fix(step-generation): modify curried command order for heater-shaker (#…

…12741) closes RAUT-453
Opentrons · May 22, 2023 · acbf638 · acbf638
1 parent c3f2240
commit acbf638
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Showing 2 changed files with 96 additions and 10 deletions.
diff --git a/step-generation/src/__tests__/heaterShaker.test.ts b/step-generation/src/__tests__/heaterShaker.test.ts
@@ -4,10 +4,10 @@ import {
 } from '@opentrons/shared-data'
 import { heaterShaker } from '../commandCreators'
 import { getModuleState } from '../robotStateSelectors'
+import { getInitialRobotStateStandard, makeContext } from '../fixtures'
 import { getErrorResult, getSuccessResult } from '../fixtures/commandFixtures'
 
 import type { InvariantContext, RobotState, HeaterShakerArgs } from '../types'
-import { getInitialRobotStateStandard, makeContext } from '../fixtures'
 
 jest.mock('../robotStateSelectors')
 
@@ -163,4 +163,84 @@ describe('heaterShaker compound command creator', () => {
       },
     ])
   })
+  it('should not call deactivateShaker when it is not shaking but call activate temperature when setting target temp', () => {
+    heaterShakerArgs = {
+      ...heaterShakerArgs,
+      rpm: null,
+      targetTemperature: 80,
+    }
+
+    const state = getInitialRobotStateStandard(invariantContext)
+
+    robotState = {
+      ...state,
+      modules: {
+        ...state.modules,
+        [HEATER_SHAKER_ID]: {
+          slot: HEATER_SHAKER_SLOT,
+          moduleState: {
+            type: 'heaterShakerModuleType',
+            targetSpeed: null,
+          },
+        } as any,
+      },
+    }
+
+    const result = heaterShaker(heaterShakerArgs, invariantContext, robotState)
+
+    expect(getSuccessResult(result).commands).toEqual([
+      {
+        commandType: 'heaterShaker/closeLabwareLatch',
+        key: expect.any(String),
+        params: {
+          moduleId: 'heaterShakerId',
+        },
+      },
+      {
+        commandType: 'heaterShaker/setTargetTemperature',
+        key: expect.any(String),
+        params: {
+          celsius: 80,
+          moduleId: 'heaterShakerId',
+        },
+      },
+    ])
+  })
+  it('should call to open latch last', () => {
+    heaterShakerArgs = {
+      ...heaterShakerArgs,
+      latchOpen: true,
+    }
+
+    const state = getInitialRobotStateStandard(invariantContext)
+
+    robotState = {
+      ...state,
+      modules: {
+        ...state.modules,
+        [HEATER_SHAKER_ID]: {
+          slot: HEATER_SHAKER_SLOT,
+        } as any,
+      },
+    }
+
+    const result = heaterShaker(heaterShakerArgs, invariantContext, robotState)
+
+    expect(getSuccessResult(result).commands).toEqual([
+      {
+        commandType: 'heaterShaker/deactivateHeater',
+        key: expect.any(String),
+        params: {
+          moduleId: 'heaterShakerId',
+        },
+      },
+      {
+        commandType: 'heaterShaker/openLabwareLatch',
+        key: expect.any(String),
+        params: {
+          moduleId: 'heaterShakerId',
+        },
+      },
+    ])
+  })
 })
diff --git a/step-generation/src/commandCreators/compound/heaterShaker.ts b/step-generation/src/commandCreators/compound/heaterShaker.ts
@@ -34,13 +34,7 @@ export const heaterShaker: CommandCreator<HeaterShakerArgs> = (
 
   const commandCreators: CurriedCommandCreator[] = []
 
-  if (args.latchOpen) {
-    commandCreators.push(
-      curryCommandCreator(heaterShakerOpenLatch, {
-        moduleId: args.module,
-      })
-    )
-  } else {
+  if (!args.latchOpen) {
     commandCreators.push(
       curryCommandCreator(heaterShakerCloseLatch, {
         moduleId: args.module,
@@ -64,13 +58,17 @@ export const heaterShaker: CommandCreator<HeaterShakerArgs> = (
     )
   }
 
-  if (args.rpm === null) {
+  if (
+    args.rpm === null &&
+    'targetSpeed' in heaterShakerState &&
+    heaterShakerState.targetSpeed !== null
+  ) {
     commandCreators.push(
       curryCommandCreator(heaterShakerStopShake, {
         moduleId: args.module,
       })
     )
-  } else {
+  } else if (args.rpm !== null) {
     commandCreators.push(
       curryCommandCreator(heaterShakerSetTargetShakeSpeed, {
         moduleId: args.module,
@@ -80,6 +78,14 @@ export const heaterShaker: CommandCreator<HeaterShakerArgs> = (
     )
   }
 
+  if (args.latchOpen) {
+    commandCreators.push(
+      curryCommandCreator(heaterShakerOpenLatch, {
+        moduleId: args.module,
+      })
+    )
+  }
+
   if (
     (args.timerMinutes != null && args.timerMinutes !== 0) ||
     (args.timerSeconds != null && args.timerSeconds !== 0)