feat(api): RobotContext add run log commands

api/src/opentrons/legacy_commands/robot_commands.py

@@ -0,0 +1,51 @@
+from opentrons.types import Location, Mount, AxisMapType
+from .helpers import stringify_location
+from . import types as command_types
+from typing import Optional
+
+
+def move_to(
+    mount: Mount, location: Location, speed: Optional[float]
+) -> command_types.RobotMoveToCommand:
+    location_text = stringify_location(location)
+    text = f"Moving to {location_text} at {speed}"
+    return {
+        "name": command_types.ROBOT_MOVE_TO,
+        "payload": {"mount": mount, "location": location, "text": text},
+    }
+
+
+def move_axis_to(
+    axis_map: AxisMapType, speed: Optional[float]
+) -> command_types.RobotMoveAxisToCommand:
+    text = f"Moving to the provided absolute axis map {axis_map} at {speed}."
+    return {
+        "name": command_types.ROBOT_MOVE_AXES_TO,
+        "payload": {"absolute_axes": axis_map, "text": text},
+    }
+
+
+def move_axis_relative(
+    axis_map: AxisMapType, speed: Optional[float]
+) -> command_types.RobotMoveAxisRelativeCommand:
+    text = f"Moving to the provided relative axis map {axis_map} as {speed}"
+    return {
+        "name": command_types.ROBOT_MOVE_RELATIVE_TO,
+        "payload": {"relative_axes": axis_map, "text": text},
+    }
+
+
+def open_gripper() -> command_types.RobotOpenGripperJawCommand:
+    text = "Opening the gripper jaw."
+    return {
+        "name": command_types.ROBOT_OPEN_GRIPPER_JAW,
+        "payload": {"text": text},
+    }
+
+
+def close_gripper(force: Optional[float]) -> command_types.RobotCloseGripperJawCommand:
+    text = f"Closing the gripper jaw with force {force}."
+    return {
+        "name": command_types.ROBOT_CLOSE_GRIPPER_JAW,
+        "payload": {"text": text},
+    }

api/src/opentrons/legacy_commands/types.py

@@ -9,7 +9,7 @@
     from opentrons.protocol_api.labware import Well
     from opentrons.protocol_api.disposal_locations import TrashBin, WasteChute
 
-from opentrons.types import Location
+from opentrons.types import Location, Mount, AxisMapType
 
 
 # type for subscriptions
@@ -78,6 +78,13 @@
 THERMOCYCLER_DEACTIVATE_LID: Final = "command.THERMOCYCLER_DEACTIVATE_LID"
 THERMOCYCLER_DEACTIVATE_BLOCK: Final = "command.THERMOCYCLER_DEACTIVATE_BLOCK"
 
+# Robot #
+ROBOT_MOVE_TO: Final = "command.ROBOT_MOVE_TO"
+ROBOT_MOVE_AXES_TO: Final = "command.ROBOT_MOVE_AXES_TO"
+ROBOT_MOVE_RELATIVE_TO: Final = "command.ROBOT_MOVE_RELATIVE_TO"
+ROBOT_OPEN_GRIPPER_JAW: Final = "command.ROBOT_OPEN_GRIPPER_JAW"
+ROBOT_CLOSE_GRIPPER_JAW: Final = "command.ROBOT_CLOSE_GRIPPER_JAW"
+
 
 class TextOnlyPayload(TypedDict):
     text: str
@@ -540,6 +547,51 @@ class MoveLabwareCommand(TypedDict):
     payload: MoveLabwareCommandPayload
 
 
+# Robot Commands and Payloads
+
+
+class GripperCommandPayload(TextOnlyPayload):
+    pass
+
+
+class RobotMoveToCommandPayload(TextOnlyPayload):
+    location: Location
+    mount: Mount
+
+
+class RobotMoveAxisToCommandPayload(TextOnlyPayload):
+    absolute_axes: AxisMapType
+
+
+class RobotMoveAxisRelativeCommandPayload(TextOnlyPayload):
+    relative_axes: AxisMapType
+
+
+class RobotMoveToCommand(TypedDict):
+    name: Literal["command.ROBOT_MOVE_TO"]
+    payload: RobotMoveToCommandPayload
+
+
+class RobotMoveAxisToCommand(TypedDict):
+    name: Literal["command.ROBOT_MOVE_AXES_TO"]
+    payload: RobotMoveAxisToCommandPayload
+
+
+class RobotMoveAxisRelativeCommand(TypedDict):
+    name: Literal["command.ROBOT_MOVE_RELATIVE_TO"]
+    payload: RobotMoveAxisRelativeCommandPayload
+
+
+class RobotOpenGripperJawCommand(TypedDict):
+    name: Literal["command.ROBOT_OPEN_GRIPPER_JAW"]
+    payload: GripperCommandPayload
+
+
+class RobotCloseGripperJawCommand(TypedDict):
+    name: Literal["command.ROBOT_CLOSE_GRIPPER_JAW"]
+    payload: GripperCommandPayload
+
+
 Command = Union[
     DropTipCommand,
     DropTipInDisposalLocationCommand,
@@ -588,6 +640,12 @@ class MoveLabwareCommand(TypedDict):
     MoveToCommand,
     MoveToDisposalLocationCommand,
     MoveLabwareCommand,
+    # Robot commands
+    RobotMoveToCommand,
+    RobotMoveAxisToCommand,
+    RobotMoveAxisRelativeCommand,
+    RobotOpenGripperJawCommand,
+    RobotCloseGripperJawCommand,
 ]
 
 
@@ -637,6 +695,11 @@ class MoveLabwareCommand(TypedDict):
     MoveToCommandPayload,
     MoveToDisposalLocationCommandPayload,
     MoveLabwareCommandPayload,
+    # Robot payloads
+    RobotMoveToCommandPayload,
+    RobotMoveAxisRelativeCommandPayload,
+    RobotMoveAxisToCommandPayload,
+    GripperCommandPayload,
 ]
 
 
@@ -877,6 +940,26 @@ class MoveLabwareMessage(CommandMessageFields, MoveLabwareCommand):
     pass
 
 
+class RobotMoveToMessage(CommandMessageFields, RobotMoveToCommand):
+    pass
+
+
+class RobotMoveAxisToMessage(CommandMessageFields, RobotMoveAxisToCommand):
+    pass
+
+
+class RobotMoveAxisRelativeMessage(CommandMessageFields, RobotMoveAxisRelativeCommand):
+    pass
+
+
+class RobotOpenGripperJawMessage(CommandMessageFields, RobotOpenGripperJawCommand):
+    pass
+
+
+class RobotCloseGripperJawMessage(CommandMessageFields, RobotCloseGripperJawCommand):
+    pass
+
+
 CommandMessage = Union[
     DropTipMessage,
     DropTipInDisposalLocationMessage,
@@ -924,4 +1007,10 @@ class MoveLabwareMessage(CommandMessageFields, MoveLabwareCommand):
     MoveToMessage,
     MoveToDisposalLocationMessage,
     MoveLabwareMessage,
+    # Robot Messages
+    RobotMoveToMessage,
+    RobotMoveAxisToMessage,
+    RobotMoveAxisRelativeMessage,
+    RobotOpenGripperJawMessage,
+    RobotCloseGripperJawMessage,
 ]

api/src/opentrons/protocol_api/protocol_context.py

@@ -191,6 +191,7 @@ def __init__(
                 core=self._core.load_robot(),
                 protocol_core=self._core,
                 api_version=self._api_version,
+                broker=broker,
             )
         except APIVersionError:
             self._robot = None

api/src/opentrons/protocol_api/robot_context.py

@@ -9,6 +9,8 @@
     AxisType,
     StringAxisMap,
 )
+from opentrons.legacy_broker import LegacyBroker
+from opentrons.legacy_commands import robot_commands as cmds
 from opentrons.legacy_commands import publisher
 from opentrons.hardware_control import SyncHardwareAPI
 from opentrons.protocols.api_support.util import requires_version
@@ -49,8 +51,13 @@ class RobotContext(publisher.CommandPublisher):
     """
 
     def __init__(
-        self, core: RobotCore, protocol_core: ProtocolCore, api_version: APIVersion
+        self,
+        core: RobotCore,
+        protocol_core: ProtocolCore,
+        api_version: APIVersion,
+        broker: Optional[LegacyBroker] = None,
     ) -> None:
+        super().__init__(broker)
         self._hardware = HardwareManager(hardware=protocol_core.get_hardware())
         self._core = core
         self._protocol_core = protocol_core
@@ -87,7 +94,16 @@ def move_to(
         :param speed:
         """
         mount = validation.ensure_instrument_mount(mount)
-        self._core.move_to(mount, destination.point, speed)
+        with publisher.publish_context(
+            broker=self.broker,
+            command=cmds.move_to(
+                # This needs to be called from protocol context and not the command for import loop reasons
+                mount=mount,
+                location=destination,
+                speed=speed,
+            ),
+        ):
+            self._core.move_to(mount, destination.point, speed)
 
     @requires_version(2, 22)
     def move_axes_to(
@@ -119,7 +135,15 @@ def move_axes_to(
             )
         else:
             critical_point = None
-        self._core.move_axes_to(axis_map, critical_point, speed)
+        with publisher.publish_context(
+            broker=self.broker,
+            command=cmds.move_axis_to(
+                # This needs to be called from protocol context and not the command for import loop reasons
+                axis_map=axis_map,
+                speed=speed,
+            ),
+        ):
+            self._core.move_axes_to(axis_map, critical_point, speed)
 
     @requires_version(2, 22)
     def move_axes_relative(
@@ -142,15 +166,33 @@ def move_axes_relative(
         axis_map = validation.ensure_axis_map_type(
             axis_map, self._protocol_core.robot_type, is_96_channel
         )
-        self._core.move_axes_relative(axis_map, speed)
+        with publisher.publish_context(
+            broker=self.broker,
+            command=cmds.move_axis_relative(
+                # This needs to be called from protocol context and not the command for import loop reasons
+                axis_map=axis_map,
+                speed=speed,
+            ),
+        ):
+            self._core.move_axes_relative(axis_map, speed)
 
     def close_gripper_jaw(self, force: Optional[float] = None) -> None:
         """Command the gripper closed with some force."""
-        self._core.close_gripper(force)
+        with publisher.publish_context(
+            broker=self.broker,
+            command=cmds.close_gripper(
+                force=force,
+            ),
+        ):
+            self._core.close_gripper(force)
 
     def open_gripper_jaw(self) -> None:
         """Command the gripper open."""
-        self._core.release_grip()
+        with publisher.publish_context(
+            broker=self.broker,
+            command=cmds.open_gripper(),
+        ):
+            self._core.release_grip()
 
     def axis_coordinates_for(
         self,