fix(step-generation): properly emit configureNozzleLayout command (#1…

…5269) closes RQA-2781
Opentrons · May 28, 2024 · 9f5a9e1 · 9f5a9e1
1 parent 1c96abf
commit 9f5a9e1
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Showing 6 changed files with 63 additions and 55 deletions.
diff --git a/step-generation/src/__tests__/replaceTip.test.ts b/step-generation/src/__tests__/replaceTip.test.ts
@@ -17,6 +17,7 @@ import {
   dropTipInPlaceHelper,
   moveToAddressableAreaHelper,
   DEFAULT_PIPETTE,
+  PIPETTE_96,
 } from '../fixtures'
 import { replaceTip } from '../commandCreators/atomic/replaceTip'
 import { FIXED_TRASH_ID } from '../constants'
@@ -129,6 +130,49 @@ describe('replaceTip', () => {
         pickUpTipHelper('B1'),
       ])
     })
+    it('96-channel full tip and emits the configure nozzle layout command before picking up tip', () => {
+      const initialTestRobotState = merge({}, initialRobotState, {
+        tipState: {
+          tipracks: {
+            [tiprack1Id]: {
+              A1: false,
+            },
+          },
+          pipettes: {
+            [PIPETTE_96]: true,
+          },
+        },
+        pipettes: {
+          [PIPETTE_96]: { nozzles: 'ALL' },
+        },
+      })
+      const result = replaceTip(
+        {
+          pipette: PIPETTE_96,
+          dropTipLocation: FIXED_TRASH_ID,
+          tipRack: tiprackURI1,
+          nozzles: COLUMN,
+        },
+        invariantContext,
+        initialTestRobotState
+      )
+      const res = getSuccessResult(result)
+      expect(res.commands).toEqual([
+        ...dropTipHelper(PIPETTE_96),
+        {
+          commandType: 'configureNozzleLayout',
+          key: expect.any(String),
+          params: {
+            pipetteId: PIPETTE_96,
+            configurationParams: {
+              primaryNozzle: 'A12',
+              style: COLUMN,
+            },
+          },
+        },
+        pickUpTipHelper('A2', { pipetteId: PIPETTE_96 }),
+      ])
+    })
     it('Single-channel: used all tips in first rack, move to second rack', () => {
       const initialTestRobotState = merge({}, initialRobotState, {
         tipState: {

diff --git a/step-generation/src/commandCreators/atomic/replaceTip.ts b/step-generation/src/commandCreators/atomic/replaceTip.ts
@@ -22,13 +22,15 @@ import {
   getWasteChuteAddressableAreaNamePip,
 } from '../../utils'
 import { dropTip } from './dropTip'
+import { configureNozzleLayout } from './configureNozzleLayout'
 
 import type { NozzleConfigurationStyle } from '@opentrons/shared-data'
 import type {
   CommandCreator,
   CommandCreatorError,
   CurriedCommandCreator,
 } from '../../types'
+
 interface PickUpTipArgs {
   pipette: string
   tiprack: string
@@ -91,7 +93,7 @@ export const replaceTip: CommandCreator<ReplaceTipArgs> = (
   prevRobotState
 ) => {
   const { pipette, dropTipLocation, nozzles, tipRack } = args
-
+  const stateNozzles = prevRobotState.pipettes[pipette].nozzles
   if (tipRack == null) {
     return {
       errors: [errorCreators.noTipSelected()],
@@ -106,6 +108,7 @@ export const replaceTip: CommandCreator<ReplaceTipArgs> = (
   )
   const pipetteSpec = invariantContext.pipetteEntities[pipette]?.spec
   const channels = pipetteSpec?.channels
+
   const hasMoreTipracksOnDeck =
     tipracks?.totalTipracks > tipracks?.filteredTipracks
 
@@ -241,11 +244,24 @@ export const replaceTip: CommandCreator<ReplaceTipArgs> = (
   const addressableAreaNameWasteChute = getWasteChuteAddressableAreaNamePip(
     channels
   )
+
+  const configureNozzleLayoutCommand: CurriedCommandCreator[] =
+    //  only emit the command if previous nozzle state is different
+    channels === 96 && args.nozzles != null && args.nozzles !== stateNozzles
+      ? [
+          curryCommandCreator(configureNozzleLayout, {
+            nozzles: args.nozzles,
+            pipetteId: args.pipette,
+          }),
+        ]
+      : []
+
   let commandCreators: CurriedCommandCreator[] = [
     curryCommandCreator(dropTip, {
       pipette,
       dropTipLocation,
     }),
+    ...configureNozzleLayoutCommand,
     curryCommandCreator(_pickUpTip, {
       pipette,
       tiprack: nextTiprack.tiprackId,
@@ -260,6 +276,7 @@ export const replaceTip: CommandCreator<ReplaceTipArgs> = (
         addressableAreaName: addressableAreaNameWasteChute,
         prevRobotState,
       }),
+      ...configureNozzleLayoutCommand,
       curryCommandCreator(_pickUpTip, {
         pipette,
         tiprack: nextTiprack.tiprackId,
@@ -275,6 +292,7 @@ export const replaceTip: CommandCreator<ReplaceTipArgs> = (
         prevRobotState,
         invariantContext,
       }),
+      ...configureNozzleLayoutCommand,
       curryCommandCreator(_pickUpTip, {
         pipette,
         tiprack: nextTiprack.tiprackId,

diff --git a/step-generation/src/commandCreators/compound/consolidate.ts b/step-generation/src/commandCreators/compound/consolidate.ts
@@ -24,7 +24,6 @@ import {
 import {
   aspirate,
   configureForVolume,
-  configureNozzleLayout,
   delay,
   dropTip,
   moveToWell,
@@ -486,20 +485,7 @@ export const consolidate: CommandCreator<ConsolidateArgs> = (
       const dropTipAfterDispenseAirGap =
         airGapAfterDispenseCommands.length > 0 ? dropTipCommand : []
 
-      const stateNozzles = prevRobotState.pipettes[args.pipette].nozzles
-      const configureNozzleLayoutCommand: CurriedCommandCreator[] =
-        //  only emit the command if previous nozzle state is different
-        is96Channel && args.nozzles != null && args.nozzles !== stateNozzles
-          ? [
-              curryCommandCreator(configureNozzleLayout, {
-                nozzles: args.nozzles,
-                pipetteId: args.pipette,
-              }),
-            ]
-          : []
-
       return [
-        ...configureNozzleLayoutCommand,
         ...tipCommands,
         ...configureForVolumeCommand,
         ...mixBeforeCommands,

diff --git a/step-generation/src/commandCreators/compound/distribute.ts b/step-generation/src/commandCreators/compound/distribute.ts
@@ -22,7 +22,6 @@ import {
 import {
   aspirate,
   configureForVolume,
-  configureNozzleLayout,
   delay,
   dispense,
   dropTip,
@@ -460,20 +459,7 @@ export const distribute: CommandCreator<DistributeArgs> = (
           ]
         : []
 
-      const stateNozzles = prevRobotState.pipettes[args.pipette].nozzles
-      const configureNozzleLayoutCommand: CurriedCommandCreator[] =
-        //  only emit the command if previous nozzle state is different
-        is96Channel && args.nozzles != null && args.nozzles !== stateNozzles
-          ? [
-              curryCommandCreator(configureNozzleLayout, {
-                nozzles: args.nozzles,
-                pipetteId: args.pipette,
-              }),
-            ]
-          : []
-
       return [
-        ...configureNozzleLayoutCommand,
         ...tipCommands,
         ...configureForVolumeCommand,
         ...mixBeforeAspirateCommands,

diff --git a/step-generation/src/commandCreators/compound/mix.ts b/step-generation/src/commandCreators/compound/mix.ts
@@ -11,7 +11,6 @@ import * as errorCreators from '../../errorCreators'
 import {
   aspirate,
   configureForVolume,
-  configureNozzleLayout,
   delay,
   dispense,
   replaceTip,
@@ -201,17 +200,6 @@ export const mix: CommandCreator<MixArgs> = (
       }
     }
   }
-  const stateNozzles = prevRobotState.pipettes[pipette].nozzles
-  const configureNozzleLayoutCommand: CurriedCommandCreator[] =
-    //  only emit the command if previous nozzle state is different
-    is96Channel && data.nozzles != null && data.nozzles !== stateNozzles
-      ? [
-          curryCommandCreator(configureNozzleLayout, {
-            nozzles: data.nozzles,
-            pipetteId: pipette,
-          }),
-        ]
-      : []
 
   const configureForVolumeCommand: CurriedCommandCreator[] = LOW_VOLUME_PIPETTES.includes(
     invariantContext.pipetteEntities[pipette].name
@@ -281,7 +269,6 @@ export const mix: CommandCreator<MixArgs> = (
         dispenseYOffset,
       })
       return [
-        ...configureNozzleLayoutCommand,
         ...tipCommands,
         ...configureForVolumeCommand,
         ...mixCommands,

diff --git a/step-generation/src/commandCreators/compound/transfer.ts b/step-generation/src/commandCreators/compound/transfer.ts
@@ -24,7 +24,6 @@ import {
 import {
   aspirate,
   configureForVolume,
-  configureNozzleLayout,
   delay,
   dispense,
   dropTip,
@@ -274,17 +273,6 @@ export const transfer: CommandCreator<TransferArgs> = (
             changeTipNow =
               isInitialSubtransfer || destinationWell !== prevDestWell
           }
-          const stateNozzles = prevRobotState.pipettes[args.pipette].nozzles
-          const configureNozzleLayoutCommand: CurriedCommandCreator[] =
-            //  only emit the command if previous nozzle state is different
-            is96Channel && args.nozzles != null && args.nozzles !== stateNozzles
-              ? [
-                  curryCommandCreator(configureNozzleLayout, {
-                    nozzles: args.nozzles,
-                    pipetteId: args.pipette,
-                  }),
-                ]
-              : []
 
           const configureForVolumeCommand: CurriedCommandCreator[] = LOW_VOLUME_PIPETTES.includes(
             invariantContext.pipetteEntities[args.pipette].name
@@ -603,7 +591,6 @@ export const transfer: CommandCreator<TransferArgs> = (
               : []
 
           const nextCommands = [
-            ...configureNozzleLayoutCommand,
             ...tipCommands,
             ...preWetTipCommands,
             ...configureForVolumeCommand,