feat(step-generation): py commands for move_to well (#17846)

Author: jerader

shared-data/command/types/index.ts

@@ -30,7 +30,7 @@ export * from './pipetting'
 export * from './setup'
 export * from './timing'
 export * from './unsafe'
-
+export * from './support'
 // NOTE: these key/value pairs will only be present on commands at analysis/run time
 // they pertain only to the actual execution status of a command on hardware, as opposed to
 // the command's identity and parameters which can be known prior to runtime

step-generation/src/__tests__/moveToWell.test.ts

@@ -23,6 +23,7 @@ import {
   SOURCE_LABWARE,
 } from '../fixtures'
 import type { InvariantContext, RobotState } from '../types'
+import type { WellOrigin } from '@opentrons/shared-data'
 
 vi.mock('../utils/absorbanceReaderCollision')
 vi.mock('../utils/thermocyclerPipetteCollision')
@@ -46,6 +47,10 @@ describe('moveToWell', () => {
       pipetteId: DEFAULT_PIPETTE,
       labwareId: SOURCE_LABWARE,
       wellName: 'A1',
+      wellLocation: {
+        origin: 'bottom' as WellOrigin,
+        offset: { z: 1 },
+      },
     }
     const result = moveToWell(params, invariantContext, robotStateWithTip)
     expect(getSuccessResult(result).commands).toEqual([
@@ -56,9 +61,18 @@ describe('moveToWell', () => {
           pipetteId: DEFAULT_PIPETTE,
           labwareId: SOURCE_LABWARE,
           wellName: 'A1',
+          wellLocation: {
+            origin: 'bottom' as any,
+            offset: {
+              z: 1,
+            },
+          },
         },
       },
     ])
+    expect(getSuccessResult(result).python).toBe(
+      'mockPythonName.move_to(mockPythonName["A1"].bottom(z=1))'
+    )
   })
   it('should apply the optional params to the command', () => {
     const params = {

step-generation/src/commandCreators/atomic/moveToWell.ts

@@ -12,6 +12,8 @@ import {
   getIsHeaterShakerEastWestMultiChannelPipette,
   getIsHeaterShakerNorthSouthOfNonTiprackWithMultiChannelPipette,
   uuid,
+  formatPyStr,
+  formatPyWellLocation,
 } from '../../utils'
 import { COLUMN_4_SLOTS } from '../../constants'
 import type { CreateCommand, MoveToWellParams } from '@opentrons/shared-data'
@@ -34,9 +36,8 @@ export const moveToWell: CommandCreator<MoveToWellParams> = (
   const actionName = 'moveToWell'
   const errors: CommandCreatorError[] = []
   const labwareState = prevRobotState.labware
-  // TODO(2020-07-30, IL): the below is duplicated or at least similar
-  // across aspirate/dispense/blowout, we can probably DRY it up
-  const pipetteSpec = invariantContext.pipetteEntities[pipetteId]?.spec
+  const { pipetteEntities, labwareEntities } = invariantContext
+  const pipetteSpec = pipetteEntities[pipetteId]?.spec
   const isFlexPipette =
     (pipetteSpec?.displayCategory === 'FLEX' || pipetteSpec?.channels === 96) ??
     false
@@ -160,7 +161,7 @@ export const moveToWell: CommandCreator<MoveToWellParams> = (
         prevRobotState.modules,
         slotName,
         pipetteSpec,
-        invariantContext.labwareEntities[labwareId]
+        labwareEntities[labwareId]
       )
     ) {
       errors.push(
@@ -174,6 +175,9 @@ export const moveToWell: CommandCreator<MoveToWellParams> = (
     }
   }
 
+  const pipettePythonName = pipetteEntities[pipetteId].pythonName
+  const labwarePythonName = labwareEntities[labwareId].pythonName
+
   const commands: CreateCommand[] = [
     {
       commandType: 'moveToWell',
@@ -188,7 +192,11 @@ export const moveToWell: CommandCreator<MoveToWellParams> = (
       },
     },
   ]
+  //  NOTE: forceDirect and minimumZHeight were never wired up in the form or stepArgs
   return {
     commands,
+    python: `${pipettePythonName}.move_to(${labwarePythonName}[${formatPyStr(
+      wellName
+    )}]${formatPyWellLocation(wellLocation)})`,
   }
 }