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feat(api): return location sequences from commands (#17435)
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By adding all the locations of a labware used in a command that
establishes or changes the position of a labware, we can free the client
from having to accumulate all previous such commands to display a single
such command.

These locations are shown as location sequences. These are lists of
heterogenous unions keyed by `kind`. The kinds mostly correspond to the
kinds of locations that the engine already uses - they're different
types because they have the `kind` key so you can tell them apart when
serialized instead of just via python isinstance checks. All these
sequences end in either an `OnCutoutFixtureLocation` which lists a
cutout id and possible cutout fixtures; or a `NotOnDeckLocation` that
specifies `OFF_DECK` or system.

Different robots have different kinds of sequences; on the OT-2, modules
are loaded on deck slots, and so a labware on a module would have
`[OnModule, OnAddressableArea, OnCutoutFixture]` while on the Flex,
modules are loaded on cutout fixtures and a labware on a module would
have `[OnAdressableArea, OnModule, OnCutoutFixture]` (having the
`OnModule` there lets us have the module ID; it is not technically
necessary).

There are some command implementations that are straightforward, and
some that are charmingly quirky.
- `loadLabware`, `reloadLabware`, `loadLid` all just return the location
of the newly added labware. Simple, clean, wondrous
- `loadLidStack` creates a lid stack object and returns its location,
and also creates N lid objects and returns all of _their_ locations,
which is done in its own array that is guaranteed to have the same
ordering as all the lid ids so we can keep the types of the locations
consistent across commands and also avoid altering already-existing
result elements
- `moveLabware` needs an origin and a destination location, so it has
them. In fact, one destination location isn't enough. When we move
labware to a trash location, we need to encode both (1) which trash
location it was and (2) that it is a trash location. After the command,
the position of the labware is `OFF_DECK` (because it went into the
trash), after all. So we get both `immediateDestinationLocationSequence`
(which in this scenario would be the addressable area of the trash) and
`eventualDestinationLocationSequence` (which in this scenario would be
off deck). If the two are the same, then the two are the same
- the stacker `store` and `retrieve` commands have info that isn't
really actually useful right now, but it will be soon, so let's carve
out some space for them. For now the labware just bounces back and forth
between the module/off deck and the module/stacker staging slot.

## to come out of draft
- [x] ts bindings
- [x] stacker store and retrieve
- ~[ ] add "what is the old and new state of the locations named in the
command" to these values~
  not going to do that ^ in this pr just so we can get it merged

---------

Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
Co-authored-by: sfoster1 <[email protected]>
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3 people authored Feb 10, 2025
1 parent 455774e commit 48ac4e6
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1,718 changes: 1,666 additions & 52 deletions ...napshot_test/test_analysis_snapshot[00574c503f][pl_BacteriaInoculation_Flex_6plates].json
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217 changes: 204 additions & 13 deletions ...snapshot_test/test_analysis_snapshot[01255c3f3b][pl_Flex_Protein_Digestion_Protocol].json
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Original file line number Diff line number Diff line change
Expand Up @@ -101,7 +101,20 @@
}
}
},
"labwareId": "UUID"
"labwareId": "UUID",
"locationSequence": [
{
"addressableAreaName": "C1",
"kind": "onAddressableArea"
},
{
"cutoutId": "cutoutC1",
"kind": "onCutoutFixture",
"possibleCutoutFixtureIds": [
"singleLeftSlot"
]
}
]
},
"startedAt": "TIMESTAMP",
"status": "succeeded"
Expand Down Expand Up @@ -170,7 +183,20 @@
"version": 1,
"wells": {}
},
"labwareId": "UUID"
"labwareId": "UUID",
"locationSequence": [
{
"addressableAreaName": "A1",
"kind": "onAddressableArea"
},
{
"cutoutId": "cutoutA1",
"kind": "onCutoutFixture",
"possibleCutoutFixtureIds": [
"singleLeftSlot"
]
}
]
},
"startedAt": "TIMESTAMP",
"status": "succeeded"
Expand Down Expand Up @@ -1328,7 +1354,24 @@
}
}
},
"labwareId": "UUID"
"labwareId": "UUID",
"locationSequence": [
{
"kind": "onLabware",
"labwareId": "UUID"
},
{
"addressableAreaName": "A1",
"kind": "onAddressableArea"
},
{
"cutoutId": "cutoutA1",
"kind": "onCutoutFixture",
"possibleCutoutFixtureIds": [
"singleLeftSlot"
]
}
]
},
"startedAt": "TIMESTAMP",
"status": "succeeded"
Expand Down Expand Up @@ -1397,7 +1440,20 @@
"version": 1,
"wells": {}
},
"labwareId": "UUID"
"labwareId": "UUID",
"locationSequence": [
{
"addressableAreaName": "A2",
"kind": "onAddressableArea"
},
{
"cutoutId": "cutoutA2",
"kind": "onCutoutFixture",
"possibleCutoutFixtureIds": [
"singleCenterSlot"
]
}
]
},
"startedAt": "TIMESTAMP",
"status": "succeeded"
Expand Down Expand Up @@ -2555,7 +2611,24 @@
}
}
},
"labwareId": "UUID"
"labwareId": "UUID",
"locationSequence": [
{
"kind": "onLabware",
"labwareId": "UUID"
},
{
"addressableAreaName": "A2",
"kind": "onAddressableArea"
},
{
"cutoutId": "cutoutA2",
"kind": "onCutoutFixture",
"possibleCutoutFixtureIds": [
"singleCenterSlot"
]
}
]
},
"startedAt": "TIMESTAMP",
"status": "succeeded"
Expand Down Expand Up @@ -2624,7 +2697,20 @@
"version": 1,
"wells": {}
},
"labwareId": "UUID"
"labwareId": "UUID",
"locationSequence": [
{
"addressableAreaName": "B1",
"kind": "onAddressableArea"
},
{
"cutoutId": "cutoutB1",
"kind": "onCutoutFixture",
"possibleCutoutFixtureIds": [
"singleLeftSlot"
]
}
]
},
"startedAt": "TIMESTAMP",
"status": "succeeded"
Expand Down Expand Up @@ -3782,7 +3868,24 @@
}
}
},
"labwareId": "UUID"
"labwareId": "UUID",
"locationSequence": [
{
"kind": "onLabware",
"labwareId": "UUID"
},
{
"addressableAreaName": "B1",
"kind": "onAddressableArea"
},
{
"cutoutId": "cutoutB1",
"kind": "onCutoutFixture",
"possibleCutoutFixtureIds": [
"singleLeftSlot"
]
}
]
},
"startedAt": "TIMESTAMP",
"status": "succeeded"
Expand Down Expand Up @@ -3851,7 +3954,20 @@
"version": 1,
"wells": {}
},
"labwareId": "UUID"
"labwareId": "UUID",
"locationSequence": [
{
"addressableAreaName": "B2",
"kind": "onAddressableArea"
},
{
"cutoutId": "cutoutB2",
"kind": "onCutoutFixture",
"possibleCutoutFixtureIds": [
"singleCenterSlot"
]
}
]
},
"startedAt": "TIMESTAMP",
"status": "succeeded"
Expand Down Expand Up @@ -5009,7 +5125,24 @@
}
}
},
"labwareId": "UUID"
"labwareId": "UUID",
"locationSequence": [
{
"kind": "onLabware",
"labwareId": "UUID"
},
{
"addressableAreaName": "B2",
"kind": "onAddressableArea"
},
{
"cutoutId": "cutoutB2",
"kind": "onCutoutFixture",
"possibleCutoutFixtureIds": [
"singleCenterSlot"
]
}
]
},
"startedAt": "TIMESTAMP",
"status": "succeeded"
Expand Down Expand Up @@ -6276,7 +6409,20 @@
}
}
},
"labwareId": "UUID"
"labwareId": "UUID",
"locationSequence": [
{
"addressableAreaName": "C2",
"kind": "onAddressableArea"
},
{
"cutoutId": "cutoutC2",
"kind": "onCutoutFixture",
"possibleCutoutFixtureIds": [
"singleCenterSlot"
]
}
]
},
"startedAt": "TIMESTAMP",
"status": "succeeded"
Expand Down Expand Up @@ -7939,7 +8085,22 @@
}
}
},
"labwareId": "UUID"
"labwareId": "UUID",
"locationSequence": [
{
"addressableAreaName": "C3",
"kind": "onAddressableArea"
},
{
"cutoutId": "cutoutC3",
"kind": "onCutoutFixture",
"possibleCutoutFixtureIds": [
"flexStackerModuleV1",
"singleRightSlot",
"stagingAreaRightSlot"
]
}
]
},
"startedAt": "TIMESTAMP",
"status": "succeeded"
Expand Down Expand Up @@ -9602,7 +9763,20 @@
}
}
},
"labwareId": "UUID"
"labwareId": "UUID",
"locationSequence": [
{
"addressableAreaName": "D2",
"kind": "onAddressableArea"
},
{
"cutoutId": "cutoutD2",
"kind": "onCutoutFixture",
"possibleCutoutFixtureIds": [
"singleCenterSlot"
]
}
]
},
"startedAt": "TIMESTAMP",
"status": "succeeded"
Expand Down Expand Up @@ -11265,7 +11439,24 @@
}
}
},
"labwareId": "UUID"
"labwareId": "UUID",
"locationSequence": [
{
"addressableAreaName": "D3",
"kind": "onAddressableArea"
},
{
"cutoutId": "cutoutD3",
"kind": "onCutoutFixture",
"possibleCutoutFixtureIds": [
"flexStackerModuleV1",
"flexStackerModuleV1WithWasteChuteRightAdapterCovered",
"flexStackerModuleV1WithWasteChuteRightAdapterNoCover",
"singleRightSlot",
"stagingAreaRightSlot"
]
}
]
},
"startedAt": "TIMESTAMP",
"status": "succeeded"
Expand Down
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