fix(step-generation): blowout waste chute bug (#18908)

closes AUTH-2086

Author: jerader

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

@@ -10,11 +10,10 @@ import {
   getInitialRobotStateStandard,
   makeContext,
   SOURCE_LABWARE,
-  TROUGH_LABWARE,
 } from '../fixtures'
 import {
-  blowoutLocationHelper,
   DEST_WELL_BLOWOUT_DESTINATION,
+  mixBlowoutLocationHelper,
   SOURCE_WELL_BLOWOUT_DESTINATION,
 } from '../utils'
 import { curryCommandCreator } from '../utils/curryCommandCreator'
@@ -56,8 +55,8 @@ describe('blowoutLocationHelper', () => {
     }
     vi.mocked(curryCommandCreator).mockClear()
   })
-  it('blowoutLocationHelper curries blowout with source well params', () => {
-    blowoutLocationHelper({
+  it('mixBlowoutLocationHelper curries blowout with source well params', () => {
+    mixBlowoutLocationHelper({
       ...blowoutArgs,
       blowoutLocation: SOURCE_WELL_BLOWOUT_DESTINATION,
     })
@@ -74,7 +73,7 @@ describe('blowoutLocationHelper', () => {
       },
     })
   })
-  it('blowoutLocationHelper curries waste chute commands when there is no well', () => {
+  it('mixBlowoutLocationHelper curries waste chute commands when there is no well', () => {
     const wasteChuteId = 'wasteChuteId'
     invariantContext = {
       ...invariantContext,
@@ -86,7 +85,7 @@ describe('blowoutLocationHelper', () => {
         },
       },
     }
-    blowoutLocationHelper({
+    mixBlowoutLocationHelper({
       ...blowoutArgs,
       destLabwareId: wasteChuteId,
       invariantContext: invariantContext,
@@ -99,8 +98,8 @@ describe('blowoutLocationHelper', () => {
       wasteChuteId,
     })
   })
-  it('blowoutLocationHelper curries blowout with dest plate params', () => {
-    blowoutLocationHelper({
+  it('mixBlowoutLocationHelper curries blowout with dest plate params', () => {
+    mixBlowoutLocationHelper({
       ...blowoutArgs,
       blowoutLocation: DEST_WELL_BLOWOUT_DESTINATION,
     })
@@ -117,15 +116,15 @@ describe('blowoutLocationHelper', () => {
       },
     })
   })
-  it('blowoutLocationHelper curries blowout with an arbitrary labware Id', () => {
-    blowoutLocationHelper({
+  it('mixBlowoutLocationHelper curries blowout with an arbitrary labware Id', () => {
+    mixBlowoutLocationHelper({
       ...blowoutArgs,
-      blowoutLocation: TROUGH_LABWARE,
+      blowoutLocation: 'dest_well',
     })
     expect(curryCommandCreator).toHaveBeenCalledWith(blowOutInWell, {
       pipetteId: blowoutArgs.pipette,
-      labwareId: TROUGH_LABWARE,
-      wellName: 'A1',
+      labwareId: 'destPlateId',
+      wellName: 'A2',
       flowRate: blowoutArgs.flowRate,
       wellLocation: {
         origin: 'top',
@@ -135,8 +134,8 @@ describe('blowoutLocationHelper', () => {
       },
     })
   })
-  it('blowoutLocationHelper returns an empty array if not given a blowoutLocation', () => {
-    const result = blowoutLocationHelper({
+  it('mixBlowoutLocationHelper returns an empty array if not given a blowoutLocation', () => {
+    const result = mixBlowoutLocationHelper({
       ...blowoutArgs,
       blowoutLocation: null,
     })

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

@@ -364,7 +364,7 @@ describe('mix: advanced options', () => {
       volume,
       times,
       changeTip: 'always',
-      blowoutLocation: blowoutLabwareId,
+      blowoutLocation: 'source_well',
       wells: ['A1', 'B1', 'C1'],
     } as MixArgs
 
@@ -408,6 +408,8 @@ describe('mix: advanced options', () => {
           flowRate: 2.2,
         }),
         blowoutHelper(blowoutLabwareId, {
+          labwareId: 'sourcePlateId',
+          wellName: well,
           wellLocation: {
             origin: 'top',
             offset: {
@@ -425,9 +427,9 @@ describe('mix: advanced options', () => {
       volume,
       times,
       changeTip: 'always',
-      blowoutLocation: blowoutLabwareId,
+      blowoutLocation: 'dest_well',
       touchTip: true,
-      wells: ['A1', 'B1', 'C1'],
+      wells: ['A1'],
     } as MixArgs
 
     const result = mix(args, invariantContext, robotStateWithTip)
@@ -470,6 +472,8 @@ describe('mix: advanced options', () => {
           flowRate: 2.2,
         }),
         blowoutHelper(blowoutLabwareId, {
+          labwareId: 'sourcePlateId',
+          wellName: 'A1',
           wellLocation: {
             origin: 'top',
             offset: {
@@ -594,7 +598,7 @@ describe('mix: advanced options', () => {
         touchTip: true,
         aspirateDelaySeconds: 10,
         dispenseDelaySeconds: 12,
-        blowoutLocation: blowoutLabwareId,
+        blowoutLocation: 'source_well',
         volume,
         times,
         changeTip: 'always',
@@ -654,6 +658,8 @@ describe('mix: advanced options', () => {
           }),
           delayCommand(12),
           blowoutHelper(blowoutLabwareId, {
+            labwareId: 'sourcePlateId',
+            wellName: well,
             wellLocation: {
               origin: 'top',
               offset: {
@@ -679,7 +685,7 @@ mock_pipette.mix(
     final_push_out=2,
 )
 mock_pipette.flow_rate.blow_out = 2.3
-mock_pipette.blow_out(mock_dest_plate["A1"].top(z=3.3))
+mock_pipette.blow_out(mock_source_plate["A1"].top(z=3.3))
 mock_pipette.touch_tip(mock_source_plate["A1"], v_offset=-3.4)
 mock_pipette.drop_tip()
 mock_pipette.pick_up_tip(location=mock_tip_rack_1)
@@ -695,7 +701,7 @@ mock_pipette.mix(
     final_push_out=2,
 )
 mock_pipette.flow_rate.blow_out = 2.3
-mock_pipette.blow_out(mock_dest_plate["A1"].top(z=3.3))
+mock_pipette.blow_out(mock_source_plate["B1"].top(z=3.3))
 mock_pipette.touch_tip(mock_source_plate["B1"], v_offset=-3.4)
 mock_pipette.drop_tip()
 mock_pipette.pick_up_tip(location=mock_tip_rack_1)
@@ -711,7 +717,7 @@ mock_pipette.mix(
     final_push_out=2,
 )
 mock_pipette.flow_rate.blow_out = 2.3
-mock_pipette.blow_out(mock_dest_plate["A1"].top(z=3.3))
+mock_pipette.blow_out(mock_source_plate["C1"].top(z=3.3))
 mock_pipette.touch_tip(mock_source_plate["C1"], v_offset=-3.4)
 `.trim()
       )
@@ -721,7 +727,7 @@ mock_pipette.touch_tip(mock_source_plate["C1"], v_offset=-3.4)
     const args: MixArgs = {
       ...mixinArgs,
       touchTip: true,
-      blowoutLocation: blowoutLabwareId,
+      blowoutLocation: 'dest_well',
       volume,
       times,
       changeTip: 'always',
@@ -745,7 +751,7 @@ mock_pipette.mix(
     dispense_flow_rate=2.2,
 )
 mock_pipette.flow_rate.blow_out = 2.3
-mock_pipette.blow_out(mock_dest_plate["A1"].top(z=3.3))
+mock_pipette.blow_out(mock_source_plate["A1"].top(z=3.3))
 mock_pipette.touch_tip(mock_source_plate["A1"], v_offset=-3.4)
 mock_pipette.drop_tip()
 mock_pipette.pick_up_tip(location=mock_tip_rack_1)
@@ -758,7 +764,7 @@ mock_pipette.mix(
     dispense_flow_rate=2.2,
 )
 mock_pipette.flow_rate.blow_out = 2.3
-mock_pipette.blow_out(mock_dest_plate["A1"].top(z=3.3))
+mock_pipette.blow_out(mock_source_plate["B1"].top(z=3.3))
 mock_pipette.touch_tip(mock_source_plate["B1"], v_offset=-3.4)
 mock_pipette.drop_tip()
 mock_pipette.pick_up_tip(location=mock_tip_rack_1)
@@ -771,7 +777,7 @@ mock_pipette.mix(
     dispense_flow_rate=2.2,
 )
 mock_pipette.flow_rate.blow_out = 2.3
-mock_pipette.blow_out(mock_dest_plate["A1"].top(z=3.3))
+mock_pipette.blow_out(mock_source_plate["C1"].top(z=3.3))
 mock_pipette.touch_tip(mock_source_plate["C1"], v_offset=-3.4)
 `.trim()
     )

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

@@ -9,14 +9,14 @@ import {
 
 import * as errorCreators from '../../errorCreators'
 import {
-  blowoutLocationHelper,
   curryCommandCreator,
   curryWithoutPython,
   formatPyStr,
   formatPyWellLocation,
   getIsSafePipetteMovement,
   getSlotInLocationStack,
   indentPyLines,
+  mixBlowoutLocationHelper,
   reduceCommandCreators,
 } from '../../utils'
 import {
@@ -401,7 +401,7 @@ export const mix: CommandCreator<MixArgs> = (
             }),
           ]
         : []
-      const blowoutCommand = blowoutLocationHelper({
+      const blowoutCommand = mixBlowoutLocationHelper({
         pipette: data.pipette,
         sourceLabwareId: data.labware,
         sourceWell: well,

step-generation/src/utils/misc.ts

@@ -359,7 +359,7 @@ export function getWellsForTips(
 // Set blowout location depending on the 'blowoutLocation' arg: set it to
 // the SOURCE_WELL_BLOWOUT_DESTINATION / DEST_WELL_BLOWOUT_DESTINATION
 // special strings, or to a labware ID.
-export const blowoutLocationHelper = (args: {
+export const mixBlowoutLocationHelper = (args: {
   pipette: BlowoutParams['pipetteId']
   sourceLabwareId: string
   sourceWell: BlowoutParams['wellName']
@@ -381,41 +381,25 @@ export const blowoutLocationHelper = (args: {
     offsetFromTopMm,
     invariantContext,
   } = args
-  if (!blowoutLocation) return []
-  const {
-    labwareEntities,
-    trashBinEntities,
-    wasteChuteEntities,
-  } = invariantContext
-  const trashOrLabware = getTrashOrLabware(
-    labwareEntities,
-    wasteChuteEntities,
-    trashBinEntities,
-    destLabwareId
-  )
+  if (!blowoutLocation) {
+    return []
+  }
+  const { trashBinEntities, wasteChuteEntities } = invariantContext
 
-  let labware: LabwareEntity | null = null
+  let labwareId: string | null = null
   let well: string | null = null
   if (blowoutLocation === SOURCE_WELL_BLOWOUT_DESTINATION) {
-    labware = invariantContext.labwareEntities[sourceLabwareId]
+    labwareId = sourceLabwareId
     well = sourceWell
   } else if (blowoutLocation === DEST_WELL_BLOWOUT_DESTINATION) {
-    labware =
-      trashOrLabware === 'labware'
-        ? invariantContext.labwareEntities[destLabwareId]
-        : null
-    well = trashOrLabware === 'labware' ? destWell : null
-  } else {
-    // if it's not one of the magic strings, it's a labware or waste chute or trash bin id
-    labware = invariantContext.labwareEntities?.[blowoutLocation]
-    well = trashOrLabware === 'labware' ? 'A1' : null
+    labwareId = destLabwareId
+    well = destWell
   }
-
-  if (well != null && trashOrLabware === 'labware' && labware != null) {
+  if (well != null && labwareId != null) {
     return [
       curryCommandCreator(blowOutInWell, {
         pipetteId: pipette,
-        labwareId: labware.id,
+        labwareId: labwareId,
         wellName: well,
         flowRate,
         wellLocation: {
@@ -426,7 +410,7 @@ export const blowoutLocationHelper = (args: {
         },
       }),
     ]
-  } else if (trashOrLabware === 'wasteChute') {
+  } else if (wasteChuteEntities[blowoutLocation] != null) {
     return [
       curryCommandCreator(blowOutInWasteChute, {
         pipetteId: pipette,