refactor(step-generation): trash command utils into compound commands (#17782)

This is the 1st PR in a series of PRs that refactors any utils that emit
several commands in step-generation into a compound command for py
interop.

Author: jerader

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

@@ -0,0 +1,58 @@
+import { describe, it, expect } from 'vitest'
+import {
+  getInitialRobotStateStandard,
+  getSuccessResult,
+  makeContext,
+} from '../fixtures'
+import { airGapInTrash } from '../commandCreators/compound'
+import type { CutoutId } from '@opentrons/shared-data'
+import type { InvariantContext, RobotState } from '../types'
+
+const mockId = 'mockId'
+const mockCutout: CutoutId = 'cutoutA3'
+const invariantContext: InvariantContext = makeContext()
+const prevRobotState: RobotState = getInitialRobotStateStandard(
+  invariantContext
+)
+
+describe('airGapInTrash', () => {
+  it('returns correct commands for airGapInPlace over a trash bin', () => {
+    const result = airGapInTrash(
+      {
+        pipetteId: mockId,
+        volume: 10,
+        flowRate: 10,
+        trashLocation: mockCutout,
+      },
+      invariantContext,
+      prevRobotState
+    )
+    expect(getSuccessResult(result).commands).toEqual([
+      {
+        commandType: 'moveToAddressableArea',
+        key: expect.any(String),
+        params: {
+          pipetteId: mockId,
+          addressableAreaName: 'movableTrashA3',
+          offset: { x: 0, y: 0, z: 0 },
+        },
+      },
+      {
+        commandType: 'prepareToAspirate',
+        key: expect.any(String),
+        params: {
+          pipetteId: mockId,
+        },
+      },
+      {
+        commandType: 'airGapInPlace',
+        key: expect.any(String),
+        params: {
+          pipetteId: mockId,
+          volume: 10,
+          flowRate: 10,
+        },
+      },
+    ])
+  })
+})

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

@@ -0,0 +1,51 @@
+import { describe, it, expect, vi } from 'vitest'
+import {
+  getInitialRobotStateStandard,
+  getSuccessResult,
+  makeContext,
+} from '../fixtures'
+import { blowOutInTrash } from '../commandCreators/compound'
+import type { CutoutId } from '@opentrons/shared-data'
+import type { InvariantContext, RobotState } from '../types'
+
+vi.mock('../getNextRobotStateAndWarnings/dispenseUpdateLiquidState')
+
+const mockId = 'mockId'
+const mockCutout: CutoutId = 'cutoutA3'
+const invariantContext: InvariantContext = makeContext()
+const prevRobotState: RobotState = getInitialRobotStateStandard(
+  invariantContext
+)
+
+describe('blowOutInTrash', () => {
+  it('returns correct commands for blowout in a trash bin', () => {
+    const result = blowOutInTrash(
+      {
+        pipetteId: mockId,
+        flowRate: 10,
+        trashLocation: mockCutout,
+      },
+      invariantContext,
+      prevRobotState
+    )
+    expect(getSuccessResult(result).commands).toEqual([
+      {
+        commandType: 'moveToAddressableArea',
+        key: expect.any(String),
+        params: {
+          pipetteId: mockId,
+          addressableAreaName: 'movableTrashA3',
+          offset: { x: 0, y: 0, z: 0 },
+        },
+      },
+      {
+        commandType: 'blowOutInPlace',
+        key: expect.any(String),
+        params: {
+          pipetteId: mockId,
+          flowRate: 10,
+        },
+      },
+    ])
+  })
+})

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

@@ -0,0 +1,53 @@
+import { describe, it, expect, vi } from 'vitest'
+import {
+  getInitialRobotStateStandard,
+  getSuccessResult,
+  makeContext,
+} from '../fixtures'
+import { dispenseInTrash } from '../commandCreators/compound'
+import type { CutoutId } from '@opentrons/shared-data'
+import type { InvariantContext, RobotState } from '../types'
+
+vi.mock('../getNextRobotStateAndWarnings/dispenseUpdateLiquidState')
+
+const mockId = 'mockId'
+const mockCutout: CutoutId = 'cutoutA3'
+const invariantContext: InvariantContext = makeContext()
+const prevRobotState: RobotState = getInitialRobotStateStandard(
+  invariantContext
+)
+
+describe('dispenseInTrash', () => {
+  it('returns correct commands for dispenseInTrash in trash bin', () => {
+    const result = dispenseInTrash(
+      {
+        pipetteId: mockId,
+        flowRate: 10,
+        volume: 10,
+        trashLocation: mockCutout,
+      },
+      invariantContext,
+      prevRobotState
+    )
+    expect(getSuccessResult(result).commands).toEqual([
+      {
+        commandType: 'moveToAddressableArea',
+        key: expect.any(String),
+        params: {
+          pipetteId: mockId,
+          addressableAreaName: 'movableTrashA3',
+          offset: { x: 0, y: 0, z: 0 },
+        },
+      },
+      {
+        commandType: 'dispenseInPlace',
+        key: expect.any(String),
+        params: {
+          pipetteId: mockId,
+          volume: 10,
+          flowRate: 10,
+        },
+      },
+    ])
+  })
+})

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

@@ -0,0 +1,49 @@
+import {
+  getTrashBinAddressableAreaName,
+  reduceCommandCreators,
+  curryCommandCreator,
+} from '../../utils'
+import { ZERO_OFFSET } from '../../constants'
+import {
+  airGapInPlace,
+  moveToAddressableArea,
+  prepareToAspirate,
+} from '../atomic'
+import type { CurriedCommandCreator, CommandCreator } from '../../types'
+import type { CutoutId } from '@opentrons/shared-data'
+
+interface AirGapInTrashParams {
+  pipetteId: string
+  flowRate: number
+  volume: number
+  trashLocation: CutoutId
+}
+export const airGapInTrash: CommandCreator<AirGapInTrashParams> = (
+  args,
+  invariantContext,
+  prevRobotState
+) => {
+  const { pipetteId, trashLocation, flowRate, volume } = args
+  const addressableAreaName = getTrashBinAddressableAreaName(trashLocation)
+  const commandCreators: CurriedCommandCreator[] = [
+    curryCommandCreator(moveToAddressableArea, {
+      pipetteId,
+      addressableAreaName,
+      offset: ZERO_OFFSET,
+    }),
+    curryCommandCreator(prepareToAspirate, {
+      pipetteId,
+    }),
+    curryCommandCreator(airGapInPlace, {
+      pipetteId,
+      volume,
+      flowRate,
+    }),
+  ]
+
+  return reduceCommandCreators(
+    commandCreators,
+    invariantContext,
+    prevRobotState
+  )
+}

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

@@ -0,0 +1,40 @@
+import {
+  getTrashBinAddressableAreaName,
+  reduceCommandCreators,
+  curryCommandCreator,
+} from '../../utils'
+import { ZERO_OFFSET } from '../../constants'
+import { blowOutInPlace, moveToAddressableArea } from '../atomic'
+import type { CurriedCommandCreator, CommandCreator } from '../../types'
+import type { CutoutId } from '@opentrons/shared-data'
+
+interface BlowOutInTrashParams {
+  pipetteId: string
+  flowRate: number
+  trashLocation: CutoutId
+}
+export const blowOutInTrash: CommandCreator<BlowOutInTrashParams> = (
+  args,
+  invariantContext,
+  prevRobotState
+) => {
+  const { pipetteId, trashLocation, flowRate } = args
+  const addressableAreaName = getTrashBinAddressableAreaName(trashLocation)
+  const commandCreators: CurriedCommandCreator[] = [
+    curryCommandCreator(moveToAddressableArea, {
+      pipetteId,
+      addressableAreaName,
+      offset: ZERO_OFFSET,
+    }),
+    curryCommandCreator(blowOutInPlace, {
+      pipetteId,
+      flowRate,
+    }),
+  ]
+
+  return reduceCommandCreators(
+    commandCreators,
+    invariantContext,
+    prevRobotState
+  )
+}

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

@@ -0,0 +1,42 @@
+import {
+  getTrashBinAddressableAreaName,
+  reduceCommandCreators,
+  curryCommandCreator,
+} from '../../utils'
+import { ZERO_OFFSET } from '../../constants'
+import { dispenseInPlace, moveToAddressableArea } from '../atomic'
+import type { CurriedCommandCreator, CommandCreator } from '../../types'
+import type { CutoutId } from '@opentrons/shared-data'
+
+interface DispenseInTrashParams {
+  pipetteId: string
+  flowRate: number
+  volume: number
+  trashLocation: CutoutId
+}
+export const dispenseInTrash: CommandCreator<DispenseInTrashParams> = (
+  args,
+  invariantContext,
+  prevRobotState
+) => {
+  const { pipetteId, trashLocation, flowRate, volume } = args
+  const addressableAreaName = getTrashBinAddressableAreaName(trashLocation)
+  const commandCreators: CurriedCommandCreator[] = [
+    curryCommandCreator(moveToAddressableArea, {
+      pipetteId,
+      addressableAreaName,
+      offset: ZERO_OFFSET,
+    }),
+    curryCommandCreator(dispenseInPlace, {
+      pipetteId,
+      volume,
+      flowRate,
+    }),
+  ]
+
+  return reduceCommandCreators(
+    commandCreators,
+    invariantContext,
+    prevRobotState
+  )
+}

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

@@ -1,6 +1,9 @@
 export { absorbanceReaderCloseInitialize } from './absorbanceReaderCloseInitialize'
 export { absorbanceReaderCloseRead } from './absorbanceReaderCloseRead'
+export { airGapInTrash } from './airGapInTrash'
+export { blowOutInTrash } from './blowOutInTrash'
 export { consolidate } from './consolidate'
+export { dispenseInTrash } from './dispenseInTrash'
 export { distribute } from './distribute'
 export { dropTipInTrash } from './dropTipInTrash'
 export { dropTipInWasteChute } from './dropTipInWasteChute'

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

@@ -23,7 +23,6 @@ export * from './commandCreatorArgsGetters'
 export * from './heaterShakerCollision'
 export * from './createTimelineFromRunCommands'
 export * from './misc'
-export * from './movableTrashCommandsUtil'
 export * from './safePipetteMovements'
 export * from './wasteChuteCommandsUtil'
 export * from './createTimelineFromRunCommands'