feat(step-generation, shared-data): pipette collision warnings #14989
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TODO:
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jerader
commented
Apr 24, 2024
| ) | ||
| expect(result).toEqual(false) | ||
| }) | ||
| // todo(jr, 4/23/24): add more test cases, test thermocycler collision - i'll do this in a follow up |
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here is the follow up ticket https://opentrons.atlassian.net/browse/AUTH-367
jerader
commented
Apr 24, 2024
| deckSlot = modules[adapterSlot].slot | ||
| } else { | ||
| // labware on adapter on deck | ||
| // eslint-disable-next-line no-unused-vars |
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i cannot seem to figure out why lint thinks line 359 isn't being used??? i'm so confused. If anyone has advice, that'd be great!
jerader
requested review from
shlokamin,
koji and
ncdiehl11
and removed request for
a team
ncdiehl11
reviewed
Apr 24, 2024
@ncdiehl11 , oh you need to move the tiprack off of the adapter. my bad, let me add that to the test plan! |
I did! Before the transfer step |
ncdiehl11
approved these changes
Apr 24, 2024
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closes AUTH-19
Overview
Update the pipette collision warnings in step-generation for the 96-channel column pick up only for now by checking all adjacent slots to the labware of interest and checking to see if the pipette will go into the bounding boxes. The logic is sort of complicated but should match python.
Test Plan
Create a flex protocol with a 96-channel attached. Add a heater-shaker module with an adapter and labware, and add a labware. Move the tiprack off of the tiprack adapter. Make sure the labware is next to the module. Create a move liquid step and make sure its a column pick up. See that the possible collision error occurs. Move the labware around and see that it disappears when its not next to the module.
I added a bunch of test cases to test all the options to make sure it works as expected.
NOTE: the thermocycler collision stuff isn't working yet, i'll investigate more and fix it in a followup PR. I left a comment to add test coverage for it.
Changelog
getFlexSurroundingSlotsin shared-data that returns all surrounding slots for a slot of interest only for the flexgetIsSafePipetteMovementwith a bunch of helper utils to use in step-generationReview requests
I added most of the utils to step-generation directly since I think only step-generation needs them. Lots of the utils rely on having
RobotStateandInvariantContextas props which is exclusive to step-generation. I added 1 util to shared-data and it is the util that returns all surrounding slots. Let me know if you have thoughts on that!Risk assessment
medium-ish, there is a lot of logic here but i tried to thoroughly test.