fix(app): unload adapters after checking position of labware on adapt…

…er on heater shaker module (#13803) Properly combine dynamic logic for opening the heater shaker latch and offloading the labware and adapters in the correct order during LPC checks of labware on adapters on heater shaker modules Closes RAUT-803 Co-authored-by: Shlok Amin <[email protected]>
Opentrons · Oct 18, 2023 · 855ec92 · 855ec92
1 parent 295908b
commit 855ec92
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Showing 2 changed files with 159 additions and 15 deletions.
diff --git a/app/src/organisms/LabwarePositionCheck/CheckItem.tsx b/app/src/organisms/LabwarePositionCheck/CheckItem.tsx
@@ -323,7 +323,18 @@ export const CheckItem = (props: CheckItemProps): JSX.Element | null => {
         ]
 
   const handleConfirmPosition = (): void => {
-    let confirmPositionCommands: CreateCommand[] = [
+    const heaterShakerPrepCommands: CreateCommand[] =
+      moduleId != null &&
+      moduleType != null &&
+      moduleType === HEATERSHAKER_MODULE_TYPE
+        ? [
+            {
+              commandType: 'heaterShaker/openLabwareLatch',
+              params: { moduleId },
+            },
+          ]
+        : []
+    const confirmPositionCommands: CreateCommand[] = [
       {
         commandType: 'retractAxis' as const,
         params: {
@@ -338,23 +349,10 @@ export const CheckItem = (props: CheckItemProps): JSX.Element | null => {
         commandType: 'retractAxis' as const,
         params: { axis: 'y' },
       },
+      ...heaterShakerPrepCommands,
       ...moveLabwareOffDeck,
     ]
 
-    if (
-      moduleId != null &&
-      moduleType != null &&
-      moduleType === HEATERSHAKER_MODULE_TYPE
-    ) {
-      confirmPositionCommands = [
-        confirmPositionCommands[0],
-        {
-          commandType: 'heaterShaker/openLabwareLatch',
-          params: { moduleId },
-        },
-        confirmPositionCommands[1],
-      ]
-    }
     chainRunCommands(
       [
         { commandType: 'savePosition', params: { pipetteId } },

diff --git a/app/src/organisms/LabwarePositionCheck/__tests__/CheckItem.test.tsx b/app/src/organisms/LabwarePositionCheck/__tests__/CheckItem.test.tsx
@@ -500,6 +500,152 @@ describe('CheckItem', () => {
     )
   })
 
+  it('executes correct chained commands when confirm position clicked with HS and adapter', async () => {
+    props = {
+      ...props,
+      location: { slotName: 'D1', moduleModel: HEATERSHAKER_MODULE_V1 },
+      adapterId: 'adapterId',
+      moduleId: 'heaterShakerId',
+      protocolData: {
+        ...props.protocolData,
+        modules: [
+          {
+            id: 'heaterShakerId',
+            model: HEATERSHAKER_MODULE_V1,
+            location: { slotName: 'D3' },
+            serialNumber: 'firstHSSerial',
+          },
+        ],
+      },
+      workingOffsets: [
+        {
+          location: { slotName: 'D1', moduleModel: HEATERSHAKER_MODULE_V1 },
+          labwareId: 'labwareId1',
+          initialPosition: { x: 1, y: 2, z: 3 },
+          finalPosition: null,
+        },
+      ],
+    }
+    when(mockChainRunCommands)
+      .calledWith(
+        [
+          {
+            commandType: 'savePosition',
+            params: { pipetteId: 'pipetteId1' },
+          },
+          {
+            commandType: 'retractAxis' as const,
+            params: {
+              axis: 'leftZ',
+            },
+          },
+          {
+            commandType: 'retractAxis' as const,
+            params: {
+              axis: 'x',
+            },
+          },
+          {
+            commandType: 'retractAxis' as const,
+            params: {
+              axis: 'y',
+            },
+          },
+          {
+            commandType: 'heaterShaker/openLabwareLatch',
+            params: { moduleId: 'heaterShakerId' },
+          },
+          {
+            commandType: 'moveLabware',
+            params: {
+              labwareId: 'labwareId1',
+              newLocation: 'offDeck',
+              strategy: 'manualMoveWithoutPause',
+            },
+          },
+          {
+            commandType: 'moveLabware',
+            params: {
+              labwareId: 'adapterId',
+              newLocation: 'offDeck',
+              strategy: 'manualMoveWithoutPause',
+            },
+          },
+        ],
+        false
+      )
+      .mockImplementation(() =>
+        Promise.resolve([
+          {
+            data: {
+              commandType: 'savePosition',
+              result: { position: mockEndPosition },
+            },
+          },
+          {},
+          {},
+          {},
+          {},
+          {},
+          {},
+        ])
+      )
+
+    const { getByRole } = render(props)
+    await getByRole('button', { name: 'Confirm position' }).click()
+
+    await expect(props.chainRunCommands).toHaveBeenNthCalledWith(
+      1,
+      [
+        {
+          commandType: 'savePosition',
+          params: { pipetteId: 'pipetteId1' },
+        },
+        {
+          commandType: 'retractAxis' as const,
+          params: {
+            axis: 'leftZ',
+          },
+        },
+        {
+          commandType: 'retractAxis' as const,
+          params: { axis: 'x' },
+        },
+        {
+          commandType: 'retractAxis' as const,
+          params: { axis: 'y' },
+        },
+        {
+          commandType: 'heaterShaker/openLabwareLatch',
+          params: { moduleId: 'heaterShakerId' },
+        },
+        {
+          commandType: 'moveLabware',
+          params: {
+            labwareId: 'labwareId1',
+            newLocation: 'offDeck',
+            strategy: 'manualMoveWithoutPause',
+          },
+        },
+        {
+          commandType: 'moveLabware',
+          params: {
+            labwareId: 'adapterId',
+            newLocation: 'offDeck',
+            strategy: 'manualMoveWithoutPause',
+          },
+        },
+      ],
+      false
+    )
+    await expect(props.registerPosition).toHaveBeenNthCalledWith(1, {
+      type: 'finalPosition',
+      labwareId: 'labwareId1',
+      location: { slotName: 'D1', moduleModel: HEATERSHAKER_MODULE_V1 },
+      position: mockEndPosition,
+    })
+  })
+
   it('executes thermocycler open lid command on mount if checking labware on thermocycler', () => {
     props = {
       ...props,