refactor(app): Permit door open status during certain recovery steps (#16326)

Closes EXEC-700

Currently, when a user is on an error recovery step that contains copy like "do XYZ on the deck", opening the robot door causes the "door is open" modal to appear, which is a bit annoying when trying to read directions.

While there are quite a few ways to solve this issue, in practice this requires a bit of thought when considering app takeovers, ODD/desktop app syncing, and operating within error recovery's current routing structure. This commit solves the above through a new RECOVERY_MAP_METADATA object, in which all steps specifically permit the door to be open or not. If allowed, we don't show the modal on that step, otherwise we do. Typescript enforces that any new route and steps added must specify whether the door is permitted to be open on that step. Yes, this may seem annoying, but I do think we want developers to think through whether the door should be open on every step.

To handle robot commands that a user may initiate on a "door is permitted open" view, in which cases we absolutely DO want the door to be closed, we add to the wrapper that occurs before commands (now called handleMotionRouting) that ensures the door is closed, routing to the RecoveryDoorOpen modal if necessary and rejecting the command. After closing the door, the user is routed back to the view right before command execution.

In effect, there are now two circumstances which cause RecoveryDoorOpen to appear:

The old but adjusted behavior - the door is opened when it shouldn't be, and we render the door modal instead of the recovery content. When the door status is ok, we just render the recovery content. There is no change in the actual route.
* Entirely new behavior - we manually adjust the route to the door modal and then route back to where we after the door status is resolved. In other words, the door open modal is recovery content. We do this when handling robot commands, as explained above.
* While this may sound complicated, in practice it has little bearing. If we ever do multi-app syncing (same place in ER at the same time), this plays nicely with it.

Lastly, this commit adds a cleanup util that resets state when another app takes over the recovery session. This is more pertinent now that door routing needs knowledge of the previous route, and we should reset this and some other state whenever a takeover happens.

TLDR: As always, door logic is special-cased and requires special considerations.

Author: mjhuff

app/src/organisms/ErrorRecoveryFlows/ErrorRecoveryWizard.tsx

@@ -64,7 +64,6 @@ export type ErrorRecoveryWizardProps = ErrorRecoveryFlowsProps &
   ERUtilsResults & {
     robotType: RobotType
     isOnDevice: boolean
-    isDoorOpen: boolean
     analytics: UseRecoveryAnalyticsResult<RecoveryRoute, RouteStep>
     failedCommand: ReturnType<typeof useRetainedFailedCommandBySource>
   }
@@ -95,10 +94,11 @@ export function ErrorRecoveryComponent(
   const {
     recoveryMap,
     hasLaunchedRecovery,
-    isDoorOpen,
+    doorStatusUtils,
     isOnDevice,
     analytics,
   } = props
+  const { isProhibitedDoorOpen } = doorStatusUtils
   const { route, step } = recoveryMap
   const { t } = useTranslation('error_recovery')
   const { showModal, toggleModal } = useErrorDetailsModal()
@@ -135,15 +135,15 @@ export function ErrorRecoveryComponent(
 
   // TODO(jh, 07-29-24): Make RecoveryDoorOpen render logic equivalent to RecoveryTakeover. Do not nest it in RecoveryWizard.
   const buildInterventionContent = (): JSX.Element => {
-    if (isDoorOpen) {
+    if (isProhibitedDoorOpen) {
       return <RecoveryDoorOpen {...props} />
     } else {
       return <ErrorRecoveryContent {...props} />
     }
   }
 
   const isLargeDesktopStyle =
-    !isDoorOpen &&
+    !isProhibitedDoorOpen &&
     route === RECOVERY_MAP.DROP_TIP_FLOWS.ROUTE &&
     step !== RECOVERY_MAP.DROP_TIP_FLOWS.STEPS.BEGIN_REMOVAL
   const desktopType = isLargeDesktopStyle ? 'desktop-large' : 'desktop-small'
@@ -218,6 +218,10 @@ export function ErrorRecoveryContent(props: RecoveryContentProps): JSX.Element {
     return <IgnoreErrorSkipStep {...props} />
   }
 
+  const buildManuallyRouteToDoorOpen = (): JSX.Element => {
+    return <RecoveryDoorOpen {...props} />
+  }
+
   switch (props.recoveryMap.route) {
     case RECOVERY_MAP.OPTION_SELECTION.ROUTE:
       return buildSelectRecoveryOption()
@@ -248,6 +252,8 @@ export function ErrorRecoveryContent(props: RecoveryContentProps): JSX.Element {
     case RECOVERY_MAP.ROBOT_PICKING_UP_TIPS.ROUTE:
     case RECOVERY_MAP.ROBOT_SKIPPING_STEP.ROUTE:
       return buildRecoveryInProgress()
+    case RECOVERY_MAP.ROBOT_DOOR_OPEN.ROUTE:
+      return buildManuallyRouteToDoorOpen()
     default:
       return buildSelectRecoveryOption()
   }
@@ -264,14 +270,14 @@ export function useInitialPipetteHome({
   routeUpdateActions,
 }: UseInitialPipetteHomeParams): void {
   const { homePipetteZAxes } = recoveryCommands
-  const { setRobotInMotion } = routeUpdateActions
+  const { handleMotionRouting } = routeUpdateActions
 
   // Synchronously set the recovery route to "robot in motion" before initial render to prevent screen flicker on ER launch.
   React.useLayoutEffect(() => {
     if (hasLaunchedRecovery) {
-      void setRobotInMotion(true)
+      void handleMotionRouting(true)
         .then(() => homePipetteZAxes())
-        .finally(() => setRobotInMotion(false))
+        .finally(() => handleMotionRouting(false))
     }
   }, [hasLaunchedRecovery])
 }

app/src/organisms/ErrorRecoveryFlows/RecoveryDoorOpen.tsx

@@ -23,16 +23,33 @@ import {
 
 import type { RecoveryContentProps } from './types'
 
+// There are two code paths that render this component:
+// 1) The door is open on a route & step in which it is not permitted to have the door open.
+// 2) The door is open on a route & step in which it is permitted to have the door open, but the app manually redirects
+// to this component. This is commonly done when the route & step itself allows the user to keep the door open, but some
+// action on that route & step is about to occur that requires the door to be closed. In this case, once the door event
+// has been satisfied, manually route back to the previous route & step.
 export function RecoveryDoorOpen({
   recoveryActionMutationUtils,
   runStatus,
+  routeUpdateActions,
 }: RecoveryContentProps): JSX.Element {
   const {
     resumeRecovery,
     isResumeRecoveryLoading,
   } = recoveryActionMutationUtils
+  const { stashedMap, proceedToRouteAndStep } = routeUpdateActions
   const { t } = useTranslation('error_recovery')
 
+  const primaryOnClick = (): void => {
+    void resumeRecovery().then(() => {
+      // See comments above for why we do this.
+      if (stashedMap != null) {
+        void proceedToRouteAndStep(stashedMap.route, stashedMap.step)
+      }
+    })
+  }
+
   return (
     <RecoverySingleColumnContentWrapper>
       <Flex
@@ -65,7 +82,7 @@ export function RecoveryDoorOpen({
       </Flex>
       <Flex justifyContent={JUSTIFY_END}>
         <RecoveryFooterButtons
-          primaryBtnOnClick={resumeRecovery}
+          primaryBtnOnClick={primaryOnClick}
           primaryBtnTextOverride={t('resume')}
           primaryBtnDisabled={
             runStatus === RUN_STATUS_AWAITING_RECOVERY_BLOCKED_BY_OPEN_DOOR

app/src/organisms/ErrorRecoveryFlows/RecoveryError.tsx

@@ -59,15 +59,15 @@ export function ErrorRecoveryFlowError({
   const { OPTION_SELECTION } = RECOVERY_MAP
   const { t } = useTranslation('error_recovery')
   const { selectedRecoveryOption } = currentRecoveryOptionUtils
-  const { proceedToRouteAndStep, setRobotInMotion } = routeUpdateActions
+  const { proceedToRouteAndStep, handleMotionRouting } = routeUpdateActions
   const { homePipetteZAxes } = recoveryCommands
 
   const userRecoveryOptionCopy = getRecoveryOptionCopy(selectedRecoveryOption)
 
   const onPrimaryClick = (): void => {
-    void setRobotInMotion(true)
+    void handleMotionRouting(true)
       .then(() => homePipetteZAxes())
-      .finally(() => setRobotInMotion(false))
+      .finally(() => handleMotionRouting(false))
       .then(() => proceedToRouteAndStep(OPTION_SELECTION.ROUTE))
   }
 

app/src/organisms/ErrorRecoveryFlows/RecoveryOptions/CancelRun.tsx

@@ -23,11 +23,7 @@ import {
 import { SelectRecoveryOption } from './SelectRecoveryOption'
 
 import type { RecoveryContentProps } from '../types'
-import type {
-  RecoveryTipStatusUtils,
-  UseRecoveryCommandsResult,
-  UseRouteUpdateActionsResult,
-} from '../hooks'
+import type { ERUtilsResults } from '../hooks'
 
 export function CancelRun(props: RecoveryContentProps): JSX.Element {
   const { recoveryMap } = props
@@ -104,9 +100,9 @@ function CancelRunConfirmation({
 }
 
 interface OnCancelRunProps {
-  tipStatusUtils: RecoveryTipStatusUtils
-  recoveryCommands: UseRecoveryCommandsResult
-  routeUpdateActions: UseRouteUpdateActionsResult
+  tipStatusUtils: ERUtilsResults['tipStatusUtils']
+  recoveryCommands: ERUtilsResults['recoveryCommands']
+  routeUpdateActions: ERUtilsResults['routeUpdateActions']
 }
 
 // Manages routing to cancel route or drop tip route, depending on tip attachment status.
@@ -122,7 +118,7 @@ export function useOnCancelRun({
 } {
   const { ROBOT_CANCELING, DROP_TIP_FLOWS } = RECOVERY_MAP
   const { isLoadingTipStatus, areTipsAttached } = tipStatusUtils
-  const { setRobotInMotion, proceedToRouteAndStep } = routeUpdateActions
+  const { handleMotionRouting, proceedToRouteAndStep } = routeUpdateActions
   const { cancelRun } = recoveryCommands
 
   const [hasUserClicked, setHasUserClicked] = React.useState(false)
@@ -135,7 +131,7 @@ export function useOnCancelRun({
         if (areTipsAttached) {
           void proceedToRouteAndStep(DROP_TIP_FLOWS.ROUTE)
         } else {
-          void setRobotInMotion(true, ROBOT_CANCELING.ROUTE).then(() => {
+          void handleMotionRouting(true, ROBOT_CANCELING.ROUTE).then(() => {
             cancelRun()
           })
         }

app/src/organisms/ErrorRecoveryFlows/RecoveryOptions/FillWellAndSkip.tsx

@@ -81,7 +81,7 @@ export function SkipToNextStep(
     currentRecoveryOptionUtils,
   } = props
   const {
-    setRobotInMotion,
+    handleMotionRouting,
     goBackPrevStep,
     proceedToRouteAndStep,
   } = routeUpdateActions
@@ -100,7 +100,7 @@ export function SkipToNextStep(
   }
 
   const primaryBtnOnClick = (): Promise<void> => {
-    return setRobotInMotion(true, ROBOT_SKIPPING_STEP.ROUTE).then(() => {
+    return handleMotionRouting(true, ROBOT_SKIPPING_STEP.ROUTE).then(() => {
       skipFailedCommand()
     })
   }

app/src/organisms/ErrorRecoveryFlows/RecoveryOptions/ManageTips.tsx

@@ -66,7 +66,7 @@ export function BeginRemoval({
   const { aPipetteWithTip } = tipStatusUtils
   const {
     proceedNextStep,
-    setRobotInMotion,
+    handleMotionRouting,
     proceedToRouteAndStep,
   } = routeUpdateActions
   const { cancelRun } = recoveryCommands
@@ -85,7 +85,7 @@ export function BeginRemoval({
         RETRY_NEW_TIPS.STEPS.REPLACE_TIPS
       )
     } else {
-      void setRobotInMotion(true, ROBOT_CANCELING.ROUTE).then(() => {
+      void handleMotionRouting(true, ROBOT_CANCELING.ROUTE).then(() => {
         cancelRun()
       })
     }
@@ -153,7 +153,7 @@ function DropTipFlowsContainer(
     currentRecoveryOptionUtils,
   } = props
   const { DROP_TIP_FLOWS, ROBOT_CANCELING, RETRY_NEW_TIPS } = RECOVERY_MAP
-  const { proceedToRouteAndStep, setRobotInMotion } = routeUpdateActions
+  const { proceedToRouteAndStep, handleMotionRouting } = routeUpdateActions
   const { selectedRecoveryOption } = currentRecoveryOptionUtils
   const { setTipStatusResolved } = tipStatusUtils
   const { cancelRun } = recoveryCommands
@@ -172,7 +172,7 @@ function DropTipFlowsContainer(
   }
 
   const onEmptyCache = (): void => {
-    void setRobotInMotion(true, ROBOT_CANCELING.ROUTE).then(() => {
+    void handleMotionRouting(true, ROBOT_CANCELING.ROUTE).then(() => {
       cancelRun()
     })
   }

app/src/organisms/ErrorRecoveryFlows/RecoveryOptions/RetryNewTips.tsx

@@ -47,12 +47,12 @@ export function RetryNewTips(props: RecoveryContentProps): JSX.Element {
 export function RetryWithNewTips(props: RecoveryContentProps): JSX.Element {
   const { recoveryCommands, routeUpdateActions } = props
   const { retryFailedCommand, resumeRun } = recoveryCommands
-  const { setRobotInMotion } = routeUpdateActions
+  const { handleMotionRouting } = routeUpdateActions
   const { ROBOT_RETRYING_STEP } = RECOVERY_MAP
   const { t } = useTranslation('error_recovery')
 
   const primaryBtnOnClick = (): Promise<void> => {
-    return setRobotInMotion(true, ROBOT_RETRYING_STEP.ROUTE)
+    return handleMotionRouting(true, ROBOT_RETRYING_STEP.ROUTE)
       .then(() => retryFailedCommand())
       .then(() => {
         resumeRun()

app/src/organisms/ErrorRecoveryFlows/RecoveryOptions/RetrySameTips.tsx

@@ -30,12 +30,12 @@ export function RetrySameTips(props: RecoveryContentProps): JSX.Element {
 export function RetrySameTipsInfo(props: RecoveryContentProps): JSX.Element {
   const { routeUpdateActions, recoveryCommands } = props
   const { retryFailedCommand, resumeRun } = recoveryCommands
-  const { setRobotInMotion } = routeUpdateActions
+  const { handleMotionRouting } = routeUpdateActions
   const { ROBOT_RETRYING_STEP } = RECOVERY_MAP
   const { t } = useTranslation('error_recovery')
 
   const primaryBtnOnClick = (): Promise<void> => {
-    return setRobotInMotion(true, ROBOT_RETRYING_STEP.ROUTE)
+    return handleMotionRouting(true, ROBOT_RETRYING_STEP.ROUTE)
       .then(() => retryFailedCommand())
       .then(() => {
         resumeRun()

app/src/organisms/ErrorRecoveryFlows/RecoveryOptions/RetryStep.tsx

@@ -33,10 +33,10 @@ export function RetryStepInfo(props: RecoveryContentProps): JSX.Element {
   const { t } = useTranslation('error_recovery')
 
   const { retryFailedCommand, resumeRun } = recoveryCommands
-  const { setRobotInMotion } = routeUpdateActions
+  const { handleMotionRouting } = routeUpdateActions
 
   const primaryBtnOnClick = (): Promise<void> => {
-    return setRobotInMotion(true, ROBOT_RETRYING_STEP.ROUTE)
+    return handleMotionRouting(true, ROBOT_RETRYING_STEP.ROUTE)
       .then(() => retryFailedCommand())
       .then(() => {
         resumeRun()

app/src/organisms/ErrorRecoveryFlows/RecoveryOptions/SkipStepNewTips.tsx

@@ -49,12 +49,12 @@ export function SkipStepNewTips(
 export function SkipStepWithNewTips(props: RecoveryContentProps): JSX.Element {
   const { recoveryCommands, routeUpdateActions } = props
   const { skipFailedCommand } = recoveryCommands
-  const { setRobotInMotion } = routeUpdateActions
+  const { handleMotionRouting } = routeUpdateActions
   const { ROBOT_SKIPPING_STEP } = RECOVERY_MAP
   const { t } = useTranslation('error_recovery')
 
   const primaryBtnOnClick = (): Promise<void> => {
-    return setRobotInMotion(true, ROBOT_SKIPPING_STEP.ROUTE).then(() => {
+    return handleMotionRouting(true, ROBOT_SKIPPING_STEP.ROUTE).then(() => {
       skipFailedCommand()
     })
   }