feat(step-generation, shared-data): pipette collision warnings (#14989)

closes AUTH-19

Author: jerader

shared-data/js/helpers/__tests__/getFlexSurroundingSlots.test.ts

@@ -0,0 +1,30 @@
+import { describe, it, expect } from 'vitest'
+import { getFlexSurroundingSlots } from '../getFlexSurroundingSlots'
+
+describe('getFlexSurroundingSlots', () => {
+  it('returns slots when slot is D2', () => {
+    const results = getFlexSurroundingSlots('D2', [])
+    expect(results).toStrictEqual(['C1', 'C2', 'C3', 'D1', 'D3'])
+  })
+  it('returns slots when selected is a center slot', () => {
+    const results = getFlexSurroundingSlots('C2', [])
+    expect(results).toStrictEqual([
+      'B1',
+      'B2',
+      'B3',
+      'C1',
+      'C3',
+      'D1',
+      'D2',
+      'D3',
+    ])
+  })
+  it('returns slots when selected is a column 3 with staging areas present', () => {
+    const results = getFlexSurroundingSlots('B3', ['A4'])
+    expect(results).toStrictEqual(['A2', 'A3', 'A4', 'B2', 'C2', 'C3'])
+  })
+  it('returns slots when selected is a corner, A1', () => {
+    const results = getFlexSurroundingSlots('A1', ['A4'])
+    expect(results).toStrictEqual(['A2', 'B1', 'B2'])
+  })
+})

shared-data/js/helpers/getFlexSurroundingSlots.ts

@@ -0,0 +1,63 @@
+import type { DeckSlotId } from '../types'
+
+const FLEX_GRID = [
+  ['A1', 'A2', 'A3'],
+  ['B1', 'B2', 'B3'],
+  ['C1', 'C2', 'C3'],
+  ['D1', 'D2', 'D3'],
+]
+
+const LETTER_TO_ROW_MAP: Record<string, number> = {
+  A: 0,
+  B: 1,
+  C: 2,
+  D: 3,
+}
+
+let COLS = 3 // Initial number of columns in each row
+const ROWS = 4
+
+const DIRECTIONS = [
+  [-1, -1], // NW
+  [-1, 0], // N
+  [-1, 1], // NE
+  [0, -1], // W
+  [0, 1], // E
+  [1, -1], // SW
+  [1, 0], // S
+  [1, 1], // SE
+]
+
+export const getFlexSurroundingSlots = (
+  slot: DeckSlotId,
+  stagingAreaSlots: DeckSlotId[]
+): DeckSlotId[] => {
+  // Handle staging area slots
+  if (stagingAreaSlots.length > 0) {
+    stagingAreaSlots.forEach((stagingSlot, index) => {
+      if (stagingSlot) {
+        FLEX_GRID[index].push(stagingSlot)
+      }
+    })
+    COLS = Math.max(COLS, FLEX_GRID[0].length) // Update COLS to the maximum row length
+  }
+
+  const letter = slot.charAt(0)
+  const col = parseInt(slot.charAt(1)) - 1 // Convert the column to a 0-based index
+  const row = LETTER_TO_ROW_MAP[letter]
+
+  const surroundingSlots: DeckSlotId[] = []
+
+  // Iterate through both directions
+  DIRECTIONS.forEach(([dRow, dCol]) => {
+    const newRow = row + dRow
+    const newCol = col + dCol
+
+    if (newRow >= 0 && newRow < ROWS && newCol >= 0 && newCol < COLS) {
+      surroundingSlots.push(FLEX_GRID[newRow][newCol])
+    }
+  })
+
+  // Filter out any undefined values from the staging area slots that are not added
+  return surroundingSlots.filter(slot => slot !== undefined)
+}

shared-data/js/helpers/index.ts

@@ -27,6 +27,7 @@ export * from './getLoadedLabwareDefinitionsByUri'
 export * from './getOccludedSlotCountForModule'
 export * from './labwareInference'
 export * from './getAddressableAreasInProtocol'
+export * from './getFlexSurroundingSlots'
 export * from './getSimplestFlexDeckConfig'
 export * from './formatRunTimeParameterDefaultValue'
 export * from './formatRunTimeParameterValue'

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

@@ -0,0 +1,167 @@
+import { expect, describe, it } from 'vitest'
+import { getIsSafePipetteMovement } from '../utils'
+import {
+  LabwareDefinition2,
+  TEMPERATURE_MODULE_TYPE,
+  TEMPERATURE_MODULE_V2,
+  fixture96Plate,
+  fixtureP100096V2Specs,
+  fixtureTiprack1000ul,
+  fixtureTiprackAdapter,
+} from '@opentrons/shared-data'
+import { InvariantContext, RobotState } from '../types'
+
+const mockLabwareId = 'labwareId'
+const mockPipId = 'pip'
+const mockTiprackId = 'tiprackId'
+const mockModule = 'moduleId'
+const mockLabware2 = 'labwareId2'
+const mockAdapter = 'adapterId'
+const mockInvariantProperties: InvariantContext = {
+  pipetteEntities: {
+    pip: {
+      name: 'p1000_96',
+      id: 'pip',
+      tiprackDefURI: ['mockDefUri'],
+      tiprackLabwareDef: [fixtureTiprack1000ul as LabwareDefinition2],
+      spec: fixtureP100096V2Specs,
+    },
+  },
+  labwareEntities: {
+    [mockLabwareId]: {
+      id: mockLabwareId,
+      labwareDefURI: 'mockDefUri',
+      def: fixture96Plate as LabwareDefinition2,
+    },
+    [mockTiprackId]: {
+      id: mockTiprackId,
+      labwareDefURI: 'mockTipUri',
+      def: fixtureTiprack1000ul as LabwareDefinition2,
+    },
+    [mockAdapter]: {
+      id: mockAdapter,
+      labwareDefURI: 'mockAdapterUri',
+      def: fixtureTiprackAdapter as LabwareDefinition2,
+    },
+    [mockLabware2]: {
+      id: mockLabware2,
+      labwareDefURI: 'mockDefUri',
+      def: fixture96Plate as LabwareDefinition2,
+    },
+  },
+  moduleEntities: {},
+  additionalEquipmentEntities: {},
+  config: {
+    OT_PD_DISABLE_MODULE_RESTRICTIONS: false,
+  },
+}
+
+const mockRobotState: RobotState = {
+  pipettes: { pip: { mount: 'left' } },
+  labware: { [mockLabwareId]: { slot: 'D2' }, [mockTiprackId]: { slot: 'A2' } },
+  modules: {},
+  tipState: { tipracks: {}, pipettes: {} },
+  liquidState: { pipettes: {}, labware: {}, additionalEquipment: {} },
+}
+describe('getIsSafePipetteMovement', () => {
+  it('returns true when the labware id is a trash bin', () => {
+    const result = getIsSafePipetteMovement(
+      {
+        labware: {},
+        pipettes: {},
+        modules: {},
+        tipState: {},
+        liquidState: {},
+      } as any,
+      {
+        labwareEntities: {},
+        pipetteEntities: {},
+        moduleEntities: {},
+        additionalEquipmentEntities: {
+          trashBin: { name: 'trashBin', location: 'A3', id: 'trashBin' },
+        },
+        config: {} as any,
+      },
+      'mockId',
+      'mockTrashBin',
+      'mockTiprackId',
+      { x: 0, y: 0, z: 0 }
+    )
+    expect(result).toEqual(true)
+  })
+  it('returns false when within pipette extents is false', () => {
+    const result = getIsSafePipetteMovement(
+      mockRobotState,
+      mockInvariantProperties,
+      mockPipId,
+      mockLabwareId,
+      mockTiprackId,
+      { x: -12, y: -100, z: 20 }
+    )
+    expect(result).toEqual(false)
+  })
+  it('returns true when there are no collisions and a module near it', () => {
+    mockRobotState.modules = {
+      [mockModule]: { slot: 'D1', moduleState: {} as any },
+    }
+    mockInvariantProperties.moduleEntities = {
+      [mockModule]: {
+        id: mockModule,
+        type: TEMPERATURE_MODULE_TYPE,
+        model: TEMPERATURE_MODULE_V2,
+      },
+    }
+    const result = getIsSafePipetteMovement(
+      mockRobotState,
+      mockInvariantProperties,
+      mockPipId,
+      mockLabwareId,
+      mockTiprackId,
+      { x: -1, y: 5, z: 20 }
+    )
+    expect(result).toEqual(true)
+  })
+  it('returns false when there is a tip that collides', () => {
+    mockRobotState.tipState.tipracks = { mockTiprackId: { A1: true } }
+    const result = getIsSafePipetteMovement(
+      mockRobotState,
+      mockInvariantProperties,
+      mockPipId,
+      mockLabwareId,
+      mockTiprackId,
+      { x: -1, y: 5, z: 0 }
+    )
+    expect(result).toEqual(false)
+  })
+  it('returns false when there is a tall module nearby in a diagonal slot with adapter and labware', () => {
+    mockRobotState.modules = {
+      [mockModule]: { slot: 'C1', moduleState: {} as any },
+    }
+    mockRobotState.labware = {
+      [mockLabwareId]: { slot: 'D2' },
+      [mockAdapter]: {
+        slot: mockModule,
+      },
+      [mockLabware2]: {
+        slot: mockAdapter,
+      },
+    }
+    mockInvariantProperties.moduleEntities = {
+      [mockModule]: {
+        id: mockModule,
+        type: TEMPERATURE_MODULE_TYPE,
+        model: TEMPERATURE_MODULE_V2,
+      },
+    }
+    const result = getIsSafePipetteMovement(
+      mockRobotState,
+      mockInvariantProperties,
+      mockPipId,
+      mockLabwareId,
+      mockTiprackId,
+      { x: 0, y: 0, z: 0 }
+    )
+    expect(result).toEqual(false)
+  })
+  //    todo(jr, 4/23/24): add more test cases, test thermocycler collision - i'll do this in a follow up
+})