feat(step-generation): error creators for absorbance reader closed li…

…d pipetting (#17327) This PR introduces utility to get a possible collision with absorbance reader module if the lid is not open (closed or indeterminate). It wires up the absorbance reader closed lid error creator in aspirate, dispense, and moveToWell error creators (checks already used in moveLabware) Closes AUTH-1079
Opentrons · Jan 24, 2025 · 10c4fab · 10c4fab
1 parent 873467e
commit 10c4fab
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Showing 10 changed files with 262 additions and 2 deletions.
diff --git a/step-generation/src/__tests__/aspirate.test.ts b/step-generation/src/__tests__/aspirate.test.ts
@@ -11,6 +11,7 @@ import {
 } from '@opentrons/shared-data'
 
 import {
+  absorbanceReaderCollision,
   pipetteIntoHeaterShakerLatchOpen,
   thermocyclerPipetteCollision,
   pipetteIntoHeaterShakerWhileShaking,
@@ -38,6 +39,7 @@ const fixtureTiprack1000ul = tip1000 as LabwareDefinition2
 const FLEX_PIPETTE = 'p1000_single_flex'
 const FlexPipetteNameSpecs = getPipetteSpecsV2(FLEX_PIPETTE)
 
+vi.mock('../utils/absorbanceReaderCollision')
 vi.mock('../utils/thermocyclerPipetteCollision')
 vi.mock('../utils/heaterShakerCollision')
 
@@ -282,6 +284,41 @@ describe('aspirate', () => {
       type: 'THERMOCYCLER_LID_CLOSED',
     })
   })
+  it('should return an error when aspirating from absorbance with pipette collision', () => {
+    vi.mocked(absorbanceReaderCollision).mockImplementationOnce(
+      (
+        modules: RobotState['modules'],
+        labware: RobotState['labware'],
+        labwareId: string
+      ) => {
+        expect(modules).toBe(robotStateWithTip.modules)
+        expect(labware).toBe(robotStateWithTip.labware)
+        expect(labwareId).toBe(SOURCE_LABWARE)
+        return true
+      }
+    )
+    const result = aspirate(
+      {
+        ...({
+          ...flowRateAndOffsets,
+          pipette: DEFAULT_PIPETTE,
+          volume: 50,
+          labware: SOURCE_LABWARE,
+          well: 'A1',
+        } as AspDispAirgapParams),
+        tipRack: 'tipRack',
+        xOffset: 0,
+        yOffset: 0,
+        nozzles: null,
+      },
+      invariantContext,
+      robotStateWithTip
+    )
+    expect(getErrorResult(result).errors).toHaveLength(1)
+    expect(getErrorResult(result).errors[0]).toMatchObject({
+      type: 'ABSORBANCE_READER_LID_CLOSED',
+    })
+  })
   it('should return an error when aspirating from heaterShaker with latch opened', () => {
     vi.mocked(pipetteIntoHeaterShakerLatchOpen).mockImplementationOnce(
       (

diff --git a/step-generation/src/__tests__/blowout.test.ts b/step-generation/src/__tests__/blowout.test.ts
@@ -1,4 +1,4 @@
-import { beforeEach, describe, it, expect } from 'vitest'
+import { beforeEach, describe, it, expect, vi } from 'vitest'
 import { expectTimelineError } from '../__utils__/testMatchers'
 import { blowout } from '../commandCreators/atomic/blowout'
 import {
@@ -14,6 +14,8 @@ import {
 import type { BlowoutParams } from '@opentrons/shared-data'
 import type { RobotState, InvariantContext } from '../types'
 
+vi.mock('../utils/heaterShakerCollision')
+
 describe('blowout', () => {
   let invariantContext: InvariantContext
   let initialRobotState: RobotState

diff --git a/step-generation/src/__tests__/dispense.test.ts b/step-generation/src/__tests__/dispense.test.ts
@@ -2,6 +2,7 @@ import { when } from 'vitest-when'
 import { beforeEach, describe, it, expect, vi, afterEach } from 'vitest'
 import { OT2_ROBOT_TYPE, getPipetteSpecsV2 } from '@opentrons/shared-data'
 import {
+  absorbanceReaderCollision,
   thermocyclerPipetteCollision,
   pipetteIntoHeaterShakerLatchOpen,
   pipetteIntoHeaterShakerWhileShaking,
@@ -24,6 +25,7 @@ import { dispense } from '../commandCreators/atomic/dispense'
 import type { ExtendedDispenseParams } from '../commandCreators/atomic/dispense'
 import type { InvariantContext, RobotState } from '../types'
 
+vi.mock('../utils/absorbanceReaderCollision')
 vi.mock('../utils/thermocyclerPipetteCollision')
 vi.mock('../utils/heaterShakerCollision')
 
@@ -160,6 +162,26 @@ describe('dispense', () => {
         type: 'THERMOCYCLER_LID_CLOSED',
       })
     })
+    it('should return an error when dispensing into absorbance reader with pipette collision', () => {
+      vi.mocked(absorbanceReaderCollision).mockImplementationOnce(
+        (
+          modules: RobotState['modules'],
+          labware: RobotState['labware'],
+          labwareId: string
+        ) => {
+          expect(modules).toBe(robotStateWithTip.modules)
+          expect(labware).toBe(robotStateWithTip.labware)
+          expect(labwareId).toBe(SOURCE_LABWARE)
+          return true
+        }
+      )
+      const result = dispense(params, invariantContext, robotStateWithTip)
+      const res = getErrorResult(result)
+      expect(res.errors).toHaveLength(1)
+      expect(res.errors[0]).toMatchObject({
+        type: 'ABSORBANCE_READER_LID_CLOSED',
+      })
+    })
     it('should return an error when dispensing into heater shaker with latch open', () => {
       vi.mocked(pipetteIntoHeaterShakerLatchOpen).mockImplementationOnce(
         (

diff --git a/step-generation/src/__tests__/moveToWell.test.ts b/step-generation/src/__tests__/moveToWell.test.ts
@@ -4,6 +4,7 @@ import { OT2_ROBOT_TYPE, getPipetteSpecsV2 } from '@opentrons/shared-data'
 import { expectTimelineError } from '../__utils__/testMatchers'
 import { moveToWell } from '../commandCreators/atomic/moveToWell'
 import {
+  absorbanceReaderCollision,
   thermocyclerPipetteCollision,
   pipetteIntoHeaterShakerLatchOpen,
   pipetteIntoHeaterShakerWhileShaking,
@@ -23,6 +24,7 @@ import {
 } from '../fixtures'
 import type { InvariantContext, RobotState } from '../types'
 
+vi.mock('../utils/absorbanceReaderCollision')
 vi.mock('../utils/thermocyclerPipetteCollision')
 vi.mock('../utils/heaterShakerCollision')
 
@@ -187,6 +189,33 @@ describe('moveToWell', () => {
       type: 'THERMOCYCLER_LID_CLOSED',
     })
   })
+  it('should return an error when moving to well in a absorbance reader with pipette collision', () => {
+    vi.mocked(absorbanceReaderCollision).mockImplementationOnce(
+      (
+        modules: RobotState['modules'],
+        labware: RobotState['labware'],
+        labwareId: string
+      ) => {
+        expect(modules).toBe(robotStateWithTip.modules)
+        expect(labware).toBe(robotStateWithTip.labware)
+        expect(labwareId).toBe(SOURCE_LABWARE)
+        return true
+      }
+    )
+    const result = moveToWell(
+      {
+        pipette: DEFAULT_PIPETTE,
+        labware: SOURCE_LABWARE,
+        well: 'A1',
+      },
+      invariantContext,
+      robotStateWithTip
+    )
+    expect(getErrorResult(result).errors).toHaveLength(1)
+    expect(getErrorResult(result).errors[0]).toMatchObject({
+      type: 'ABSORBANCE_READER_LID_CLOSED',
+    })
+  })
 
   it('should return an error when moving to well in a heater-shaker with latch opened', () => {
     vi.mocked(pipetteIntoHeaterShakerLatchOpen).mockImplementationOnce(

diff --git a/step-generation/src/commandCreators/atomic/aspirate.ts b/step-generation/src/commandCreators/atomic/aspirate.ts
@@ -2,6 +2,7 @@ import { COLUMN, FLEX_ROBOT_TYPE, OT2_ROBOT_TYPE } from '@opentrons/shared-data'
 import * as errorCreators from '../../errorCreators'
 import { getPipetteWithTipMaxVol } from '../../robotStateSelectors'
 import {
+  absorbanceReaderCollision,
   modulePipetteCollision,
   thermocyclerPipetteCollision,
   pipetteIntoHeaterShakerLatchOpen,
@@ -142,6 +143,16 @@ export const aspirate: CommandCreator<ExtendedAspirateParams> = (
     errors.push(errorCreators.thermocyclerLidClosed())
   }
 
+  if (
+    absorbanceReaderCollision(
+      prevRobotState.modules,
+      prevRobotState.labware,
+      labware
+    )
+  ) {
+    errors.push(errorCreators.absorbanceReaderLidClosed())
+  }
+
   if (
     pipetteIntoHeaterShakerLatchOpen(
       prevRobotState.modules,

diff --git a/step-generation/src/commandCreators/atomic/blowout.ts b/step-generation/src/commandCreators/atomic/blowout.ts
@@ -1,4 +1,17 @@
-import { uuid, getLabwareSlot } from '../../utils'
+import { FLEX_ROBOT_TYPE, OT2_ROBOT_TYPE } from '@opentrons/shared-data'
+import {
+  uuid,
+  getLabwareSlot,
+  modulePipetteCollision,
+  thermocyclerPipetteCollision,
+  absorbanceReaderCollision,
+  pipetteIntoHeaterShakerLatchOpen,
+  pipetteIntoHeaterShakerWhileShaking,
+  pipetteAdjacentHeaterShakerWhileShaking,
+  getIsHeaterShakerEastWestMultiChannelPipette,
+  getIsHeaterShakerEastWestWithLatchOpen,
+  getIsHeaterShakerNorthSouthOfNonTiprackWithMultiChannelPipette,
+} from '../../utils'
 import { COLUMN_4_SLOTS } from '../../constants'
 import * as errorCreators from '../../errorCreators'
 import type { CreateCommand, BlowoutParams } from '@opentrons/shared-data'
@@ -14,6 +27,10 @@ export const blowout: CommandCreator<BlowoutParams> = (
 
   const actionName = 'blowout'
   const errors: CommandCreatorError[] = []
+  const pipetteSpec = invariantContext.pipetteEntities[pipetteId]?.spec
+  const isFlexPipette =
+    (pipetteSpec?.displayCategory === 'FLEX' || pipetteSpec?.channels === 96) ??
+    false
   const pipetteData = prevRobotState.pipettes[pipetteId]
   const labwareState = prevRobotState.labware
   const slotName = getLabwareSlot(
@@ -32,6 +49,14 @@ export const blowout: CommandCreator<BlowoutParams> = (
     )
   }
 
+  if (pipetteSpec == null) {
+    errors.push(
+      errorCreators.pipetteDoesNotExist({
+        pipette: pipetteId,
+      })
+    )
+  }
+
   if (!prevRobotState.tipState.pipettes[pipetteId]) {
     errors.push(
       errorCreators.noTipOnPipette({
@@ -64,6 +89,94 @@ export const blowout: CommandCreator<BlowoutParams> = (
       )
     }
   }
+  if (
+    modulePipetteCollision({
+      pipette: pipetteId,
+      labware: labwareId,
+      invariantContext,
+      prevRobotState,
+    })
+  ) {
+    errors.push(errorCreators.modulePipetteCollisionDanger())
+  }
+
+  if (
+    thermocyclerPipetteCollision(
+      prevRobotState.modules,
+      prevRobotState.labware,
+      labwareId
+    )
+  ) {
+    errors.push(errorCreators.thermocyclerLidClosed())
+  }
+
+  if (
+    absorbanceReaderCollision(
+      prevRobotState.modules,
+      prevRobotState.labware,
+      labwareId
+    )
+  ) {
+    errors.push(errorCreators.absorbanceReaderLidClosed())
+  }
+
+  if (
+    pipetteIntoHeaterShakerLatchOpen(
+      prevRobotState.modules,
+      prevRobotState.labware,
+      labwareId
+    )
+  ) {
+    errors.push(errorCreators.heaterShakerLatchOpen())
+  }
+
+  if (
+    pipetteIntoHeaterShakerWhileShaking(
+      prevRobotState.modules,
+      prevRobotState.labware,
+      labwareId
+    )
+  ) {
+    errors.push(errorCreators.heaterShakerIsShaking())
+  }
+  if (
+    pipetteAdjacentHeaterShakerWhileShaking(
+      prevRobotState.modules,
+      slotName,
+      isFlexPipette ? FLEX_ROBOT_TYPE : OT2_ROBOT_TYPE
+    )
+  ) {
+    errors.push(errorCreators.heaterShakerNorthSouthEastWestShaking())
+  }
+  if (!isFlexPipette && pipetteSpec != null) {
+    if (
+      getIsHeaterShakerEastWestWithLatchOpen(prevRobotState.modules, slotName)
+    ) {
+      errors.push(errorCreators.heaterShakerEastWestWithLatchOpen())
+    }
+
+    if (
+      getIsHeaterShakerEastWestMultiChannelPipette(
+        prevRobotState.modules,
+        slotName,
+        pipetteSpec
+      )
+    ) {
+      errors.push(errorCreators.heaterShakerEastWestOfMultiChannelPipette())
+    }
+    if (
+      getIsHeaterShakerNorthSouthOfNonTiprackWithMultiChannelPipette(
+        prevRobotState.modules,
+        slotName,
+        pipetteSpec,
+        invariantContext.labwareEntities[labwareId]
+      )
+    ) {
+      errors.push(
+        errorCreators.heaterShakerNorthSouthOfNonTiprackWithMultiChannelPipette()
+      )
+    }
+  }
 
   if (errors.length > 0) {
     return {

diff --git a/step-generation/src/commandCreators/atomic/dispense.ts b/step-generation/src/commandCreators/atomic/dispense.ts
@@ -1,6 +1,7 @@
 import { COLUMN, FLEX_ROBOT_TYPE, OT2_ROBOT_TYPE } from '@opentrons/shared-data'
 import * as errorCreators from '../../errorCreators'
 import {
+  absorbanceReaderCollision,
   modulePipetteCollision,
   thermocyclerPipetteCollision,
   pipetteIntoHeaterShakerLatchOpen,
@@ -139,6 +140,16 @@ export const dispense: CommandCreator<ExtendedDispenseParams> = (
     errors.push(errorCreators.thermocyclerLidClosed())
   }
 
+  if (
+    absorbanceReaderCollision(
+      prevRobotState.modules,
+      prevRobotState.labware,
+      labware
+    )
+  ) {
+    errors.push(errorCreators.absorbanceReaderLidClosed())
+  }
+
   if (
     pipetteIntoHeaterShakerLatchOpen(
       prevRobotState.modules,

diff --git a/step-generation/src/commandCreators/atomic/moveToWell.ts b/step-generation/src/commandCreators/atomic/moveToWell.ts
@@ -1,6 +1,7 @@
 import { FLEX_ROBOT_TYPE, OT2_ROBOT_TYPE } from '@opentrons/shared-data'
 import * as errorCreators from '../../errorCreators'
 import {
+  absorbanceReaderCollision,
   modulePipetteCollision,
   thermocyclerPipetteCollision,
   pipetteIntoHeaterShakerLatchOpen,
@@ -104,6 +105,16 @@ export const moveToWell: CommandCreator<v5MoveToWellParams> = (
     errors.push(errorCreators.heaterShakerLatchOpen())
   }
 
+  if (
+    absorbanceReaderCollision(
+      prevRobotState.modules,
+      prevRobotState.labware,
+      labware
+    )
+  ) {
+    errors.push(errorCreators.absorbanceReaderLidClosed())
+  }
+
   if (
     pipetteIntoHeaterShakerWhileShaking(
       prevRobotState.modules,