x, y=position.y, z=position.z), - ), - ), ) @@ -438,15 +447,18 @@ async def test_aspirate_implementation_meniscus( mock_command_note_adder: CommandNoteAdder, ) -> None: """Aspirate should update WellVolumeOffset when called with WellOrigin.MENISCUS.""" + pipette_id = "pipette-id" + labware_id = "labware-id" + well_name = "well-name" location = LiquidHandlingWellLocation( origin=WellOrigin.MENISCUS, offset=WellOffset(x=0, y=0, z=-1), volumeOffset="operationVolume", ) - data = AspirateParams( - pipetteId="abc", - labwareId="123", - wellName="A3", + params = AspirateParams( + pipetteId=pipette_id, + labwareId=labware_id, + wellName=well_name, wellLocation=location, volume=50, flowRate=1.23, @@ -454,25 +466,27 @@ async def test_aspirate_implementation_meniscus( decoy.when( state_view.geometry.get_nozzles_per_well( - labware_id="123", - target_well_name="A3", - pipette_id="abc", + labware_id=labware_id, + target_well_name=well_name, + pipette_id=pipette_id, ) ).then_return(2) decoy.when( state_view.geometry.get_wells_covered_by_pipette_with_active_well( - "123", "A3", "abc" + labware_id, well_name, pipette_id ) - ).then_return(["A3", "A4"]) + ).then_return(["covered-well-1", "covered-well-2"]) - decoy.when(pipetting.get_is_ready_to_aspirate(pipette_id="abc")).then_return(True) + decoy.when(pipetting.get_is_ready_to_aspirate(pipette_id=pipette_id)).then_return( + True + ) decoy.when( await movement.move_to_well( - pipette_id="abc", - labware_id="123", - well_name="A3", + pipette_id=pipette_id, + labware_id=labware_id, + well_name=well_name, well_location=location, current_well=None, force_direct=False, @@ -484,36 +498,39 @@ async def test_aspirate_implementation_meniscus( decoy.when( await pipetting.aspirate_in_place( - pipette_id="abc", + pipette_id=pipette_id, volume=50, flow_rate=1.23, command_note_adder=mock_command_note_adder, ), ).then_return(50) - result = await subject.execute(data) + result = await subject.execute(params) assert result == SuccessData( public=AspirateResult(volume=50, position=DeckPoint(x=1, y=2, z=3)), state_update=update_types.StateUpdate( pipette_location=update_types.PipetteLocationUpdate( - pipette_id="abc", - new_location=update_types.Well(labware_id="123", well_name="A3"), + pipette_id=pipette_id, + new_location=update_types.Well( + labware_id=labware_id, well_name=well_name + ), new_deck_point=DeckPoint(x=1, y=2, z=3), ), liquid_operated=update_types.LiquidOperatedUpdate( - labware_id="123", - well_names=["A3", "A4"], + labware_id=labware_id, + well_names=["covered-well-1", "covered-well-2"], volume_added=-100, ), pipette_aspirated_fluid=update_types.PipetteAspiratedFluidUpdate( - pipette_id="abc", fluid=AspiratedFluid(kind=FluidKind.LIQUID, volume=50) + pipette_id=pipette_id, + fluid=AspiratedFluid(kind=FluidKind.LIQUID, volume=50), ), ), ) -async def test_stall_error( +async def test_stall_during_final_movement( decoy: Decoy, movement: MovementHandler, pipetting: PipettingHandler, @@ -521,7 +538,7 @@ async def test_stall_error( model_utils: ModelUtils, state_view: StateView, ) -> None: - """It should return an overpressure error if the hardware API indicates that.""" + """It should propagate a stall error that happens when moving to the final position.""" pipette_id = "pipette-id" labware_id = "labware-id" well_name = "well-name" @@ -535,7 +552,7 @@ async def test_stall_error( True ) - data = AspirateParams( + params = AspirateParams( pipetteId=pipette_id, labwareId=labware_id, wellName=well_name, @@ -561,7 +578,7 @@ async def test_stall_error( decoy.when(model_utils.generate_id()).then_return(error_id) decoy.when(model_utils.get_timestamp()).then_return(error_timestamp) - result = await subject.execute(data) + result = await subject.execute(params) assert result == DefinedErrorData( public=StallOrCollisionError.construct( @@ -571,3 +588,154 @@ async def test_stall_error( ), state_update=update_types.StateUpdate(pipette_location=update_types.CLEAR), ) + + +async def test_stall_during_preparation( + decoy: Decoy, + movement: MovementHandler, + pipetting: PipettingHandler, + subject: AspirateImplementation, + model_utils: ModelUtils, +) -> None: + """It should propagate a stall error that happens during the prepare-to-aspirate part.""" + pipette_id = "pipette-id" + labware_id = "labware-id" + well_name = "well-name" + well_location = LiquidHandlingWellLocation( + origin=WellOrigin.BOTTOM, offset=WellOffset(x=0, y=0, z=1) + ) + + error_id = "error-id" + error_timestamp = datetime(year=2020, month=1, day=2) + + params = AspirateParams( + pipetteId=pipette_id, + labwareId=labware_id, + wellName=well_name, + wellLocation=well_location, + volume=50, + flowRate=1.23, + ) + + decoy.when(pipetting.get_is_ready_to_aspirate(pipette_id=pipette_id)).then_return( + False + ) + + decoy.when( + await movement.move_to_well( + pipette_id=pipette_id, + labware_id=labware_id, + well_name=well_name, + well_location=WellLocation(origin=WellOrigin.TOP), + current_well=None, + force_direct=False, + minimum_z_height=None, + speed=None, + operation_volume=None, + ), + ).then_raise(StallOrCollisionDetectedError()) + decoy.when(model_utils.generate_id()).then_return(error_id) + decoy.when(model_utils.get_timestamp()).then_return(error_timestamp) + + result = await subject.execute(params) + assert result == DefinedErrorData( + public=StallOrCollisionError.construct( + id=error_id, createdAt=error_timestamp, wrappedErrors=[matchers.Anything()] + ), + state_update=update_types.StateUpdate( + pipette_location=update_types.CLEAR, + ), + state_update_if_false_positive=update_types.StateUpdate(), + ) + + +async def test_overpressure_during_preparation( + decoy: Decoy, + movement: MovementHandler, + pipetting: PipettingHandler, + subject: AspirateImplementation, + state_view: StateView, + model_utils: ModelUtils, +) -> None: + """It should propagate an overpressure error that happens during the prepare-to-aspirate part.""" + pipette_id = "pipette-id" + labware_id = "labware-id" + well_name = "well-name" + well_location = LiquidHandlingWellLocation( + origin=WellOrigin.BOTTOM, offset=WellOffset(x=0, y=0, z=1) + ) + + error_id = "error-id" + error_timestamp = datetime(year=2020, month=1, day=2) + + params = AspirateParams( + pipetteId=pipette_id, + labwareId=labware_id, + wellName=well_name, + wellLocation=well_location, + volume=50, + flowRate=1.23, + ) + + decoy.when(pipetting.get_is_ready_to_aspirate(pipette_id=pipette_id)).then_return( + False + ) + + retry_location = Point(1, 2, 3) + decoy.when( + state_view.geometry.get_well_position( + labware_id=labware_id, + well_name=well_name, + well_location=well_location, + operation_volume=-params.volume, + pipette_id=pipette_id, + ) + ).then_return(retry_location) + + prep_location = Point(4, 5, 6) + decoy.when( + await movement.move_to_well( + pipette_id=pipette_id, + labware_id=labware_id, + well_name=well_name, + well_location=WellLocation(origin=WellOrigin.TOP), + current_well=None, + force_direct=False, + minimum_z_height=None, + speed=None, + operation_volume=None, + ), + ).then_return(prep_location) + + decoy.when(await pipetting.prepare_for_aspirate(pipette_id)).then_raise( + PipetteOverpressureError() + ) + decoy.when(model_utils.generate_id()).then_return(error_id) + decoy.when(model_utils.get_timestamp()).then_return(error_timestamp) + + result = await subject.execute(params) + assert result == DefinedErrorData( + public=OverpressureError.construct( + id=error_id, + createdAt=error_timestamp, + wrappedErrors=[matchers.Anything()], + errorInfo={ + "retryLocation": (retry_location.x, retry_location.y, retry_location.z) + }, + ), + state_update=update_types.StateUpdate( + pipette_location=update_types.PipetteLocationUpdate( + pipette_id=pipette_id, + new_location=update_types.Well( + labware_id=labware_id, well_name=well_name + ), + new_deck_point=DeckPoint( + x=prep_location.x, y=prep_location.y, z=prep_location.z + ), + ), + pipette_aspirated_fluid=update_types.PipetteUnknownFluidUpdate( + pipette_id=pipette_id + ), + ), + state_update_if_false_positive=update_types.StateUpdate(), + ) diff --git a/api/tests/opentrons/protocol_engine/state/test_update_types.py b/api/tests/opentrons/protocol_engine/state/test_update_types.py new file mode 100644 index 00000000000..741df813e19 --- /dev/null +++ b/api/tests/opentrons/protocol_engine/state/test_update_types.py @@ -0,0 +1,75 @@ +"""Unit tests for the utilities in `update_types`.""" + + +from opentrons.protocol_engine.state import update_types + + +def test_append() -> None: + """Test `StateUpdate.append()`.""" + state_update = update_types.StateUpdate( + absorbance_reader_lid=update_types.AbsorbanceReaderLidUpdate( + module_id="module_id", is_lid_on=True + ) + ) + + # Populating a new field should leave the original ones unchanged. + result = state_update.append( + update_types.StateUpdate(pipette_location=update_types.CLEAR) + ) + assert result is state_update + assert state_update.absorbance_reader_lid == update_types.AbsorbanceReaderLidUpdate( + module_id="module_id", is_lid_on=True + ) + assert state_update.pipette_location == update_types.CLEAR + + # Populating a field that's already been populated should overwrite it. + result = state_update.append( + update_types.StateUpdate( + absorbance_reader_lid=update_types.AbsorbanceReaderLidUpdate( + module_id="module_id", is_lid_on=False + ) + ) + ) + assert result is state_update + assert state_update.absorbance_reader_lid == update_types.AbsorbanceReaderLidUpdate( + module_id="module_id", is_lid_on=False + ) + assert state_update.pipette_location == update_types.CLEAR + + +def test_reduce() -> None: + """Test `StateUpdate.reduce()`.""" + assert update_types.StateUpdate.reduce() == update_types.StateUpdate() + + # It should union all the set fields together. + assert update_types.StateUpdate.reduce( + update_types.StateUpdate( + absorbance_reader_lid=update_types.AbsorbanceReaderLidUpdate( + module_id="module_id", is_lid_on=True + ) + ), + update_types.StateUpdate(pipette_location=update_types.CLEAR), + ) == update_types.StateUpdate( + absorbance_reader_lid=update_types.AbsorbanceReaderLidUpdate( + module_id="module_id", is_lid_on=True + ), + pipette_location=update_types.CLEAR, + ) + + # When one field appears multiple times, the last write wins. + assert update_types.StateUpdate.reduce( + update_types.StateUpdate( + absorbance_reader_lid=update_types.AbsorbanceReaderLidUpdate( + module_id="module_id", is_lid_on=True + ) + ), + update_types.StateUpdate( + absorbance_reader_lid=update_types.AbsorbanceReaderLidUpdate( + module_id="module_id", is_lid_on=False + ) + ), + ) == update_types.StateUpdate( + absorbance_reader_lid=update_types.AbsorbanceReaderLidUpdate( + module_id="module_id", is_lid_on=False + ) + ) From 157658115ff8351c37bde3a97faec4f7fa0fd6b3 Mon Sep 17 00:00:00 2001 From: Nick Diehl <47604184+ncdiehl11@users.noreply.github.com> Date: Mon, 25 Nov 2024 15:59:24 -0500 Subject: [PATCH 53/57] fix(protocol-designer): only show tooltip if confirm button disabled (#16975) On the WizardBody component used for creating a new protocol file, we optionally pass a tooltip to be shown when hovering the confirm button if it is disabled. This PR fixes a bug where the tooltip showed on hover even if the button is enabled. --- .../src/pages/CreateNewProtocolWizard/WizardBody.tsx | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/protocol-designer/src/pages/CreateNewProtocolWizard/WizardBody.tsx b/protocol-designer/src/pages/CreateNewProtocolWizard/WizardBody.tsx index 58deec63717..d0c9c57cb37 100644 --- a/protocol-designer/src/pages/CreateNewProtocolWizard/WizardBody.tsx +++ b/protocol-designer/src/pages/CreateNewProtocolWizard/WizardBody.tsx @@ -160,7 +160,7 @@ export function WizardBody(props: WizardBodyProps): JSX.Element { width="8.5625rem" /> - {tooltipOnDisabled != null ? ( + {tooltipOnDisabled != null && disabled ? ( {tooltipOnDisabled} ) : null} From 44ed81fd32cee216dc47c3fbb4b9458cd516ad04 Mon Sep 17 00:00:00 2001 From: Max Marrone Date: Mon, 25 Nov 2024 16:08:32 -0500 Subject: [PATCH 54/57] refactor(robot-server): Avoid features that will be removed in SQLAlchemy 2.0 (#16926) --- robot-server/pytest.ini | 5 +++ .../persistence/_migrations/_util.py | 45 ++++++++++++++++++- .../persistence/_migrations/v3_to_v4.py | 14 +----- .../persistence/_migrations/v4_to_v5.py | 14 +----- .../persistence/_migrations/v6_to_v7.py | 12 +---- .../persistence/_migrations/v7_to_v8.py | 19 +++----- 6 files changed, 57 insertions(+), 52 deletions(-) diff --git a/robot-server/pytest.ini b/robot-server/pytest.ini index 211c218295d..51ed89fd0d2 100644 --- a/robot-server/pytest.ini +++ b/robot-server/pytest.ini @@ -4,3 +4,8 @@ markers = ot3_only: Test only functions using the OT3 hardware addopts = --color=yes --strict-markers asyncio_mode = auto + +# Don't allow any new code that uses features removed in SQLAlchemy 2.0. +# We should remove this when we upgrade to SQLAlchemy 2.0. +filterwarnings = + error::sqlalchemy.exc.RemovedIn20Warning diff --git a/robot-server/robot_server/persistence/_migrations/_util.py b/robot-server/robot_server/persistence/_migrations/_util.py index b3c44a96af2..b0fd8074966 100644 --- a/robot-server/robot_server/persistence/_migrations/_util.py +++ b/robot-server/robot_server/persistence/_migrations/_util.py @@ -1,10 +1,11 @@ """Shared helpers for migrations.""" -import sqlalchemy - import shutil +import typing from pathlib import Path +import sqlalchemy + from ..database import sqlite_rowid @@ -54,3 +55,43 @@ def copytree_if_exists(src: Path, dst: Path) -> None: shutil.copytree(src=src, dst=dst) except FileNotFoundError: pass + + +def add_column( + engine: sqlalchemy.engine.Engine, + table_name: str, + column: typing.Any, +) -> None: + """Add a column to an existing SQL table, with an `ALTER TABLE` statement. + + Params: + engine: A SQLAlchemy engine to connect to the database. + table_name: The SQL name of the parent table. + column: The SQLAlchemy column object. + + Known limitations: + + - This does not currently support indexes. + - This does not currently support constraints. + - The column will always be added as nullable. Adding non-nullable columns in + SQLite requires an elaborate and sensitive dance that we do not wish to attempt. + https://www.sqlite.org/lang_altertable.html#making_other_kinds_of_table_schema_changes + + To avoid those limitations, instead of this function, consider this: + + 1. Start with an empty database, or drop or rename the current table. + 2. Use SQLAlchemy's `metadata.create_all()` to create an empty table with the new + schema, including the new column. + 3. Copy rows from the old table to the new one, populating the new column + however you please. + """ + column_type = column.type.compile(engine.dialect) + with engine.begin() as transaction: + # todo(mm, 2024-11-25): This text seems like something that SQLAlchemy could generate for us + # (maybe: https://docs.sqlalchemy.org/en/20/core/metadata.html#sqlalchemy.schema.Column.compile), + # and that might help us account for indexes and constraints. + transaction.execute( + sqlalchemy.text( + f"ALTER TABLE {table_name} ADD COLUMN {column.key} {column_type}" + ) + ) diff --git a/robot-server/robot_server/persistence/_migrations/v3_to_v4.py b/robot-server/robot_server/persistence/_migrations/v3_to_v4.py index f5273f5f678..b69eb0e5b4f 100644 --- a/robot-server/robot_server/persistence/_migrations/v3_to_v4.py +++ b/robot-server/robot_server/persistence/_migrations/v3_to_v4.py @@ -9,10 +9,8 @@ from pathlib import Path from contextlib import ExitStack import shutil -from typing import Any - -import sqlalchemy +from ._util import add_column from ..database import sql_engine_ctx from ..file_and_directory_names import DB_FILE from ..tables import schema_4 @@ -35,16 +33,6 @@ def migrate(self, source_dir: Path, dest_dir: Path) -> None: dest_engine = exit_stack.enter_context(sql_engine_ctx(dest_db_file)) schema_4.metadata.create_all(dest_engine) - def add_column( - engine: sqlalchemy.engine.Engine, - table_name: str, - column: Any, - ) -> None: - column_type = column.type.compile(engine.dialect) - engine.execute( - f"ALTER TABLE {table_name} ADD COLUMN {column.key} {column_type}" - ) - add_column( dest_engine, schema_4.analysis_table.name, diff --git a/robot-server/robot_server/persistence/_migrations/v4_to_v5.py b/robot-server/robot_server/persistence/_migrations/v4_to_v5.py index 788723968b2..44b7f9a12d4 100644 --- a/robot-server/robot_server/persistence/_migrations/v4_to_v5.py +++ b/robot-server/robot_server/persistence/_migrations/v4_to_v5.py @@ -9,10 +9,8 @@ from pathlib import Path from contextlib import ExitStack import shutil -from typing import Any - -import sqlalchemy +from ._util import add_column from ..database import sql_engine_ctx from ..file_and_directory_names import DB_FILE from ..tables import schema_5 @@ -35,16 +33,6 @@ def migrate(self, source_dir: Path, dest_dir: Path) -> None: dest_engine = exit_stack.enter_context(sql_engine_ctx(dest_db_file)) schema_5.metadata.create_all(dest_engine) - def add_column( - engine: sqlalchemy.engine.Engine, - table_name: str, - column: Any, - ) -> None: - column_type = column.type.compile(engine.dialect) - engine.execute( - f"ALTER TABLE {table_name} ADD COLUMN {column.key} {column_type}" - ) - add_column( dest_engine, schema_5.protocol_table.name, diff --git a/robot-server/robot_server/persistence/_migrations/v6_to_v7.py b/robot-server/robot_server/persistence/_migrations/v6_to_v7.py index 29cd284e942..8fe63806b8a 100644 --- a/robot-server/robot_server/persistence/_migrations/v6_to_v7.py +++ b/robot-server/robot_server/persistence/_migrations/v6_to_v7.py @@ -11,10 +11,10 @@ from pathlib import Path from contextlib import ExitStack import shutil -from typing import Any import sqlalchemy +from ._util import add_column from ..database import sql_engine_ctx, sqlite_rowid from ..tables import schema_7 from .._folder_migrator import Migration @@ -44,16 +44,6 @@ def migrate(self, source_dir: Path, dest_dir: Path) -> None: dest_transaction = exit_stack.enter_context(dest_engine.begin()) - def add_column( - engine: sqlalchemy.engine.Engine, - table_name: str, - column: Any, - ) -> None: - column_type = column.type.compile(engine.dialect) - engine.execute( - f"ALTER TABLE {table_name} ADD COLUMN {column.key} {column_type}" - ) - add_column( dest_engine, schema_7.run_command_table.name, diff --git a/robot-server/robot_server/persistence/_migrations/v7_to_v8.py b/robot-server/robot_server/persistence/_migrations/v7_to_v8.py index a5ed950a8dc..035d92cf045 100644 --- a/robot-server/robot_server/persistence/_migrations/v7_to_v8.py +++ b/robot-server/robot_server/persistence/_migrations/v7_to_v8.py @@ -10,10 +10,10 @@ from pathlib import Path from contextlib import ExitStack import shutil -from typing import Any import sqlalchemy +from ._util import add_column from ..database import sql_engine_ctx from ..tables import schema_8 from .._folder_migrator import Migration @@ -41,16 +41,6 @@ def migrate(self, source_dir: Path, dest_dir: Path) -> None: dest_transaction = exit_stack.enter_context(dest_engine.begin()) - def add_column( - engine: sqlalchemy.engine.Engine, - table_name: str, - column: Any, - ) -> None: - column_type = column.type.compile(engine.dialect) - engine.execute( - f"ALTER TABLE {table_name} ADD COLUMN {column.key} {column_type}" - ) - add_column( dest_engine, schema_8.run_command_table.name, @@ -73,9 +63,12 @@ def add_column( def _add_missing_indexes(dest_transaction: sqlalchemy.engine.Connection) -> None: # todo(2024-11-20): Probably add the indexes missing from prior migrations here. # https://opentrons.atlassian.net/browse/EXEC-827 - dest_transaction.execute( - "CREATE UNIQUE INDEX ix_run_run_id_command_status_index_in_run ON run_command (run_id, command_status, index_in_run);" + index = next( + index + for index in schema_8.run_command_table.indexes + if index.name == "ix_run_run_id_command_status_index_in_run" ) + index.create(dest_transaction) def _migrate_command_table_with_new_command_error_col_and_command_status( From 685ab6211b5b1bc399340477f523c62a9ec52d03 Mon Sep 17 00:00:00 2001 From: koji Date: Mon, 25 Nov 2024 16:17:30 -0500 Subject: [PATCH 55/57] fix(protocol-designer): fix disabled condition in add a pipette (#16977) * fix(protocol-designer): fix disabled condition in add a pipette --- .../src/pages/CreateNewProtocolWizard/SelectPipettes.tsx | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/protocol-designer/src/pages/CreateNewProtocolWizard/SelectPipettes.tsx b/protocol-designer/src/pages/CreateNewProtocolWizard/SelectPipettes.tsx index 57f2ec6b4b5..a5c0e8b5ab4 100644 --- a/protocol-designer/src/pages/CreateNewProtocolWizard/SelectPipettes.tsx +++ b/protocol-designer/src/pages/CreateNewProtocolWizard/SelectPipettes.tsx @@ -114,7 +114,8 @@ export function SelectPipettes(props: WizardTileProps): JSX.Element | null { const isDisabled = (page === 'add' && pipettesByMount[defaultMount].tiprackDefURI == null) || - noPipette + noPipette || + selectedValues.length === 0 const targetPipetteMount = pipettesByMount.left.pipetteName == null || From 849ad0e2bccd58466b6f605b11aaf42b3f46d011 Mon Sep 17 00:00:00 2001 From: koji Date: Mon, 25 Nov 2024 16:39:38 -0500 Subject: [PATCH 56/57] refactor(protocol-designer): switch from div tag to Box component (#16976) * refactor(protocol-designer): switch from div tag to Box component --- protocol-designer/src/ProtocolEditor.tsx | 15 +++++++++++---- protocol-designer/src/ProtocolRoutes.tsx | 1 - 2 files changed, 11 insertions(+), 5 deletions(-) diff --git a/protocol-designer/src/ProtocolEditor.tsx b/protocol-designer/src/ProtocolEditor.tsx index 7ca14592e86..244d9d264e0 100644 --- a/protocol-designer/src/ProtocolEditor.tsx +++ b/protocol-designer/src/ProtocolEditor.tsx @@ -1,15 +1,22 @@ import { DndProvider } from 'react-dnd' import { HashRouter } from 'react-router-dom' import { HTML5Backend } from 'react-dnd-html5-backend' -import { DIRECTION_COLUMN, Flex, OVERFLOW_AUTO } from '@opentrons/components' +import { + Box, + DIRECTION_COLUMN, + Flex, + OVERFLOW_AUTO, +} from '@opentrons/components' import { PortalRoot as TopPortalRoot } from './components/portals/TopPortal' import { ProtocolRoutes } from './ProtocolRoutes' function ProtocolEditorComponent(): JSX.Element { return ( -
@@ -17,7 +24,7 @@ function ProtocolEditorComponent(): JSX.Element { -
+ ) } diff --git a/protocol-designer/src/ProtocolRoutes.tsx b/protocol-designer/src/ProtocolRoutes.tsx index b491ac8ca60..7350aa0a8da 100644 --- a/protocol-designer/src/ProtocolRoutes.tsx +++ b/protocol-designer/src/ProtocolRoutes.tsx @@ -73,7 +73,6 @@ export function ProtocolRoutes(): JSX.Element { onReset={handleReset} > - {showGateModal ? : null} From 2dc3e1d929648537b285b71c7524a1a307b86b64 Mon Sep 17 00:00:00 2001 From: Nick Diehl <47604184+ncdiehl11@users.noreply.github.com> Date: Mon, 25 Nov 2024 17:18:16 -0500 Subject: [PATCH 57/57] fix(protocol-designer): fix copy for pristine well warning (#16979) Remove starting deck state link from pristine well warning. Also, remove grid gap between timeline warning title and body. Closes RQA-3710 --- protocol-designer/src/organisms/Alerts/FormAlerts.tsx | 3 +-- protocol-designer/src/organisms/Alerts/WarningContents.tsx | 3 --- 2 files changed, 1 insertion(+), 5 deletions(-) diff --git a/protocol-designer/src/organisms/Alerts/FormAlerts.tsx b/protocol-designer/src/organisms/Alerts/FormAlerts.tsx index d51d34ff5d8..b6080a05a73 100644 --- a/protocol-designer/src/organisms/Alerts/FormAlerts.tsx +++ b/protocol-designer/src/organisms/Alerts/FormAlerts.tsx @@ -118,7 +118,7 @@ function FormAlertsComponent(props: FormAlertsProps): JSX.Element | null { width="100%" iconMarginLeft={SPACING.spacing4} > - + {data.title} @@ -183,7 +183,6 @@ function FormAlertsComponent(props: FormAlertsProps): JSX.Element | null { return [...formErrors, ...timelineWarnings, ...formWarnings].length > 0 ? ( {showFormErrors diff --git a/protocol-designer/src/organisms/Alerts/WarningContents.tsx b/protocol-designer/src/organisms/Alerts/WarningContents.tsx index 559d2d957ce..d75222dbaf1 100644 --- a/protocol-designer/src/organisms/Alerts/WarningContents.tsx +++ b/protocol-designer/src/organisms/Alerts/WarningContents.tsx @@ -1,6 +1,4 @@ import { useTranslation } from 'react-i18next' -import { START_TERMINAL_ITEM_ID } from '../../steplist' -import { TerminalItemLink } from './TerminalItemLink' import type { AlertLevel } from './types' @@ -22,7 +20,6 @@ export function WarningContents( {t(`timeline.warning.${warningType}.body`, { defaultValue: '', })} - ) default:

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