@opentrons/step-generation 0.3.1-alpha.0 → 0.3.2-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, VacuumRunProfileParams, Width } from '@opentrons/shared-data';
+import type { ABSORBANCE_READER_TYPE, AddressableArea, 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';
@@ -507,6 +507,7 @@ interface VacuumProfileStepItem {
     id: string;
     durationSeconds: number;
     pumpData: VacuumPumpData;
+    ventAfter: boolean;
 }
 interface VacuumProfileCycleItem {
     type: typeof PROFILE_CYCLE;
@@ -611,7 +612,17 @@ export interface VacuumPumpPressureArgs extends CommonArgs, VacuumPumpAdvancedAr
 export interface VacuumPumpPowerArgs extends CommonArgs, VacuumPumpAdvancedArgs {
     moduleId: string;
     commandCreatorFnName: 'vacuumSetPumpPower';
-    powerPercent: number;
+    percentPower: number;
+}
+export interface VacuumCloseVentSetPumpPressureArgs extends CommonArgs, VacuumPumpAdvancedArgs {
+    moduleId: string;
+    commandCreatorFnName: 'vacuumCloseVentSetPumpPressure';
+    gaugePressure: number;
+}
+export interface VacuumCloseVentSetPumpPowerArgs extends CommonArgs, VacuumPumpAdvancedArgs {
+    moduleId: string;
+    commandCreatorFnName: 'vacuumCloseVentSetPumpPower';
+    percentPower: number;
 }
 export interface VacuumOpenVentArgs extends CommonArgs {
     moduleId: string;
@@ -631,7 +642,7 @@ export interface VacuumPressureData {
 }
 export interface VacuumPowerData {
     mode: typeof VACUUM_MODE_POWER;
-    powerPercent: number;
+    percentPower: number;
 }
 type VacuumPumpData = VacuumPressureData | VacuumPowerData;
 interface ProfileStepItemBase {
@@ -644,12 +655,18 @@ export interface VacuumProfileStep extends ProfileStepItemBase {
     pumpData: VacuumPumpData;
 }
 export type VacuumProfileItem = VacuumProfileStepItem | VacuumProfileCycleItem;
-export type VacuumPumpArgs = VacuumPumpPressureArgs | VacuumPumpPowerArgs;
+export type VacuumPumpArgs = VacuumPumpPressureArgs | VacuumPumpPowerArgs | VacuumCloseVentSetPumpPowerArgs | VacuumCloseVentSetPumpPressureArgs | VacuumCloseVentStartProfileArgs;
 export interface VacuumStartRunProfileArgs extends CommonArgs {
     moduleId: string;
     commandCreatorFnName: 'vacuumStartRunProfile';
     profile: VacuumRunProfileParams['profile'];
-    ventAfter?: boolean;
+    ventAfter: boolean;
+}
+export interface VacuumCloseVentStartProfileArgs extends CommonArgs {
+    moduleId: string;
+    commandCreatorFnName: 'vacuumCloseVentStartProfile';
+    profile: VacuumRunProfileParams['profile'];
+    ventAfter: boolean;
 }
 export type VacuumArgs = VacuumPumpArgs | VacuumStartRunProfileArgs | VacuumOpenVentArgs | VacuumCloseVentArgs | VacuumStopPumpArgs;
 export type FlexStackerArgs = FlexStackerEmptyArgs | FlexStackerFillItemsArgs | FlexStackerRetrieveArgs | FlexStackerStoreArgs;
@@ -731,10 +748,11 @@ 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' | '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 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_THERMOCYCLER_LID' | 'POSSIBLE_PIPETTE_COLLISION_OUTSIDE_DECK_EXTENTS' | 'POSSIBLE_PIPETTE_COLLISION_ADJACENT_ADDRESSABLE_AREA' | '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;
+    translationParams?: Record<string, string>;
 }
 export type WarningType = 'ASPIRATE_MORE_THAN_WELL_CONTENTS' | 'ASPIRATE_FROM_PRISTINE_WELL' | 'LABWARE_IN_WASTE_CHUTE_HAS_LIQUID' | 'TIPRACK_IN_WASTE_CHUTE_HAS_TIPS' | 'TEMPERATURE_IS_POTENTIALLY_UNREACHABLE' | 'WAITING_FOR_NONEXISTENT_TASK';
 export interface CommandCreatorWarning {
@@ -785,4 +803,18 @@ export interface WellContentsByNumber {
     [wellName: string]: number;
 }
 export type TipTrackingOption = typeof AUTOMATIC | typeof MANUAL;
+export type UnsafePipetteMovementReason = {
+    type: 'thermocyclerLidCollision';
+} | {
+    type: 'outsidePipetteExtents';
+} | {
+    type: 'adjacentAdressableAreaCollision';
+    addressableAreaCausingCollision: AddressableArea;
+};
+export type PipetteMovementSafetyStatus = {
+    isSafe: true;
+} | {
+    isSafe: false;
+    reason: UnsafePipetteMovementReason;
+};
 export {};

package/lib/utils/misc.d.ts

@@ -174,6 +174,7 @@ export declare const getLabwareIdOnHopper: (labware: {
     [labwareId: string]: LabwareTemporalProperties;
 }, moduleSlotLocation: string) => string;
 export declare const getIsSlotAHopper: (slot: string) => boolean;
+export declare const getIsSlotAVacuumDock: (slot: string) => boolean;
 export declare const getLabwareIdOnShuttle: (stackerState: FlexStackerModuleState) => string | null;
 export declare const labwareMatchesLabwareInHopper: (labwareId: string, invariantContext: InvariantContext, stackerState: FlexStackerModuleState | null) => boolean;
 export declare const getIsSpaceInHopper: (stackerState: FlexStackerModuleState | null, labwareEntities: LabwareEntities) => boolean;

package/lib/utils/safePipetteMovements.d.ts

@@ -1,11 +1,11 @@
 import type { AddressableArea, CoordinateTuple, CutoutId, LabwareDefinition, NozzleConfigurationStyle, PipetteChannels, PrimaryNozzleConfigurationStyle } from '@opentrons/shared-data';
-import type { InvariantContext, Point, RobotState, TipState } from '../types';
+import type { InvariantContext, PipetteMovementSafetyStatus, Point, RobotState, TipState } from '../types';
 interface SlotInfo {
     addressableArea: AddressableArea | null;
     position: CoordinateTuple | null;
 }
 export declare const getCutoutFromSlot: (slotInfo: SlotInfo) => CutoutId | null;
-export declare const getIsSafePipetteMovement: (args: {
+export declare const getPipetteMovementSafetyStatus: (args: {
     robotState: RobotState;
     invariantContext: InvariantContext;
     pipetteId: string;
@@ -15,7 +15,7 @@ export declare const getIsSafePipetteMovement: (args: {
     tiprackId?: string;
     primaryNozzle: PrimaryNozzleConfigurationStyle;
     nozzleConfiguration: NozzleConfigurationStyle;
-}) => boolean;
+}) => PipetteMovementSafetyStatus;
 interface TipPickupAvailability {
     isSafe: boolean;
     isComplete?: boolean;

package/package.json

@@ -9,7 +9,7 @@
   },
   "name": "@opentrons/step-generation",
   "productName": "Opentrons Step Generation",
-  "version": "0.3.1-alpha.0",
+  "version": "0.3.2-alpha.0",
   "description": "Step generation",
   "main": "lib/index.cjs",
   "types": "lib/index.d.ts",
@@ -33,13 +33,13 @@
   "homepage": "https://github.com/Opentrons/opentrons",
   "license": "Apache-2.0",
   "dependencies": {
-    "@opentrons/shared-data": "0.3.1-alpha.0",
+    "@opentrons/shared-data": "workspace:*",
     "core-js": "3.2.1",
     "immer": "^10.1.3",
-    "lodash": "4.18.1",
+    "lodash": "catalog:",
     "uuid": "14.0.0"
   },
   "devDependencies": {
-    "@types/lodash": "4.17.24"
+    "@types/lodash": "catalog:"
   }
 }