feat(protocol-designer): add logic for lid move compatibility (#19058)

This PR extends functionality for moving lids around the deck according
to product specs. As part of this work, I extend
`LabwareTemporalProperties` in `step-generation` and `protocol-designer`
to include a new optional property `isUsedLid`. This property flips to
`true` if the lid is loaded on or moved to a "pipettable" labware, which
could presumably contain liquid, at any point. We check this property's
value when determining safe moves to labware stacks. If the lid has been
used, we do not allow its further movement to a new pipettable labware
for sterility concerns.

Closes AUTH-1071

Author: ncdiehl11

protocol-designer/src/file-data/selectors/commands.ts

@@ -4,14 +4,18 @@ import omit from 'lodash/omit'
 import uniqBy from 'lodash/uniqBy'
 import { createSelector } from 'reselect'
 
+import { getIsLid, getIsPipettableLabware } from '@opentrons/shared-data'
 import * as StepGeneration from '@opentrons/step-generation'
+import {
+  getNearestParentInStack,
+  TOUCHED_PIPETTABLE_LABWARE,
+} from '@opentrons/step-generation'
 
 import { selectors as labwareIngredSelectors } from '../../labware-ingred/selectors'
 import { selectors as stepFormSelectors } from '../../step-forms'
 
 import type { StepIdType } from '../../form-types'
 import type {
-  LabwareOnDeck,
   LabwareTemporalProperties,
   ModuleOnDeck,
   ModuleTemporalProperties,
@@ -67,9 +71,24 @@ export const getInitialRobotState: (
     )
     const labware: Record<string, LabwareTemporalProperties> = mapValues(
       initialDeckSetup.labware,
-      (l: LabwareOnDeck): LabwareTemporalProperties => ({
-        stack: l.stack,
-      })
+      ({ id, stack }): LabwareTemporalProperties => {
+        const labwareEntity = invariantContext.labwareEntities[id]
+        const isLid = getIsLid(labwareEntity.def)
+        const nearestParent = getNearestParentInStack(stack)
+        const isParentPipettableLabware =
+          nearestParent != null &&
+          nearestParent in invariantContext.labwareEntities &&
+          getIsPipettableLabware(
+            invariantContext.labwareEntities[nearestParent].def
+          )
+        return {
+          stack,
+          // set sterility to TOUCHED_PIPETTABLE_LABWARE if the labware is a lid and the parent is pipettable labware
+          ...(isLid && isParentPipettableLabware
+            ? { sterility: TOUCHED_PIPETTABLE_LABWARE }
+            : {}),
+        }
+      }
     )
     const modules: Record<string, ModuleTemporalProperties> = mapValues(
       initialDeckSetup.modules,

protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepTools/MoveLabwareTools/LabwareLocationField.tsx

@@ -1,12 +1,11 @@
 import { useTranslation } from 'react-i18next'
 import { useDispatch, useSelector } from 'react-redux'
 
-import { WASTE_CHUTE_CUTOUT } from '@opentrons/shared-data'
 import { getSlotInLocationStack } from '@opentrons/step-generation'
 
 import { DropdownStepFormField } from '../../../../../../components/molecules'
 import { getEnableStacking } from '../../../../../../feature-flags/selectors'
-import { getAdditionalEquipmentEntities } from '../../../../../../step-forms/selectors'
+import { getLabwareEntities } from '../../../../../../step-forms/selectors'
 import {
   getDeckSetupForActiveItem,
   getRobotStateAtActiveItem,
@@ -29,15 +28,19 @@ export function LabwareLocationField(
   const { t } = useTranslation(['form', 'protocol_steps'])
   const { labware, useGripper } = props
   const enableStacking = useSelector(getEnableStacking)
-  const additionalEquipmentEntities = useSelector(
-    getAdditionalEquipmentEntities
-  )
   const { labware: deckSetupLabware } = useSelector(getDeckSetupForActiveItem)
   const dispatch = useDispatch()
+  const labwareEntities = useSelector(getLabwareEntities)
   const robotState = useSelector(getRobotStateAtActiveItem)
   const unoccupiedLabwareStackOptions: Option[] =
     robotState && enableStacking
-      ? getUnoccupiedStackOptions(robotState, deckSetupLabware, labware, t)
+      ? getUnoccupiedStackOptions({
+          robotState,
+          deckSetupLabware,
+          labwareIdFromDropdown: labware,
+          labwareEntities,
+          t,
+        })
       : []
   const isLabwareOffDeck =
     labware != null
@@ -48,26 +51,14 @@ export function LabwareLocationField(
   const unoccupiedLabwareLocationsOptionsSelector =
     useSelector(getUnoccupiedLabwareLocationOptions) ?? []
 
-  let unoccupiedLabwareLocationsOptions = [
+  // invalid offDeck move filter
+  const unoccupiedLabwareLocationsOptions = [
     ...unoccupiedLabwareStackOptions,
     ...unoccupiedLabwareLocationsOptionsSelector,
-  ]
-  if (useGripper || isLabwareOffDeck) {
-    unoccupiedLabwareLocationsOptions = unoccupiedLabwareLocationsOptions.filter(
-      option => option.value !== 'offDeck'
-    )
-  }
-
-  if (
-    !useGripper &&
-    Object.values(additionalEquipmentEntities).find(
-      ae => ae.name === 'wasteChute'
-    ) != null
-  ) {
-    unoccupiedLabwareLocationsOptions = unoccupiedLabwareLocationsOptions.filter(
-      option => option.value !== WASTE_CHUTE_CUTOUT
-    )
-  }
+  ].filter(option => {
+    const canMoveOffDeck = !(useGripper || isLabwareOffDeck)
+    return option.value !== 'offDeck' || canMoveOffDeck
+  })
 
   return (
     <DropdownStepFormField

protocol-designer/src/pages/Designer/__tests__/utils.test.ts

@@ -290,7 +290,13 @@ describe('getUnoccupiedStackOptions', () => {
       labId3: mockLabOnStagingArea,
     }
     expect(
-      getUnoccupiedStackOptions(mockRobotState, mockLabware, 'labId2', mockT)
+      getUnoccupiedStackOptions({
+        robotState: mockRobotState,
+        deckSetupLabware: mockLabware,
+        labwareIdFromDropdown: 'labId2',
+        labwareEntities: mockLabware,
+        t: mockT,
+      })
     ).toEqual([
       {
         name: 'Fixture Flex 96 Tip Rack Adapter',
@@ -304,7 +310,32 @@ describe('getUnoccupiedStackOptions', () => {
       labId: mockLabOnDeck1Flex,
     }
     expect(
-      getUnoccupiedStackOptions(mockRobotState, mockLabware, 'labId', mockT)
+      getUnoccupiedStackOptions({
+        robotState: mockRobotState,
+        deckSetupLabware: mockLabware,
+        labwareIdFromDropdown: 'labId',
+        labwareEntities: mockLabware,
+        t: mockT,
+      })
+    ).toEqual([])
+  })
+
+  it('should filter out labware that was moved to a waste chute', () => {
+    const mockLabware: AllTemporalPropertiesForTimelineFrame['labware'] = {
+      labId: mockLabOnDeck1Flex,
+      labId2: {
+        ...mockLabOnDeck2Flex,
+        stack: ['labId2', 'gripperWasteChute'],
+      },
+    }
+    expect(
+      getUnoccupiedStackOptions({
+        robotState: mockRobotState,
+        deckSetupLabware: mockLabware,
+        labwareIdFromDropdown: 'labId',
+        labwareEntities: mockLabware,
+        t: mockT,
+      })
     ).toEqual([])
   })
 })

protocol-designer/src/pages/Designer/utils.ts

@@ -5,6 +5,7 @@ import { reduce } from 'lodash'
 import {
   FLEX_ROBOT_TYPE,
   getAllLabwareDefs,
+  getIsPipettableLabware,
   getIsTiprack,
   getPositionFromSlotId,
   TC_MODULE_LOCATION_OT2,
@@ -13,7 +14,9 @@ import {
 } from '@opentrons/shared-data'
 import {
   getFullStackFromLabwares,
+  getNearestParentInStack,
   getSlotInLocationStack,
+  TOUCHED_PIPETTABLE_LABWARE,
 } from '@opentrons/step-generation'
 
 import { getRobotType } from '../../file-data/selectors'
@@ -36,6 +39,7 @@ import type {
 import type {
   AdditionalEquipmentName,
   DeckSlot,
+  LabwareEntities,
   LabwareEntity,
   RobotState,
 } from '@opentrons/step-generation'
@@ -365,23 +369,37 @@ export const useLabwareDropdownOptions = (
 }
 
 //  used for LabwareLocationField dropdown
-export const getUnoccupiedStackOptions = (
-  robotState: RobotState,
-  deckSetupLabware: AllTemporalPropertiesForTimelineFrame['labware'],
-  labwareIdFromDropdown: string,
+export const getUnoccupiedStackOptions = (args: {
+  robotState: RobotState
+  deckSetupLabware: AllTemporalPropertiesForTimelineFrame['labware']
+  labwareIdFromDropdown: string
+  labwareEntities: LabwareEntities
   t: any
-): Option[] => {
+}): Option[] => {
+  const {
+    robotState,
+    deckSetupLabware,
+    labwareIdFromDropdown,
+    labwareEntities,
+    t,
+  } = args
   if (deckSetupLabware[labwareIdFromDropdown] == null) {
     return []
   }
 
   const { def } = deckSetupLabware[labwareIdFromDropdown]
   const labwareCompatibleParentLabware = def.compatibleParentLabware
 
-  return Object.entries(robotState.labware).reduce<Option[]>(
+  const { labware: labwareState } = robotState
+
+  const isLabwareToMoveUsedLid =
+    labwareState[labwareIdFromDropdown]?.sterility ===
+    TOUCHED_PIPETTABLE_LABWARE
+
+  return Object.entries(labwareState).reduce<Option[]>(
     (acc, [labwareId, temporalLabwareOnDeck]) => {
       const slot = getSlotInLocationStack(temporalLabwareOnDeck.stack)
-      const fullStack = getFullStackFromLabwares(robotState.labware, slot)
+      const fullStack = getFullStackFromLabwares(labwareState, slot)
       const labwareOnDeck = deckSetupLabware[labwareId]
       const isTopOfStack = fullStack[0] === labwareId
       const { def: labwareOnDeckDef } = labwareOnDeck
@@ -393,23 +411,45 @@ export const getUnoccupiedStackOptions = (
         labwareIdFromDropdown
       )
 
-      if (isTopOfStack && isCompatible && isNotCurrentLabwareStack) {
+      const nearestParentInStack = getNearestParentInStack(fullStack)
+      const isNearestParentPipettableLabware =
+        nearestParentInStack != null &&
+        labwareEntities[nearestParentInStack] != null &&
+        getIsPipettableLabware(labwareEntities[nearestParentInStack].def)
+
+      const isNewLabwarePipettable =
+        labwareOnDeckDef != null && getIsPipettableLabware(labwareOnDeckDef)
+      const isSafeLidMove =
+        !(isLabwareToMoveUsedLid && isNewLabwarePipettable) &&
+        !isNearestParentPipettableLabware
+
+      const isInWasteChute = slot === 'gripperWasteChute'
+
+      if (
+        isTopOfStack &&
+        isCompatible &&
+        isNotCurrentLabwareStack &&
+        !isInWasteChute &&
+        isSafeLidMove
+      ) {
         const similarLabwareStackIds = getAllLabwareIdsOfCertainURIOnStack(
           deckSetupLabware,
           labwareOnDeck
         )
-        acc.push({
-          name:
-            similarLabwareStackIds.length > 1
-              ? t('protocol_steps:unoccupied_stack', {
-                  name: displayName,
-                })
-              : displayName,
-          value: labwareId,
-          deckLabel: slot,
-        })
+        return [
+          ...acc,
+          {
+            name:
+              similarLabwareStackIds.length > 1
+                ? t('protocol_steps:unoccupied_stack', {
+                    name: displayName,
+                  })
+                : displayName,
+            value: labwareId,
+            deckLabel: slot,
+          },
+        ]
       }
-
       return acc
     },
     []

protocol-designer/src/step-forms/types.ts

@@ -18,6 +18,7 @@ import type {
   ModuleEntity,
   PipetteEntity,
   TemperatureStatus,
+  TOUCHED_PIPETTABLE_LABWARE,
 } from '@opentrons/step-generation'
 import type { DeckSlot } from '../types'
 
@@ -107,6 +108,9 @@ export type NormalizedLabware = NormalizedLabwareById[keyof NormalizedLabwareByI
 // Temporal properties (eg location) that are time-variant
 export interface LabwareTemporalProperties {
   stack: string[] // a stack of ids from top to bottom
+  // we currently use this property only to track if a lid has been placed on a "pipettable" labware that could presumably contain liquid
+  // we can expand this type in the future to track other types of sterility for various labware types
+  sterility?: typeof TOUCHED_PIPETTABLE_LABWARE
 }
 export interface PipetteTemporalProperties {
   mount: Mount

protocol-designer/src/top-selectors/labware-locations/index.ts

@@ -269,24 +269,23 @@ export const getUnoccupiedLabwareLocationOptions: Selector<
       )
     )
 
-    const unoccupiedSlotOptions = allSlotIds
-      .filter(slotId => {
-        const isTrashSlot =
-          robotType === FLEX_ROBOT_TYPE
-            ? MOVABLE_TRASH_ADDRESSABLE_AREAS.includes(slotId)
-            : ['fixedTrash', '12'].includes(slotId)
-        return (
-          !slotIdsOccupiedByModules.includes(slotId) &&
-          !Object.values(labware).some(lw => lw.stack.includes(slotId)) &&
-          !isTrashSlot &&
-          !trashCutouts.some(cutout => cutout.includes(slotId)) &&
-          !WASTE_CHUTE_ADDRESSABLE_AREAS.includes(slotId) &&
-          !notSelectedStagingAreaAddressableAreas.includes(slotId) &&
-          !FLEX_MODULE_ADDRESSABLE_AREAS.includes(slotId) &&
-          !FLEX_STACKER_ADDRESSABLE_AREAS.includes(slotId)
-        )
-      })
-      .map(slotId => ({ name: slotId, value: slotId, deckLabel: slotId }))
+    const unoccupiedSlotOptions = allSlotIds.reduce<Option[]>((acc, slotId) => {
+      const isTrashSlot =
+        robotType === FLEX_ROBOT_TYPE
+          ? MOVABLE_TRASH_ADDRESSABLE_AREAS.includes(slotId)
+          : ['fixedTrash', '12'].includes(slotId)
+      return !slotIdsOccupiedByModules.includes(slotId) &&
+        !Object.values(labware).some(lw => lw.stack.includes(slotId)) &&
+        !isTrashSlot &&
+        !trashCutouts.some(cutout => cutout.includes(slotId)) &&
+        !WASTE_CHUTE_ADDRESSABLE_AREAS.includes(slotId) &&
+        !notSelectedStagingAreaAddressableAreas.includes(slotId) &&
+        !FLEX_MODULE_ADDRESSABLE_AREAS.includes(slotId) &&
+        !FLEX_STACKER_ADDRESSABLE_AREAS.includes(slotId)
+        ? [...acc, { name: slotId, value: slotId, deckLabel: slotId }]
+        : acc
+    }, [])
+
     const offDeck = {
       name: 'Off-deck',
       value: OFFDECK,
@@ -298,20 +297,13 @@ export const getUnoccupiedLabwareLocationOptions: Selector<
       deckLabel: 'D3',
     }
 
-    return hasWasteChute
-      ? [
-          wasteChuteSlot,
-          ...unoccupiedAdapterOptions,
-          ...unoccupiedModuleOptions,
-          ...unoccupiedSlotOptions,
-          offDeck,
-        ]
-      : [
-          ...unoccupiedAdapterOptions,
-          ...unoccupiedModuleOptions,
-          ...unoccupiedSlotOptions,
-          offDeck,
-        ]
+    return [
+      ...(hasWasteChute ? [wasteChuteSlot] : []),
+      ...unoccupiedAdapterOptions,
+      ...unoccupiedModuleOptions,
+      ...unoccupiedSlotOptions,
+      offDeck,
+    ]
   }
 )