add delayInwell

Author: jerader

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

@@ -0,0 +1,40 @@
+import { curryCommandCreator, reduceCommandCreators } from '../../utils'
+import { delay, moveToWell } from '../atomic'
+import type { CommandCreator, CurriedCommandCreator } from '../../types'
+
+interface DelayInWellArgs {
+  pipetteId: string
+  destinationId: string
+  well: string
+  zOffset: number
+  seconds: number
+}
+
+export const delayInWell: CommandCreator<DelayInWellArgs> = (
+  args,
+  invariantContext,
+  prevRobotState
+) => {
+  const { destinationId, well, zOffset, seconds, pipetteId } = args
+
+  const commandCreators: CurriedCommandCreator[] = [
+    curryCommandCreator(moveToWell, {
+      pipetteId: pipetteId,
+      labwareId: destinationId,
+      wellName: well,
+      wellLocation: {
+        origin: 'bottom',
+        offset: { x: 0, y: 0, z: zOffset },
+      },
+    }),
+    curryCommandCreator(delay, {
+      seconds: seconds,
+    }),
+  ]
+
+  return reduceCommandCreators(
+    commandCreators,
+    invariantContext,
+    prevRobotState
+  )
+}

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

@@ -6,6 +6,7 @@ export { airGapInWell } from './airGapInWell'
 export { blowOutInTrash } from './blowOutInTrash'
 export { blowOutInWasteChute } from './blowOutInWasteChute'
 export { consolidate } from './consolidate'
+export { delayInWell } from './delayInWell'
 export { dispenseInTrash } from './dispenseInTrash'
 export { dispenseInWasteChute } from './dispenseInWasteChute'
 export { distribute } from './distribute'

step-generation/src/utils/misc.ts

@@ -55,6 +55,7 @@ import type {
   RobotState,
   SourceAndDest,
 } from '../types'
+import { delayInWell } from '../commandCreators/compound/delayInWell'
 export const AIR: '__air__' = '__air__'
 export const SOURCE_WELL_BLOWOUT_DESTINATION: 'source_well' = 'source_well'
 export const DEST_WELL_BLOWOUT_DESTINATION: 'dest_well' = 'dest_well'
@@ -780,3 +781,41 @@ export const airGapLocationHelper: CommandCreator<AirGapLocationArgs> = (
 
   return reduceCommandCreators(commands, invariantContext, prevRobotState)
 }
+
+interface MoveAndDelayLocationHelperArgs {
+  pipetteId: string
+  destinationId: string
+  well: string | null
+  zOffset: number
+  seconds: number
+}
+
+export const moveAndDelayLocationHelper: CommandCreator<MoveAndDelayLocationHelperArgs> = (
+  args,
+  invariantContext,
+  prevRobotState
+) => {
+  const { pipetteId, destinationId, well, zOffset, seconds } = args
+  const { labwareEntities, additionalEquipmentEntities } = invariantContext
+  const trashOrLabware = getTrashOrLabware(
+    labwareEntities,
+    additionalEquipmentEntities,
+    destinationId
+  )
+
+  let commands: CurriedCommandCreator[] = []
+
+  if (well != null && trashOrLabware === 'labware') {
+    commands = [
+      curryCommandCreator(delayInWell, {
+        destinationId,
+        well,
+        zOffset,
+        seconds,
+        pipetteId,
+      }),
+    ]
+  }
+
+  return reduceCommandCreators(commands, invariantContext, prevRobotState)
+}