fix(app): allow door to open when releasing latch and home gantry axes when launching ER for stacker

api/src/opentrons/protocol_engine/state/commands.py

@@ -5,7 +5,7 @@
 import enum
 from dataclasses import dataclass
 from datetime import datetime
-from typing import Dict, List, Optional, Union
+from typing import Dict, List, Optional, Union, Tuple
 from typing_extensions import assert_never
 
 from opentrons_shared_data.errors import EnumeratedError, ErrorCodes, PythonException
@@ -21,6 +21,12 @@
 from opentrons.protocol_engine.commands.unsafe.unsafe_ungrip_labware import (
     UnsafeUngripLabwareCommandType,
 )
+from opentrons.protocol_engine.commands.unsafe.unsafe_stacker_close_latch import (
+    UnsafeFlexStackerCloseLatchCommandType,
+)
+from opentrons.protocol_engine.commands.unsafe.unsafe_stacker_open_latch import (
+    UnsafeFlexStackerOpenLatchCommandType,
+)
 from opentrons.protocol_engine.error_recovery_policy import (
     ErrorRecoveryPolicy,
     ErrorRecoveryType,
@@ -1137,8 +1143,16 @@ def _may_run_with_door_open(
         # is probably a mistake in the caller's logic.
         assert fixit_command.intent == CommandIntent.FIXIT
 
-        # This type annotation is to make sure the string constant stays in sync and isn't typo'd.
-        required_command_type: UnsafeUngripLabwareCommandType = "unsafe/ungripLabware"
+        # These type annotations are to make sure the string constants stay in sync and aren't typo'd.
+        allowed_command_types: Tuple[
+            UnsafeUngripLabwareCommandType,
+            UnsafeFlexStackerCloseLatchCommandType,
+            UnsafeFlexStackerOpenLatchCommandType,
+        ] = (
+            "unsafe/ungripLabware",
+            "unsafe/flexStacker/closeLatch",
+            "unsafe/flexStacker/openLatch",
+        )
         # todo(mm, 2024-10-04): Instead of allowlisting command types, maybe we should
         # add a `mayRunWithDoorOpen: bool` field to command requests.
-        return fixit_command.commandType == required_command_type
+        return fixit_command.commandType in allowed_command_types

app/src/atoms/SoftwareKeyboard/index.css

@@ -7,8 +7,14 @@
   padding: 5px;
   border-radius: 5px;
   background-color: #ececec;
-  font-family: HelveticaNeue-Light, Helvetica Neue Light, Helvetica Neue,
-    Helvetica, Arial, Lucida Grande, sans-serif;
+  font-family:
+    HelveticaNeue-Light,
+    Helvetica Neue Light,
+    Helvetica Neue,
+    Helvetica,
+    Arial,
+    Lucida Grande,
+    sans-serif;
   touch-action: manipulation;
   -webkit-user-select: none;
   -moz-user-select: none;

app/src/organisms/ErrorRecoveryFlows/ErrorRecoveryWizard.tsx

@@ -322,7 +322,7 @@ export function ErrorRecoveryContent(props: RecoveryContentProps): JSX.Element {
     case RECOVERY_MAP.ROBOT_PICKING_UP_TIPS.ROUTE:
     case RECOVERY_MAP.ROBOT_SKIPPING_STEP.ROUTE:
     case RECOVERY_MAP.ROBOT_RELEASING_LABWARE.ROUTE:
-    case RECOVERY_MAP.ROBOT_RELEASING_LABWARE_LATCH.ROUTE:
+    case RECOVERY_MAP.STACKER_RELEASING_LABWARE_LATCH.ROUTE:
       return buildRecoveryInProgress()
     case RECOVERY_MAP.ROBOT_DOOR_OPEN.ROUTE:
       return buildManuallyRouteToDoorOpen()

app/src/organisms/ErrorRecoveryFlows/RecoveryDoorOpen.tsx

@@ -64,7 +64,7 @@ export function RecoveryDoorOpen({
       case RECOVERY_MAP.STACKER_STALLED_SKIP.ROUTE:
       case RECOVERY_MAP.STACKER_SHUTTLE_EMPTY_SKIP.ROUTE:
       case RECOVERY_MAP.STACKER_SHUTTLE_EMPTY_RETRY.ROUTE:
-      case RECOVERY_MAP.ROBOT_RELEASING_LABWARE_LATCH.ROUTE:
+      case RECOVERY_MAP.STACKER_RELEASING_LABWARE_LATCH.ROUTE:
         return t('stacker_door_open_robot_home')
       default:
         return t('close_the_robot_door')
@@ -80,7 +80,7 @@ export function RecoveryDoorOpen({
       case RECOVERY_MAP.STACKER_STALLED_SKIP.ROUTE:
       case RECOVERY_MAP.STACKER_SHUTTLE_EMPTY_SKIP.ROUTE:
       case RECOVERY_MAP.STACKER_SHUTTLE_EMPTY_RETRY.ROUTE:
-      case RECOVERY_MAP.ROBOT_RELEASING_LABWARE_LATCH.ROUTE:
+      case RECOVERY_MAP.STACKER_RELEASING_LABWARE_LATCH.ROUTE:
         return t('close_robot_and_stacker_door')
       default:
         return t('robot_door_is_open')
@@ -96,7 +96,7 @@ export function RecoveryDoorOpen({
       case RECOVERY_MAP.STACKER_STALLED_SKIP.ROUTE:
       case RECOVERY_MAP.STACKER_SHUTTLE_EMPTY_SKIP.ROUTE:
       case RECOVERY_MAP.STACKER_SHUTTLE_EMPTY_RETRY.ROUTE:
-      case RECOVERY_MAP.ROBOT_RELEASING_LABWARE_LATCH.ROUTE:
+      case RECOVERY_MAP.STACKER_RELEASING_LABWARE_LATCH.ROUTE:
         return t('continue')
       default:
         return t('resume')

app/src/organisms/ErrorRecoveryFlows/RecoveryInProgress.tsx

@@ -32,7 +32,7 @@ export function RecoveryInProgress({
     ROBOT_PICKING_UP_TIPS,
     ROBOT_SKIPPING_STEP,
     ROBOT_RELEASING_LABWARE,
-    ROBOT_RELEASING_LABWARE_LATCH,
+    STACKER_RELEASING_LABWARE_LATCH,
   } = RECOVERY_MAP
   const { t } = useTranslation('error_recovery')
   const { route } = recoveryMap
@@ -68,7 +68,7 @@ export function RecoveryInProgress({
           return t('gripper_releasing_labware')
         }
       }
-      case ROBOT_RELEASING_LABWARE_LATCH.ROUTE: {
+      case STACKER_RELEASING_LABWARE_LATCH.ROUTE: {
         if (releaseCountdown > 0) {
           return t('latch_will_release_in_s', {
             seconds: releaseCountdown,
@@ -189,7 +189,7 @@ export function useReleaseLabware({
     let intervalId: NodeJS.Timeout | null = null
     switch (recoveryMap.route) {
       case RECOVERY_MAP.ROBOT_RELEASING_LABWARE.ROUTE:
-      case RECOVERY_MAP.ROBOT_RELEASING_LABWARE_LATCH.ROUTE:
+      case RECOVERY_MAP.STACKER_RELEASING_LABWARE_LATCH.ROUTE:
         intervalId = setInterval(() => {
           setCountdown(prevCountdown => {
             const updatedCountdown = prevCountdown - 1
@@ -200,21 +200,12 @@ export function useReleaseLabware({
               }
               if (
                 recoveryMap.route ===
-                RECOVERY_MAP.ROBOT_RELEASING_LABWARE_LATCH.ROUTE
+                RECOVERY_MAP.STACKER_RELEASING_LABWARE_LATCH.ROUTE
               ) {
                 void releaseLabwareLatch().then(() => {
-                  if (isDoorOpen) {
-                    return handleMotionRouting(false).then(() => {
-                      proceedToDoorStep()
-                    })
-                  }
-
-                  return handleMotionRouting(true)
-                    .then(() => homeExceptPlungers())
-                    .then(() => handleMotionRouting(false))
-                    .then(() => {
-                      proceedToValidNextStep()
-                    })
+                  return handleMotionRouting(false).then(() => {
+                    proceedToValidNextStep()
+                  })
                 })
               } else {
                 void releaseGripperJaws().then(() => {

app/src/organisms/ErrorRecoveryFlows/RecoverySplash.tsx

@@ -33,6 +33,7 @@ import {
   BANNER_TEXT_CONTAINER_STYLE,
   BANNER_TEXT_CONTENT_STYLE,
   RECOVERY_MAP,
+  STACKER_ERROR_KINDS,
 } from './constants'
 import { useErrorName } from './hooks'
 import { RecoveryInterventionModal, StepInfo } from './shared'
@@ -94,6 +95,8 @@ export function RecoverySplash(props: RecoverySplashProps): JSX.Element | null {
   const { proceedToRouteAndStep, handleMotionRouting } = routeUpdateActions
   const { reportErrorEvent } = analytics
 
+  const isStackerError = STACKER_ERROR_KINDS.includes(errorKind)
+
   const buildTitleHeadingDesktop = (): JSX.Element => {
     return (
       <StyledText desktopStyle="bodyLargeSemiBold">
@@ -148,8 +151,16 @@ export function RecoverySplash(props: RecoverySplashProps): JSX.Element | null {
           )
         })
         .then(() => handleMotionRouting(true))
-        .then(() => recoveryCommands.homePipetteZAxes())
-        .finally(() => handleMotionRouting(false))
+        .then(() => {
+          if (isStackerError) {
+            return recoveryCommands.homeExceptPlungers()
+          } else {
+            return recoveryCommands.homePipetteZAxes()
+          }
+        })
+        .finally(() => {
+          void handleMotionRouting(false)
+        })
     }
     handleConditionalClick(onClick)
   }

app/src/organisms/ErrorRecoveryFlows/__tests__/RecoveryDoorOpen.test.tsx

@@ -76,7 +76,7 @@ describe('RecoveryDoorOpen', () => {
     RECOVERY_MAP.STACKER_STALLED_SKIP.ROUTE,
     RECOVERY_MAP.STACKER_SHUTTLE_EMPTY_SKIP.ROUTE,
     RECOVERY_MAP.STACKER_SHUTTLE_EMPTY_RETRY.ROUTE,
-    RECOVERY_MAP.ROBOT_RELEASING_LABWARE_LATCH.ROUTE,
+    RECOVERY_MAP.STACKER_RELEASING_LABWARE_LATCH.ROUTE,
   ]
 
   // Routes that should return the door open text.

app/src/organisms/ErrorRecoveryFlows/__tests__/RecoveryInProgress.test.tsx

@@ -29,7 +29,7 @@ describe('RecoveryInProgress', () => {
     ROBOT_PICKING_UP_TIPS,
     ROBOT_SKIPPING_STEP,
     ROBOT_RELEASING_LABWARE,
-    ROBOT_RELEASING_LABWARE_LATCH,
+    STACKER_RELEASING_LABWARE_LATCH,
   } = RECOVERY_MAP
   let props: ComponentProps<typeof RecoveryInProgress>
 
@@ -137,12 +137,12 @@ describe('RecoveryInProgress', () => {
     screen.getByText('Gripper will release labware in 3 seconds')
   })
 
-  it(`renders appropriate copy when the route is ${ROBOT_RELEASING_LABWARE_LATCH.ROUTE}`, () => {
+  it(`renders appropriate copy when the route is ${STACKER_RELEASING_LABWARE_LATCH.ROUTE}`, () => {
     props = {
       ...props,
       recoveryMap: {
-        route: ROBOT_RELEASING_LABWARE_LATCH.ROUTE,
-        step: ROBOT_RELEASING_LABWARE_LATCH.STEPS.RELEASING_LABWARE_LATCH,
+        route: STACKER_RELEASING_LABWARE_LATCH.ROUTE,
+        step: STACKER_RELEASING_LABWARE_LATCH.STEPS.RELEASING_LABWARE_LATCH,
       },
     }
     render(props)
@@ -181,8 +181,8 @@ describe('RecoveryInProgress', () => {
     props = {
       ...props,
       recoveryMap: {
-        route: ROBOT_RELEASING_LABWARE_LATCH.ROUTE,
-        step: ROBOT_RELEASING_LABWARE_LATCH.STEPS.RELEASING_LABWARE_LATCH,
+        route: STACKER_RELEASING_LABWARE_LATCH.ROUTE,
+        step: STACKER_RELEASING_LABWARE_LATCH.STEPS.RELEASING_LABWARE_LATCH,
       },
     }
     render(props)
@@ -266,12 +266,12 @@ describe('useReleaseLabware', () => {
       },
       {
         recoveryOption: RECOVERY_MAP.STACKER_SHUTTLE_EMPTY_SKIP.ROUTE,
-        currentRoute: RECOVERY_MAP.ROBOT_RELEASING_LABWARE_LATCH.ROUTE,
+        currentRoute: RECOVERY_MAP.STACKER_RELEASING_LABWARE_LATCH.ROUTE,
         nextStep: RECOVERY_MAP.STACKER_SHUTTLE_EMPTY_SKIP.STEPS.REENGAGE_LATCH,
       },
       {
         recoveryOption: RECOVERY_MAP.STACKER_SHUTTLE_EMPTY_RETRY.ROUTE,
-        currentRoute: RECOVERY_MAP.ROBOT_RELEASING_LABWARE_LATCH.ROUTE,
+        currentRoute: RECOVERY_MAP.STACKER_RELEASING_LABWARE_LATCH.ROUTE,
         nextStep: RECOVERY_MAP.STACKER_SHUTTLE_EMPTY_RETRY.STEPS.REENGAGE_LATCH,
       },
     ])(
@@ -312,11 +312,11 @@ describe('useReleaseLabware', () => {
             break
           default:
             expect(releaseGripperJaws).toHaveBeenCalledTimes(1)
+            expect(handleMotionRouting).toHaveBeenNthCalledWith(1, true)
+            expect(homeExceptPlungers).toHaveBeenCalledTimes(1)
+            expect(handleMotionRouting).toHaveBeenNthCalledWith(2, false)
             break
         }
-        expect(handleMotionRouting).toHaveBeenNthCalledWith(1, true)
-        expect(homeExceptPlungers).toHaveBeenCalledTimes(1)
-        expect(handleMotionRouting).toHaveBeenNthCalledWith(2, false)
         expect(proceedToRouteAndStep).toHaveBeenCalledWith(
           recoveryOption,
           nextStep

app/src/organisms/ErrorRecoveryFlows/constants.ts

@@ -118,8 +118,8 @@ export const RECOVERY_MAP = {
       RELEASING_LABWARE: 'releasing-labware',
     },
   },
-  ROBOT_RELEASING_LABWARE_LATCH: {
-    ROUTE: 'robot-releasing-labware-latch',
+  STACKER_RELEASING_LABWARE_LATCH: {
+    ROUTE: 'stacker-releasing-labware-latch',
     STEPS: {
       RELEASING_LABWARE_LATCH: 'releasing-labware-latch',
     },
@@ -327,7 +327,7 @@ const {
   ROBOT_CANCELING,
   ROBOT_PICKING_UP_TIPS,
   ROBOT_RELEASING_LABWARE,
-  ROBOT_RELEASING_LABWARE_LATCH,
+  STACKER_RELEASING_LABWARE_LATCH,
   ROBOT_RESUMING,
   ROBOT_IN_MOTION,
   ROBOT_RETRYING_STEP,
@@ -381,8 +381,8 @@ export const STEP_ORDER: StepOrder = {
   [ROBOT_RELEASING_LABWARE.ROUTE]: [
     ROBOT_RELEASING_LABWARE.STEPS.RELEASING_LABWARE,
   ],
-  [ROBOT_RELEASING_LABWARE_LATCH.ROUTE]: [
-    ROBOT_RELEASING_LABWARE_LATCH.STEPS.RELEASING_LABWARE_LATCH,
+  [STACKER_RELEASING_LABWARE_LATCH.ROUTE]: [
+    STACKER_RELEASING_LABWARE_LATCH.STEPS.RELEASING_LABWARE_LATCH,
   ],
   [ROBOT_RESUMING.ROUTE]: [ROBOT_RESUMING.STEPS.RESUMING],
   [ROBOT_RETRYING_STEP.ROUTE]: [ROBOT_RETRYING_STEP.STEPS.RETRYING],
@@ -541,9 +541,9 @@ export const RECOVERY_MAP_METADATA: RecoveryRouteStepMetadata = {
   [ROBOT_RELEASING_LABWARE.ROUTE]: {
     [ROBOT_RELEASING_LABWARE.STEPS.RELEASING_LABWARE]: { allowDoorOpen: false },
   },
-  [ROBOT_RELEASING_LABWARE_LATCH.ROUTE]: {
-    [ROBOT_RELEASING_LABWARE_LATCH.STEPS.RELEASING_LABWARE_LATCH]: {
-      allowDoorOpen: false,
+  [STACKER_RELEASING_LABWARE_LATCH.ROUTE]: {
+    [STACKER_RELEASING_LABWARE_LATCH.STEPS.RELEASING_LABWARE_LATCH]: {
+      allowDoorOpen: true,
     },
   },
   [ROBOT_RESUMING.ROUTE]: {
@@ -717,7 +717,7 @@ export const RECOVERY_MAP_METADATA: RecoveryRouteStepMetadata = {
       allowDoorOpen: true,
     },
     [STACKER_SHUTTLE_EMPTY_RETRY.STEPS.PREPARE_TRACK_FOR_HOMING]: {
-      allowDoorOpen: true,
+      allowDoorOpen: false,
     },
     [STACKER_SHUTTLE_EMPTY_RETRY.STEPS.CONFIRM_LABWARE_IN_LATCH]: {
       allowDoorOpen: true,
@@ -809,9 +809,12 @@ export const GRIPPER_MOVE_STEPS: RouteStep[] = [
   RECOVERY_MAP.MANUAL_REPLACE_AND_RETRY.STEPS.MANUAL_REPLACE,
 ]
 
-export const REENGAGE_LATCH_ROUTES: RouteStep[] = [
+export const STACKER_LATCH_STEPS: RouteStep[] = [
+  RECOVERY_MAP.STACKER_SHUTTLE_EMPTY_SKIP.STEPS.RELEASE_FROM_LATCH,
   RECOVERY_MAP.STACKER_SHUTTLE_EMPTY_SKIP.STEPS.REENGAGE_LATCH,
+  RECOVERY_MAP.STACKER_SHUTTLE_EMPTY_RETRY.STEPS.RELEASE_FROM_LATCH,
   RECOVERY_MAP.STACKER_SHUTTLE_EMPTY_RETRY.STEPS.REENGAGE_LATCH,
+  STACKER_RELEASING_LABWARE_LATCH.STEPS.RELEASING_LABWARE_LATCH,
 ]
 
 export const INVALID = 'INVALID' as const

app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useRecoveryToasts.test.tsx

@@ -338,7 +338,7 @@ describe('handleRecoveryOptionAction', () => {
     RECOVERY_MAP.ROBOT_DOOR_OPEN.ROUTE,
     RECOVERY_MAP.ROBOT_DOOR_OPEN_SPECIAL.ROUTE,
     RECOVERY_MAP.OPTION_SELECTION.ROUTE,
-    RECOVERY_MAP.ROBOT_RELEASING_LABWARE_LATCH.ROUTE,
+    RECOVERY_MAP.STACKER_RELEASING_LABWARE_LATCH.ROUTE,
   ]
 
   it.each(NEXT_STEP_ROUTES)('should return nextStepReturnVal for %s', route => {

app/src/organisms/ErrorRecoveryFlows/hooks/useRouteUpdateActions.ts

@@ -6,6 +6,7 @@ import {
   GRIPPER_MOVE_STEPS,
   INVALID,
   RECOVERY_MAP,
+  STACKER_LATCH_STEPS,
   STEP_ORDER,
 } from '../constants'
 
@@ -109,10 +110,14 @@ export function useRouteUpdateActions(
   )
 
   // If the door is permitted on the current step, but the robot is about to move, we need to manually redirect users
-  // to the door modal unless the step is specifically a gripper jaw release step.
+  // to the door modal unless the step is specifically a gripper jaw/stacker latch release step.
   const checkDoorStatus = useCallback((): Promise<void> => {
     return new Promise((resolve, reject) => {
-      if (isDoorOpen && !GRIPPER_MOVE_STEPS.includes(currentStep)) {
+      if (
+        isDoorOpen &&
+        !GRIPPER_MOVE_STEPS.includes(currentStep) &&
+        !STACKER_LATCH_STEPS.includes(currentStep)
+      ) {
         stashedMapRef.current = { route: currentRoute, step: currentStep }
 
         setRecoveryMap({

app/src/organisms/ErrorRecoveryFlows/shared/ReleaseLabware.tsx

@@ -43,7 +43,7 @@ export function ReleaseLabware({
       case STACKER_SHUTTLE_EMPTY_SKIP.ROUTE:
         void handleMotionRouting(
           true,
-          RECOVERY_MAP.ROBOT_RELEASING_LABWARE_LATCH.ROUTE
+          RECOVERY_MAP.STACKER_RELEASING_LABWARE_LATCH.ROUTE
         )
         break
       default:

app/src/organisms/ErrorRecoveryFlows/shared/StackerReengageLatch.tsx

@@ -3,7 +3,6 @@ import { useTranslation } from 'react-i18next'
 import ReengageLatch from '/app/assets/images/flex_stacker_reengage_latch.png'
 import { DescriptionContent, TwoColumn } from '/app/molecules/InterventionModal'
 
-import { RECOVERY_MAP } from '../constants'
 import { RecoverySingleColumnContentWrapper } from './RecoveryContentWrapper'
 import { RecoveryFooterButtons } from './RecoveryFooterButtons'
 
@@ -13,19 +12,12 @@ export function StackerReengageLatch(props: RecoveryContentProps): JSX.Element {
   const { t } = useTranslation('error_recovery')
 
   const { routeUpdateActions, recoveryCommands } = props
-  const {
-    proceedNextStep,
-    goBackPrevStep,
-    handleMotionRouting,
-  } = routeUpdateActions
+  const { proceedNextStep, goBackPrevStep } = routeUpdateActions
   const { closeLabwareLatch } = recoveryCommands
-  const { ROBOT_IN_MOTION } = RECOVERY_MAP
 
   const primaryOnClick = (): void => {
-    void handleMotionRouting(true, ROBOT_IN_MOTION.ROUTE).then(() => {
-      void closeLabwareLatch().then(() => {
-        void proceedNextStep()
-      })
+    void closeLabwareLatch().then(() => {
+      void proceedNextStep()
     })
   }