Do not publish interal calls to move to, fix some tests

api/src/opentrons/protocol_api/instrument_context.py

@@ -191,7 +191,8 @@ def aspirate(self,
             if self.api_version < APIVersion(2, 3) or \
                     not self._implementation.is_ready_to_aspirate():
                 if dest.labware.is_well:
-                    self.move_to(dest.labware.as_well().top())
+                    self.move_to(dest.labware.as_well().top(),
+                                 publish=False)
                 else:
                     # TODO(seth,2019/7/29): This should be a warning exposed
                     #  via rpc to the runapp
@@ -202,9 +203,9 @@ def aspirate(self,
                         "cause over aspiration if the previous command is a "
                         "blow_out.")
                 self._implementation.prepare_for_aspirate()
-            self.move_to(dest)
+            self.move_to(dest, publish=False)
         elif dest != self._ctx.location_cache:
-            self.move_to(dest)
+            self.move_to(dest, publish=False)
 
         c_vol = self._implementation.get_available_volume() \
             if not volume else volume
@@ -271,10 +272,10 @@ def dispense(self,
             else:
                 loc = location.bottom().move(
                     types.Point(0, 0, self.well_bottom_clearance.dispense))
-            self.move_to(loc)
+            self.move_to(loc, publish=False)
         elif isinstance(location, types.Location):
             loc = location
-            self.move_to(location)
+            self.move_to(location, publish=False)
         elif location is not None:
             raise TypeError(
                 f'location should be a Well or Location, but it is {location}')
@@ -393,10 +394,10 @@ def blow_out(self,
                 self._log.warning('Blow_out being performed on a tiprack. '
                                   'Please re-check your code')
             loc = location.top()
-            self.move_to(loc)
+            self.move_to(loc, publish=False)
         elif isinstance(location, types.Location):
             loc = location
-            self.move_to(loc)
+            self.move_to(loc, publish=False)
         elif location is not None:
             raise TypeError(
                 'location should be a Well or Location, but it is {}'
@@ -496,7 +497,7 @@ def touch_tip(self,
                 move_with_z_offset =\
                     well.as_well().top().point + types.Point(0, 0, v_offset)
                 to_loc = types.Location(move_with_z_offset, well)
-            self.move_to(to_loc)
+            self.move_to(to_loc, publish=False)
         else:
             raise TypeError(
                 'location should be a Well, but it is {}'.format(location))
@@ -554,7 +555,7 @@ def air_gap(self,
         if not loc or not loc.labware.is_well:
             raise RuntimeError('No previous Well cached to perform air gap')
         target = loc.labware.as_well().top(height)
-        self.move_to(target)
+        self.move_to(target, publish=False)
         self.aspirate(volume)
         return self
 
@@ -660,7 +661,7 @@ def pick_up_tip(
         do_publish(self.broker, cmds.pick_up_tip, self.pick_up_tip,
                    'before', None, None, self, location=target)
 
-        self.move_to(target.top())
+        self.move_to(target.top(), publish=False)
 
         self._implementation.pick_up_tip(
             well=target._impl,
@@ -780,7 +781,7 @@ def drop_tip(
                 " However, it is a {}".format(location))
         do_publish(self.broker, cmds.drop_tip, self.drop_tip,
                    'before', None, None, self, location=target)
-        self.move_to(target)
+        self.move_to(target, publish=False)
 
         self._implementation.drop_tip(home_after=home_after)
         do_publish(self.broker, cmds.drop_tip, self.drop_tip,
@@ -1086,7 +1087,8 @@ def move_to(self,
                 location: types.Location,
                 force_direct: bool = False,
                 minimum_z_height: Optional[float] = None,
-                speed: Optional[float] = None
+                speed: Optional[float] = None,
+                publish: bool = True
                 ) -> InstrumentContext:
         """ Move the instrument.
 
@@ -1101,6 +1103,8 @@ def move_to(self,
                       the straight linear speed of the motion; to limit
                       individual axis speeds, you can use
                       :py:attr:`.ProtocolContext.max_speeds`.
+        :param publish: Whether a call to this function should publish to the
+        runlog or not.
         """
         from_loc = self._ctx.location_cache
         if not from_loc:
@@ -1110,16 +1114,18 @@ def move_to(self,
             if isinstance(mod, ThermocyclerContext):
                 mod.flag_unsafe_move(to_loc=location, from_loc=from_loc)
 
-        do_publish(self.broker, cmds.move_to, self.move_to, 'before',
-                   None, None, self, location or self._ctx.location_cache)
+        if publish:
+            do_publish(self.broker, cmds.move_to, self.move_to, 'before',
+                       None, None, self, location or self._ctx.location_cache)
         self._implementation.move_to(
             location=location,
             force_direct=force_direct,
             minimum_z_height=minimum_z_height,
             speed=speed
         )
-        do_publish(self.broker, cmds.move_to, self.move_to, 'after',
-                   None, None, self, location or self._ctx.location_cache)
+        if publish:
+            do_publish(self.broker, cmds.move_to, self.move_to, 'after',
+                       None, None, self, location or self._ctx.location_cache)
         return self
 
     @property  # type: ignore

api/src/opentrons/protocol_api/paired_instrument_context.py

@@ -812,6 +812,7 @@ def move_to(self, location: types.Location, force_direct: bool = False,
         locations: Optional[List] = None
         if location:
             locations = self._get_locations(location)
+
         publish_paired(self.broker, cmds.paired_move_to,
                        'before', None, instruments, locations)
         self.paired_instrument_obj.move_to(

api/tests/opentrons/protocol_api/test_context.py

@@ -703,7 +703,7 @@ def test_blow_out(ctx, monkeypatch):
     instr.pick_up_tip()
     instr.aspirate(10, lw.wells()[0])
 
-    def fake_move(loc):
+    def fake_move(loc, publish):
         nonlocal move_location
         move_location = loc
 

api/tests/opentrons/test_execute.py

@@ -80,6 +80,7 @@ def emit_runlog(entry):
         'Dispensing 4.5 uL into B1 of Dest Plate on 3 at 2.5 uL/sec',
         'Touching tip',
         'Blowing out at B1 of Dest Plate on 3',
+        'Moving to 5',
         'Dropping tip into A1 of Trash on 12'
     ]
 
@@ -106,6 +107,7 @@ def emit_runlog(entry):
         'Dispensing 4.5 uL into B1 of Dest Plate on 3 at 2.5 uL/sec',
         'Touching tip',
         'Blowing out at B1 of Dest Plate on 3',
+        'Moving to 5',
         'Dropping tip into A1 of Trash on 12'
     ]
 
@@ -132,6 +134,9 @@ def emit_runlog(entry):
         'Dispensing 4.5 uL into B1 of Dest Plate on 3 at 2.5 uL/sec',
         'Touching tip',
         'Blowing out at B1 of Dest Plate on 3',
+        'Moving to 5',
+        'Moving to B2 of Dest Plate on 3',
+        'Moving to B2 of Dest Plate on 3',
         'Dropping tip into A1 of Trash on 12'
     ]
 

api/tests/opentrons/test_simulate.py

@@ -41,6 +41,7 @@ def test_simulate_function_json_apiv2(get_json_protocol_fixture):
         'Dispensing 4.5 uL into B1 of Dest Plate on 3 at 2.5 uL/sec',
         'Touching tip',
         'Blowing out at B1 of Dest Plate on 3',
+        'Moving to 5',
         'Dropping tip into A1 of Trash on 12'
     ]