feat(step-generation): py command for blowout in waste chute (#17837)

Author: jerader

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

@@ -1,26 +1,27 @@
 import { describe, it, expect, vi } from 'vitest'
+import { WASTE_CHUTE_CUTOUT } from '@opentrons/shared-data'
 import {
+  DEFAULT_PIPETTE,
   getInitialRobotStateStandard,
   getSuccessResult,
   makeContext,
 } from '../fixtures'
 import { blowOutInWasteChute } from '../commandCreators/compound'
-import type { InvariantContext, PipetteEntities, RobotState } from '../types'
+import type { InvariantContext, RobotState } from '../types'
 
 vi.mock('../getNextRobotStateAndWarnings/dispenseUpdateLiquidState')
 
-const mockId = 'mockId'
-const mockPipEntities: PipetteEntities = {
-  [mockId]: {
-    name: 'p50_single_flex',
-    id: mockId,
-    spec: { channels: 1 },
-  },
-} as any
-
+const wasteChuteId = 'wasteChuteId'
 const invariantContext: InvariantContext = {
   ...makeContext(),
-  pipetteEntities: mockPipEntities,
+  additionalEquipmentEntities: {
+    [wasteChuteId]: {
+      id: wasteChuteId,
+      name: 'wasteChute',
+      pythonName: 'mock_waste_chute_1',
+      location: WASTE_CHUTE_CUTOUT,
+    },
+  },
 }
 const prevRobotState: RobotState = getInitialRobotStateStandard(
   invariantContext
@@ -30,8 +31,9 @@ describe('blowOutInWasteChute', () => {
   it('returns correct commands for blowing out in waste chute', () => {
     const result = blowOutInWasteChute(
       {
-        pipetteId: mockId,
+        pipetteId: DEFAULT_PIPETTE,
         flowRate: 10,
+        wasteChuteId,
       },
       invariantContext,
       prevRobotState
@@ -41,7 +43,7 @@ describe('blowOutInWasteChute', () => {
         commandType: 'moveToAddressableArea',
         key: expect.any(String),
         params: {
-          pipetteId: mockId,
+          pipetteId: DEFAULT_PIPETTE,
           addressableAreaName: '1ChannelWasteChute',
           offset: { x: 0, y: 0, z: 0 },
         },
@@ -50,10 +52,15 @@ describe('blowOutInWasteChute', () => {
         commandType: 'blowOutInPlace',
         key: expect.any(String),
         params: {
-          pipetteId: mockId,
+          pipetteId: DEFAULT_PIPETTE,
           flowRate: 10,
         },
       },
     ])
+    expect(getSuccessResult(result).python).toBe(
+      `
+mockPythonName.flow_rate.blow_out = 10
+mockPythonName.blow_out(mock_waste_chute_1)`.trim()
+    )
   })
 })

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

@@ -94,6 +94,7 @@ describe('blowoutUtil', () => {
     expect(curryCommandCreator).toHaveBeenCalledWith(blowOutInWasteChute, {
       pipetteId: blowoutArgs.pipette,
       flowRate: 2.3,
+      wasteChuteId,
     })
   })
   it('blowoutUtil curries blowout with dest plate params', () => {

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

@@ -10,21 +10,33 @@ import type { CommandCreator, CurriedCommandCreator } from '../../types'
 interface BlowOutInWasteChuteArgs {
   pipetteId: string
   flowRate: number
+  wasteChuteId: string
 }
 
 export const blowOutInWasteChute: CommandCreator<BlowOutInWasteChuteArgs> = (
   args,
   invariantContext,
   prevRobotState
 ) => {
-  const { pipetteId, flowRate } = args
-  const pipetteChannels =
-    invariantContext.pipetteEntities[pipetteId].spec.channels
+  const { pipetteId, flowRate, wasteChuteId } = args
+  const { pipetteEntities, additionalEquipmentEntities } = invariantContext
+  const pipetteChannels = pipetteEntities[pipetteId].spec.channels
   const addressableAreaName = getWasteChuteAddressableAreaNamePip(
     pipetteChannels
   )
+  const pipettePythonName = pipetteEntities[pipetteId].pythonName
+  const wasteChutePythonName =
+    additionalEquipmentEntities[wasteChuteId].pythonName
 
-  const commandCreators: CurriedCommandCreator[] = [
+  const pythonCommandCreator: CurriedCommandCreator = () => ({
+    commands: [],
+    python:
+      // The Python blow_out() does not take a flow rate argument, so we have to
+      // reconfigure the pipette's default blow out rate instead:
+      `${pipettePythonName}.flow_rate.blow_out = ${flowRate}\n` +
+      `${pipettePythonName}.blow_out(${wasteChutePythonName})`,
+  })
+  const commandCreators = [
     curryCommandCreator(moveToAddressableArea, {
       pipetteId,
       addressableAreaName,
@@ -34,6 +46,7 @@ export const blowOutInWasteChute: CommandCreator<BlowOutInWasteChuteArgs> = (
       pipetteId,
       flowRate,
     }),
+    pythonCommandCreator,
   ]
 
   return reduceCommandCreators(

step-generation/src/utils/misc.ts

@@ -379,10 +379,14 @@ export const blowoutUtil = (args: {
       }),
     ]
   } else if (trashOrLabware === 'wasteChute') {
+    const wasteChute = Object.values(additionalEquipmentEntities).find(
+      ae => ae.name === 'wasteChute'
+    )
     return [
       curryCommandCreator(blowOutInWasteChute, {
         pipetteId: pipette,
         flowRate,
+        wasteChuteId: wasteChute?.id as string,
       }),
     ]
   } else {