feat(step-generation): create delay compound commands and delayLocationHelper util

jerader · jerader · commit add5ccb0b2ce · 2025-03-21T14:34:45.000-04:00
diff --git a/step-generation/src/__tests__/delayInTrash.test.ts b/step-generation/src/__tests__/delayInTrash.test.ts
@@ -0,0 +1,55 @@
+import { describe, it, expect } from 'vitest'
+import {
+  makeContext,
+  getSuccessResult,
+  getInitialRobotStateStandard,
+} from '../fixtures'
+import { delayInTrash } from '../commandCreators/compound'
+import type { RobotState, InvariantContext } from '../types'
+
+const mockTrashBinId = 'trashBinId'
+const invariantContext: InvariantContext = {
+  ...makeContext(),
+  additionalEquipmentEntities: {
+    [mockTrashBinId]: {
+      id: mockTrashBinId,
+      name: 'trashBin',
+      pythonName: 'mock_trash_bin_1',
+      location: 'cutoutA3',
+    },
+  },
+}
+const prevRobotState: RobotState = getInitialRobotStateStandard(
+  invariantContext
+)
+
+describe('delayInTrash', () => {
+  it('moves to waste chute and delays', () => {
+    const args = {
+      pipetteId: 'p10SingleId',
+      destinationId: mockTrashBinId,
+      seconds: 30,
+    }
+
+    const result = delayInTrash(args, invariantContext, prevRobotState)
+    const res = getSuccessResult(result)
+    expect(res.commands).toEqual([
+      {
+        commandType: 'moveToAddressableArea',
+        key: expect.any(String),
+        params: {
+          pipetteId: 'p10SingleId',
+          offset: { x: 0, y: 0, z: 0 },
+          addressableAreaName: 'movableTrashA3',
+        },
+      },
+      {
+        commandType: 'waitForDuration',
+        key: expect.any(String),
+        params: {
+          seconds: 30,
+        },
+      },
+    ])
+  })
+})
diff --git a/step-generation/src/__tests__/delayInWasteChute.test.ts b/step-generation/src/__tests__/delayInWasteChute.test.ts
@@ -0,0 +1,55 @@
+import { describe, it, expect } from 'vitest'
+import { WASTE_CHUTE_CUTOUT } from '@opentrons/shared-data'
+import {
+  makeContext,
+  getSuccessResult,
+  getInitialRobotStateStandard,
+} from '../fixtures'
+import { delayInWasteChute } from '../commandCreators/compound'
+import type { RobotState, InvariantContext } from '../types'
+
+const wasteChuteId = 'wasteChuteId'
+const invariantContext: InvariantContext = {
+  ...makeContext(),
+  additionalEquipmentEntities: {
+    [wasteChuteId]: {
+      id: wasteChuteId,
+      name: 'wasteChute',
+      pythonName: 'mock_waste_chute_1',
+      location: WASTE_CHUTE_CUTOUT,
+    },
+  },
+}
+const prevRobotState: RobotState = getInitialRobotStateStandard(
+  invariantContext
+)
+
+describe('delayInWasteChute', () => {
+  it('moves to waste chute and delays', () => {
+    const args = {
+      pipetteId: 'p10SingleId',
+      seconds: 30,
+    }
+
+    const result = delayInWasteChute(args, invariantContext, prevRobotState)
+    const res = getSuccessResult(result)
+    expect(res.commands).toEqual([
+      {
+        commandType: 'moveToAddressableArea',
+        key: expect.any(String),
+        params: {
+          pipetteId: 'p10SingleId',
+          offset: { x: 0, y: 0, z: 0 },
+          addressableAreaName: '1ChannelWasteChute',
+        },
+      },
+      {
+        commandType: 'waitForDuration',
+        key: expect.any(String),
+        params: {
+          seconds: 30,
+        },
+      },
+    ])
+  })
+})
diff --git a/step-generation/src/__tests__/delayInWell.test.ts b/step-generation/src/__tests__/delayInWell.test.ts
@@ -0,0 +1,57 @@
+import { beforeEach, describe, it, expect } from 'vitest'
+import {
+  makeContext,
+  getRobotStateWithTipStandard,
+  getSuccessResult,
+  SOURCE_LABWARE,
+} from '../fixtures'
+import { delayInWell } from '../commandCreators/compound'
+import type { RobotState, InvariantContext } from '../types'
+
+describe('delayInWell', () => {
+  let invariantContext: InvariantContext
+  let robotStateWithTip: RobotState
+
+  beforeEach(() => {
+    invariantContext = makeContext()
+    robotStateWithTip = getRobotStateWithTipStandard(invariantContext)
+  })
+  it('moves to well and delays', () => {
+    const args = {
+      pipetteId: 'p10SingleId',
+      zOffset: 10,
+      destinationId: SOURCE_LABWARE,
+      well: 'B1',
+      seconds: 30,
+    }
+
+    const result = delayInWell(args, invariantContext, robotStateWithTip)
+    const res = getSuccessResult(result)
+    expect(res.commands).toEqual([
+      {
+        commandType: 'moveToWell',
+        key: expect.any(String),
+        params: {
+          labwareId: 'sourcePlateId',
+          pipetteId: 'p10SingleId',
+          wellLocation: {
+            offset: {
+              x: 0,
+              y: 0,
+              z: 10,
+            },
+            origin: 'bottom',
+          },
+          wellName: 'B1',
+        },
+      },
+      {
+        commandType: 'waitForDuration',
+        key: expect.any(String),
+        params: {
+          seconds: 30,
+        },
+      },
+    ])
+  })
+})
diff --git a/step-generation/src/commandCreators/compound/consolidate.ts b/step-generation/src/commandCreators/compound/consolidate.ts
@@ -9,21 +9,20 @@ import * as errorCreators from '../../errorCreators'
 import { getPipetteWithTipMaxVol } from '../../robotStateSelectors'
 import { dropTipInTrash } from './dropTipInTrash'
 import {
+  airGapLocationHelper,
   blowoutLocationHelper,
   curryCommandCreator,
-  reduceCommandCreators,
-  airGapLocationHelper,
   dispenseLocationHelper,
-  moveHelper,
-  getIsSafePipetteMovement,
   getHasWasteChute,
+  getIsSafePipetteMovement,
+  moveAndDelayLocationHelper,
+  reduceCommandCreators,
 } from '../../utils'
 import {
   aspirate,
   configureForVolume,
   delay,
   dropTip,
-  moveToWell,
   touchTip,
 } from '../atomic'
 import { mixUtil } from './mix'
@@ -200,20 +199,11 @@ export const consolidate: CommandCreator<ConsolidateArgs> = (
           const delayAfterAspirateCommands =
             aspirateDelay != null
               ? [
-                  curryCommandCreator(moveToWell, {
+                  curryCommandCreator(moveAndDelayLocationHelper, {
                     pipetteId: args.pipette,
-                    labwareId: args.sourceLabware,
-                    wellName: sourceWell,
-                    wellLocation: {
-                      origin: 'bottom',
-                      offset: {
-                        x: 0,
-                        y: 0,
-                        z: aspirateDelay.mmFromBottom,
-                      },
-                    },
-                  }),
-                  curryCommandCreator(delay, {
+                    destinationId: args.sourceLabware,
+                    well: sourceWell,
+                    zOffset: aspirateDelay.mmFromBottom,
                     seconds: aspirateDelay.seconds,
                   }),
                 ]
@@ -371,13 +361,11 @@ export const consolidate: CommandCreator<ConsolidateArgs> = (
       const delayAfterDispenseCommands =
         dispenseDelay != null
           ? [
-              curryCommandCreator(moveHelper, {
+              curryCommandCreator(moveAndDelayLocationHelper, {
                 pipetteId: args.pipette,
                 destinationId: args.destLabware,
-                well: destinationWell ?? undefined,
+                well: destinationWell,
                 zOffset: dispenseDelay.mmFromBottom,
-              }),
-              curryCommandCreator(delay, {
                 seconds: dispenseDelay.seconds,
               }),
             ]
diff --git a/step-generation/src/commandCreators/compound/delayInTrash.ts b/step-generation/src/commandCreators/compound/delayInTrash.ts
@@ -0,0 +1,44 @@
+import {
+  curryCommandCreator,
+  getTrashBinAddressableAreaName,
+  reduceCommandCreators,
+} from '../../utils'
+import { ZERO_OFFSET } from '../../constants'
+import { delay, moveToAddressableArea } from '../atomic'
+import type { CommandCreator, CurriedCommandCreator } from '../../types'
+import type { CutoutId } from '@opentrons/shared-data'
+
+interface DelayInTrashArgs {
+  destinationId: string
+  pipetteId: string
+  seconds: number
+}
+
+export const delayInTrash: CommandCreator<DelayInTrashArgs> = (
+  args,
+  invariantContext,
+  prevRobotState
+) => {
+  const { seconds, pipetteId, destinationId } = args
+  const addressableAreaName = getTrashBinAddressableAreaName(
+    invariantContext.additionalEquipmentEntities[destinationId]
+      .location as CutoutId
+  )
+
+  const commandCreators: CurriedCommandCreator[] = [
+    curryCommandCreator(moveToAddressableArea, {
+      pipetteId,
+      addressableAreaName,
+      offset: ZERO_OFFSET,
+    }),
+    curryCommandCreator(delay, {
+      seconds: seconds,
+    }),
+  ]
+
+  return reduceCommandCreators(
+    commandCreators,
+    invariantContext,
+    prevRobotState
+  )
+}
diff --git a/step-generation/src/commandCreators/compound/delayInWasteChute.ts b/step-generation/src/commandCreators/compound/delayInWasteChute.ts
@@ -0,0 +1,40 @@
+import {
+  curryCommandCreator,
+  getWasteChuteAddressableAreaNamePip,
+  reduceCommandCreators,
+} from '../../utils'
+import { ZERO_OFFSET } from '../../constants'
+import { delay, moveToAddressableArea } from '../atomic'
+import type { CommandCreator, CurriedCommandCreator } from '../../types'
+
+interface delayInWasteChuteArgs {
+  pipetteId: string
+  seconds: number
+}
+
+export const delayInWasteChute: CommandCreator<delayInWasteChuteArgs> = (
+  args,
+  invariantContext,
+  prevRobotState
+) => {
+  const { seconds, pipetteId } = args
+  const pipetteChannels =
+    invariantContext.pipetteEntities[pipetteId].spec.channels
+
+  const commandCreators: CurriedCommandCreator[] = [
+    curryCommandCreator(moveToAddressableArea, {
+      pipetteId,
+      addressableAreaName: getWasteChuteAddressableAreaNamePip(pipetteChannels),
+      offset: ZERO_OFFSET,
+    }),
+    curryCommandCreator(delay, {
+      seconds: seconds,
+    }),
+  ]
+
+  return reduceCommandCreators(
+    commandCreators,
+    invariantContext,
+    prevRobotState
+  )
+}
diff --git a/step-generation/src/commandCreators/compound/distribute.ts b/step-generation/src/commandCreators/compound/distribute.ts
@@ -18,14 +18,14 @@ import {
   getIsSafePipetteMovement,
   getHasWasteChute,
   airGapLocationHelper,
+  moveAndDelayLocationHelper,
 } from '../../utils'
 import {
   aspirate,
   configureForVolume,
   delay,
   dispense,
   dropTip,
-  moveToWell,
   touchTip,
 } from '../atomic'
 import { mixUtil } from './mix'
@@ -241,20 +241,11 @@ export const distribute: CommandCreator<DistributeArgs> = (
           const delayAfterDispenseCommands =
             dispenseDelay != null
               ? [
-                  curryCommandCreator(moveToWell, {
+                  curryCommandCreator(moveAndDelayLocationHelper, {
                     pipetteId: args.pipette,
-                    labwareId: args.destLabware,
-                    wellName: destWell,
-                    wellLocation: {
-                      origin: 'bottom',
-                      offset: {
-                        x: 0,
-                        y: 0,
-                        z: dispenseDelay.mmFromBottom,
-                      },
-                    },
-                  }),
-                  curryCommandCreator(delay, {
+                    destinationId: args.destLabware,
+                    well: destWell,
+                    zOffset: dispenseDelay.mmFromBottom,
                     seconds: dispenseDelay.seconds,
                   }),
                 ]
@@ -385,20 +376,11 @@ export const distribute: CommandCreator<DistributeArgs> = (
       const delayAfterAspirateCommands =
         aspirateDelay != null
           ? [
-              curryCommandCreator(moveToWell, {
+              curryCommandCreator(moveAndDelayLocationHelper, {
                 pipetteId: args.pipette,
-                labwareId: args.sourceLabware,
-                wellName: args.sourceWell,
-                wellLocation: {
-                  origin: 'bottom',
-                  offset: {
-                    x: 0,
-                    y: 0,
-                    z: aspirateDelay.mmFromBottom,
-                  },
-                },
-              }),
-              curryCommandCreator(delay, {
+                destinationId: args.sourceLabware,
+                well: args.sourceWell,
+                zOffset: aspirateDelay.mmFromBottom,
                 seconds: aspirateDelay.seconds,
               }),
             ]
diff --git a/step-generation/src/commandCreators/compound/index.ts b/step-generation/src/commandCreators/compound/index.ts
@@ -6,6 +6,8 @@ export { airGapInWell } from './airGapInWell'
 export { blowOutInTrash } from './blowOutInTrash'
 export { blowOutInWasteChute } from './blowOutInWasteChute'
 export { consolidate } from './consolidate'
+export { delayInTrash } from './delayInTrash'
+export { delayInWasteChute } from './delayInWasteChute'
 export { delayInWell } from './delayInWell'
 export { dispenseInTrash } from './dispenseInTrash'
 export { dispenseInWasteChute } from './dispenseInWasteChute'
diff --git a/step-generation/src/commandCreators/compound/transfer.ts b/step-generation/src/commandCreators/compound/transfer.ts
diff --git a/step-generation/src/utils/misc.ts b/step-generation/src/utils/misc.ts
