refactor(app): add move, positions, and disengage calls to robot-controls

app/src/robot-controls/__fixtures__/index.js

@@ -2,3 +2,4 @@
 
 export * from './lights'
 export * from './home'
+export * from './move'

app/src/robot-controls/__fixtures__/move.js

@@ -0,0 +1,101 @@
+// @flow
+
+import { mockRobot } from '../../robot-api/__fixtures__'
+
+// POST /robot/move
+
+export const mockMoveSuccessMeta = {
+  method: 'POST',
+  path: '/robot/move',
+  ok: true,
+  status: 200,
+}
+
+export const mockMoveSuccess = {
+  ...mockMoveSuccessMeta,
+  host: mockRobot,
+  body: { message: 'Move complete. New position: [1, 2, 3]' },
+}
+
+export const mockMoveFailureMeta = {
+  method: 'POST',
+  path: '/robot/move',
+  ok: false,
+  status: 500,
+}
+
+export const mockMoveFailure = {
+  ...mockMoveFailureMeta,
+  host: mockRobot,
+  body: { message: 'AH' },
+}
+
+// GET /robot/positions
+
+export const mockPositions = {
+  change_pipette: {
+    target: 'mount',
+    left: [325, 40, 30],
+    right: [65, 40, 30],
+  },
+  attach_tip: {
+    target: 'pipette',
+    point: [200, 90, 150],
+  },
+}
+
+export const mockFetchPositionsSuccessMeta = {
+  method: 'GET',
+  path: '/robot/positions',
+  ok: true,
+  status: 200,
+}
+
+export const mockFetchPositionsSuccess = {
+  ...mockFetchPositionsSuccessMeta,
+  host: mockRobot,
+  body: {
+    positions: mockPositions,
+  },
+}
+
+export const mockFetchPositionsFailureMeta = {
+  method: 'GET',
+  path: '/robot/positions',
+  ok: false,
+  status: 500,
+}
+
+export const mockFetchPositionsFailure = {
+  ...mockFetchPositionsFailureMeta,
+  host: mockRobot,
+  body: { message: 'AH' },
+}
+
+// POST /motors/disengage
+
+export const mockDisengageMotorsSuccessMeta = {
+  method: 'POST',
+  path: '/motors/disengage',
+  ok: true,
+  status: 200,
+}
+
+export const mockDisengageMotorsSuccess = {
+  ...mockDisengageMotorsSuccessMeta,
+  host: mockRobot,
+  body: { message: 'Disengaged axes: [a, b, c, x, y, z]' },
+}
+
+export const mockDisengageMotorsFailureMeta = {
+  method: 'POST',
+  path: '/motors/disengage',
+  ok: false,
+  status: 500,
+}
+
+export const mockDisengageMotorsFailure = {
+  ...mockDisengageMotorsFailureMeta,
+  host: mockRobot,
+  body: { message: 'AH' },
+}

app/src/robot-controls/__tests__/actions.test.js

@@ -124,6 +124,41 @@ const SPECS: Array<ActionSpec> = [
       meta: { requestId: 'abc' },
     },
   },
+  {
+    name: 'robotControls:MOVE',
+    creator: Actions.move,
+    args: ['robot-name', 'changePipette', 'left', true],
+    expected: {
+      type: 'robotControls:MOVE',
+      payload: {
+        robotName: 'robot-name',
+        position: 'changePipette',
+        mount: 'left',
+        disengageMotors: true,
+      },
+      meta: {},
+    },
+  },
+  {
+    name: 'robotControls:MOVE_SUCCESS',
+    creator: Actions.moveSuccess,
+    args: ['robot-name', { requestId: 'abc' }],
+    expected: {
+      type: 'robotControls:MOVE_SUCCESS',
+      payload: { robotName: 'robot-name' },
+      meta: { requestId: 'abc' },
+    },
+  },
+  {
+    name: 'robotControls:MOVE_FAILURE',
+    creator: Actions.moveFailure,
+    args: ['robot-name', { message: 'AH' }, { requestId: 'abc' }],
+    expected: {
+      type: 'robotControls:MOVE_FAILURE',
+      payload: { robotName: 'robot-name', error: { message: 'AH' } },
+      meta: { requestId: 'abc' },
+    },
+  },
   {
     name: 'robotControls:CLEAR_MOVEMENT_STATUS',
     creator: Actions.clearMovementStatus,

app/src/robot-controls/__tests__/reducer.test.js

@@ -67,7 +67,44 @@ const SPECS: Array<ReducerSpec> = [
     },
     state: { robotName: { movementStatus: 'homing' } },
     expected: {
-      robotName: { movementStatus: 'home-error', movementError: 'AH' },
+      robotName: { movementStatus: 'homeError', movementError: 'AH' },
+    },
+  },
+  {
+    name: 'handles robotControls:MOVE',
+    action: {
+      type: 'robotControls:MOVE',
+      payload: {
+        robotName: 'robotName',
+        position: 'attachTip',
+        mount: 'left',
+        disengageMotors: false,
+      },
+      meta: {},
+    },
+    state: { robotName: { movementStatus: null } },
+    expected: { robotName: { movementStatus: 'moving', movementError: null } },
+  },
+  {
+    name: 'handles robotControls:MOVE_SUCCESS',
+    action: {
+      type: 'robotControls:MOVE_SUCCESS',
+      payload: { robotName: 'robotName' },
+      meta: {},
+    },
+    state: { robotName: { movementStatus: 'moving' } },
+    expected: { robotName: { movementStatus: null, movementError: null } },
+  },
+  {
+    name: 'handles robotControls:MOVE_FAILURE',
+    action: {
+      type: 'robotControls:MOVE_FAILURE',
+      payload: { robotName: 'robotName', error: { message: 'AH' } },
+      meta: {},
+    },
+    state: { robotName: { movementStatus: 'moving' } },
+    expected: {
+      robotName: { movementStatus: 'moveError', movementError: 'AH' },
     },
   },
   {
@@ -76,7 +113,7 @@ const SPECS: Array<ReducerSpec> = [
       type: 'robotControls:CLEAR_MOVEMENT_STATUS',
       payload: { robotName: 'robotName' },
     },
-    state: { robotName: { movementStatus: 'home-error', movementError: 'AH' } },
+    state: { robotName: { movementStatus: 'homeError', movementError: 'AH' } },
     expected: {
       robotName: { movementStatus: null, movementError: null },
     },

app/src/robot-controls/actions.js

@@ -95,6 +95,36 @@ export const homeFailure = (
   meta,
 })
 
+export const move = (
+  robotName: string,
+  position: Types.MovePosition,
+  mount: Mount,
+  disengageMotors: boolean = false
+): Types.MoveAction => ({
+  type: Constants.MOVE,
+  payload: { robotName, mount, position, disengageMotors },
+  meta: {},
+})
+
+export const moveSuccess = (
+  robotName: string,
+  meta: RobotApiRequestMeta
+): Types.MoveSuccessAction => ({
+  type: Constants.MOVE_SUCCESS,
+  payload: { robotName },
+  meta,
+})
+
+export const moveFailure = (
+  robotName: string,
+  error: {| message: string |},
+  meta: RobotApiRequestMeta
+): Types.MoveFailureAction => ({
+  type: Constants.MOVE_FAILURE,
+  payload: { robotName, error },
+  meta,
+})
+
 export const clearMovementStatus = (
   robotName: string
 ): Types.ClearMovementStatusAction => ({

app/src/robot-controls/constants.js

@@ -1,21 +1,29 @@
 // @flow
 
-// homing targets
+// homing and move request targets
 
 export const ROBOT: 'robot' = 'robot'
 export const PIPETTE: 'pipette' = 'pipette'
+export const MOUNT = 'mount'
 
 // movement statuses
 
 export const HOMING: 'homing' = 'homing'
-export const HOME_ERROR: 'home-error' = 'home-error'
+export const HOME_ERROR: 'homeError' = 'homeError'
 export const MOVING: 'moving' = 'moving'
-export const MOVE_ERROR: 'move-error' = 'move-error'
+export const MOVE_ERROR: 'moveError' = 'moveError'
+
+// move positions
+export const CHANGE_PIPETTE: 'changePipette' = 'changePipette'
+export const ATTACH_TIP: 'attachTip' = 'attachTip'
 
 // http paths
 
 export const LIGHTS_PATH: '/robot/lights' = '/robot/lights'
 export const HOME_PATH: '/robot/home' = '/robot/home'
+export const POSITIONS_PATH: '/robot/positions' = '/robot/positions'
+export const MOVE_PATH: '/robot/move' = '/robot/move'
+export const DISENGAGE_MOTORS_PATH: '/motors/disengage' = '/motors/disengage'
 
 // action type strings
 
@@ -45,5 +53,13 @@ export const HOME_SUCCESS: 'robotControls:HOME_SUCCESS' =
 export const HOME_FAILURE: 'robotControls:HOME_FAILURE' =
   'robotControls:HOME_FAILURE'
 
+export const MOVE: 'robotControls:MOVE' = 'robotControls:MOVE'
+
+export const MOVE_SUCCESS: 'robotControls:MOVE_SUCCESS' =
+  'robotControls:MOVE_SUCCESS'
+
+export const MOVE_FAILURE: 'robotControls:MOVE_FAILURE' =
+  'robotControls:MOVE_FAILURE'
+
 export const CLEAR_MOVEMENT_STATUS: 'robotControls:CLEAR_MOVEMENT_STATUS' =
   'robotControls:CLEAR_MOVEMENT_STATUS'