feat(step-generation): py command for dropping tip in waste chute (#17831)

Author: jerader

protocol-designer/src/timelineMiddleware/generateRobotStateTimeline.ts

@@ -1,14 +1,11 @@
 import {
-  dropTipInPlace,
-  moveToAddressableArea,
-  getWasteChuteAddressableAreaNamePip,
   dropTipInTrash,
+  dropTipInWasteChute,
   curryCommandCreator,
   dropTip,
   reduceCommandCreators,
   commandCreatorsTimeline,
   getPipetteIdFromCCArgs,
-  ZERO_OFFSET,
 } from '@opentrons/step-generation'
 import { commandCreatorFromStepArgs } from '../file-data/helpers'
 import type { StepArgsAndErrorsById } from '../steplist/types'
@@ -75,11 +72,6 @@ export const generateRobotStateTimeline = (
         const isWasteChute = dropTipEntity?.name === 'wasteChute'
         const isTrashBin = dropTipEntity?.name === 'trashBin'
 
-        const pipetteSpec = invariantContext.pipetteEntities[pipetteId]?.spec
-        const addressableAreaNameWasteChute = getWasteChuteAddressableAreaNamePip(
-          pipetteSpec.channels
-        )
-
         let dropTipCommands = [
           curryCommandCreator(dropTip, {
             pipette: pipetteId,
@@ -88,13 +80,9 @@ export const generateRobotStateTimeline = (
         ]
         if (isWasteChute) {
           dropTipCommands = [
-            curryCommandCreator(moveToAddressableArea, {
-              pipetteId,
-              addressableAreaName: addressableAreaNameWasteChute,
-              offset: ZERO_OFFSET,
-            }),
-            curryCommandCreator(dropTipInPlace, {
+            curryCommandCreator(dropTipInWasteChute, {
               pipetteId,
+              wasteChuteId: dropTipEntity.id,
             }),
           ]
         }

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

@@ -1,50 +1,42 @@
 import { describe, it, expect, vi } from 'vitest'
 import { WASTE_CHUTE_CUTOUT } from '@opentrons/shared-data'
-import { getSuccessResult, makeContext } from '../fixtures'
+import { DEFAULT_PIPETTE, getSuccessResult, makeContext } from '../fixtures'
 import { dropTipInWasteChute } from '../commandCreators'
 
-import type { InvariantContext, PipetteEntities, RobotState } from '../types'
+import type { InvariantContext, RobotState } from '../types'
 
 vi.mock('../getNextRobotStateAndWarnings/dispenseUpdateLiquidState')
 
 const mockWasteChuteId = 'mockWasteChuteId'
-const mockId = 'mockId'
-
-const mockPipEntities: PipetteEntities = {
-  [mockId]: {
-    name: 'p50_single_flex',
-    id: mockId,
-    spec: { channels: 1 },
-  },
-} as any
 
 const invariantContext: InvariantContext = {
   ...makeContext(),
-  pipetteEntities: mockPipEntities,
   additionalEquipmentEntities: {
     [mockWasteChuteId]: {
       name: 'wasteChute' as const,
       location: WASTE_CHUTE_CUTOUT,
       id: mockWasteChuteId,
+      pythonName: 'mock_waste_chute_1',
     },
   },
 }
 const prevRobotState: RobotState = {
-  tipState: { pipettes: { [mockId]: true } } as any,
+  tipState: { pipettes: { [DEFAULT_PIPETTE]: true } } as any,
 } as any
 
 describe('dropTipInWasteChute', () => {
-  it('returns correct commands for drop tip', () => {
+  it('returns correct commands for drop tip in waste chute', () => {
     const args = {
-      pipetteId: mockId,
+      pipetteId: DEFAULT_PIPETTE,
+      wasteChuteId: mockWasteChuteId,
     }
     const result = dropTipInWasteChute(args, invariantContext, prevRobotState)
     expect(getSuccessResult(result).commands).toEqual([
       {
         commandType: 'moveToAddressableArea',
         key: expect.any(String),
         params: {
-          pipetteId: mockId,
+          pipetteId: DEFAULT_PIPETTE,
           addressableAreaName: '1ChannelWasteChute',
           offset: { x: 0, y: 0, z: 0 },
         },
@@ -53,9 +45,12 @@ describe('dropTipInWasteChute', () => {
         commandType: 'dropTipInPlace',
         key: expect.any(String),
         params: {
-          pipetteId: mockId,
+          pipetteId: DEFAULT_PIPETTE,
         },
       },
     ])
+    expect(getSuccessResult(result).python).toBe(
+      'mockPythonName.drop_tip(mock_waste_chute_1)'
+    )
   })
 })

step-generation/src/commandCreators/compound/consolidate.ts

@@ -460,6 +460,7 @@ export const consolidate: CommandCreator<ConsolidateArgs> = (
         dropTipCommand = [
           curryCommandCreator(dropTipInWasteChute, {
             pipetteId: args.pipette,
+            wasteChuteId: dropTipEntity.id,
           }),
         ]
       }

step-generation/src/commandCreators/compound/distribute.ts

@@ -386,6 +386,7 @@ export const distribute: CommandCreator<DistributeArgs> = (
         dropTipCommand = [
           curryCommandCreator(dropTipInWasteChute, {
             pipetteId: args.pipette,
+            wasteChuteId: dropTipEntity.id,
           }),
         ]
       }

step-generation/src/commandCreators/compound/dropTipInWasteChute.ts

@@ -1,5 +1,5 @@
 import {
-  curryCommandCreator,
+  curryWithoutPython,
   getWasteChuteAddressableAreaNamePip,
   reduceCommandCreators,
 } from '../../utils'
@@ -9,6 +9,7 @@ import type { CommandCreator, CurriedCommandCreator } from '../../types'
 
 interface DropTipInWasteChuteArgs {
   pipetteId: string
+  wasteChuteId: string
 }
 
 export const dropTipInWasteChute: CommandCreator<DropTipInWasteChuteArgs> = (
@@ -17,9 +18,9 @@ export const dropTipInWasteChute: CommandCreator<DropTipInWasteChuteArgs> = (
   prevRobotState
 ) => {
   const offset = ZERO_OFFSET
-  const { pipetteId } = args
-  const pipetteChannels =
-    invariantContext.pipetteEntities[pipetteId].spec.channels
+  const { pipetteId, wasteChuteId } = args
+  const { pipetteEntities, additionalEquipmentEntities } = invariantContext
+  const pipetteChannels = pipetteEntities[pipetteId].spec.channels
   const addressableAreaName = getWasteChuteAddressableAreaNamePip(
     pipetteChannels
   )
@@ -30,15 +31,24 @@ export const dropTipInWasteChute: CommandCreator<DropTipInWasteChuteArgs> = (
   if (!prevRobotState.tipState.pipettes[pipetteId]) {
     commandCreators = []
   } else {
+    const pipettePythonName = pipetteEntities[pipetteId].pythonName
+    const wasteChutePythonName =
+      additionalEquipmentEntities[wasteChuteId].pythonName
+    const pythonCommandCreator: CurriedCommandCreator = () => ({
+      commands: [],
+      python: `${pipettePythonName}.drop_tip(${wasteChutePythonName})`,
+    })
+
     commandCreators = [
-      curryCommandCreator(moveToAddressableArea, {
+      curryWithoutPython(moveToAddressableArea, {
         pipetteId,
         addressableAreaName,
         offset,
       }),
-      curryCommandCreator(dropTipInPlace, {
+      curryWithoutPython(dropTipInPlace, {
         pipetteId,
       }),
+      pythonCommandCreator,
     ]
   }
   return reduceCommandCreators(

step-generation/src/commandCreators/compound/replaceTip.ts

@@ -211,6 +211,7 @@ export const replaceTip: CommandCreator<ReplaceTipArgs> = (
     commandCreators = [
       curryCommandCreator(dropTipInWasteChute, {
         pipetteId: args.pipette,
+        wasteChuteId: dropTipEntity.id,
       }),
       ...configureNozzleLayoutCommand,
       curryCommandCreator(pickUpTip, {

step-generation/src/commandCreators/compound/transfer.ts

@@ -545,6 +545,7 @@ export const transfer: CommandCreator<TransferArgs> = (
             dropTipCommand = [
               curryCommandCreator(dropTipInWasteChute, {
                 pipetteId: args.pipette,
+                wasteChuteId: dropTipEntity.id,
               }),
             ]
           }

step-generation/src/index.ts

@@ -17,6 +17,7 @@ export {
   dropTip,
   dropTipInPlace,
   dropTipInTrash,
+  dropTipInWasteChute,
   engageMagnet,
   heaterShaker,
   mix,