Merge branch 'PLAT-276-add-oem-mode-endpoint' into oem-mode-integration

Opentrons · Apr 10, 2024 · ba12dbb · ba12dbb
2 parents da093a8 + 9b242ef
commit ba12dbb
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diff --git a/api/release-notes.md b/api/release-notes.md
@@ -6,6 +6,21 @@ log][]. For a list of currently known issues, please see the [Opentrons issue tr
 
 ---
 
+## Opentrons Robot Software Changes in 7.2.2
+
+Welcome to the v7.2.2 release of the Opentrons robot software!
+
+### Improved Features
+
+- Improved the low-volume performance of recently produced Flex 96-Channel Pipettes.
+
+### Bug Fixes
+
+- Restores the ability to use the speaker and camera on OT-2.
+- Restores the ability to use the camera on Flex.
+
+---
+
 ## Opentrons Robot Software Changes in 7.2.1
 
 Welcome to the v7.2.1 release of the Opentrons robot software!

diff --git a/api/src/opentrons/config/feature_flags.py b/api/src/opentrons/config/feature_flags.py
@@ -83,6 +83,4 @@ def enable_performance_metrics(robot_type: RobotTypeEnum) -> bool:
 
 
 def oem_mode_enabled() -> bool:
-    return advs.get_setting_with_env_overload(
-        "enableOEMMode", RobotTypeEnum.FLEX
-    )
+    return advs.get_setting_with_env_overload("enableOEMMode", RobotTypeEnum.FLEX)
diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py
@@ -1521,8 +1521,14 @@ async def _home_axis(self, axis: Axis) -> None:
         # G, Q should be handled in the backend through `self._home()`
         assert axis not in [Axis.G, Axis.Q]
 
+        # TODO(CM): This is a temporary fix in response to the right mount causing
+        # errors while trying to home on startup or attachment. We should remove this
+        # when we fix this issue in the firmware.
+        enable_right_mount_on_startup = (
+            self._gantry_load == GantryLoad.HIGH_THROUGHPUT and axis == Axis.Z_R
+        )
         encoder_ok = self._backend.check_encoder_status([axis])
-        if encoder_ok:
+        if encoder_ok or enable_right_mount_on_startup:
             # enable motor (if needed) and update estimation
             await self._enable_before_update_estimation(axis)
 

diff --git a/api/src/opentrons/system/camera.py b/api/src/opentrons/system/camera.py
@@ -1,6 +1,7 @@
 import asyncio
 import os
 from pathlib import Path
+
 from opentrons.config import ARCHITECTURE, SystemArchitecture
 from opentrons_shared_data.errors.exceptions import CommunicationError
 from opentrons_shared_data.errors.codes import ErrorCodes
@@ -29,7 +30,7 @@ async def take_picture(filename: Path) -> None:
         pass
 
     if ARCHITECTURE == SystemArchitecture.YOCTO:
-        cmd = f"v4l2-ctl --device /dev/video0 --set-fmt-video=width=1280,height=720,pixelformat=MJPG --stream-mmap --stream-to={str(filename)} --stream-count=1"
+        cmd = f"v4l2-ctl --device /dev/video2 --set-fmt-video=width=1280,height=720,pixelformat=MJPG --stream-mmap --stream-to={str(filename)} --stream-count=1"
     elif ARCHITECTURE == SystemArchitecture.BUILDROOT:
         cmd = f"ffmpeg -f video4linux2 -s 640x480 -i /dev/video0 -ss 0:0:1 -frames 1 {str(filename)}"
     else:  # HOST

diff --git a/app-shell/build/release-notes.md b/app-shell/build/release-notes.md
@@ -6,6 +6,14 @@ log][]. For a list of currently known issues, please see the [Opentrons issue tr
 
 ---
 
+## Opentrons App Changes in 7.2.2
+
+Welcome to the v7.2.2 release of the Opentrons App!
+
+There are no changes to the Opentrons App in v7.2.2, but it is required for updating the robot software to improve some features.
+
+---
+
 ## Opentrons App Changes in 7.2.1
 
 Welcome to the v7.2.1 release of the Opentrons App!

diff --git a/...yses_snapshot_test/test_analysis_snapshot[0f71566d05][OT2_P20S_None_2_7_Walkthrough].json b/...yses_snapshot_test/test_analysis_snapshot[0f71566d05][OT2_P20S_None_2_7_Walkthrough].json
@@ -3293,7 +3293,7 @@
       "errorInfo": {
         "args": "()",
         "class": "AssertionError",
-        "traceback": "  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/protocol_engine.py\", line 442, in finish\n    await exit_stack.aclose()\n\n  File \"/usr/local/lib/python3.10/contextlib.py\", line 656, in aclose\n    await self.__aexit__(None, None, None)\n\n  File \"/usr/local/lib/python3.10/contextlib.py\", line 714, in __aexit__\n    raise exc_details[1]\n\n  File \"/usr/local/lib/python3.10/contextlib.py\", line 697, in __aexit__\n    cb_suppress = await cb(*exc_details)\n\n  File \"/usr/local/lib/python3.10/contextlib.py\", line 608, in _exit_wrapper\n    await callback(*args, **kwds)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/plugins.py\", line 102, in stop\n    await p.teardown()\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_runner/legacy_context_plugin.py\", line 112, in teardown\n    await self._action_dispatching_task\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_runner/legacy_context_plugin.py\", line 160, in _dispatch_all_actions\n    self.dispatch(action)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/plugins.py\", line 37, in dispatch\n    return self._action_dispatcher.dispatch(action)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/actions/action_dispatcher.py\", line 30, in dispatch\n    self._sink.handle_action(action)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/state/state.py\", line 207, in handle_action\n    substore.handle_action(action)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/state/commands.py\", line 257, in handle_action\n    self._state.command_history.set_command_running(running_command)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/state/command_history.py\", line 175, in set_command_running\n    assert self.get_running_command() is None\n"
+        "traceback": "  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/protocol_engine.py\", line 503, in finish\n    await exit_stack.aclose()\n\n  File \"/usr/local/lib/python3.10/contextlib.py\", line 656, in aclose\n    await self.__aexit__(None, None, None)\n\n  File \"/usr/local/lib/python3.10/contextlib.py\", line 714, in __aexit__\n    raise exc_details[1]\n\n  File \"/usr/local/lib/python3.10/contextlib.py\", line 697, in __aexit__\n    cb_suppress = await cb(*exc_details)\n\n  File \"/usr/local/lib/python3.10/contextlib.py\", line 608, in _exit_wrapper\n    await callback(*args, **kwds)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/plugins.py\", line 102, in stop\n    await p.teardown()\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_runner/legacy_context_plugin.py\", line 112, in teardown\n    await self._action_dispatching_task\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_runner/legacy_context_plugin.py\", line 160, in _dispatch_all_actions\n    self.dispatch(action)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/plugins.py\", line 37, in dispatch\n    return self._action_dispatcher.dispatch(action)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/actions/action_dispatcher.py\", line 30, in dispatch\n    self._sink.handle_action(action)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/state/state.py\", line 209, in handle_action\n    substore.handle_action(action)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/state/commands.py\", line 261, in handle_action\n    self._state.command_history.set_command_running(running_command)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/state/command_history.py\", line 175, in set_command_running\n    assert self.get_running_command() is None\n"
       },
       "errorType": "PythonException",
       "wrappedErrors": []

diff --git a/...ot_test/test_analysis_snapshot[20cefcac62][OT2_P300M_P20S_TC_HS_TM_2_13_SmokeTestV3].json b/...ot_test/test_analysis_snapshot[20cefcac62][OT2_P300M_P20S_TC_HS_TM_2_13_SmokeTestV3].json
@@ -11889,7 +11889,7 @@
       "errorInfo": {
         "args": "()",
         "class": "AssertionError",
-        "traceback": "  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/protocol_engine.py\", line 442, in finish\n    await exit_stack.aclose()\n\n  File \"/usr/local/lib/python3.10/contextlib.py\", line 656, in aclose\n    await self.__aexit__(None, None, None)\n\n  File \"/usr/local/lib/python3.10/contextlib.py\", line 714, in __aexit__\n    raise exc_details[1]\n\n  File \"/usr/local/lib/python3.10/contextlib.py\", line 697, in __aexit__\n    cb_suppress = await cb(*exc_details)\n\n  File \"/usr/local/lib/python3.10/contextlib.py\", line 608, in _exit_wrapper\n    await callback(*args, **kwds)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/plugins.py\", line 102, in stop\n    await p.teardown()\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_runner/legacy_context_plugin.py\", line 112, in teardown\n    await self._action_dispatching_task\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_runner/legacy_context_plugin.py\", line 160, in _dispatch_all_actions\n    self.dispatch(action)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/plugins.py\", line 37, in dispatch\n    return self._action_dispatcher.dispatch(action)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/actions/action_dispatcher.py\", line 30, in dispatch\n    self._sink.handle_action(action)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/state/state.py\", line 207, in handle_action\n    substore.handle_action(action)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/state/commands.py\", line 257, in handle_action\n    self._state.command_history.set_command_running(running_command)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/state/command_history.py\", line 175, in set_command_running\n    assert self.get_running_command() is None\n"
+        "traceback": "  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/protocol_engine.py\", line 503, in finish\n    await exit_stack.aclose()\n\n  File \"/usr/local/lib/python3.10/contextlib.py\", line 656, in aclose\n    await self.__aexit__(None, None, None)\n\n  File \"/usr/local/lib/python3.10/contextlib.py\", line 714, in __aexit__\n    raise exc_details[1]\n\n  File \"/usr/local/lib/python3.10/contextlib.py\", line 697, in __aexit__\n    cb_suppress = await cb(*exc_details)\n\n  File \"/usr/local/lib/python3.10/contextlib.py\", line 608, in _exit_wrapper\n    await callback(*args, **kwds)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/plugins.py\", line 102, in stop\n    await p.teardown()\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_runner/legacy_context_plugin.py\", line 112, in teardown\n    await self._action_dispatching_task\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_runner/legacy_context_plugin.py\", line 160, in _dispatch_all_actions\n    self.dispatch(action)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/plugins.py\", line 37, in dispatch\n    return self._action_dispatcher.dispatch(action)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/actions/action_dispatcher.py\", line 30, in dispatch\n    self._sink.handle_action(action)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/state/state.py\", line 209, in handle_action\n    substore.handle_action(action)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/state/commands.py\", line 261, in handle_action\n    self._state.command_history.set_command_running(running_command)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/state/command_history.py\", line 175, in set_command_running\n    assert self.get_running_command() is None\n"
       },
       "errorType": "PythonException",
       "wrappedErrors": []

diff --git a/...lyses_snapshot_test/test_analysis_snapshot[8df082e960][OT2_P300MLeft_MM_TM_2_4_Zymo].json b/...lyses_snapshot_test/test_analysis_snapshot[8df082e960][OT2_P300MLeft_MM_TM_2_4_Zymo].json
@@ -10913,7 +10913,7 @@
       "errorInfo": {
         "args": "()",
         "class": "AssertionError",
-        "traceback": "  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/protocol_engine.py\", line 442, in finish\n    await exit_stack.aclose()\n\n  File \"/usr/local/lib/python3.10/contextlib.py\", line 656, in aclose\n    await self.__aexit__(None, None, None)\n\n  File \"/usr/local/lib/python3.10/contextlib.py\", line 714, in __aexit__\n    raise exc_details[1]\n\n  File \"/usr/local/lib/python3.10/contextlib.py\", line 697, in __aexit__\n    cb_suppress = await cb(*exc_details)\n\n  File \"/usr/local/lib/python3.10/contextlib.py\", line 608, in _exit_wrapper\n    await callback(*args, **kwds)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/plugins.py\", line 102, in stop\n    await p.teardown()\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_runner/legacy_context_plugin.py\", line 112, in teardown\n    await self._action_dispatching_task\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_runner/legacy_context_plugin.py\", line 160, in _dispatch_all_actions\n    self.dispatch(action)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/plugins.py\", line 37, in dispatch\n    return self._action_dispatcher.dispatch(action)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/actions/action_dispatcher.py\", line 30, in dispatch\n    self._sink.handle_action(action)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/state/state.py\", line 207, in handle_action\n    substore.handle_action(action)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/state/commands.py\", line 257, in handle_action\n    self._state.command_history.set_command_running(running_command)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/state/command_history.py\", line 175, in set_command_running\n    assert self.get_running_command() is None\n"
+        "traceback": "  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/protocol_engine.py\", line 503, in finish\n    await exit_stack.aclose()\n\n  File \"/usr/local/lib/python3.10/contextlib.py\", line 656, in aclose\n    await self.__aexit__(None, None, None)\n\n  File \"/usr/local/lib/python3.10/contextlib.py\", line 714, in __aexit__\n    raise exc_details[1]\n\n  File \"/usr/local/lib/python3.10/contextlib.py\", line 697, in __aexit__\n    cb_suppress = await cb(*exc_details)\n\n  File \"/usr/local/lib/python3.10/contextlib.py\", line 608, in _exit_wrapper\n    await callback(*args, **kwds)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/plugins.py\", line 102, in stop\n    await p.teardown()\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_runner/legacy_context_plugin.py\", line 112, in teardown\n    await self._action_dispatching_task\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_runner/legacy_context_plugin.py\", line 160, in _dispatch_all_actions\n    self.dispatch(action)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/plugins.py\", line 37, in dispatch\n    return self._action_dispatcher.dispatch(action)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/actions/action_dispatcher.py\", line 30, in dispatch\n    self._sink.handle_action(action)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/state/state.py\", line 209, in handle_action\n    substore.handle_action(action)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/state/commands.py\", line 261, in handle_action\n    self._state.command_history.set_command_running(running_command)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/state/command_history.py\", line 175, in set_command_running\n    assert self.get_running_command() is None\n"
       },
       "errorType": "PythonException",
       "wrappedErrors": []

diff --git a/app/src/atoms/SoftwareKeyboard/NumericalKeyboard/NumericalKeyboard.stories.tsx b/app/src/atoms/SoftwareKeyboard/NumericalKeyboard/NumericalKeyboard.stories.tsx
@@ -37,7 +37,6 @@ type Story = StoryObj<typeof NumericalKeyboard>
 
 const Keyboard = (args): JSX.Element => {
   const { isDecimal, hasHyphen } = args
-  console.log(isDecimal, hasHyphen)
   const [showKeyboard, setShowKeyboard] = React.useState(false)
   const [value, setValue] = React.useState<string>('')
   const keyboardRef = React.useRef(null)

diff --git a/app/src/organisms/Devices/__tests__/HistoricalProtocolRun.test.tsx b/app/src/organisms/Devices/__tests__/HistoricalProtocolRun.test.tsx
@@ -18,8 +18,8 @@ vi.mock('../../../redux/protocol-storage')
 vi.mock('../../RunTimeControl/hooks')
 vi.mock('../HistoricalProtocolRunOverflowMenu')
 vi.mock('react-router-dom', async importOriginal => {
-  const reactRouterDom = importOriginal<typeof Dom>()
-  return await {
+  const reactRouterDom = await importOriginal<typeof Dom>()
+  return {
     ...reactRouterDom,
     useHistory: () => ({ push: mockPush } as any),
   }

diff --git a/app/src/organisms/Devices/__tests__/RobotOverview.test.tsx b/app/src/organisms/Devices/__tests__/RobotOverview.test.tsx
@@ -51,8 +51,8 @@ import type { State } from '../../../redux/types'
 import type * as ReactApiClient from '@opentrons/react-api-client'
 
 vi.mock('@opentrons/react-api-client', async importOriginal => {
-  const actual = importOriginal<typeof ReactApiClient>()
-  return await {
+  const actual = await importOriginal<typeof ReactApiClient>()
+  return {
     ...actual,
     useAuthorization: vi.fn(),
   }

diff --git a/app/src/organisms/ModuleCard/TemperatureModuleData.tsx b/app/src/organisms/ModuleCard/TemperatureModuleData.tsx
@@ -29,8 +29,6 @@ export const TemperatureModuleData = (
   let pulse
   switch (moduleStatus) {
     case 'idle': {
-      backgroundColor = COLORS.grey30
-      iconColor = COLORS.grey60
       textColor = COLORS.grey60
       break
     }

diff --git a/discovery-client/vite.config.ts b/discovery-client/vite.config.ts
@@ -8,8 +8,8 @@ import postCssApply from 'postcss-apply'
 import postColorModFunction from 'postcss-color-mod-function'
 import postCssPresetEnv from 'postcss-preset-env'
 import lostCss from 'lost'
-import type { UserConfig } from 'vite
-'
+import type { UserConfig } from 'vite'
+
 export default defineConfig(
   async (): Promise<UserConfig> => {
     const project = process.env.OPENTRONS_PROJECT ?? 'robot-stack'

diff --git a/opentrons-ai-client/Makefile b/opentrons-ai-client/Makefile
@@ -0,0 +1,59 @@
+# opentrons ai client makefile
+
+# using bash instead of /bin/bash in SHELL prevents macOS optimizing away our PATH update
+SHELL := bash
+
+# add node_modules/.bin to PATH
+PATH := $(shell cd .. && yarn bin):$(PATH)
+
+benchmark_output := $(shell node -e 'console.log(new Date());')
+
+# These variables can be overriden when make is invoked to customize the
+# behavior of jest
+tests ?=
+cov_opts ?= --coverage=true
+test_opts ?=
+
+# standard targets
+#####################################################################
+
+.PHONY: all
+all: clean build
+
+.PHONY: setup
+setup:
+	yarn
+
+.PHONY: clean
+clean:
+	shx rm -rf dist
+
+# artifacts
+#####################################################################
+
+.PHONY: build
+build: export NODE_ENV := production
+build:
+	vite build
+	git rev-parse HEAD > dist/.commit
+
+# development
+#####################################################################
+
+.PHONY: dev
+dev: export NODE_ENV := development
+dev:
+	vite serve
+
+# production assets server
+.PHONY: serve
+serve: all
+	node ../scripts/serve-static dist
+
+.PHONY: test
+test:
+	$(MAKE) -C .. test-js-ai-client tests="$(tests)" test_opts="$(test_opts)"
+
+.PHONY: test-cov
+test-cov:
+	make -C .. test-js-ai-client tests=$(tests) test_opts="$(test_opts)" cov_opts="$(cov_opts)"