@opentrons/step-generation 0.3.0-alpha.1 → 0.3.1-alpha.0

package/lib/types.d.ts

@@ -1,4 +1,4 @@
-import type { ABSORBANCE_READER_TYPE, CreateCommand, FLEX_STACKER_MODULE_TYPE, FlexStackerStoredLabwareGroup, HEATERSHAKER_MODULE_TYPE, Height, LabwareDefinition2, LabwareLocation, LabwareMovementStrategy, LoadedLabwareLocation, MAGNETIC_BLOCK_TYPE, MAGNETIC_MODULE_TYPE, ModuleModel, ModuleType, PipetteMount as Mount, NozzleConfigurationStyle, PipetteName, PipetteV2Specs, PositionReference, PrimaryNozzleConfigurationStyle, ShakeSpeedParams, StackerStoredLabwareDefinitionURIs, TCExtendedProfileParams, TEMPERATURE_MODULE_TYPE, THERMOCYCLER_MODULE_TYPE, VACUUM_MODULE_TYPE, Width } from '@opentrons/shared-data';
+import type { ABSORBANCE_READER_TYPE, CreateCommand, FLEX_STACKER_MODULE_TYPE, FlexStackerStoredLabwareGroup, HEATERSHAKER_MODULE_TYPE, Height, LabwareDefinition2, LabwareLocation, LabwareMovementStrategy, LoadedLabwareLocation, MAGNETIC_BLOCK_TYPE, MAGNETIC_MODULE_TYPE, ModuleModel, ModuleType, PipetteMount as Mount, NozzleConfigurationStyle, PipetteName, PipetteV2Specs, PositionReference, PrimaryNozzleConfigurationStyle, ShakeSpeedParams, StackerStoredLabwareDefinitionURIs, TCExtendedProfileParams, TEMPERATURE_MODULE_TYPE, THERMOCYCLER_MODULE_TYPE, VACUUM_MODULE_TYPE, VacuumRunProfileParams, Width } from '@opentrons/shared-data';
 import type { AUTOMATIC, CLEAN, DIRTY, EMPTY, MANUAL, TEMPERATURE_APPROACHING_TARGET, TEMPERATURE_AT_TARGET, TEMPERATURE_DEACTIVATED, VACUUM_MODE_POWER, VACUUM_MODE_PRESSURE, VACUUM_VENT_CLOSED, VACUUM_VENT_OPEN } from './constants';
 export type DeckSlot = string;
 type THERMOCYCLER_STATE = 'thermocyclerState';
@@ -31,6 +31,11 @@ export interface TemperatureModuleState {
     status: TemperatureStatus;
     targetTemperature: number | null;
 }
+export interface Point {
+    x: number;
+    y: number;
+    z?: number;
+}
 export interface ThermocyclerModuleState {
     type: typeof THERMOCYCLER_MODULE_TYPE;
     lidTargetTemp: number | null; /** null means lid is deactivated. */
@@ -58,6 +63,39 @@ export interface ProfileBlockActivity {
      */
     taskId: string | null;
 }
+export interface VacuumPumpProfileActivity {
+    type: 'profile';
+    profileElements: VacuumRunProfileParams['profile'];
+    taskId: string;
+    ventAfter: boolean;
+}
+interface BaseVacuumPumpTimedHold {
+    type: 'timedHold';
+    durationSeconds: number;
+    taskId: string;
+    ventAfter: boolean;
+}
+interface VacuumPumpPressureTimedHold extends BaseVacuumPumpTimedHold {
+    mode: typeof VACUUM_MODE_PRESSURE;
+    targetPressure: number;
+}
+interface VacuumPumpPowerTimedHold extends BaseVacuumPumpTimedHold {
+    mode: typeof VACUUM_MODE_POWER;
+    targetPower: number;
+}
+interface VacuumPumpPressureIndefiniteHold {
+    type: 'indefiniteHold';
+    mode: typeof VACUUM_MODE_PRESSURE;
+    targetPressure: number;
+}
+interface VacuumPumpPowerIndefiniteHold {
+    type: 'indefiniteHold';
+    mode: typeof VACUUM_MODE_POWER;
+    targetPower: number;
+}
+export interface VacuumPumpDeactivatedActivity {
+    type: 'pumpDeactivated';
+}
 /** The thermal block is targeting a constant temperature, outside of a profile. */
 export interface TargetTempBlockActivity {
     type: 'blockTargetTemp';
@@ -93,21 +131,13 @@ export interface FlexStackerModuleState {
     setStoredLabwareCount?: number;
     fillCount?: number;
 }
-interface VacuumModulePressureState {
-    modeType: typeof VACUUM_MODE_PRESSURE;
-    currentPressure: number | null;
-    targetPressure: number | null;
-}
-interface VacuumModulePowerState {
-    modeType: typeof VACUUM_MODE_POWER;
-    currentPower: number | null;
-    targetPower: number | null;
-}
 export type VentStatus = typeof VACUUM_VENT_OPEN | typeof VACUUM_VENT_CLOSED;
+export type VacuumPumpActivity = VacuumPumpProfileActivity | VacuumPumpDeactivatedActivity | VacuumPumpPressureTimedHold | VacuumPumpPowerTimedHold | VacuumPumpPressureIndefiniteHold | VacuumPumpPowerIndefiniteHold;
 export interface VacuumModuleState {
     type: typeof VACUUM_MODULE_TYPE;
-    vacuumState: VacuumModulePressureState | VacuumModulePowerState | null;
     ventStatus: VentStatus | null;
+    numPumpActivitiesStarted: number;
+    currentPumpActivity: VacuumPumpActivity;
 }
 export type ModuleState = MagneticModuleState | TemperatureModuleState | ThermocyclerModuleState | HeaterShakerModuleState | MagneticBlockState | AbsorbanceReaderState | FlexStackerModuleState | VacuumModuleState;
 export interface ModuleTemporalProperties {
@@ -415,7 +445,7 @@ export interface WaitForTemperatureArgs extends CommonArgs {
 export interface WaitForModuleTaskArgs extends CommonArgs {
     commandCreatorFnName: 'waitForModuleTask';
     /** This step will wait for this to happen before moving on. */
-    waitCondition: 'thermocyclerProfileComplete';
+    waitCondition: 'thermocyclerProfileComplete' | 'vacuumProfileComplete' | 'vacuumStateComplete';
     moduleId: string;
 }
 export type EngageMagnetArgs = CommonArgs & {
@@ -472,6 +502,18 @@ interface ProfileCycleItem {
     steps: ProfileStepItem[];
     repetitions: string;
 }
+interface VacuumProfileStepItem {
+    type: typeof PROFILE_STEP;
+    id: string;
+    durationSeconds: number;
+    pumpData: VacuumPumpData;
+}
+interface VacuumProfileCycleItem {
+    type: typeof PROFILE_CYCLE;
+    id: string;
+    steps: VacuumProfileStepItem[];
+    repetitions: number;
+}
 export type ProfileItem = ProfileStepItem | ProfileCycleItem;
 /**
  * Emits a concurrent Thermocycler profile step. The protocol will proceed to the next
@@ -557,8 +599,61 @@ export interface FlexStackerRetrieveArgs extends CommonArgs {
     moduleId: string;
     commandCreatorFnName: 'flexStackerRetrieve';
 }
+export interface VacuumPumpAdvancedArgs {
+    duration?: number;
+    ventAfter?: boolean;
+}
+export interface VacuumPumpPressureArgs extends CommonArgs, VacuumPumpAdvancedArgs {
+    moduleId: string;
+    commandCreatorFnName: 'vacuumSetPumpPressure';
+    gaugePressure: number;
+}
+export interface VacuumPumpPowerArgs extends CommonArgs, VacuumPumpAdvancedArgs {
+    moduleId: string;
+    commandCreatorFnName: 'vacuumSetPumpPower';
+    powerPercent: number;
+}
+export interface VacuumOpenVentArgs extends CommonArgs {
+    moduleId: string;
+    commandCreatorFnName: 'vacuumOpenVent';
+}
+export interface VacuumCloseVentArgs extends CommonArgs {
+    moduleId: string;
+    commandCreatorFnName: 'vacuumCloseVent';
+}
+export interface VacuumStopPumpArgs extends CommonArgs {
+    moduleId: string;
+    commandCreatorFnName: 'vacuumStopPump';
+}
+export interface VacuumPressureData {
+    mode: typeof VACUUM_MODE_PRESSURE;
+    pressureMbar: string | null;
+}
+export interface VacuumPowerData {
+    mode: typeof VACUUM_MODE_POWER;
+    powerPercent: number;
+}
+type VacuumPumpData = VacuumPressureData | VacuumPowerData;
+interface ProfileStepItemBase {
+    type: typeof PROFILE_STEP;
+    id: string;
+    title: string;
+}
+export interface VacuumProfileStep extends ProfileStepItemBase {
+    durationSeconds: number;
+    pumpData: VacuumPumpData;
+}
+export type VacuumProfileItem = VacuumProfileStepItem | VacuumProfileCycleItem;
+export type VacuumPumpArgs = VacuumPumpPressureArgs | VacuumPumpPowerArgs;
+export interface VacuumStartRunProfileArgs extends CommonArgs {
+    moduleId: string;
+    commandCreatorFnName: 'vacuumStartRunProfile';
+    profile: VacuumRunProfileParams['profile'];
+    ventAfter?: boolean;
+}
+export type VacuumArgs = VacuumPumpArgs | VacuumStartRunProfileArgs | VacuumOpenVentArgs | VacuumCloseVentArgs | VacuumStopPumpArgs;
 export type FlexStackerArgs = FlexStackerEmptyArgs | FlexStackerFillItemsArgs | FlexStackerRetrieveArgs | FlexStackerStoreArgs;
-export type CommandCreatorArgs = AbsorbanceReaderInitializeArgs | AbsorbanceReaderReadArgs | AbsorbanceReaderLidArgs | ConsolidateArgs | CaptureImageArgs | DistributeArgs | MixArgs | PauseArgs | WaitForModuleTaskArgs | TransferArgs | EngageMagnetArgs | DisengageMagnetArgs | SetTemperatureArgs | WaitForTemperatureArgs | DeactivateTemperatureArgs | ThermocyclerProfileStepArgs | ThermocyclerStateStepArgs | HeaterShakerArgs | MoveLabwareArgs | CommentArgs | FlexStackerArgs;
+export type CommandCreatorArgs = AbsorbanceReaderInitializeArgs | AbsorbanceReaderReadArgs | AbsorbanceReaderLidArgs | ConsolidateArgs | CaptureImageArgs | DistributeArgs | MixArgs | PauseArgs | WaitForModuleTaskArgs | TransferArgs | EngageMagnetArgs | DisengageMagnetArgs | SetTemperatureArgs | WaitForTemperatureArgs | DeactivateTemperatureArgs | ThermocyclerProfileStepArgs | ThermocyclerStateStepArgs | HeaterShakerArgs | MoveLabwareArgs | CommentArgs | FlexStackerArgs | VacuumArgs;
 export interface LocationLiquidState {
     [ingredGroup: string]: {
         volume: number;
@@ -636,7 +731,7 @@ export interface TimelineFrame {
     };
 }
 export type RobotState = TimelineFrame;
-export type ErrorType = 'ABSORBANCE_READER_LID_CLOSED' | 'ABSORBANCE_READER_NO_GRIPPER' | 'ABSORBANCE_READER_NO_INITIALIZATION' | 'CANNOT_MOVE_WITH_GRIPPER' | 'CLOSING_THERMOCYCLER_WITH_INVALID_LABWARE_LID' | 'DROP_TIP_LOCATION_DOES_NOT_EXIST' | 'EQUIPMENT_DOES_NOT_EXIST' | 'FLEX_STACKER_NO_GRIPPER' | 'GRIPPER_REQUIRED' | 'HEATER_SHAKER_EAST_WEST_LATCH_OPEN' | 'HEATER_SHAKER_EAST_WEST_MULTI_CHANNEL' | 'HEATER_SHAKER_IS_SHAKING' | 'HEATER_SHAKER_LATCH_CLOSED' | 'HEATER_SHAKER_LATCH_OPEN' | 'HEATER_SHAKER_NORTH_SOUTH__OF_NON_TIPRACK_WITH_MULTI_CHANNEL' | 'HEATER_SHAKER_NORTH_SOUTH_EAST_WEST_SHAKING' | 'HOPPER_EMPTY' | 'HOPPER_FULL' | 'INCOMPLETE_PICKUP' | 'INSUFFICIENT_TIPS' | 'INVALID_SLOT' | 'LABWARE_DISCARDED_IN_TRASH' | 'LABWARE_DOES_NOT_EXIST' | 'LABWARE_OFF_DECK' | 'LABWARE_ON_ANOTHER_ENTITY' | 'LABWARE_ON_HOPPER' | 'MISMATCHED_SOURCE_DEST_WELLS' | 'MISMATCHED_STACKER_LABWARE_TYPE' | 'MISSING_96_CHANNEL_TIPRACK_ADAPTER' | 'MISSING_MODULE' | 'MISSING_PROFILE_STEP' | 'MISSING_STACKER_LABWARE_TYPE' | 'MISSING_TEMPERATURE_STEP' | 'MOVE_LOCATION_NOT_SPECIFIED' | 'MODULE_PIPETTE_COLLISION_DANGER' | 'MULTI_ASPIRATE_VOLUME_TOO_HIGH' | 'MULTI_DISPENSE_VOLUME_TOO_HIGH' | 'NEXT_TIPRACK_HAS_LID' | 'NO_TIP_ON_PIPETTE' | 'NO_TIP_SELECTED' | 'PIPETTE_DOES_NOT_EXIST' | 'PIPETTE_HAS_TIP' | 'PIPETTE_VOLUME_EXCEEDED' | 'PIPETTING_INTO_COLUMN_4' | 'POSSIBLE_PIPETTE_COLLISION' | 'REMOVE_96_CHANNEL_TIPRACK_ADAPTER' | 'RETRACT_BELOW_ASPIRATE' | 'RETRACT_BELOW_DISPENSE' | 'RETURN_TIP_UNAVAILABLE' | 'SHUTTLE_FULL' | 'SHUTTLE_EMPTY' | 'STACK_TOO_HIGH' | 'SUBMERGE_BELOW_ASPIRATE' | 'SUBMERGE_BELOW_DISPENSE' | 'TALL_LABWARE_EAST_WEST_OF_HEATER_SHAKER' | 'THERMOCYCLER_BUSY_WITH_PROFILE' | 'THERMOCYCLER_LID_CLOSED' | 'TIP_VOLUME_EXCEEDED' | 'TIPRACK_LID_NOT_ALLOWED_ON_DECK' | 'TOO_MANY_TIPS';
+export type ErrorType = 'ABSORBANCE_READER_LID_CLOSED' | 'ABSORBANCE_READER_NO_GRIPPER' | 'ABSORBANCE_READER_NO_INITIALIZATION' | 'CANNOT_MOVE_WITH_GRIPPER' | 'CLOSING_THERMOCYCLER_WITH_INVALID_LABWARE_LID' | 'DROP_TIP_LOCATION_DOES_NOT_EXIST' | 'EQUIPMENT_DOES_NOT_EXIST' | 'FLEX_STACKER_NO_GRIPPER' | 'GRIPPER_REQUIRED' | 'HEATER_SHAKER_EAST_WEST_LATCH_OPEN' | 'HEATER_SHAKER_EAST_WEST_MULTI_CHANNEL' | 'HEATER_SHAKER_IS_SHAKING' | 'HEATER_SHAKER_LATCH_CLOSED' | 'HEATER_SHAKER_LATCH_OPEN' | 'HEATER_SHAKER_NORTH_SOUTH__OF_NON_TIPRACK_WITH_MULTI_CHANNEL' | 'HEATER_SHAKER_NORTH_SOUTH_EAST_WEST_SHAKING' | 'HOPPER_EMPTY' | 'HOPPER_FULL' | 'INCOMPLETE_PICKUP' | 'INSUFFICIENT_TIPS' | 'INVALID_SLOT' | 'INVALID_WAIT_CONDITION' | 'LABWARE_DISCARDED_IN_TRASH' | 'LABWARE_DOES_NOT_EXIST' | 'LABWARE_OFF_DECK' | 'LABWARE_ON_ANOTHER_ENTITY' | 'LABWARE_ON_HOPPER' | 'LIVE_TASK_ERROR' | 'MISMATCHED_SOURCE_DEST_WELLS' | 'MISMATCHED_STACKER_LABWARE_TYPE' | 'MISSING_96_CHANNEL_TIPRACK_ADAPTER' | 'MISSING_MODULE' | 'MISSING_PROFILE_STEP' | 'MISSING_PUMP_ACTIVITY' | 'MISSING_STACKER_LABWARE_TYPE' | 'MISSING_TEMPERATURE_STEP' | 'MOVE_LOCATION_NOT_SPECIFIED' | 'MODULE_PIPETTE_COLLISION_DANGER' | 'MULTI_ASPIRATE_VOLUME_TOO_HIGH' | 'MULTI_DISPENSE_VOLUME_TOO_HIGH' | 'NEXT_TIPRACK_HAS_LID' | 'NO_TIP_ON_PIPETTE' | 'NO_TIP_SELECTED' | 'PIPETTE_DOES_NOT_EXIST' | 'PIPETTE_HAS_TIP' | 'PIPETTE_VOLUME_EXCEEDED' | 'PIPETTING_INTO_COLUMN_4' | 'POSSIBLE_PIPETTE_COLLISION' | 'REMOVE_96_CHANNEL_TIPRACK_ADAPTER' | 'RETRACT_BELOW_ASPIRATE' | 'RETRACT_BELOW_DISPENSE' | 'RETURN_TIP_UNAVAILABLE' | 'SHUTTLE_FULL' | 'SHUTTLE_EMPTY' | 'STACK_TOO_HIGH' | 'SUBMERGE_BELOW_ASPIRATE' | 'SUBMERGE_BELOW_DISPENSE' | 'TALL_LABWARE_EAST_WEST_OF_HEATER_SHAKER' | 'THERMOCYCLER_BUSY_WITH_PROFILE' | 'THERMOCYCLER_LID_CLOSED' | 'TIP_VOLUME_EXCEEDED' | 'TIPRACK_LID_NOT_ALLOWED_ON_DECK' | 'TOO_MANY_TIPS';
 export interface CommandCreatorError {
     message: string;
     type: ErrorType;

package/lib/utils/__tests__/getModuleHasLiveTask.test.d.ts

@@ -0,0 +1 @@
+export {};

package/lib/utils/__tests__/getPipetteCriticalPoint.test.d.ts

@@ -0,0 +1 @@
+export {};

package/lib/utils/getModuleHasLiveTask.d.ts

@@ -0,0 +1,2 @@
+import type { ModuleState } from '../types';
+export declare const getModuleHasLiveTask: (moduleState: ModuleState) => boolean;

package/lib/utils/getPipetteCriticalPoint.d.ts

@@ -0,0 +1,3 @@
+import type { LabwareDefinition, NozzleConfigurationStyle, PrimaryNozzleConfigurationStyle } from '@opentrons/shared-data';
+import type { PipetteEntity, Point } from '../types';
+export declare const getPipetteCriticalPoint: (nozzleConfiguration: NozzleConfigurationStyle, pipetteEntity: PipetteEntity, primaryNozzle: PrimaryNozzleConfigurationStyle, labwareDefinition: LabwareDefinition) => Point;

package/lib/utils/index.d.ts

@@ -2,10 +2,11 @@ import { absorbanceReaderCollision } from './absorbanceReaderCollision';
 import { commandCreatorsTimeline } from './commandCreatorsTimeline';
 import { curryCommandCreator, curryWithoutPython } from './curryCommandCreator';
 import { getLabwareSlot } from './getLabwareSlot';
+import { getModuleHasLiveTask } from './getModuleHasLiveTask';
 import { modulePipetteCollision } from './modulePipetteCollision';
 import { reduceCommandCreators } from './reduceCommandCreators';
 import { thermocyclerPipetteCollision } from './thermocyclerPipetteCollision';
-export { absorbanceReaderCollision, commandCreatorsTimeline, curryCommandCreator, curryWithoutPython, reduceCommandCreators, modulePipetteCollision, thermocyclerPipetteCollision, getLabwareSlot, };
+export { absorbanceReaderCollision, commandCreatorsTimeline, curryCommandCreator, curryWithoutPython, reduceCommandCreators, modulePipetteCollision, thermocyclerPipetteCollision, getLabwareSlot, getModuleHasLiveTask, };
 export * from './commandCreatorArgsGetters';
 export * from './constructInvariantContextFromAnalysis';
 export * from './createTimelineFromRunCommands';

package/lib/utils/safePipetteMovements.d.ts

@@ -1,15 +1,10 @@
 import type { AddressableArea, CoordinateTuple, CutoutId, LabwareDefinition, NozzleConfigurationStyle, PipetteChannels, PrimaryNozzleConfigurationStyle } from '@opentrons/shared-data';
-import type { InvariantContext, RobotState, TipState } from '../types';
+import type { InvariantContext, Point, RobotState, TipState } from '../types';
 interface SlotInfo {
     addressableArea: AddressableArea | null;
     position: CoordinateTuple | null;
 }
-export interface Point {
-    x: number;
-    y: number;
-    z?: number;
-}
-export declare const getCutoutIdFromSlot: (slotInfo: SlotInfo) => CutoutId | null;
+export declare const getCutoutFromSlot: (slotInfo: SlotInfo) => CutoutId | null;
 export declare const getIsSafePipetteMovement: (args: {
     robotState: RobotState;
     invariantContext: InvariantContext;
@@ -17,6 +12,7 @@ export declare const getIsSafePipetteMovement: (args: {
     labwareId: string;
     wellLocationOffset?: Point;
     wellTargetName?: string;
+    tiprackId?: string;
     primaryNozzle: PrimaryNozzleConfigurationStyle;
     nozzleConfiguration: NozzleConfigurationStyle;
 }) => boolean;

package/lib/utils/vacuumPythonArgs/__tests__/getVacuumProfileStepString.test.d.ts

@@ -0,0 +1 @@
+export {};

package/lib/utils/vacuumPythonArgs/__tests__/getVacuumPumpHoldArgsPython.test.d.ts

@@ -0,0 +1 @@
+export {};

package/lib/utils/vacuumPythonArgs/getVacuumProfileStepString.d.ts

@@ -0,0 +1,2 @@
+import type { VacuumProfile } from '@opentrons/shared-data';
+export declare const getVacuumProfileStepString: (profile: VacuumProfile) => string[];

package/lib/utils/vacuumPythonArgs/getVacuumPumpHoldArgsPython.d.ts

@@ -0,0 +1 @@
+export declare const getVacuumPumpHoldArgsPython: (duration: number, ventAfter?: boolean) => string[];

package/package.json

@@ -9,7 +9,7 @@
   },
   "name": "@opentrons/step-generation",
   "productName": "Opentrons Step Generation",
-  "version": "0.3.0-alpha.1",
+  "version": "0.3.1-alpha.0",
   "description": "Step generation",
   "main": "lib/index.cjs",
   "types": "lib/index.d.ts",
@@ -33,11 +33,11 @@
   "homepage": "https://github.com/Opentrons/opentrons",
   "license": "Apache-2.0",
   "dependencies": {
-    "@opentrons/shared-data": "0.3.0-alpha.1",
+    "@opentrons/shared-data": "0.3.1-alpha.0",
     "core-js": "3.2.1",
     "immer": "^10.1.3",
     "lodash": "4.18.1",
-    "uuid": "3.3.2"
+    "uuid": "14.0.0"
   },
   "devDependencies": {
     "@types/lodash": "4.17.24"