fix(step-generation): account for adapter in 4th column slot timeline…

… error (#15087)

closes AUTH-381

protocol-designer/src/load-file/migration/8_1_0.ts

@@ -89,10 +89,9 @@ export const migrateFile = (
       const matchingTiprackCommand = tiprackLoadCommands.find(
         command => command.params.labwareId === item.tipRack
       )
-
       if (matchingTiprackCommand == null) {
         console.error(
-          `expected to find a tiprack loadname from tiprack ${item.tiprack} but could not `
+          `expected to find a tiprack loadname from tiprack ${item.tipRack} but could not `
         )
       }
       const matchingTiprackURI =

protocol-designer/src/load-file/migration/utils/getDefaultBlowoutFlowRate.ts

@@ -31,6 +31,6 @@ export function getDefaultBlowoutFlowRate(
     matchingTipLiquidSpecs,
     `expected to find the tip liquid specs but could not with pipetteName ${pipetteName}`
   )
-  console.log(pipetteName, volume, tipLength)
+
   return matchingTipLiquidSpecs.defaultBlowOutFlowRate.default
 }

protocol-designer/src/step-forms/reducers/index.ts

@@ -1381,11 +1381,13 @@ export const additionalEquipmentInvariantProperties = handleActions<NormalizedAd
         ]),
       ]
 
-      const unoccupiedSlotForMovableTrash = getUnoccupiedSlotForMoveableTrash(
-        file,
-        hasWasteChuteCommands,
-        stagingAreaSlotNames
-      )
+      const unoccupiedSlotForMovableTrash = hasWasteChuteCommands
+        ? ''
+        : getUnoccupiedSlotForMoveableTrash(
+            file,
+            hasWasteChuteCommands,
+            stagingAreaSlotNames
+          )
 
       const stagingAreas = stagingAreaSlotNames.reduce((acc, slot) => {
         const stagingAreaId = `${uuid()}:stagingArea`
@@ -1460,7 +1462,6 @@ export const additionalEquipmentInvariantProperties = handleActions<NormalizedAd
       } else if (mixStepTrashBin != null) {
         trashBinId = mixStepTrashBin.dropTip_location
       }
-
       const trashCutoutId =
         trashAddressableAreaName != null
           ? getCutoutIdByAddressableArea(
@@ -1557,14 +1558,15 @@ export const additionalEquipmentInvariantProperties = handleActions<NormalizedAd
         [hardcodedTrashBinIdFlex]: {
           name: 'trashBin' as const,
           id: hardcodedTrashBinIdFlex,
-          location: getCutoutIdByAddressableArea(
-            hardcodedTrashAddressableAreaName as AddressableAreaName,
-            'trashBinAdapter',
-            FLEX_ROBOT_TYPE
-          ),
+          location: hasWasteChuteCommands
+            ? ''
+            : getCutoutIdByAddressableArea(
+                hardcodedTrashAddressableAreaName as AddressableAreaName,
+                'trashBinAdapter',
+                FLEX_ROBOT_TYPE
+              ),
         },
       }
-
       if (isFlex) {
         if (trashBin != null) {
           return {

step-generation/src/commandCreators/atomic/aspirate.ts

@@ -41,6 +41,7 @@ export const aspirate: CommandCreator<ExtendedAspirateParams> = (
     yOffset,
   } = args
   const actionName = 'aspirate'
+  const labwareState = prevRobotState.labware
   const errors: CommandCreatorError[] = []
   const pipetteSpec = invariantContext.pipetteEntities[pipette]?.spec
   const isFlexPipette =
@@ -75,6 +76,13 @@ export const aspirate: CommandCreator<ExtendedAspirateParams> = (
 
   if (COLUMN_4_SLOTS.includes(slotName)) {
     errors.push(errorCreators.pipettingIntoColumn4({ typeOfStep: actionName }))
+  } else if (labwareState[slotName] != null) {
+    const adapterSlot = labwareState[slotName].slot
+    if (COLUMN_4_SLOTS.includes(adapterSlot)) {
+      errors.push(
+        errorCreators.pipettingIntoColumn4({ typeOfStep: actionName })
+      )
+    }
   }
 
   if (

step-generation/src/commandCreators/atomic/blowout.ts

@@ -15,6 +15,7 @@ export const blowout: CommandCreator<BlowoutParams> = (
   const actionName = 'blowout'
   const errors: CommandCreatorError[] = []
   const pipetteData = prevRobotState.pipettes[pipetteId]
+  const labwareState = prevRobotState.labware
   const slotName = getLabwareSlot(
     labwareId,
     prevRobotState.labware,
@@ -56,6 +57,13 @@ export const blowout: CommandCreator<BlowoutParams> = (
 
   if (COLUMN_4_SLOTS.includes(slotName)) {
     errors.push(errorCreators.pipettingIntoColumn4({ typeOfStep: actionName }))
+  } else if (labwareState[slotName] != null) {
+    const adapterSlot = labwareState[slotName].slot
+    if (COLUMN_4_SLOTS.includes(adapterSlot)) {
+      errors.push(
+        errorCreators.pipettingIntoColumn4({ typeOfStep: actionName })
+      )
+    }
   }
 
   if (errors.length > 0) {

step-generation/src/commandCreators/atomic/dispense.ts

@@ -38,6 +38,7 @@ export const dispense: CommandCreator<ExtendedDispenseParams> = (
     yOffset,
   } = args
   const actionName = 'dispense'
+  const labwareState = prevRobotState.labware
   const errors: CommandCreatorError[] = []
   const pipetteSpec = invariantContext.pipetteEntities[pipette]?.spec
   const isFlexPipette =
@@ -93,6 +94,13 @@ export const dispense: CommandCreator<ExtendedDispenseParams> = (
 
   if (COLUMN_4_SLOTS.includes(slotName)) {
     errors.push(errorCreators.pipettingIntoColumn4({ typeOfStep: actionName }))
+  } else if (labwareState[slotName] != null) {
+    const adapterSlot = labwareState[slotName].slot
+    if (COLUMN_4_SLOTS.includes(adapterSlot)) {
+      errors.push(
+        errorCreators.pipettingIntoColumn4({ typeOfStep: actionName })
+      )
+    }
   }
 
   if (

step-generation/src/commandCreators/atomic/moveToWell.ts

@@ -26,6 +26,7 @@ export const moveToWell: CommandCreator<v5MoveToWellParams> = (
   const { pipette, labware, well, offset, minimumZHeight, forceDirect } = args
   const actionName = 'moveToWell'
   const errors: CommandCreatorError[] = []
+  const labwareState = prevRobotState.labware
   // TODO(2020-07-30, IL): the below is duplicated or at least similar
   // across aspirate/dispense/blowout, we can probably DRY it up
   const pipetteSpec = invariantContext.pipetteEntities[pipette]?.spec
@@ -63,6 +64,13 @@ export const moveToWell: CommandCreator<v5MoveToWellParams> = (
     errors.push(
       errorCreators.pipettingIntoColumn4({ typeOfStep: 'move to well' })
     )
+  } else if (labwareState[slotName] != null) {
+    const adapterSlot = labwareState[slotName].slot
+    if (COLUMN_4_SLOTS.includes(adapterSlot)) {
+      errors.push(
+        errorCreators.pipettingIntoColumn4({ typeOfStep: actionName })
+      )
+    }
   }
 
   if (

step-generation/src/commandCreators/atomic/replaceTip.ts

@@ -39,6 +39,13 @@ const _pickUpTip: CommandCreator<PickUpTipArgs> = (
     errors.push(
       errorCreators.pipettingIntoColumn4({ typeOfStep: 'pick up tip' })
     )
+  } else if (prevRobotState.labware[tiprackSlot] != null) {
+    const adapterSlot = prevRobotState.labware[tiprackSlot].slot
+    if (COLUMN_4_SLOTS.includes(adapterSlot)) {
+      errors.push(
+        errorCreators.pipettingIntoColumn4({ typeOfStep: 'pick up tip' })
+      )
+    }
   }
 
   if (errors.length > 0) {

step-generation/src/robotStateSelectors.ts

@@ -1,4 +1,3 @@
-import assert from 'assert'
 // TODO: Ian 2019-04-18 move orderWells somewhere more general -- shared-data util?
 import min from 'lodash/min'
 import {
@@ -77,7 +76,10 @@ export function _getNextTip(args: {
     return allWellsHaveTip ? orderedWells[0] : null
   }
 
-  assert(false, `Pipette ${pipetteId} has no channels/spec, cannot _getNextTip`)
+  console.assert(
+    false,
+    `Pipette ${pipetteId} has no channels/spec, cannot _getNextTip`
+  )
   return null
 }
 interface NextTiprackInfo {
@@ -110,7 +112,7 @@ export function getNextTiprack(
   // filter out unmounted or non-compatible tiprack models
   const sortedTipracksIds = sortLabwareBySlot(robotState.labware).filter(
     labwareId => {
-      assert(
+      console.assert(
         invariantContext.labwareEntities[labwareId]?.labwareDefURI,
         `cannot getNextTiprack, no labware entity for "${labwareId}"`
       )
@@ -202,7 +204,7 @@ export function getPipetteWithTipMaxVol(
   const tiprackTipVol = getTiprackVolume(chosenTipRack ?? tiprackDef[0])
 
   if (!pipetteMaxVol || !tiprackTipVol) {
-    assert(
+    console.assert(
       false,
       `getPipetteEffectiveMaxVol expected tiprackMaxVol and pipette maxVolume to be > 0, got',
       ${pipetteMaxVol}, ${tiprackTipVol}`