Merge branch 'edge' into RLIQ-69-hardware-control-liquid-sense

.eslintrc.js

@@ -4,7 +4,7 @@ module.exports = {
  root: true,
 
  parserOptions: {
- project: './tsconfig-eslint.json',
+ project: require('path').join(__dirname, 'tsconfig-eslint.json'),
  },
 
  extends: ['standard-with-typescript', 'plugin:react/recommended', 'prettier'],

.gitattributes

@@ -3,4 +3,5 @@
 # These files are binary and line endings should be left untouched
 *.hex binary
 *.bat binary
+*.gltf binary
 api/pypi-readme.rst text eol=lf

api-client/src/calibration/getCalibrationPipetteOffset.ts

@@ -0,0 +1,16 @@
+import { GET, request } from '../request'
+
+import type { ResponsePromise } from '../request'
+import type { HostConfig } from '../types'
+import type { AllPipetteOffsetCalibrations } from './types'
+
+export function getCalibrationPipetteOffset(
+ config: HostConfig
+): ResponsePromise<AllPipetteOffsetCalibrations> {
+ return request<AllPipetteOffsetCalibrations>(
+ GET,
+ '/calibration/pipette_offset',
+ null,
+ config
+ )
+}

api-client/src/calibration/getCalibrationStatus.ts

@@ -0,0 +1,11 @@
+import { GET, request } from '../request'
+
+import type { ResponsePromise } from '../request'
+import type { HostConfig } from '../types'
+import type { CalibrationStatus } from './types'
+
+export function getCalibrationStatus(
+ config: HostConfig
+): ResponsePromise<CalibrationStatus> {
+ return request<CalibrationStatus>(GET, '/calibration/status', null, config)
+}

api-client/src/calibration/getCalibrationTipLength.ts

@@ -0,0 +1,16 @@
+import { GET, request } from '../request'
+
+import type { ResponsePromise } from '../request'
+import type { HostConfig } from '../types'
+import type { AllTipLengthCalibrations } from './types'
+
+export function getCalibrationTipLength(
+ config: HostConfig
+): ResponsePromise<AllTipLengthCalibrations> {
+ return request<AllTipLengthCalibrations>(
+ GET,
+ '/calibration/tip_length',
+ null,
+ config
+ )
+}

api-client/src/calibration/index.ts

@@ -1,3 +1,6 @@
 export { deleteCalibration } from './deleteCalibration'
+export { getCalibrationStatus } from './getCalibrationStatus'
+export { getCalibrationPipetteOffset } from './getCalibrationPipetteOffset'
+export { getCalibrationTipLength } from './getCalibrationTipLength'
 
 export * from './types'

api-client/src/calibration/types.ts

@@ -14,3 +14,88 @@ export interface TipLengthDeletionParams {
 export type DeleteCalRequestParams =
  | PipOffsetDeletionParams
  | TipLengthDeletionParams
+
+export type FetchCalibrationStatusParams =
+ | PipOffsetDeletionParams
+ | TipLengthDeletionParams
+
+type CalibrationSourceType =
+ | 'default'
+ | 'factory'
+ | 'user'
+ | 'calibration_check'
+ | 'legacy'
+ | 'unknown'
+interface IndividualCalibrationHealthStatus {
+ markedBad: boolean // will be marked bad by a faile cal health check
+ source: CalibrationSourceType | null // what actor marked it bad
+ markedAt: string | null // what timestamp it was marked bad
+}
+
+export interface DeckCalibrationData {
+ type: 'attitude' | 'affine'
+ matrix:
+ | [
+ [number, number, number],
+ [number, number, number],
+ [number, number, number]
+ ]
+ | [
+ [number, number, number, number],
+ [number, number, number, number],
+ [number, number, number, number],
+ [number, number, number, number]
+ ]
+ lastModified: string | null
+ pipetteCalibratedWith: string | null // pipette serial number
+ tiprack: string | null // tip rack hash
+ source: CalibrationSourceType
+ status: IndividualCalibrationHealthStatus
+}
+export interface DeckCalibrationStatus {
+ status: 'OK' | 'IDENTITY' | 'BAD_CALIBRATION' | 'SINGULARITY'
+ data: DeckCalibrationData
+}
+interface InstrumentOffset {
+ single: [number, number, number]
+ multi: [number, number, number]
+}
+export interface InstrumentCalibration {
+ right: InstrumentOffset
+ left: InstrumentOffset
+}
+export interface CalibrationStatus {
+ deckCalibration: DeckCalibrationStatus
+ instrumentCalibration: InstrumentCalibration
+}
+
+export interface PipetteOffsetCalibration {
+ pipette: string
+ mount: Mount
+ offset: [number, number, number]
+ tiprack: string
+ tiprackUri: string
+ lastModified: string
+ source: CalibrationSourceType
+ status: IndividualCalibrationHealthStatus
+ id: string
+}
+
+export interface AllPipetteOffsetCalibrations {
+ data: PipetteOffsetCalibration[]
+}
+
+export interface TipLengthCalibration {
+ tipLength: number
+ tiprack: string
+ pipette: string
+ lastModified: string
+ source: CalibrationSourceType
+ status: IndividualCalibrationHealthStatus
+ id: string
+ uri?: string | null
+}
+
+export interface AllTipLengthCalibrations {
+ data: TipLengthCalibration[]
+}

api-client/src/index.ts

@@ -9,3 +9,4 @@ export * from './server'
 export * from './modules'
 export * from './pipettes'
 export * from './calibration'
+export * from './robot'

api-client/src/protocols/__tests__/utils.test.ts

@@ -3,7 +3,7 @@ import {
  parsePipetteEntity,
  parseInitialPipetteNamesByMount,
  parseAllRequiredModuleModels,
- parseAllRequiredModuleModelsById,
+ parseRequiredModulesEntity,
  parseInitialLoadedLabwareEntity,
  parseInitialLoadedLabwareBySlot,
  parseInitialLoadedLabwareByModuleId,
@@ -158,7 +158,9 @@ describe('parseInitialPipetteNamesByMount', () => {
 })
 describe('parsePipetteEntity', () => {
  it('returns pipette names by id if loaded', () => {
- const expected = [{ id: 'pipette-0', pipetteName: 'p300_single_gen2' }]
+ const expected = [
+ { id: 'pipette-0', pipetteName: 'p300_single_gen2', mount: 'left' },
+ ]
  expect(parsePipetteEntity(mockRunTimeCommands)).toEqual(expected)
  })
 })
@@ -168,15 +170,23 @@ describe('parseAllRequiredModuleModels', () => {
  expect(parseAllRequiredModuleModels(mockRunTimeCommands)).toEqual(expected)
  })
 })
-describe('parseAllRequiredModuleModelsById', () => {
+describe('parseRequiredModulesEntity', () => {
  it('returns models by id for all loaded modules', () => {
- const expected = {
- 'module-0': { model: 'magneticModuleV2' },
- 'module-1': { model: 'temperatureModuleV2' },
- }
- expect(parseAllRequiredModuleModelsById(mockRunTimeCommands)).toEqual(
- expected
- )
+ const expected = [
+ {
+ id: 'module-0',
+ model: 'magneticModuleV2',
+ location: { slotName: '1' },
+ serialNumber: '',
+ },
+ {
+ id: 'module-1',
+ model: 'temperatureModuleV2',
+ location: { slotName: '3' },
+ serialNumber: '',
+ },
+ ]
+ expect(parseRequiredModulesEntity(mockRunTimeCommands)).toEqual(expected)
  })
 })
 describe('parseInitialLoadedLabwareBySlot', () => {
@@ -233,12 +243,14 @@ describe('parseInitialLoadedLabwareById', () => {
  loadName: 'opentrons_96_tiprack_300ul',
  definitionUri: 'opentrons/opentrons_96_tiprack_300ul/1',
  displayName: 'Opentrons 96 Tip Rack 300 µL',
+ location: { slotName: '2' },
  },
  {
  id: 'labware-2',
  loadName: 'nest_96_wellplate_100ul_pcr_full_skirt',
  definitionUri: 'opentrons/nest_96_wellplate_100ul_pcr_full_skirt/1',
  displayName: 'NEST 96 Well Plate 100 µL PCR Full Skirt',
+ location: { moduleId: 'module-0' },
  },
  {
  id: 'labware-3',
@@ -247,6 +259,7 @@ describe('parseInitialLoadedLabwareById', () => {
  'opentrons/opentrons_24_aluminumblock_generic_2ml_screwcap/1',
  displayName:
  'Opentrons 24 Well Aluminum Block with Generic 2 mL Screwcap',
+ location: { moduleId: 'module-1' },
  },
  ]
  expect(parseInitialLoadedLabwareEntity(mockRunTimeCommands)).toEqual(

api-client/src/protocols/utils.ts

@@ -2,7 +2,14 @@
 import reduce from 'lodash/reduce'
 
 import { COLORS } from '@opentrons/components/src/ui-style-constants'
-import type { ModuleModel, PipetteName, Liquid } from '@opentrons/shared-data'
+import type {
+ ModuleModel,
+ PipetteName,
+ Liquid,
+ LoadedPipette,
+ LoadedLabware,
+ LoadedModule,
+} from '@opentrons/shared-data'
 import type { RunTimeCommand } from '@opentrons/shared-data/protocol/types/schemaV6'
 import type {
  LoadLabwareRunTimeCommand,
@@ -32,47 +39,34 @@ export function parseInitialPipetteNamesByMount(
  }
 }
 
-export interface PipetteNamesById {
- id: string
- pipetteName: PipetteName
-}
-
 export function parsePipetteEntity(
  commands: RunTimeCommand[]
-): PipetteNamesById[] {
- const rightPipette = commands.find(
+): LoadedPipette[] {
+ const pipetteEntity = []
+ const rightPipetteCommand = commands.find(
  (command): command is LoadPipetteRunTimeCommand =>
  command.commandType === 'loadPipette' && command.params.mount === 'right'
  )
- const leftPipette = commands.find(
+ const leftPipetteCommand = commands.find(
  (command): command is LoadPipetteRunTimeCommand =>
  command.commandType === 'loadPipette' && command.params.mount === 'left'
  )
-
- const rightPipetteEntity =
- rightPipette != null
- ? {
- id: rightPipette.result.pipetteId,
- pipetteName: rightPipette.params.pipetteName,
- }
- : {}
- const leftPipetteEntity =
- leftPipette != null
- ? {
- id: leftPipette.result.pipetteId,
- pipetteName: leftPipette.params.pipetteName,
- }
- : {}
-
- if (leftPipetteEntity.id == null && rightPipetteEntity.id != null) {
- return [rightPipetteEntity]
- } else if (rightPipetteEntity.id == null && leftPipetteEntity.id != null) {
- return [leftPipetteEntity]
- } else if (rightPipetteEntity.id != null && leftPipetteEntity.id != null) {
- return [rightPipetteEntity, leftPipetteEntity]
- } else {
- return []
+ if (rightPipetteCommand != null) {
+ pipetteEntity.push({
+ id: rightPipetteCommand.result.pipetteId,
+ pipetteName: rightPipetteCommand.params.pipetteName,
+ mount: rightPipetteCommand.params.mount,
+ })
+ }
+ if (leftPipetteCommand != null) {
+ pipetteEntity.push({
+ id: leftPipetteCommand.result.pipetteId,
+ pipetteName: leftPipetteCommand.params.pipetteName,
+ mount: leftPipetteCommand.params.mount,
+ })
  }
+
+ return pipetteEntity
 }
 
 export function parseAllRequiredModuleModels(
@@ -87,23 +81,25 @@ export function parseAllRequiredModuleModels(
  )
 }
 
-export interface ModuleModelsById {
- [moduleId: string]: { model: ModuleModel }
-}
-
-export function parseAllRequiredModuleModelsById(
+// This function is only used to compile modules from commands in the case that the
+// app-side protocol analysis is being referenced and stale.
+// The only time this will happen is in the protocol list page, where the serialNumber
+// should NOT be referenced
+export function parseRequiredModulesEntity(
  commands: RunTimeCommand[]
-): ModuleModelsById {
- return commands.reduce<ModuleModelsById>(
- (acc, command) =>
+): LoadedModule[] {
+ const loadModuleCommands = commands.filter(
+ (command): command is LoadModuleRunTimeCommand =>
  command.commandType === 'loadModule'
- ? {
- ...acc,
- [command.result?.moduleId]: { model: command.params.model },
- }
- : acc,
- {}
  )
+ return loadModuleCommands.map(command => {
+ return {
+ id: command.result.moduleId,
+ model: command.params.model,
+ location: command.params.location,
+ serialNumber: '',
+ }
+ })
 }
 
 interface LoadedLabwareBySlot {
@@ -152,16 +148,9 @@ export function parseInitialLoadedLabwareByModuleId(
  )
 }
 
-export interface LoadedLabwareEntity {
- id: string
- loadName: string
- definitionUri: string
- displayName?: string
-}
-
 export function parseInitialLoadedLabwareEntity(
  commands: RunTimeCommand[]
-): LoadedLabwareEntity[] {
+): LoadedLabware[] {
  const loadLabwareCommands = commands.filter(
  (command): command is LoadLabwareRunTimeCommand =>
  command.commandType === 'loadLabware'
@@ -181,6 +170,7 @@ export function parseInitialLoadedLabwareEntity(
  id: labwareId,
  loadName,
  definitionUri,
+ location: command.params.location,
  displayName: command.params.displayName,
  }
  })

api-client/src/robot/getLights.ts

@@ -0,0 +1,9 @@
+import { GET, request } from '../request'
+
+import type { ResponsePromise } from '../request'
+import type { HostConfig } from '../types'
+import type { Lights } from './types'
+
+export function getLights(config: HostConfig): ResponsePromise<Lights> {
+ return request<Lights>(GET, '/robot/lights', null, config)
+}

api-client/src/robot/index.ts

@@ -0,0 +1,3 @@
+export { getLights } from './getLights'
+export { setLights } from './setLights'
+export type { Lights, SetLightsData } from './types'