Merge branch 'edge' into EXEC-771-ER-manual-move-labware

app/src/assets/localization/en/error_recovery.json

@@ -12,12 +12,14 @@
   "change_tip_pickup_location": "Change tip pick-up location",
   "choose_a_recovery_action": "Choose a recovery action",
   "close_door_to_resume": "Close robot door to resume",
+  "close_robot_door": "Close the robot door",
   "close_the_robot_door": "Close the robot door, and then resume the recovery action.",
   "confirm": "Confirm",
   "continue": "Continue",
   "continue_run_now": "Continue run now",
   "continue_to_drop_tip": "Continue to drop tip",
-  "ensure_lw_is_accurately_placed": "Ensure labware is accurately placed in the slot to prevent further errors",
+  "door_open_gripper_home": "The robot door must be closed for the gripper to home its Z-axis before you can continue manually moving labware.",
+  "ensure_lw_is_accurately_placed": "Ensure labware is accurately placed in the slot to prevent further errors.",
   "error": "Error",
   "error_details": "Error details",
   "error_on_robot": "Error on {{robot}}",
@@ -38,7 +40,7 @@
   "ignore_error_and_skip": "Ignore error and skip to next step",
   "ignore_only_this_error": "Ignore only this error",
   "ignore_similar_errors_later_in_run": "Ignore similar errors later in the run?",
-  "labware_released_from_current_height": "The labware will be released from its current height",
+  "labware_released_from_current_height": "The labware will be released from its current height.",
   "launch_recovery_mode": "Launch Recovery Mode",
   "manually_fill_liquid_in_well": "Manually fill liquid in well {{well}}",
   "manually_fill_well_and_skip": "Manually fill well and skip to next step",
@@ -63,8 +65,8 @@
   "remove_any_attached_tips": "Remove any attached tips",
   "replace_tips_and_select_loc_partial_tip": "Replace tips and select the last location used for partial tip pickup.",
   "replace_tips_and_select_location": "It's best to replace tips and select the last location used for tip pickup.",
-  "replace_used_tips_in_rack_location": "Replace used tips in rack location {{location}} in slot {{slot}}",
-  "replace_with_new_tip_rack": "Replace with new tip rack in slot {{slot}}",
+  "replace_used_tips_in_rack_location": "Replace used tips in rack location {{location}} in Slot {{slot}}",
+  "replace_with_new_tip_rack": "Replace with new tip rack in Slot {{slot}}",
   "resume": "Resume",
   "retry_now": "Retry now",
   "retry_step": "Retry step",

app/src/molecules/Command/utils/getLabwareDisplayLocation.ts

@@ -17,6 +17,7 @@ import type {
 } from '@opentrons/shared-data'
 import type { CommandTextData } from '../types'
 
+// TODO(jh, 10-14-24): Refactor this util and related copy utils out of Command.
 export function getLabwareDisplayLocation(
   commandTextData: Omit<CommandTextData, 'commands'>,
   allRunDefs: LabwareDefinition2[],

app/src/organisms/Desktop/Devices/ProtocolRun/ProtocolRunHeader/RunHeaderBannerContainer/getShowGenericRunHeaderBanners.ts

@@ -1,5 +1,6 @@
 import {
   RUN_STATUS_AWAITING_RECOVERY_BLOCKED_BY_OPEN_DOOR,
+  RUN_STATUS_AWAITING_RECOVERY_PAUSED,
   RUN_STATUS_BLOCKED_BY_OPEN_DOOR,
   RUN_STATUS_STOPPED,
 } from '@opentrons/api-client'
@@ -32,7 +33,8 @@ export function getShowGenericRunHeaderBanners({
     isDoorOpen &&
     runStatus !== RUN_STATUS_BLOCKED_BY_OPEN_DOOR &&
     runStatus !== RUN_STATUS_AWAITING_RECOVERY_BLOCKED_BY_OPEN_DOOR &&
-    isCancellableStatus(runStatus)
+    runStatus !== RUN_STATUS_AWAITING_RECOVERY_PAUSED
+  isCancellableStatus(runStatus)
 
   const showDoorOpenDuringRunBanner =
     runStatus === RUN_STATUS_BLOCKED_BY_OPEN_DOOR

app/src/organisms/ErrorRecoveryFlows/ErrorRecoveryWizard.tsx

@@ -24,16 +24,18 @@ import {
   useErrorDetailsModal,
   ErrorDetailsModal,
   RecoveryInterventionModal,
+  RecoveryDoorOpenSpecial,
 } from './shared'
 import { RecoveryInProgress } from './RecoveryInProgress'
 import { getErrorKind } from './utils'
 import { RECOVERY_MAP } from './constants'
+import { useHomeGripperZAxis } from './hooks'
 
 import type { LabwareDefinition2, RobotType } from '@opentrons/shared-data'
 import type { RecoveryRoute, RouteStep, RecoveryContentProps } from './types'
-import type { ERUtilsResults, useRetainedFailedCommandBySource } from './hooks'
 import type { ErrorRecoveryFlowsProps } from '.'
 import type { UseRecoveryAnalyticsResult } from '/app/redux-resources/analytics'
+import type { ERUtilsResults, useRetainedFailedCommandBySource } from './hooks'
 
 export interface UseERWizardResult {
   hasLaunchedRecovery: boolean
@@ -88,6 +90,8 @@ export function ErrorRecoveryWizard(
     routeUpdateActions,
   })
 
+  useHomeGripperZAxis(props)
+
   return <ErrorRecoveryComponent errorKind={errorKind} {...props} />
 }
 
@@ -136,7 +140,6 @@ export function ErrorRecoveryComponent(
     </StyledText>
   )
 
-  // TODO(jh, 07-29-24): Make RecoveryDoorOpen render logic equivalent to RecoveryTakeover. Do not nest it in RecoveryWizard.
   const buildInterventionContent = (): JSX.Element => {
     if (isProhibitedDoorOpen) {
       return <RecoveryDoorOpen {...props} />
@@ -233,6 +236,10 @@ export function ErrorRecoveryContent(props: RecoveryContentProps): JSX.Element {
     return <RecoveryDoorOpen {...props} />
   }
 
+  const buildRecoveryDoorOpenSpecial = (): JSX.Element => {
+    return <RecoveryDoorOpenSpecial {...props} />
+  }
+
   switch (props.recoveryMap.route) {
     case RECOVERY_MAP.OPTION_SELECTION.ROUTE:
       return buildSelectRecoveryOption()
@@ -260,6 +267,8 @@ export function ErrorRecoveryContent(props: RecoveryContentProps): JSX.Element {
       return buildManualMoveLwAndSkip()
     case RECOVERY_MAP.MANUAL_REPLACE_AND_RETRY.ROUTE:
       return buildManualReplaceLwAndRetry()
+    case RECOVERY_MAP.ROBOT_DOOR_OPEN_SPECIAL.ROUTE:
+      return buildRecoveryDoorOpenSpecial()
     case RECOVERY_MAP.ROBOT_IN_MOTION.ROUTE:
     case RECOVERY_MAP.ROBOT_RESUMING.ROUTE:
     case RECOVERY_MAP.ROBOT_RETRYING_STEP.ROUTE:

app/src/organisms/ErrorRecoveryFlows/RecoveryInProgress.tsx

@@ -20,6 +20,8 @@ export function RecoveryInProgress({
   recoveryMap,
   recoveryCommands,
   routeUpdateActions,
+  doorStatusUtils,
+  currentRecoveryOptionUtils,
 }: RecoveryContentProps): JSX.Element {
   const {
     ROBOT_CANCELING,
@@ -37,6 +39,8 @@ export function RecoveryInProgress({
     recoveryMap,
     recoveryCommands,
     routeUpdateActions,
+    doorStatusUtils,
+    currentRecoveryOptionUtils,
   })
 
   const buildDescription = (): RobotMovingRoute => {
@@ -76,47 +80,78 @@ export function RecoveryInProgress({
   )
 }
 
-const GRIPPER_RELEASE_COUNTDOWN_S = 5
+export const GRIPPER_RELEASE_COUNTDOWN_S = 3
 
 type UseGripperReleaseProps = Pick<
   RecoveryContentProps,
-  'recoveryMap' | 'recoveryCommands' | 'routeUpdateActions'
+  | 'currentRecoveryOptionUtils'
+  | 'recoveryCommands'
+  | 'routeUpdateActions'
+  | 'doorStatusUtils'
+  | 'recoveryMap'
 >
 
 // Handles the gripper release copy and action, which operates on an interval. At T=0, release the labware then proceed
-// to the next step in the active route.
+// to the next step in the active route if the door is open (which should be a route to handle the door), or to the next
+// CTA route if the door is closed.
 export function useGripperRelease({
-  recoveryMap,
+  currentRecoveryOptionUtils,
   recoveryCommands,
   routeUpdateActions,
+  doorStatusUtils,
+  recoveryMap,
 }: UseGripperReleaseProps): number {
   const { releaseGripperJaws } = recoveryCommands
+  const { selectedRecoveryOption } = currentRecoveryOptionUtils
   const {
     proceedToRouteAndStep,
     proceedNextStep,
     handleMotionRouting,
-    stashedMap,
   } = routeUpdateActions
+  const { isDoorOpen } = doorStatusUtils
   const { MANUAL_MOVE_AND_SKIP, MANUAL_REPLACE_AND_RETRY } = RECOVERY_MAP
   const [countdown, setCountdown] = useState(GRIPPER_RELEASE_COUNTDOWN_S)
 
   const proceedToValidNextStep = (): void => {
-    switch (stashedMap?.route) {
-      case MANUAL_MOVE_AND_SKIP.ROUTE:
-        void proceedToRouteAndStep(
-          MANUAL_MOVE_AND_SKIP.ROUTE,
-          MANUAL_MOVE_AND_SKIP.STEPS.MANUAL_MOVE
-        )
-        break
-      case MANUAL_REPLACE_AND_RETRY.ROUTE:
-        void proceedToRouteAndStep(
-          MANUAL_REPLACE_AND_RETRY.ROUTE,
-          MANUAL_REPLACE_AND_RETRY.STEPS.MANUAL_REPLACE
-        )
-        break
-      default:
-        console.error('Unhandled post grip-release routing.')
-        void proceedNextStep()
+    if (isDoorOpen) {
+      switch (selectedRecoveryOption) {
+        case MANUAL_MOVE_AND_SKIP.ROUTE:
+          void proceedToRouteAndStep(
+            MANUAL_MOVE_AND_SKIP.ROUTE,
+            MANUAL_MOVE_AND_SKIP.STEPS.CLOSE_DOOR_GRIPPER_Z_HOME
+          )
+          break
+        case MANUAL_REPLACE_AND_RETRY.ROUTE:
+          void proceedToRouteAndStep(
+            MANUAL_REPLACE_AND_RETRY.ROUTE,
+            MANUAL_REPLACE_AND_RETRY.STEPS.CLOSE_DOOR_GRIPPER_Z_HOME
+          )
+          break
+        default: {
+          console.error(
+            'Unhandled post grip-release routing when door is open.'
+          )
+          void proceedToRouteAndStep(RECOVERY_MAP.OPTION_SELECTION.ROUTE)
+        }
+      }
+    } else {
+      switch (selectedRecoveryOption) {
+        case MANUAL_MOVE_AND_SKIP.ROUTE:
+          void proceedToRouteAndStep(
+            MANUAL_MOVE_AND_SKIP.ROUTE,
+            MANUAL_MOVE_AND_SKIP.STEPS.MANUAL_MOVE
+          )
+          break
+        case MANUAL_REPLACE_AND_RETRY.ROUTE:
+          void proceedToRouteAndStep(
+            MANUAL_REPLACE_AND_RETRY.ROUTE,
+            MANUAL_REPLACE_AND_RETRY.STEPS.MANUAL_REPLACE
+          )
+          break
+        default:
+          console.error('Unhandled post grip-release routing.')
+          void proceedNextStep()
+      }
     }
   }
 

app/src/organisms/ErrorRecoveryFlows/RecoveryOptions/ManualMoveLwAndSkip.tsx

@@ -4,6 +4,7 @@ import {
   GripperReleaseLabware,
   SkipStepInfo,
   TwoColLwInfoAndDeck,
+  RecoveryDoorOpenSpecial,
 } from '../shared'
 import { SelectRecoveryOption } from './SelectRecoveryOption'
 
@@ -20,6 +21,8 @@ export function ManualMoveLwAndSkip(props: RecoveryContentProps): JSX.Element {
         return <GripperIsHoldingLabware {...props} />
       case MANUAL_MOVE_AND_SKIP.STEPS.GRIPPER_RELEASE_LABWARE:
         return <GripperReleaseLabware {...props} />
+      case MANUAL_MOVE_AND_SKIP.STEPS.CLOSE_DOOR_GRIPPER_Z_HOME:
+        return <RecoveryDoorOpenSpecial {...props} />
       case MANUAL_MOVE_AND_SKIP.STEPS.MANUAL_MOVE:
         return <TwoColLwInfoAndDeck {...props} />
       case MANUAL_MOVE_AND_SKIP.STEPS.SKIP:

app/src/organisms/ErrorRecoveryFlows/RecoveryOptions/ManualReplaceLwAndRetry.tsx

@@ -4,6 +4,7 @@ import {
   GripperReleaseLabware,
   TwoColLwInfoAndDeck,
   RetryStepInfo,
+  RecoveryDoorOpenSpecial,
 } from '../shared'
 import { SelectRecoveryOption } from './SelectRecoveryOption'
 
@@ -22,6 +23,8 @@ export function ManualReplaceLwAndRetry(
         return <GripperIsHoldingLabware {...props} />
       case MANUAL_REPLACE_AND_RETRY.STEPS.GRIPPER_RELEASE_LABWARE:
         return <GripperReleaseLabware {...props} />
+      case MANUAL_REPLACE_AND_RETRY.STEPS.CLOSE_DOOR_GRIPPER_Z_HOME:
+        return <RecoveryDoorOpenSpecial {...props} />
       case MANUAL_REPLACE_AND_RETRY.STEPS.MANUAL_REPLACE:
         return <TwoColLwInfoAndDeck {...props} />
       case MANUAL_REPLACE_AND_RETRY.STEPS.RETRY:

app/src/organisms/ErrorRecoveryFlows/RecoveryOptions/__tests__/ManualMoveLwAndSkip.test.tsx

@@ -15,6 +15,7 @@ vi.mock('../../shared', () => ({
   GripperReleaseLabware: vi.fn(() => <div>MOCK_GRIPPER_RELEASE_LABWARE</div>),
   TwoColLwInfoAndDeck: vi.fn(() => <div>MOCK_TWO_COL_LW_INFO_AND_DECK</div>),
   SkipStepInfo: vi.fn(() => <div>MOCK_SKIP_STEP_INFO</div>),
+  RecoveryDoorOpenSpecial: vi.fn(() => <div>MOCK_DOOR_OPEN_SPECIAL</div>),
 }))
 
 vi.mock('../SelectRecoveryOption', () => ({
@@ -51,6 +52,13 @@ describe('ManualMoveLwAndSkip', () => {
     screen.getByText('MOCK_GRIPPER_RELEASE_LABWARE')
   })
 
+  it(`renders RecoveryDoorOpenSpecial for ${RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.STEPS.CLOSE_DOOR_GRIPPER_Z_HOME} step`, () => {
+    props.recoveryMap.step =
+      RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.STEPS.CLOSE_DOOR_GRIPPER_Z_HOME
+    render(props)
+    screen.getByText('MOCK_DOOR_OPEN_SPECIAL')
+  })
+
   it(`renders TwoColLwInfoAndDeck for ${RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.STEPS.MANUAL_MOVE} step`, () => {
     props.recoveryMap.step = RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.STEPS.MANUAL_MOVE
     render(props)

app/src/organisms/ErrorRecoveryFlows/RecoveryOptions/__tests__/ManualReplaceLwAndRetry.test.tsx

@@ -15,6 +15,7 @@ vi.mock('../../shared', () => ({
   GripperReleaseLabware: vi.fn(() => <div>MOCK_GRIPPER_RELEASE_LABWARE</div>),
   TwoColLwInfoAndDeck: vi.fn(() => <div>MOCK_TWO_COL_LW_INFO_AND_DECK</div>),
   RetryStepInfo: vi.fn(() => <div>MOCK_RETRY_STEP_INFO</div>),
+  RecoveryDoorOpenSpecial: vi.fn(() => <div>MOCK_DOOR_OPEN_SPECIAL</div>),
 }))
 
 vi.mock('../SelectRecoveryOption', () => ({
@@ -54,6 +55,13 @@ describe('ManualReplaceLwAndRetry', () => {
     screen.getByText('MOCK_GRIPPER_RELEASE_LABWARE')
   })
 
+  it(`renders RecoveryDoorOpenSpecial for ${RECOVERY_MAP.MANUAL_REPLACE_AND_RETRY.STEPS.CLOSE_DOOR_GRIPPER_Z_HOME} step`, () => {
+    props.recoveryMap.step =
+      RECOVERY_MAP.MANUAL_REPLACE_AND_RETRY.STEPS.CLOSE_DOOR_GRIPPER_Z_HOME
+    render(props)
+    screen.getByText('MOCK_DOOR_OPEN_SPECIAL')
+  })
+
   it(`renders TwoColLwInfoAndDeck for ${RECOVERY_MAP.MANUAL_REPLACE_AND_RETRY.STEPS.MANUAL_REPLACE} step`, () => {
     props.recoveryMap.step =
       RECOVERY_MAP.MANUAL_REPLACE_AND_RETRY.STEPS.MANUAL_REPLACE

app/src/organisms/ErrorRecoveryFlows/RecoverySplash.tsx

@@ -148,6 +148,7 @@ export function RecoverySplash(props: RecoverySplashProps): JSX.Element | null {
   const isDisabled = (): boolean => {
     switch (runStatus) {
       case RUN_STATUS_AWAITING_RECOVERY_BLOCKED_BY_OPEN_DOOR:
+      case RUN_STATUS_AWAITING_RECOVERY_PAUSED:
         return true
       default:
         return false

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

@@ -29,20 +29,26 @@ import {
 import { RecoveryInProgress } from '../RecoveryInProgress'
 import { RecoveryError } from '../RecoveryError'
 import { RecoveryDoorOpen } from '../RecoveryDoorOpen'
-import { useErrorDetailsModal, ErrorDetailsModal } from '../shared'
+import {
+  useErrorDetailsModal,
+  ErrorDetailsModal,
+  RecoveryDoorOpenSpecial,
+} from '../shared'
 
 import type { Mock } from 'vitest'
 
 vi.mock('../RecoveryOptions')
 vi.mock('../RecoveryInProgress')
 vi.mock('../RecoveryError')
 vi.mock('../RecoveryDoorOpen')
+vi.mock('../hooks')
 vi.mock('../shared', async importOriginal => {
   const actual = await importOriginal<typeof ErrorDetailsModal>()
   return {
     ...actual,
     useErrorDetailsModal: vi.fn(),
     ErrorDetailsModal: vi.fn(),
+    RecoveryDoorOpenSpecial: vi.fn(),
   }
 })
 describe('useERWizard', () => {
@@ -181,6 +187,7 @@ describe('ErrorRecoveryContent', () => {
     DROP_TIP_FLOWS,
     ERROR_WHILE_RECOVERING,
     ROBOT_DOOR_OPEN,
+    ROBOT_DOOR_OPEN_SPECIAL,
     ROBOT_RELEASING_LABWARE,
     MANUAL_REPLACE_AND_RETRY,
     MANUAL_MOVE_AND_SKIP,
@@ -218,6 +225,9 @@ describe('ErrorRecoveryContent', () => {
       <div>MOCK_IGNORE_ERROR_SKIP_STEP</div>
     )
     vi.mocked(RecoveryDoorOpen).mockReturnValue(<div>MOCK_DOOR_OPEN</div>)
+    vi.mocked(RecoveryDoorOpenSpecial).mockReturnValue(
+      <div>MOCK_DOOR_OPEN_SPECIAL</div>
+    )
   })
 
   it(`returns SelectRecoveryOption when the route is ${OPTION_SELECTION.ROUTE}`, () => {
@@ -485,6 +495,19 @@ describe('ErrorRecoveryContent', () => {
 
     screen.getByText('MOCK_DOOR_OPEN')
   })
+
+  it(`returns RecoveryDoorOpenSpecial when the route is ${ROBOT_DOOR_OPEN_SPECIAL.ROUTE}`, () => {
+    props = {
+      ...props,
+      recoveryMap: {
+        ...props.recoveryMap,
+        route: ROBOT_DOOR_OPEN_SPECIAL.ROUTE,
+      },
+    }
+    renderRecoveryContent(props)
+
+    screen.getByText('MOCK_DOOR_OPEN_SPECIAL')
+  })
 })
 
 describe('useInitialPipetteHome', () => {