fix(robot-server): use the current critical point when moving pipettes (#8331)

Author: Laura-Danielle

robot-server/robot_server/service/legacy/routers/control.py

@@ -8,7 +8,7 @@
     ThreadedAsyncLock,
     ThreadedAsyncForbidden,
 )
-from opentrons.hardware_control.types import Axis, CriticalPoint
+from opentrons.hardware_control.types import Axis
 from opentrons.types import Mount, Point
 
 from robot_server.errors import LegacyErrorResponse
@@ -147,28 +147,16 @@ async def post_robot_light_state(
 
 async def _do_move(hardware: ThreadManager, robot_move_target: control.RobotMoveTarget):
     """Perform the move"""
-    await hardware.cache_instruments()
-
-    critical_point = None
-    if robot_move_target.target == control.MotionTarget.mount:
-        critical_point = CriticalPoint.MOUNT
 
     mount = Mount[robot_move_target.mount.upper()]
     target_pos = Point(*robot_move_target.point)
 
     # Reset z position
     await hardware.home_z()
 
-    gantry_position = hardware.gantry_position
-    move_to = hardware.move_to
-
-    pos = await gantry_position(mount, critical_point=critical_point)
+    pos = await hardware.gantry_position(mount)
     # Move to requested x, y and current z position
-    await move_to(
-        mount,
-        Point(x=target_pos.x, y=target_pos.y, z=pos.z),
-        critical_point=critical_point,
-    )
+    await hardware.move_to(mount, Point(x=target_pos.x, y=target_pos.y, z=pos.z))
     # Move to requested z position
-    await move_to(mount, target_pos, critical_point=critical_point)
-    return await gantry_position(mount)
+    await hardware.move_to(mount, target_pos)
+    return await hardware.gantry_position(mount)

robot-server/tests/service/legacy/routers/test_control.py

@@ -2,7 +2,7 @@
 from mock import call, MagicMock
 
 import pytest
-from opentrons.hardware_control.types import Axis, CriticalPoint
+from opentrons.hardware_control.types import Axis
 from opentrons.types import Mount, Point
 
 from robot_server.errors import ApiError
@@ -116,26 +116,16 @@ def test_move_mount(api_client, hardware_move):
         "message": "Move complete. New position: (100.0, 200.0, 50.0)"
     }
 
-    hardware_move.cache_instruments.assert_called_once()
-
     hardware_move.gantry_position.assert_has_calls(
         [
-            call(Mount.RIGHT, critical_point=CriticalPoint.MOUNT),
+            call(Mount.RIGHT),
             call(Mount.RIGHT),
         ]
     )
     hardware_move.move_to.assert_has_calls(
         [
-            call(
-                Mount.RIGHT,
-                Point(100.0, 200.0, 0.0),
-                critical_point=CriticalPoint.MOUNT,
-            ),
-            call(
-                Mount.RIGHT,
-                Point(100.0, 200.0, 50.0),
-                critical_point=CriticalPoint.MOUNT,
-            ),
+            call(Mount.RIGHT, Point(100.0, 200.0, 0.0)),
+            call(Mount.RIGHT, Point(100.0, 200.0, 50.0)),
         ]
     )
 
@@ -151,18 +141,16 @@ def test_move_pipette(api_client, hardware_move):
     assert res.status_code == 200
     assert res.json() == {"message": "Move complete. New position: (50.0, 100.0, 25.0)"}
 
-    hardware_move.cache_instruments.assert_called_once()
-
     hardware_move.gantry_position.assert_has_calls(
         [
-            call(Mount.LEFT, critical_point=None),
+            call(Mount.LEFT),
             call(Mount.LEFT),
         ]
     )
     hardware_move.move_to.assert_has_calls(
         [
-            call(Mount.LEFT, Point(50.0, 100.0, 0.0), critical_point=None),
-            call(Mount.LEFT, Point(50.0, 100.0, 25.0), critical_point=None),
+            call(Mount.LEFT, Point(50.0, 100.0, 0.0)),
+            call(Mount.LEFT, Point(50.0, 100.0, 25.0)),
         ]
     )