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feat(shared-data, app): separate definition for 96-channel tip rack a…
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…dapter (#13379)

split definition for 96 channel tip rack adapter and logic to support that for LPC

---------

Co-authored-by: Jethary <[email protected]>
Co-authored-by: Brian Cooper <[email protected]>
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@jbleon95 @jerader @b-cooper
3 people authored Aug 25, 2023
1 parent 80ad147 commit f1f6c29
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Showing 14 changed files with 266 additions and 53 deletions.
22 changes: 11 additions & 11 deletions app/src/organisms/LabwarePositionCheck/LabwarePositionCheckComponent.tsx
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Original file line number Diff line number Diff line change
Expand Up @@ -146,17 +146,17 @@ export const LabwarePositionCheckComponent = (
const [currentStepIndex, setCurrentStepIndex] = React.useState<number>(0)
const handleCleanUpAndClose = (): void => {
setIsExiting(true)
const dropTipToBeSafeCommands: DropTipCreateCommand[] = (
protocolData?.pipettes ?? []
).map(pip => ({
commandType: 'dropTip' as const,
params: {
pipetteId: pip.id,
labwareId: FIXED_TRASH_ID,
wellName: 'A1',
wellLocation: { origin: 'default' as const },
},
}))
const dropTipToBeSafeCommands: DropTipCreateCommand[] = goldenLPC
? []
: (protocolData?.pipettes ?? []).map(pip => ({
commandType: 'dropTip' as const,
params: {
pipetteId: pip.id,
labwareId: FIXED_TRASH_ID,
wellName: 'A1',
wellLocation: { origin: 'default' as const },
},
}))
chainRunCommands(
maintenanceRunId,
[
Expand Down
88 changes: 71 additions & 17 deletions app/src/organisms/LabwarePositionCheck/PickUpTip.tsx
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@ import {
getVectorDifference,
HEATERSHAKER_MODULE_TYPE,
IDENTITY_VECTOR,
MoveLabwareCreateCommand,
} from '@opentrons/shared-data'
import { useChainRunCommands } from '../../resources/runs/hooks'
import { UnorderedList } from '../../molecules/UnorderedList'
Expand Down Expand Up @@ -60,6 +61,7 @@ export const PickUpTip = (props: PickUpTipProps): JSX.Element | null => {
existingOffsets,
workingOffsets,
setFatalError,
adapterId,
} = props
const [showTipConfirmation, setShowTipConfirmation] = React.useState(false)

Expand All @@ -69,7 +71,6 @@ export const PickUpTip = (props: PickUpTipProps): JSX.Element | null => {
const pipetteMount = pipette?.mount
if (pipetteName == null || labwareDef == null || pipetteMount == null)
return null

const pipetteZMotorAxis: 'leftZ' | 'rightZ' =
pipetteMount === 'left' ? 'leftZ' : 'rightZ'

Expand Down Expand Up @@ -102,6 +103,42 @@ export const PickUpTip = (props: PickUpTipProps): JSX.Element | null => {
o.initialPosition != null
)?.initialPosition

let moveLabware: MoveLabwareCreateCommand[]
if (adapterId != null) {
moveLabware = [
{
commandType: 'moveLabware' as const,
params: {
labwareId: adapterId,
newLocation: { slotName: location.slotName },
strategy: 'manualMoveWithoutPause',
},
},
{
commandType: 'moveLabware' as const,
params: {
labwareId,
newLocation:
adapterId != null
? { labwareId: adapterId }
: { slotName: location.slotName },
strategy: 'manualMoveWithoutPause',
},
},
]
} else {
moveLabware = [
{
commandType: 'moveLabware' as const,
params: {
labwareId,
newLocation: location,
strategy: 'manualMoveWithoutPause',
},
},
]
}

const handleConfirmPlacement = (): void => {
const modulePrepCommands = protocolData.modules.reduce<CreateCommand[]>(
(acc, module) => {
Expand All @@ -121,14 +158,7 @@ export const PickUpTip = (props: PickUpTipProps): JSX.Element | null => {
chainRunCommands(
[
...modulePrepCommands,
{
commandType: 'moveLabware' as const,
params: {
labwareId: labwareId,
newLocation: location,
strategy: 'manualMoveWithoutPause',
},
},
...moveLabware,
{
commandType: 'moveToWell' as const,
params: {
Expand Down Expand Up @@ -212,6 +242,37 @@ export const PickUpTip = (props: PickUpTipProps): JSX.Element | null => {
})
}

const moveLabwareOffDeck: MoveLabwareCreateCommand[] =
adapterId != null
? [
{
commandType: 'moveLabware' as const,
params: {
labwareId: labwareId,
newLocation: 'offDeck',
strategy: 'manualMoveWithoutPause',
},
},
{
commandType: 'moveLabware' as const,
params: {
labwareId: adapterId,
newLocation: 'offDeck',
strategy: 'manualMoveWithoutPause',
},
},
]
: [
{
commandType: 'moveLabware' as const,
params: {
labwareId: labwareId,
newLocation: 'offDeck',
strategy: 'manualMoveWithoutPause',
},
},
]

const handleConfirmTipAttached = (): void => {
chainRunCommands(
[
Expand All @@ -229,14 +290,7 @@ export const PickUpTip = (props: PickUpTipProps): JSX.Element | null => {
commandType: 'retractAxis' as const,
params: { axis: 'y' },
},
{
commandType: 'moveLabware' as const,
params: {
labwareId: labwareId,
newLocation: 'offDeck',
strategy: 'manualMoveWithoutPause',
},
},
...moveLabwareOffDeck,
],
false
)
Expand Down
87 changes: 71 additions & 16 deletions app/src/organisms/LabwarePositionCheck/ReturnTip.tsx
View file
Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@ import {
getLabwareDisplayName,
getModuleType,
HEATERSHAKER_MODULE_TYPE,
MoveLabwareCreateCommand,
} from '@opentrons/shared-data'
import { StyledText } from '../../atoms/text'
import { UnorderedList } from '../../molecules/UnorderedList'
Expand Down Expand Up @@ -42,6 +43,7 @@ export const ReturnTip = (props: ReturnTipProps): JSX.Element | null => {
isRobotMoving,
chainRunCommands,
setFatalError,
adapterId,
} = props

const labwareDef = getLabwareDef(labwareId, protocolData)
Expand Down Expand Up @@ -70,6 +72,73 @@ export const ReturnTip = (props: ReturnTipProps): JSX.Element | null => {
/>,
]

let moveLabware: MoveLabwareCreateCommand[]
if (adapterId != null) {
moveLabware = [
{
commandType: 'moveLabware' as const,
params: {
labwareId: adapterId,
newLocation: { slotName: location.slotName },
strategy: 'manualMoveWithoutPause',
},
},
{
commandType: 'moveLabware' as const,
params: {
labwareId,
newLocation:
adapterId != null
? { labwareId: adapterId }
: { slotName: location.slotName },
strategy: 'manualMoveWithoutPause',
},
},
]
} else {
moveLabware = [
{
commandType: 'moveLabware' as const,
params: {
labwareId,
newLocation: location,
strategy: 'manualMoveWithoutPause',
},
},
]
}

const moveLabwareOffDeck: MoveLabwareCreateCommand[] =
adapterId != null
? [
{
commandType: 'moveLabware' as const,
params: {
labwareId: labwareId,
newLocation: 'offDeck',
strategy: 'manualMoveWithoutPause',
},
},
{
commandType: 'moveLabware' as const,
params: {
labwareId: adapterId,
newLocation: 'offDeck',
strategy: 'manualMoveWithoutPause',
},
},
]
: [
{
commandType: 'moveLabware' as const,
params: {
labwareId: labwareId,
newLocation: 'offDeck',
strategy: 'manualMoveWithoutPause',
},
},
]

const handleConfirmPlacement = (): void => {
const modulePrepCommands = protocolData.modules.reduce<CreateCommand[]>(
(acc, module) => {
Expand All @@ -89,14 +158,7 @@ export const ReturnTip = (props: ReturnTipProps): JSX.Element | null => {
chainRunCommands(
[
...modulePrepCommands,
{
commandType: 'moveLabware' as const,
params: {
labwareId: labwareId,
newLocation: location,
strategy: 'manualMoveWithoutPause',
},
},
...moveLabware,
{
commandType: 'moveToWell' as const,
params: {
Expand All @@ -121,14 +183,7 @@ export const ReturnTip = (props: ReturnTipProps): JSX.Element | null => {
},
},
},
{
commandType: 'moveLabware' as const,
params: {
labwareId: labwareId,
newLocation: 'offDeck',
strategy: 'manualMoveWithoutPause',
},
},
...moveLabwareOffDeck,
{ commandType: 'home' as const, params: {} },
],
false
Expand Down
3 changes: 3 additions & 0 deletions app/src/organisms/LabwarePositionCheck/types.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@ export interface CheckTipRacksStep {
pipetteId: string
labwareId: string
location: LabwareOffsetLocation
adapterId?: string
}
export interface AttachProbeStep {
section: typeof SECTIONS.ATTACH_PROBE
Expand All @@ -31,6 +32,7 @@ export interface PickUpTipStep {
pipetteId: string
labwareId: string
location: LabwareOffsetLocation
adapterId?: string
}
export interface CheckPositionsStep {
section: typeof SECTIONS.CHECK_POSITIONS
Expand All @@ -52,6 +54,7 @@ export interface ReturnTipStep {
pipetteId: string
labwareId: string
location: LabwareOffsetLocation
adapterId?: string
}
export interface DetachProbeStep {
section: typeof SECTIONS.DETACH_PROBE
Expand Down
5 changes: 4 additions & 1 deletion app/src/organisms/LabwarePositionCheck/utils/getCheckSteps.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,7 @@ export const getCheckSteps = (args: LPCArgs): LabwarePositionCheckStep[] => {
labwareId: lastTiprackCheckStep.labwareId,
pipetteId: lastTiprackCheckStep.pipetteId,
location: lastTiprackCheckStep.location,
adapterId: lastTiprackCheckStep.adapterId,
}
const checkLabwareSectionSteps = getCheckLabwareSectionSteps(args)

Expand All @@ -53,6 +54,7 @@ export const getCheckSteps = (args: LPCArgs): LabwarePositionCheckStep[] => {
labwareId: lastTiprackCheckStep.labwareId,
pipetteId: lastTiprackCheckStep.pipetteId,
location: lastTiprackCheckStep.location,
adapterId: lastTiprackCheckStep.adapterId,
}

return [
Expand Down Expand Up @@ -130,11 +132,12 @@ function getCheckTipRackSectionSteps(args: LPCArgs): CheckTipRacksStep[] {

return [
...acc,
...labwareLocations.map(({ location }) => ({
...labwareLocations.map(({ location, adapterId }) => ({
section: SECTIONS.CHECK_TIP_RACKS,
labwareId: params.labwareId,
pipetteId: params.pipetteId,
location,
adapterId,
})),
]
}, [])
Expand Down
26 changes: 19 additions & 7 deletions app/src/organisms/LabwarePositionCheck/utils/getGoldenCheckSteps.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -3,12 +3,14 @@ import { SECTIONS } from '../constants'
import {
CompletedProtocolAnalysis,
LoadedPipette,
getLabwareDefURI,
getPipetteNameSpecs,
} from '@opentrons/shared-data'
import { getLabwareLocationCombos } from '../../ApplyHistoricOffsets/hooks/getLabwareLocationCombos'

import type { LabwarePositionCheckStep, CheckPositionsStep } from '../types'
import type { LabwareLocationCombo } from '../../ApplyHistoricOffsets/hooks/getLabwareLocationCombos'
import { getLabwareDefinitionsFromCommands } from './labware'

function getPrimaryPipetteId(pipettes: LoadedPipette[]): string {
if (pipettes.length < 1) {
Expand Down Expand Up @@ -51,8 +53,15 @@ function getAllCheckSectionSteps(
labware,
modules
)
const labwareDefinitions = getLabwareDefinitionsFromCommands(commands)
const labwareLocations = labwareLocationCombos.reduce<LabwareLocationCombo[]>(
(acc, labwareLocationCombo) => {
const labwareDef = labwareDefinitions.find(
def => getLabwareDefURI(def) === labwareLocationCombo.definitionUri
)
if ((labwareDef?.allowedRoles ?? []).includes('adapter')) {
return acc
}
// remove duplicate definitionUri in same location
const comboAlreadyExists = acc.some(
accLocationCombo =>
Expand All @@ -65,11 +74,14 @@ function getAllCheckSectionSteps(
[]
)

return labwareLocations.map(({ location, labwareId, moduleId }) => ({
section: SECTIONS.CHECK_POSITIONS,
labwareId: labwareId,
pipetteId: getPrimaryPipetteId(pipettes),
location,
moduleId,
}))
return labwareLocations.map(
({ location, labwareId, moduleId, adapterId }) => ({
section: SECTIONS.CHECK_POSITIONS,
labwareId: labwareId,
pipetteId: getPrimaryPipetteId(pipettes),
location,
moduleId,
adapterId,
})
)
}
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