feat(step-generation): wire up moveLabware into waste chute

[jerader]

closes RAUT-778

Overview

Wires up moveLabware into waste chute in step-generation and adds a bit of logic for labware listed in the dropdowns and adds an error creator for if there is no gripper.

Test Plan

Turn on the deck modification feature flag. Create a flex protocol and add a trash bin, a gripper and a waste chute.

In the deck setup, add a Move Labware step. select the tiprack to move and select the gripper checkbox. Select "Waste Chute in D3" for the new location. Create the step. See that nothing errors.

Now, go to the file setup (click on the file tab on the left) and delete the gripper. Go back to the deck setup and see that there is a timeline error saying that a gripper is required.

Go back to file setup and re-add the gripper and see that the timeline error is gone.

now export the protocol. Look at the json file and examine that the moveLabware command's newLocation says "addressableAreaName: gripperWasteChute"

Changelog

• add addressableAreaName location logic to the protocol-designer & step-generation components
• add logic for getLabwareLocation selector to filter out labware that is in the waste chute
• add a new error creator for checking if gripper is required and plug into moveLabware
• add test coverage

Review requests

see test plan

Risk assessment

low

[codecov]

Codecov Report

Merging #13950 (27b1b74) into edge (882c75b) will increase coverage by 0.01%.
Report is 3 commits behind head on edge.
The diff coverage is 45.45%.

Additional details and impacted files

@@            Coverage Diff             @@
##             edge   #13950      +/-   ##
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+ Coverage   70.72%   70.73%   +0.01%     
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  Files        1628     2506     +878     
  Lines       54157    70765   +16608     
  Branches     3833     8710    +4877     
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+ Hits        38301    50055   +11754     
- Misses      15202    18586    +3384     
- Partials      654     2124    +1470     

Flag	Coverage Δ
app	67.88% <ø> (+29.25%)	⬆️
protocol-designer	45.77% <45.45%> (+0.01%)	⬆️
shared-data	73.29% <ø> (ø)
step-generation	86.57% <ø> (-0.04%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files	Coverage Δ
protocol-designer/src/load-file/migration/8_0_0.ts	79.54% <ø> (ø)
...neration/src/commandCreators/atomic/moveLabware.ts	75.00% <ø> (-1.75%)	⬇️
step-generation/src/errorCreators.ts	92.30% <ø> (ø)
...src/getNextRobotStateAndWarnings/forMoveLabware.ts	0.00% <ø> (ø)
step-generation/src/types.ts	100.00% <ø> (ø)
protocol-designer/src/ui/labware/selectors.ts	72.97% <66.66%> (-5.82%)	⬇️
protocol-designer/src/steplist/fieldLevel/index.ts	36.36% <20.00%> (-2.10%)	⬇️

... and 880 files with indirect coverage changes

[jerader]

the getLabwareLocation util that this is a part of is specifically for the newLocation field in moveLabware. That is why the addressableAreaName is always going to be gripperWasteChute, since you can't move labware with a pipette or move labware into a trash bin.

[shlokamin]

makes sense to me! just left a naming nit (which i think is important thing to clear up since all of the new deck config lingo is confusing as it is)

[shlokamin]

getIsAddressableAreaLocation isnt just checking if this is an addressable area (a generic rectangular plane), its specifically checking if the labware is an "additional equipment entity" right? it looks like an AdditionalEquipmentEntity is typed to only be a 'gripper' | 'wasteChute' | 'stagingArea'

just wanna make sure we're using the terminology consistently cc @brenthagen

[jerader]

So the only time the moveLabware's new location is going to be an addressableAreaName is if its moving labware into the waste chute, right? Because you can only move labware into a slot, an adapter, on top of a module, off deck, and into a waste chute.

Maybe I should rename the util to getIsWasteChuteLocation. the additionalEquipmentEntities type is AdditionalEquipmentEntities but should technically be something more specific for only waste chute.

[jerader]

does that make sense? cc @brenthagen @shlokamin

[shlokamin]

if we're only checking to see if the labware is being moved into the waste chute then yeah lets rename the function to be that specfic.

more broadly though, maybe this is pointing to an interface issue with AdditionalEquipmentEntity, which can be a gripper, waste chute, or staging area. it reasonable to think that you can move labware into a staging area (which has a location), but what does it mean to move a labware into a gripper? what is the gripper's location?

export interface NormalizedAdditionalEquipmentById {
  [additionalEquipmentId: string]: {
    name: 'gripper' | 'wasteChute' | 'stagingArea'
    id: string
    location?: string
  }
}