From b5eeb4ed10a8e5c8b5eec4a753b3095088a746a8 Mon Sep 17 00:00:00 2001
From: Jamey H <jamey.huffnagle@opentrons.com>
Date: Thu, 7 Dec 2023 14:42:28 -0500
Subject: [PATCH] fix(app, api): expose failOnNotHomed parameter for
 save_position command

Drop tip flows require saving pipette positions without homing the plunger axis (we definitely do
not want to home the plunger). The save_position command should optionally expose a failOnNotHomed
parameter to prevent an error from being thrown when the plunger is not homed.
---
 api/src/opentrons/protocol_engine/commands/save_position.py  | 5 ++++-
 .../opentrons/protocol_engine/commands/test_save_position.py | 5 +----
 app/src/organisms/DropTipWizard/index.tsx                    | 1 +
 shared-data/command/types/gantry.ts                          | 1 +
 4 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/api/src/opentrons/protocol_engine/commands/save_position.py b/api/src/opentrons/protocol_engine/commands/save_position.py
index 5e38b902058b..a351a677aec3 100644
--- a/api/src/opentrons/protocol_engine/commands/save_position.py
+++ b/api/src/opentrons/protocol_engine/commands/save_position.py
@@ -26,6 +26,9 @@ class SavePositionParams(BaseModel):
         description="An optional ID to assign to this command instance. "
         "Auto-assigned if not defined.",
     )
+    failOnNotHomed: bool = Field(
+        True, descrption="Require all axes to be homed before saving position."
+    )
 
 
 class SavePositionResult(BaseModel):
@@ -59,7 +62,7 @@ async def execute(self, params: SavePositionParams) -> SavePositionResult:
         """Check the requested pipette's current position."""
         position_id = self._model_utils.ensure_id(params.positionId)
         x, y, z = await self._gantry_mover.get_position(
-            pipette_id=params.pipetteId, fail_on_not_homed=True
+            pipette_id=params.pipetteId, fail_on_not_homed=params.failOnNotHomed
         )
 
         return SavePositionResult(
diff --git a/api/tests/opentrons/protocol_engine/commands/test_save_position.py b/api/tests/opentrons/protocol_engine/commands/test_save_position.py
index e31f44c779cf..99b52a4cd423 100644
--- a/api/tests/opentrons/protocol_engine/commands/test_save_position.py
+++ b/api/tests/opentrons/protocol_engine/commands/test_save_position.py
@@ -35,10 +35,7 @@ async def test_save_position_implementation(
     subject = SavePositionImplementation(
         model_utils=mock_model_utils, gantry_mover=mock_gantry_mover
     )
-    params = SavePositionParams(
-        pipetteId="abc",
-        positionId="123",
-    )
+    params = SavePositionParams(pipetteId="abc", positionId="123", failOnNotHomed=True)
 
     decoy.when(mock_model_utils.ensure_id("123")).then_return("456")
 
diff --git a/app/src/organisms/DropTipWizard/index.tsx b/app/src/organisms/DropTipWizard/index.tsx
index d533c82ea8fd..29a9e755a4a9 100644
--- a/app/src/organisms/DropTipWizard/index.tsx
+++ b/app/src/organisms/DropTipWizard/index.tsx
@@ -292,6 +292,7 @@ export const DropTipWizardComponent = (
         commandType: 'savePosition' as const,
         params: {
           pipetteId: MANAGED_PIPETTE_ID,
+          failOnNotHomed: false,
         },
       },
     ]
diff --git a/shared-data/command/types/gantry.ts b/shared-data/command/types/gantry.ts
index c119b63dd39c..435188d948d5 100644
--- a/shared-data/command/types/gantry.ts
+++ b/shared-data/command/types/gantry.ts
@@ -156,6 +156,7 @@ interface MoveRelativeParams {
 interface SavePositionParams {
   pipetteId: string // pipette to use in measurement
   positionId?: string // position ID, auto-assigned if left blank
+  failOnNotHomed?: boolean // Defaults to true if blank. Require every possible axis to be homed to save.
 }
 
 interface HomeParams {