feat(step-generation): touch_tip python command generation and add speed to commands (#17795)

closes AUTH-1580

Author: jerader

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

@@ -28,13 +28,14 @@ describe('touchTip', () => {
     robotStateWithTip = getRobotStateWithTipStandard(invariantContext)
   })
 
-  it('touchTip with tip, specifying offsetFromBottomMm', () => {
+  it('touchTip with tip, specifying offsetFromBottomMm and speed', () => {
     const result = touchTip(
       {
         pipetteId: DEFAULT_PIPETTE,
         labwareId: SOURCE_LABWARE,
         wellName: 'A1',
         wellLocation,
+        speed: 10,
       },
       invariantContext,
       robotStateWithTip
@@ -55,9 +56,38 @@ describe('touchTip', () => {
               z: 10,
             },
           },
+          speed: 10,
         },
       },
     ])
+    expect(res.python).toBe(
+      `
+mockPythonName.touch_tip(
+    mockPythonName["A1"],
+    v_offset=10,
+    speed=10,
+)`.trimStart()
+    )
+  })
+
+  it('touchTip for python with tip, with no offset or speed set', () => {
+    const result = touchTip(
+      {
+        pipetteId: DEFAULT_PIPETTE,
+        labwareId: SOURCE_LABWARE,
+        wellName: 'A1',
+      },
+      invariantContext,
+      robotStateWithTip
+    )
+    const res = getSuccessResult(result)
+
+    expect(res.python).toBe(
+      `
+mockPythonName.touch_tip(
+    mockPythonName["A1"],
+)`.trimStart()
+    )
   })
 
   it('touchTip with invalid pipette ID should throw error', () => {

step-generation/src/commandCreators/atomic/touchTip.ts

@@ -1,4 +1,4 @@
-import { uuid } from '../../utils'
+import { formatPyStr, indentPyLines, uuid } from '../../utils'
 import { noTipOnPipette, pipetteDoesNotExist } from '../../errorCreators'
 import type { CreateCommand, TouchTipParams } from '@opentrons/shared-data'
 import type { CommandCreator, CommandCreatorError } from '../../types'
@@ -10,7 +10,7 @@ export const touchTip: CommandCreator<TouchTipParams> = (
 ) => {
   /** touchTip with given args. Requires tip. */
   const actionName = 'touchTip'
-  const { pipetteId, labwareId, wellName, wellLocation } = args
+  const { pipetteId, labwareId, wellName, wellLocation, speed } = args
   const pipetteData = prevRobotState.pipettes[pipetteId]
   const errors: CommandCreatorError[] = []
 
@@ -39,6 +39,24 @@ export const touchTip: CommandCreator<TouchTipParams> = (
     }
   }
 
+  const pipettePythonName =
+    invariantContext.pipetteEntities[pipetteId].pythonName
+  const labwarePythonName =
+    invariantContext.labwareEntities[labwareId].pythonName
+
+  const pythonArgs = [
+    `${labwarePythonName}[${formatPyStr(wellName)}],`,
+    ...(wellLocation?.offset?.z != null
+      ? [`v_offset=${wellLocation?.offset?.z},`]
+      : []),
+    ...(speed != null ? [`speed=${speed},`] : []),
+  ]
+
+  //  TODO: add mmFromEdge to python and commandCreator
+  const python = `${pipettePythonName}.touch_tip(\n${indentPyLines(
+    pythonArgs.join('\n')
+  )}\n)`
+
   const commands: CreateCommand[] = [
     {
       commandType: 'touchTip',
@@ -48,10 +66,12 @@ export const touchTip: CommandCreator<TouchTipParams> = (
         labwareId,
         wellName,
         wellLocation,
+        speed,
       },
     },
   ]
   return {
     commands,
+    python,
   }
 }