fix(app): update robot state in Quick transfer (#18995)

closes AUTH-2133

Author: jerader

app/src/organisms/ODD/QuickTransferFlow/utils/createCommandCreatorFromStepArgs.ts

@@ -0,0 +1,26 @@
+import * as StepGeneration from '@opentrons/step-generation'
+
+import type { MoveLiquidStepArgs } from './generateQuickTransferArgs'
+
+export const createCommandCreatorFromStepArgs = (
+  args: MoveLiquidStepArgs
+): StepGeneration.CurriedCommandCreator | null => {
+  if (args == null) {
+    return null
+  }
+
+  switch (args.commandCreatorFnName) {
+    case 'transfer': {
+      return StepGeneration.curryCommandCreator(StepGeneration.transfer, args)
+    }
+    case 'consolidate': {
+      return StepGeneration.curryCommandCreator(
+        StepGeneration.consolidate,
+        args
+      )
+    }
+    case 'distribute': {
+      return StepGeneration.curryCommandCreator(StepGeneration.distribute, args)
+    }
+  }
+}

app/src/organisms/ODD/QuickTransferFlow/utils/createQuickTransferFile.ts

@@ -1,35 +1,28 @@
+import flatMap from 'lodash/flatMap'
 import uuidv1 from 'uuid/v4'
 
 import {
   FLEX_ROBOT_TYPE,
   FLEX_STANDARD_DECKID,
   getAllLiquidClassDefs,
-  getDeckDefFromRobotType,
   getFlexNameConversion,
-  TRASH_BIN_ADAPTER_FIXTURE,
-  WASTE_CHUTE_FIXTURES,
 } from '@opentrons/shared-data'
 import {
-  consolidate,
-  distribute,
   getLiquidClassName,
   getSlotInLocationStack,
-  getWasteChuteAddressableAreaNamePip,
   pythonImports,
   pythonMetadata,
   pythonRequirements,
-  transfer,
 } from '@opentrons/step-generation'
 
-import { generateQuickTransferArgs } from './'
+import { generateQuickTransferArgs } from './generateQuickTransferArgs'
+import { generateQuickTransferRobotStateTimeline } from './generateQuickTransferRobotStateTimeline'
 import { pythonDef } from './pythonDef'
 
 import type {
-  AddressableAreaName,
   CommandAnnotationV1Mixin,
   CommandV14Mixin,
   CreateCommand,
-  CutoutId,
   DeckConfiguration,
   LabwareDefinition2,
   LabwareV2Mixin,
@@ -39,7 +32,6 @@ import type {
   LoadPipetteCreateCommand,
   OT3RobotMixin,
 } from '@opentrons/shared-data'
-import type { CommandCreatorResult } from '@opentrons/step-generation'
 import type { QuickTransferSummaryState } from '../types'
 
 const uuid: () => string = uuidv1
@@ -151,87 +143,22 @@ export function createQuickTransferFile(
         }
       : null
 
-  let nonLoadCommandCreator: CommandCreatorResult | null = null
-  if (stepArgs?.commandCreatorFnName === 'transfer') {
-    nonLoadCommandCreator = transfer(
-      stepArgs,
-      invariantContext,
-      initialRobotState
-    )
-  } else if (stepArgs?.commandCreatorFnName === 'consolidate') {
-    nonLoadCommandCreator = consolidate(
-      stepArgs,
-      invariantContext,
-      initialRobotState
-    )
-  } else if (stepArgs?.commandCreatorFnName === 'distribute') {
-    nonLoadCommandCreator = distribute(
-      stepArgs,
-      invariantContext,
-      initialRobotState
-    )
-  }
-
-  const nonLoadCommands =
-    nonLoadCommandCreator != null && 'commands' in nonLoadCommandCreator
-      ? nonLoadCommandCreator.commands
-      : []
+  const robotStateTimeline = generateQuickTransferRobotStateTimeline({
+    stepArgs,
+    initialRobotState,
+    invariantContext,
+  })
+  const nonLoadCommands: CreateCommand[] = flatMap(
+    robotStateTimeline.timeline,
+    timelineFrame => timelineFrame.commands
+  )
 
-  let finalDropTipCommands: CreateCommand[] = []
-  let addressableAreaName: AddressableAreaName | null = null
-  if (
-    quickTransferState.dropTipLocation.cutoutFixtureId ===
-    TRASH_BIN_ADAPTER_FIXTURE
-  ) {
-    const trashLocation = quickTransferState.dropTipLocation.cutoutId
-    const deckDef = getDeckDefFromRobotType(FLEX_ROBOT_TYPE)
-    const cutouts: Record<CutoutId, AddressableAreaName[]> | null =
-      deckDef.cutoutFixtures.find(
-        cutoutFixture => cutoutFixture.id === 'trashBinAdapter'
-      )?.providesAddressableAreas ?? null
-    addressableAreaName =
-      trashLocation != null && cutouts != null
-        ? cutouts[trashLocation]?.[0] ?? null
-        : null
-  } else if (
-    WASTE_CHUTE_FIXTURES.includes(
-      quickTransferState.dropTipLocation.cutoutFixtureId
-    )
-  ) {
-    addressableAreaName = getWasteChuteAddressableAreaNamePip(
-      pipetteEntity.spec.channels
-    )
-  }
-  if (addressableAreaName == null) {
-    console.error(
-      `expected to find addressableAreaName with trashBin or wasteChute location but could not`
-    )
-  } else {
-    finalDropTipCommands = [
-      {
-        key: uuid(),
-        commandType: 'moveToAddressableAreaForDropTip',
-        params: {
-          pipetteId: pipetteEntity.id,
-          addressableAreaName,
-        },
-      },
-      {
-        key: uuid(),
-        commandType: 'dropTipInPlace',
-        params: {
-          pipetteId: pipetteEntity.id,
-        },
-      },
-    ]
-  }
   const commands: CreateCommand[] = [
     loadPipetteCommand,
     ...loadAdapterCommands,
     ...loadLabwareCommands,
     ...(loadLiquidCommand != null ? [loadLiquidCommand] : []),
     ...nonLoadCommands,
-    ...finalDropTipCommands,
   ]
   const sourceLabwareName = quickTransferState.source.metadata.displayName
   let destinationLabwareName = sourceLabwareName

app/src/organisms/ODD/QuickTransferFlow/utils/generateQuickTransferRobotStateTimeline.ts

@@ -0,0 +1,82 @@
+import {
+  commandCreatorsTimeline,
+  curryCommandCreator,
+  dropTip,
+  dropTipInTrash,
+  dropTipInWasteChute,
+  reduceCommandCreators,
+} from '@opentrons/step-generation'
+
+import { createCommandCreatorFromStepArgs } from './createCommandCreatorFromStepArgs'
+
+import type { CutoutId } from '@opentrons/shared-data'
+import type * as StepGeneration from '@opentrons/step-generation'
+import type { MoveLiquidStepArgs } from './generateQuickTransferArgs'
+
+export interface GenerateQuickTransferRobotStateTimelineArgs {
+  stepArgs: MoveLiquidStepArgs
+  initialRobotState: StepGeneration.RobotState
+  invariantContext: StepGeneration.InvariantContext
+}
+export const generateQuickTransferRobotStateTimeline = (
+  args: GenerateQuickTransferRobotStateTimelineArgs
+): StepGeneration.Timeline => {
+  const { stepArgs, initialRobotState, invariantContext } = args
+
+  const curriedCommandCreator = createCommandCreatorFromStepArgs(stepArgs)
+
+  if (curriedCommandCreator == null || stepArgs == null) {
+    return { timeline: [] }
+  }
+
+  const pipetteId = stepArgs.pipette
+  const dropTipLocation = stepArgs.dropTipLocation
+
+  const curriedCommandCreators: StepGeneration.CurriedCommandCreator[] = []
+
+  // Always add the transfer/consolidate/distribute commands first
+  curriedCommandCreators.push(curriedCommandCreator)
+
+  const isWasteChute =
+    invariantContext.wasteChuteEntities[dropTipLocation] != null
+  const isTrashBin = invariantContext.trashBinEntities[dropTipLocation] != null
+
+  let dropTipCommand: StepGeneration.CurriedCommandCreator
+
+  if (isWasteChute) {
+    dropTipCommand = curryCommandCreator(dropTipInWasteChute, {
+      pipetteId,
+      wasteChuteId: invariantContext.wasteChuteEntities[dropTipLocation].id,
+    })
+  } else if (isTrashBin) {
+    const trashLocation =
+      invariantContext.trashBinEntities[dropTipLocation].location
+    dropTipCommand = curryCommandCreator(dropTipInTrash, {
+      pipetteId,
+      trashLocation: trashLocation as CutoutId,
+    })
+  } else {
+    dropTipCommand = curryCommandCreator(dropTip, {
+      pipette: pipetteId,
+      dropTipLocation,
+    })
+  }
+
+  // Wrap drop tip commands and rest of commands in a grouped reducer
+  curriedCommandCreators[curriedCommandCreators.length - 1] = (
+    _invariantContext,
+    _prevRobotState
+  ) =>
+    reduceCommandCreators(
+      [curriedCommandCreator, dropTipCommand],
+      _invariantContext,
+      _prevRobotState
+    )
+
+  const timeline = commandCreatorsTimeline(
+    curriedCommandCreators,
+    invariantContext,
+    initialRobotState
+  )
+  return timeline
+}