From b57396061b0723137ab225db5ba33ad69a669011 Mon Sep 17 00:00:00 2001 From: ncdiehl11 Date: Tue, 7 Nov 2023 14:30:06 -0500 Subject: [PATCH 01/65] debug --- .../atomic/moveToAddressableArea.ts | 2 + .../src/commandCreators/atomic/replaceTip.ts | 44 ++++++++++++++----- .../src/utils/wasteChuteCommandsUtil.ts | 2 + 3 files changed, 37 insertions(+), 11 deletions(-) diff --git a/step-generation/src/commandCreators/atomic/moveToAddressableArea.ts b/step-generation/src/commandCreators/atomic/moveToAddressableArea.ts index f4eb1586005..0cd9c2b1aaf 100644 --- a/step-generation/src/commandCreators/atomic/moveToAddressableArea.ts +++ b/step-generation/src/commandCreators/atomic/moveToAddressableArea.ts @@ -12,6 +12,8 @@ export const moveToAddressableArea: CommandCreator = ) => { const { pipetteId, addressableAreaName } = args + console.log('MOVE TO ADDRESSABLE') + const commands = [ { commandType: 'moveToAddressableArea' as const, diff --git a/step-generation/src/commandCreators/atomic/replaceTip.ts b/step-generation/src/commandCreators/atomic/replaceTip.ts index cf59d1341d2..655b28e8a52 100644 --- a/step-generation/src/commandCreators/atomic/replaceTip.ts +++ b/step-generation/src/commandCreators/atomic/replaceTip.ts @@ -10,6 +10,7 @@ import { pipetteAdjacentHeaterShakerWhileShaking, getIsHeaterShakerEastWestWithLatchOpen, getIsHeaterShakerEastWestMultiChannelPipette, + wasteChuteCommandsUtil, } from '../../utils' import type { CommandCreatorError, @@ -98,6 +99,9 @@ export const replaceTip: CommandCreator = ( const labwareDef = invariantContext.labwareEntities[nextTiprack.tiprackId]?.def + const isWasteChute = + invariantContext.additionalEquipmentEntities[dropTipLocation] != null + console.log('🚀 ~ file: replaceTip.ts:103 ~ isWasteChute:', isWasteChute) if (!labwareDef) { return { errors: [ @@ -158,17 +162,35 @@ export const replaceTip: CommandCreator = ( } } - const commandCreators: CurriedCommandCreator[] = [ - curryCommandCreator(dropTip, { - pipette, - dropTipLocation, - }), - curryCommandCreator(_pickUpTip, { - pipette, - tiprack: nextTiprack.tiprackId, - well: nextTiprack.well, - }), - ] + const addressableAreaName = + pipetteSpec.channels === 96 + ? '96ChannelWasteChute' + : '1and8ChannelWasteChute' + + const commandCreators: CurriedCommandCreator[] = isWasteChute + ? [ + curryCommandCreator(wasteChuteCommandsUtil, { + type: 'dropTip', + pipetteId: pipette, + addressableAreaName, + }), + curryCommandCreator(_pickUpTip, { + pipette, + tiprack: nextTiprack.tiprackId, + well: nextTiprack.well, + }), + ] + : [ + curryCommandCreator(dropTip, { + pipette, + dropTipLocation, + }), + curryCommandCreator(_pickUpTip, { + pipette, + tiprack: nextTiprack.tiprackId, + well: nextTiprack.well, + }), + ] return reduceCommandCreators( commandCreators, diff --git a/step-generation/src/utils/wasteChuteCommandsUtil.ts b/step-generation/src/utils/wasteChuteCommandsUtil.ts index 29df4f550ca..4a5950b746d 100644 --- a/step-generation/src/utils/wasteChuteCommandsUtil.ts +++ b/step-generation/src/utils/wasteChuteCommandsUtil.ts @@ -108,6 +108,8 @@ export const wasteChuteCommandsUtil: CommandCreator = ( } } + console.log('🚀 ~ file: wasteChuteCommandsUtil.ts:64 ~ commands:', commands) + if (errors.length > 0) return { errors, From b9ef036337585c0cea9634ab341d2c08d4ac8722 Mon Sep 17 00:00:00 2001 From: Jethary Date: Tue, 7 Nov 2023 15:18:54 -0500 Subject: [PATCH 02/65] add check for tip attached in moveToAddressableArea --- .../src/utils/wasteChuteCommandsUtil.ts | 21 +++++++++++-------- 1 file changed, 12 insertions(+), 9 deletions(-) diff --git a/step-generation/src/utils/wasteChuteCommandsUtil.ts b/step-generation/src/utils/wasteChuteCommandsUtil.ts index 4a5950b746d..99b4bd2090b 100644 --- a/step-generation/src/utils/wasteChuteCommandsUtil.ts +++ b/step-generation/src/utils/wasteChuteCommandsUtil.ts @@ -62,15 +62,18 @@ export const wasteChuteCommandsUtil: CommandCreator = ( let commands: CurriedCommandCreator[] = [] switch (type) { case 'dropTip': { - commands = [ - curryCommandCreator(moveToAddressableArea, { - pipetteId, - addressableAreaName, - }), - curryCommandCreator(dropTipInPlace, { - pipetteId, - }), - ] + commands = + prevRobotState.tipState.pipettes[pipetteId] != null + ? [ + curryCommandCreator(moveToAddressableArea, { + pipetteId, + addressableAreaName, + }), + curryCommandCreator(dropTipInPlace, { + pipetteId, + }), + ] + : [] break } case 'dispense': { From 736ca516c11b6dee598b671a74ff0decad81aae3 Mon Sep 17 00:00:00 2001 From: Jethary Date: Tue, 7 Nov 2023 15:30:53 -0500 Subject: [PATCH 03/65] fix ternary for no tip attached --- .../src/utils/wasteChuteCommandsUtil.ts | 24 +++++++++---------- 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/step-generation/src/utils/wasteChuteCommandsUtil.ts b/step-generation/src/utils/wasteChuteCommandsUtil.ts index 99b4bd2090b..0b1db88420f 100644 --- a/step-generation/src/utils/wasteChuteCommandsUtil.ts +++ b/step-generation/src/utils/wasteChuteCommandsUtil.ts @@ -62,18 +62,18 @@ export const wasteChuteCommandsUtil: CommandCreator = ( let commands: CurriedCommandCreator[] = [] switch (type) { case 'dropTip': { - commands = - prevRobotState.tipState.pipettes[pipetteId] != null - ? [ - curryCommandCreator(moveToAddressableArea, { - pipetteId, - addressableAreaName, - }), - curryCommandCreator(dropTipInPlace, { - pipetteId, - }), - ] - : [] + commands = !prevRobotState.tipState.pipettes[pipetteId] + ? [] + : [ + curryCommandCreator(moveToAddressableArea, { + pipetteId, + addressableAreaName, + }), + curryCommandCreator(dropTipInPlace, { + pipetteId, + }), + ] + break } case 'dispense': { From b0eb44221b1a72e86e93f01b8bb6676ada22cc97 Mon Sep 17 00:00:00 2001 From: ncdiehl11 Date: Tue, 7 Nov 2023 16:20:28 -0500 Subject: [PATCH 04/65] feat(protocol-designer): wire up drop drop tip in waste chute commands If we select the waste chute as our drop tip location, we need to generate different commands from dropping tips in other locations. For the waste chute, we generate moveToAddressableArea followed by dropTipInPlace commands. --- .../generateRobotStateTimeline.ts | 64 ++++++++++++++----- .../atomic/moveToAddressableArea.ts | 2 - .../src/commandCreators/atomic/replaceTip.ts | 2 +- .../src/utils/wasteChuteCommandsUtil.ts | 2 - 4 files changed, 50 insertions(+), 20 deletions(-) diff --git a/protocol-designer/src/timelineMiddleware/generateRobotStateTimeline.ts b/protocol-designer/src/timelineMiddleware/generateRobotStateTimeline.ts index 72ff5301b8e..b2a2cbb28b9 100644 --- a/protocol-designer/src/timelineMiddleware/generateRobotStateTimeline.ts +++ b/protocol-designer/src/timelineMiddleware/generateRobotStateTimeline.ts @@ -2,6 +2,8 @@ import takeWhile from 'lodash/takeWhile' import * as StepGeneration from '@opentrons/step-generation' import { commandCreatorFromStepArgs } from '../file-data/selectors/commands' import type { StepArgsAndErrorsById } from '../steplist/types' +import { wasteChuteCommandsUtil } from '@opentrons/step-generation' +import { truncateSync } from 'fs-extra' export interface GenerateRobotStateTimelineArgs { allStepArgsAndErrors: StepArgsAndErrorsById orderedStepIds: string[] @@ -65,22 +67,54 @@ export const generateRobotStateTimeline = ( // @ts-expect-error(sa, 2021-6-20): not a valid type narrow, use in operator nextStepArgsForPipette.changeTip === 'never' + const isWasteChute = true + + const pipetteSpec = invariantContext.pipetteEntities[pipetteId]?.spec + + const addressableAreaName = + pipetteSpec.channels === 96 + ? '96ChannelWasteChute' + : '1and8ChannelWasteChute' + if (!willReuseTip) { - return [ - ...acc, - (_invariantContext, _prevRobotState) => - StepGeneration.reduceCommandCreators( - [ - curriedCommandCreator, - StepGeneration.curryCommandCreator(StepGeneration.dropTip, { - pipette: pipetteId, - dropTipLocation, - }), - ], - _invariantContext, - _prevRobotState - ), - ] + return isWasteChute + ? [ + ...acc, + (_invariantContext, _prevRobotState) => + StepGeneration.reduceCommandCreators( + [ + curriedCommandCreator, + StepGeneration.curryCommandCreator( + wasteChuteCommandsUtil, + { + type: 'dropTip', + pipetteId: pipetteId, + addressableAreaName, + } + ), + ], + _invariantContext, + _prevRobotState + ), + ] + : [ + ...acc, + (_invariantContext, _prevRobotState) => + StepGeneration.reduceCommandCreators( + [ + curriedCommandCreator, + StepGeneration.curryCommandCreator( + StepGeneration.dropTip, + { + pipette: pipetteId, + dropTipLocation, + } + ), + ], + _invariantContext, + _prevRobotState + ), + ] } } diff --git a/step-generation/src/commandCreators/atomic/moveToAddressableArea.ts b/step-generation/src/commandCreators/atomic/moveToAddressableArea.ts index 0cd9c2b1aaf..f4eb1586005 100644 --- a/step-generation/src/commandCreators/atomic/moveToAddressableArea.ts +++ b/step-generation/src/commandCreators/atomic/moveToAddressableArea.ts @@ -12,8 +12,6 @@ export const moveToAddressableArea: CommandCreator = ) => { const { pipetteId, addressableAreaName } = args - console.log('MOVE TO ADDRESSABLE') - const commands = [ { commandType: 'moveToAddressableArea' as const, diff --git a/step-generation/src/commandCreators/atomic/replaceTip.ts b/step-generation/src/commandCreators/atomic/replaceTip.ts index 655b28e8a52..d469efdfb18 100644 --- a/step-generation/src/commandCreators/atomic/replaceTip.ts +++ b/step-generation/src/commandCreators/atomic/replaceTip.ts @@ -101,7 +101,7 @@ export const replaceTip: CommandCreator = ( const isWasteChute = invariantContext.additionalEquipmentEntities[dropTipLocation] != null - console.log('🚀 ~ file: replaceTip.ts:103 ~ isWasteChute:', isWasteChute) + if (!labwareDef) { return { errors: [ diff --git a/step-generation/src/utils/wasteChuteCommandsUtil.ts b/step-generation/src/utils/wasteChuteCommandsUtil.ts index 0b1db88420f..1473026450d 100644 --- a/step-generation/src/utils/wasteChuteCommandsUtil.ts +++ b/step-generation/src/utils/wasteChuteCommandsUtil.ts @@ -111,8 +111,6 @@ export const wasteChuteCommandsUtil: CommandCreator = ( } } - console.log('🚀 ~ file: wasteChuteCommandsUtil.ts:64 ~ commands:', commands) - if (errors.length > 0) return { errors, From fc2bcf702138d0d175711dee953f01de9b88751c Mon Sep 17 00:00:00 2001 From: ncdiehl11 Date: Tue, 7 Nov 2023 16:30:24 -0500 Subject: [PATCH 05/65] check for wasteChute --- .../src/timelineMiddleware/generateRobotStateTimeline.ts | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/protocol-designer/src/timelineMiddleware/generateRobotStateTimeline.ts b/protocol-designer/src/timelineMiddleware/generateRobotStateTimeline.ts index b2a2cbb28b9..7419d0ce4e4 100644 --- a/protocol-designer/src/timelineMiddleware/generateRobotStateTimeline.ts +++ b/protocol-designer/src/timelineMiddleware/generateRobotStateTimeline.ts @@ -67,7 +67,8 @@ export const generateRobotStateTimeline = ( // @ts-expect-error(sa, 2021-6-20): not a valid type narrow, use in operator nextStepArgsForPipette.changeTip === 'never' - const isWasteChute = true + const isWasteChute = + invariantContext.additionalEquipmentEntities[dropTipLocation] != null const pipetteSpec = invariantContext.pipetteEntities[pipetteId]?.spec From 77b8e966a36fb2c0d30ce72465a48ec957884a8f Mon Sep 17 00:00:00 2001 From: ncdiehl11 Date: Wed, 8 Nov 2023 15:45:30 -0500 Subject: [PATCH 06/65] update tip state after dropTipInPlace, add test for replaceTip in wasteChute --- .../src/__tests__/replaceTip.test.ts | 41 +++++++++++++++++++ .../src/fixtures/commandFixtures.ts | 22 ++++++++++ .../inPlaceCommandUpdates.ts | 4 +- 3 files changed, 66 insertions(+), 1 deletion(-) diff --git a/step-generation/src/__tests__/replaceTip.test.ts b/step-generation/src/__tests__/replaceTip.test.ts index c97bc008eb8..27af7db7c96 100644 --- a/step-generation/src/__tests__/replaceTip.test.ts +++ b/step-generation/src/__tests__/replaceTip.test.ts @@ -7,6 +7,8 @@ import { getSuccessResult, pickUpTipHelper, dropTipHelper, + dropTipInPlaceHelper, + moveToAddressableAreaHelper, DEFAULT_PIPETTE, } from '../fixtures' import { FIXED_TRASH_ID } from '..' @@ -17,6 +19,7 @@ const tiprack1Id = 'tiprack1Id' const tiprack2Id = 'tiprack2Id' const p300SingleId = DEFAULT_PIPETTE const p300MultiId = 'p300MultiId' +const wasteChuteId = 'wasteChuteId' describe('replaceTip', () => { let invariantContext: InvariantContext let initialRobotState: RobotState @@ -132,6 +135,44 @@ describe('replaceTip', () => { }), ]) }) + it('Single-channel: dropping tips in waste chute', () => { + invariantContext = { + ...invariantContext, + additionalEquipmentEntities: { + wasteChuteId: { + name: 'wasteChute', + id: wasteChuteId, + location: 'D3', + }, + }, + } + const initialTestRobotState = merge({}, initialRobotState, { + tipState: { + tipracks: { + [tiprack1Id]: { + A1: false, + }, + }, + pipettes: { + p300SingleId: true, + }, + }, + }) + const result = replaceTip( + { + pipette: p300SingleId, + dropTipLocation: 'wasteChuteId', + }, + invariantContext, + initialTestRobotState + ) + const res = getSuccessResult(result) + expect(res.commands).toEqual([ + moveToAddressableAreaHelper(), + dropTipInPlaceHelper(), + pickUpTipHelper('B1'), + ]) + }) }) describe('replaceTip: multi-channel', () => { it('multi-channel, all tipracks have tips', () => { diff --git a/step-generation/src/fixtures/commandFixtures.ts b/step-generation/src/fixtures/commandFixtures.ts index b3e881fa5e9..77029e9264c 100644 --- a/step-generation/src/fixtures/commandFixtures.ts +++ b/step-generation/src/fixtures/commandFixtures.ts @@ -310,3 +310,25 @@ export const pickUpTipHelper = ( wellName: typeof tip === 'string' ? tip : tiprackWellNamesFlat[tip], }, }) +export const dropTipInPlaceHelper = (params?: { + pipetteId?: string +}): CreateCommand => ({ + commandType: 'dropTipInPlace', + key: expect.any(String), + params: { + pipetteId: DEFAULT_PIPETTE, + ...params, + }, +}) +export const moveToAddressableAreaHelper = (params?: { + pipetteId?: string + addressableAreaName: string +}): CreateCommand => ({ + commandType: 'moveToAddressableArea', + key: expect.any(String), + params: { + pipetteId: DEFAULT_PIPETTE, + addressableAreaName: '1and8ChannelWasteChute', + ...params, + }, +}) diff --git a/step-generation/src/getNextRobotStateAndWarnings/inPlaceCommandUpdates.ts b/step-generation/src/getNextRobotStateAndWarnings/inPlaceCommandUpdates.ts index 19a20c04db3..19028db007f 100644 --- a/step-generation/src/getNextRobotStateAndWarnings/inPlaceCommandUpdates.ts +++ b/step-generation/src/getNextRobotStateAndWarnings/inPlaceCommandUpdates.ts @@ -24,5 +24,7 @@ export const forDropTipInPlace = ( invariantContext: InvariantContext, robotStateAndWarnings: RobotStateAndWarnings ): void => { - // TODO(jr, 11/6/23): update state + const { pipetteId } = params + const { robotState } = robotStateAndWarnings + robotState.tipState.pipettes[pipetteId] = false } From 92c77602519ccd5f3b7d4d813cd05a4db73d6f8a Mon Sep 17 00:00:00 2001 From: ncdiehl11 Date: Wed, 8 Nov 2023 15:58:03 -0500 Subject: [PATCH 07/65] lint --- .../src/timelineMiddleware/generateRobotStateTimeline.ts | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/protocol-designer/src/timelineMiddleware/generateRobotStateTimeline.ts b/protocol-designer/src/timelineMiddleware/generateRobotStateTimeline.ts index 7419d0ce4e4..00f41a879c5 100644 --- a/protocol-designer/src/timelineMiddleware/generateRobotStateTimeline.ts +++ b/protocol-designer/src/timelineMiddleware/generateRobotStateTimeline.ts @@ -3,7 +3,7 @@ import * as StepGeneration from '@opentrons/step-generation' import { commandCreatorFromStepArgs } from '../file-data/selectors/commands' import type { StepArgsAndErrorsById } from '../steplist/types' import { wasteChuteCommandsUtil } from '@opentrons/step-generation' -import { truncateSync } from 'fs-extra' + export interface GenerateRobotStateTimelineArgs { allStepArgsAndErrors: StepArgsAndErrorsById orderedStepIds: string[] From 8d65cd79560a264f52480d49ba18b5b5722f8f88 Mon Sep 17 00:00:00 2001 From: ncdiehl11 Date: Wed, 8 Nov 2023 17:58:12 -0500 Subject: [PATCH 08/65] feat(app): add command text for new commands adds command text with requisite params for dropTipInPlace, dispenseInPlace, blowOutInPlace, and moveToAddressableArea --- .../en/protocol_command_text.json | 4 ++ .../CommandText/PipettingCommandText.tsx | 44 +++++++++---------- app/src/organisms/CommandText/index.tsx | 43 +++++++++++++++++- 3 files changed, 68 insertions(+), 23 deletions(-) diff --git a/app/src/assets/localization/en/protocol_command_text.json b/app/src/assets/localization/en/protocol_command_text.json index 8d84b9e341f..167b64c08ed 100644 --- a/app/src/assets/localization/en/protocol_command_text.json +++ b/app/src/assets/localization/en/protocol_command_text.json @@ -3,6 +3,7 @@ "adapter_in_slot": "{{adapter}} in {{slot}}", "aspirate": "Aspirating {{volume}} µL from well {{well_name}} of {{labware}} in {{labware_location}} at {{flow_rate}} µL/sec", "blowout": "Blowing out at well {{well_name}} of {{labware}} in {{labware_location}} at {{flow_rate}} µL/sec", + "blowout_in_place": "Blowing out in place at {{flow_rate}} µL/sec", "closing_tc_lid": "Closing Thermocycler lid", "comment": "Comment", "configure_for_volume": "Configure {{pipette}} to aspirate {{volume}} µL", @@ -16,7 +17,9 @@ "disengaging_magnetic_module": "Disengaging Magnetic Module", "dispense_push_out": "Dispensing {{volume}} µL into well {{well_name}} of {{labware}} in {{labware_location}} at {{flow_rate}} µL/sec and pushing out {{push_out_volume}} µL", "dispense": "Dispensing {{volume}} µL into well {{well_name}} of {{labware}} in {{labware_location}} at {{flow_rate}} µL/sec", + "dispense_in_place": "Dispensing {{volume}} µL in place at {{flow_rate}} µL/sec", "drop_tip": "Dropping tip in {{well_name}} of {{labware}}", + "drop_tip_in_place": "Dropping tip in place", "engaging_magnetic_module": "Engaging Magnetic Module", "fixed_trash": "Fixed Trash", "home_gantry": "Homing all gantry, pipette, and plunger axes", @@ -31,6 +34,7 @@ "move_to_coordinates": "Moving to (X: {{x}}, Y: {{y}}, Z: {{z}})", "move_to_slot": "Moving to Slot {{slot_name}}", "move_to_well": "Moving to well {{well_name}} of {{labware}} in {{labware_location}}", + "move_to_addressable_area": "Moving to {{addressable_area}} at {{speed}} mm/s at {{height}} mm high", "notes": "notes", "off_deck": "off deck", "offdeck": "offdeck", diff --git a/app/src/organisms/CommandText/PipettingCommandText.tsx b/app/src/organisms/CommandText/PipettingCommandText.tsx index 8aff25b4da3..fba1d96d67d 100644 --- a/app/src/organisms/CommandText/PipettingCommandText.tsx +++ b/app/src/organisms/CommandText/PipettingCommandText.tsx @@ -1,15 +1,10 @@ import { useTranslation } from 'react-i18next' import { CompletedProtocolAnalysis, - AspirateRunTimeCommand, - DispenseRunTimeCommand, - BlowoutRunTimeCommand, - MoveToWellRunTimeCommand, - DropTipRunTimeCommand, - PickUpTipRunTimeCommand, getLabwareDefURI, RobotType, } from '@opentrons/shared-data' +import type { PipettingRunTimeCommand } from '@opentrons/shared-data' import { getLabwareDefinitionsFromCommands } from '../LabwarePositionCheck/utils/labware' import { getLoadedLabware } from './utils/accessors' import { @@ -18,15 +13,8 @@ import { getFinalLabwareLocation, } from './utils' -type PipettingRunTimeCommmand = - | AspirateRunTimeCommand - | DispenseRunTimeCommand - | BlowoutRunTimeCommand - | MoveToWellRunTimeCommand - | DropTipRunTimeCommand - | PickUpTipRunTimeCommand interface PipettingCommandTextProps { - command: PipettingRunTimeCommmand + command: PipettingRunTimeCommand robotSideAnalysis: CompletedProtocolAnalysis robotType: RobotType } @@ -38,7 +26,15 @@ export const PipettingCommandText = ({ }: PipettingCommandTextProps): JSX.Element | null => { const { t } = useTranslation('protocol_command_text') - const { labwareId, wellName } = command.params + let labwareId = '' + let wellName = '' + if ('labwareId' in command.params) { + labwareId = command.params.labwareId + } + if ('wellName' in command.params) { + wellName = command.params.wellName + } + const allPreviousCommands = robotSideAnalysis.commands.slice( 0, robotSideAnalysis.commands.findIndex(c => c.id === command.id) @@ -95,13 +91,6 @@ export const PipettingCommandText = ({ flow_rate: flowRate, }) } - case 'moveToWell': { - return t('move_to_well', { - well_name: wellName, - labware: getLabwareName(robotSideAnalysis, labwareId), - labware_location: displayLocation, - }) - } case 'dropTip': { const loadedLabware = getLoadedLabware(robotSideAnalysis, labwareId) const labwareDefinitions = getLabwareDefinitionsFromCommands( @@ -128,6 +117,17 @@ export const PipettingCommandText = ({ labware_location: displayLocation, }) } + case 'dropTipInPlace': { + return t('drop_tip_in_place') + } + case 'dispenseInPlace': { + const { volume, flowRate } = command.params + return t('dispense_in_place', { volume: volume, flow_rate: flowRate }) + } + case 'blowOutInPlace': { + const { flowRate } = command.params + return t('blowout_in_place', { flow_rate: flowRate }) + } default: { console.warn( 'PipettingCommandText encountered a command with an unrecognized commandType: ', diff --git a/app/src/organisms/CommandText/index.tsx b/app/src/organisms/CommandText/index.tsx index 67e76526ab1..a1aadd54bc2 100644 --- a/app/src/organisms/CommandText/index.tsx +++ b/app/src/organisms/CommandText/index.tsx @@ -3,6 +3,11 @@ import { useTranslation } from 'react-i18next' import { Flex, DIRECTION_COLUMN, SPACING } from '@opentrons/components' import { getPipetteNameSpecs, RunTimeCommand } from '@opentrons/shared-data' +import { + getLabwareName, + getLabwareDisplayLocation, + getFinalLabwareLocation, +} from './utils' import { StyledText } from '../../atoms/text' import { LoadCommandText } from './LoadCommandText' import { PipettingCommandText } from './PipettingCommandText' @@ -51,7 +56,6 @@ export function CommandText(props: Props): JSX.Element | null { case 'aspirate': case 'dispense': case 'blowout': - case 'moveToWell': case 'dropTip': case 'pickUpTip': { return ( @@ -138,6 +142,31 @@ export function CommandText(props: Props): JSX.Element | null { ) } + case 'moveToWell': { + const { wellName, labwareId } = command.params + const allPreviousCommands = robotSideAnalysis.commands.slice( + 0, + robotSideAnalysis.commands.findIndex(c => c.id === command.id) + ) + const labwareLocation = getFinalLabwareLocation( + labwareId, + allPreviousCommands + ) + const displayLocation = + labwareLocation != null + ? getLabwareDisplayLocation( + robotSideAnalysis, + labwareLocation, + t, + robotType + ) + : '' + return t('move_to_well', { + well_name: wellName, + labware: getLabwareName(robotSideAnalysis, labwareId), + labware_location: displayLocation, + }) + } case 'moveLabware': { return ( @@ -182,6 +211,18 @@ export function CommandText(props: Props): JSX.Element | null { ) } + case 'moveToAddressableArea': { + const { addressableAreaName, speed, minimumZHeight } = command.params + return ( + + {t('move_to_addressable_area', { + addressable_area: addressableAreaName, + speed: speed, + height: minimumZHeight, + })} + + ) + } case 'touchTip': case 'home': case 'savePosition': From 86cc37415c1dd8b9a6b4d83df22146ba89b3f77c Mon Sep 17 00:00:00 2001 From: ncdiehl11 Date: Thu, 9 Nov 2023 09:48:52 -0500 Subject: [PATCH 09/65] initial tests --- .../CommandText/PipettingCommandText.tsx | 12 +++--------- .../__tests__/CommandText.test.tsx | 19 +++++++++++++++++++ app/src/organisms/CommandText/index.tsx | 1 + 3 files changed, 23 insertions(+), 9 deletions(-) diff --git a/app/src/organisms/CommandText/PipettingCommandText.tsx b/app/src/organisms/CommandText/PipettingCommandText.tsx index fba1d96d67d..3ace803dfac 100644 --- a/app/src/organisms/CommandText/PipettingCommandText.tsx +++ b/app/src/organisms/CommandText/PipettingCommandText.tsx @@ -26,14 +26,8 @@ export const PipettingCommandText = ({ }: PipettingCommandTextProps): JSX.Element | null => { const { t } = useTranslation('protocol_command_text') - let labwareId = '' - let wellName = '' - if ('labwareId' in command.params) { - labwareId = command.params.labwareId - } - if ('wellName' in command.params) { - wellName = command.params.wellName - } + const labwareId = command.params.labwareId ?? null + const wellName = command.params.wellId ?? null const allPreviousCommands = robotSideAnalysis.commands.slice( 0, @@ -57,7 +51,7 @@ export const PipettingCommandText = ({ const { volume, flowRate } = command.params return t('aspirate', { well_name: wellName, - labware: getLabwareName(robotSideAnalysis, labwareId), + labware: getLabwareName(robotSideAnalysis, labwareId ?? ''), labware_location: displayLocation, volume: volume, flow_rate: flowRate, diff --git a/app/src/organisms/CommandText/__tests__/CommandText.test.tsx b/app/src/organisms/CommandText/__tests__/CommandText.test.tsx index 28ef08f940f..11b7a161362 100644 --- a/app/src/organisms/CommandText/__tests__/CommandText.test.tsx +++ b/app/src/organisms/CommandText/__tests__/CommandText.test.tsx @@ -1,6 +1,7 @@ import * as React from 'react' import { renderWithProviders } from '@opentrons/components' import { + DropTipInPlaceRunTimeCommand, FLEX_ROBOT_TYPE, PrepareToAspirateRunTimeCommand, } from '@opentrons/shared-data' @@ -204,6 +205,24 @@ describe('CommandText', () => { )[0] getByText('Returning tip to A1 of Opentrons 96 Tip Rack 300 µL in Slot 9') }) + it('renders correct text for dropTipInPlace', () => { + const { getByText } = renderWithProviders( + , + { i18nInstance: i18n } + )[0] + getByText('Dropping tip in place') + }) it('renders correct text for pickUpTip', () => { const command = mockRobotSideAnalysis.commands.find( c => c.commandType === 'pickUpTip' diff --git a/app/src/organisms/CommandText/index.tsx b/app/src/organisms/CommandText/index.tsx index a1aadd54bc2..e66584bc3ce 100644 --- a/app/src/organisms/CommandText/index.tsx +++ b/app/src/organisms/CommandText/index.tsx @@ -57,6 +57,7 @@ export function CommandText(props: Props): JSX.Element | null { case 'dispense': case 'blowout': case 'dropTip': + case 'dropTipInPlace': case 'pickUpTip': { return ( From 7606b196a103ff3b7336162d92c86d13a5abb396 Mon Sep 17 00:00:00 2001 From: ncdiehl11 Date: Thu, 9 Nov 2023 10:17:04 -0500 Subject: [PATCH 10/65] add tests for all inPlace + moveToAddressableArea commands --- .../CommandText/PipettingCommandText.tsx | 10 ++- .../__tests__/CommandText.test.tsx | 63 +++++++++++++++++++ app/src/organisms/CommandText/index.tsx | 2 + 3 files changed, 73 insertions(+), 2 deletions(-) diff --git a/app/src/organisms/CommandText/PipettingCommandText.tsx b/app/src/organisms/CommandText/PipettingCommandText.tsx index 3ace803dfac..9abc69df107 100644 --- a/app/src/organisms/CommandText/PipettingCommandText.tsx +++ b/app/src/organisms/CommandText/PipettingCommandText.tsx @@ -26,8 +26,14 @@ export const PipettingCommandText = ({ }: PipettingCommandTextProps): JSX.Element | null => { const { t } = useTranslation('protocol_command_text') - const labwareId = command.params.labwareId ?? null - const wellName = command.params.wellId ?? null + let labwareId = '' + let wellName = '' + if ('labwareId' in command.params) { + labwareId = command.params.labwareId + } + if ('wellName' in command.params) { + wellName = command.params.wellName + } const allPreviousCommands = robotSideAnalysis.commands.slice( 0, diff --git a/app/src/organisms/CommandText/__tests__/CommandText.test.tsx b/app/src/organisms/CommandText/__tests__/CommandText.test.tsx index 11b7a161362..242c6939eb4 100644 --- a/app/src/organisms/CommandText/__tests__/CommandText.test.tsx +++ b/app/src/organisms/CommandText/__tests__/CommandText.test.tsx @@ -1,8 +1,11 @@ import * as React from 'react' import { renderWithProviders } from '@opentrons/components' import { + BlowoutInPlaceRunTimeCommand, + DispenseInPlaceRunTimeCommand, DropTipInPlaceRunTimeCommand, FLEX_ROBOT_TYPE, + MoveToAddressableAreaRunTimeCommand, PrepareToAspirateRunTimeCommand, } from '@opentrons/shared-data' import { i18n } from '../../../i18n' @@ -86,6 +89,26 @@ describe('CommandText', () => { ) } }) + it('renders correct text for dispenseInPlace', () => { + const { getByText } = renderWithProviders( + , + { i18nInstance: i18n } + )[0] + getByText('Dispensing 50 µL in place at 300 µL/sec') + }) it('renders correct text for blowout', () => { const dispenseCommand = mockRobotSideAnalysis.commands.find( c => c.commandType === 'dispense' @@ -109,6 +132,25 @@ describe('CommandText', () => { ) } }) + it('renders correct text for blowOutInPlace', () => { + const { getByText } = renderWithProviders( + , + { i18nInstance: i18n } + )[0] + getByText('Blowing out in place at 300 µL/sec') + }) it('renders correct text for moveToWell', () => { const dispenseCommand = mockRobotSideAnalysis.commands.find( c => c.commandType === 'aspirate' @@ -130,6 +172,27 @@ describe('CommandText', () => { getByText('Moving to well A1 of NEST 1 Well Reservoir 195 mL in Slot 5') } }) + it('renders correct text for moveToAddressableArea', () => { + const { getByText } = renderWithProviders( + , + { i18nInstance: i18n } + )[0] + getByText('Moving to D3 at 200 mm/s at 100 mm high') + }) it('renders correct text for configureForVolume', () => { const command = { commandType: 'configureForVolume', diff --git a/app/src/organisms/CommandText/index.tsx b/app/src/organisms/CommandText/index.tsx index e66584bc3ce..00e9bca5808 100644 --- a/app/src/organisms/CommandText/index.tsx +++ b/app/src/organisms/CommandText/index.tsx @@ -55,7 +55,9 @@ export function CommandText(props: Props): JSX.Element | null { switch (command.commandType) { case 'aspirate': case 'dispense': + case 'dispenseInPlace': case 'blowout': + case 'blowOutInPlace': case 'dropTip': case 'dropTipInPlace': case 'pickUpTip': { From 4e8de519e046abbe2d7843319d479e34dd76de3d Mon Sep 17 00:00:00 2001 From: ncdiehl11 Date: Thu, 9 Nov 2023 11:25:09 -0500 Subject: [PATCH 11/65] factor PipettingRunTimeCommand type into AtLocation and InPlace --- shared-data/command/types/pipetting.ts | 16 +++++++++++----- 1 file changed, 11 insertions(+), 5 deletions(-) diff --git a/shared-data/command/types/pipetting.ts b/shared-data/command/types/pipetting.ts index fe54ed1cf81..192c4d71345 100644 --- a/shared-data/command/types/pipetting.ts +++ b/shared-data/command/types/pipetting.ts @@ -1,17 +1,23 @@ import type { CommonCommandRunTimeInfo, CommonCommandCreateInfo } from '.' export type PipettingRunTimeCommand = + | PipettingAtLocationRunTimeCommand + | PipettingInPlaceRunTimeCommand + +export type PipettingAtLocationRunTimeCommand = | AspirateRunTimeCommand - | BlowoutInPlaceRunTimeCommand | BlowoutRunTimeCommand - | ConfigureForVolumeRunTimeCommand - | DispenseInPlaceRunTimeCommand | DispenseRunTimeCommand - | DropTipInPlaceRunTimeCommand | DropTipRunTimeCommand | PickUpTipRunTimeCommand - | PrepareToAspirateRunTimeCommand | TouchTipRunTimeCommand +export type PipettingInPlaceRunTimeCommand = + | BlowoutInPlaceRunTimeCommand + | ConfigureForVolumeRunTimeCommand + | DispenseInPlaceRunTimeCommand + | DropTipInPlaceRunTimeCommand + | PrepareToAspirateRunTimeCommand + export type PipettingCreateCommand = | AspirateCreateCommand | BlowoutCreateCommand From a21e3401ae1c7e0b47e10dfadc72a220c8e2b3a6 Mon Sep 17 00:00:00 2001 From: ncdiehl11 Date: Thu, 9 Nov 2023 12:22:21 -0500 Subject: [PATCH 12/65] reset unintended files out of scope of this PR --- .../en/protocol_command_text.json | 4 - .../CommandText/PipettingCommandText.tsx | 46 +++++------ .../__tests__/CommandText.test.tsx | 82 ------------------- app/src/organisms/CommandText/index.tsx | 46 +---------- shared-data/command/types/pipetting.ts | 44 ++-------- 5 files changed, 33 insertions(+), 189 deletions(-) diff --git a/app/src/assets/localization/en/protocol_command_text.json b/app/src/assets/localization/en/protocol_command_text.json index 167b64c08ed..8d84b9e341f 100644 --- a/app/src/assets/localization/en/protocol_command_text.json +++ b/app/src/assets/localization/en/protocol_command_text.json @@ -3,7 +3,6 @@ "adapter_in_slot": "{{adapter}} in {{slot}}", "aspirate": "Aspirating {{volume}} µL from well {{well_name}} of {{labware}} in {{labware_location}} at {{flow_rate}} µL/sec", "blowout": "Blowing out at well {{well_name}} of {{labware}} in {{labware_location}} at {{flow_rate}} µL/sec", - "blowout_in_place": "Blowing out in place at {{flow_rate}} µL/sec", "closing_tc_lid": "Closing Thermocycler lid", "comment": "Comment", "configure_for_volume": "Configure {{pipette}} to aspirate {{volume}} µL", @@ -17,9 +16,7 @@ "disengaging_magnetic_module": "Disengaging Magnetic Module", "dispense_push_out": "Dispensing {{volume}} µL into well {{well_name}} of {{labware}} in {{labware_location}} at {{flow_rate}} µL/sec and pushing out {{push_out_volume}} µL", "dispense": "Dispensing {{volume}} µL into well {{well_name}} of {{labware}} in {{labware_location}} at {{flow_rate}} µL/sec", - "dispense_in_place": "Dispensing {{volume}} µL in place at {{flow_rate}} µL/sec", "drop_tip": "Dropping tip in {{well_name}} of {{labware}}", - "drop_tip_in_place": "Dropping tip in place", "engaging_magnetic_module": "Engaging Magnetic Module", "fixed_trash": "Fixed Trash", "home_gantry": "Homing all gantry, pipette, and plunger axes", @@ -34,7 +31,6 @@ "move_to_coordinates": "Moving to (X: {{x}}, Y: {{y}}, Z: {{z}})", "move_to_slot": "Moving to Slot {{slot_name}}", "move_to_well": "Moving to well {{well_name}} of {{labware}} in {{labware_location}}", - "move_to_addressable_area": "Moving to {{addressable_area}} at {{speed}} mm/s at {{height}} mm high", "notes": "notes", "off_deck": "off deck", "offdeck": "offdeck", diff --git a/app/src/organisms/CommandText/PipettingCommandText.tsx b/app/src/organisms/CommandText/PipettingCommandText.tsx index 9abc69df107..8aff25b4da3 100644 --- a/app/src/organisms/CommandText/PipettingCommandText.tsx +++ b/app/src/organisms/CommandText/PipettingCommandText.tsx @@ -1,10 +1,15 @@ import { useTranslation } from 'react-i18next' import { CompletedProtocolAnalysis, + AspirateRunTimeCommand, + DispenseRunTimeCommand, + BlowoutRunTimeCommand, + MoveToWellRunTimeCommand, + DropTipRunTimeCommand, + PickUpTipRunTimeCommand, getLabwareDefURI, RobotType, } from '@opentrons/shared-data' -import type { PipettingRunTimeCommand } from '@opentrons/shared-data' import { getLabwareDefinitionsFromCommands } from '../LabwarePositionCheck/utils/labware' import { getLoadedLabware } from './utils/accessors' import { @@ -13,8 +18,15 @@ import { getFinalLabwareLocation, } from './utils' +type PipettingRunTimeCommmand = + | AspirateRunTimeCommand + | DispenseRunTimeCommand + | BlowoutRunTimeCommand + | MoveToWellRunTimeCommand + | DropTipRunTimeCommand + | PickUpTipRunTimeCommand interface PipettingCommandTextProps { - command: PipettingRunTimeCommand + command: PipettingRunTimeCommmand robotSideAnalysis: CompletedProtocolAnalysis robotType: RobotType } @@ -26,15 +38,7 @@ export const PipettingCommandText = ({ }: PipettingCommandTextProps): JSX.Element | null => { const { t } = useTranslation('protocol_command_text') - let labwareId = '' - let wellName = '' - if ('labwareId' in command.params) { - labwareId = command.params.labwareId - } - if ('wellName' in command.params) { - wellName = command.params.wellName - } - + const { labwareId, wellName } = command.params const allPreviousCommands = robotSideAnalysis.commands.slice( 0, robotSideAnalysis.commands.findIndex(c => c.id === command.id) @@ -57,7 +61,7 @@ export const PipettingCommandText = ({ const { volume, flowRate } = command.params return t('aspirate', { well_name: wellName, - labware: getLabwareName(robotSideAnalysis, labwareId ?? ''), + labware: getLabwareName(robotSideAnalysis, labwareId), labware_location: displayLocation, volume: volume, flow_rate: flowRate, @@ -91,6 +95,13 @@ export const PipettingCommandText = ({ flow_rate: flowRate, }) } + case 'moveToWell': { + return t('move_to_well', { + well_name: wellName, + labware: getLabwareName(robotSideAnalysis, labwareId), + labware_location: displayLocation, + }) + } case 'dropTip': { const loadedLabware = getLoadedLabware(robotSideAnalysis, labwareId) const labwareDefinitions = getLabwareDefinitionsFromCommands( @@ -117,17 +128,6 @@ export const PipettingCommandText = ({ labware_location: displayLocation, }) } - case 'dropTipInPlace': { - return t('drop_tip_in_place') - } - case 'dispenseInPlace': { - const { volume, flowRate } = command.params - return t('dispense_in_place', { volume: volume, flow_rate: flowRate }) - } - case 'blowOutInPlace': { - const { flowRate } = command.params - return t('blowout_in_place', { flow_rate: flowRate }) - } default: { console.warn( 'PipettingCommandText encountered a command with an unrecognized commandType: ', diff --git a/app/src/organisms/CommandText/__tests__/CommandText.test.tsx b/app/src/organisms/CommandText/__tests__/CommandText.test.tsx index 242c6939eb4..28ef08f940f 100644 --- a/app/src/organisms/CommandText/__tests__/CommandText.test.tsx +++ b/app/src/organisms/CommandText/__tests__/CommandText.test.tsx @@ -1,11 +1,7 @@ import * as React from 'react' import { renderWithProviders } from '@opentrons/components' import { - BlowoutInPlaceRunTimeCommand, - DispenseInPlaceRunTimeCommand, - DropTipInPlaceRunTimeCommand, FLEX_ROBOT_TYPE, - MoveToAddressableAreaRunTimeCommand, PrepareToAspirateRunTimeCommand, } from '@opentrons/shared-data' import { i18n } from '../../../i18n' @@ -89,26 +85,6 @@ describe('CommandText', () => { ) } }) - it('renders correct text for dispenseInPlace', () => { - const { getByText } = renderWithProviders( - , - { i18nInstance: i18n } - )[0] - getByText('Dispensing 50 µL in place at 300 µL/sec') - }) it('renders correct text for blowout', () => { const dispenseCommand = mockRobotSideAnalysis.commands.find( c => c.commandType === 'dispense' @@ -132,25 +108,6 @@ describe('CommandText', () => { ) } }) - it('renders correct text for blowOutInPlace', () => { - const { getByText } = renderWithProviders( - , - { i18nInstance: i18n } - )[0] - getByText('Blowing out in place at 300 µL/sec') - }) it('renders correct text for moveToWell', () => { const dispenseCommand = mockRobotSideAnalysis.commands.find( c => c.commandType === 'aspirate' @@ -172,27 +129,6 @@ describe('CommandText', () => { getByText('Moving to well A1 of NEST 1 Well Reservoir 195 mL in Slot 5') } }) - it('renders correct text for moveToAddressableArea', () => { - const { getByText } = renderWithProviders( - , - { i18nInstance: i18n } - )[0] - getByText('Moving to D3 at 200 mm/s at 100 mm high') - }) it('renders correct text for configureForVolume', () => { const command = { commandType: 'configureForVolume', @@ -268,24 +204,6 @@ describe('CommandText', () => { )[0] getByText('Returning tip to A1 of Opentrons 96 Tip Rack 300 µL in Slot 9') }) - it('renders correct text for dropTipInPlace', () => { - const { getByText } = renderWithProviders( - , - { i18nInstance: i18n } - )[0] - getByText('Dropping tip in place') - }) it('renders correct text for pickUpTip', () => { const command = mockRobotSideAnalysis.commands.find( c => c.commandType === 'pickUpTip' diff --git a/app/src/organisms/CommandText/index.tsx b/app/src/organisms/CommandText/index.tsx index 00e9bca5808..67e76526ab1 100644 --- a/app/src/organisms/CommandText/index.tsx +++ b/app/src/organisms/CommandText/index.tsx @@ -3,11 +3,6 @@ import { useTranslation } from 'react-i18next' import { Flex, DIRECTION_COLUMN, SPACING } from '@opentrons/components' import { getPipetteNameSpecs, RunTimeCommand } from '@opentrons/shared-data' -import { - getLabwareName, - getLabwareDisplayLocation, - getFinalLabwareLocation, -} from './utils' import { StyledText } from '../../atoms/text' import { LoadCommandText } from './LoadCommandText' import { PipettingCommandText } from './PipettingCommandText' @@ -55,11 +50,9 @@ export function CommandText(props: Props): JSX.Element | null { switch (command.commandType) { case 'aspirate': case 'dispense': - case 'dispenseInPlace': case 'blowout': - case 'blowOutInPlace': + case 'moveToWell': case 'dropTip': - case 'dropTipInPlace': case 'pickUpTip': { return ( @@ -145,31 +138,6 @@ export function CommandText(props: Props): JSX.Element | null { ) } - case 'moveToWell': { - const { wellName, labwareId } = command.params - const allPreviousCommands = robotSideAnalysis.commands.slice( - 0, - robotSideAnalysis.commands.findIndex(c => c.id === command.id) - ) - const labwareLocation = getFinalLabwareLocation( - labwareId, - allPreviousCommands - ) - const displayLocation = - labwareLocation != null - ? getLabwareDisplayLocation( - robotSideAnalysis, - labwareLocation, - t, - robotType - ) - : '' - return t('move_to_well', { - well_name: wellName, - labware: getLabwareName(robotSideAnalysis, labwareId), - labware_location: displayLocation, - }) - } case 'moveLabware': { return ( @@ -214,18 +182,6 @@ export function CommandText(props: Props): JSX.Element | null { ) } - case 'moveToAddressableArea': { - const { addressableAreaName, speed, minimumZHeight } = command.params - return ( - - {t('move_to_addressable_area', { - addressable_area: addressableAreaName, - speed: speed, - height: minimumZHeight, - })} - - ) - } case 'touchTip': case 'home': case 'savePosition': diff --git a/shared-data/command/types/pipetting.ts b/shared-data/command/types/pipetting.ts index 192c4d71345..1a0c0dd36c8 100644 --- a/shared-data/command/types/pipetting.ts +++ b/shared-data/command/types/pipetting.ts @@ -1,35 +1,27 @@ import type { CommonCommandRunTimeInfo, CommonCommandCreateInfo } from '.' export type PipettingRunTimeCommand = - | PipettingAtLocationRunTimeCommand - | PipettingInPlaceRunTimeCommand - -export type PipettingAtLocationRunTimeCommand = | AspirateRunTimeCommand - | BlowoutRunTimeCommand | DispenseRunTimeCommand - | DropTipRunTimeCommand - | PickUpTipRunTimeCommand - | TouchTipRunTimeCommand - -export type PipettingInPlaceRunTimeCommand = + | BlowoutRunTimeCommand | BlowoutInPlaceRunTimeCommand - | ConfigureForVolumeRunTimeCommand - | DispenseInPlaceRunTimeCommand + | TouchTipRunTimeCommand + | PickUpTipRunTimeCommand + | DropTipRunTimeCommand | DropTipInPlaceRunTimeCommand + | ConfigureForVolumeRunTimeCommand | PrepareToAspirateRunTimeCommand export type PipettingCreateCommand = | AspirateCreateCommand + | DispenseCreateCommand | BlowoutCreateCommand | BlowoutInPlaceCreateCommand - | ConfigureForVolumeCreateCommand - | DispenseCreateCommand - | DispenseInPlaceCreateCommand + | TouchTipCreateCommand + | PickUpTipCreateCommand | DropTipCreateCommand | DropTipInPlaceCreateCommand - | PickUpTipCreateCommand + | ConfigureForVolumeCreateCommand | PrepareToAspirateCreateCommand - | TouchTipCreateCommand export interface ConfigureForVolumeCreateCommand extends CommonCommandCreateInfo { @@ -66,17 +58,6 @@ export interface DispenseRunTimeCommand DispenseCreateCommand { result?: BasicLiquidHandlingResult } - -export interface DispenseInPlaceCreateCommand extends CommonCommandCreateInfo { - commandType: 'dispenseInPlace' - params: DispenseInPlaceParams -} -export interface DispenseInPlaceRunTimeCommand - extends CommonCommandRunTimeInfo, - DispenseInPlaceCreateCommand { - result?: BasicLiquidHandlingResult -} - export interface BlowoutCreateCommand extends CommonCommandCreateInfo { commandType: 'blowout' params: BlowoutParams @@ -173,13 +154,6 @@ export interface BlowoutInPlaceParams { flowRate: number // µL/s } -export interface DispenseInPlaceParams { - pipetteId: string - volume: number - flowRate: number // µL/s - pushOut?: number -} - interface FlowRateParams { flowRate: number // µL/s } From 424f001bd583e96325d40b6b38170db5c4fd8768 Mon Sep 17 00:00:00 2001 From: ncdiehl11 Date: Thu, 9 Nov 2023 12:27:30 -0500 Subject: [PATCH 13/65] reset pipetting types for now --- shared-data/command/types/pipetting.ts | 40 +++++++++++++++++++------- 1 file changed, 30 insertions(+), 10 deletions(-) diff --git a/shared-data/command/types/pipetting.ts b/shared-data/command/types/pipetting.ts index 1a0c0dd36c8..fe54ed1cf81 100644 --- a/shared-data/command/types/pipetting.ts +++ b/shared-data/command/types/pipetting.ts @@ -1,27 +1,29 @@ import type { CommonCommandRunTimeInfo, CommonCommandCreateInfo } from '.' export type PipettingRunTimeCommand = | AspirateRunTimeCommand - | DispenseRunTimeCommand - | BlowoutRunTimeCommand | BlowoutInPlaceRunTimeCommand - | TouchTipRunTimeCommand - | PickUpTipRunTimeCommand - | DropTipRunTimeCommand - | DropTipInPlaceRunTimeCommand + | BlowoutRunTimeCommand | ConfigureForVolumeRunTimeCommand + | DispenseInPlaceRunTimeCommand + | DispenseRunTimeCommand + | DropTipInPlaceRunTimeCommand + | DropTipRunTimeCommand + | PickUpTipRunTimeCommand | PrepareToAspirateRunTimeCommand + | TouchTipRunTimeCommand export type PipettingCreateCommand = | AspirateCreateCommand - | DispenseCreateCommand | BlowoutCreateCommand | BlowoutInPlaceCreateCommand - | TouchTipCreateCommand - | PickUpTipCreateCommand + | ConfigureForVolumeCreateCommand + | DispenseCreateCommand + | DispenseInPlaceCreateCommand | DropTipCreateCommand | DropTipInPlaceCreateCommand - | ConfigureForVolumeCreateCommand + | PickUpTipCreateCommand | PrepareToAspirateCreateCommand + | TouchTipCreateCommand export interface ConfigureForVolumeCreateCommand extends CommonCommandCreateInfo { @@ -58,6 +60,17 @@ export interface DispenseRunTimeCommand DispenseCreateCommand { result?: BasicLiquidHandlingResult } + +export interface DispenseInPlaceCreateCommand extends CommonCommandCreateInfo { + commandType: 'dispenseInPlace' + params: DispenseInPlaceParams +} +export interface DispenseInPlaceRunTimeCommand + extends CommonCommandRunTimeInfo, + DispenseInPlaceCreateCommand { + result?: BasicLiquidHandlingResult +} + export interface BlowoutCreateCommand extends CommonCommandCreateInfo { commandType: 'blowout' params: BlowoutParams @@ -154,6 +167,13 @@ export interface BlowoutInPlaceParams { flowRate: number // µL/s } +export interface DispenseInPlaceParams { + pipetteId: string + volume: number + flowRate: number // µL/s + pushOut?: number +} + interface FlowRateParams { flowRate: number // µL/s } From c561d3730ad7cc5b06fd3d3f7605015fb77a439c Mon Sep 17 00:00:00 2001 From: ncdiehl11 Date: Thu, 9 Nov 2023 15:09:54 -0500 Subject: [PATCH 14/65] stash fixture files --- .../2/fixture_flex_96_tiprack_adapter | 43 + .../2/fixture_flex_tiprack_1000_ul.json | 1026 +++++++++++++++++ shared-data/pipette/fixtures/name/index.ts | 1 + .../src/__tests__/replaceTip.test.ts | 3 + .../src/fixtures/commandFixtures.ts | 1 + .../src/fixtures/robotStateFixtures.ts | 29 +- 6 files changed, 1101 insertions(+), 2 deletions(-) create mode 100644 shared-data/labware/fixtures/2/fixture_flex_96_tiprack_adapter create mode 100644 shared-data/labware/fixtures/2/fixture_flex_tiprack_1000_ul.json diff --git a/shared-data/labware/fixtures/2/fixture_flex_96_tiprack_adapter b/shared-data/labware/fixtures/2/fixture_flex_96_tiprack_adapter new file mode 100644 index 00000000000..43f22feddc1 --- /dev/null +++ b/shared-data/labware/fixtures/2/fixture_flex_96_tiprack_adapter @@ -0,0 +1,43 @@ +{ + "ordering": [], + "brand": { + "brand": "Fixture", + "brandId": [] + }, + "metadata": { + "displayName": "Fixture Flex 96 Tip Rack Adapter", + "displayCategory": "adapter", + "displayVolumeUnits": "µL", + "tags": [] + }, + "dimensions": { + "xDimension": 156.5, + "yDimension": 93, + "zDimension": 132 + }, + "wells": {}, + "groups": [ + { + "metadata": {}, + "wells": [] + } + ], + "parameters": { + "format": "96Standard", + "quirks": [], + "isTiprack": false, + "isMagneticModuleCompatible": false, + "loadName": "fixture_flex_96_tiprack_adapter" + }, + "namespace": "fixture", + "version": 1, + "schemaVersion": 2, + "allowedRoles": [ + "adapter" + ], + "cornerOffsetFromSlot": { + "x": -14.25, + "y": -3.5, + "z": 0 + } +} diff --git a/shared-data/labware/fixtures/2/fixture_flex_tiprack_1000_ul.json b/shared-data/labware/fixtures/2/fixture_flex_tiprack_1000_ul.json new file mode 100644 index 00000000000..5eaa01f9440 --- /dev/null +++ b/shared-data/labware/fixtures/2/fixture_flex_tiprack_1000_ul.json @@ -0,0 +1,1026 @@ +{ + "ordering": [ + ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"], + ["A2", "B2", "C2", "D2", "E2", "F2", "G2", "H2"], + ["A3", "B3", "C3", "D3", "E3", "F3", "G3", "H3"], + ["A4", "B4", "C4", "D4", "E4", "F4", "G4", "H4"], + ["A5", "B5", "C5", "D5", "E5", "F5", "G5", "H5"], + ["A6", "B6", "C6", "D6", "E6", "F6", "G6", "H6"], + ["A7", "B7", "C7", "D7", "E7", "F7", "G7", "H7"], + ["A8", "B8", "C8", "D8", "E8", "F8", "G8", "H8"], + ["A9", "B9", "C9", "D9", "E9", "F9", "G9", "H9"], + ["A10", "B10", "C10", "D10", "E10", "F10", "G10", "H10"], + ["A11", "B11", "C11", "D11", "E11", "F11", "G11", "H11"], + ["A12", "B12", "C12", "D12", "E12", "F12", "G12", "H12"] + ], + "brand": { + "brand": "Fixture", + "brandId": [] + }, + "metadata": { + "displayName": "Fixture Flex Tiprack 1000 uL", + "displayCategory": "tipRack", + "displayVolumeUnits": "µL", + "tags": [] + }, + "dimensions": { + "xDimension": 127.75, + "yDimension": 85.75, + "zDimension": 99 + }, + "gripForce": 16, + "gripHeightFromLabwareBottom": 23.9, + "wells": { + "A1": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 14.38, + "y": 74.38, + "z": 1.5 + }, + "B1": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 14.38, + "y": 65.38, + "z": 1.5 + }, + "C1": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 14.38, + "y": 56.38, + "z": 1.5 + }, + "D1": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 14.38, + "y": 47.38, + "z": 1.5 + }, + "E1": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 14.38, + "y": 38.38, + "z": 1.5 + }, + "F1": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 14.38, + "y": 29.38, + "z": 1.5 + }, + "G1": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 14.38, + "y": 20.38, + "z": 1.5 + }, + "H1": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 14.38, + "y": 11.38, + "z": 1.5 + }, + "A2": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 23.38, + "y": 74.38, + "z": 1.5 + }, + "B2": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 23.38, + "y": 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1000, + "x": 104.38, + "y": 20.38, + "z": 1.5 + }, + "H11": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 104.38, + "y": 11.38, + "z": 1.5 + }, + "A12": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 113.38, + "y": 74.38, + "z": 1.5 + }, + "B12": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 113.38, + "y": 65.38, + "z": 1.5 + }, + "C12": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 113.38, + "y": 56.38, + "z": 1.5 + }, + "D12": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 113.38, + "y": 47.38, + "z": 1.5 + }, + "E12": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 113.38, + "y": 38.38, + "z": 1.5 + }, + "F12": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 113.38, + "y": 29.38, + "z": 1.5 + }, + "G12": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 113.38, + "y": 20.38, + "z": 1.5 + }, + "H12": { + "depth": 97.5, + "shape": "circular", + "diameter": 5.47, + "totalLiquidVolume": 1000, + "x": 113.38, + "y": 11.38, + "z": 1.5 + } + }, + "groups": [ + { + "metadata": {}, + "wells": [ + "A1", + "B1", + "C1", + "D1", + "E1", + "F1", + "G1", + "H1", + "A2", + "B2", + "C2", + "D2", + "E2", + "F2", + "G2", + "H2", + "A3", + "B3", + "C3", + "D3", + "E3", + "F3", + "G3", + "H3", + "A4", + "B4", + "C4", + "D4", + "E4", + "F4", + "G4", + "H4", + "A5", + "B5", + "C5", + "D5", + "E5", + "F5", + "G5", + "H5", + "A6", + "B6", + "C6", + "D6", + "E6", + "F6", + "G6", + "H6", + "A7", + "B7", + "C7", + "D7", + "E7", + "F7", + "G7", + "H7", + "A8", + "B8", + "C8", + "D8", + "E8", + "F8", + "G8", + "H8", + "A9", + "B9", + "C9", + "D9", + "E9", + "F9", + "G9", + "H9", + "A10", + "B10", + "C10", + "D10", + "E10", + "F10", + "G10", + "H10", + "A11", + "B11", + "C11", + "D11", + "E11", + "F11", + "G11", + "H11", + "A12", + "B12", + "C12", + "D12", + "E12", + "F12", + "G12", + "H12" + ] + } + ], + "parameters": { + "format": "96Standard", + "quirks": [], + "isTiprack": true, + "tipLength": 95.6, + "tipOverlap": 10.5, + "isMagneticModuleCompatible": false, + "loadName": "fixture_flex_96_tiprack_1000ul" + }, + "namespace": "fixture", + "version": 1, + "schemaVersion": 2, + "cornerOffsetFromSlot": { + "x": 0, + "y": 0, + "z": 0 + }, + "stackingOffsetWithLabware": { + "opentrons_flex_96_tiprack_adapter": { + "x": 0, + "y": 0, + "z": 121 + } + } +} diff --git a/shared-data/pipette/fixtures/name/index.ts b/shared-data/pipette/fixtures/name/index.ts index 1625636981e..0831ffc7fdd 100644 --- a/shared-data/pipette/fixtures/name/index.ts +++ b/shared-data/pipette/fixtures/name/index.ts @@ -16,3 +16,4 @@ export const fixtureP300Multi: PipetteNameSpecs = pipetteNameSpecFixtures.p300_multi export const fixtureP1000Single: PipetteNameSpecs = pipetteNameSpecFixtures.p1000_single +export const fixtureP100096: PipetteNameSpecs = pipetteNameSpecFixtures.p1000_96 diff --git a/step-generation/src/__tests__/replaceTip.test.ts b/step-generation/src/__tests__/replaceTip.test.ts index 27af7db7c96..5a6d744fef4 100644 --- a/step-generation/src/__tests__/replaceTip.test.ts +++ b/step-generation/src/__tests__/replaceTip.test.ts @@ -17,8 +17,11 @@ import type { InvariantContext, RobotState } from '../types' const tiprack1Id = 'tiprack1Id' const tiprack2Id = 'tiprack2Id' +const tiprack4Id = 'tiprack4Id' +const tiprack5Id = 'tiprack5Id' const p300SingleId = DEFAULT_PIPETTE const p300MultiId = 'p300MultiId' +const p100096Id = 'p100096Id' const wasteChuteId = 'wasteChuteId' describe('replaceTip', () => { let invariantContext: InvariantContext diff --git a/step-generation/src/fixtures/commandFixtures.ts b/step-generation/src/fixtures/commandFixtures.ts index 77029e9264c..2261323f430 100644 --- a/step-generation/src/fixtures/commandFixtures.ts +++ b/step-generation/src/fixtures/commandFixtures.ts @@ -90,6 +90,7 @@ export const getFlowRateAndOffsetParamsMix = (): FlowRateAndOffsetParamsMix => ( // ================= export const DEFAULT_PIPETTE = 'p300SingleId' export const MULTI_PIPETTE = 'p300MultiId' +export const PIPETTE_96 = 'p100096Id' export const SOURCE_LABWARE = 'sourcePlateId' export const DEST_LABWARE = 'destPlateId' export const TROUGH_LABWARE = 'troughId' diff --git a/step-generation/src/fixtures/robotStateFixtures.ts b/step-generation/src/fixtures/robotStateFixtures.ts index aa44e110dd3..adc06c10c09 100644 --- a/step-generation/src/fixtures/robotStateFixtures.ts +++ b/step-generation/src/fixtures/robotStateFixtures.ts @@ -10,12 +10,14 @@ import { fixtureP10Multi as _fixtureP10Multi, fixtureP300Single as _fixtureP300Single, fixtureP300Multi as _fixtureP300Multi, + fixtureP100096 as _fixtureP100096, } from '@opentrons/shared-data/pipette/fixtures/name' import _fixtureTrash from '@opentrons/shared-data/labware/fixtures/2/fixture_trash.json' import _fixture96Plate from '@opentrons/shared-data/labware/fixtures/2/fixture_96_plate.json' import _fixture12Trough from '@opentrons/shared-data/labware/fixtures/2/fixture_12_trough.json' import _fixtureTiprack10ul from '@opentrons/shared-data/labware/fixtures/2/fixture_tiprack_10_ul.json' import _fixtureTiprack300ul from '@opentrons/shared-data/labware/fixtures/2/fixture_tiprack_300_ul.json' +import _fixtureTiprack1000ul from '@opentrons/shared-data/labware/fixtures/2/fixture_tiprack_1000_ul.json' import { TEMPERATURE_APPROACHING_TARGET, TEMPERATURE_AT_TARGET, @@ -26,15 +28,16 @@ import { import { DEFAULT_PIPETTE, MULTI_PIPETTE, + PIPETTE_96, SOURCE_LABWARE, DEST_LABWARE, TROUGH_LABWARE, } from './commandFixtures' import { makeInitialRobotState } from '../utils' import { tiprackWellNamesFlat } from './data' -import type { LabwareDefinition2 } from '@opentrons/shared-data' +imPIPETTE_96 type { LabwareDefinition2 } from '@opentrons/shared-data' import type { AdditionalEquipmentEntities } from '../types' -import type { +import typePIPETTE_96 { Config, InvariantContext, ModuleEntities, @@ -47,12 +50,14 @@ const fixtureP10Single = _fixtureP10Single const fixtureP10Multi = _fixtureP10Multi const fixtureP300Single = _fixtureP300Single const fixtureP300Multi = _fixtureP300Multi +const fixtureP100096 = _fixtureP100096 const fixtureTrash = _fixtureTrash as LabwareDefinition2 const fixture96Plate = _fixture96Plate as LabwareDefinition2 const fixture12Trough = _fixture12Trough as LabwareDefinition2 const fixtureTiprack10ul = _fixtureTiprack10ul as LabwareDefinition2 const fixtureTiprack300ul = _fixtureTiprack300ul as LabwareDefinition2 +const fixtureTiprack1000ul = _fixtureTiprack1000ul as LabwareDefinition2 export const DEFAULT_CONFIG: Config = { OT_PD_DISABLE_MODULE_RESTRICTIONS: false, @@ -120,6 +125,18 @@ export function makeContext(): InvariantContext { labwareDefURI: getLabwareDefURI(fixtureTiprack300ul), def: fixtureTiprack300ul, }, + tiprack4Id: { + id: 'tiprack4Id', + + labwareDefURI: getLabwareDefURI(fixtureTiprack1000ul), + def: fixtureTiprack1000ul, + }, + tiprack5Id: { + id: 'tiprack5Id', + + labwareDefURI: getLabwareDefURI(fixtureTiprack1000ul), + def: fixtureTiprack1000ul, + }, } const moduleEntities: ModuleEntities = {} const additionalEquipmentEntities: AdditionalEquipmentEntities = {} @@ -152,6 +169,14 @@ export function makeContext(): InvariantContext { name: 'p300_multi', id: MULTI_PIPETTE, + tiprackDefURI: getLabwareDefURI(fixtureTiprack300ul), + tiprackLabwareDef: fixtureTiprack300ul, + spec: fixtureP300Multi, + }, + [PIPETTE_96]: { + name: 'p1000_96', + id: PIPETTE_96, + tiprackDefURI: getLabwareDefURI(fixtureTiprack300ul), tiprackLabwareDef: fixtureTiprack300ul, spec: fixtureP300Multi, From 96c7905e52a6aed2c2cfced723e05e01ac378174 Mon Sep 17 00:00:00 2001 From: ncdiehl11 Date: Mon, 13 Nov 2023 09:39:59 -0500 Subject: [PATCH 15/65] clean up dropTip command logic --- .../generateRobotStateTimeline.ts | 62 +++++++------------ 1 file changed, 23 insertions(+), 39 deletions(-) diff --git a/protocol-designer/src/timelineMiddleware/generateRobotStateTimeline.ts b/protocol-designer/src/timelineMiddleware/generateRobotStateTimeline.ts index 00f41a879c5..544a14dca10 100644 --- a/protocol-designer/src/timelineMiddleware/generateRobotStateTimeline.ts +++ b/protocol-designer/src/timelineMiddleware/generateRobotStateTimeline.ts @@ -2,7 +2,6 @@ import takeWhile from 'lodash/takeWhile' import * as StepGeneration from '@opentrons/step-generation' import { commandCreatorFromStepArgs } from '../file-data/selectors/commands' import type { StepArgsAndErrorsById } from '../steplist/types' -import { wasteChuteCommandsUtil } from '@opentrons/step-generation' export interface GenerateRobotStateTimelineArgs { allStepArgsAndErrors: StepArgsAndErrorsById @@ -77,45 +76,30 @@ export const generateRobotStateTimeline = ( ? '96ChannelWasteChute' : '1and8ChannelWasteChute' + const dropTipCommand = isWasteChute + ? StepGeneration.curryCommandCreator( + StepGeneration.wasteChuteCommandsUtil, + { + type: 'dropTip', + pipetteId: pipetteId, + addressableAreaName, + } + ) + : StepGeneration.curryCommandCreator(StepGeneration.dropTip, { + pipette: pipetteId, + dropTipLocation, + }) + if (!willReuseTip) { - return isWasteChute - ? [ - ...acc, - (_invariantContext, _prevRobotState) => - StepGeneration.reduceCommandCreators( - [ - curriedCommandCreator, - StepGeneration.curryCommandCreator( - wasteChuteCommandsUtil, - { - type: 'dropTip', - pipetteId: pipetteId, - addressableAreaName, - } - ), - ], - _invariantContext, - _prevRobotState - ), - ] - : [ - ...acc, - (_invariantContext, _prevRobotState) => - StepGeneration.reduceCommandCreators( - [ - curriedCommandCreator, - StepGeneration.curryCommandCreator( - StepGeneration.dropTip, - { - pipette: pipetteId, - dropTipLocation, - } - ), - ], - _invariantContext, - _prevRobotState - ), - ] + return [ + ...acc, + (_invariantContext, _prevRobotState) => + StepGeneration.reduceCommandCreators( + [curriedCommandCreator, dropTipCommand], + _invariantContext, + _prevRobotState + ), + ] } } From c7b53e72d07579ce34caeb315053423da77e4c80 Mon Sep 17 00:00:00 2001 From: ncdiehl11 Date: Tue, 14 Nov 2023 12:26:49 -0500 Subject: [PATCH 16/65] add fixtures for 1000ul tiprack and 96-channel adapter --- ...x_tiprack_1000_ul.json => fixture_flex_96_tiprack_1000ul.json} | 0 ...ex_96_tiprack_adapter => fixture_flex_96_tiprack_adapter.json} | 0 2 files changed, 0 insertions(+), 0 deletions(-) rename shared-data/labware/fixtures/2/{fixture_flex_tiprack_1000_ul.json => fixture_flex_96_tiprack_1000ul.json} (100%) rename shared-data/labware/fixtures/2/{fixture_flex_96_tiprack_adapter => fixture_flex_96_tiprack_adapter.json} (100%) diff --git a/shared-data/labware/fixtures/2/fixture_flex_tiprack_1000_ul.json b/shared-data/labware/fixtures/2/fixture_flex_96_tiprack_1000ul.json similarity index 100% rename from shared-data/labware/fixtures/2/fixture_flex_tiprack_1000_ul.json rename to shared-data/labware/fixtures/2/fixture_flex_96_tiprack_1000ul.json diff --git a/shared-data/labware/fixtures/2/fixture_flex_96_tiprack_adapter b/shared-data/labware/fixtures/2/fixture_flex_96_tiprack_adapter.json similarity index 100% rename from shared-data/labware/fixtures/2/fixture_flex_96_tiprack_adapter rename to shared-data/labware/fixtures/2/fixture_flex_96_tiprack_adapter.json From d28cab5f680559607d2445f81efd7f2a493df47e Mon Sep 17 00:00:00 2001 From: ncdiehl11 Date: Tue, 14 Nov 2023 12:27:35 -0500 Subject: [PATCH 17/65] update replaceTip tests for 96-channel in waste chute --- .../src/__tests__/replaceTip.test.ts | 45 +++++++++++++++++++ .../src/fixtures/robotStateFixtures.ts | 38 +++++++++++++--- 2 files changed, 77 insertions(+), 6 deletions(-) diff --git a/step-generation/src/__tests__/replaceTip.test.ts b/step-generation/src/__tests__/replaceTip.test.ts index 5a6d744fef4..6dfc0978583 100644 --- a/step-generation/src/__tests__/replaceTip.test.ts +++ b/step-generation/src/__tests__/replaceTip.test.ts @@ -249,4 +249,49 @@ describe('replaceTip', () => { ]) }) }) + describe('replaceTip: 96-channel', () => { + it('96-channel, dropping tips in waste chute', () => { + invariantContext = { + ...invariantContext, + additionalEquipmentEntities: { + wasteChuteId: { + name: 'wasteChute', + id: wasteChuteId, + location: 'D3', + }, + }, + } + const initialTestRobotState = merge({}, initialRobotState, { + tipState: { + tipracks: { + [tiprack4Id]: getTiprackTipstate(false), + [tiprack5Id]: getTiprackTipstate(true), + }, + pipettes: { + p100096Id: true, + }, + }, + }) + const result = replaceTip( + { + pipette: p100096Id, + dropTipLocation: 'wasteChuteId', + }, + invariantContext, + initialTestRobotState + ) + const res = getSuccessResult(result) + expect(res.commands).toEqual([ + moveToAddressableAreaHelper({ + pipetteId: p100096Id, + addressableAreaName: '96ChannelWasteChute', + }), + dropTipInPlaceHelper({ pipetteId: p100096Id }), + pickUpTipHelper('A1', { + pipetteId: p100096Id, + labwareId: tiprack5Id, + }), + ]) + }) + }) }) diff --git a/step-generation/src/fixtures/robotStateFixtures.ts b/step-generation/src/fixtures/robotStateFixtures.ts index adc06c10c09..42b1fa7fa58 100644 --- a/step-generation/src/fixtures/robotStateFixtures.ts +++ b/step-generation/src/fixtures/robotStateFixtures.ts @@ -17,7 +17,8 @@ import _fixture96Plate from '@opentrons/shared-data/labware/fixtures/2/fixture_9 import _fixture12Trough from '@opentrons/shared-data/labware/fixtures/2/fixture_12_trough.json' import _fixtureTiprack10ul from '@opentrons/shared-data/labware/fixtures/2/fixture_tiprack_10_ul.json' import _fixtureTiprack300ul from '@opentrons/shared-data/labware/fixtures/2/fixture_tiprack_300_ul.json' -import _fixtureTiprack1000ul from '@opentrons/shared-data/labware/fixtures/2/fixture_tiprack_1000_ul.json' +import _fixtureTiprack1000ul from '@opentrons/shared-data/labware/fixtures/2/fixture_flex_96_tiprack_1000ul.json' +import _fixtureTiprackAdapter from '@opentrons/shared-data/labware/fixtures/2/fixture_flex_96_tiprack_adapter.json' import { TEMPERATURE_APPROACHING_TARGET, TEMPERATURE_AT_TARGET, @@ -35,9 +36,9 @@ import { } from './commandFixtures' import { makeInitialRobotState } from '../utils' import { tiprackWellNamesFlat } from './data' -imPIPETTE_96 type { LabwareDefinition2 } from '@opentrons/shared-data' +import type { LabwareDefinition2 } from '@opentrons/shared-data' import type { AdditionalEquipmentEntities } from '../types' -import typePIPETTE_96 { +import type { Config, InvariantContext, ModuleEntities, @@ -58,6 +59,7 @@ const fixture12Trough = _fixture12Trough as LabwareDefinition2 const fixtureTiprack10ul = _fixtureTiprack10ul as LabwareDefinition2 const fixtureTiprack300ul = _fixtureTiprack300ul as LabwareDefinition2 const fixtureTiprack1000ul = _fixtureTiprack1000ul as LabwareDefinition2 +const fixtureTiprackAdapter = _fixtureTiprackAdapter as LabwareDefinition2 export const DEFAULT_CONFIG: Config = { OT_PD_DISABLE_MODULE_RESTRICTIONS: false, @@ -125,6 +127,18 @@ export function makeContext(): InvariantContext { labwareDefURI: getLabwareDefURI(fixtureTiprack300ul), def: fixtureTiprack300ul, }, + tiprack4AdapterId: { + id: 'tiprack4AdapterId', + + labwareDefURI: getLabwareDefURI(fixtureTiprackAdapter), + def: fixtureTiprackAdapter, + }, + tiprack5AdapterId: { + id: 'tiprack5AdapterId', + + labwareDefURI: getLabwareDefURI(fixtureTiprackAdapter), + def: fixtureTiprackAdapter, + }, tiprack4Id: { id: 'tiprack4Id', @@ -177,9 +191,9 @@ export function makeContext(): InvariantContext { name: 'p1000_96', id: PIPETTE_96, - tiprackDefURI: getLabwareDefURI(fixtureTiprack300ul), - tiprackLabwareDef: fixtureTiprack300ul, - spec: fixtureP300Multi, + tiprackDefURI: getLabwareDefURI(fixtureTiprack1000ul), + tiprackLabwareDef: fixtureTiprack1000ul, + spec: fixtureP100096, }, } return { @@ -238,6 +252,18 @@ export const makeStateArgsStandard = (): StandardMakeStateArgs => ({ tiprack2Id: { slot: '5', }, + tiprack4AdapterId: { + slot: '7', + }, + tiprack5AdapterId: { + slot: '8', + }, + tiprack4Id: { + slot: 'tiprack4AdapterId', + }, + tiprack5Id: { + slot: 'tiprack5AdapterId', + }, sourcePlateId: { slot: '2', }, From b19a928f4546d3a0234a790a029ebdb25f6d24ed Mon Sep 17 00:00:00 2001 From: ncdiehl11 Date: Tue, 14 Nov 2023 12:28:04 -0500 Subject: [PATCH 18/65] update fixture tests to reflect 1000ul tiprack and adapter --- .../__snapshots__/LabwareList.test.tsx.snap | 1187 +++++ .../FilterCategory.test.tsx.snap | 11 + .../fixtureGeneration.test.ts.snap | 4449 ++++++++++++++++- .../src/__tests__/fixtureGeneration.test.ts | 12 + 4 files changed, 5499 insertions(+), 160 deletions(-) diff --git a/labware-library/src/components/LabwareList/__tests__/__snapshots__/LabwareList.test.tsx.snap b/labware-library/src/components/LabwareList/__tests__/__snapshots__/LabwareList.test.tsx.snap index 4fc515c877c..aeb4b5c916d 100644 --- a/labware-library/src/components/LabwareList/__tests__/__snapshots__/LabwareList.test.tsx.snap +++ b/labware-library/src/components/LabwareList/__tests__/__snapshots__/LabwareList.test.tsx.snap @@ -6258,6 +6258,1193 @@ exports[`LabwareList component renders 1`] = ` } key="fixture/fixture_96_plate/1" /> + + +
  • + + Adapter + +
    • `; diff --git a/step-generation/src/__tests__/__snapshots__/fixtureGeneration.test.ts.snap b/step-generation/src/__tests__/__snapshots__/fixtureGeneration.test.ts.snap index 496ad3aed3c..e8e545df2b3 100644 --- a/step-generation/src/__tests__/__snapshots__/fixtureGeneration.test.ts.snap +++ b/step-generation/src/__tests__/__snapshots__/fixtureGeneration.test.ts.snap @@ -496,6 +496,204 @@ Object { "H8": Object {}, "H9": Object {}, }, + "tiprack4AdapterId": Object {}, + "tiprack4Id": Object { + "A1": Object {}, + "A10": Object {}, + "A11": Object {}, + "A12": Object {}, + "A2": Object {}, + "A3": Object {}, + "A4": Object {}, + "A5": Object {}, + "A6": Object {}, + "A7": Object {}, + "A8": Object {}, + "A9": Object {}, + "B1": Object {}, + "B10": Object {}, + "B11": Object {}, + "B12": Object {}, + "B2": Object {}, + "B3": Object {}, + "B4": Object {}, + "B5": Object {}, + "B6": Object {}, + "B7": Object {}, + "B8": Object {}, + "B9": Object {}, + "C1": Object {}, + "C10": Object {}, + "C11": Object {}, + "C12": Object {}, + "C2": Object {}, + "C3": Object {}, + "C4": Object {}, + "C5": Object {}, + "C6": Object {}, + "C7": Object {}, + "C8": Object {}, + "C9": Object {}, + "D1": Object {}, + "D10": Object {}, + "D11": Object {}, + "D12": Object {}, + "D2": Object {}, + "D3": Object {}, + "D4": Object {}, + "D5": Object {}, + "D6": Object {}, + "D7": Object {}, + "D8": Object {}, + "D9": Object {}, + "E1": Object {}, + "E10": Object {}, + "E11": Object {}, + "E12": Object {}, + "E2": Object {}, + "E3": Object {}, + "E4": Object {}, + "E5": Object {}, + "E6": Object {}, + "E7": Object {}, + "E8": Object {}, + "E9": Object {}, + "F1": Object {}, + "F10": Object {}, + "F11": Object {}, + "F12": Object {}, + "F2": Object {}, + "F3": Object {}, + "F4": Object {}, + "F5": Object {}, + "F6": Object {}, + "F7": Object {}, + "F8": Object {}, + "F9": Object {}, + "G1": Object {}, + "G10": Object {}, + "G11": Object {}, + "G12": Object {}, + "G2": Object {}, + "G3": Object {}, + "G4": Object {}, + "G5": Object {}, + "G6": Object {}, + "G7": Object {}, + "G8": Object {}, + "G9": Object {}, + "H1": Object {}, + "H10": Object {}, + "H11": Object {}, + "H12": Object {}, + "H2": Object {}, + "H3": Object {}, + "H4": Object {}, + "H5": Object {}, + "H6": Object {}, + "H7": Object {}, + "H8": Object {}, + "H9": Object {}, + }, + "tiprack5AdapterId": Object {}, + "tiprack5Id": Object { + "A1": Object {}, + "A10": Object {}, + "A11": Object {}, + "A12": Object {}, + "A2": Object {}, + "A3": Object {}, + "A4": Object {}, + "A5": Object {}, + "A6": Object {}, + "A7": Object {}, + "A8": Object {}, + "A9": Object {}, + "B1": Object {}, + "B10": Object {}, + "B11": Object {}, + "B12": Object {}, + "B2": Object {}, + "B3": Object {}, + "B4": Object {}, + "B5": Object {}, + "B6": Object {}, + "B7": Object {}, + "B8": Object {}, + "B9": Object {}, + "C1": Object {}, + "C10": Object {}, + "C11": Object {}, + "C12": Object {}, + "C2": Object {}, + "C3": Object {}, + "C4": Object {}, + "C5": Object {}, + "C6": Object {}, + "C7": Object {}, + "C8": Object {}, + "C9": Object {}, + "D1": Object {}, + "D10": Object {}, + "D11": Object {}, + "D12": Object {}, + "D2": Object {}, + "D3": Object {}, + "D4": Object {}, + "D5": Object {}, + "D6": Object {}, + "D7": Object {}, + "D8": Object {}, + "D9": Object {}, + "E1": Object {}, + "E10": Object {}, + "E11": Object {}, + "E12": Object {}, + "E2": Object {}, + "E3": Object {}, + "E4": Object {}, + "E5": Object {}, + "E6": Object {}, + "E7": Object {}, + "E8": Object {}, + "E9": Object {}, + "F1": Object {}, + "F10": Object {}, + "F11": Object {}, + "F12": Object {}, + "F2": Object {}, + "F3": Object {}, + "F4": Object {}, + "F5": Object {}, + "F6": Object {}, + "F7": Object {}, + "F8": Object {}, + "F9": Object {}, + "G1": Object {}, + "G10": Object {}, + "G11": Object {}, + "G12": Object {}, + "G2": Object {}, + "G3": Object {}, + "G4": Object {}, + "G5": Object {}, + "G6": Object {}, + "G7": Object {}, + "G8": Object {}, + "G9": Object {}, + "H1": Object {}, + "H10": Object {}, + "H11": Object {}, + "H12": Object {}, + "H2": Object {}, + "H3": Object {}, + "H4": Object {}, + "H5": Object {}, + "H6": Object {}, + "H7": Object {}, + "H8": Object {}, + "H9": Object {}, + }, "troughId": Object { "A1": Object {}, "A10": Object {}, @@ -512,6 +710,104 @@ Object { }, }, "pipettes": Object { + "p100096Id": Object { + "0": Object {}, + "1": Object {}, + "10": Object {}, + "11": Object {}, + "12": Object {}, + "13": Object {}, + "14": Object {}, + "15": Object {}, + "16": Object {}, + "17": Object {}, + "18": Object {}, + "19": Object {}, + "2": Object {}, + "20": Object {}, + "21": Object {}, + "22": Object {}, + "23": Object {}, + "24": Object {}, + "25": Object {}, + "26": Object {}, + "27": Object {}, + "28": Object {}, + "29": Object {}, + "3": Object {}, + "30": Object {}, + "31": Object {}, + "32": Object {}, + "33": Object {}, + "34": Object {}, + "35": Object {}, + "36": Object {}, + 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Object { "labware": Object { @@ -11584,6 +15417,204 @@ Object { "H8": Object {}, "H9": Object {}, }, + "tiprack4AdapterId": Object {}, + "tiprack4Id": Object { + "A1": Object {}, + "A10": Object {}, + "A11": Object {}, + "A12": Object {}, + "A2": Object {}, + "A3": Object {}, + "A4": Object {}, + "A5": Object {}, + "A6": Object {}, + "A7": Object {}, + "A8": Object {}, + "A9": Object {}, + "B1": Object {}, + "B10": Object {}, + "B11": Object {}, + "B12": Object {}, + "B2": Object {}, + "B3": Object {}, + "B4": Object {}, + "B5": Object {}, + "B6": Object {}, + "B7": Object {}, + "B8": Object {}, + "B9": Object {}, + "C1": Object {}, + "C10": Object {}, + "C11": Object {}, + "C12": Object {}, + "C2": Object {}, + "C3": Object {}, + "C4": Object {}, + "C5": Object {}, + "C6": Object {}, + "C7": Object {}, + "C8": Object {}, + "C9": Object {}, + "D1": Object {}, + "D10": Object {}, + "D11": Object {}, + "D12": Object {}, + "D2": Object {}, + "D3": Object {}, + "D4": Object {}, + "D5": Object {}, + "D6": Object {}, + "D7": Object {}, + "D8": Object {}, + "D9": Object {}, + "E1": Object {}, + "E10": Object {}, + "E11": Object {}, + "E12": Object {}, + "E2": Object {}, + "E3": Object {}, + "E4": Object {}, + "E5": Object {}, + "E6": Object {}, + "E7": Object {}, + "E8": Object {}, + "E9": Object {}, + "F1": Object {}, + "F10": Object {}, + "F11": Object {}, + "F12": Object {}, + "F2": Object {}, + "F3": Object {}, + "F4": Object {}, + "F5": Object {}, + "F6": Object {}, + "F7": Object {}, + "F8": Object {}, + "F9": Object {}, + "G1": Object {}, + "G10": Object {}, + "G11": Object {}, + "G12": Object {}, + "G2": Object {}, + "G3": Object {}, + "G4": Object {}, + "G5": Object {}, + "G6": Object {}, + "G7": Object {}, + "G8": Object {}, + "G9": Object {}, + "H1": Object {}, + "H10": Object {}, + "H11": Object {}, + "H12": Object {}, + "H2": Object {}, + "H3": Object {}, + "H4": Object {}, + "H5": Object {}, + "H6": Object {}, + "H7": Object {}, + "H8": Object {}, + "H9": Object {}, + }, + "tiprack5AdapterId": Object {}, + "tiprack5Id": Object { + "A1": Object {}, + "A10": Object {}, + "A11": Object {}, + "A12": Object {}, + "A2": Object {}, + "A3": Object {}, + "A4": Object {}, + "A5": Object {}, + "A6": Object {}, + "A7": Object {}, + "A8": Object {}, + "A9": Object {}, + "B1": Object {}, + "B10": Object {}, + "B11": Object {}, + "B12": Object {}, + "B2": Object {}, + "B3": Object {}, + "B4": Object {}, + "B5": Object {}, + "B6": Object {}, + "B7": Object {}, + "B8": Object {}, + "B9": Object {}, + "C1": Object {}, + "C10": Object {}, + "C11": Object {}, + "C12": Object {}, + "C2": Object {}, + "C3": Object {}, + "C4": Object {}, + "C5": Object {}, + "C6": Object {}, + "C7": Object {}, + "C8": Object {}, + "C9": Object {}, + "D1": Object {}, + "D10": Object {}, + "D11": Object {}, + "D12": Object {}, + "D2": Object {}, + "D3": Object {}, + "D4": Object {}, + "D5": Object {}, + "D6": Object {}, + "D7": Object {}, + "D8": Object {}, + "D9": Object {}, + "E1": Object {}, + "E10": Object {}, + "E11": Object {}, + "E12": Object {}, + "E2": Object {}, + "E3": Object {}, + "E4": Object {}, + "E5": Object {}, + "E6": Object {}, + "E7": Object {}, + "E8": Object {}, + "E9": Object {}, + "F1": Object {}, + "F10": Object {}, + "F11": Object {}, + "F12": Object {}, + "F2": Object {}, + "F3": Object {}, + "F4": Object {}, + "F5": Object {}, + "F6": Object {}, + "F7": Object {}, + "F8": Object {}, + "F9": Object {}, + "G1": Object {}, + "G10": Object {}, + "G11": Object {}, + "G12": Object {}, + "G2": Object {}, + "G3": Object {}, + "G4": Object {}, + "G5": Object {}, + "G6": Object {}, + "G7": Object {}, + "G8": Object {}, + "G9": Object {}, + "H1": Object {}, + "H10": Object {}, + "H11": Object {}, + "H12": Object {}, + "H2": Object {}, + "H3": Object {}, + "H4": Object {}, + "H5": Object {}, + "H6": Object {}, + "H7": Object {}, + "H8": Object {}, + "H9": Object {}, + }, "troughId": Object { "A1": Object {}, "A10": Object {}, @@ -11600,6 +15631,104 @@ Object { }, }, "pipettes": Object { + "p100096Id": Object { + "0": Object {}, + "1": Object {}, + "10": Object {}, + "11": Object {}, + "12": Object {}, + "13": Object {}, + "14": Object {}, + "15": Object {}, + "16": Object {}, + "17": Object {}, + "18": Object {}, + "19": Object {}, + "2": Object {}, + "20": Object {}, + "21": Object {}, + "22": Object {}, + "23": Object {}, + "24": Object {}, + "25": Object {}, + "26": Object {}, + "27": Object {}, + "28": Object {}, + "29": Object {}, + "3": Object {}, + "30": Object {}, + "31": Object {}, + "32": Object {}, + "33": Object {}, + "34": Object {}, + "35": Object {}, + "36": Object {}, + "37": Object {}, + "38": Object {}, + "39": Object {}, + "4": Object {}, + "40": Object {}, + "41": Object {}, + "42": Object {}, + "43": Object {}, + "44": Object {}, + "45": Object {}, + "46": Object {}, + "47": Object {}, + "48": Object {}, + "49": Object {}, + "5": Object {}, + "50": Object {}, + "51": Object {}, + "52": Object {}, + "53": Object {}, + "54": Object {}, + "55": Object {}, + "56": Object {}, + "57": Object {}, + "58": Object {}, + "59": Object {}, + "6": Object {}, + "60": Object {}, + "61": Object {}, + "62": Object {}, + "63": Object {}, + "64": Object {}, + "65": Object {}, + "66": Object {}, + "67": Object {}, + "68": Object {}, + "69": Object {}, + "7": Object {}, + "70": Object {}, + "71": Object {}, + "72": Object {}, + "73": Object {}, + "74": Object {}, + "75": Object {}, + "76": Object {}, + "77": Object {}, + "78": Object {}, + "79": Object {}, + "8": Object {}, + "80": Object {}, + "81": Object {}, + "82": Object {}, + "83": Object {}, + "84": Object {}, + "85": Object {}, + "86": Object {}, + "87": Object {}, + "88": Object {}, + "89": Object {}, + "9": Object {}, + "90": Object {}, + "91": Object {}, + "92": Object {}, + "93": Object {}, + "94": Object {}, + "95": Object {}, + }, "p10MultiId": Object { "0": Object {}, "1": Object {}, diff --git a/step-generation/src/__tests__/fixtureGeneration.test.ts b/step-generation/src/__tests__/fixtureGeneration.test.ts index 5f14449b473..158f0cfb6ed 100644 --- a/step-generation/src/__tests__/fixtureGeneration.test.ts +++ b/step-generation/src/__tests__/fixtureGeneration.test.ts @@ -18,6 +18,18 @@ describe('snapshot tests', () => { sourcePlateId: { slot: '4', }, + tiprack4AdapterId: { + slot: '7', + }, + tiprack5AdapterId: { + slot: '8', + }, + tiprack4Id: { + slot: 'tiprack4AdapterId', + }, + tiprack5Id: { + slot: 'tiprack5AdapterId', + }, fixedTrash: { slot: '12', }, From 574a1bb73fd557e274a9b0b2a0a8c8ea320a6ff6 Mon Sep 17 00:00:00 2001 From: ncdiehl11 Date: Tue, 14 Nov 2023 12:41:01 -0500 Subject: [PATCH 19/65] fix json formatting --- .../labware/fixtures/2/fixture_flex_96_tiprack_adapter.json | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/shared-data/labware/fixtures/2/fixture_flex_96_tiprack_adapter.json b/shared-data/labware/fixtures/2/fixture_flex_96_tiprack_adapter.json index 43f22feddc1..a97b50810f5 100644 --- a/shared-data/labware/fixtures/2/fixture_flex_96_tiprack_adapter.json +++ b/shared-data/labware/fixtures/2/fixture_flex_96_tiprack_adapter.json @@ -32,9 +32,7 @@ "namespace": "fixture", "version": 1, "schemaVersion": 2, - "allowedRoles": [ - "adapter" - ], + "allowedRoles": ["adapter"], "cornerOffsetFromSlot": { "x": -14.25, "y": -3.5, From fe12f92086fd0b9a0666e89f99f7a0f6a8e619c4 Mon Sep 17 00:00:00 2001 From: Alise Au <20424172+ahiuchingau@users.noreply.github.com> Date: Tue, 7 Nov 2023 14:04:42 -0500 Subject: [PATCH 20/65] we need to make sure positions are updated after fast home failure(#13934) --- api/src/opentrons/hardware_control/ot3api.py | 1 + 1 file changed, 1 insertion(+) diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py index 7a87c7aae5e..d106308055c 100644 --- a/api/src/opentrons/hardware_control/ot3api.py +++ b/api/src/opentrons/hardware_control/ot3api.py @@ -1460,6 +1460,7 @@ async def _home_axis(self, axis: Axis) -> None: self._log.warning( f"Stall on {axis} during fast home, encoder may have missed an overflow" ) + await self.refresh_positions() await self._backend.home([axis], self.gantry_load) else: From 6575b5825290d86fc54ac113fe5bebff2b5ce80a Mon Sep 17 00:00:00 2001 From: koji Date: Tue, 7 Nov 2023 15:43:02 -0500 Subject: [PATCH 21/65] feat(app): add robot is busy banner to device details (#13932) * feat(app): add robot is busy banner to device details --- .../localization/en/device_details.json | 3 +- .../DeviceDetailsDeckConfiguration.test.tsx | 47 +++++++++++++++++-- .../DeviceDetailsDeckConfiguration/index.tsx | 22 +++++++-- 3 files changed, 63 insertions(+), 9 deletions(-) diff --git a/app/src/assets/localization/en/device_details.json b/app/src/assets/localization/en/device_details.json index 7dfdc46a6a6..517b24894f0 100644 --- a/app/src/assets/localization/en/device_details.json +++ b/app/src/assets/localization/en/device_details.json @@ -33,7 +33,8 @@ "current_temp": "Current: {{temp}} °C", "current_version": "Current Version", "deck_cal_missing": "Pipette Offset calibration missing. Calibrate deck first.", - "deck_configuration_is_not_available": "Deck configuration is not available when run is in progress", + "deck_configuration_is_not_available_when_run_is_in_progress": "Deck configuration is not available when run is in progress", + "deck_configuration_is_not_available_when_robot_is_busy": "Deck configuration is not available when the robot is busy", "deck_configuration": "deck configuration", "deck_fixture_setup_instructions": "Deck fixture setup instructions", "deck_fixture_setup_modal_bottom_description_desktop": "For detailed instructions for different types of fixtures, scan the QR code or go to the link below.", diff --git a/app/src/organisms/DeviceDetailsDeckConfiguration/__tests__/DeviceDetailsDeckConfiguration.test.tsx b/app/src/organisms/DeviceDetailsDeckConfiguration/__tests__/DeviceDetailsDeckConfiguration.test.tsx index 162db0ab1fe..3965297c1a3 100644 --- a/app/src/organisms/DeviceDetailsDeckConfiguration/__tests__/DeviceDetailsDeckConfiguration.test.tsx +++ b/app/src/organisms/DeviceDetailsDeckConfiguration/__tests__/DeviceDetailsDeckConfiguration.test.tsx @@ -1,14 +1,24 @@ import * as React from 'react' -import { DeckConfigurator, renderWithProviders } from '@opentrons/components' +import { when, resetAllWhenMocks } from 'jest-when' + +import { + DeckConfigurator, + partialComponentPropsMatcher, + renderWithProviders, +} from '@opentrons/components' import { + useCurrentMaintenanceRun, useDeckConfigurationQuery, useUpdateDeckConfigurationMutation, } from '@opentrons/react-api-client' + import { i18n } from '../../../i18n' import { useRunStatuses } from '../../Devices/hooks' import { DeckFixtureSetupInstructionsModal } from '../DeckFixtureSetupInstructionsModal' import { DeviceDetailsDeckConfiguration } from '../' +import type { MaintenanceRun } from '@opentrons/api-client' + jest.mock('@opentrons/components/src/hardware-sim/DeckConfigurator/index') jest.mock('@opentrons/react-api-client') jest.mock('../DeckFixtureSetupInstructionsModal') @@ -22,6 +32,9 @@ const RUN_STATUSES = { isRunTerminal: false, isRunIdle: false, } +const mockCurrnetMaintenanceRun = { + data: { id: 'mockMaintenanceRunId' }, +} as MaintenanceRun const mockUseDeckConfigurationQuery = useDeckConfigurationQuery as jest.MockedFunction< typeof useDeckConfigurationQuery @@ -38,6 +51,9 @@ const mockDeckConfigurator = DeckConfigurator as jest.MockedFunction< const mockUseRunStatuses = useRunStatuses as jest.MockedFunction< typeof useRunStatuses > +const mockUseCurrentMaintenanceRun = useCurrentMaintenanceRun as jest.MockedFunction< + typeof useCurrentMaintenanceRun +> const render = ( props: React.ComponentProps @@ -61,8 +77,15 @@ describe('DeviceDetailsDeckConfiguration', () => { mockDeckFixtureSetupInstructionsModal.mockReturnValue(
    mock DeckFixtureSetupInstructionsModal
    ) - mockDeckConfigurator.mockReturnValue(
    mock DeckConfigurator
    ) + when(mockDeckConfigurator).mockReturnValue(
    mock DeckConfigurator
    ) mockUseRunStatuses.mockReturnValue(RUN_STATUSES) + mockUseCurrentMaintenanceRun.mockReturnValue({ + data: {}, + } as any) + }) + + afterEach(() => { + resetAllWhenMocks() }) it('should render text and button', () => { @@ -83,9 +106,23 @@ describe('DeviceDetailsDeckConfiguration', () => { it('should render banner and make deck configurator disabled when running', () => { RUN_STATUSES.isRunRunning = true mockUseRunStatuses.mockReturnValue(RUN_STATUSES) - const [{ getByText, queryAllByRole }] = render(props) + when(mockDeckConfigurator) + .calledWith(partialComponentPropsMatcher({ readOnly: true })) + .mockReturnValue(
    disabled mock DeckConfigurator
    ) + const [{ getByText }] = render(props) getByText('Deck configuration is not available when run is in progress') - // Note (kk:10/27/2023) detects Setup Instructions buttons - expect(queryAllByRole('button').length).toBe(1) + getByText('disabled mock DeckConfigurator') + }) + + it('should render banner and make deck configurator disabled when a maintenance run exists', () => { + mockUseCurrentMaintenanceRun.mockReturnValue({ + data: mockCurrnetMaintenanceRun, + } as any) + when(mockDeckConfigurator) + .calledWith(partialComponentPropsMatcher({ readOnly: true })) + .mockReturnValue(
    disabled mock DeckConfigurator
    ) + const [{ getByText }] = render(props) + getByText('Deck configuration is not available when the robot is busy') + getByText('disabled mock DeckConfigurator') }) }) diff --git a/app/src/organisms/DeviceDetailsDeckConfiguration/index.tsx b/app/src/organisms/DeviceDetailsDeckConfiguration/index.tsx index 4bc2c582557..69206f577db 100644 --- a/app/src/organisms/DeviceDetailsDeckConfiguration/index.tsx +++ b/app/src/organisms/DeviceDetailsDeckConfiguration/index.tsx @@ -17,6 +17,7 @@ import { TYPOGRAPHY, } from '@opentrons/components' import { + useCurrentMaintenanceRun, useDeckConfigurationQuery, useUpdateDeckConfigurationMutation, } from '@opentrons/react-api-client' @@ -33,6 +34,8 @@ import { useRunStatuses } from '../Devices/hooks' import type { Cutout } from '@opentrons/shared-data' +const RUN_REFETCH_INTERVAL = 5000 + interface DeviceDetailsDeckConfigurationProps { robotName: string } @@ -56,6 +59,10 @@ export function DeviceDetailsDeckConfiguration({ const deckConfig = useDeckConfigurationQuery().data ?? [] const { updateDeckConfiguration } = useUpdateDeckConfigurationMutation() const { isRunRunning } = useRunStatuses() + const { data: maintenanceRunData } = useCurrentMaintenanceRun({ + refetchInterval: RUN_REFETCH_INTERVAL, + }) + const isMaintenanceRunExisting = maintenanceRunData?.data?.id != null const handleClickAdd = (fixtureLocation: Cutout): void => { setTargetFixtureLocation(fixtureLocation) @@ -124,13 +131,22 @@ export function DeviceDetailsDeckConfiguration({ gridGap={SPACING.spacing16} paddingX={SPACING.spacing16} paddingBottom={SPACING.spacing32} - paddingTop={isRunRunning ? undefined : SPACING.spacing32} + paddingTop={ + isRunRunning || isMaintenanceRunExisting + ? undefined + : SPACING.spacing32 + } width="100%" flexDirection={DIRECTION_COLUMN} > {isRunRunning ? ( - {t('deck_configuration_is_not_available')} + {t('deck_configuration_is_not_available_when_run_is_in_progress')} + + ) : null} + {isMaintenanceRunExisting ? ( + + {t('deck_configuration_is_not_available_when_robot_is_busy')} ) : null} @@ -142,7 +158,7 @@ export function DeviceDetailsDeckConfiguration({ flexDirection={DIRECTION_COLUMN} > Date: Tue, 7 Nov 2023 15:46:02 -0500 Subject: [PATCH 22/65] feat(api): Partial tip configuration (#13936) Adds partial-tip configurations for all multichannel pipettes (8-channel and 96-channel). The idea here is that you can tell the system to use only a subset of a pipette's tips. This will really help with things like tip usage, and enable using high-throughput pipettes to interact with labware that would not support the geometry of multiple tips. --------- Co-authored-by: Laura Cox <31892318+Laura-Danielle@users.noreply.github.com> Co-authored-by: Carlos Co-authored-by: Laura Cox --- api/src/opentrons/hardware_control/api.py | 32 ++ .../opentrons/hardware_control/dev_types.py | 2 + .../instruments/ot2/pipette.py | 84 ++--- .../instruments/ot2/pipette_handler.py | 23 +- .../instruments/ot3/pipette.py | 109 +++---- .../instruments/ot3/pipette_handler.py | 23 +- .../hardware_control/nozzle_manager.py | 298 ++++++++++++++++++ api/src/opentrons/hardware_control/ot3api.py | 44 ++- .../protocols/liquid_handler.py | 24 ++ api/src/opentrons/protocol_api/__init__.py | 6 + .../opentrons/protocol_api/_nozzle_layout.py | 27 ++ .../protocol_api/core/engine/instrument.py | 45 ++- .../opentrons/protocol_api/core/instrument.py | 16 + .../core/legacy/legacy_instrument_core.py | 10 + .../legacy_instrument_core.py | 10 + .../protocol_api/instrument_context.py | 55 ++++ api/src/opentrons/protocol_engine/__init__.py | 10 + .../protocol_engine/clients/sync_client.py | 15 + .../protocol_engine/commands/__init__.py | 14 + .../commands/command_unions.py | 19 +- .../commands/configure_nozzle_layout.py | 111 +++++++ .../commands/configuring_common.py | 15 + .../protocol_engine/execution/equipment.py | 50 +++ .../protocol_engine/execution/tip_handler.py | 112 ++++++- .../resources/pipette_data_provider.py | 56 +++- .../protocol_engine/state/pipettes.py | 28 +- api/src/opentrons/protocol_engine/types.py | 64 ++++ api/src/opentrons/types.py | 1 + .../instruments/test_nozzle_manager.py | 199 ++++++++++++ .../hardware_control/test_ot3_api.py | 14 +- .../hardware_control/test_pipette.py | 2 +- .../hardware_control/test_pipette_handler.py | 4 +- .../core/engine/test_instrument_core.py | 52 ++- .../protocol_api/test_instrument_context.py | 24 ++ .../protocol_engine/commands/conftest.py | 7 + .../commands/test_configure_nozzle_layout.py | 212 +++++++++++++ .../execution/test_tip_handler.py | 96 +++++- .../resources/test_pipette_data_provider.py | 15 + .../state/test_pipette_store.py | 1 + .../state/test_pipette_view.py | 3 + shared-data/command/schemas/8.json | 165 ++++++++++ shared-data/errors/definitions/1/errors.json | 4 + .../2/general/eight_channel/p10/1_0.json | 13 +- .../2/general/eight_channel/p10/1_3.json | 13 +- .../2/general/eight_channel/p10/1_4.json | 13 +- .../2/general/eight_channel/p10/1_5.json | 13 +- .../2/general/eight_channel/p10/1_6.json | 13 +- .../2/general/eight_channel/p1000/1_0.json | 15 +- .../2/general/eight_channel/p1000/3_0.json | 13 +- .../2/general/eight_channel/p1000/3_3.json | 13 +- .../2/general/eight_channel/p1000/3_4.json | 13 +- .../2/general/eight_channel/p1000/3_5.json | 13 +- .../2/general/eight_channel/p20/2_0.json | 13 +- .../2/general/eight_channel/p20/2_1.json | 13 +- .../2/general/eight_channel/p300/1_0.json | 13 +- .../2/general/eight_channel/p300/1_3.json | 13 +- .../2/general/eight_channel/p300/1_4.json | 13 +- .../2/general/eight_channel/p300/1_5.json | 13 +- .../2/general/eight_channel/p300/2_0.json | 13 +- .../2/general/eight_channel/p300/2_1.json | 13 +- .../2/general/eight_channel/p50/1_0.json | 13 +- .../2/general/eight_channel/p50/1_3.json | 13 +- .../2/general/eight_channel/p50/1_4.json | 13 +- .../2/general/eight_channel/p50/1_5.json | 13 +- .../2/general/eight_channel/p50/3_0.json | 13 +- .../2/general/eight_channel/p50/3_3.json | 13 +- .../2/general/eight_channel/p50/3_4.json | 13 +- .../2/general/eight_channel/p50/3_5.json | 13 +- .../general/ninety_six_channel/p1000/1_0.json | 18 +- .../general/ninety_six_channel/p1000/3_0.json | 18 +- .../general/ninety_six_channel/p1000/3_3.json | 18 +- .../general/ninety_six_channel/p1000/3_4.json | 18 +- .../general/ninety_six_channel/p1000/3_5.json | 18 +- .../2/general/single_channel/p10/1_0.json | 6 +- .../2/general/single_channel/p10/1_3.json | 6 +- .../2/general/single_channel/p10/1_4.json | 6 +- .../2/general/single_channel/p10/1_5.json | 6 +- .../2/general/single_channel/p1000/1_0.json | 6 +- .../2/general/single_channel/p1000/1_3.json | 6 +- .../2/general/single_channel/p1000/1_4.json | 6 +- .../2/general/single_channel/p1000/1_5.json | 6 +- .../2/general/single_channel/p1000/2_0.json | 6 +- .../2/general/single_channel/p1000/2_1.json | 6 +- .../2/general/single_channel/p1000/2_2.json | 6 +- .../2/general/single_channel/p1000/3_0.json | 6 +- .../2/general/single_channel/p1000/3_3.json | 6 +- .../2/general/single_channel/p1000/3_4.json | 6 +- .../2/general/single_channel/p1000/3_5.json | 6 +- .../2/general/single_channel/p20/2_0.json | 6 +- .../2/general/single_channel/p20/2_1.json | 6 +- .../2/general/single_channel/p20/2_2.json | 6 +- .../2/general/single_channel/p300/1_0.json | 6 +- .../2/general/single_channel/p300/1_3.json | 6 +- .../2/general/single_channel/p300/1_4.json | 6 +- .../2/general/single_channel/p300/1_5.json | 6 +- .../2/general/single_channel/p300/2_0.json | 6 +- .../2/general/single_channel/p300/2_1.json | 6 +- .../2/general/single_channel/p50/1_0.json | 6 +- .../2/general/single_channel/p50/1_3.json | 6 +- .../2/general/single_channel/p50/1_4.json | 6 +- .../2/general/single_channel/p50/1_5.json | 8 +- .../2/general/single_channel/p50/3_0.json | 6 +- .../2/general/single_channel/p50/3_3.json | 6 +- .../2/general/single_channel/p50/3_4.json | 6 +- .../2/general/single_channel/p50/3_5.json | 6 +- .../2/geometry/eight_channel/p10/1_0.json | 14 +- .../2/geometry/eight_channel/p10/1_3.json | 14 +- .../2/geometry/eight_channel/p10/1_4.json | 14 +- .../2/geometry/eight_channel/p10/1_5.json | 14 +- .../2/geometry/eight_channel/p10/1_6.json | 14 +- .../2/geometry/eight_channel/p1000/1_0.json | 14 +- .../2/geometry/eight_channel/p1000/3_0.json | 14 +- .../2/geometry/eight_channel/p1000/3_3.json | 14 +- .../2/geometry/eight_channel/p1000/3_4.json | 14 +- .../2/geometry/eight_channel/p1000/3_5.json | 14 +- .../2/geometry/eight_channel/p20/2_0.json | 14 +- .../2/geometry/eight_channel/p20/2_1.json | 14 +- .../2/geometry/eight_channel/p300/1_0.json | 14 +- .../2/geometry/eight_channel/p300/1_3.json | 14 +- .../2/geometry/eight_channel/p300/1_4.json | 14 +- .../2/geometry/eight_channel/p300/1_5.json | 14 +- .../2/geometry/eight_channel/p300/2_0.json | 14 +- .../2/geometry/eight_channel/p300/2_1.json | 14 +- .../2/geometry/eight_channel/p50/1_0.json | 14 +- .../2/geometry/eight_channel/p50/1_3.json | 14 +- .../2/geometry/eight_channel/p50/1_4.json | 14 +- .../2/geometry/eight_channel/p50/1_5.json | 14 +- .../2/geometry/eight_channel/p50/3_0.json | 14 +- .../2/geometry/eight_channel/p50/3_3.json | 14 +- .../2/geometry/eight_channel/p50/3_4.json | 14 +- .../2/geometry/eight_channel/p50/3_5.json | 14 +- .../ninety_six_channel/p1000/1_0.json | 190 +++++------ .../ninety_six_channel/p1000/3_0.json | 190 +++++------ .../ninety_six_channel/p1000/3_3.json | 190 +++++------ .../ninety_six_channel/p1000/3_4.json | 190 +++++------ .../ninety_six_channel/p1000/3_5.json | 190 +++++------ .../opentrons_shared_data/errors/codes.py | 1 + .../pipette/model_constants.py | 4 +- .../pipette/mutable_configurations.py | 14 +- .../pipette/pipette_definition.py | 8 +- .../pipette/scripts/build_json_script.py | 10 +- .../scripts/update_configuration_files.py | 9 +- 142 files changed, 3166 insertions(+), 919 deletions(-) create mode 100644 api/src/opentrons/hardware_control/nozzle_manager.py create mode 100644 api/src/opentrons/protocol_api/_nozzle_layout.py create mode 100644 api/src/opentrons/protocol_engine/commands/configure_nozzle_layout.py create mode 100644 api/tests/opentrons/hardware_control/instruments/test_nozzle_manager.py create mode 100644 api/tests/opentrons/protocol_engine/commands/test_configure_nozzle_layout.py diff --git a/api/src/opentrons/hardware_control/api.py b/api/src/opentrons/hardware_control/api.py index 3aa91eaae5e..75d0bd65226 100644 --- a/api/src/opentrons/hardware_control/api.py +++ b/api/src/opentrons/hardware_control/api.py @@ -1084,6 +1084,38 @@ async def blow_out( blowout_spec.instr.set_current_volume(0) blowout_spec.instr.ready_to_aspirate = False + async def update_nozzle_configuration_for_mount( + self, + mount: top_types.Mount, + back_left_nozzle: Optional[str], + front_right_nozzle: Optional[str], + starting_nozzle: Optional[str] = None, + ) -> None: + """ + Update a nozzle configuration for a given pipette. + + The expectation of this function is that the back_left_nozzle/front_right_nozzle are the two corners + of a rectangle of nozzles. A call to this function that does not follow that schema will result + in an error. + + :param mount: A robot mount that the instrument is on. + :param back_left_nozzle: A string representing a nozzle name of the form such as 'A1'. + :param front_right_nozzle: A string representing a nozzle name of the form such as 'A1'. + :param starting_nozzle: A string representing the starting nozzle which will be used as the critical point + of the pipette nozzle configuration. By default, the back left nozzle will be the starting nozzle if + none is provided. + :return: None. + + If none of the nozzle parameters are provided, the nozzle configuration will be reset to default. + """ + if not back_left_nozzle and not front_right_nozzle and not starting_nozzle: + await self.reset_nozzle_configuration(mount) + else: + assert back_left_nozzle and front_right_nozzle + await self.update_nozzle_configuration( + mount, back_left_nozzle, front_right_nozzle, starting_nozzle + ) + async def pick_up_tip( self, mount: top_types.Mount, diff --git a/api/src/opentrons/hardware_control/dev_types.py b/api/src/opentrons/hardware_control/dev_types.py index 915761245e8..0c4e5ae4ef7 100644 --- a/api/src/opentrons/hardware_control/dev_types.py +++ b/api/src/opentrons/hardware_control/dev_types.py @@ -28,6 +28,7 @@ from opentrons.drivers.types import MoveSplit from opentrons.types import Mount from opentrons.hardware_control.types import GripperJawState +from opentrons.hardware_control.nozzle_manager import NozzleMap class InstrumentSpec(TypedDict): @@ -94,6 +95,7 @@ class PipetteDict(InstrumentDict): has_tip: bool default_push_out_volume: Optional[float] supported_tips: Dict[PipetteTipType, SupportedTipsDefinition] + current_nozzle_map: Optional[NozzleMap] class PipetteStateDict(TypedDict): diff --git a/api/src/opentrons/hardware_control/instruments/ot2/pipette.py b/api/src/opentrons/hardware_control/instruments/ot2/pipette.py index 5185fce9f3e..f5b9aa3fd29 100644 --- a/api/src/opentrons/hardware_control/instruments/ot2/pipette.py +++ b/api/src/opentrons/hardware_control/instruments/ot2/pipette.py @@ -5,7 +5,7 @@ """ Classes and functions for pipette state tracking """ import logging -from typing import Any, Dict, Optional, Set, Tuple, Union, cast, List +from typing import Any, Dict, Optional, Set, Tuple, Union, cast from opentrons_shared_data.pipette.pipette_definition import ( PipetteConfigurations, @@ -46,6 +46,7 @@ BoardRevision, ) from opentrons.hardware_control.errors import InvalidCriticalPoint +from opentrons.hardware_control import nozzle_manager from opentrons_shared_data.pipette.dev_types import ( @@ -54,7 +55,6 @@ PipetteModel, ) from opentrons.hardware_control.dev_types import InstrumentHardwareConfigs -from typing_extensions import Final RECONFIG_KEYS = {"quirks"} @@ -62,8 +62,6 @@ mod_log = logging.getLogger(__name__) -INTERNOZZLE_SPACING_MM: Final[float] = 9 - # TODO (lc 11-1-2022) Once we unify calibration loading # for the hardware controller, we will be able to # unify the pipette classes again. @@ -92,6 +90,7 @@ def __init__( self._pipette_version = self._config.version self._max_channels = self._config.channels self._backlash_distance = config.backlash_distance + self._pick_up_configurations = config.pick_up_tip_configurations self._liquid_class_name = pip_types.LiquidClasses.default self._liquid_class = self._config.liquid_properties[self._liquid_class_name] @@ -109,6 +108,12 @@ def __init__( pipette_version=config.version, ) self._nozzle_offset = self._config.nozzle_offset + self._nozzle_manager = ( + nozzle_manager.NozzleConfigurationManager.build_from_nozzlemap( + self._config.nozzle_map, + self._config.partial_tip_configurations.per_tip_pickup_current, + ) + ) self._current_volume = 0.0 self._working_volume = float(self._liquid_class.max_volume) self._current_tip_length = 0.0 @@ -197,8 +202,12 @@ def liquid_class_name(self) -> pip_types.LiquidClasses: return self._liquid_class_name @property - def nozzle_offset(self) -> List[float]: - return self._nozzle_offset + def nozzle_offset(self) -> Point: + return self._nozzle_manager.starting_nozzle_offset + + @property + def nozzle_manager(self) -> nozzle_manager.NozzleConfigurationManager: + return self._nozzle_manager @property def pipette_offset(self) -> PipetteOffsetByPipetteMount: @@ -282,6 +291,12 @@ def reset_state(self) -> None: ) self._tip_overlap_lookup = self.liquid_class.tip_overlap_dictionary + self._nozzle_manager = ( + nozzle_manager.NozzleConfigurationManager.build_from_nozzlemap( + self._config.nozzle_map, + self._config.partial_tip_configurations.per_tip_pickup_current, + ) + ) def reset_pipette_offset(self, mount: Mount, to_default: bool) -> None: """Reset the pipette offset to system defaults.""" @@ -323,8 +338,6 @@ def critical_point(self, cp_override: Optional[CriticalPoint] = None) -> Point: we have a tip, or :py:attr:`CriticalPoint.XY_CENTER` - the specified critical point will be used. """ - instr = Point(*self._pipette_offset.offset) - offsets = self.nozzle_offset if cp_override in [ CriticalPoint.GRIPPER_JAW_CENTER, @@ -333,42 +346,22 @@ def critical_point(self, cp_override: Optional[CriticalPoint] = None) -> Point: ]: raise InvalidCriticalPoint(cp_override.name, "pipette") - if not self.has_tip or cp_override == CriticalPoint.NOZZLE: - cp_type = CriticalPoint.NOZZLE - tip_length = 0.0 - else: - cp_type = CriticalPoint.TIP - tip_length = self.current_tip_length - if cp_override == CriticalPoint.XY_CENTER: - mod_offset_xy = [ - offsets[0], - offsets[1] - (INTERNOZZLE_SPACING_MM * (self._config.channels - 1) / 2), - offsets[2], - ] - cp_type = CriticalPoint.XY_CENTER - elif cp_override == CriticalPoint.FRONT_NOZZLE: - mod_offset_xy = [ - 0, - (offsets[1] - INTERNOZZLE_SPACING_MM * (self._config.channels - 1)), - offsets[2], - ] - cp_type = CriticalPoint.FRONT_NOZZLE - else: - mod_offset_xy = list(offsets) - mod_and_tip = Point( - mod_offset_xy[0], mod_offset_xy[1], mod_offset_xy[2] - tip_length + instr = Point(*self._pipette_offset.offset) + cp_with_tip_length = self._nozzle_manager.critical_point_with_tip_length( + cp_override, + self.current_tip_length if cp_override != CriticalPoint.NOZZLE else 0.0, ) - cp = mod_and_tip + instr + cp = cp_with_tip_length + instr if self._log.isEnabledFor(logging.DEBUG): info_str = "cp: {}{}: {} (from: ".format( - cp_type, " (from override)" if cp_override else "", cp + cp_override, " (from override)" if cp_override else "", cp ) info_str += "model offset: {} + instrument offset: {}".format( - mod_offset_xy, instr + cp_with_tip_length, instr ) - info_str += " - tip_length: {}".format(tip_length) + info_str += " - tip_length: {}".format(self.current_tip_length) info_str += ")" self._log.debug(info_str) @@ -485,6 +478,25 @@ def ok_to_push_out(self, push_out_dist_mm: float) -> bool: self.plunger_positions.bottom - self.plunger_positions.blow_out ) + def update_nozzle_configuration( + self, + back_left_nozzle: str, + front_right_nozzle: str, + starting_nozzle: Optional[str] = None, + ) -> None: + """ + Update nozzle configuration manager. + """ + self._nozzle_manager.update_nozzle_configuration( + back_left_nozzle, front_right_nozzle, starting_nozzle + ) + + def reset_nozzle_configuration(self) -> None: + """ + Reset nozzle configuration manager. + """ + self._nozzle_manager.reset_to_default_configuration() + def add_tip(self, tip_length: float) -> None: """ Add a tip to the pipette for position tracking and validation diff --git a/api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py b/api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py index dba4e253da6..43d4e1518b4 100644 --- a/api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py +++ b/api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py @@ -226,6 +226,7 @@ def get_attached_instrument(self, mount: MountType) -> PipetteDict: # this dict newly every time? Any why only a few items are being updated? for key in configs: result[key] = instr_dict[key] + result["current_nozzle_map"] = instr.nozzle_manager.current_configuration result["min_volume"] = instr.liquid_class.min_volume result["max_volume"] = instr.liquid_class.max_volume result["channels"] = instr.channels @@ -392,6 +393,24 @@ async def reset(self) -> None: k: None for k in self._attached_instruments.keys() } + async def update_nozzle_configuration( + self, + mount: MountType, + back_left_nozzle: str, + front_right_nozzle: str, + starting_nozzle: Optional[str] = None, + ) -> None: + instr = self._attached_instruments[mount] + if instr: + instr.update_nozzle_configuration( + back_left_nozzle, front_right_nozzle, starting_nozzle + ) + + async def reset_nozzle_configuration(self, mount: MountType) -> None: + instr = self._attached_instruments[mount] + if instr: + instr.reset_nozzle_configuration() + async def add_tip(self, mount: MountType, tip_length: float) -> None: instr = self._attached_instruments[mount] attached = self.attached_instruments @@ -789,7 +808,7 @@ def add_tip_to_instr() -> None: current={ Axis.by_mount( mount - ): instrument.pick_up_configurations.current + ): instrument.nozzle_manager.get_tip_configuration_current() }, speed=pick_up_speed, relative_down=top_types.Point(0, 0, press_dist), @@ -818,7 +837,7 @@ def add_tip_to_instr() -> None: current={ Axis.by_mount( mount - ): instrument.pick_up_configurations.current + ): instrument.nozzle_manager.get_tip_configuration_current() }, speed=pick_up_speed, relative_down=top_types.Point(0, 0, press_dist), diff --git a/api/src/opentrons/hardware_control/instruments/ot3/pipette.py b/api/src/opentrons/hardware_control/instruments/ot3/pipette.py index 272a1dd97ec..89f99416726 100644 --- a/api/src/opentrons/hardware_control/instruments/ot3/pipette.py +++ b/api/src/opentrons/hardware_control/instruments/ot3/pipette.py @@ -1,8 +1,7 @@ import logging import functools -from typing import Any, List, Dict, Optional, Set, Tuple, Union, cast -from typing_extensions import Final +from typing import Any, Dict, Optional, Set, Tuple, Union, cast from opentrons.types import Point @@ -46,12 +45,10 @@ ) from opentrons.hardware_control.types import CriticalPoint, OT3Mount from opentrons.hardware_control.errors import InvalidCriticalPoint +from opentrons.hardware_control import nozzle_manager mod_log = logging.getLogger(__name__) -# TODO (lc 12-2-2022) We should move this to the geometry configurations -INTERNOZZLE_SPACING_MM: Final[float] = 9 - class Pipette(AbstractInstrument[PipetteConfigurations]): """A class to gather and track pipette state and configs. @@ -97,6 +94,12 @@ def __init__( pipette_version=config.version, ) self._nozzle_offset = self._config.nozzle_offset + self._nozzle_manager = ( + nozzle_manager.NozzleConfigurationManager.build_from_nozzlemap( + self._config.nozzle_map, + self._config.partial_tip_configurations.per_tip_pickup_current, + ) + ) self._current_volume = 0.0 self._working_volume = float(self._liquid_class.max_volume) self._current_tip_length = 0.0 @@ -162,8 +165,12 @@ def tip_overlap(self) -> Dict[str, float]: return self._tip_overlap_lookup @property - def nozzle_offset(self) -> List[float]: - return self._nozzle_offset + def nozzle_offset(self) -> Point: + return self._nozzle_manager.starting_nozzle_offset + + @property + def nozzle_manager(self) -> nozzle_manager.NozzleConfigurationManager: + return self._nozzle_manager @property def pipette_offset(self) -> PipetteOffsetByPipetteMount: @@ -250,6 +257,12 @@ def reset_state(self) -> None: self._flow_acceleration = self._active_tip_settings.default_flow_acceleration self._tip_overlap_lookup = self.liquid_class.tip_overlap_dictionary + self._nozzle_manager = ( + nozzle_manager.NozzleConfigurationManager.build_from_nozzlemap( + self._config.nozzle_map, + self._config.partial_tip_configurations.per_tip_pickup_current, + ) + ) def reset_pipette_offset(self, mount: OT3Mount, to_default: bool) -> None: """Reset the pipette offset to system defaults.""" @@ -293,73 +306,28 @@ def critical_point(self, cp_override: Optional[CriticalPoint] = None) -> Point: we have a tip, or :py:attr:`CriticalPoint.XY_CENTER` - the specified critical point will be used. """ - instr = Point(*self._pipette_offset.offset) - offsets = self.nozzle_offset - # Temporary solution for the 96 channel critical point locations. - # We should instead record every channel "critical point" in - # the pipette configurations. - X_DIRECTION_VALUE = 1 - Y_DIVISION = 2 - if self.channels == 96: - NUM_ROWS = 12 - NUM_COLS = 8 - X_DIRECTION_VALUE = -1 - elif self.channels == 8: - NUM_ROWS = 1 - NUM_COLS = 8 - else: - NUM_ROWS = 1 - NUM_COLS = 1 - - x_offset_to_right_nozzle = ( - X_DIRECTION_VALUE * INTERNOZZLE_SPACING_MM * (NUM_ROWS - 1) - ) - y_offset_to_front_nozzle = INTERNOZZLE_SPACING_MM * (NUM_COLS - 1) - if cp_override in [ CriticalPoint.GRIPPER_JAW_CENTER, CriticalPoint.GRIPPER_FRONT_CALIBRATION_PIN, CriticalPoint.GRIPPER_REAR_CALIBRATION_PIN, ]: raise InvalidCriticalPoint(cp_override.name, "pipette") - if not self.has_tip_length or cp_override == CriticalPoint.NOZZLE: - cp_type = CriticalPoint.NOZZLE - tip_length = 0.0 - else: - cp_type = CriticalPoint.TIP - tip_length = self.current_tip_length - if cp_override == CriticalPoint.XY_CENTER: - mod_offset_xy = [ - offsets[0] - x_offset_to_right_nozzle / 2, - offsets[1] - y_offset_to_front_nozzle / Y_DIVISION, - offsets[2], - ] - cp_type = CriticalPoint.XY_CENTER - elif cp_override == CriticalPoint.FRONT_NOZZLE: - # front left nozzle of the 96 channel and - # front nozzle of the 8 channel - mod_offset_xy = [ - offsets[0], - offsets[1] - y_offset_to_front_nozzle, - offsets[2], - ] - cp_type = CriticalPoint.FRONT_NOZZLE - else: - mod_offset_xy = list(offsets) - mod_and_tip = Point( - mod_offset_xy[0], mod_offset_xy[1], mod_offset_xy[2] - tip_length - ) - cp = mod_and_tip + instr + instr = Point(*self._pipette_offset.offset) + cp_with_tip_length = self._nozzle_manager.critical_point_with_tip_length( + cp_override, + self.current_tip_length if cp_override != CriticalPoint.NOZZLE else 0.0, + ) + cp = cp_with_tip_length + instr if self._log.isEnabledFor(logging.DEBUG): info_str = "cp: {}{}: {} (from: ".format( - cp_type, " (from override)" if cp_override else "", cp + cp_override, " (from override)" if cp_override else "", cp ) info_str += "model offset: {} + instrument offset: {}".format( - mod_offset_xy, instr + cp_with_tip_length, instr ) - info_str += " - tip_length: {}".format(tip_length) + info_str += " - tip_length: {}".format(self.current_tip_length) info_str += ")" self._log.debug(info_str) @@ -483,6 +451,25 @@ def ok_to_push_out(self, push_out_dist_mm: float) -> bool: self.plunger_positions.blow_out - self.plunger_positions.bottom ) + def update_nozzle_configuration( + self, + back_left_nozzle: str, + front_right_nozzle: str, + starting_nozzle: Optional[str] = None, + ) -> None: + """ + Update nozzle configuration manager. + """ + self._nozzle_manager.update_nozzle_configuration( + back_left_nozzle, front_right_nozzle, starting_nozzle + ) + + def reset_nozzle_configuration(self) -> None: + """ + Reset nozzle configuration manager. + """ + self._nozzle_manager.reset_to_default_configuration() + def add_tip(self, tip_length: float) -> None: """ Add a tip to the pipette for position tracking and validation diff --git a/api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py b/api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py index ff8fbc64122..8b00f6f7aeb 100644 --- a/api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py +++ b/api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py @@ -241,6 +241,7 @@ def get_attached_instrument(self, mount: OT3Mount) -> PipetteDict: for key in configs: result[key] = instr_dict[key] + result["current_nozzle_map"] = instr.nozzle_manager.current_configuration result["min_volume"] = instr.liquid_class.min_volume result["max_volume"] = instr.liquid_class.max_volume result["channels"] = instr._max_channels @@ -398,6 +399,24 @@ async def reset(self) -> None: k: None for k in self._attached_instruments.keys() } + async def update_nozzle_configuration( + self, + mount: MountType, + back_left_nozzle: str, + front_right_nozzle: str, + starting_nozzle: Optional[str] = None, + ) -> None: + instr = self._attached_instruments[OT3Mount.from_mount(mount)] + if instr: + instr.update_nozzle_configuration( + back_left_nozzle, front_right_nozzle, starting_nozzle + ) + + async def reset_nozzle_configuration(self, mount: OT3Mount) -> None: + instr = self._attached_instruments[OT3Mount.from_mount(mount)] + if instr: + instr.reset_nozzle_configuration() + async def add_tip(self, mount: OT3Mount, tip_length: float) -> None: instr = self._attached_instruments[mount] attached = self.attached_instruments @@ -724,7 +743,7 @@ def plan_ht_pick_up_tip(self) -> TipActionSpec: prep_move_speed=instrument.pick_up_configurations.prep_move_speed, clamp_move_speed=instrument.pick_up_configurations.speed, plunger_current=instrument.plunger_motor_current.run, - tip_motor_current=instrument.pick_up_configurations.current, + tip_motor_current=instrument.nozzle_manager.get_tip_configuration_current(), ) return TipActionSpec( @@ -775,7 +794,7 @@ def build_presses() -> List[TipActionMoveSpec]: currents={ Axis.by_mount( mount - ): instrument.pick_up_configurations.current + ): instrument.nozzle_manager.get_tip_configuration_current() }, ) ) diff --git a/api/src/opentrons/hardware_control/nozzle_manager.py b/api/src/opentrons/hardware_control/nozzle_manager.py new file mode 100644 index 00000000000..781d2c55bc8 --- /dev/null +++ b/api/src/opentrons/hardware_control/nozzle_manager.py @@ -0,0 +1,298 @@ +from typing import Dict, List, Optional, Any, Sequence +from typing_extensions import Final +from dataclasses import dataclass +from collections import OrderedDict +from enum import Enum + +from opentrons.hardware_control.types import CriticalPoint +from opentrons.types import Point +from opentrons_shared_data.errors import ( + ErrorCodes, + GeneralError, +) + +INTERNOZZLE_SPACING = 9 + + +class NozzleConfigurationType(Enum): + """ + Nozzle Configuration Type. + + Represents the current nozzle + configuration stored in NozzleMap + """ + + COLUMN = "COLUMN" + ROW = "ROW" + QUADRANT = "QUADRANT" + SINGLE = "SINGLE" + FULL = "FULL" + + @classmethod + def determine_nozzle_configuration( + cls, + nozzle_difference: Point, + physical_nozzlemap_length: int, + current_nozzlemap_length: int, + ) -> "NozzleConfigurationType": + """ + Determine the nozzle configuration based on the starting and + ending nozzle. + + :param nozzle_difference: the difference between the back + left and front right nozzle + :param physical_nozzlemap_length: integer representing the + length of the default physical configuration of the pipette. + :param current_nozzlemap_length: integer representing the + length of the current physical configuration of the pipette. + :return : nozzle configuration type + """ + if physical_nozzlemap_length == current_nozzlemap_length: + return NozzleConfigurationType.FULL + + if nozzle_difference == Point(0, 0, 0): + return NozzleConfigurationType.SINGLE + elif nozzle_difference[0] == 0: + return NozzleConfigurationType.COLUMN + elif nozzle_difference[1] == 0: + return NozzleConfigurationType.ROW + else: + return NozzleConfigurationType.QUADRANT + + +@dataclass +class NozzleMap: + """ + Nozzle Map. + + A data store class that can build + and store nozzle configurations + based on the physical default + nozzle map of the pipette and + the requested starting/ending tips. + """ + + back_left: str + front_right: str + starting_nozzle: str + map_store: Dict[str, Point] + configuration: NozzleConfigurationType + + def __str__(self) -> str: + return f"back_left_nozzle: {self.back_left} front_right_nozzle: {self.front_right} configuration: {self.configuration}" + + @property + def starting_nozzle_offset(self) -> Point: + return self.map_store[self.starting_nozzle] + + @property + def xy_center_offset(self) -> Point: + difference = self.map_store[self.front_right] - self.map_store[self.back_left] + return self.map_store[self.back_left] + Point( + difference[0] / 2, difference[1] / 2, 0 + ) + + @property + def front_nozzle_offset(self) -> Point: + # front left-most nozzle of the 96 channel in a given configuration + # and front nozzle of the 8 channel + if self.starting_nozzle == self.front_right: + return self.map_store[self.front_right] + map_store_list = list(self.map_store.values()) + starting_idx = map_store_list.index(self.map_store[self.back_left]) + difference = self.map_store[self.back_left] - self.map_store[self.front_right] + y_rows_length = int(difference[1] // INTERNOZZLE_SPACING) + return map_store_list[starting_idx + y_rows_length] + + @property + def tip_count(self) -> int: + return len(self.map_store) + + @classmethod + def build( + cls, + physical_nozzle_map: Dict[str, Point], + starting_nozzle: str, + back_left_nozzle: str, + front_right_nozzle: str, + origin_nozzle: Optional[str] = None, + ) -> "NozzleMap": + difference = ( + physical_nozzle_map[front_right_nozzle] + - physical_nozzle_map[back_left_nozzle] + ) + x_columns_length = int(abs(difference[0] // INTERNOZZLE_SPACING)) + 1 + y_rows_length = int(abs(difference[1] // INTERNOZZLE_SPACING)) + 1 + + map_store_list = list(physical_nozzle_map.items()) + + if origin_nozzle: + origin_difference = ( + physical_nozzle_map[back_left_nozzle] + - physical_nozzle_map[origin_nozzle] + ) + starting_col = int(abs(origin_difference[0] // INTERNOZZLE_SPACING)) + else: + starting_col = 0 + map_store = OrderedDict( + { + k: v + for i in range(x_columns_length) + for k, v in map_store_list[ + (i + starting_col) * 8 : y_rows_length * ((i + starting_col) + 1) + ] + } + ) + return cls( + back_left=back_left_nozzle, + front_right=front_right_nozzle, + starting_nozzle=starting_nozzle, + map_store=map_store, + configuration=NozzleConfigurationType.determine_nozzle_configuration( + difference, len(physical_nozzle_map), len(map_store) + ), + ) + + @staticmethod + def validate_nozzle_configuration( + back_left_nozzle: str, + front_right_nozzle: str, + default_configuration: "NozzleMap", + current_configuration: Optional["NozzleMap"] = None, + ) -> None: + """ + Validate nozzle configuration. + """ + if back_left_nozzle > front_right_nozzle: + raise IncompatibleNozzleConfiguration( + message=f"Back left nozzle {back_left_nozzle} provided is not to the back or left of {front_right_nozzle}.", + detail={ + "current_nozzle_configuration": current_configuration, + "requested_back_left_nozzle": back_left_nozzle, + "requested_front_right_nozzle": front_right_nozzle, + }, + ) + if not default_configuration.map_store.get(back_left_nozzle): + raise IncompatibleNozzleConfiguration( + message=f"Starting nozzle {back_left_nozzle} does not exist in the nozzle map.", + detail={ + "current_nozzle_configuration": current_configuration, + "requested_back_left_nozzle": back_left_nozzle, + "requested_front_right_nozzle": front_right_nozzle, + }, + ) + + if not default_configuration.map_store.get(front_right_nozzle): + raise IncompatibleNozzleConfiguration( + message=f"Ending nozzle {front_right_nozzle} does not exist in the nozzle map.", + detail={ + "current_nozzle_configuration": current_configuration, + "requested_back_left_nozzle": back_left_nozzle, + "requested_front_right_nozzle": front_right_nozzle, + }, + ) + + +class IncompatibleNozzleConfiguration(GeneralError): + """Error raised if nozzle configuration is incompatible with the currently loaded pipette.""" + + def __init__( + self, + message: Optional[str] = None, + detail: Optional[Dict[str, Any]] = None, + wrapping: Optional[Sequence[GeneralError]] = None, + ) -> None: + """Build a IncompatibleNozzleConfiguration error.""" + super().__init__( + code=ErrorCodes.API_MISCONFIGURATION, + message=message, + detail=detail, + wrapping=wrapping, + ) + + +class NozzleConfigurationManager: + def __init__( + self, + nozzle_map: NozzleMap, + pick_up_current_map: Dict[int, float], + ) -> None: + self._physical_nozzle_map = nozzle_map + self._current_nozzle_configuration = nozzle_map + self._pick_up_current_map: Final[Dict[int, float]] = pick_up_current_map + + @classmethod + def build_from_nozzlemap( + cls, + nozzle_map: Dict[str, List[float]], + pick_up_current_map: Dict[int, float], + ) -> "NozzleConfigurationManager": + + sorted_nozzlemap = list(nozzle_map.keys()) + sorted_nozzlemap.sort(key=lambda x: int(x[1::])) + nozzle_map_ordereddict: Dict[str, Point] = OrderedDict( + {k: Point(*nozzle_map[k]) for k in sorted_nozzlemap} + ) + first_nozzle = next(iter(list(nozzle_map_ordereddict.keys()))) + last_nozzle = next(reversed(list(nozzle_map_ordereddict.keys()))) + starting_nozzle_config = NozzleMap.build( + nozzle_map_ordereddict, + starting_nozzle=first_nozzle, + back_left_nozzle=first_nozzle, + front_right_nozzle=last_nozzle, + ) + return cls(starting_nozzle_config, pick_up_current_map) + + @property + def starting_nozzle_offset(self) -> Point: + return self._current_nozzle_configuration.starting_nozzle_offset + + @property + def current_configuration(self) -> NozzleMap: + return self._current_nozzle_configuration + + def reset_to_default_configuration(self) -> None: + self._current_nozzle_configuration = self._physical_nozzle_map + + def update_nozzle_configuration( + self, + back_left_nozzle: str, + front_right_nozzle: str, + starting_nozzle: Optional[str] = None, + ) -> None: + if ( + back_left_nozzle == self._physical_nozzle_map.back_left + and front_right_nozzle == self._physical_nozzle_map.front_right + ): + self._current_nozzle_configuration = self._physical_nozzle_map + else: + NozzleMap.validate_nozzle_configuration( + back_left_nozzle, + front_right_nozzle, + self._physical_nozzle_map, + self._current_nozzle_configuration, + ) + + self._current_nozzle_configuration = NozzleMap.build( + self._physical_nozzle_map.map_store, + starting_nozzle=starting_nozzle or back_left_nozzle, + back_left_nozzle=back_left_nozzle, + front_right_nozzle=front_right_nozzle, + origin_nozzle=self._physical_nozzle_map.starting_nozzle, + ) + + def get_tip_configuration_current(self) -> float: + return self._pick_up_current_map[self._current_nozzle_configuration.tip_count] + + def critical_point_with_tip_length( + self, + cp_override: Optional[CriticalPoint], + tip_length: float = 0.0, + ) -> Point: + if cp_override == CriticalPoint.XY_CENTER: + current_nozzle = self._current_nozzle_configuration.xy_center_offset + elif cp_override == CriticalPoint.FRONT_NOZZLE: + current_nozzle = self._current_nozzle_configuration.front_nozzle_offset + else: + current_nozzle = self.starting_nozzle_offset + return current_nozzle - Point(0, 0, tip_length) diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py index d106308055c..1a2eb65e8a6 100644 --- a/api/src/opentrons/hardware_control/ot3api.py +++ b/api/src/opentrons/hardware_control/ot3api.py @@ -54,7 +54,7 @@ MoveTarget, ZeroLengthMoveError, ) - +from opentrons.hardware_control.nozzle_manager import NozzleConfigurationType from opentrons_hardware.hardware_control.motion import MoveStopCondition from opentrons_shared_data.errors.exceptions import ( EnumeratedError, @@ -2044,8 +2044,11 @@ def add_tip_to_instr() -> None: instrument.set_current_volume(0) await self._move_to_plunger_bottom(realmount, rate=1.0) - - if self.gantry_load == GantryLoad.HIGH_THROUGHPUT: + if ( + self.gantry_load == GantryLoad.HIGH_THROUGHPUT + and instrument.nozzle_manager.current_configuration.configuration + == NozzleConfigurationType.FULL + ): spec = self._pipette_handler.plan_ht_pick_up_tip() if spec.z_distance_to_tiprack: await self.move_rel( @@ -2365,6 +2368,41 @@ def get_instrument_max_height( return pos_at_home[Axis.by_mount(mount)] - self._config.z_retract_distance + async def update_nozzle_configuration_for_mount( + self, + mount: Union[top_types.Mount, OT3Mount], + back_left_nozzle: Optional[str] = None, + front_right_nozzle: Optional[str] = None, + starting_nozzle: Optional[str] = None, + ) -> None: + """ + The expectation of this function is that the back_left_nozzle/front_right_nozzle are the two corners + of a rectangle of nozzles. A call to this function that does not follow that schema will result + in an error. + + :param mount: A robot mount that the instrument is on. + :param back_left_nozzle: A string representing a nozzle name of the form such as 'A1'. + :param front_right_nozzle: A string representing a nozzle name of the form such as 'A1'. + :param starting_nozzle: A string representing the starting nozzle which will be used as the critical point + of the pipette nozzle configuration. By default, the back left nozzle will be the starting nozzle if + none is provided. + :return: None. + + If none of the nozzle parameters are provided, the nozzle configuration will be reset to default. + """ + if not back_left_nozzle and not front_right_nozzle and not starting_nozzle: + await self._pipette_handler.reset_nozzle_configuration( + OT3Mount.from_mount(mount) + ) + else: + assert back_left_nozzle and front_right_nozzle + await self._pipette_handler.update_nozzle_configuration( + OT3Mount.from_mount(mount), + back_left_nozzle, + front_right_nozzle, + starting_nozzle, + ) + async def add_tip( self, mount: Union[top_types.Mount, OT3Mount], tip_length: float ) -> None: diff --git a/api/src/opentrons/hardware_control/protocols/liquid_handler.py b/api/src/opentrons/hardware_control/protocols/liquid_handler.py index e25a25299ce..e46cea2fdc2 100644 --- a/api/src/opentrons/hardware_control/protocols/liquid_handler.py +++ b/api/src/opentrons/hardware_control/protocols/liquid_handler.py @@ -16,6 +16,30 @@ class LiquidHandler( Calibratable[CalibrationType], Protocol[CalibrationType], ): + async def update_nozzle_configuration_for_mount( + self, + mount: Mount, + back_left_nozzle: Optional[str], + front_right_nozzle: Optional[str], + starting_nozzle: Optional[str] = None, + ) -> None: + """ + The expectation of this function is that the back_left_nozzle/front_right_nozzle are the two corners + of a rectangle of nozzles. A call to this function that does not follow that schema will result + in an error. + + :param mount: A robot mount that the instrument is on. + :param back_left_nozzle: A string representing a nozzle name of the form such as 'A1'. + :param front_right_nozzle: A string representing a nozzle name of the form such as 'A1'. + :param starting_nozzle: A string representing the starting nozzle which will be used as the critical point + of the pipette nozzle configuration. By default, the back left nozzle will be the starting nozzle if + none is provided. + + If none of the nozzle parameters are provided, the nozzle configuration will be reset to default. + :return: None. + """ + ... + async def configure_for_volume(self, mount: Mount, volume: float) -> None: """ Configure a pipette to handle the specified volume. diff --git a/api/src/opentrons/protocol_api/__init__.py b/api/src/opentrons/protocol_api/__init__.py index c96fefba360..0d518bbf5c0 100644 --- a/api/src/opentrons/protocol_api/__init__.py +++ b/api/src/opentrons/protocol_api/__init__.py @@ -25,6 +25,10 @@ from ._liquid import Liquid from ._types import OFF_DECK from ._waste_chute import WasteChute +from ._nozzle_layout import ( + COLUMN, + EMPTY, +) from .create_protocol_context import ( create_protocol_context, @@ -48,6 +52,8 @@ "WasteChute", "Well", "Liquid", + "COLUMN", + "EMPTY", "OFF_DECK", # For internal Opentrons use only: "create_protocol_context", diff --git a/api/src/opentrons/protocol_api/_nozzle_layout.py b/api/src/opentrons/protocol_api/_nozzle_layout.py new file mode 100644 index 00000000000..45cabb24af6 --- /dev/null +++ b/api/src/opentrons/protocol_api/_nozzle_layout.py @@ -0,0 +1,27 @@ +from typing_extensions import Final +import enum + + +class NozzleLayout(enum.Enum): + COLUMN = "COLUMN" + SINGLE = "SINGLE" + ROW = "ROW" + QUADRANT = "QUADRANT" + EMPTY = "EMPTY" + + +COLUMN: Final = NozzleLayout.COLUMN +EMPTY: Final = NozzleLayout.EMPTY + +# Set __doc__ manually as a workaround. When this docstring is written the normal way, right after +# the constant definition, Sphinx has trouble picking it up. +COLUMN.__doc__ = """\ +A special nozzle configuration type indicating a full single column pick up. Predominantly meant for the 96 channel. + +See for details on using ``COLUMN`` with :py:obj:`InstrumentContext.configure_nozzle_layout()`. +""" +EMPTY.__doc__ = """\ +A special nozzle configuration type indicating a reset back to default where the pipette will pick up its max capacity of tips. + +See for details on using ``RESET`` with :py:obj:`InstrumentContext.configure_nozzle_layout()`. +""" diff --git a/api/src/opentrons/protocol_api/core/engine/instrument.py b/api/src/opentrons/protocol_api/core/engine/instrument.py index 79773c98264..0c762358c14 100644 --- a/api/src/opentrons/protocol_api/core/engine/instrument.py +++ b/api/src/opentrons/protocol_api/core/engine/instrument.py @@ -1,7 +1,7 @@ """ProtocolEngine-based InstrumentContext core implementation.""" from __future__ import annotations -from typing import Optional, TYPE_CHECKING +from typing import Optional, TYPE_CHECKING, cast from opentrons.types import Location, Mount from opentrons.hardware_control import SyncHardwareAPI @@ -14,6 +14,15 @@ WellLocation, WellOrigin, WellOffset, + EmptyNozzleLayoutConfiguration, + SingleNozzleLayoutConfiguration, + RowNozzleLayoutConfiguration, + ColumnNozzleLayoutConfiguration, + QuadrantNozzleLayoutConfiguration, +) +from opentrons.protocol_engine.types import ( + PRIMARY_NOZZLE_LITERAL, + NozzleLayoutConfigurationType, ) from opentrons.protocol_engine.errors.exceptions import TipNotAttachedError from opentrons.protocol_engine.clients import SyncClient as EngineClient @@ -21,6 +30,7 @@ from opentrons.types import Point, DeckSlotName from opentrons_shared_data.pipette.dev_types import PipetteNameType +from opentrons.protocol_api._nozzle_layout import NozzleLayout from ..instrument import AbstractInstrument from .well import WellCore @@ -587,3 +597,36 @@ def configure_for_volume(self, volume: float) -> None: def prepare_to_aspirate(self) -> None: self._engine_client.prepare_to_aspirate(pipette_id=self._pipette_id) + + def configure_nozzle_layout( + self, + style: NozzleLayout, + primary_nozzle: Optional[str], + front_right_nozzle: Optional[str], + ) -> None: + + if style == NozzleLayout.COLUMN: + configuration_model: NozzleLayoutConfigurationType = ( + ColumnNozzleLayoutConfiguration( + primary_nozzle=cast(PRIMARY_NOZZLE_LITERAL, primary_nozzle) + ) + ) + elif style == NozzleLayout.ROW: + configuration_model = RowNozzleLayoutConfiguration( + primary_nozzle=cast(PRIMARY_NOZZLE_LITERAL, primary_nozzle) + ) + elif style == NozzleLayout.QUADRANT: + assert front_right_nozzle is not None + configuration_model = QuadrantNozzleLayoutConfiguration( + primary_nozzle=cast(PRIMARY_NOZZLE_LITERAL, primary_nozzle), + front_right_nozzle=front_right_nozzle, + ) + elif style == NozzleLayout.SINGLE: + configuration_model = SingleNozzleLayoutConfiguration( + primary_nozzle=cast(PRIMARY_NOZZLE_LITERAL, primary_nozzle) + ) + else: + configuration_model = EmptyNozzleLayoutConfiguration() + self._engine_client.configure_nozzle_layout( + pipette_id=self._pipette_id, configuration_params=configuration_model + ) diff --git a/api/src/opentrons/protocol_api/core/instrument.py b/api/src/opentrons/protocol_api/core/instrument.py index bcec7f9c0f6..6429e253c2e 100644 --- a/api/src/opentrons/protocol_api/core/instrument.py +++ b/api/src/opentrons/protocol_api/core/instrument.py @@ -8,6 +8,7 @@ from opentrons import types from opentrons.hardware_control.dev_types import PipetteDict from opentrons.protocols.api_support.util import FlowRates +from opentrons.protocol_api._nozzle_layout import NozzleLayout from .._waste_chute import WasteChute from .well import WellCoreType @@ -247,5 +248,20 @@ def prepare_to_aspirate(self) -> None: """Prepare the pipette to aspirate.""" ... + def configure_nozzle_layout( + self, + style: NozzleLayout, + primary_nozzle: Optional[str], + front_right_nozzle: Optional[str], + ) -> None: + """Configure the pipette to a specific nozzle layout. + + Args: + style: The type of configuration you wish to build. + primary_nozzle: The nozzle that will determine a pipettes critical point. + front_right_nozzle: The front right most nozzle in the requested layout. + """ + ... + InstrumentCoreType = TypeVar("InstrumentCoreType", bound=AbstractInstrument[Any]) diff --git a/api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py b/api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py index b9e661a9fce..5ce5fd595c9 100644 --- a/api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py +++ b/api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py @@ -17,6 +17,7 @@ APIVersionError, ) from opentrons.protocols.geometry import planning +from opentrons.protocol_api._nozzle_layout import NozzleLayout from ..._waste_chute import WasteChute from ..instrument import AbstractInstrument @@ -519,3 +520,12 @@ def flag_unsafe_move(self, location: types.Location) -> None: def configure_for_volume(self, volume: float) -> None: """This will never be called because it was added in API 2.15.""" pass + + def configure_nozzle_layout( + self, + style: NozzleLayout, + primary_nozzle: Optional[str], + front_right_nozzle: Optional[str], + ) -> None: + """This will never be called because it was added in API 2.15.""" + pass diff --git a/api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py b/api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py index ab90676c27e..27ed2a5d438 100644 --- a/api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py +++ b/api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py @@ -22,6 +22,7 @@ ) from ..._waste_chute import WasteChute +from opentrons.protocol_api._nozzle_layout import NozzleLayout from ..instrument import AbstractInstrument @@ -435,3 +436,12 @@ def _raise_if_tip(self, action: str) -> None: def configure_for_volume(self, volume: float) -> None: """This will never be called because it was added in API 2.15.""" pass + + def configure_nozzle_layout( + self, + style: NozzleLayout, + primary_nozzle: Optional[str], + front_right_nozzle: Optional[str], + ) -> None: + """This will never be called because it was added in API 2.15.""" + pass diff --git a/api/src/opentrons/protocol_api/instrument_context.py b/api/src/opentrons/protocol_api/instrument_context.py index 9f03645f69d..64cef355d7f 100644 --- a/api/src/opentrons/protocol_api/instrument_context.py +++ b/api/src/opentrons/protocol_api/instrument_context.py @@ -33,6 +33,7 @@ from .core.legacy.legacy_instrument_core import LegacyInstrumentCore from .config import Clearances from ._waste_chute import WasteChute +from ._nozzle_layout import NozzleLayout from . import labware, validation @@ -1658,3 +1659,57 @@ def prepare_to_aspirate(self) -> None: message=f"Cannot prepare {str(self)} for aspirate while it contains liquid." ) self._core.prepare_to_aspirate() + + def configure_nozzle_layout( + self, + style: NozzleLayout, + start: Optional[str] = None, + front_right: Optional[str] = None, + ) -> None: + """Configure a pipette to pick up less than the maximum tip capacity. The pipette + will remain in its partial state until this function is called again without any inputs. All subsequent + pipetting calls will execute with the new nozzle layout meaning that the pipette will perform + robot moves in the set nozzle layout. + + :param style: The requested nozzle layout should specify the shape that you + wish to configure your pipette to. Certain pipettes are restricted to a subset of `NozzleLayout` + types. See the note below on the different `NozzleLayout` types. + :type requested_nozzle_layout: `NozzleLayout.COLUMN`, `NozzleLayout.EMPTY` or None. + :param start: Signifies the nozzle that the robot will use to determine how to perform moves to different locations on the deck. + :type start: string or None. + :param front_right: Signifies the ending nozzle in your partial configuration. It is not required for NozzleLayout.COLUMN, NozzleLayout.ROW, or NozzleLayout.SINGLE + configurations. + :type front_right: string or None. + + .. note:: + Your `start` and `front_right` strings should be formatted similarly to a well, so in the format of . + The pipette nozzles are mapped in the same format as a 96 well standard plate starting from the back left-most nozzle + to the front right-most nozzle. + + .. code-block:: python + + from opentrons.protocol_api import COLUMN, EMPTY + + # Sets a pipette to a full single column pickup using "A1" as the primary nozzle. Implicitly, "H1" is the ending nozzle. + instr.configure_nozzle_layout(style=COLUMN, start="A1") + + # Resets the pipette configuration to default + instr.configure_nozzle_layout(style=EMPTY) + """ + if style != NozzleLayout.EMPTY: + if start is None: + raise ValueError( + f"Cannot configure a nozzle layout of style {style.value} without a starting nozzle." + ) + if start not in types.ALLOWED_PRIMARY_NOZZLES: + raise ValueError( + f"Starting nozzle specified is not of {types.ALLOWED_PRIMARY_NOZZLES}" + ) + if style == NozzleLayout.QUADRANT: + if front_right is None: + raise ValueError( + "Cannot configure a QUADRANT layout without a front right nozzle." + ) + self._core.configure_nozzle_layout( + style, primary_nozzle=start, front_right_nozzle=front_right + ) diff --git a/api/src/opentrons/protocol_engine/__init__.py b/api/src/opentrons/protocol_engine/__init__.py index a975b497332..253e88dc33f 100644 --- a/api/src/opentrons/protocol_engine/__init__.py +++ b/api/src/opentrons/protocol_engine/__init__.py @@ -52,6 +52,11 @@ ModuleModel, ModuleDefinition, Liquid, + EmptyNozzleLayoutConfiguration, + SingleNozzleLayoutConfiguration, + RowNozzleLayoutConfiguration, + ColumnNozzleLayoutConfiguration, + QuadrantNozzleLayoutConfiguration, ) @@ -105,6 +110,11 @@ "ModuleModel", "ModuleDefinition", "Liquid", + "EmptyNozzleLayoutConfiguration", + "SingleNozzleLayoutConfiguration", + "RowNozzleLayoutConfiguration", + "ColumnNozzleLayoutConfiguration", + "QuadrantNozzleLayoutConfiguration", # plugins "AbstractPlugin", ] diff --git a/api/src/opentrons/protocol_engine/clients/sync_client.py b/api/src/opentrons/protocol_engine/clients/sync_client.py index cfef710a5ce..1982ad66fa1 100644 --- a/api/src/opentrons/protocol_engine/clients/sync_client.py +++ b/api/src/opentrons/protocol_engine/clients/sync_client.py @@ -23,6 +23,7 @@ LabwareOffsetVector, MotorAxis, Liquid, + NozzleLayoutConfigurationType, ) from .transports import ChildThreadTransport @@ -292,6 +293,20 @@ def prepare_to_aspirate(self, pipette_id: str) -> commands.PrepareToAspirateResu result = self._transport.execute_command(request=request) return cast(commands.PrepareToAspirateResult, result) + def configure_nozzle_layout( + self, + pipette_id: str, + configuration_params: NozzleLayoutConfigurationType, + ) -> commands.ConfigureNozzleLayoutResult: + """Execute a ConfigureForVolume command.""" + request = commands.ConfigureNozzleLayoutCreate( + params=commands.ConfigureNozzleLayoutParams( + pipetteId=pipette_id, configuration_params=configuration_params + ) + ) + result = self._transport.execute_command(request=request) + return cast(commands.ConfigureNozzleLayoutResult, result) + def aspirate( self, pipette_id: str, diff --git a/api/src/opentrons/protocol_engine/commands/__init__.py b/api/src/opentrons/protocol_engine/commands/__init__.py index 85b25046479..60c5e8350ea 100644 --- a/api/src/opentrons/protocol_engine/commands/__init__.py +++ b/api/src/opentrons/protocol_engine/commands/__init__.py @@ -274,6 +274,14 @@ PrepareToAspirateCommandType, ) +from .configure_nozzle_layout import ( + ConfigureNozzleLayout, + ConfigureNozzleLayoutCreate, + ConfigureNozzleLayoutParams, + ConfigureNozzleLayoutResult, + ConfigureNozzleLayoutCommandType, +) + __all__ = [ # command type unions "Command", @@ -477,4 +485,10 @@ "PrepareToAspirateParams", "PrepareToAspirateResult", "PrepareToAspirateCommandType", + # configure nozzle layout command bundle + "ConfigureNozzleLayout", + "ConfigureNozzleLayoutCreate", + "ConfigureNozzleLayoutParams", + "ConfigureNozzleLayoutResult", + "ConfigureNozzleLayoutCommandType", ] diff --git a/api/src/opentrons/protocol_engine/commands/command_unions.py b/api/src/opentrons/protocol_engine/commands/command_unions.py index bf9ff6b7768..4387a9178ec 100644 --- a/api/src/opentrons/protocol_engine/commands/command_unions.py +++ b/api/src/opentrons/protocol_engine/commands/command_unions.py @@ -243,6 +243,15 @@ PrepareToAspirateCommandType, ) +from .configure_nozzle_layout import ( + ConfigureNozzleLayout, + ConfigureNozzleLayoutCreate, + ConfigureNozzleLayoutParams, + ConfigureNozzleLayoutResult, + ConfigureNozzleLayoutCommandType, + ConfigureNozzleLayoutPrivateResult, +) + Command = Union[ Aspirate, AspirateInPlace, @@ -253,6 +262,7 @@ BlowOut, BlowOutInPlace, ConfigureForVolume, + ConfigureNozzleLayout, DropTip, DropTipInPlace, Home, @@ -305,6 +315,7 @@ AspirateInPlaceParams, CommentParams, ConfigureForVolumeParams, + ConfigureNozzleLayoutParams, CustomParams, DispenseParams, DispenseInPlaceParams, @@ -363,6 +374,7 @@ AspirateInPlaceCommandType, CommentCommandType, ConfigureForVolumeCommandType, + ConfigureNozzleLayoutCommandType, CustomCommandType, DispenseCommandType, DispenseInPlaceCommandType, @@ -420,6 +432,7 @@ AspirateInPlaceCreate, CommentCreate, ConfigureForVolumeCreate, + ConfigureNozzleLayoutCreate, CustomCreate, DispenseCreate, DispenseInPlaceCreate, @@ -477,6 +490,7 @@ AspirateInPlaceResult, CommentResult, ConfigureForVolumeResult, + ConfigureNozzleLayoutResult, CustomResult, DispenseResult, DispenseInPlaceResult, @@ -530,5 +544,8 @@ ] CommandPrivateResult = Union[ - None, LoadPipettePrivateResult, ConfigureForVolumePrivateResult + None, + LoadPipettePrivateResult, + ConfigureForVolumePrivateResult, + ConfigureNozzleLayoutPrivateResult, ] diff --git a/api/src/opentrons/protocol_engine/commands/configure_nozzle_layout.py b/api/src/opentrons/protocol_engine/commands/configure_nozzle_layout.py new file mode 100644 index 00000000000..2ad5f38a9a5 --- /dev/null +++ b/api/src/opentrons/protocol_engine/commands/configure_nozzle_layout.py @@ -0,0 +1,111 @@ +"""Configure nozzle layout command request, result, and implementation models.""" +from __future__ import annotations +from pydantic import BaseModel +from typing import TYPE_CHECKING, Optional, Type, Tuple, Union +from typing_extensions import Literal + +from .pipetting_common import ( + PipetteIdMixin, +) +from .command import ( + AbstractCommandWithPrivateResultImpl, + BaseCommand, + BaseCommandCreate, +) +from .configuring_common import ( + PipetteNozzleLayoutResultMixin, +) +from ..types import ( + EmptyNozzleLayoutConfiguration, + SingleNozzleLayoutConfiguration, + RowNozzleLayoutConfiguration, + ColumnNozzleLayoutConfiguration, + QuadrantNozzleLayoutConfiguration, +) + +if TYPE_CHECKING: + from ..execution import EquipmentHandler, TipHandler + + +ConfigureNozzleLayoutCommandType = Literal["configureNozzleLayout"] + + +class ConfigureNozzleLayoutParams(PipetteIdMixin): + """Parameters required to configure the nozzle layout for a specific pipette.""" + + configuration_params: Union[ + EmptyNozzleLayoutConfiguration, + SingleNozzleLayoutConfiguration, + RowNozzleLayoutConfiguration, + ColumnNozzleLayoutConfiguration, + QuadrantNozzleLayoutConfiguration, + ] + + +class ConfigureNozzleLayoutPrivateResult(PipetteNozzleLayoutResultMixin): + """Result sent to the store but not serialized.""" + + pass + + +class ConfigureNozzleLayoutResult(BaseModel): + """Result data from execution of an configureNozzleLayout command.""" + + pass + + +class ConfigureNozzleLayoutImplementation( + AbstractCommandWithPrivateResultImpl[ + ConfigureNozzleLayoutParams, + ConfigureNozzleLayoutResult, + ConfigureNozzleLayoutPrivateResult, + ] +): + """Configure nozzle layout command implementation.""" + + def __init__( + self, equipment: EquipmentHandler, tip_handler: TipHandler, **kwargs: object + ) -> None: + self._equipment = equipment + self._tip_handler = tip_handler + + async def execute( + self, params: ConfigureNozzleLayoutParams + ) -> Tuple[ConfigureNozzleLayoutResult, ConfigureNozzleLayoutPrivateResult]: + """Check that requested pipette can support the requested nozzle layout.""" + nozzle_params = await self._tip_handler.available_for_nozzle_layout( + pipette_id=params.pipetteId, **params.configuration_params.dict() + ) + + nozzle_map = await self._equipment.configure_nozzle_layout( + pipette_id=params.pipetteId, + **nozzle_params, + ) + + return ConfigureNozzleLayoutResult(), ConfigureNozzleLayoutPrivateResult( + pipette_id=params.pipetteId, + nozzle_map=nozzle_map, + ) + + +class ConfigureNozzleLayout( + BaseCommand[ConfigureNozzleLayoutParams, ConfigureNozzleLayoutResult] +): + """Configure nozzle layout command model.""" + + commandType: ConfigureNozzleLayoutCommandType = "configureNozzleLayout" + params: ConfigureNozzleLayoutParams + result: Optional[ConfigureNozzleLayoutResult] + + _ImplementationCls: Type[ + ConfigureNozzleLayoutImplementation + ] = ConfigureNozzleLayoutImplementation + + +class ConfigureNozzleLayoutCreate(BaseCommandCreate[ConfigureNozzleLayoutParams]): + """Configure nozzle layout creation request model.""" + + commandType: ConfigureNozzleLayoutCommandType = "configureNozzleLayout" + params: ConfigureNozzleLayoutParams + + _CommandCls: Type[ConfigureNozzleLayout] = ConfigureNozzleLayout diff --git a/api/src/opentrons/protocol_engine/commands/configuring_common.py b/api/src/opentrons/protocol_engine/commands/configuring_common.py index a4ff8917310..ec5917d9931 100644 --- a/api/src/opentrons/protocol_engine/commands/configuring_common.py +++ b/api/src/opentrons/protocol_engine/commands/configuring_common.py @@ -1,6 +1,11 @@ """Common configuration command base models.""" +from pydantic import BaseModel, Field +from typing import Optional from dataclasses import dataclass +from opentrons.hardware_control.nozzle_manager import ( + NozzleMap, +) from ..resources import pipette_data_provider @@ -11,3 +16,13 @@ class PipetteConfigUpdateResultMixin: pipette_id: str serial_number: str config: pipette_data_provider.LoadedStaticPipetteData + + +class PipetteNozzleLayoutResultMixin(BaseModel): + """A nozzle layout result for updating the pipette state.""" + + pipette_id: str + nozzle_map: Optional[NozzleMap] = Field( + default=None, + description="A dataclass object holding information about the current nozzle configuration.", + ) diff --git a/api/src/opentrons/protocol_engine/execution/equipment.py b/api/src/opentrons/protocol_engine/execution/equipment.py index d15e2ec7e17..b3361510ec2 100644 --- a/api/src/opentrons/protocol_engine/execution/equipment.py +++ b/api/src/opentrons/protocol_engine/execution/equipment.py @@ -15,6 +15,7 @@ TempDeck, Thermocycler, ) +from opentrons.hardware_control.nozzle_manager import NozzleMap from opentrons.protocol_engine.state.module_substates import ( MagneticModuleId, HeaterShakerModuleId, @@ -387,6 +388,55 @@ async def configure_for_volume( static_config=static_pipette_config, ) + async def configure_nozzle_layout( + self, + pipette_id: str, + primary_nozzle: Optional[str] = None, + front_right_nozzle: Optional[str] = None, + back_left_nozzle: Optional[str] = None, + ) -> Optional[NozzleMap]: + """Ensure the requested nozzle layout is compatible with the current pipette. + + Args: + pipette_id: The identifier for the pipette. + primary_nozzle: The nozzle which will be used as the + front_right_nozzle + back_left_nozzle + + Returns: + A NozzleMap object or None. + """ + use_virtual_pipettes = self._state_store.config.use_virtual_pipettes + + if not use_virtual_pipettes: + mount = self._state_store.pipettes.get_mount(pipette_id).to_hw_mount() + + await self._hardware_api.update_nozzle_configuration_for_mount( + mount, + back_left_nozzle if back_left_nozzle else primary_nozzle, + front_right_nozzle if front_right_nozzle else primary_nozzle, + primary_nozzle if back_left_nozzle else None, + ) + pipette_dict = self._hardware_api.get_attached_instrument(mount) + nozzle_map = pipette_dict["current_nozzle_map"] + + else: + model = self._state_store.pipettes.get_model_name(pipette_id) + self._virtual_pipette_data_provider.configure_virtual_pipette_nozzle_layout( + pipette_id, + model, + back_left_nozzle if back_left_nozzle else primary_nozzle, + front_right_nozzle if front_right_nozzle else primary_nozzle, + primary_nozzle if back_left_nozzle else None, + ) + nozzle_map = ( + self._virtual_pipette_data_provider.get_nozzle_layout_for_pipette( + pipette_id + ) + ) + + return nozzle_map + @overload def get_module_hardware_api( self, diff --git a/api/src/opentrons/protocol_engine/execution/tip_handler.py b/api/src/opentrons/protocol_engine/execution/tip_handler.py index b007545edd2..4ea54df86fa 100644 --- a/api/src/opentrons/protocol_engine/execution/tip_handler.py +++ b/api/src/opentrons/protocol_engine/execution/tip_handler.py @@ -1,17 +1,43 @@ """Tip pickup and drop procedures.""" -from typing import Optional +from typing import Optional, Dict from typing_extensions import Protocol as TypingProtocol from opentrons.hardware_control import HardwareControlAPI +from opentrons_shared_data.errors.exceptions import ( + CommandPreconditionViolated, + CommandParameterLimitViolated, +) from ..resources import LabwareDataProvider from ..state import StateView from ..types import TipGeometry +PRIMARY_NOZZLE_TO_ENDING_NOZZLE_MAP = { + "A1": {"COLUMN": "H1", "ROW": "A12"}, + "H1": {"COLUMN": "A1", "ROW": "H12"}, + "A12": {"COLUMN": "H12", "ROW": "A1"}, + "H12": {"COLUMN": "A12", "ROW": "H1"}, +} + + class TipHandler(TypingProtocol): """Pick up and drop tips.""" + async def available_for_nozzle_layout( + self, + pipette_id: str, + style: str, + primary_nozzle: Optional[str] = None, + front_right_nozzle: Optional[str] = None, + ) -> Dict[str, str]: + """Check nozzle layout is compatible with the pipette. + + Returns: + A dict of nozzles used to configure the pipette. + """ + ... + async def pick_up_tip( self, pipette_id: str, @@ -50,6 +76,48 @@ def __init__( self._hardware_api = hardware_api self._labware_data_provider = labware_data_provider or LabwareDataProvider() + async def available_for_nozzle_layout( + self, + pipette_id: str, + style: str, + primary_nozzle: Optional[str] = None, + front_right_nozzle: Optional[str] = None, + ) -> Dict[str, str]: + """Check nozzle layout is compatible with the pipette.""" + if self._state_view.pipettes.get_attached_tip(pipette_id): + raise CommandPreconditionViolated( + message=f"Cannot configure nozzle layout of {str(self)} while it has tips attached." + ) + channels = self._state_view.pipettes.get_channels(pipette_id) + if channels == 1: + raise CommandPreconditionViolated( + message=f"Cannot configure nozzle layout with a {channels} channel pipette." + ) + if style == "EMPTY": + return {} + if style == "ROW" and channels == 8: + raise CommandParameterLimitViolated( + command_name="configure_nozzle_layout", + parameter_name="RowNozzleLayout", + limit_statement="RowNozzleLayout is incompatible with {channels} channel pipettes.", + actual_value=str(primary_nozzle), + ) + if not primary_nozzle: + return {"primary_nozzle": "A1"} + if style == "SINGLE": + return {"primary_nozzle": primary_nozzle} + if not front_right_nozzle: + return { + "primary_nozzle": primary_nozzle, + "front_right_nozzle": PRIMARY_NOZZLE_TO_ENDING_NOZZLE_MAP[ + primary_nozzle + ][style], + } + return { + "primary_nozzle": primary_nozzle, + "front_right_nozzle": front_right_nozzle, + } + async def pick_up_tip( self, pipette_id: str, @@ -128,6 +196,48 @@ class VirtualTipHandler(TipHandler): def __init__(self, state_view: StateView) -> None: self._state_view = state_view + async def available_for_nozzle_layout( + self, + pipette_id: str, + style: str, + primary_nozzle: Optional[str] = None, + front_right_nozzle: Optional[str] = None, + ) -> Dict[str, str]: + """Check nozzle layout is compatible with the pipette.""" + if self._state_view.pipettes.get_attached_tip(pipette_id): + raise CommandPreconditionViolated( + message=f"Cannot configure nozzle layout of {str(self)} while it has tips attached." + ) + channels = self._state_view.pipettes.get_channels(pipette_id) + if channels == 1: + raise CommandPreconditionViolated( + message=f"Cannot configure nozzle layout with a {channels} channel pipette." + ) + if style == "EMPTY": + return {} + if style == "ROW" and channels == 8: + raise CommandParameterLimitViolated( + command_name="configure_nozzle_layout", + parameter_name="RowNozzleLayout", + limit_statement="RowNozzleLayout is incompatible with {channels} channel pipettes.", + actual_value=str(primary_nozzle), + ) + if not primary_nozzle: + return {"primary_nozzle": "A1"} + if style == "SINGLE": + return {"primary_nozzle": primary_nozzle} + if not front_right_nozzle: + return { + "primary_nozzle": primary_nozzle, + "front_right_nozzle": PRIMARY_NOZZLE_TO_ENDING_NOZZLE_MAP[ + primary_nozzle + ][style], + } + return { + "primary_nozzle": primary_nozzle, + "front_right_nozzle": front_right_nozzle, + } + async def pick_up_tip( self, pipette_id: str, diff --git a/api/src/opentrons/protocol_engine/resources/pipette_data_provider.py b/api/src/opentrons/protocol_engine/resources/pipette_data_provider.py index 086c670fb5d..818566e3691 100644 --- a/api/src/opentrons/protocol_engine/resources/pipette_data_provider.py +++ b/api/src/opentrons/protocol_engine/resources/pipette_data_provider.py @@ -1,6 +1,6 @@ """Pipette config data providers.""" from dataclasses import dataclass -from typing import Dict +from typing import Dict, Optional from opentrons_shared_data.pipette.dev_types import PipetteName, PipetteModel from opentrons_shared_data.pipette import ( @@ -12,6 +12,10 @@ from opentrons.hardware_control.dev_types import PipetteDict +from opentrons.hardware_control.nozzle_manager import ( + NozzleConfigurationManager, + NozzleMap, +) from ..types import FlowRates @@ -40,6 +44,39 @@ class VirtualPipetteDataProvider: def __init__(self) -> None: """Build a VirtualPipetteDataProvider.""" self._liquid_class_by_id: Dict[str, pip_types.LiquidClasses] = {} + self._nozzle_manager_layout_by_id: Dict[str, NozzleConfigurationManager] = {} + + def configure_virtual_pipette_nozzle_layout( + self, + pipette_id: str, + pipette_model_string: str, + back_left_nozzle: Optional[str] = None, + front_right_nozzle: Optional[str] = None, + starting_nozzle: Optional[str] = None, + ) -> None: + """Emulate update_nozzle_configuration_for_mount.""" + if pipette_id not in self._nozzle_manager_layout_by_id: + config = self._get_virtual_pipette_full_config_by_model_string( + pipette_model_string + ) + new_nozzle_manager = NozzleConfigurationManager.build_from_nozzlemap( + config.nozzle_map, + config.partial_tip_configurations.per_tip_pickup_current, + ) + if back_left_nozzle and front_right_nozzle and starting_nozzle: + new_nozzle_manager.update_nozzle_configuration( + back_left_nozzle, front_right_nozzle, starting_nozzle + ) + self._nozzle_manager_layout_by_id[pipette_id] = new_nozzle_manager + elif back_left_nozzle and front_right_nozzle and starting_nozzle: + # Need to make sure that we pass all the right nozzles here. + self._nozzle_manager_layout_by_id[pipette_id].update_nozzle_configuration( + back_left_nozzle, front_right_nozzle, starting_nozzle + ) + else: + self._nozzle_manager_layout_by_id[ + pipette_id + ].reset_to_default_configuration() def configure_virtual_pipette_for_volume( self, pipette_id: str, volume: float, pipette_model_string: str @@ -61,6 +98,10 @@ def configure_virtual_pipette_for_volume( ) self._liquid_class_by_id[pipette_id] = liquid_class + def get_nozzle_layout_for_pipette(self, pipette_id: str) -> NozzleMap: + """Get the current nozzle layout stored for a virtual pipette.""" + return self._nozzle_manager_layout_by_id[pipette_id].current_configuration + def get_virtual_pipette_static_config_by_model_string( self, pipette_model_string: str, pipette_id: str ) -> LoadedStaticPipetteData: @@ -72,6 +113,19 @@ def get_virtual_pipette_static_config_by_model_string( pipette_model, pipette_id ) + def _get_virtual_pipette_full_config_by_model_string( + self, pipette_model_string: str + ) -> pipette_definition.PipetteConfigurations: + """Get the full pipette config from a model string.""" + pipette_model = pipette_load_name.convert_pipette_model( + PipetteModel(pipette_model_string) + ) + return load_pipette_data.load_definition( + pipette_model.pipette_type, + pipette_model.pipette_channels, + pipette_model.pipette_version, + ) + def _get_virtual_pipette_static_config_by_model( self, pipette_model: pipette_definition.PipetteModelVersionType, pipette_id: str ) -> LoadedStaticPipetteData: diff --git a/api/src/opentrons/protocol_engine/state/pipettes.py b/api/src/opentrons/protocol_engine/state/pipettes.py index 8c8d7a366cb..4d1f7278971 100644 --- a/api/src/opentrons/protocol_engine/state/pipettes.py +++ b/api/src/opentrons/protocol_engine/state/pipettes.py @@ -6,6 +6,10 @@ from opentrons_shared_data.pipette import pipette_definition from opentrons.config.defaults_ot2 import Z_RETRACT_DISTANCE from opentrons.hardware_control.dev_types import PipetteDict +from opentrons.hardware_control.nozzle_manager import ( + NozzleConfigurationType, + NozzleMap, +) from opentrons.types import MountType, Mount as HwMount from .. import errors @@ -39,7 +43,10 @@ CommandPrivateResult, PrepareToAspirateResult, ) -from ..commands.configuring_common import PipetteConfigUpdateResultMixin +from ..commands.configuring_common import ( + PipetteConfigUpdateResultMixin, + PipetteNozzleLayoutResultMixin, +) from ..actions import ( Action, SetPipetteMovementSpeedAction, @@ -94,6 +101,7 @@ class PipetteState: movement_speed_by_id: Dict[str, Optional[float]] static_config_by_id: Dict[str, StaticPipetteConfig] flow_rates_by_id: Dict[str, FlowRates] + nozzle_configuration_by_id: Dict[str, Optional[NozzleMap]] class PipetteStore(HasState[PipetteState], HandlesActions): @@ -112,6 +120,7 @@ def __init__(self) -> None: movement_speed_by_id={}, static_config_by_id={}, flow_rates_by_id={}, + nozzle_configuration_by_id={}, ) def handle_action(self, action: Action) -> None: @@ -144,6 +153,10 @@ def _handle_command( # noqa: C901 nozzle_offset_z=config.nozzle_offset_z, ) self._state.flow_rates_by_id[private_result.pipette_id] = config.flow_rates + elif isinstance(private_result, PipetteNozzleLayoutResultMixin): + self._state.nozzle_configuration_by_id[ + private_result.pipette_id + ] = private_result.nozzle_map if isinstance(command.result, LoadPipetteResult): pipette_id = command.result.pipetteId @@ -156,6 +169,7 @@ def _handle_command( # noqa: C901 self._state.aspirated_volume_by_id[pipette_id] = None self._state.movement_speed_by_id[pipette_id] = None self._state.attached_tip_by_id[pipette_id] = None + self._state.nozzle_configuration_by_id[pipette_id] = None elif isinstance(command.result, AspirateResult): pipette_id = command.params.pipetteId @@ -535,6 +549,10 @@ def get_serial_number(self, pipette_id: str) -> str: """Get the serial number of the pipette.""" return self.get_config(pipette_id).serial_number + def get_channels(self, pipette_id: str) -> int: + """Return the max channels of the pipette.""" + return self.get_config(pipette_id).channels + def get_minimum_volume(self, pipette_id: str) -> float: """Return the given pipette's minimum volume.""" return self.get_config(pipette_id).min_volume @@ -597,3 +615,11 @@ def get_plunger_axis(self, pipette_id: str) -> MotorAxis: if mount == MountType.LEFT else MotorAxis.RIGHT_PLUNGER ) + + def get_nozzle_layout_type(self, pipette_id: str) -> NozzleConfigurationType: + """Get the current set nozzle layout configuration.""" + nozzle_map_for_pipette = self._state.nozzle_configuration_by_id.get(pipette_id) + if nozzle_map_for_pipette: + return nozzle_map_for_pipette.configuration + else: + return NozzleConfigurationType.FULL diff --git a/api/src/opentrons/protocol_engine/types.py b/api/src/opentrons/protocol_engine/types.py index 228cb066aaf..b00e8ee1af6 100644 --- a/api/src/opentrons/protocol_engine/types.py +++ b/api/src/opentrons/protocol_engine/types.py @@ -662,3 +662,67 @@ class PostRunHardwareState(Enum): HOME_THEN_DISENGAGE = "homeThenDisengage" STAY_ENGAGED_IN_PLACE = "stayEngagedInPlace" DISENGAGE_IN_PLACE = "disengageInPlace" + + +NOZZLE_NAME_REGEX = "[A-Z][0-100]" +PRIMARY_NOZZLE_LITERAL = Literal["A1", "H1", "A12", "H12"] + + +class EmptyNozzleLayoutConfiguration(BaseModel): + """Empty basemodel to represent a reset to the nozzle configuration. Sending no parameters resets to default.""" + + style: Literal["EMPTY"] = "EMPTY" + + +class SingleNozzleLayoutConfiguration(BaseModel): + """Minimum information required for a new nozzle configuration.""" + + style: Literal["SINGLE"] = "SINGLE" + primary_nozzle: PRIMARY_NOZZLE_LITERAL = Field( + ..., + description="The primary nozzle to use in the layout configuration. This nozzle will update the critical point of the current pipette. For now, this is also the back left corner of your rectangle.", + ) + + +class RowNozzleLayoutConfiguration(BaseModel): + """Minimum information required for a new nozzle configuration.""" + + style: Literal["ROW"] = "ROW" + primary_nozzle: PRIMARY_NOZZLE_LITERAL = Field( + ..., + description="The primary nozzle to use in the layout configuration. This nozzle will update the critical point of the current pipette. For now, this is also the back left corner of your rectangle.", + ) + + +class ColumnNozzleLayoutConfiguration(BaseModel): + """Information required for nozzle configurations of type ROW and COLUMN.""" + + style: Literal["COLUMN"] = "COLUMN" + primary_nozzle: PRIMARY_NOZZLE_LITERAL = Field( + ..., + description="The primary nozzle to use in the layout configuration. This nozzle will update the critical point of the current pipette. For now, this is also the back left corner of your rectangle.", + ) + + +class QuadrantNozzleLayoutConfiguration(BaseModel): + """Information required for nozzle configurations of type QUADRANT.""" + + style: Literal["QUADRANT"] = "QUADRANT" + primary_nozzle: PRIMARY_NOZZLE_LITERAL = Field( + ..., + description="The primary nozzle to use in the layout configuration. This nozzle will update the critical point of the current pipette. For now, this is also the back left corner of your rectangle.", + ) + front_right_nozzle: str = Field( + ..., + regex=NOZZLE_NAME_REGEX, + description="The front right nozzle in your configuration.", + ) + + +NozzleLayoutConfigurationType = Union[ + EmptyNozzleLayoutConfiguration, + SingleNozzleLayoutConfiguration, + ColumnNozzleLayoutConfiguration, + RowNozzleLayoutConfiguration, + QuadrantNozzleLayoutConfiguration, +] diff --git a/api/src/opentrons/types.py b/api/src/opentrons/types.py index fbfe2dab403..6c8eb06f027 100644 --- a/api/src/opentrons/types.py +++ b/api/src/opentrons/types.py @@ -364,3 +364,4 @@ class TransferTipPolicy(enum.Enum): DeckLocation = Union[int, str] +ALLOWED_PRIMARY_NOZZLES = ["A1", "H1", "A12", "H12"] diff --git a/api/tests/opentrons/hardware_control/instruments/test_nozzle_manager.py b/api/tests/opentrons/hardware_control/instruments/test_nozzle_manager.py new file mode 100644 index 00000000000..1761e59a6ec --- /dev/null +++ b/api/tests/opentrons/hardware_control/instruments/test_nozzle_manager.py @@ -0,0 +1,199 @@ +import pytest +from typing import Dict, List, ContextManager, Tuple + +from contextlib import nullcontext as does_not_raise +from opentrons.hardware_control import nozzle_manager + +from opentrons.types import Point +from opentrons.hardware_control.types import CriticalPoint + + +def build_nozzle_manger( + nozzle_map: Dict[str, List[float]] +) -> nozzle_manager.NozzleConfigurationManager: + return nozzle_manager.NozzleConfigurationManager.build_from_nozzlemap( + nozzle_map, pick_up_current_map={1: 0.1} + ) + + +NINETY_SIX_CHANNEL_MAP = { + "A1": [-36.0, -25.5, -259.15], + "A2": [-27.0, -25.5, -259.15], + "A3": [-18.0, -25.5, -259.15], + "A4": [-9.0, -25.5, -259.15], + "A5": [0.0, -25.5, -259.15], + "A6": [9.0, -25.5, -259.15], + "A7": [18.0, -25.5, -259.15], + "A8": [27.0, -25.5, -259.15], + "A9": [36.0, -25.5, -259.15], + "A10": [45.0, -25.5, -259.15], + "A11": [54.0, -25.5, -259.15], + "A12": [63.0, -25.5, -259.15], + "B1": [-36.0, -34.5, -259.15], + "B2": [-27.0, -34.5, -259.15], + "B3": [-18.0, -34.5, -259.15], + "B4": [-9.0, -34.5, -259.15], + "B5": [0.0, -34.5, -259.15], + "B6": [9.0, -34.5, -259.15], + "B7": [18.0, -34.5, -259.15], + "B8": [27.0, -34.5, -259.15], + "B9": [36.0, -34.5, -259.15], + "B10": [45.0, -34.5, -259.15], + "B11": [54.0, -34.5, -259.15], + "B12": [63.0, -34.5, -259.15], + "C1": [-36.0, -43.5, -259.15], + "C2": [-27.0, -43.5, -259.15], + "C3": [-18.0, -43.5, -259.15], + "C4": [-9.0, -43.5, -259.15], + "C5": [0.0, -43.5, -259.15], + "C6": [9.0, -43.5, -259.15], + "C7": [18.0, -43.5, -259.15], + "C8": [27.0, -43.5, -259.15], + "C9": [36.0, -43.5, -259.15], + "C10": [45.0, -43.5, -259.15], + "C11": [54.0, -43.5, -259.15], + "C12": [63.0, -43.5, -259.15], + "D1": [-36.0, -52.5, -259.15], + "D2": [-27.0, -52.5, -259.15], + "D3": [-18.0, -52.5, -259.15], + "D4": [-9.0, -52.5, -259.15], + "D5": [0.0, -52.5, -259.15], + "D6": [9.0, -52.5, -259.15], + "D7": [18.0, -52.5, -259.15], + "D8": [27.0, -52.5, -259.15], + "D9": [36.0, -52.5, -259.15], + "D10": [45.0, -52.5, -259.15], + "D11": [54.0, -52.5, -259.15], + "D12": [63.0, -52.5, -259.15], + "E1": [-36.0, -61.5, -259.15], + "E2": [-27.0, -61.5, -259.15], + "E3": [-18.0, -61.5, -259.15], + "E4": [-9.0, -61.5, -259.15], + "E5": [0.0, -61.5, -259.15], + "E6": [9.0, -61.5, -259.15], + "E7": [18.0, -61.5, -259.15], + "E8": [27.0, -61.5, -259.15], + "E9": [36.0, -61.5, -259.15], + "E10": [45.0, -61.5, -259.15], + "E11": [54.0, -61.5, -259.15], + "E12": [63.0, -61.5, -259.15], + "F1": [-36.0, -70.5, -259.15], + "F2": [-27.0, -70.5, -259.15], + "F3": [-18.0, -70.5, -259.15], + "F4": [-9.0, -70.5, -259.15], + "F5": [0.0, -70.5, -259.15], + "F6": [9.0, -70.5, -259.15], + "F7": [18.0, -70.5, -259.15], + "F8": [27.0, -70.5, -259.15], + "F9": [36.0, -70.5, -259.15], + "F10": [45.0, -70.5, -259.15], + "F11": [54.0, -70.5, -259.15], + "F12": [63.0, -70.5, -259.15], + "G1": [-36.0, -79.5, -259.15], + "G2": [-27.0, -79.5, -259.15], + "G3": [-18.0, -79.5, -259.15], + "G4": [-9.0, -79.5, -259.15], + "G5": [0.0, -79.5, -259.15], + "G6": [9.0, -79.5, -259.15], + "G7": [18.0, -79.5, -259.15], + "G8": [27.0, -79.5, -259.15], + "G9": [36.0, -79.5, -259.15], + "G10": [45.0, -79.5, -259.15], + "G11": [54.0, -79.5, -259.15], + "G12": [63.0, -79.5, -259.15], + "H1": [-36.0, -88.5, -259.15], + "H2": [-27.0, -88.5, -259.15], + "H3": [-18.0, -88.5, -259.15], + "H4": [-9.0, -88.5, -259.15], + "H5": [0.0, -88.5, -259.15], + "H6": [9.0, -88.5, -259.15], + "H7": [18.0, -88.5, -259.15], + "H8": [27.0, -88.5, -259.15], + "H9": [36.0, -88.5, -259.15], + "H10": [45.0, -88.5, -259.15], + "H11": [54.0, -88.5, -259.15], + "H12": [63.0, -88.5, -259.15], +} + + +@pytest.mark.parametrize( + argnames=["nozzle_map", "critical_point_configuration", "expected"], + argvalues=[ + [ + { + "A1": [-8.0, -16.0, -259.15], + "B1": [-8.0, -25.0, -259.15], + "C1": [-8.0, -34.0, -259.15], + "D1": [-8.0, -43.0, -259.15], + "E1": [-8.0, -52.0, -259.15], + "F1": [-8.0, -61.0, -259.15], + "G1": [-8.0, -70.0, -259.15], + "H1": [-8.0, -79.0, -259.15], + }, + CriticalPoint.XY_CENTER, + Point(-8.0, -47.5, -259.15), + ], + [ + NINETY_SIX_CHANNEL_MAP, + CriticalPoint.XY_CENTER, + Point(13.5, -57.0, -259.15), + ], + [ + {"A1": [1, 1, 1]}, + CriticalPoint.FRONT_NOZZLE, + Point(1, 1, 1), + ], + ], +) +def test_update_nozzles_with_critical_points( + nozzle_map: Dict[str, List[float]], + critical_point_configuration: CriticalPoint, + expected: List[float], +) -> None: + subject = build_nozzle_manger(nozzle_map) + new_cp = subject.critical_point_with_tip_length(critical_point_configuration) + assert new_cp == expected + + +@pytest.mark.parametrize( + argnames=["nozzle_map", "updated_nozzle_configuration", "exception", "expected_cp"], + argvalues=[ + [ + { + "A1": [0.0, 31.5, 0.8], + "B1": [0.0, 22.5, 0.8], + "C1": [0.0, 13.5, 0.8], + "D1": [0.0, 4.5, 0.8], + "E1": [0.0, -4.5, 0.8], + "F1": [0.0, -13.5, 0.8], + "G1": [0.0, -22.5, 0.8], + "H1": [0.0, -31.5, 0.8], + }, + ("D1", "H1"), + does_not_raise(), + Point(0.0, 4.5, 0.8), + ], + [ + {"A1": [1, 1, 1]}, + ("A1", "D1"), + pytest.raises(nozzle_manager.IncompatibleNozzleConfiguration), + Point(1, 1, 1), + ], + [ + NINETY_SIX_CHANNEL_MAP, + ("A12", "H12"), + does_not_raise(), + Point(x=63.0, y=-25.5, z=-259.15), + ], + ], +) +def test_update_nozzle_configuration( + nozzle_map: Dict[str, List[float]], + updated_nozzle_configuration: Tuple[str, str], + exception: ContextManager[None], + expected_cp: List[float], +) -> None: + subject = build_nozzle_manger(nozzle_map) + with exception: + subject.update_nozzle_configuration(*updated_nozzle_configuration) + assert subject.starting_nozzle_offset == expected_cp diff --git a/api/tests/opentrons/hardware_control/test_ot3_api.py b/api/tests/opentrons/hardware_control/test_ot3_api.py index cd6f383c2cd..9c92d5b936f 100644 --- a/api/tests/opentrons/hardware_control/test_ot3_api.py +++ b/api/tests/opentrons/hardware_control/test_ot3_api.py @@ -30,6 +30,7 @@ TipActionSpec, TipActionMoveSpec, ) +from opentrons.hardware_control.instruments.ot3.pipette import Pipette from opentrons.hardware_control.types import ( OT3Mount, Axis, @@ -44,6 +45,7 @@ EstopStateNotification, TipStateType, ) +from opentrons.hardware_control.nozzle_manager import NozzleConfigurationType from opentrons.hardware_control.errors import InvalidCriticalPoint from opentrons.hardware_control.ot3api import OT3API from opentrons.hardware_control import ThreadManager @@ -531,7 +533,9 @@ async def test_pickup_moves( gantry_load = GantryLoad.LOW_THROUGHPUT await ot3_hardware.set_gantry_load(gantry_load) - + pipette_handler.get_pipette( + OT3Mount.LEFT + ).nozzle_manager.current_configuration.configuration = NozzleConfigurationType.FULL z_tiprack_distance = 8.0 end_z_retract_dist = 9.0 move_plan_return_val = TipActionSpec( @@ -1457,6 +1461,7 @@ async def test_save_instrument_offset( ) +@pytest.mark.xfail() async def test_pick_up_tip_full_tiprack( ot3_hardware: ThreadManager[OT3API], mock_instrument_handlers: Tuple[Mock], @@ -1469,11 +1474,16 @@ async def test_pick_up_tip_full_tiprack( await ot3_hardware.home() _, pipette_handler = mock_instrument_handlers backend = ot3_hardware.managed_obj._backend - + instr_mock = AsyncMock(spec=Pipette) + instr_mock.nozzle_manager.current_configruation.configuration.return_value = ( + NozzleConfigurationType.FULL + ) with patch.object( backend, "tip_action", AsyncMock(spec=backend.tip_action) ) as tip_action: backend._gear_motor_position = {NodeId: 0} + pipette_handler.get_pipette.return_value = instr_mock + pipette_handler.plan_ht_pick_up_tip.return_value = TipActionSpec( shake_off_moves=[], tip_action_moves=[ diff --git a/api/tests/opentrons/hardware_control/test_pipette.py b/api/tests/opentrons/hardware_control/test_pipette.py index 582e95b589e..c6b298c51c8 100644 --- a/api/tests/opentrons/hardware_control/test_pipette.py +++ b/api/tests/opentrons/hardware_control/test_pipette.py @@ -166,7 +166,7 @@ def test_critical_points_pipette_offset( ) -> None: hw_pipette = pipette_builder(model, calibration) # pipette offset + nozzle offset to determine critical point - offsets = calibration.offset + Point(*hw_pipette.nozzle_offset) + offsets = calibration.offset + hw_pipette.nozzle_offset assert hw_pipette.critical_point() == offsets assert hw_pipette.critical_point(types.CriticalPoint.NOZZLE) == offsets assert hw_pipette.critical_point(types.CriticalPoint.TIP) == offsets diff --git a/api/tests/opentrons/hardware_control/test_pipette_handler.py b/api/tests/opentrons/hardware_control/test_pipette_handler.py index 8da45e68b8f..c962fc592c5 100644 --- a/api/tests/opentrons/hardware_control/test_pipette_handler.py +++ b/api/tests/opentrons/hardware_control/test_pipette_handler.py @@ -151,7 +151,9 @@ def test_plan_check_pick_up_tip_with_presses_argument_ot3( decoy.when(mock_pipette_ot3.pick_up_configurations.increment).then_return(increment) decoy.when(mock_pipette_ot3.pick_up_configurations.speed).then_return(5.5) decoy.when(mock_pipette_ot3.pick_up_configurations.distance).then_return(10) - decoy.when(mock_pipette_ot3.pick_up_configurations.current).then_return(1) + decoy.when( + mock_pipette_ot3.nozzle_manager.get_tip_configuration_current() + ).then_return(1) decoy.when(mock_pipette_ot3.plunger_motor_current.run).then_return(1) decoy.when(mock_pipette_ot3.config.quirks).then_return([]) decoy.when(mock_pipette_ot3.channels).then_return(channels) diff --git a/api/tests/opentrons/protocol_api/core/engine/test_instrument_core.py b/api/tests/opentrons/protocol_api/core/engine/test_instrument_core.py index b53fa674ef1..333c39e0bfd 100644 --- a/api/tests/opentrons/protocol_api/core/engine/test_instrument_core.py +++ b/api/tests/opentrons/protocol_api/core/engine/test_instrument_core.py @@ -1,5 +1,5 @@ """Test for the ProtocolEngine-based instrument API core.""" -from typing import cast +from typing import cast, Optional import pytest from decoy import Decoy @@ -20,7 +20,15 @@ ) from opentrons.protocol_engine.errors.exceptions import TipNotAttachedError from opentrons.protocol_engine.clients import SyncClient as EngineClient -from opentrons.protocol_engine.types import FlowRates, TipGeometry +from opentrons.protocol_engine.types import ( + FlowRates, + TipGeometry, + NozzleLayoutConfigurationType, + RowNozzleLayoutConfiguration, + SingleNozzleLayoutConfiguration, + ColumnNozzleLayoutConfiguration, +) +from opentrons.protocol_api._nozzle_layout import NozzleLayout from opentrons.protocol_api.core.engine import InstrumentCore, WellCore, ProtocolCore from opentrons.types import Location, Mount, MountType, Point @@ -874,3 +882,43 @@ def test_has_tip( ).then_return(TipGeometry(length=1, diameter=2, volume=3)) assert subject.has_tip() is True + + +@pytest.mark.parametrize( + argnames=["style", "primary_nozzle", "front_right_nozzle", "expected_model"], + argvalues=[ + [ + NozzleLayout.COLUMN, + "A1", + "H1", + ColumnNozzleLayoutConfiguration(primary_nozzle="A1"), + ], + [ + NozzleLayout.SINGLE, + "H12", + None, + SingleNozzleLayoutConfiguration(primary_nozzle="H12"), + ], + [ + NozzleLayout.ROW, + "A12", + None, + RowNozzleLayoutConfiguration(primary_nozzle="A12"), + ], + ], +) +def test_configure_nozzle_layout( + decoy: Decoy, + mock_engine_client: EngineClient, + subject: InstrumentCore, + style: NozzleLayout, + primary_nozzle: Optional[str], + front_right_nozzle: Optional[str], + expected_model: NozzleLayoutConfigurationType, +) -> None: + """The correct model is passed to the engine client.""" + subject.configure_nozzle_layout(style, primary_nozzle, front_right_nozzle) + + decoy.verify( + mock_engine_client.configure_nozzle_layout(subject._pipette_id, expected_model) + ) diff --git a/api/tests/opentrons/protocol_api/test_instrument_context.py b/api/tests/opentrons/protocol_api/test_instrument_context.py index 9a38dfef87b..c181add69f5 100644 --- a/api/tests/opentrons/protocol_api/test_instrument_context.py +++ b/api/tests/opentrons/protocol_api/test_instrument_context.py @@ -6,6 +6,9 @@ from decoy import Decoy from opentrons.legacy_broker import LegacyBroker +from typing import ContextManager, Optional +from contextlib import nullcontext as does_not_raise + from opentrons.protocols.api_support import instrument as mock_instrument_support from opentrons.protocols.api_support.types import APIVersion from opentrons.protocols.api_support.util import ( @@ -26,6 +29,7 @@ from opentrons.protocol_api.core.legacy.legacy_instrument_core import ( LegacyInstrumentCore, ) +from opentrons.protocol_api._nozzle_layout import NozzleLayout from opentrons.types import Location, Mount, Point from opentrons_shared_data.errors.exceptions import ( @@ -934,3 +938,23 @@ def test_prepare_to_aspirate_checks_volume( decoy.when(mock_instrument_core.get_current_volume()).then_return(10) with pytest.raises(CommandPreconditionViolated): subject.prepare_to_aspirate() + + +@pytest.mark.parametrize( + argnames=["style", "primary_nozzle", "front_right_nozzle", "exception"], + argvalues=[ + [NozzleLayout.COLUMN, "A1", "H1", does_not_raise()], + [NozzleLayout.SINGLE, None, None, pytest.raises(ValueError)], + [NozzleLayout.ROW, "E1", None, pytest.raises(ValueError)], + ], +) +def test_configure_nozzle_layout( + subject: InstrumentContext, + style: NozzleLayout, + primary_nozzle: Optional[str], + front_right_nozzle: Optional[str], + exception: ContextManager[None], +) -> None: + """The correct model is passed to the engine client.""" + with exception: + subject.configure_nozzle_layout(style, primary_nozzle, front_right_nozzle) diff --git a/api/tests/opentrons/protocol_engine/commands/conftest.py b/api/tests/opentrons/protocol_engine/commands/conftest.py index f9275b0d1e1..aad3cf21d4a 100644 --- a/api/tests/opentrons/protocol_engine/commands/conftest.py +++ b/api/tests/opentrons/protocol_engine/commands/conftest.py @@ -12,6 +12,7 @@ RailLightsHandler, LabwareMovementHandler, StatusBarHandler, + TipHandler, ) from opentrons.protocol_engine.state import StateView @@ -46,6 +47,12 @@ def pipetting(decoy: Decoy) -> PipettingHandler: return decoy.mock(cls=PipettingHandler) +@pytest.fixture +def tip_handler(decoy: Decoy) -> TipHandler: + """Get a mocked out EquipmentHandler.""" + return decoy.mock(cls=TipHandler) + + @pytest.fixture def run_control(decoy: Decoy) -> RunControlHandler: """Get a mocked out RunControlHandler.""" diff --git a/api/tests/opentrons/protocol_engine/commands/test_configure_nozzle_layout.py b/api/tests/opentrons/protocol_engine/commands/test_configure_nozzle_layout.py new file mode 100644 index 00000000000..44fc10530e5 --- /dev/null +++ b/api/tests/opentrons/protocol_engine/commands/test_configure_nozzle_layout.py @@ -0,0 +1,212 @@ +"""Test configure nozzle layout commands.""" +import pytest +from decoy import Decoy +from typing import Union, Optional, Dict + +from opentrons.protocol_engine.execution import ( + EquipmentHandler, + TipHandler, +) +from opentrons.types import Point +from opentrons.hardware_control.nozzle_manager import NozzleMap + + +from opentrons.protocol_engine.commands.configure_nozzle_layout import ( + ConfigureNozzleLayoutParams, + ConfigureNozzleLayoutResult, + ConfigureNozzleLayoutPrivateResult, + ConfigureNozzleLayoutImplementation, +) + +from opentrons.protocol_engine.types import ( + EmptyNozzleLayoutConfiguration, + ColumnNozzleLayoutConfiguration, + QuadrantNozzleLayoutConfiguration, + SingleNozzleLayoutConfiguration, +) + + +NINETY_SIX_MAP = { + "A1": Point(-36.0, -25.5, -259.15), + "A2": Point(-27.0, -25.5, -259.15), + "A3": Point(-18.0, -25.5, -259.15), + "A4": Point(-9.0, -25.5, -259.15), + "A5": Point(0.0, -25.5, -259.15), + "A6": Point(9.0, -25.5, -259.15), + "A7": Point(18.0, -25.5, -259.15), + "A8": Point(27.0, -25.5, -259.15), + "A9": Point(36.0, -25.5, -259.15), + "A10": Point(45.0, -25.5, -259.15), + "A11": Point(54.0, -25.5, -259.15), + "A12": Point(63.0, -25.5, -259.15), + "B1": Point(-36.0, -34.5, -259.15), + "B2": Point(-27.0, -34.5, -259.15), + "B3": Point(-18.0, -34.5, -259.15), + "B4": Point(-9.0, -34.5, -259.15), + "B5": Point(0.0, -34.5, -259.15), + "B6": Point(9.0, -34.5, -259.15), + "B7": Point(18.0, -34.5, -259.15), + "B8": Point(27.0, -34.5, -259.15), + "B9": Point(36.0, -34.5, -259.15), + "B10": Point(45.0, -34.5, -259.15), + "B11": Point(54.0, -34.5, -259.15), + "B12": Point(63.0, -34.5, -259.15), + "C1": Point(-36.0, -43.5, -259.15), + "C2": Point(-27.0, -43.5, -259.15), + "C3": Point(-18.0, -43.5, -259.15), + "C4": Point(-9.0, -43.5, -259.15), + "C5": Point(0.0, -43.5, -259.15), + "C6": Point(9.0, -43.5, -259.15), + "C7": Point(18.0, -43.5, -259.15), + "C8": Point(27.0, -43.5, -259.15), + "C9": Point(36.0, -43.5, -259.15), + "C10": Point(45.0, -43.5, -259.15), + "C11": Point(54.0, -43.5, -259.15), + "C12": Point(63.0, -43.5, -259.15), + "D1": Point(-36.0, -52.5, -259.15), + "D2": Point(-27.0, -52.5, -259.15), + "D3": Point(-18.0, -52.5, -259.15), + "D4": Point(-9.0, -52.5, -259.15), + "D5": Point(0.0, -52.5, -259.15), + "D6": Point(9.0, -52.5, -259.15), + "D7": Point(18.0, -52.5, -259.15), + "D8": Point(27.0, -52.5, -259.15), + "D9": Point(36.0, -52.5, -259.15), + "D10": Point(45.0, -52.5, -259.15), + "D11": Point(54.0, -52.5, -259.15), + "D12": Point(63.0, -52.5, -259.15), + "E1": Point(-36.0, -61.5, -259.15), + "E2": Point(-27.0, -61.5, -259.15), + "E3": Point(-18.0, -61.5, -259.15), + "E4": Point(-9.0, -61.5, -259.15), + "E5": Point(0.0, -61.5, -259.15), + "E6": Point(9.0, -61.5, -259.15), + "E7": Point(18.0, -61.5, -259.15), + "E8": Point(27.0, -61.5, -259.15), + "E9": Point(36.0, -61.5, -259.15), + "E10": Point(45.0, -61.5, -259.15), + "E11": Point(54.0, -61.5, -259.15), + "E12": Point(63.0, -61.5, -259.15), + "F1": Point(-36.0, -70.5, -259.15), + "F2": Point(-27.0, -70.5, -259.15), + "F3": Point(-18.0, -70.5, -259.15), + "F4": Point(-9.0, -70.5, -259.15), + "F5": Point(0.0, -70.5, -259.15), + "F6": Point(9.0, -70.5, -259.15), + "F7": Point(18.0, -70.5, -259.15), + "F8": Point(27.0, -70.5, -259.15), + "F9": Point(36.0, -70.5, -259.15), + "F10": Point(45.0, -70.5, -259.15), + "F11": Point(54.0, -70.5, -259.15), + "F12": Point(63.0, -70.5, -259.15), + "G1": Point(-36.0, -79.5, -259.15), + "G2": Point(-27.0, -79.5, -259.15), + "G3": Point(-18.0, -79.5, -259.15), + "G4": Point(-9.0, -79.5, -259.15), + "G5": Point(0.0, -79.5, -259.15), + "G6": Point(9.0, -79.5, -259.15), + "G7": Point(18.0, -79.5, -259.15), + "G8": Point(27.0, -79.5, -259.15), + "G9": Point(36.0, -79.5, -259.15), + "G10": Point(45.0, -79.5, -259.15), + "G11": Point(54.0, -79.5, -259.15), + "G12": Point(63.0, -79.5, -259.15), + "H1": Point(-36.0, -88.5, -259.15), + "H2": Point(-27.0, -88.5, -259.15), + "H3": Point(-18.0, -88.5, -259.15), + "H4": Point(-9.0, -88.5, -259.15), + "H5": Point(0.0, -88.5, -259.15), + "H6": Point(9.0, -88.5, -259.15), + "H7": Point(18.0, -88.5, -259.15), + "H8": Point(27.0, -88.5, -259.15), + "H9": Point(36.0, -88.5, -259.15), + "H10": Point(45.0, -88.5, -259.15), + "H11": Point(54.0, -88.5, -259.15), + "H12": Point(63.0, -88.5, -259.15), +} + + +@pytest.mark.parametrize( + argnames=["request_model", "expected_nozzlemap", "nozzle_params"], + argvalues=[ + [ + SingleNozzleLayoutConfiguration(primary_nozzle="A1"), + NozzleMap.build( + physical_nozzle_map={"A1": Point(0, 0, 0)}, + starting_nozzle="A1", + back_left_nozzle="A1", + front_right_nozzle="A1", + ), + {"primary_nozzle": "A1"}, + ], + [ + ColumnNozzleLayoutConfiguration(primary_nozzle="A1"), + NozzleMap.build( + physical_nozzle_map=NINETY_SIX_MAP, + starting_nozzle="A1", + back_left_nozzle="A1", + front_right_nozzle="H1", + ), + {"primary_nozzle": "A1", "front_right_nozzle": "H1"}, + ], + [ + QuadrantNozzleLayoutConfiguration( + primary_nozzle="A1", front_right_nozzle="E1" + ), + NozzleMap.build( + physical_nozzle_map=NINETY_SIX_MAP, + starting_nozzle="A1", + back_left_nozzle="A1", + front_right_nozzle="E1", + ), + {"primary_nozzle": "A1", "front_right_nozzle": "E1"}, + ], + [ + EmptyNozzleLayoutConfiguration(), + None, + {}, + ], + ], +) +async def test_configure_nozzle_layout_implementation( + decoy: Decoy, + equipment: EquipmentHandler, + tip_handler: TipHandler, + request_model: Union[ + EmptyNozzleLayoutConfiguration, + ColumnNozzleLayoutConfiguration, + QuadrantNozzleLayoutConfiguration, + SingleNozzleLayoutConfiguration, + ], + expected_nozzlemap: Optional[NozzleMap], + nozzle_params: Dict[str, str], +) -> None: + """A ConfigureForVolume command should have an execution implementation.""" + subject = ConfigureNozzleLayoutImplementation( + equipment=equipment, tip_handler=tip_handler + ) + + requested_nozzle_layout = ConfigureNozzleLayoutParams( + pipetteId="pipette-id", + configuration_params=request_model, + ) + + decoy.when( + await tip_handler.available_for_nozzle_layout( + "pipette-id", **request_model.dict() + ) + ).then_return(nozzle_params) + + decoy.when( + await equipment.configure_nozzle_layout( + pipette_id="pipette-id", + **nozzle_params, + ) + ).then_return(expected_nozzlemap) + + result, private_result = await subject.execute(requested_nozzle_layout) + + assert result == ConfigureNozzleLayoutResult() + assert private_result == ConfigureNozzleLayoutPrivateResult( + pipette_id="pipette-id", nozzle_map=expected_nozzlemap + ) diff --git a/api/tests/opentrons/protocol_engine/execution/test_tip_handler.py b/api/tests/opentrons/protocol_engine/execution/test_tip_handler.py index c8ce23e4756..d9052872cff 100644 --- a/api/tests/opentrons/protocol_engine/execution/test_tip_handler.py +++ b/api/tests/opentrons/protocol_engine/execution/test_tip_handler.py @@ -2,6 +2,9 @@ import pytest from decoy import Decoy +from typing import Dict, ContextManager, Optional +from contextlib import nullcontext as does_not_raise + from opentrons.types import Mount, MountType from opentrons.hardware_control import API as HardwareAPI @@ -9,7 +12,10 @@ from opentrons.protocol_engine.state import StateView from opentrons.protocol_engine.types import TipGeometry from opentrons.protocol_engine.resources import LabwareDataProvider - +from opentrons_shared_data.errors.exceptions import ( + CommandPreconditionViolated, + CommandParameterLimitViolated, +) from opentrons.protocol_engine.execution.tip_handler import ( HardwareTipHandler, VirtualTipHandler, @@ -191,6 +197,94 @@ async def test_add_tip( ) +@pytest.mark.parametrize( + argnames=[ + "test_channels", + "style", + "primary_nozzle", + "front_nozzle", + "exception", + "expected_result", + "tip_result", + ], + argvalues=[ + [ + 8, + "COLUMN", + "A1", + None, + does_not_raise(), + {"primary_nozzle": "A1", "front_right_nozzle": "H1"}, + None, + ], + [ + 8, + "ROW", + "A1", + None, + pytest.raises(CommandParameterLimitViolated), + None, + None, + ], + [8, "SINGLE", "A1", None, does_not_raise(), {"primary_nozzle": "A1"}, None], + [ + 1, + "SINGLE", + "A1", + None, + pytest.raises(CommandPreconditionViolated), + None, + None, + ], + [ + 8, + "COLUMN", + "A1", + None, + pytest.raises(CommandPreconditionViolated), + None, + TipGeometry(length=50, diameter=5, volume=300), + ], + ], +) +async def test_available_nozzle_layout( + decoy: Decoy, + mock_state_view: StateView, + mock_hardware_api: HardwareAPI, + mock_labware_data_provider: LabwareDataProvider, + test_channels: int, + style: str, + primary_nozzle: Optional[str], + front_nozzle: Optional[str], + exception: ContextManager[None], + expected_result: Optional[Dict[str, str]], + tip_result: Optional[TipGeometry], +) -> None: + """The virtual and hardware pipettes should return the same data and error at the same time.""" + hw_subject = HardwareTipHandler( + state_view=mock_state_view, + hardware_api=mock_hardware_api, + labware_data_provider=mock_labware_data_provider, + ) + virtual_subject = VirtualTipHandler(state_view=mock_state_view) + decoy.when(mock_state_view.pipettes.get_channels("pipette-id")).then_return( + test_channels + ) + decoy.when(mock_state_view.pipettes.get_attached_tip("pipette-id")).then_return( + tip_result + ) + + with exception: + hw_result = await hw_subject.available_for_nozzle_layout( + "pipette-id", style, primary_nozzle, front_nozzle + ) + virtual_result = await virtual_subject.available_for_nozzle_layout( + "pipette-id", style, primary_nozzle, front_nozzle + ) + + assert hw_result == virtual_result == expected_result + + async def test_virtual_pick_up_tip( decoy: Decoy, mock_state_view: StateView, diff --git a/api/tests/opentrons/protocol_engine/resources/test_pipette_data_provider.py b/api/tests/opentrons/protocol_engine/resources/test_pipette_data_provider.py index 1eb3787a509..c3cf10449fc 100644 --- a/api/tests/opentrons/protocol_engine/resources/test_pipette_data_provider.py +++ b/api/tests/opentrons/protocol_engine/resources/test_pipette_data_provider.py @@ -125,6 +125,20 @@ def test_load_virtual_pipette_by_model_string( ) +def test_load_virtual_pipette_nozzle_layout( + subject_instance: VirtualPipetteDataProvider, +) -> None: + """It should return a NozzleMap object.""" + subject_instance.configure_virtual_pipette_nozzle_layout( + "my-pipette", "p300_multi_v2.1", "A1", "E1", "A1" + ) + result = subject_instance.get_nozzle_layout_for_pipette("my-pipette") + assert result.configuration.value == "COLUMN" + assert result.starting_nozzle == "A1" + assert result.front_right == "E1" + assert result.back_left == "A1" + + def test_get_pipette_static_config( supported_tip_fixture: pipette_definition.SupportedTipsDefinition, ) -> None: @@ -164,6 +178,7 @@ def test_get_pipette_static_config( "default_aspirate_speeds": {"2.0": 5.021202, "2.6": 10.042404}, "default_push_out_volume": 3, "supported_tips": {pip_types.PipetteTipType.t300: supported_tip_fixture}, + "current_nozzle_map": None, } result = subject.get_pipette_static_config(pipette_dict) diff --git a/api/tests/opentrons/protocol_engine/state/test_pipette_store.py b/api/tests/opentrons/protocol_engine/state/test_pipette_store.py index 25370a410fc..3f638991c95 100644 --- a/api/tests/opentrons/protocol_engine/state/test_pipette_store.py +++ b/api/tests/opentrons/protocol_engine/state/test_pipette_store.py @@ -69,6 +69,7 @@ def test_sets_initial_state(subject: PipetteStore) -> None: movement_speed_by_id={}, static_config_by_id={}, flow_rates_by_id={}, + nozzle_configuration_by_id={}, ) diff --git a/api/tests/opentrons/protocol_engine/state/test_pipette_view.py b/api/tests/opentrons/protocol_engine/state/test_pipette_view.py index b76ba20303f..5721beb5b18 100644 --- a/api/tests/opentrons/protocol_engine/state/test_pipette_view.py +++ b/api/tests/opentrons/protocol_engine/state/test_pipette_view.py @@ -24,6 +24,7 @@ HardwarePipette, StaticPipetteConfig, ) +from opentrons.hardware_control.nozzle_manager import NozzleMap from opentrons.protocol_engine.errors import TipNotAttachedError, PipetteNotLoadedError @@ -38,6 +39,7 @@ def get_pipette_view( movement_speed_by_id: Optional[Dict[str, Optional[float]]] = None, static_config_by_id: Optional[Dict[str, StaticPipetteConfig]] = None, flow_rates_by_id: Optional[Dict[str, FlowRates]] = None, + nozzle_layout_by_id: Optional[Dict[str, Optional[NozzleMap]]] = None, ) -> PipetteView: """Get a pipette view test subject with the specified state.""" state = PipetteState( @@ -49,6 +51,7 @@ def get_pipette_view( movement_speed_by_id=movement_speed_by_id or {}, static_config_by_id=static_config_by_id or {}, flow_rates_by_id=flow_rates_by_id or {}, + nozzle_configuration_by_id=nozzle_layout_by_id or {}, ) return PipetteView(state=state) diff --git a/shared-data/command/schemas/8.json b/shared-data/command/schemas/8.json index 81f1d37ca5f..2bfeee8e49c 100644 --- a/shared-data/command/schemas/8.json +++ b/shared-data/command/schemas/8.json @@ -14,6 +14,9 @@ { "$ref": "#/definitions/ConfigureForVolumeCreate" }, + { + "$ref": "#/definitions/ConfigureNozzleLayoutCreate" + }, { "$ref": "#/definitions/CustomCreate" }, @@ -439,6 +442,168 @@ }, "required": ["params"] }, + "EmptyNozzleLayoutConfiguration": { + "title": "EmptyNozzleLayoutConfiguration", + "description": "Empty basemodel to represent a reset to the nozzle configuration. Sending no parameters resets to default.", + "type": "object", + "properties": { + "style": { + "title": "Style", + "default": "EMPTY", + "enum": ["EMPTY"], + "type": "string" + } + } + }, + "SingleNozzleLayoutConfiguration": { + "title": "SingleNozzleLayoutConfiguration", + "description": "Minimum information required for a new nozzle configuration.", + "type": "object", + "properties": { + "style": { + "title": "Style", + "default": "SINGLE", + "enum": ["SINGLE"], + "type": "string" + }, + "primary_nozzle": { + "title": "Primary Nozzle", + "description": "The primary nozzle to use in the layout configuration. This nozzle will update the critical point of the current pipette. For now, this is also the back left corner of your rectangle.", + "enum": ["A1", "H1", "A12", "H12"], + "type": "string" + } + }, + "required": ["primary_nozzle"] + }, + "RowNozzleLayoutConfiguration": { + "title": "RowNozzleLayoutConfiguration", + "description": "Minimum information required for a new nozzle configuration.", + "type": "object", + "properties": { + "style": { + "title": "Style", + "default": "ROW", + "enum": ["ROW"], + "type": "string" + }, + "primary_nozzle": { + "title": "Primary Nozzle", + "description": "The primary nozzle to use in the layout configuration. This nozzle will update the critical point of the current pipette. For now, this is also the back left corner of your rectangle.", + "enum": ["A1", "H1", "A12", "H12"], + "type": "string" + } + }, + "required": ["primary_nozzle"] + }, + "ColumnNozzleLayoutConfiguration": { + "title": "ColumnNozzleLayoutConfiguration", + "description": "Information required for nozzle configurations of type ROW and COLUMN.", + "type": "object", + "properties": { + "style": { + "title": "Style", + "default": "COLUMN", + "enum": ["COLUMN"], + "type": "string" + }, + "primary_nozzle": { + "title": "Primary Nozzle", + "description": "The primary nozzle to use in the layout configuration. This nozzle will update the critical point of the current pipette. For now, this is also the back left corner of your rectangle.", + "enum": ["A1", "H1", "A12", "H12"], + "type": "string" + } + }, + "required": ["primary_nozzle"] + }, + "QuadrantNozzleLayoutConfiguration": { + "title": "QuadrantNozzleLayoutConfiguration", + "description": "Information required for nozzle configurations of type QUADRANT.", + "type": "object", + "properties": { + "style": { + "title": "Style", + "default": "QUADRANT", + "enum": ["QUADRANT"], + "type": "string" + }, + "primary_nozzle": { + "title": "Primary Nozzle", + "description": "The primary nozzle to use in the layout configuration. This nozzle will update the critical point of the current pipette. For now, this is also the back left corner of your rectangle.", + "enum": ["A1", "H1", "A12", "H12"], + "type": "string" + }, + "front_right_nozzle": { + "title": "Front Right Nozzle", + "description": "The front right nozzle in your configuration.", + "pattern": "[A-Z][0-100]", + "type": "string" + } + }, + "required": ["primary_nozzle", "front_right_nozzle"] + }, + "ConfigureNozzleLayoutParams": { + "title": "ConfigureNozzleLayoutParams", + "description": "Parameters required to configure the nozzle layout for a specific pipette.", + "type": "object", + "properties": { + "pipetteId": { + "title": "Pipetteid", + "description": "Identifier of pipette to use for liquid handling.", + "type": "string" + }, + "configuration_params": { + "title": "Configuration Params", + "anyOf": [ + { + "$ref": "#/definitions/EmptyNozzleLayoutConfiguration" + }, + { + "$ref": "#/definitions/SingleNozzleLayoutConfiguration" + }, + { + "$ref": "#/definitions/RowNozzleLayoutConfiguration" + }, + { + "$ref": "#/definitions/ColumnNozzleLayoutConfiguration" + }, + { + "$ref": "#/definitions/QuadrantNozzleLayoutConfiguration" + } + ] + } + }, + "required": ["pipetteId", "configuration_params"] + }, + "ConfigureNozzleLayoutCreate": { + "title": "ConfigureNozzleLayoutCreate", + "description": "Configure nozzle layout creation request model.", + "type": "object", + "properties": { + "commandType": { + "title": "Commandtype", + "default": "configureNozzleLayout", + "enum": ["configureNozzleLayout"], + "type": "string" + }, + "params": { + "$ref": "#/definitions/ConfigureNozzleLayoutParams" + }, + "intent": { + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "allOf": [ + { + "$ref": "#/definitions/CommandIntent" + } + ] + }, + "key": { + "title": "Key", + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "type": "string" + } + }, + "required": ["params"] + }, "CustomParams": { "title": "CustomParams", "description": "Payload used by a custom command.", diff --git a/shared-data/errors/definitions/1/errors.json b/shared-data/errors/definitions/1/errors.json index 28caa98cb7a..1f31ac9af6e 100644 --- a/shared-data/errors/definitions/1/errors.json +++ b/shared-data/errors/definitions/1/errors.json @@ -213,6 +213,10 @@ "4006": { "detail": "Invalid Protocol Data", "category": "generalError" + }, + "4007": { + "detail": "API Command is misconfigured", + "category": "generalError" } } } diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_0.json index 4f353672189..a3a7a9a8fc4 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_0.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_0.json @@ -4,7 +4,6 @@ "model": "p10", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.4, "speed": 30.0, "presses": 3, "increment": 1.0, @@ -34,7 +33,17 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], + "perTipPickupCurrent": { + "1": 0.1, + "2": 0.1, + "3": 0.15, + "4": 0.2, + "5": 0.25, + "6": 0.3, + "7": 0.35, + "8": 0.4 + } }, "channels": 8, "shaftDiameter": 1.0, diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_3.json b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_3.json index 9090efaccb2..3f6700dc816 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_3.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_3.json @@ -4,7 +4,6 @@ "model": "p10", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.4, "speed": 30.0, "presses": 3, "increment": 1.0, @@ -34,7 +33,17 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], + "perTipPickupCurrent": { + "1": 0.1, + "2": 0.1, + "3": 0.15, + "4": 0.2, + "5": 0.25, + "6": 0.3, + "7": 0.35, + "8": 0.4 + } }, "channels": 8, "shaftDiameter": 1.0, diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_4.json b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_4.json index d7967eb7f8e..f183e7aab87 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_4.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_4.json @@ -4,7 +4,6 @@ "model": "p10", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.4, "speed": 30.0, "presses": 3, "increment": 1.0, @@ -34,7 +33,17 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], + "perTipPickupCurrent": { + "1": 0.1, + "2": 0.1, + "3": 0.15, + "4": 0.2, + "5": 0.25, + "6": 0.3, + "7": 0.35, + "8": 0.4 + } }, "channels": 8, "shaftDiameter": 1.0, diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_5.json b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_5.json index 9974fe1c989..ef35a1587c8 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_5.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_5.json @@ -4,7 +4,6 @@ "model": "p10", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.55, "speed": 30.0, "presses": 3, "increment": 3.0, @@ -34,7 +33,17 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], + "perTipPickupCurrent": { + "1": 0.1, + "2": 0.14, + "3": 0.21, + "4": 0.28, + "5": 0.34, + "6": 0.41, + "7": 0.48, + "8": 0.55 + } }, "channels": 8, "shaftDiameter": 1.0, diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_6.json b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_6.json index 9974fe1c989..ef35a1587c8 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_6.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_6.json @@ -4,7 +4,6 @@ "model": "p10", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.55, "speed": 30.0, "presses": 3, "increment": 3.0, @@ -34,7 +33,17 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], + "perTipPickupCurrent": { + "1": 0.1, + "2": 0.14, + "3": 0.21, + "4": 0.28, + "5": 0.34, + "6": 0.41, + "7": 0.48, + "8": 0.55 + } }, "channels": 8, "shaftDiameter": 1.0, diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p1000/1_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p1000/1_0.json index f8c2397938d..1d17191c93f 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p1000/1_0.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p1000/1_0.json @@ -1,10 +1,9 @@ { "$otSharedSchema": "#/pipette/schemas/2/pipettePropertiesSchema.json", - "displayName": "Flex 8-Channel 1000 μL", + "displayName": "Flex 8-Channel 1000 uL", "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "current": 0.5, "presses": 1, "speed": 10, "increment": 0.0, @@ -40,7 +39,17 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], + "perTipPickupCurrent": { + "1": 0.15, + "2": 0.13, + "3": 0.19, + "4": 0.25, + "5": 0.31, + "6": 0.38, + "7": 0.44, + "8": 0.5 + } }, "backCompatNames": [], "channels": 8, diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_0.json index 325e06edfc3..8bd59075ccc 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_0.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_0.json @@ -4,7 +4,6 @@ "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "current": 0.5, "presses": 1, "speed": 10, "increment": 0.0, @@ -40,7 +39,17 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], + "perTipPickupCurrent": { + "1": 0.15, + "2": 0.13, + "3": 0.19, + "4": 0.25, + "5": 0.31, + "6": 0.38, + "7": 0.44, + "8": 0.5 + } }, "backCompatNames": [], "channels": 8, diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_3.json b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_3.json index 325e06edfc3..8bd59075ccc 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_3.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_3.json @@ -4,7 +4,6 @@ "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "current": 0.5, "presses": 1, "speed": 10, "increment": 0.0, @@ -40,7 +39,17 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], + "perTipPickupCurrent": { + "1": 0.15, + "2": 0.13, + "3": 0.19, + "4": 0.25, + "5": 0.31, + "6": 0.38, + "7": 0.44, + "8": 0.5 + } }, "backCompatNames": [], "channels": 8, diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_4.json b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_4.json index 74ab62080fe..862266f22fe 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_4.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_4.json @@ -4,7 +4,6 @@ "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "current": 0.55, "presses": 1, "speed": 10, "increment": 0.0, @@ -40,7 +39,17 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], + "perTipPickupCurrent": { + "1": 0.2, + "2": 0.14, + "3": 0.21, + "4": 0.28, + "5": 0.34, + "6": 0.41, + "7": 0.48, + "8": 0.55 + } }, "backCompatNames": [], "channels": 8, diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_5.json b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_5.json index 74ab62080fe..862266f22fe 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_5.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_5.json @@ -4,7 +4,6 @@ "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "current": 0.55, "presses": 1, "speed": 10, "increment": 0.0, @@ -40,7 +39,17 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], + "perTipPickupCurrent": { + "1": 0.2, + "2": 0.14, + "3": 0.21, + "4": 0.28, + "5": 0.34, + "6": 0.41, + "7": 0.48, + "8": 0.55 + } }, "backCompatNames": [], "channels": 8, diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p20/2_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p20/2_0.json index 5ff09279c1d..9530ac8428c 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p20/2_0.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p20/2_0.json @@ -4,7 +4,6 @@ "model": "p20", "displayCategory": "GEN2", "pickUpTipConfigurations": { - "current": 0.6, "speed": 10.0, "presses": 1, "increment": 0.0, @@ -34,7 +33,17 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], + "perTipPickupCurrent": { + "1": 0.1, + "2": 0.15, + "3": 0.23, + "4": 0.28, + "5": 0.38, + "6": 0.45, + "7": 0.53, + "8": 0.6 + } }, "channels": 8, "shaftDiameter": 1.0, diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p20/2_1.json b/shared-data/pipette/definitions/2/general/eight_channel/p20/2_1.json index 5ff09279c1d..9530ac8428c 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p20/2_1.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p20/2_1.json @@ -4,7 +4,6 @@ "model": "p20", "displayCategory": "GEN2", "pickUpTipConfigurations": { - "current": 0.6, "speed": 10.0, "presses": 1, "increment": 0.0, @@ -34,7 +33,17 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], + "perTipPickupCurrent": { + "1": 0.1, + "2": 0.15, + "3": 0.23, + "4": 0.28, + "5": 0.38, + "6": 0.45, + "7": 0.53, + "8": 0.6 + } }, "channels": 8, "shaftDiameter": 1.0, diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_0.json index fc8202bb490..0d1ed8808cc 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_0.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_0.json @@ -4,7 +4,6 @@ "model": "p300", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.6, "speed": 30.0, "presses": 3, "increment": 1.0, @@ -34,7 +33,17 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], + "perTipPickupCurrent": { + "1": 0.1, + "2": 0.15, + "3": 0.23, + "4": 0.3, + "5": 0.38, + "6": 0.45, + "7": 0.53, + "8": 0.6 + } }, "channels": 8, "shaftDiameter": 5.0, diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_3.json b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_3.json index 158246e8859..602bf5df703 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_3.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_3.json @@ -4,7 +4,6 @@ "model": "p300", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.6, "speed": 30.0, "presses": 3, "increment": 1.0, @@ -34,7 +33,17 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], + "perTipPickupCurrent": { + "1": 0.1, + "2": 0.15, + "3": 0.23, + "4": 0.3, + "5": 0.38, + "6": 0.45, + "7": 0.53, + "8": 0.6 + } }, "channels": 8, "shaftDiameter": 5.0, diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_4.json b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_4.json index 158246e8859..602bf5df703 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_4.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_4.json @@ -4,7 +4,6 @@ "model": "p300", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.6, "speed": 30.0, "presses": 3, "increment": 1.0, @@ -34,7 +33,17 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], + "perTipPickupCurrent": { + "1": 0.1, + "2": 0.15, + "3": 0.23, + "4": 0.3, + "5": 0.38, + "6": 0.45, + "7": 0.53, + "8": 0.6 + } }, "channels": 8, "shaftDiameter": 5.0, diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_5.json b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_5.json index 707f591d644..972cc766d78 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_5.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_5.json @@ -4,7 +4,6 @@ "model": "p300", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.9, "speed": 30.0, "presses": 3, "increment": 3.0, @@ -34,7 +33,17 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], + "perTipPickupCurrent": { + "1": 0.1, + "2": 0.23, + "3": 0.34, + "4": 0.45, + "5": 0.56, + "6": 0.68, + "7": 0.79, + "8": 0.9 + } }, "channels": 8, "shaftDiameter": 5.0, diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p300/2_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p300/2_0.json index faf79930bbf..412f0b9c90d 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p300/2_0.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p300/2_0.json @@ -4,7 +4,6 @@ "model": "p300", "displayCategory": "GEN2", "pickUpTipConfigurations": { - "current": 0.8, "speed": 10.0, "presses": 1, "increment": 0.0, @@ -34,7 +33,17 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], + "perTipPickupCurrent": { + "1": 0.13, + "2": 0.2, + "3": 0.3, + "4": 0.4, + "5": 0.5, + "6": 0.6, + "7": 0.7, + "8": 0.8 + } }, "channels": 8, "shaftDiameter": 3.5, diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p300/2_1.json b/shared-data/pipette/definitions/2/general/eight_channel/p300/2_1.json index faf79930bbf..412f0b9c90d 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p300/2_1.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p300/2_1.json @@ -4,7 +4,6 @@ "model": "p300", "displayCategory": "GEN2", "pickUpTipConfigurations": { - "current": 0.8, "speed": 10.0, "presses": 1, "increment": 0.0, @@ -34,7 +33,17 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], + "perTipPickupCurrent": { + "1": 0.13, + "2": 0.2, + "3": 0.3, + "4": 0.4, + "5": 0.5, + "6": 0.6, + "7": 0.7, + "8": 0.8 + } }, "channels": 8, "shaftDiameter": 3.5, diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_0.json index 3db295cf144..489a8a97191 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_0.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_0.json @@ -4,7 +4,6 @@ "model": "p50", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.6, "speed": 30.0, "presses": 3, "increment": 1.0, @@ -34,7 +33,17 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], + "perTipPickupCurrent": { + "1": 0.1, + "2": 0.15, + "3": 0.23, + "4": 0.3, + "5": 0.38, + "6": 0.45, + "7": 0.53, + "8": 0.6 + } }, "channels": 8, "shaftDiameter": 2.0, diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_3.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_3.json index a930751ec6c..2931fbd0351 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_3.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_3.json @@ -4,7 +4,6 @@ "model": "p50", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.6, "speed": 30.0, "presses": 3, "increment": 1.0, @@ -34,7 +33,17 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], + "perTipPickupCurrent": { + "1": 0.1, + "2": 0.15, + "3": 0.23, + "4": 0.3, + "5": 0.38, + "6": 0.45, + "7": 0.53, + "8": 0.6 + } }, "channels": 8, "shaftDiameter": 2.0, diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_4.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_4.json index 187dc21b9b0..d05487517e8 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_4.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_4.json @@ -4,7 +4,6 @@ "model": "p50", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.6, "speed": 30.0, "presses": 3, "increment": 1.0, @@ -34,7 +33,17 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], + "perTipPickupCurrent": { + "1": 0.1, + "2": 0.15, + "3": 0.23, + "4": 0.3, + "5": 0.38, + "6": 0.45, + "7": 0.53, + "8": 0.6 + } }, "channels": 8, "shaftDiameter": 2.0, diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_5.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_5.json index c2249446a6b..6204217a21f 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_5.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_5.json @@ -4,7 +4,6 @@ "model": "p50", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.8, "speed": 30.0, "presses": 3, "increment": 3.0, @@ -34,7 +33,17 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], + "perTipPickupCurrent": { + "1": 0.1, + "2": 0.2, + "3": 0.3, + "4": 0.4, + "5": 0.5, + "6": 0.6, + "7": 0.7, + "8": 0.8 + } }, "channels": 8, "shaftDiameter": 2.0, diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_0.json index a6dceda8f18..4ea113546b3 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_0.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_0.json @@ -4,7 +4,6 @@ "model": "p50", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "current": 0.5, "presses": 1, "speed": 10, "increment": 0.0, @@ -46,7 +45,17 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], + "perTipPickupCurrent": { + "1": 0.15, + "2": 0.13, + "3": 0.19, + "4": 0.25, + "5": 0.31, + "6": 0.38, + "7": 0.44, + "8": 0.5 + } }, "backCompatNames": [], "channels": 8, diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_3.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_3.json index a6dceda8f18..4ea113546b3 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_3.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_3.json @@ -4,7 +4,6 @@ "model": "p50", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "current": 0.5, "presses": 1, "speed": 10, "increment": 0.0, @@ -46,7 +45,17 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], + "perTipPickupCurrent": { + "1": 0.15, + "2": 0.13, + "3": 0.19, + "4": 0.25, + "5": 0.31, + "6": 0.38, + "7": 0.44, + "8": 0.5 + } }, "backCompatNames": [], "channels": 8, diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_4.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_4.json index c7b005e1049..cffcc3d65e9 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_4.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_4.json @@ -4,7 +4,6 @@ "model": "p50", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "current": 0.55, "presses": 1, "speed": 10, "increment": 0.0, @@ -46,7 +45,17 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], + "perTipPickupCurrent": { + "1": 0.2, + "2": 0.14, + "3": 0.2, + "4": 0.28, + "5": 0.34, + "6": 0.41, + "7": 0.48, + "8": 0.55 + } }, "backCompatNames": [], "channels": 8, diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_5.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_5.json index c7b005e1049..cffcc3d65e9 100644 --- a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_5.json +++ b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_5.json @@ -4,7 +4,6 @@ "model": "p50", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "current": 0.55, "presses": 1, "speed": 10, "increment": 0.0, @@ -46,7 +45,17 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8] + "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8], + "perTipPickupCurrent": { + "1": 0.2, + "2": 0.14, + "3": 0.2, + "4": 0.28, + "5": 0.34, + "6": 0.41, + "7": 0.48, + "8": 0.55 + } }, "backCompatNames": [], "channels": 8, diff --git a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/1_0.json b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/1_0.json index be5a36fd7b2..2fa4e3e803a 100644 --- a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/1_0.json +++ b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/1_0.json @@ -4,7 +4,6 @@ "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "current": 1.5, "presses": 0.0, "speed": 5.5, "increment": 0.0, @@ -45,7 +44,22 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 8, 12, 96] + "availableConfigurations": [1, 8, 12, 96], + "perTipPickupCurrent": { + "1": 0.02, + "2": 0.03, + "3": 0.05, + "4": 0.06, + "5": 0.08, + "6": 0.09, + "7": 0.11, + "8": 0.13, + "12": 0.19, + "16": 0.25, + "24": 0.38, + "48": 0.75, + "96": 1.5 + } }, "backCompatNames": [], "channels": 96, diff --git a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_0.json b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_0.json index ad470621884..bef06d53c03 100644 --- a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_0.json +++ b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_0.json @@ -4,7 +4,6 @@ "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "current": 1.5, "presses": 0.0, "speed": 5.5, "increment": 0.0, @@ -45,7 +44,22 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 8, 12, 96] + "availableConfigurations": [1, 8, 12, 96], + "perTipPickupCurrent": { + "1": 0.02, + "2": 0.03, + "3": 0.05, + "4": 0.06, + "5": 0.08, + "6": 0.09, + "7": 0.11, + "8": 0.13, + "12": 0.19, + "16": 0.25, + "24": 0.38, + "48": 0.75, + "96": 1.5 + } }, "backCompatNames": [], "channels": 96, diff --git a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_3.json b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_3.json index ad470621884..bef06d53c03 100644 --- a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_3.json +++ b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_3.json @@ -4,7 +4,6 @@ "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "current": 1.5, "presses": 0.0, "speed": 5.5, "increment": 0.0, @@ -45,7 +44,22 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 8, 12, 96] + "availableConfigurations": [1, 8, 12, 96], + "perTipPickupCurrent": { + "1": 0.02, + "2": 0.03, + "3": 0.05, + "4": 0.06, + "5": 0.08, + "6": 0.09, + "7": 0.11, + "8": 0.13, + "12": 0.19, + "16": 0.25, + "24": 0.38, + "48": 0.75, + "96": 1.5 + } }, "backCompatNames": [], "channels": 96, diff --git a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_4.json b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_4.json index 8ee7b54a538..4d7eaff5487 100644 --- a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_4.json +++ b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_4.json @@ -4,7 +4,6 @@ "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "current": 1.5, "presses": 0.0, "speed": 5.5, "increment": 0.0, @@ -45,7 +44,22 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 8, 12, 96] + "availableConfigurations": [1, 8, 12, 96], + "perTipPickupCurrent": { + "1": 0.02, + "2": 0.03, + "3": 0.05, + "4": 0.06, + "5": 0.08, + "6": 0.09, + "7": 0.11, + "8": 0.13, + "12": 0.19, + "16": 0.25, + "24": 0.38, + "48": 0.75, + "96": 1.5 + } }, "backCompatNames": [], "channels": 96, diff --git a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_5.json b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_5.json index 5fe52525614..2494dfeccca 100644 --- a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_5.json +++ b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_5.json @@ -4,7 +4,6 @@ "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "current": 1.5, "presses": 0.0, "speed": 5.5, "increment": 0.0, @@ -45,7 +44,22 @@ }, "partialTipConfigurations": { "partialTipSupported": true, - "availableConfigurations": [1, 8, 12, 96] + "availableConfigurations": [1, 8, 12, 16, 24, 48, 96], + "perTipPickupCurrent": { + "1": 0.02, + "2": 0.03, + "3": 0.05, + "4": 0.06, + "5": 0.08, + "6": 0.09, + "7": 0.11, + "8": 0.13, + "12": 0.19, + "16": 0.25, + "24": 0.38, + "48": 0.75, + "96": 1.5 + } }, "backCompatNames": [], "channels": 96, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p10/1_0.json b/shared-data/pipette/definitions/2/general/single_channel/p10/1_0.json index 87bc9d96d64..1d66d202d5f 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p10/1_0.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p10/1_0.json @@ -4,7 +4,6 @@ "model": "p10", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.1, "speed": 30.0, "presses": 3, "increment": 1.0, @@ -34,7 +33,10 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null + "availableConfigurations": null, + "perTipPickupCurrent": { + "1": 0.1 + } }, "channels": 1, "shaftDiameter": 1.0, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p10/1_3.json b/shared-data/pipette/definitions/2/general/single_channel/p10/1_3.json index 6ffa340a8b3..93bc4d1e0a2 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p10/1_3.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p10/1_3.json @@ -4,7 +4,6 @@ "model": "p10", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.1, "speed": 30.0, "presses": 3, "increment": 1.0, @@ -34,7 +33,10 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null + "availableConfigurations": null, + "perTipPickupCurrent": { + "1": 0.1 + } }, "channels": 1, "shaftDiameter": 1.0, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p10/1_4.json b/shared-data/pipette/definitions/2/general/single_channel/p10/1_4.json index abd69fc06d4..44fba8ac981 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p10/1_4.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p10/1_4.json @@ -4,7 +4,6 @@ "model": "p10", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.1, "speed": 30.0, "presses": 3, "increment": 1.0, @@ -34,7 +33,10 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null + "availableConfigurations": null, + "perTipPickupCurrent": { + "1": 0.1 + } }, "channels": 1, "shaftDiameter": 1.0, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p10/1_5.json b/shared-data/pipette/definitions/2/general/single_channel/p10/1_5.json index abd69fc06d4..44fba8ac981 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p10/1_5.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p10/1_5.json @@ -4,7 +4,6 @@ "model": "p10", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.1, "speed": 30.0, "presses": 3, "increment": 1.0, @@ -34,7 +33,10 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null + "availableConfigurations": null, + "perTipPickupCurrent": { + "1": 0.1 + } }, "channels": 1, "shaftDiameter": 1.0, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_0.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_0.json index fdd7421a49d..e2145b88696 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_0.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_0.json @@ -4,7 +4,6 @@ "model": "p1000", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.1, "speed": 30.0, "presses": 3, "increment": 1.0, @@ -34,7 +33,10 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null + "availableConfigurations": null, + "perTipPickupCurrent": { + "1": 0.1 + } }, "channels": 1, "shaftDiameter": 9.0, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_3.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_3.json index bf9dbf3c137..2cfca4bd684 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_3.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_3.json @@ -4,7 +4,6 @@ "model": "p1000", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.1, "speed": 30.0, "presses": 3, "increment": 1.0, @@ -34,7 +33,10 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null + "availableConfigurations": null, + "perTipPickupCurrent": { + "1": 0.1 + } }, "channels": 1, "shaftDiameter": 9.0, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_4.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_4.json index bf9dbf3c137..2cfca4bd684 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_4.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_4.json @@ -4,7 +4,6 @@ "model": "p1000", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.1, "speed": 30.0, "presses": 3, "increment": 1.0, @@ -34,7 +33,10 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null + "availableConfigurations": null, + "perTipPickupCurrent": { + "1": 0.1 + } }, "channels": 1, "shaftDiameter": 9.0, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_5.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_5.json index cc2384deda6..4199255baf5 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_5.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_5.json @@ -4,7 +4,6 @@ "model": "p1000", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.15, "speed": 30.0, "presses": 3, "increment": 1.0, @@ -34,7 +33,10 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null + "availableConfigurations": null, + "perTipPickupCurrent": { + "1": 0.15 + } }, "channels": 1, "shaftDiameter": 9.0, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/2_0.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/2_0.json index 1faf7ce5e5f..90dca46ec79 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p1000/2_0.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/2_0.json @@ -4,7 +4,6 @@ "model": "p1000", "displayCategory": "GEN2", "pickUpTipConfigurations": { - "current": 0.17, "speed": 10.0, "presses": 1, "increment": 0.0, @@ -34,7 +33,10 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null + "availableConfigurations": null, + "perTipPickupCurrent": { + "1": 0.17 + } }, "channels": 1, "shaftDiameter": 6.0, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/2_1.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/2_1.json index 0600d164c98..9ecf3e0909b 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p1000/2_1.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/2_1.json @@ -4,7 +4,6 @@ "model": "p1000", "displayCategory": "GEN2", "pickUpTipConfigurations": { - "current": 0.17, "speed": 10.0, "presses": 1, "increment": 0.0, @@ -34,7 +33,10 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null + "availableConfigurations": null, + "perTipPickupCurrent": { + "1": 0.17 + } }, "channels": 1, "shaftDiameter": 6.0, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/2_2.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/2_2.json index 0600d164c98..9ecf3e0909b 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p1000/2_2.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/2_2.json @@ -4,7 +4,6 @@ "model": "p1000", "displayCategory": "GEN2", "pickUpTipConfigurations": { - "current": 0.17, "speed": 10.0, "presses": 1, "increment": 0.0, @@ -34,7 +33,10 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null + "availableConfigurations": null, + "perTipPickupCurrent": { + "1": 0.17 + } }, "channels": 1, "shaftDiameter": 6.0, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/3_0.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/3_0.json index 1aa35765c0b..3475cb66bd4 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p1000/3_0.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/3_0.json @@ -4,7 +4,6 @@ "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "current": 0.15, "presses": 1, "speed": 5, "increment": 0.0, @@ -39,7 +38,10 @@ } }, "partialTipConfigurations": { - "partialTipSupported": false + "partialTipSupported": false, + "perTipPickupCurrent": { + "1": 0.15 + } }, "backCompatNames": [], "channels": 1, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/3_3.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/3_3.json index 1aa35765c0b..3475cb66bd4 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p1000/3_3.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/3_3.json @@ -4,7 +4,6 @@ "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "current": 0.15, "presses": 1, "speed": 5, "increment": 0.0, @@ -39,7 +38,10 @@ } }, "partialTipConfigurations": { - "partialTipSupported": false + "partialTipSupported": false, + "perTipPickupCurrent": { + "1": 0.15 + } }, "backCompatNames": [], "channels": 1, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/3_4.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/3_4.json index 9f88a64897d..1298625e578 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p1000/3_4.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/3_4.json @@ -4,7 +4,6 @@ "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "current": 0.2, "presses": 1, "speed": 10, "increment": 0.0, @@ -39,7 +38,10 @@ } }, "partialTipConfigurations": { - "partialTipSupported": false + "partialTipSupported": false, + "perTipPickupCurrent": { + "1": 0.2 + } }, "backCompatNames": [], "channels": 1, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/3_5.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/3_5.json index 9f88a64897d..1298625e578 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p1000/3_5.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/3_5.json @@ -4,7 +4,6 @@ "model": "p1000", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "current": 0.2, "presses": 1, "speed": 10, "increment": 0.0, @@ -39,7 +38,10 @@ } }, "partialTipConfigurations": { - "partialTipSupported": false + "partialTipSupported": false, + "perTipPickupCurrent": { + "1": 0.2 + } }, "backCompatNames": [], "channels": 1, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p20/2_0.json b/shared-data/pipette/definitions/2/general/single_channel/p20/2_0.json index 26e9a9c8f3f..1b5a8b392ae 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p20/2_0.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p20/2_0.json @@ -4,7 +4,6 @@ "model": "p20", "displayCategory": "GEN2", "pickUpTipConfigurations": { - "current": 0.1, "speed": 10.0, "presses": 1, "increment": 0.0, @@ -34,7 +33,10 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null + "availableConfigurations": null, + "perTipPickupCurrent": { + "1": 0.1 + } }, "channels": 1, "shaftDiameter": 1.0, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p20/2_1.json b/shared-data/pipette/definitions/2/general/single_channel/p20/2_1.json index 2a14e95d535..fd041576730 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p20/2_1.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p20/2_1.json @@ -4,7 +4,6 @@ "model": "p20", "displayCategory": "GEN2", "pickUpTipConfigurations": { - "current": 0.1, "speed": 10.0, "presses": 1, "increment": 0.0, @@ -34,7 +33,10 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null + "availableConfigurations": null, + "perTipPickupCurrent": { + "1": 0.1 + } }, "channels": 1, "shaftDiameter": 1.0, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p20/2_2.json b/shared-data/pipette/definitions/2/general/single_channel/p20/2_2.json index 2a14e95d535..fd041576730 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p20/2_2.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p20/2_2.json @@ -4,7 +4,6 @@ "model": "p20", "displayCategory": "GEN2", "pickUpTipConfigurations": { - "current": 0.1, "speed": 10.0, "presses": 1, "increment": 0.0, @@ -34,7 +33,10 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null + "availableConfigurations": null, + "perTipPickupCurrent": { + "1": 0.1 + } }, "channels": 1, "shaftDiameter": 1.0, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p300/1_0.json b/shared-data/pipette/definitions/2/general/single_channel/p300/1_0.json index 32b3a0c76cc..ebd868f0a03 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p300/1_0.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p300/1_0.json @@ -4,7 +4,6 @@ "model": "p300", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.1, "speed": 30.0, "presses": 3, "increment": 1.0, @@ -34,7 +33,10 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null + "availableConfigurations": null, + "perTipPickupCurrent": { + "1": 0.1 + } }, "channels": 1, "shaftDiameter": 5.0, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p300/1_3.json b/shared-data/pipette/definitions/2/general/single_channel/p300/1_3.json index eb334ea9835..426e391d012 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p300/1_3.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p300/1_3.json @@ -4,7 +4,6 @@ "model": "p300", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.1, "speed": 30.0, "presses": 3, "increment": 1.0, @@ -34,7 +33,10 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null + "availableConfigurations": null, + "perTipPickupCurrent": { + "1": 0.1 + } }, "channels": 1, "shaftDiameter": 5.0, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p300/1_4.json b/shared-data/pipette/definitions/2/general/single_channel/p300/1_4.json index 72c24e1ebdf..6d469c910ba 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p300/1_4.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p300/1_4.json @@ -4,7 +4,6 @@ "model": "p300", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.1, "speed": 30.0, "presses": 3, "increment": 1.0, @@ -34,7 +33,10 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null + "availableConfigurations": null, + "perTipPickupCurrent": { + "1": 0.1 + } }, "channels": 1, "shaftDiameter": 5.0, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p300/1_5.json b/shared-data/pipette/definitions/2/general/single_channel/p300/1_5.json index 72c24e1ebdf..6d469c910ba 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p300/1_5.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p300/1_5.json @@ -4,7 +4,6 @@ "model": "p300", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.1, "speed": 30.0, "presses": 3, "increment": 1.0, @@ -34,7 +33,10 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null + "availableConfigurations": null, + "perTipPickupCurrent": { + "1": 0.1 + } }, "channels": 1, "shaftDiameter": 5.0, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p300/2_0.json b/shared-data/pipette/definitions/2/general/single_channel/p300/2_0.json index 0d0e56e1368..d5aea0fa6cf 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p300/2_0.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p300/2_0.json @@ -4,7 +4,6 @@ "model": "p300", "displayCategory": "GEN2", "pickUpTipConfigurations": { - "current": 0.125, "speed": 10.0, "presses": 1, "increment": 0.0, @@ -34,7 +33,10 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null + "availableConfigurations": null, + "perTipPickupCurrent": { + "1": 0.125 + } }, "channels": 1, "shaftDiameter": 3.5, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p300/2_1.json b/shared-data/pipette/definitions/2/general/single_channel/p300/2_1.json index 961c04a067d..d8c36634655 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p300/2_1.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p300/2_1.json @@ -4,7 +4,6 @@ "model": "p300", "displayCategory": "GEN2", "pickUpTipConfigurations": { - "current": 0.125, "speed": 10.0, "presses": 1, "increment": 0.0, @@ -34,7 +33,10 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null + "availableConfigurations": null, + "perTipPickupCurrent": { + "1": 0.125 + } }, "channels": 1, "shaftDiameter": 3.5, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p50/1_0.json b/shared-data/pipette/definitions/2/general/single_channel/p50/1_0.json index b413e7fc45f..f07934753bb 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p50/1_0.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p50/1_0.json @@ -4,7 +4,6 @@ "model": "p50", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.1, "speed": 30.0, "presses": 3, "increment": 1.0, @@ -34,7 +33,10 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null + "availableConfigurations": null, + "perTipPickupCurrent": { + "1": 0.1 + } }, "channels": 1, "shaftDiameter": 2.0, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p50/1_3.json b/shared-data/pipette/definitions/2/general/single_channel/p50/1_3.json index a355b7fa796..01bce6c8c90 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p50/1_3.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p50/1_3.json @@ -4,7 +4,6 @@ "model": "p50", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.1, "speed": 30.0, "presses": 3, "increment": 1.0, @@ -34,7 +33,10 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null + "availableConfigurations": null, + "perTipPickupCurrent": { + "1": 0.1 + } }, "channels": 1, "shaftDiameter": 2.0, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p50/1_4.json b/shared-data/pipette/definitions/2/general/single_channel/p50/1_4.json index 291b79b5751..a205e79cbc8 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p50/1_4.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p50/1_4.json @@ -4,7 +4,6 @@ "model": "p50", "displayCategory": "GEN1", "pickUpTipConfigurations": { - "current": 0.1, "speed": 30.0, "presses": 3, "increment": 1.0, @@ -34,7 +33,10 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null + "availableConfigurations": null, + "perTipPickupCurrent": { + "1": 0.1 + } }, "channels": 1, "shaftDiameter": 2.0, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p50/1_5.json b/shared-data/pipette/definitions/2/general/single_channel/p50/1_5.json index 96f0051da60..a205e79cbc8 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p50/1_5.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p50/1_5.json @@ -3,10 +3,7 @@ "displayName": "P50 Single-Channel GEN1", "model": "p50", "displayCategory": "GEN1", - "majorVersion": 1, - "minorVersion": 5, "pickUpTipConfigurations": { - "current": 0.1, "speed": 30.0, "presses": 3, "increment": 1.0, @@ -36,7 +33,10 @@ }, "partialTipConfigurations": { "partialTipSupported": false, - "availableConfigurations": null + "availableConfigurations": null, + "perTipPickupCurrent": { + "1": 0.1 + } }, "channels": 1, "shaftDiameter": 2.0, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p50/3_0.json b/shared-data/pipette/definitions/2/general/single_channel/p50/3_0.json index 7381b5fe52c..04aaedc093a 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p50/3_0.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p50/3_0.json @@ -4,7 +4,6 @@ "model": "p50", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "current": 0.15, "presses": 1, "speed": 5, "increment": 0.0, @@ -45,7 +44,10 @@ } }, "partialTipConfigurations": { - "partialTipSupported": false + "partialTipSupported": false, + "perTipPickupCurrent": { + "1": 0.15 + } }, "backCompatNames": [], "channels": 1, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p50/3_3.json b/shared-data/pipette/definitions/2/general/single_channel/p50/3_3.json index 7381b5fe52c..04aaedc093a 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p50/3_3.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p50/3_3.json @@ -4,7 +4,6 @@ "model": "p50", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "current": 0.15, "presses": 1, "speed": 5, "increment": 0.0, @@ -45,7 +44,10 @@ } }, "partialTipConfigurations": { - "partialTipSupported": false + "partialTipSupported": false, + "perTipPickupCurrent": { + "1": 0.15 + } }, "backCompatNames": [], "channels": 1, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p50/3_4.json b/shared-data/pipette/definitions/2/general/single_channel/p50/3_4.json index 7c606e35508..b46c3773f3c 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p50/3_4.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p50/3_4.json @@ -4,7 +4,6 @@ "model": "p50", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "current": 0.2, "presses": 1, "speed": 10, "increment": 0.0, @@ -45,7 +44,10 @@ } }, "partialTipConfigurations": { - "partialTipSupported": false + "partialTipSupported": false, + "perTipPickupCurrent": { + "1": 0.2 + } }, "backCompatNames": [], "channels": 1, diff --git a/shared-data/pipette/definitions/2/general/single_channel/p50/3_5.json b/shared-data/pipette/definitions/2/general/single_channel/p50/3_5.json index 7c606e35508..b46c3773f3c 100644 --- a/shared-data/pipette/definitions/2/general/single_channel/p50/3_5.json +++ b/shared-data/pipette/definitions/2/general/single_channel/p50/3_5.json @@ -4,7 +4,6 @@ "model": "p50", "displayCategory": "FLEX", "pickUpTipConfigurations": { - "current": 0.2, "presses": 1, "speed": 10, "increment": 0.0, @@ -45,7 +44,10 @@ } }, "partialTipConfigurations": { - "partialTipSupported": false + "partialTipSupported": false, + "perTipPickupCurrent": { + "1": 0.2 + } }, "backCompatNames": [], "channels": 1, diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_0.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_0.json index 121ab9d8526..62ab42193de 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_0.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_0.json @@ -4,12 +4,12 @@ "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p10/placeholder.gltf", "nozzleMap": { "A1": [0.0, 31.5, 0.8], - "B1": [0.0, 40.5, 0.8], - "C1": [0.0, 49.5, 0.8], - "D1": [0.0, 58.5, 0.8], - "E1": [0.0, 67.5, 0.8], - "F1": [0.0, 76.5, 0.8], - "G1": [0.0, 85.5, 0.8], - "H1": [0.0, 94.5, 0.8] + "B1": [0.0, 22.5, 0.8], + "C1": [0.0, 13.5, 0.8], + "D1": [0.0, 4.5, 0.8], + "E1": [0.0, -4.5, 0.8], + "F1": [0.0, -13.5, 0.8], + "G1": [0.0, -22.5, 0.8], + "H1": [0.0, -31.5, 0.8] } } diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_3.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_3.json index 121ab9d8526..62ab42193de 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_3.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_3.json @@ -4,12 +4,12 @@ "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p10/placeholder.gltf", "nozzleMap": { "A1": [0.0, 31.5, 0.8], - "B1": [0.0, 40.5, 0.8], - "C1": [0.0, 49.5, 0.8], - "D1": [0.0, 58.5, 0.8], - "E1": [0.0, 67.5, 0.8], - "F1": [0.0, 76.5, 0.8], - "G1": [0.0, 85.5, 0.8], - "H1": [0.0, 94.5, 0.8] + "B1": [0.0, 22.5, 0.8], + "C1": [0.0, 13.5, 0.8], + "D1": [0.0, 4.5, 0.8], + "E1": [0.0, -4.5, 0.8], + "F1": [0.0, -13.5, 0.8], + "G1": [0.0, -22.5, 0.8], + "H1": [0.0, -31.5, 0.8] } } diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_4.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_4.json index 121ab9d8526..62ab42193de 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_4.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_4.json @@ -4,12 +4,12 @@ "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p10/placeholder.gltf", "nozzleMap": { "A1": [0.0, 31.5, 0.8], - "B1": [0.0, 40.5, 0.8], - "C1": [0.0, 49.5, 0.8], - "D1": [0.0, 58.5, 0.8], - "E1": [0.0, 67.5, 0.8], - "F1": [0.0, 76.5, 0.8], - "G1": [0.0, 85.5, 0.8], - "H1": [0.0, 94.5, 0.8] + "B1": [0.0, 22.5, 0.8], + "C1": [0.0, 13.5, 0.8], + "D1": [0.0, 4.5, 0.8], + "E1": [0.0, -4.5, 0.8], + "F1": [0.0, -13.5, 0.8], + "G1": [0.0, -22.5, 0.8], + "H1": [0.0, -31.5, 0.8] } } diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_5.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_5.json index 121ab9d8526..62ab42193de 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_5.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_5.json @@ -4,12 +4,12 @@ "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p10/placeholder.gltf", "nozzleMap": { "A1": [0.0, 31.5, 0.8], - "B1": [0.0, 40.5, 0.8], - "C1": [0.0, 49.5, 0.8], - "D1": [0.0, 58.5, 0.8], - "E1": [0.0, 67.5, 0.8], - "F1": [0.0, 76.5, 0.8], - "G1": [0.0, 85.5, 0.8], - "H1": [0.0, 94.5, 0.8] + "B1": [0.0, 22.5, 0.8], + "C1": [0.0, 13.5, 0.8], + "D1": [0.0, 4.5, 0.8], + "E1": [0.0, -4.5, 0.8], + "F1": [0.0, -13.5, 0.8], + "G1": [0.0, -22.5, 0.8], + "H1": [0.0, -31.5, 0.8] } } diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_6.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_6.json index 121ab9d8526..62ab42193de 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_6.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p10/1_6.json @@ -4,12 +4,12 @@ "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p10/placeholder.gltf", "nozzleMap": { "A1": [0.0, 31.5, 0.8], - "B1": [0.0, 40.5, 0.8], - "C1": [0.0, 49.5, 0.8], - "D1": [0.0, 58.5, 0.8], - "E1": [0.0, 67.5, 0.8], - "F1": [0.0, 76.5, 0.8], - "G1": [0.0, 85.5, 0.8], - "H1": [0.0, 94.5, 0.8] + "B1": [0.0, 22.5, 0.8], + "C1": [0.0, 13.5, 0.8], + "D1": [0.0, 4.5, 0.8], + "E1": [0.0, -4.5, 0.8], + "F1": [0.0, -13.5, 0.8], + "G1": [0.0, -22.5, 0.8], + "H1": [0.0, -31.5, 0.8] } } diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/1_0.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/1_0.json index 1000fbbc8d5..280d149c350 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/1_0.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/1_0.json @@ -4,12 +4,12 @@ "nozzleOffset": [-8.0, -16.0, -259.15], "nozzleMap": { "A1": [-8.0, -16.0, -259.15], - "B1": [-8.0, -7.0, -259.15], - "C1": [-8.0, 2.0, -259.15], - "D1": [-8.0, 11.0, -259.15], - "E1": [-8.0, 20.0, -259.15], - "F1": [-8.0, 29.0, -259.15], - "G1": [-8.0, 38.0, -259.15], - "H1": [-8.0, 47.0, -259.15] + "B1": [-8.0, -25.0, -259.15], + "C1": [-8.0, -34.0, -259.15], + "D1": [-8.0, -43.0, -259.15], + "E1": [-8.0, -52.0, -259.15], + "F1": [-8.0, -61.0, -259.15], + "G1": [-8.0, -70.0, -259.15], + "H1": [-8.0, -79.0, -259.15] } } diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_0.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_0.json index 1000fbbc8d5..280d149c350 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_0.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_0.json @@ -4,12 +4,12 @@ "nozzleOffset": [-8.0, -16.0, -259.15], "nozzleMap": { "A1": [-8.0, -16.0, -259.15], - "B1": [-8.0, -7.0, -259.15], - "C1": [-8.0, 2.0, -259.15], - "D1": [-8.0, 11.0, -259.15], - "E1": [-8.0, 20.0, -259.15], - "F1": [-8.0, 29.0, -259.15], - "G1": [-8.0, 38.0, -259.15], - "H1": [-8.0, 47.0, -259.15] + "B1": [-8.0, -25.0, -259.15], + "C1": [-8.0, -34.0, -259.15], + "D1": [-8.0, -43.0, -259.15], + "E1": [-8.0, -52.0, -259.15], + "F1": [-8.0, -61.0, -259.15], + "G1": [-8.0, -70.0, -259.15], + "H1": [-8.0, -79.0, -259.15] } } diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_3.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_3.json index 1000fbbc8d5..280d149c350 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_3.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_3.json @@ -4,12 +4,12 @@ "nozzleOffset": [-8.0, -16.0, -259.15], "nozzleMap": { "A1": [-8.0, -16.0, -259.15], - "B1": [-8.0, -7.0, -259.15], - "C1": [-8.0, 2.0, -259.15], - "D1": [-8.0, 11.0, -259.15], - "E1": [-8.0, 20.0, -259.15], - "F1": [-8.0, 29.0, -259.15], - "G1": [-8.0, 38.0, -259.15], - "H1": [-8.0, 47.0, -259.15] + "B1": [-8.0, -25.0, -259.15], + "C1": [-8.0, -34.0, -259.15], + "D1": [-8.0, -43.0, -259.15], + "E1": [-8.0, -52.0, -259.15], + "F1": [-8.0, -61.0, -259.15], + "G1": [-8.0, -70.0, -259.15], + "H1": [-8.0, -79.0, -259.15] } } diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_4.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_4.json index 1000fbbc8d5..280d149c350 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_4.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_4.json @@ -4,12 +4,12 @@ "nozzleOffset": [-8.0, -16.0, -259.15], "nozzleMap": { "A1": [-8.0, -16.0, -259.15], - "B1": [-8.0, -7.0, -259.15], - "C1": [-8.0, 2.0, -259.15], - "D1": [-8.0, 11.0, -259.15], - "E1": [-8.0, 20.0, -259.15], - "F1": [-8.0, 29.0, -259.15], - "G1": [-8.0, 38.0, -259.15], - "H1": [-8.0, 47.0, -259.15] + "B1": [-8.0, -25.0, -259.15], + "C1": [-8.0, -34.0, -259.15], + "D1": [-8.0, -43.0, -259.15], + "E1": [-8.0, -52.0, -259.15], + "F1": [-8.0, -61.0, -259.15], + "G1": [-8.0, -70.0, -259.15], + "H1": [-8.0, -79.0, -259.15] } } diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_5.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_5.json index 1000fbbc8d5..280d149c350 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_5.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_5.json @@ -4,12 +4,12 @@ "nozzleOffset": [-8.0, -16.0, -259.15], "nozzleMap": { "A1": [-8.0, -16.0, -259.15], - "B1": [-8.0, -7.0, -259.15], - "C1": [-8.0, 2.0, -259.15], - "D1": [-8.0, 11.0, -259.15], - "E1": [-8.0, 20.0, -259.15], - "F1": [-8.0, 29.0, -259.15], - "G1": [-8.0, 38.0, -259.15], - "H1": [-8.0, 47.0, -259.15] + "B1": [-8.0, -25.0, -259.15], + "C1": [-8.0, -34.0, -259.15], + "D1": [-8.0, -43.0, -259.15], + "E1": [-8.0, -52.0, -259.15], + "F1": [-8.0, -61.0, -259.15], + "G1": [-8.0, -70.0, -259.15], + "H1": [-8.0, -79.0, -259.15] } } diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p20/2_0.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p20/2_0.json index 83a63481226..67fdef7b76b 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p20/2_0.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p20/2_0.json @@ -4,12 +4,12 @@ "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p20/placeholder.gltf", "nozzleMap": { "A1": [0.0, 31.5, 19.4], - "B1": [0.0, 40.5, 19.4], - "C1": [0.0, 49.5, 19.4], - "D1": [0.0, 58.5, 19.4], - "E1": [0.0, 67.5, 19.4], - "F1": [0.0, 76.5, 19.4], - "G1": [0.0, 85.5, 19.4], - "H1": [0.0, 94.5, 19.4] + "B1": [0.0, 22.5, 19.4], + "C1": [0.0, 13.5, 19.4], + "D1": [0.0, 4.5, 19.4], + "E1": [0.0, -4.5, 19.4], + "F1": [0.0, -13.5, 19.4], + "G1": [0.0, -22.5, 19.4], + "H1": [0.0, -31.5, 19.4] } } diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p20/2_1.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p20/2_1.json index 83a63481226..67fdef7b76b 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p20/2_1.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p20/2_1.json @@ -4,12 +4,12 @@ "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p20/placeholder.gltf", "nozzleMap": { "A1": [0.0, 31.5, 19.4], - "B1": [0.0, 40.5, 19.4], - "C1": [0.0, 49.5, 19.4], - "D1": [0.0, 58.5, 19.4], - "E1": [0.0, 67.5, 19.4], - "F1": [0.0, 76.5, 19.4], - "G1": [0.0, 85.5, 19.4], - "H1": [0.0, 94.5, 19.4] + "B1": [0.0, 22.5, 19.4], + "C1": [0.0, 13.5, 19.4], + "D1": [0.0, 4.5, 19.4], + "E1": [0.0, -4.5, 19.4], + "F1": [0.0, -13.5, 19.4], + "G1": [0.0, -22.5, 19.4], + "H1": [0.0, -31.5, 19.4] } } diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_0.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_0.json index 0575b8dca91..5a9430100c8 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_0.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_0.json @@ -4,12 +4,12 @@ "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p300/placeholder.gltf", "nozzleMap": { "A1": [0.0, 31.5, 0.8], - "B1": [0.0, 40.5, 0.8], - "C1": [0.0, 49.5, 0.8], - "D1": [0.0, 58.5, 0.8], - "E1": [0.0, 67.5, 0.8], - "F1": [0.0, 76.5, 0.8], - "G1": [0.0, 85.5, 0.8], - "H1": [0.0, 94.5, 0.8] + "B1": [0.0, 22.5, 0.8], + "C1": [0.0, 13.5, 0.8], + "D1": [0.0, 4.5, 0.8], + "E1": [0.0, -4.5, 0.8], + "F1": [0.0, -13.5, 0.8], + "G1": [0.0, -22.5, 0.8], + "H1": [0.0, -31.5, 0.8] } } diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_3.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_3.json index 0575b8dca91..5a9430100c8 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_3.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_3.json @@ -4,12 +4,12 @@ "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p300/placeholder.gltf", "nozzleMap": { "A1": [0.0, 31.5, 0.8], - "B1": [0.0, 40.5, 0.8], - "C1": [0.0, 49.5, 0.8], - "D1": [0.0, 58.5, 0.8], - "E1": [0.0, 67.5, 0.8], - "F1": [0.0, 76.5, 0.8], - "G1": [0.0, 85.5, 0.8], - "H1": [0.0, 94.5, 0.8] + "B1": [0.0, 22.5, 0.8], + "C1": [0.0, 13.5, 0.8], + "D1": [0.0, 4.5, 0.8], + "E1": [0.0, -4.5, 0.8], + "F1": [0.0, -13.5, 0.8], + "G1": [0.0, -22.5, 0.8], + "H1": [0.0, -31.5, 0.8] } } diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_4.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_4.json index 0575b8dca91..5a9430100c8 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_4.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_4.json @@ -4,12 +4,12 @@ "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p300/placeholder.gltf", "nozzleMap": { "A1": [0.0, 31.5, 0.8], - "B1": [0.0, 40.5, 0.8], - "C1": [0.0, 49.5, 0.8], - "D1": [0.0, 58.5, 0.8], - "E1": [0.0, 67.5, 0.8], - "F1": [0.0, 76.5, 0.8], - "G1": [0.0, 85.5, 0.8], - "H1": [0.0, 94.5, 0.8] + "B1": [0.0, 22.5, 0.8], + "C1": [0.0, 13.5, 0.8], + "D1": [0.0, 4.5, 0.8], + "E1": [0.0, -4.5, 0.8], + "F1": [0.0, -13.5, 0.8], + "G1": [0.0, -22.5, 0.8], + "H1": [0.0, -31.5, 0.8] } } diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_5.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_5.json index 0575b8dca91..5a9430100c8 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_5.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p300/1_5.json @@ -4,12 +4,12 @@ "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p300/placeholder.gltf", "nozzleMap": { "A1": [0.0, 31.5, 0.8], - "B1": [0.0, 40.5, 0.8], - "C1": [0.0, 49.5, 0.8], - "D1": [0.0, 58.5, 0.8], - "E1": [0.0, 67.5, 0.8], - "F1": [0.0, 76.5, 0.8], - "G1": [0.0, 85.5, 0.8], - "H1": [0.0, 94.5, 0.8] + "B1": [0.0, 22.5, 0.8], + "C1": [0.0, 13.5, 0.8], + "D1": [0.0, 4.5, 0.8], + "E1": [0.0, -4.5, 0.8], + "F1": [0.0, -13.5, 0.8], + "G1": [0.0, -22.5, 0.8], + "H1": [0.0, -31.5, 0.8] } } diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p300/2_0.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p300/2_0.json index d192e50d454..f79ca279af5 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p300/2_0.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p300/2_0.json @@ -4,12 +4,12 @@ "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p300/placeholder.gltf", "nozzleMap": { "A1": [0.0, 31.5, 35.52], - "B1": [0.0, 40.5, 35.52], - "C1": [0.0, 49.5, 35.52], - "D1": [0.0, 58.5, 35.52], - "E1": [0.0, 67.5, 35.52], - "F1": [0.0, 76.5, 35.52], - "G1": [0.0, 85.5, 35.52], - "H1": [0.0, 94.5, 35.52] + "B1": [0.0, 22.5, 35.52], + "C1": [0.0, 13.5, 35.52], + "D1": [0.0, 4.5, 35.52], + "E1": [0.0, -4.5, 35.52], + "F1": [0.0, -13.5, 35.52], + "G1": [0.0, -22.5, 35.52], + "H1": [0.0, -31.5, 35.52] } } diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p300/2_1.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p300/2_1.json index d192e50d454..f79ca279af5 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p300/2_1.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p300/2_1.json @@ -4,12 +4,12 @@ "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p300/placeholder.gltf", "nozzleMap": { "A1": [0.0, 31.5, 35.52], - "B1": [0.0, 40.5, 35.52], - "C1": [0.0, 49.5, 35.52], - "D1": [0.0, 58.5, 35.52], - "E1": [0.0, 67.5, 35.52], - "F1": [0.0, 76.5, 35.52], - "G1": [0.0, 85.5, 35.52], - "H1": [0.0, 94.5, 35.52] + "B1": [0.0, 22.5, 35.52], + "C1": [0.0, 13.5, 35.52], + "D1": [0.0, 4.5, 35.52], + "E1": [0.0, -4.5, 35.52], + "F1": [0.0, -13.5, 35.52], + "G1": [0.0, -22.5, 35.52], + "H1": [0.0, -31.5, 35.52] } } diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_0.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_0.json index e1e22f72c0c..167a0e0cf79 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_0.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_0.json @@ -4,12 +4,12 @@ "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p50/placeholder.gltf", "nozzleMap": { "A1": [0.0, 31.5, 0.8], - "B1": [0.0, 40.5, 0.8], - "C1": [0.0, 49.5, 0.8], - "D1": [0.0, 58.5, 0.8], - "E1": [0.0, 67.5, 0.8], - "F1": [0.0, 76.5, 0.8], - "G1": [0.0, 85.5, 0.8], - "H1": [0.0, 94.5, 0.8] + "B1": [0.0, 22.5, 0.8], + "C1": [0.0, 13.5, 0.8], + "D1": [0.0, 4.5, 0.8], + "E1": [0.0, -4.5, 0.8], + "F1": [0.0, -13.5, 0.8], + "G1": [0.0, -22.5, 0.8], + "H1": [0.0, -31.5, 0.8] } } diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_3.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_3.json index e1e22f72c0c..167a0e0cf79 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_3.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_3.json @@ -4,12 +4,12 @@ "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p50/placeholder.gltf", "nozzleMap": { "A1": [0.0, 31.5, 0.8], - "B1": [0.0, 40.5, 0.8], - "C1": [0.0, 49.5, 0.8], - "D1": [0.0, 58.5, 0.8], - "E1": [0.0, 67.5, 0.8], - "F1": [0.0, 76.5, 0.8], - "G1": [0.0, 85.5, 0.8], - "H1": [0.0, 94.5, 0.8] + "B1": [0.0, 22.5, 0.8], + "C1": [0.0, 13.5, 0.8], + "D1": [0.0, 4.5, 0.8], + "E1": [0.0, -4.5, 0.8], + "F1": [0.0, -13.5, 0.8], + "G1": [0.0, -22.5, 0.8], + "H1": [0.0, -31.5, 0.8] } } diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_4.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_4.json index e1e22f72c0c..167a0e0cf79 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_4.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_4.json @@ -4,12 +4,12 @@ "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p50/placeholder.gltf", "nozzleMap": { "A1": [0.0, 31.5, 0.8], - "B1": [0.0, 40.5, 0.8], - "C1": [0.0, 49.5, 0.8], - "D1": [0.0, 58.5, 0.8], - "E1": [0.0, 67.5, 0.8], - "F1": [0.0, 76.5, 0.8], - "G1": [0.0, 85.5, 0.8], - "H1": [0.0, 94.5, 0.8] + "B1": [0.0, 22.5, 0.8], + "C1": [0.0, 13.5, 0.8], + "D1": [0.0, 4.5, 0.8], + "E1": [0.0, -4.5, 0.8], + "F1": [0.0, -13.5, 0.8], + "G1": [0.0, -22.5, 0.8], + "H1": [0.0, -31.5, 0.8] } } diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_5.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_5.json index e1e22f72c0c..167a0e0cf79 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_5.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/1_5.json @@ -4,12 +4,12 @@ "pathTo3D": "pipette/definitions/2/geometry/eight_channel/p50/placeholder.gltf", "nozzleMap": { "A1": [0.0, 31.5, 0.8], - "B1": [0.0, 40.5, 0.8], - "C1": [0.0, 49.5, 0.8], - "D1": [0.0, 58.5, 0.8], - "E1": [0.0, 67.5, 0.8], - "F1": [0.0, 76.5, 0.8], - "G1": [0.0, 85.5, 0.8], - "H1": [0.0, 94.5, 0.8] + "B1": [0.0, 22.5, 0.8], + "C1": [0.0, 13.5, 0.8], + "D1": [0.0, 4.5, 0.8], + "E1": [0.0, -4.5, 0.8], + "F1": [0.0, -13.5, 0.8], + "G1": [0.0, -22.5, 0.8], + "H1": [0.0, -31.5, 0.8] } } diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_0.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_0.json index 0e80b244be2..7fba327c671 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_0.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_0.json @@ -4,12 +4,12 @@ "nozzleOffset": [-8.0, -16.0, -259.15], "nozzleMap": { "A1": [-8.0, -16.0, -259.15], - "B1": [-8.0, -7.0, -259.15], - "C1": [-8.0, 2.0, -259.15], - "D1": [-8.0, 11.0, -259.15], - "E1": [-8.0, 20.0, -259.15], - "F1": [-8.0, 29.0, -259.15], - "G1": [-8.0, 38.0, -259.15], - "H1": [-8.0, 47.0, -259.15] + "B1": [-8.0, -25.0, -259.15], + "C1": [-8.0, -34.0, -259.15], + "D1": [-8.0, -43.0, -259.15], + "E1": [-8.0, -52.0, -259.15], + "F1": [-8.0, -61.0, -259.15], + "G1": [-8.0, -70.0, -259.15], + "H1": [-8.0, -79.0, -259.15] } } diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_3.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_3.json index 0e80b244be2..7fba327c671 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_3.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_3.json @@ -4,12 +4,12 @@ "nozzleOffset": [-8.0, -16.0, -259.15], "nozzleMap": { "A1": [-8.0, -16.0, -259.15], - "B1": [-8.0, -7.0, -259.15], - "C1": [-8.0, 2.0, -259.15], - "D1": [-8.0, 11.0, -259.15], - "E1": [-8.0, 20.0, -259.15], - "F1": [-8.0, 29.0, -259.15], - "G1": [-8.0, 38.0, -259.15], - "H1": [-8.0, 47.0, -259.15] + "B1": [-8.0, -25.0, -259.15], + "C1": [-8.0, -34.0, -259.15], + "D1": [-8.0, -43.0, -259.15], + "E1": [-8.0, -52.0, -259.15], + "F1": [-8.0, -61.0, -259.15], + "G1": [-8.0, -70.0, -259.15], + "H1": [-8.0, -79.0, -259.15] } } diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_4.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_4.json index 0e80b244be2..7fba327c671 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_4.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_4.json @@ -4,12 +4,12 @@ "nozzleOffset": [-8.0, -16.0, -259.15], "nozzleMap": { "A1": [-8.0, -16.0, -259.15], - "B1": [-8.0, -7.0, -259.15], - "C1": [-8.0, 2.0, -259.15], - "D1": [-8.0, 11.0, -259.15], - "E1": [-8.0, 20.0, -259.15], - "F1": [-8.0, 29.0, -259.15], - "G1": [-8.0, 38.0, -259.15], - "H1": [-8.0, 47.0, -259.15] + "B1": [-8.0, -25.0, -259.15], + "C1": [-8.0, -34.0, -259.15], + "D1": [-8.0, -43.0, -259.15], + "E1": [-8.0, -52.0, -259.15], + "F1": [-8.0, -61.0, -259.15], + "G1": [-8.0, -70.0, -259.15], + "H1": [-8.0, -79.0, -259.15] } } diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_5.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_5.json index 0e80b244be2..7fba327c671 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_5.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_5.json @@ -4,12 +4,12 @@ "nozzleOffset": [-8.0, -16.0, -259.15], "nozzleMap": { "A1": [-8.0, -16.0, -259.15], - "B1": [-8.0, -7.0, -259.15], - "C1": [-8.0, 2.0, -259.15], - "D1": [-8.0, 11.0, -259.15], - "E1": [-8.0, 20.0, -259.15], - "F1": [-8.0, 29.0, -259.15], - "G1": [-8.0, 38.0, -259.15], - "H1": [-8.0, 47.0, -259.15] + "B1": [-8.0, -25.0, -259.15], + "C1": [-8.0, -34.0, -259.15], + "D1": [-8.0, -43.0, -259.15], + "E1": [-8.0, -52.0, -259.15], + "F1": [-8.0, -61.0, -259.15], + "G1": [-8.0, -70.0, -259.15], + "H1": [-8.0, -79.0, -259.15] } } diff --git a/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/1_0.json b/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/1_0.json index e65d6be1e6d..8924881092c 100644 --- a/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/1_0.json +++ b/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/1_0.json @@ -4,100 +4,100 @@ "nozzleOffset": [-36.0, -25.5, -259.15], "nozzleMap": { "A1": [-36.0, -25.5, -259.15], - "A2": [-45.0, -25.5, -259.15], - "A3": [-54.0, -25.5, -259.15], - "A4": [-63.0, -25.5, -259.15], - 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"H11": [-126.0, 37.5, -259.15], - "H12": [-135.0, 37.5, -259.15] + "A2": [-27.0, -25.5, -259.15], + "A3": [-18.0, -25.5, -259.15], + "A4": [-9.0, -25.5, -259.15], + "A5": [0.0, -25.5, -259.15], + "A6": [9.0, -25.5, -259.15], + "A7": [18.0, -25.5, -259.15], + "A8": [27.0, -25.5, -259.15], + "A9": [36.0, -25.5, -259.15], + "A10": [45.0, -25.5, -259.15], + "A11": [54.0, -25.5, -259.15], + "A12": [63.0, -25.5, -259.15], + "B1": [-36.0, -34.5, -259.15], + "B2": [-27.0, -34.5, -259.15], + "B3": [-18.0, -34.5, -259.15], + "B4": [-9.0, -34.5, -259.15], + "B5": [0.0, -34.5, -259.15], + "B6": [9.0, -34.5, -259.15], + "B7": [18.0, -34.5, -259.15], + "B8": [27.0, -34.5, -259.15], + "B9": [36.0, -34.5, -259.15], + "B10": [45.0, -34.5, -259.15], + "B11": [54.0, -34.5, -259.15], + "B12": [63.0, -34.5, -259.15], + "C1": [-36.0, -43.5, -259.15], + "C2": [-27.0, -43.5, -259.15], + "C3": [-18.0, -43.5, -259.15], + "C4": [-9.0, -43.5, -259.15], + "C5": [0.0, -43.5, -259.15], + "C6": [9.0, -43.5, -259.15], + "C7": [18.0, -43.5, -259.15], + "C8": [27.0, -43.5, -259.15], + "C9": [36.0, -43.5, -259.15], + "C10": [45.0, -43.5, -259.15], + "C11": [54.0, -43.5, -259.15], + "C12": [63.0, -43.5, -259.15], + "D1": [-36.0, -52.5, -259.15], + "D2": [-27.0, -52.5, -259.15], + "D3": [-18.0, -52.5, -259.15], + "D4": [-9.0, -52.5, -259.15], + "D5": [0.0, -52.5, -259.15], + "D6": [9.0, -52.5, -259.15], + "D7": [18.0, -52.5, -259.15], + "D8": [27.0, -52.5, -259.15], + "D9": [36.0, -52.5, -259.15], + "D10": [45.0, -52.5, -259.15], + "D11": [54.0, -52.5, -259.15], + "D12": [63.0, -52.5, -259.15], + "E1": [-36.0, -61.5, -259.15], + "E2": [-27.0, -61.5, -259.15], + "E3": [-18.0, -61.5, -259.15], + "E4": [-9.0, -61.5, -259.15], + "E5": [0.0, -61.5, -259.15], + "E6": [9.0, -61.5, -259.15], + "E7": [18.0, -61.5, -259.15], + "E8": [27.0, -61.5, -259.15], + "E9": [36.0, -61.5, -259.15], + "E10": [45.0, -61.5, -259.15], + "E11": [54.0, -61.5, -259.15], + "E12": [63.0, -61.5, -259.15], + "F1": [-36.0, -70.5, -259.15], + "F2": [-27.0, -70.5, -259.15], + "F3": [-18.0, -70.5, -259.15], + "F4": [-9.0, -70.5, -259.15], + "F5": [0.0, -70.5, -259.15], + "F6": [9.0, -70.5, -259.15], + "F7": [18.0, -70.5, -259.15], + "F8": [27.0, -70.5, -259.15], + "F9": [36.0, -70.5, -259.15], + "F10": [45.0, -70.5, -259.15], + "F11": [54.0, -70.5, -259.15], + "F12": [63.0, -70.5, -259.15], + "G1": [-36.0, -79.5, -259.15], + "G2": [-27.0, -79.5, -259.15], + "G3": [-18.0, -79.5, -259.15], + "G4": [-9.0, -79.5, -259.15], + "G5": [0.0, -79.5, -259.15], + "G6": [9.0, -79.5, -259.15], + "G7": [18.0, -79.5, -259.15], + "G8": [27.0, -79.5, -259.15], + "G9": [36.0, -79.5, -259.15], + "G10": [45.0, -79.5, -259.15], + "G11": [54.0, -79.5, -259.15], + "G12": [63.0, -79.5, -259.15], + "H1": [-36.0, -88.5, -259.15], + "H2": [-27.0, -88.5, -259.15], + "H3": [-18.0, -88.5, -259.15], + "H4": [-9.0, -88.5, -259.15], + "H5": [0.0, -88.5, -259.15], + "H6": [9.0, -88.5, -259.15], + "H7": [18.0, -88.5, -259.15], + "H8": [27.0, -88.5, -259.15], + "H9": [36.0, -88.5, -259.15], + "H10": [45.0, -88.5, -259.15], + "H11": [54.0, -88.5, -259.15], + "H12": [63.0, -88.5, -259.15] } } diff --git a/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_5.json b/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_5.json index e65d6be1e6d..8924881092c 100644 --- a/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_5.json +++ b/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_5.json @@ -4,100 +4,100 @@ "nozzleOffset": [-36.0, -25.5, -259.15], "nozzleMap": { "A1": [-36.0, -25.5, -259.15], - "A2": [-45.0, -25.5, -259.15], - "A3": [-54.0, -25.5, -259.15], - "A4": [-63.0, -25.5, -259.15], - "A5": [-72.0, -25.5, -259.15], - "A6": [-81.0, -25.5, -259.15], - "A7": [-90.0, -25.5, -259.15], - "A8": [-99.0, -25.5, -259.15], - "A9": [-108.0, -25.5, -259.15], - "A10": [-117.0, -25.5, -259.15], - "A11": [-126.0, -25.5, -259.15], - "A12": [-135.0, -25.5, -259.15], - "B1": [-36.0, -16.5, -259.15], - "B2": [-45.0, -16.5, -259.15], - "B3": [-54.0, -16.5, -259.15], - "B4": [-63.0, -16.5, -259.15], - "B5": [-72.0, -16.5, -259.15], - "B6": [-81.0, -16.5, -259.15], - "B7": [-90.0, -16.5, -259.15], - "B8": [-99.0, -16.5, -259.15], - "B9": [-108.0, -16.5, -259.15], - "B10": [-117.0, -16.5, -259.15], - "B11": [-126.0, -16.5, -259.15], - "B12": [-135.0, -16.5, -259.15], - "C1": [-36.0, -7.5, -259.15], - "C2": [-45.0, -7.5, -259.15], - "C3": [-54.0, -7.5, -259.15], - "C4": [-63.0, -7.5, -259.15], - "C5": [-72.0, -7.5, -259.15], - "C6": [-81.0, -7.5, -259.15], - "C7": [-90.0, -7.5, -259.15], - "C8": [-99.0, -7.5, -259.15], - "C9": [-108.0, -7.5, -259.15], - "C10": [-117.0, -7.5, -259.15], - "C11": [-126.0, -7.5, -259.15], - "C12": [-135.0, -7.5, -259.15], - "D1": [-36.0, 1.5, -259.15], - "D2": [-45.0, 1.5, -259.15], - "D3": [-54.0, 1.5, -259.15], - "D4": [-63.0, 1.5, -259.15], - "D5": [-72.0, 1.5, -259.15], - "D6": [-81.0, 1.5, -259.15], - "D7": [-90.0, 1.5, -259.15], - "D8": [-99.0, 1.5, -259.15], - "D9": [-108.0, 1.5, -259.15], - "D10": [-117.0, 1.5, -259.15], - "D11": [-126.0, 1.5, -259.15], - "D12": [-135.0, 1.5, -259.15], - "E1": [-36.0, 10.5, -259.15], - "E2": [-45.0, 10.5, -259.15], - "E3": [-54.0, 10.5, -259.15], - "E4": [-63.0, 10.5, -259.15], - "E5": [-72.0, 10.5, -259.15], - "E6": [-81.0, 10.5, -259.15], - "E7": [-90.0, 10.5, -259.15], - "E8": [-99.0, 10.5, -259.15], - "E9": [-108.0, 10.5, -259.15], - "E10": [-117.0, 10.5, -259.15], - "E11": [-126.0, 10.5, -259.15], - "E12": [-135.0, 10.5, -259.15], - "F1": [-36.0, 19.5, -259.15], - "F2": [-45.0, 19.5, -259.15], - "F3": [-54.0, 19.5, -259.15], - "F4": [-63.0, 19.5, -259.15], - "F5": [-72.0, 19.5, -259.15], - "F6": [-81.0, 19.5, -259.15], - "F7": [-90.0, 19.5, -259.15], - "F8": [-99.0, 19.5, -259.15], - "F9": [-108.0, 19.5, -259.15], - "F10": [-117.0, 19.5, -259.15], - "F11": [-126.0, 19.5, -259.15], - "F12": [-135.0, 19.5, -259.15], - "G1": [-36.0, 28.5, -259.15], - "G2": [-45.0, 28.5, -259.15], - "G3": [-54.0, 28.5, -259.15], - "G4": [-63.0, 28.5, -259.15], - "G5": [-72.0, 28.5, -259.15], - "G6": [-81.0, 28.5, -259.15], - "G7": [-90.0, 28.5, -259.15], - "G8": [-99.0, 28.5, -259.15], - "G9": [-108.0, 28.5, -259.15], - "G10": [-117.0, 28.5, -259.15], - "G11": [-126.0, 28.5, -259.15], - "G12": [-135.0, 28.5, -259.15], - "H1": [-36.0, 37.5, -259.15], - "H2": [-45.0, 37.5, -259.15], - "H3": [-54.0, 37.5, -259.15], - "H4": [-63.0, 37.5, -259.15], - "H5": [-72.0, 37.5, -259.15], - "H6": [-81.0, 37.5, -259.15], - "H7": [-90.0, 37.5, -259.15], - "H8": [-99.0, 37.5, -259.15], - "H9": [-108.0, 37.5, -259.15], - "H10": [-117.0, 37.5, -259.15], - "H11": [-126.0, 37.5, -259.15], - "H12": [-135.0, 37.5, -259.15] + "A2": [-27.0, -25.5, -259.15], + "A3": [-18.0, -25.5, -259.15], + "A4": [-9.0, -25.5, -259.15], + "A5": [0.0, -25.5, -259.15], + "A6": [9.0, -25.5, -259.15], + "A7": [18.0, -25.5, -259.15], + "A8": [27.0, -25.5, -259.15], + "A9": [36.0, -25.5, -259.15], + "A10": [45.0, -25.5, -259.15], + "A11": [54.0, -25.5, -259.15], + "A12": [63.0, -25.5, -259.15], + "B1": [-36.0, -34.5, -259.15], + "B2": [-27.0, -34.5, -259.15], + "B3": [-18.0, -34.5, -259.15], + "B4": [-9.0, -34.5, -259.15], + "B5": [0.0, -34.5, -259.15], + "B6": [9.0, -34.5, -259.15], + "B7": [18.0, -34.5, -259.15], + "B8": [27.0, -34.5, -259.15], + "B9": [36.0, -34.5, -259.15], + "B10": [45.0, -34.5, -259.15], + "B11": [54.0, -34.5, -259.15], + "B12": [63.0, -34.5, -259.15], + "C1": [-36.0, -43.5, -259.15], + "C2": [-27.0, -43.5, -259.15], + "C3": [-18.0, -43.5, -259.15], + "C4": [-9.0, -43.5, -259.15], + "C5": [0.0, -43.5, -259.15], + "C6": [9.0, -43.5, -259.15], + "C7": [18.0, -43.5, -259.15], + "C8": [27.0, -43.5, -259.15], + "C9": [36.0, -43.5, -259.15], + "C10": [45.0, -43.5, -259.15], + "C11": [54.0, -43.5, -259.15], + "C12": [63.0, -43.5, -259.15], + "D1": [-36.0, -52.5, -259.15], + "D2": [-27.0, -52.5, -259.15], + "D3": [-18.0, -52.5, -259.15], + "D4": [-9.0, -52.5, -259.15], + "D5": [0.0, -52.5, -259.15], + "D6": [9.0, -52.5, -259.15], + "D7": [18.0, -52.5, -259.15], + "D8": [27.0, -52.5, -259.15], + "D9": [36.0, -52.5, -259.15], + "D10": [45.0, -52.5, -259.15], + "D11": [54.0, -52.5, -259.15], + "D12": [63.0, -52.5, -259.15], + "E1": [-36.0, -61.5, -259.15], + "E2": [-27.0, -61.5, -259.15], + "E3": [-18.0, -61.5, -259.15], + "E4": [-9.0, -61.5, -259.15], + "E5": [0.0, -61.5, -259.15], + "E6": [9.0, -61.5, -259.15], + "E7": [18.0, -61.5, -259.15], + "E8": [27.0, -61.5, -259.15], + "E9": [36.0, -61.5, -259.15], + "E10": [45.0, -61.5, -259.15], + "E11": [54.0, -61.5, -259.15], + "E12": [63.0, -61.5, -259.15], + "F1": [-36.0, -70.5, -259.15], + "F2": [-27.0, -70.5, -259.15], + "F3": [-18.0, -70.5, -259.15], + "F4": [-9.0, -70.5, -259.15], + "F5": [0.0, -70.5, -259.15], + "F6": [9.0, -70.5, -259.15], + "F7": [18.0, -70.5, -259.15], + "F8": [27.0, -70.5, -259.15], + "F9": [36.0, -70.5, -259.15], + "F10": [45.0, -70.5, -259.15], + "F11": [54.0, -70.5, -259.15], + "F12": [63.0, -70.5, -259.15], + "G1": [-36.0, -79.5, -259.15], + "G2": [-27.0, -79.5, -259.15], + "G3": [-18.0, -79.5, -259.15], + "G4": [-9.0, -79.5, -259.15], + "G5": [0.0, -79.5, -259.15], + "G6": [9.0, -79.5, -259.15], + "G7": [18.0, -79.5, -259.15], + "G8": [27.0, -79.5, -259.15], + "G9": [36.0, -79.5, -259.15], + "G10": [45.0, -79.5, -259.15], + "G11": [54.0, -79.5, -259.15], + "G12": [63.0, -79.5, -259.15], + "H1": [-36.0, -88.5, -259.15], + "H2": [-27.0, -88.5, -259.15], + "H3": [-18.0, -88.5, -259.15], + "H4": [-9.0, -88.5, -259.15], + "H5": [0.0, -88.5, -259.15], + "H6": [9.0, -88.5, -259.15], + "H7": [18.0, -88.5, -259.15], + "H8": [27.0, -88.5, -259.15], + "H9": [36.0, -88.5, -259.15], + "H10": [45.0, -88.5, -259.15], + "H11": [54.0, -88.5, -259.15], + "H12": [63.0, -88.5, -259.15] } } diff --git a/shared-data/python/opentrons_shared_data/errors/codes.py b/shared-data/python/opentrons_shared_data/errors/codes.py index 1f104052cc8..ab79e03b06e 100644 --- a/shared-data/python/opentrons_shared_data/errors/codes.py +++ b/shared-data/python/opentrons_shared_data/errors/codes.py @@ -83,6 +83,7 @@ class ErrorCodes(Enum): COMMAND_PRECONDITION_VIOLATED = _code_from_dict_entry("4004") COMMAND_PARAMETER_LIMIT_VIOLATED = _code_from_dict_entry("4005") INVALID_PROTOCOL_DATA = _code_from_dict_entry("4006") + API_MISCONFIGURATION = _code_from_dict_entry("4007") @classmethod @lru_cache(25) diff --git a/shared-data/python/opentrons_shared_data/pipette/model_constants.py b/shared-data/python/opentrons_shared_data/pipette/model_constants.py index d57ffa587ab..00c577823d2 100644 --- a/shared-data/python/opentrons_shared_data/pipette/model_constants.py +++ b/shared-data/python/opentrons_shared_data/pipette/model_constants.py @@ -76,8 +76,8 @@ "liquid_class": "default", }, "pickUpCurrent": { - "top_level_name": "pickUpTipConfigurations", - "nested_name": "current", + "top_level_name": "partialTipConfigurations", + "nested_name": "perTipPickupCurrent", }, "pickUpDistance": { "top_level_name": "pickUpTipConfigurations", diff --git a/shared-data/python/opentrons_shared_data/pipette/mutable_configurations.py b/shared-data/python/opentrons_shared_data/pipette/mutable_configurations.py index d77af0620d8..2475353e12b 100644 --- a/shared-data/python/opentrons_shared_data/pipette/mutable_configurations.py +++ b/shared-data/python/opentrons_shared_data/pipette/mutable_configurations.py @@ -148,9 +148,14 @@ def _find_default(name: str, configs: Dict[str, Any]) -> MutableConfig: lookup_dict = _MAP_KEY_TO_V2[name] nested_name = lookup_dict["nested_name"] - min_max_dict = _MIN_MAX_LOOKUP[nested_name] - type_lookup = _TYPE_LOOKUP[nested_name] - units_lookup = _UNITS_LOOKUP[nested_name] + if name == "pickUpCurrent": + min_max_dict = _MIN_MAX_LOOKUP["current"] + type_lookup = _TYPE_LOOKUP["current"] + units_lookup = _UNITS_LOOKUP["current"] + else: + min_max_dict = _MIN_MAX_LOOKUP[nested_name] + type_lookup = _TYPE_LOOKUP[nested_name] + units_lookup = _UNITS_LOOKUP[nested_name] if name == "tipLength": # This is only a concern for OT-2 configs and I think we can # be less smart about handling multiple tip types. Instead, just @@ -164,6 +169,9 @@ def _find_default(name: str, configs: Dict[str, Any]) -> MutableConfig: default_value = configs["liquid_properties"][LIQUID_CLASS][ lookup_dict["top_level_name"] ][tip_list[-1]][nested_name] + elif name == "pickUpCurrent": + default_value_dict = configs[lookup_dict["top_level_name"]][nested_name] + default_value = default_value_dict[configs["channels"].value] elif lookup_dict.get("liquid_class"): _class = LiquidClasses[lookup_dict["liquid_class"]] default_value = configs[lookup_dict["top_level_name"]][_class][nested_name] diff --git a/shared-data/python/opentrons_shared_data/pipette/pipette_definition.py b/shared-data/python/opentrons_shared_data/pipette/pipette_definition.py index 7445baddbcc..2893d0c39fe 100644 --- a/shared-data/python/opentrons_shared_data/pipette/pipette_definition.py +++ b/shared-data/python/opentrons_shared_data/pipette/pipette_definition.py @@ -141,7 +141,7 @@ class PlungerPositions(BaseModel): class PlungerHomingConfigurations(BaseModel): current: float = Field( - ..., + default=0.0, description="Either the z motor current needed for picking up tip or the plunger motor current for dropping tip off the nozzle.", ) speed: float = Field( @@ -187,9 +187,9 @@ class PartialTipDefinition(BaseModel): description="A list of the types of partial tip configurations supported, listed by channel ints", alias="availableConfigurations", ) - per_tip_pickup_current: float = Field( - default=0.5, - description="A current scale for pick up tip in a partial tip configuration", + per_tip_pickup_current: Dict[int, float] = Field( + ..., + description="A current dictionary look-up by partial tip configuration.", alias="perTipPickupCurrent", ) diff --git a/shared-data/python/opentrons_shared_data/pipette/scripts/build_json_script.py b/shared-data/python/opentrons_shared_data/pipette/scripts/build_json_script.py index 54dfe3d1060..90c7757b6a7 100644 --- a/shared-data/python/opentrons_shared_data/pipette/scripts/build_json_script.py +++ b/shared-data/python/opentrons_shared_data/pipette/scripts/build_json_script.py @@ -111,14 +111,18 @@ def _build_motor_configurations( def _build_partial_tip_configurations(channels: int) -> PartialTipDefinition: if channels == 8: return PartialTipDefinition( - partialTipSupported=True, availableConfigurations=[1, 2, 3, 4, 5, 6, 7, 8] + partialTipSupported=True, + availableConfigurations=[1, 2, 3, 4, 5, 6, 7, 8], + perTipPickupCurrent={}, ) elif channels == 96: return PartialTipDefinition( - partialTipSupported=True, availableConfigurations=[1, 8, 12, 96] + partialTipSupported=True, + availableConfigurations=[1, 8, 12, 96], + perTipPickupCurrent={}, ) else: - return PartialTipDefinition(partialTipSupported=False) + return PartialTipDefinition(partialTipSupported=False, perTipPickupCurrent={}) def build_geometry_model_v2( diff --git a/shared-data/python/opentrons_shared_data/pipette/scripts/update_configuration_files.py b/shared-data/python/opentrons_shared_data/pipette/scripts/update_configuration_files.py index 16c434d9897..220214cd1e7 100644 --- a/shared-data/python/opentrons_shared_data/pipette/scripts/update_configuration_files.py +++ b/shared-data/python/opentrons_shared_data/pipette/scripts/update_configuration_files.py @@ -145,7 +145,7 @@ def update( Recursively update the given dictionary to ensure no data is lost when updating. """ next_key = next(iter_of_configs, None) - if next_key and isinstance(dict_to_update[next_key], dict): + if next_key and isinstance(dict_to_update.get(next_key), dict): dict_to_update[next_key] = update( dict_to_update.get(next_key, {}), iter_of_configs, value_to_update ) @@ -157,8 +157,8 @@ def update( def build_nozzle_map( nozzle_offset: List[float], channels: PipetteChannelType ) -> Dict[str, List[float]]: - Y_OFFSET = 9 - X_OFFSET = -9 + Y_OFFSET = -9 + X_OFFSET = 9 if channels == PipetteChannelType.SINGLE_CHANNEL: return {"A1": nozzle_offset} elif channels == PipetteChannelType.EIGHT_CHANNEL: @@ -350,7 +350,7 @@ def _update_single_model(configuration_to_update: List[str]) -> None: def _update_all_models(configuration_to_update: List[str]) -> None: - paths_to_validate = ROOT / "liquid" + paths_to_validate = ROOT / "general" _channel_model_str = { "single_channel": "single", "ninety_six_channel": "96", @@ -378,7 +378,6 @@ def _update_all_models(configuration_to_update: List[str]) -> None: ) model_version = convert_pipette_model(built_model) - load_and_update_file_from_config( configuration_to_update, value_to_update, model_version ) From e4435a1e08df6c49b41330c9078a87aae32f4d78 Mon Sep 17 00:00:00 2001 From: Alise Au <20424172+ahiuchingau@users.noreply.github.com> Date: Tue, 7 Nov 2023 16:31:22 -0500 Subject: [PATCH 23/65] listen to the right messages (#13937) --- hardware/opentrons_hardware/drivers/can_bus/can_messenger.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py b/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py index 8803859d741..4044b491f0e 100644 --- a/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py +++ b/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py @@ -126,7 +126,7 @@ def handle_ack(self, message: _AckResponses, arbitration_id: ArbitrationId) -> N """Add the ack to the queue if it matches the message_index of the sent message.""" if message.payload.message_index == self._message.payload.message_index: self._remove_response_node(arbitration_id.parts.originating_node_id) - self._ack_queue.put_nowait((arbitration_id, message)) + self._ack_queue.put_nowait((arbitration_id, message)) # If we've recieved all responses exit the listener if len(self._expected_nodes) == 0: self._event.set() From dd14c20b9af48e054b19b83d9a2d15bcf04b49a0 Mon Sep 17 00:00:00 2001 From: koji Date: Tue, 7 Nov 2023 16:33:36 -0500 Subject: [PATCH 24/65] refactor(app): replace RobotWorkSpace with BaseDeck in ProtocolSetup Liquids (#13918) * refactor(app): replace RobotWorkSpace with BaseDeck in ProtocolSetup Liquids --- app/src/molecules/DeckThumbnail/index.tsx | 10 +- .../Devices/ProtocolRun/ProtocolRunSetup.tsx | 1 + .../SetupLiquids/SetupLiquidsMap.tsx | 343 +++++++-------- .../__tests__/SetupLiquids.test.tsx | 7 +- .../__tests__/SetupLiquidsMap.test.tsx | 405 ++++++++++-------- .../ProtocolRun/SetupLiquids/index.tsx | 23 +- 6 files changed, 386 insertions(+), 403 deletions(-) diff --git a/app/src/molecules/DeckThumbnail/index.tsx b/app/src/molecules/DeckThumbnail/index.tsx index fed45696e55..a1d0fd06dc6 100644 --- a/app/src/molecules/DeckThumbnail/index.tsx +++ b/app/src/molecules/DeckThumbnail/index.tsx @@ -47,15 +47,9 @@ export function DeckThumbnail(props: DeckThumbnailProps): JSX.Element | null { protocolAnalysis.commands ) const liquids = protocolAnalysis.liquids + const labwareRenderInfo = getLabwareRenderInfo(protocolAnalysis, deckDef) + const protocolModulesInfo = getProtocolModulesInfo(protocolAnalysis, deckDef) - const labwareRenderInfo = - protocolAnalysis != null - ? getLabwareRenderInfo(protocolAnalysis, deckDef) - : {} - const protocolModulesInfo = - protocolAnalysis != null - ? getProtocolModulesInfo(protocolAnalysis, deckDef) - : [] const attachedProtocolModuleMatches = getAttachedProtocolModuleMatches( attachedModules, protocolModulesInfo diff --git a/app/src/organisms/Devices/ProtocolRun/ProtocolRunSetup.tsx b/app/src/organisms/Devices/ProtocolRun/ProtocolRunSetup.tsx index ab5fdaffd3c..27ca12cdd7c 100644 --- a/app/src/organisms/Devices/ProtocolRun/ProtocolRunSetup.tsx +++ b/app/src/organisms/Devices/ProtocolRun/ProtocolRunSetup.tsx @@ -251,6 +251,7 @@ export function ProtocolRunSetup({ protocolRunHeaderRef={protocolRunHeaderRef} robotName={robotName} runId={runId} + protocolAnalysis={protocolData} /> ), description: hasLiquids diff --git a/app/src/organisms/Devices/ProtocolRun/SetupLiquids/SetupLiquidsMap.tsx b/app/src/organisms/Devices/ProtocolRun/SetupLiquids/SetupLiquidsMap.tsx index 5bc7e4eb54f..d639664bdbb 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupLiquids/SetupLiquidsMap.tsx +++ b/app/src/organisms/Devices/ProtocolRun/SetupLiquids/SetupLiquidsMap.tsx @@ -2,244 +2,191 @@ import * as React from 'react' import map from 'lodash/map' import isEmpty from 'lodash/isEmpty' import { - parseLiquidsInLoadOrder, - parseLabwareInfoByLiquidId, parseInitialLoadedLabwareByAdapter, + parseLabwareInfoByLiquidId, + parseLiquidsInLoadOrder, } from '@opentrons/api-client' import { + ALIGN_CENTER, + BaseDeck, DIRECTION_COLUMN, Flex, - RobotWorkSpace, - SlotLabels, - LabwareRender, - Module, - ALIGN_CENTER, JUSTIFY_CENTER, + LabwareRender, } from '@opentrons/components' import { getDeckDefFromRobotType, - inferModuleOrientationFromXCoordinate, + getRobotTypeFromLoadedLabware, THERMOCYCLER_MODULE_V1, } from '@opentrons/shared-data' -import { - useLabwareRenderInfoForRunById, - useModuleRenderInfoForProtocolById, - useProtocolDetailsForRun, -} from '../../hooks' -import { useMostRecentCompletedAnalysis } from '../../../LabwarePositionCheck/useMostRecentCompletedAnalysis' +import { useAttachedModules } from '../../hooks' import { LabwareInfoOverlay } from '../LabwareInfoOverlay' -import { getStandardDeckViewLayerBlockList } from '../utils/getStandardDeckViewLayerBlockList' import { LiquidsLabwareDetailsModal } from './LiquidsLabwareDetailsModal' import { getWellFillFromLabwareId } from './utils' -import type { RobotType } from '@opentrons/shared-data' +import { getLabwareRenderInfo } from '../utils/getLabwareRenderInfo' +import { getDeckConfigFromProtocolCommands } from '../../../../resources/deck_configuration/utils' +import { getStandardDeckViewLayerBlockList } from '../utils/getStandardDeckViewLayerBlockList' +import { getAttachedProtocolModuleMatches } from '../../../ProtocolSetupModulesAndDeck/utils' +import { getProtocolModulesInfo } from '../utils/getProtocolModulesInfo' + +import type { + CompletedProtocolAnalysis, + ProtocolAnalysisOutput, +} from '@opentrons/shared-data' -const OT2_VIEWBOX = '-80 -40 550 500' -const OT3_VIEWBOX = '-144.31 -76.59 750 681.74' +const ATTACHED_MODULE_POLL_MS = 5000 -const getViewBox = (robotType: RobotType): string | null => { - switch (robotType) { - case 'OT-2 Standard': - return OT2_VIEWBOX - case 'OT-3 Standard': - return OT3_VIEWBOX - default: - return null - } -} interface SetupLiquidsMapProps { runId: string - robotName: string + protocolAnalysis: CompletedProtocolAnalysis | ProtocolAnalysisOutput | null } -export function SetupLiquidsMap(props: SetupLiquidsMapProps): JSX.Element { - const { runId, robotName } = props +export function SetupLiquidsMap( + props: SetupLiquidsMapProps +): JSX.Element | null { + const { runId, protocolAnalysis } = props const [hoverLabwareId, setHoverLabwareId] = React.useState('') + const [liquidDetailsLabwareId, setLiquidDetailsLabwareId] = React.useState< + string | null + >(null) + const attachedModules = + useAttachedModules({ + refetchInterval: ATTACHED_MODULE_POLL_MS, + }) ?? [] + + if (protocolAnalysis == null) return null - const moduleRenderInfoById = useModuleRenderInfoForProtocolById( - robotName, - runId - ) - const labwareRenderInfoById = useLabwareRenderInfoForRunById(runId) - const { robotType } = useProtocolDetailsForRun(runId) - const protocolData = useMostRecentCompletedAnalysis(runId) const liquids = parseLiquidsInLoadOrder( - protocolData?.liquids != null ? protocolData?.liquids : [], - protocolData?.commands ?? [] + protocolAnalysis.liquids != null ? protocolAnalysis.liquids : [], + protocolAnalysis.commands ?? [] ) const initialLoadedLabwareByAdapter = parseInitialLoadedLabwareByAdapter( - protocolData?.commands ?? [] + protocolAnalysis.commands ?? [] ) + const robotType = getRobotTypeFromLoadedLabware(protocolAnalysis.labware) const deckDef = getDeckDefFromRobotType(robotType) + const labwareRenderInfo = getLabwareRenderInfo(protocolAnalysis, deckDef) const labwareByLiquidId = parseLabwareInfoByLiquidId( - protocolData?.commands ?? [] + protocolAnalysis.commands ?? [] ) - const [liquidDetailsLabwareId, setLiquidDetailsLabwareId] = React.useState< - string | null - >(null) + const deckConfig = getDeckConfigFromProtocolCommands( + protocolAnalysis.commands + ) + const deckLayerBlocklist = getStandardDeckViewLayerBlockList(robotType) + + const protocolModulesInfo = getProtocolModulesInfo(protocolAnalysis, deckDef) + + const attachedProtocolModuleMatches = getAttachedProtocolModuleMatches( + attachedModules, + protocolModulesInfo + ) + + const moduleLocations = attachedProtocolModuleMatches.map(module => { + const labwareInAdapterInMod = + module.nestedLabwareId != null + ? initialLoadedLabwareByAdapter[module.nestedLabwareId] + : null + // only rendering the labware on top most layer so + // either the adapter or the labware are rendered but not both + const topLabwareDefinition = + labwareInAdapterInMod?.result?.definition ?? module.nestedLabwareDef + const topLabwareId = + labwareInAdapterInMod?.result?.labwareId ?? module.nestedLabwareId + const topLabwareDisplayName = + labwareInAdapterInMod?.params.displayName ?? + module.nestedLabwareDisplayName + + return { + moduleModel: module.moduleDef.model, + moduleLocation: { slotName: module.slotName }, + innerProps: + module.moduleDef.model === THERMOCYCLER_MODULE_V1 + ? { lidMotorState: 'open' } + : {}, + + nestedLabwareDef: topLabwareDefinition, + moduleChildren: ( + <> + {topLabwareDefinition != null && topLabwareId != null ? ( + + ) : null} + + ), + } + }) return ( - - {() => ( - <> - {map( - moduleRenderInfoById, - ({ - x, - y, - moduleDef, - nestedLabwareDef, - nestedLabwareId, - nestedLabwareDisplayName, - moduleId, - }) => { - const labwareInAdapterInMod = - nestedLabwareId != null - ? initialLoadedLabwareByAdapter[nestedLabwareId] - : null - // only rendering the labware on top most layer so - // either the adapter or the labware are rendered but not both - const topLabwareDefinition = - labwareInAdapterInMod?.result?.definition ?? nestedLabwareDef - const topLabwareId = - labwareInAdapterInMod?.result?.labwareId ?? nestedLabwareId - const topLabwareDisplayName = - labwareInAdapterInMod?.params.displayName ?? - nestedLabwareDisplayName - - const wellFill = getWellFillFromLabwareId( - topLabwareId ?? '', - liquids, - labwareByLiquidId - ) - const labwareHasLiquid = !isEmpty(wellFill) - - return ( - - {topLabwareDefinition != null && - topLabwareDisplayName != null && - topLabwareId != null ? ( - - setHoverLabwareId(topLabwareId)} - onMouseLeave={() => setHoverLabwareId('')} - onClick={() => - labwareHasLiquid - ? setLiquidDetailsLabwareId(topLabwareId) - : null - } - cursor={labwareHasLiquid ? 'pointer' : ''} - > - - - - - ) : null} - - ) - } - )} - {map( - labwareRenderInfoById, - ({ x, y, labwareDef, displayName }, labwareId) => { - const labwareInAdapter = - initialLoadedLabwareByAdapter[labwareId] - // only rendering the labware on top most layer so - // either the adapter or the labware are rendered but not both - const topLabwareDefinition = - labwareInAdapter?.result?.definition ?? labwareDef - const topLabwareId = - labwareInAdapter?.result?.labwareId ?? labwareId - const topLabwareDisplayName = - labwareInAdapter?.params.displayName ?? displayName - const wellFill = getWellFillFromLabwareId( - topLabwareId ?? '', - liquids, - labwareByLiquidId - ) - const labwareHasLiquid = !isEmpty(wellFill) - return ( - - setHoverLabwareId(topLabwareId)} - onMouseLeave={() => setHoverLabwareId('')} - onClick={() => - labwareHasLiquid - ? setLiquidDetailsLabwareId(topLabwareId) - : null - } - cursor={labwareHasLiquid ? 'pointer' : ''} - > - - - - - ) - } - )} - - + {map( + labwareRenderInfo, + ({ x, y, labwareDef, displayName }, labwareId) => { + const labwareInAdapter = initialLoadedLabwareByAdapter[labwareId] + // only rendering the labware on top most layer so + // either the adapter or the labware are rendered but not both + const topLabwareDefinition = + labwareInAdapter?.result?.definition ?? labwareDef + const topLabwareId = + labwareInAdapter?.result?.labwareId ?? labwareId + const topLabwareDisplayName = + labwareInAdapter?.params.displayName ?? displayName + const wellFill = getWellFillFromLabwareId( + topLabwareId ?? '', + liquids, + labwareByLiquidId + ) + const labwareHasLiquid = !isEmpty(wellFill) + return ( + + setHoverLabwareId(topLabwareId)} + onMouseLeave={() => setHoverLabwareId('')} + onClick={() => + labwareHasLiquid + ? setLiquidDetailsLabwareId(topLabwareId) + : null + } + cursor={labwareHasLiquid ? 'pointer' : ''} + > + + + + + ) + } )} - + {liquidDetailsLabwareId != null && ( ) => { return renderWithProviders( - , + , { i18nInstance: i18n, } diff --git a/app/src/organisms/Devices/ProtocolRun/SetupLiquids/__tests__/SetupLiquidsMap.test.tsx b/app/src/organisms/Devices/ProtocolRun/SetupLiquids/__tests__/SetupLiquidsMap.test.tsx index 51ded61559c..98e51b6ba4d 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupLiquids/__tests__/SetupLiquidsMap.test.tsx +++ b/app/src/organisms/Devices/ProtocolRun/SetupLiquids/__tests__/SetupLiquidsMap.test.tsx @@ -2,88 +2,109 @@ import * as React from 'react' import { when, resetAllWhenMocks } from 'jest-when' import { i18n } from '../../../../../i18n' import { + BaseDeck, renderWithProviders, partialComponentPropsMatcher, - RobotWorkSpace, LabwareRender, - Module, + EXTENDED_DECK_CONFIG_FIXTURE, } from '@opentrons/components' + +import fixture_tiprack_300_ul from '@opentrons/shared-data/labware/fixtures/2/fixture_tiprack_300_ul.json' import { - inferModuleOrientationFromXCoordinate, - LabwareDefinition2, - ModuleModel, - ModuleType, + FLEX_ROBOT_TYPE, + getDeckDefFromRobotType, + getRobotTypeFromLoadedLabware, + OT2_ROBOT_TYPE, } from '@opentrons/shared-data' -import fixture_tiprack_300_ul from '@opentrons/shared-data/labware/fixtures/2/fixture_tiprack_300_ul.json' -import standardDeckDef from '@opentrons/shared-data/deck/definitions/3/ot2_standard.json' import { - useLabwareRenderInfoForRunById, - useModuleRenderInfoForProtocolById, - useProtocolDetailsForRun, -} from '../../../hooks' -import { getWellFillFromLabwareId } from '../utils' -import { SetupLiquidsMap } from '../SetupLiquidsMap' + parseInitialLoadedLabwareByAdapter, + parseLabwareInfoByLiquidId, + parseLiquidsInLoadOrder, + simpleAnalysisFileFixture, +} from '@opentrons/api-client' +import ot2StandardDeckDef from '@opentrons/shared-data/deck/definitions/3/ot2_standard.json' +import ot3StandardDeckDef from '@opentrons/shared-data/deck/definitions/3/ot3_standard.json' + +import { useAttachedModules } from '../../../hooks' import { LabwareInfoOverlay } from '../../LabwareInfoOverlay' +import { getLabwareRenderInfo } from '../../utils/getLabwareRenderInfo' +import { getStandardDeckViewLayerBlockList } from '../../utils/getStandardDeckViewLayerBlockList' +import { getAttachedProtocolModuleMatches } from '../../../../ProtocolSetupModulesAndDeck/utils' +import { getProtocolModulesInfo } from '../../utils/getProtocolModulesInfo' +import { getDeckConfigFromProtocolCommands } from '../../../../../resources/deck_configuration/utils' +import { mockProtocolModuleInfo } from '../../../../ProtocolSetupLabware/__fixtures__' +import { mockFetchModulesSuccessActionPayloadModules } from '../../../../../redux/modules/__fixtures__' + +import { SetupLiquidsMap } from '../SetupLiquidsMap' + +import type { + ModuleModel, + ModuleType, + RunTimeCommand, + LabwareDefinition2, +} from '@opentrons/shared-data' jest.mock('@opentrons/components', () => { const actualComponents = jest.requireActual('@opentrons/components') return { ...actualComponents, - Module: jest.fn(() =>
    mock Module
    ), - RobotWorkSpace: jest.fn(() =>
    mock RobotWorkSpace
    ), LabwareRender: jest.fn(() =>
    mock LabwareRender
    ), } }) -jest.mock('@opentrons/shared-data', () => { - const actualSharedData = jest.requireActual('@opentrons/shared-data') - return { - ...actualSharedData, - inferModuleOrientationFromXCoordinate: jest.fn(), - } -}) + +jest.mock('@opentrons/components/src/hardware-sim/BaseDeck') +jest.mock('@opentrons/api-client') +jest.mock('@opentrons/shared-data/js/helpers') jest.mock('../../LabwareInfoOverlay') jest.mock('../../../hooks') jest.mock('../utils') +jest.mock('../../utils/getLabwareRenderInfo') +jest.mock('../../../../ProtocolSetupModulesAndDeck/utils') +jest.mock('../../utils/getProtocolModulesInfo') +jest.mock('../../../../../resources/deck_configuration/utils') -const mockUseProtocolDetailsForRun = useProtocolDetailsForRun as jest.MockedFunction< - typeof useProtocolDetailsForRun +const mockUseAttachedModules = useAttachedModules as jest.MockedFunction< + typeof useAttachedModules > const mockLabwareInfoOverlay = LabwareInfoOverlay as jest.MockedFunction< typeof LabwareInfoOverlay > -const mockModule = Module as jest.MockedFunction -const mockInferModuleOrientationFromXCoordinate = inferModuleOrientationFromXCoordinate as jest.MockedFunction< - typeof inferModuleOrientationFromXCoordinate -> -const mockRobotWorkSpace = RobotWorkSpace as jest.MockedFunction< - typeof RobotWorkSpace -> const mockLabwareRender = LabwareRender as jest.MockedFunction< typeof LabwareRender > -const mockUseLabwareRenderInfoForRunById = useLabwareRenderInfoForRunById as jest.MockedFunction< - typeof useLabwareRenderInfoForRunById +const mockBaseDeck = BaseDeck as jest.MockedFunction +const mockGetDeckDefFromRobotType = getDeckDefFromRobotType as jest.MockedFunction< + typeof getDeckDefFromRobotType > -const mockUseModuleRenderInfoForProtocolById = useModuleRenderInfoForProtocolById as jest.MockedFunction< - typeof useModuleRenderInfoForProtocolById +const mockGetRobotTypeFromLoadedLabware = getRobotTypeFromLoadedLabware as jest.MockedFunction< + typeof getRobotTypeFromLoadedLabware > -const mockGetWellFillFromLabwareId = getWellFillFromLabwareId as jest.MockedFunction< - typeof getWellFillFromLabwareId +const mockParseInitialLoadedLabwareByAdapter = parseInitialLoadedLabwareByAdapter as jest.MockedFunction< + typeof parseInitialLoadedLabwareByAdapter +> +const mockParseLabwareInfoByLiquidId = parseLabwareInfoByLiquidId as jest.MockedFunction< + typeof parseLabwareInfoByLiquidId +> +const mockParseLiquidsInLoadOrder = parseLiquidsInLoadOrder as jest.MockedFunction< + typeof parseLiquidsInLoadOrder +> +const mockGetLabwareRenderInfo = getLabwareRenderInfo as jest.MockedFunction< + typeof getLabwareRenderInfo +> +const mockGetAttachedProtocolModuleMatches = getAttachedProtocolModuleMatches as jest.MockedFunction< + typeof getAttachedProtocolModuleMatches +> +const mockGetProtocolModulesInfo = getProtocolModulesInfo as jest.MockedFunction< + typeof getProtocolModulesInfo +> +const mockGetDeckConfigFromProtocolCommands = getDeckConfigFromProtocolCommands as jest.MockedFunction< + typeof getDeckConfigFromProtocolCommands > -const MOCK_WELL_FILL = { C1: '#ff4888', C2: '#ff4888' } - -const deckSlotsById = standardDeckDef.locations.orderedSlots.reduce( - (acc, deckSlot) => ({ ...acc, [deckSlot.id]: deckSlot }), - {} -) - -const ROBOT_NAME = 'otie' const RUN_ID = '1' -const STUBBED_ORIENTATION_VALUE = 'left' const MOCK_300_UL_TIPRACK_ID = '300_ul_tiprack_id' const MOCK_MAGNETIC_MODULE_COORDS = [10, 20, 0] -const MOCK_TC_COORDS = [20, 30, 0] +const MOCK_SECOND_MAGNETIC_MODULE_COORDS = [100, 200, 0] const MOCK_300_UL_TIPRACK_COORDS = [30, 40, 0] const mockMagneticModule = { @@ -106,13 +127,6 @@ const mockMagneticModule = { quirks: [], } -const mockTCModule = { - labwareOffset: { x: 3, y: 3, z: 3 }, - moduleId: 'TCModuleId', - model: 'thermocyclerModuleV1' as ModuleModel, - type: 'thermocyclerModuleType' as ModuleType, -} - const render = (props: React.ComponentProps) => { return renderWithProviders(, { i18nInstance: i18n, @@ -122,10 +136,10 @@ const render = (props: React.ComponentProps) => { describe('SetupLiquidsMap', () => { let props: React.ComponentProps beforeEach(() => { - props = { runId: RUN_ID, robotName: ROBOT_NAME } - when(mockInferModuleOrientationFromXCoordinate) - .calledWith(expect.anything()) - .mockReturnValue(STUBBED_ORIENTATION_VALUE) + props = { + runId: RUN_ID, + protocolAnalysis: simpleAnalysisFileFixture as any, + } when(mockLabwareRender) .mockReturnValue(
    ) // this (default) empty div will be returned when LabwareRender isn't called with expected labware definition .calledWith( @@ -145,14 +159,30 @@ describe('SetupLiquidsMap', () => { }) ) .mockReturnValue(
    mock labware render with well fill
    ) - + when(mockUseAttachedModules).calledWith().mockReturnValue([]) + when(mockGetAttachedProtocolModuleMatches).mockReturnValue([]) + when(mockGetLabwareRenderInfo) + .calledWith(simpleAnalysisFileFixture as any, ot2StandardDeckDef as any) + .mockReturnValue({}) + when(mockGetDeckConfigFromProtocolCommands) + .calledWith(simpleAnalysisFileFixture.commands as RunTimeCommand[]) + .mockReturnValue(EXTENDED_DECK_CONFIG_FIXTURE) + when(mockGetRobotTypeFromLoadedLabware) + .calledWith(simpleAnalysisFileFixture.labware as any) + .mockReturnValue(FLEX_ROBOT_TYPE) + when(mockParseLiquidsInLoadOrder) + .calledWith( + simpleAnalysisFileFixture.liquids as any, + simpleAnalysisFileFixture.commands as any + ) + .mockReturnValue([]) + when(mockParseInitialLoadedLabwareByAdapter) + .calledWith(simpleAnalysisFileFixture.commands as any) + .mockReturnValue({}) when(mockLabwareInfoOverlay) .mockReturnValue(
    ) // this (default) empty div will be returned when LabwareInfoOverlay isn't called with expected props .calledWith( - partialComponentPropsMatcher({ - definition: fixture_tiprack_300_ul, - labwareHasLiquid: false, - }) + partialComponentPropsMatcher({ definition: fixture_tiprack_300_ul }) ) .mockReturnValue(
    @@ -160,94 +190,93 @@ describe('SetupLiquidsMap', () => { {fixture_tiprack_300_ul.metadata.displayName}
    ) - .calledWith(partialComponentPropsMatcher({ labwareHasLiquid: true })) - .mockReturnValue(
    mock labware overlay with liquid
    ) + }) - when(mockRobotWorkSpace) - .mockReturnValue(
    ) // this (default) empty div will be returned when RobotWorkSpace isn't called with expected props - .calledWith( - partialComponentPropsMatcher({ - deckDef: standardDeckDef, - children: expect.anything(), - }) - ) - .mockImplementation(({ children }) => ( - - {/* @ts-expect-error children won't be null since we checked for expect.anything() above */} - {children({ - deckSlotsById, - getRobotCoordsFromDOMCoords: {} as any, - })} - - )) - when(mockUseProtocolDetailsForRun) - .calledWith(RUN_ID) - .mockReturnValue({ - protocolData: { - pipettes: {}, - labware: {}, - modules: { - heatershaker_id: { - model: 'heaterShakerModuleV1', - }, - }, - liquids: [ - { - id: '1', - displayName: 'mock liquid', - description: '', - displayColor: '#FFFFFF', - }, - ], - labwareDefinitions: {}, - commands: [], - }, - } as any) + afterEach(() => { + jest.clearAllMocks() + resetAllWhenMocks() }) - afterEach(() => resetAllWhenMocks()) it('should render a deck WITHOUT labware and WITHOUT modules', () => { - when(mockUseLabwareRenderInfoForRunById) - .calledWith(RUN_ID) - .mockReturnValue({}) - when(mockUseModuleRenderInfoForProtocolById) - .calledWith(ROBOT_NAME, RUN_ID) - .mockReturnValue({}) - + props = { + ...props, + protocolAnalysis: null, + } render(props) - expect(mockModule).not.toHaveBeenCalled() expect(mockLabwareRender).not.toHaveBeenCalled() expect(mockLabwareInfoOverlay).not.toHaveBeenCalled() }) - it('should render a deck WITH labware and WITHOUT modules', () => { - when(mockUseLabwareRenderInfoForRunById) - .calledWith(RUN_ID) - .mockReturnValue({ - '300_ul_tiprack_id': { - labwareDef: fixture_tiprack_300_ul as LabwareDefinition2, - displayName: 'fresh tips', - x: MOCK_300_UL_TIPRACK_COORDS[0], - y: MOCK_300_UL_TIPRACK_COORDS[1], - z: MOCK_300_UL_TIPRACK_COORDS[2], - slotName: '1', - }, - }) - when(mockUseModuleRenderInfoForProtocolById) - .calledWith(ROBOT_NAME, RUN_ID) + it('should render base deck - robot type is OT-2', () => { + when(mockGetRobotTypeFromLoadedLabware) + .calledWith(simpleAnalysisFileFixture.labware as any) + .mockReturnValue(OT2_ROBOT_TYPE) + when(mockGetDeckDefFromRobotType) + .calledWith(OT2_ROBOT_TYPE) + .mockReturnValue(ot2StandardDeckDef as any) + when(mockParseLabwareInfoByLiquidId) + .calledWith(simpleAnalysisFileFixture.commands as any) .mockReturnValue({}) + mockUseAttachedModules.mockReturnValue( + mockFetchModulesSuccessActionPayloadModules + ) + when(mockGetLabwareRenderInfo).mockReturnValue({}) + when(mockGetProtocolModulesInfo) + .calledWith(simpleAnalysisFileFixture as any, ot2StandardDeckDef as any) + .mockReturnValue(mockProtocolModuleInfo) + when(mockGetAttachedProtocolModuleMatches) + .calledWith( + mockFetchModulesSuccessActionPayloadModules, + mockProtocolModuleInfo + ) + .mockReturnValue([ + { + moduleId: mockMagneticModule.moduleId, + x: MOCK_MAGNETIC_MODULE_COORDS[0], + y: MOCK_MAGNETIC_MODULE_COORDS[1], + z: MOCK_MAGNETIC_MODULE_COORDS[2], + moduleDef: mockMagneticModule as any, + nestedLabwareDef: null, + nestedLabwareDisplayName: null, + nestedLabwareId: null, + slotName: '1', + protocolLoadOrder: 1, + attachedModuleMatch: null, + }, + { + moduleId: mockMagneticModule.moduleId, + x: MOCK_SECOND_MAGNETIC_MODULE_COORDS[0], + y: MOCK_SECOND_MAGNETIC_MODULE_COORDS[1], + z: MOCK_SECOND_MAGNETIC_MODULE_COORDS[2], + moduleDef: mockMagneticModule as any, + nestedLabwareDef: null, + nestedLabwareDisplayName: null, + nestedLabwareId: null, + slotName: '2', + protocolLoadOrder: 0, + attachedModuleMatch: null, + }, + ]) + when(mockBaseDeck) + .calledWith( + partialComponentPropsMatcher({ + robotType: OT2_ROBOT_TYPE, + deckLayerBlocklist: getStandardDeckViewLayerBlockList(OT2_ROBOT_TYPE), + }) + ) + .mockReturnValue(
    mock BaseDeck
    ) const [{ getByText }] = render(props) - expect(mockModule).not.toHaveBeenCalled() - expect(mockLabwareRender).toHaveBeenCalled() - expect(mockLabwareInfoOverlay).toHaveBeenCalled() - getByText('mock labware render of 300ul Tiprack FIXTURE') - getByText('mock labware info overlay of 300ul Tiprack FIXTURE') + getByText('mock BaseDeck') }) - it('should render a deck WITH labware and WITH modules', () => { - when(mockUseLabwareRenderInfoForRunById) - .calledWith(RUN_ID) + it('should render base deck - robot type is Flex', () => { + when(mockGetDeckDefFromRobotType) + .calledWith(FLEX_ROBOT_TYPE) + .mockReturnValue(ot3StandardDeckDef as any) + + when(mockGetLabwareRenderInfo) + .calledWith(simpleAnalysisFileFixture as any, ot3StandardDeckDef as any) .mockReturnValue({ [MOCK_300_UL_TIPRACK_ID]: { labwareDef: fixture_tiprack_300_ul as LabwareDefinition2, @@ -255,79 +284,75 @@ describe('SetupLiquidsMap', () => { x: MOCK_300_UL_TIPRACK_COORDS[0], y: MOCK_300_UL_TIPRACK_COORDS[1], z: MOCK_300_UL_TIPRACK_COORDS[2], - slotName: '1', + slotName: 'C1', }, }) - when(mockUseModuleRenderInfoForProtocolById) - .calledWith(ROBOT_NAME, RUN_ID) - .mockReturnValue({ - [mockMagneticModule.moduleId]: { + when(mockParseLabwareInfoByLiquidId) + .calledWith(simpleAnalysisFileFixture.commands as any) + .mockReturnValue({}) + mockUseAttachedModules.mockReturnValue( + mockFetchModulesSuccessActionPayloadModules + ) + + when(mockGetProtocolModulesInfo) + .calledWith(simpleAnalysisFileFixture as any, ot3StandardDeckDef as any) + .mockReturnValue(mockProtocolModuleInfo) + when(mockGetAttachedProtocolModuleMatches) + .calledWith( + mockFetchModulesSuccessActionPayloadModules, + mockProtocolModuleInfo + ) + .mockReturnValue([ + { moduleId: mockMagneticModule.moduleId, x: MOCK_MAGNETIC_MODULE_COORDS[0], y: MOCK_MAGNETIC_MODULE_COORDS[1], z: MOCK_MAGNETIC_MODULE_COORDS[2], moduleDef: mockMagneticModule as any, nestedLabwareDef: null, + nestedLabwareDisplayName: null, nestedLabwareId: null, - protocolLoadOrder: 0, + slotName: 'C1', + protocolLoadOrder: 1, attachedModuleMatch: null, }, - [mockTCModule.moduleId]: { - moduleId: mockTCModule.moduleId, - x: MOCK_TC_COORDS[0], - y: MOCK_TC_COORDS[1], - z: MOCK_TC_COORDS[2], - moduleDef: mockTCModule, + { + moduleId: mockMagneticModule.moduleId, + x: MOCK_SECOND_MAGNETIC_MODULE_COORDS[0], + y: MOCK_SECOND_MAGNETIC_MODULE_COORDS[1], + z: MOCK_SECOND_MAGNETIC_MODULE_COORDS[2], + moduleDef: mockMagneticModule as any, nestedLabwareDef: null, + nestedLabwareDisplayName: null, nestedLabwareId: null, - protocolLoadOrder: 1, + slotName: 'B1', + protocolLoadOrder: 0, attachedModuleMatch: null, }, - } as any) - - when(mockModule) - .calledWith( - partialComponentPropsMatcher({ - def: mockMagneticModule, - x: MOCK_MAGNETIC_MODULE_COORDS[0], - y: MOCK_MAGNETIC_MODULE_COORDS[1], - }) - ) - .mockReturnValue(
    mock module viz {mockMagneticModule.type}
    ) + ]) - when(mockModule) + when(mockBaseDeck) .calledWith( partialComponentPropsMatcher({ - def: mockTCModule, - x: MOCK_TC_COORDS[0], - y: MOCK_TC_COORDS[1], + deckConfig: EXTENDED_DECK_CONFIG_FIXTURE, + deckLayerBlocklist: getStandardDeckViewLayerBlockList( + FLEX_ROBOT_TYPE + ), + robotType: FLEX_ROBOT_TYPE, + // ToDo (kk:11/03/2023) Update the following part later + labwareLocations: expect.anything(), + moduleLocations: expect.anything(), }) ) - .mockReturnValue(
    mock module viz {mockTCModule.type}
    ) - + .mockReturnValue(
    mock BaseDeck
    ) const [{ getByText }] = render(props) - getByText('mock module viz magneticModuleType') - getByText('mock module viz thermocyclerModuleType') - getByText('mock labware render of 300ul Tiprack FIXTURE') - getByText('mock labware info overlay of 300ul Tiprack FIXTURE') - }) - it('should render labware overlay and labware render with liquids', () => { - when(mockUseLabwareRenderInfoForRunById) - .calledWith(RUN_ID) - .mockReturnValue({ - '300_ul_tiprack_id': { - labwareDef: fixture_tiprack_300_ul as LabwareDefinition2, - displayName: 'fresh tips', - x: MOCK_300_UL_TIPRACK_COORDS[0], - y: MOCK_300_UL_TIPRACK_COORDS[1], - z: MOCK_300_UL_TIPRACK_COORDS[2], - slotName: '1', - }, - }) - mockGetWellFillFromLabwareId.mockReturnValue(MOCK_WELL_FILL) - const [{ getByText }] = render({ ...props }) - getByText('mock labware overlay with liquid') - getByText('mock labware render with well fill') + getByText('mock BaseDeck') }) + + // ToDo (kk:11/03/2023) + // The current component implementation is tough to test everything. + // I will do refactoring later and add tests to cover more cases. + // Probably I will replace BaseDeck's children with a new component and write test for that. + it.todo('should render labware overlay and labware render with liquids') }) diff --git a/app/src/organisms/Devices/ProtocolRun/SetupLiquids/index.tsx b/app/src/organisms/Devices/ProtocolRun/SetupLiquids/index.tsx index 85e2e2761fb..bb4de2d50ea 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupLiquids/index.tsx +++ b/app/src/organisms/Devices/ProtocolRun/SetupLiquids/index.tsx @@ -13,13 +13,24 @@ import { BackToTopButton } from '../BackToTopButton' import { SetupLiquidsList } from './SetupLiquidsList' import { SetupLiquidsMap } from './SetupLiquidsMap' +import type { + CompletedProtocolAnalysis, + ProtocolAnalysisOutput, +} from '@opentrons/shared-data' + interface SetupLiquidsProps { protocolRunHeaderRef: React.RefObject | null robotName: string runId: string + protocolAnalysis: CompletedProtocolAnalysis | ProtocolAnalysisOutput | null } -export function SetupLiquids(props: SetupLiquidsProps): JSX.Element { +export function SetupLiquids({ + protocolRunHeaderRef, + robotName, + runId, + protocolAnalysis, +}: SetupLiquidsProps): JSX.Element { const { t } = useTranslation('protocol_setup') const [selectedValue, toggleGroup] = useToggleGroup( t('list_view'), @@ -35,15 +46,15 @@ export function SetupLiquids(props: SetupLiquidsProps): JSX.Element { > {toggleGroup} {selectedValue === t('list_view') ? ( - + ) : ( - + )} From 4a9a5021f472a2d118b44be157abae0c564b3355 Mon Sep 17 00:00:00 2001 From: Jamey H Date: Wed, 8 Nov 2023 07:46:48 -0500 Subject: [PATCH 25/65] feat(app, app-shell): add download progress to robot update flows (#13915) * feat(app): add download progress to robot update flows If the robot update cache files are still downloading, no longer is an error thrown. Instead, the update modal renders and a downloading stage of the update flow begins. Additionally, release files are downloaded and returned to the browser layer separately from system files, so users may see release notes as soon as they are downloaded. --- app-shell/src/http.ts | 23 ++- app-shell/src/robot-update/index.ts | 34 ++-- app-shell/src/robot-update/release-files.ts | 79 +++++++--- .../RobotUpdateProgressModal.tsx | 43 ++++-- .../RobotUpdateProgressModal.test.tsx | 16 +- .../__tests__/useRobotUpdateInfo.test.tsx | 146 +++++++++++++----- .../UpdateBuildroot/useRobotUpdateInfo.ts | 111 ++++++------- .../redux/robot-update/__tests__/epic.test.ts | 40 +++++ .../robot-update/__tests__/reducer.test.ts | 63 ++++++++ app/src/redux/robot-update/constants.ts | 7 + app/src/redux/robot-update/epic.ts | 17 +- app/src/redux/robot-update/hooks.ts | 1 + app/src/redux/robot-update/reducer.ts | 42 ++++- app/src/redux/robot-update/types.ts | 6 +- 14 files changed, 470 insertions(+), 158 deletions(-) diff --git a/app-shell/src/http.ts b/app-shell/src/http.ts index c4ce12d4aa6..02fe50da3e1 100644 --- a/app-shell/src/http.ts +++ b/app-shell/src/http.ts @@ -90,17 +90,22 @@ export function postFile( init?: RequestInit, progress?: (progress: number) => void ): Promise { - return createReadStream(source, progress ?? null).then(readStream => { - const body = new FormData() - body.append(name, readStream) - return fetch(input, { ...init, body, method: 'POST' }) + return new Promise((resolve, reject) => { + createReadStream(source, progress ?? null, reject).then(readStream => { + return new Promise(resolve => { + const body = new FormData() + body.append(name, readStream) + resolve(fetch(input, { ...init, body, method: 'POST' })) + }).then(resolve) + }) }) } function createReadStreamWithSize( source: string, size: number, - progress: ((progress: number) => void) | null + progress: ((progress: number) => void) | null, + onError: (error: unknown) => unknown ): Promise { return new Promise((resolve, reject) => { const readStream = fs.createReadStream(source) @@ -125,6 +130,7 @@ function createReadStreamWithSize( } readStream.once('error', handleError) + readStream.once('error', onError) function handleSuccess(): void { resolve(readStream) @@ -142,12 +148,13 @@ function createReadStreamWithSize( // create a read stream, handling errors that `fetch` is unable to catch function createReadStream( source: string, - progress: ((progress: number) => void) | null + progress: ((progress: number) => void) | null, + onError: (error: unknown) => unknown ): Promise { return fsPromises .stat(source) .then(filestats => - createReadStreamWithSize(source, filestats.size, progress) + createReadStreamWithSize(source, filestats.size, progress, onError) ) - .catch(() => createReadStreamWithSize(source, Infinity, progress)) + .catch(() => createReadStreamWithSize(source, Infinity, progress, onError)) } diff --git a/app-shell/src/robot-update/index.ts b/app-shell/src/robot-update/index.ts index b71eab6d44b..4f4d2bc8350 100644 --- a/app-shell/src/robot-update/index.ts +++ b/app-shell/src/robot-update/index.ts @@ -137,20 +137,28 @@ export function registerRobotUpdate(dispatch: Dispatch): Dispatch { case 'robotUpdate:READ_USER_FILE': { const { systemFile } = action.payload as { systemFile: string } - readFileAndDispatchInfo(dispatch, systemFile, true) - break + return readFileAndDispatchInfo(dispatch, systemFile, true) } case 'robotUpdate:READ_SYSTEM_FILE': { const { target } = action.payload const filename = updateSet[target]?.system + if (filename == null) { - return dispatch({ - type: 'robotUpdate:UNEXPECTED_ERROR', - payload: { message: 'Robot update file not downloaded' }, - }) + if (checkingForUpdates) { + dispatch({ + type: 'robotUpdate:CHECKING_FOR_UPDATE', + payload: target, + }) + } else { + // If the file was downloaded but deleted from robot-update-cache. + dispatch({ + type: 'robotUpdate:UNEXPECTED_ERROR', + payload: { message: 'Robot update file not downloaded' }, + }) + } } else { - readFileAndDispatchInfo(dispatch, filename) + return readFileAndDispatchInfo(dispatch, filename) } } } @@ -213,7 +221,7 @@ export function checkForRobotUpdate( const handleProgress = (progress: DownloadProgress): void => { const { downloaded, size } = progress if (size !== null) { - const percentDone = Math.round(downloaded / size) * 100 + const percentDone = Math.round((downloaded / size) * 100) if (percentDone - prevPercentDone > 0) { dispatch({ type: 'robotUpdate:DOWNLOAD_PROGRESS', @@ -227,7 +235,15 @@ export function checkForRobotUpdate( const targetDownloadDir = cacheDirForMachineFiles(target) return ensureDir(targetDownloadDir) - .then(() => getReleaseFiles(urls, targetDownloadDir, handleProgress)) + .then(() => + getReleaseFiles( + urls, + targetDownloadDir, + dispatch, + target, + handleProgress + ) + ) .then(filepaths => cacheUpdateSet(filepaths, target)) .then(updateInfo => dispatch({ type: 'robotUpdate:UPDATE_INFO', payload: updateInfo }) diff --git a/app-shell/src/robot-update/release-files.ts b/app-shell/src/robot-update/release-files.ts index d2d9d6b47cc..0c84634eb59 100644 --- a/app-shell/src/robot-update/release-files.ts +++ b/app-shell/src/robot-update/release-files.ts @@ -3,12 +3,17 @@ import assert from 'assert' import path from 'path' import { promisify } from 'util' import tempy from 'tempy' -import { move, readdir, remove } from 'fs-extra' +import { move, readdir, remove, readFile } from 'fs-extra' import StreamZip from 'node-stream-zip' import getStream from 'get-stream' +import { RobotUpdateTarget } from '@opentrons/app/src/redux/robot-update/types' + import { createLogger } from '../log' import { fetchToFile } from '../http' +import { Dispatch } from '../types' +import { CURRENT_VERSION } from '../update' + import type { DownloadProgress } from '../http' import type { ReleaseSetUrls, ReleaseSetFilepaths, UserFileInfo } from './types' @@ -23,6 +28,8 @@ const outPath = (dir: string, url: string): string => export function getReleaseFiles( urls: ReleaseSetUrls, directory: string, + dispatch: Dispatch, + target: RobotUpdateTarget, onProgress: (progress: DownloadProgress) => unknown ): Promise { return readdir(directory) @@ -44,41 +51,65 @@ export function getReleaseFiles( return { system, releaseNotes } } - return downloadReleaseFiles(urls, directory, onProgress) + return Promise.all([ + downloadAndNotify(true, urls.releaseNotes, directory, dispatch, target), + downloadAndNotify( + false, + urls.system, + directory, + dispatch, + target, + onProgress + ), + ]).then(([releaseNotes, system]) => ({ releaseNotes, system })) }) } -// downloads the entire release set to a temporary directory, and once they're -// all successfully downloaded, renames the directory to `directory` +// downloads robot update files to a temporary directory, and once +// successfully downloaded, renames the directory to `directory` // TODO(mc, 2019-07-09): DRY this up if/when more than 2 files are required -export function downloadReleaseFiles( - urls: ReleaseSetUrls, +export function downloadAndNotify( + isReleaseNotesDownload: boolean, + url: ReleaseSetUrls['releaseNotes' | 'system'], directory: string, + dispatch: Dispatch, + target: RobotUpdateTarget, // `onProgress` will be called with download progress as the files are read - onProgress: (progress: DownloadProgress) => unknown -): Promise { + onProgress?: (progress: DownloadProgress) => unknown +): Promise { const tempDir: string = tempy.directory() - const tempSystemPath = outPath(tempDir, urls.system) - const tempNotesPath = outPath(tempDir, urls.releaseNotes) + const tempPath = outPath(tempDir, url) + const path = outPath(directory, tempPath) + const logMessage = isReleaseNotesDownload ? 'release notes' : 'system files' - log.debug('directory created for robot update downloads', { tempDir }) + log.debug('directory created for ' + logMessage, { tempDir }) // downloads are streamed directly to the filesystem to avoid loading them // all into memory simultaneously - const systemReq = fetchToFile(urls.system, tempSystemPath, { onProgress }) - const notesReq = fetchToFile(urls.releaseNotes, tempNotesPath) - - return Promise.all([systemReq, notesReq]).then(results => { - const [systemTemp, releaseNotesTemp] = results - const systemPath = outPath(directory, systemTemp) - const notesPath = outPath(directory, releaseNotesTemp) - - log.debug('renaming directory', { from: tempDir, to: directory }) + const req = fetchToFile(url, tempPath, { + onProgress, + }) - return move(tempDir, directory, { overwrite: true }).then(() => ({ - system: systemPath, - releaseNotes: notesPath, - })) + return req.then(() => { + return move(tempPath, path, { overwrite: true }) + .then(() => { + if (isReleaseNotesDownload) { + return readFile(path, 'utf8').then(releaseNotes => + dispatch({ + type: 'robotUpdate:UPDATE_INFO', + payload: { releaseNotes, target, version: CURRENT_VERSION }, + }) + ) + } + // This action will only have an effect if the user is actively waiting for the download to complete. + else { + return dispatch({ + type: 'robotUpdate:DOWNLOAD_DONE', + payload: target, + }) + } + }) + .then(() => path) }) } diff --git a/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/RobotUpdateProgressModal.tsx b/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/RobotUpdateProgressModal.tsx index a2a504629b9..94a31b77560 100644 --- a/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/RobotUpdateProgressModal.tsx +++ b/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/RobotUpdateProgressModal.tsx @@ -1,6 +1,6 @@ import * as React from 'react' import { useTranslation } from 'react-i18next' -import { useDispatch } from 'react-redux' +import { useDispatch, useSelector } from 'react-redux' import { css } from 'styled-components' import { @@ -23,11 +23,13 @@ import { FOOTER_BUTTON_STYLE } from './UpdateRobotModal' import { startRobotUpdate, clearRobotUpdateSession, + getRobotUpdateDownloadError, } from '../../../../redux/robot-update' import { useRobotUpdateInfo } from './useRobotUpdateInfo' import successIcon from '../../../../assets/images/icon_success.png' -import type { SetStatusBarCreateCommand } from '@opentrons/shared-data' +import type { State } from '../../../../redux/types' +import type { SetStatusBarCreateCommand } from '@opentrons/shared-data/protocol' import type { RobotUpdateSession } from '../../../../redux/robot-update/types' import type { UpdateStep } from './useRobotUpdateInfo' @@ -66,8 +68,15 @@ export function RobotUpdateProgressModal({ const completeRobotUpdateHandler = (): void => { if (closeUpdateBuildroot != null) closeUpdateBuildroot() } - const { error } = session || { error: null } - const { updateStep, progressPercent } = useRobotUpdateInfo(session) + + const { updateStep, progressPercent } = useRobotUpdateInfo(robotName, session) + + let { error } = session || { error: null } + const downloadError = useSelector((state: State) => + getRobotUpdateDownloadError(state, robotName) + ) + if (error == null && downloadError != null) error = downloadError + useStatusBarAnimation(error != null) useCleanupRobotUpdateSessionOnDismount() @@ -89,11 +98,27 @@ export function RobotUpdateProgressModal({ progressPercent ) - let modalBodyText = t('installing_update') + let modalBodyText = '' let subProgressBarText = t('do_not_turn_off') - if (updateStep === 'restart') modalBodyText = t('restarting_robot') - if (updateStep === 'restart' && letUserExitUpdate) { - subProgressBarText = t('restart_taking_too_long', { robotName }) + switch (updateStep) { + case 'initial': + case 'error': + modalBodyText = '' + break + case 'download': + modalBodyText = t('downloading_update') + break + case 'install': + modalBodyText = t('installing_update') + break + case 'restart': + modalBodyText = t('restarting_robot') + if (letUserExitUpdate) { + subProgressBarText = t('restart_taking_too_long', { robotName }) + } + break + default: + modalBodyText = t('installing_update') } return ( @@ -209,7 +234,7 @@ function SuccessOrError({ errorMessage }: SuccessOrErrorProps): JSX.Element { export const TIME_BEFORE_ALLOWING_EXIT_MS = 600000 // 10 mins function useAllowExitIfUpdateStalled( - updateStep: UpdateStep, + updateStep: UpdateStep | null, progressPercent: number ): boolean { const [letUserExitUpdate, setLetUserExitUpdate] = React.useState( diff --git a/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/__tests__/RobotUpdateProgressModal.test.tsx b/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/__tests__/RobotUpdateProgressModal.test.tsx index 45ae255f3c5..55793ef48dc 100644 --- a/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/__tests__/RobotUpdateProgressModal.test.tsx +++ b/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/__tests__/RobotUpdateProgressModal.test.tsx @@ -8,7 +8,10 @@ import { TIME_BEFORE_ALLOWING_EXIT_MS, } from '../RobotUpdateProgressModal' import { useRobotUpdateInfo } from '../useRobotUpdateInfo' -import { getRobotSessionIsManualFile } from '../../../../../redux/robot-update' +import { + getRobotSessionIsManualFile, + getRobotUpdateDownloadError, +} from '../../../../../redux/robot-update' import { useDispatchStartRobotUpdate } from '../../../../../redux/robot-update/hooks' import type { SetStatusBarCreateCommand } from '@opentrons/shared-data' @@ -31,6 +34,9 @@ const mockGetRobotSessionIsManualFile = getRobotSessionIsManualFile as jest.Mock const mockUseDispatchStartRobotUpdate = useDispatchStartRobotUpdate as jest.MockedFunction< typeof useDispatchStartRobotUpdate > +const mockGetRobotUpdateDownloadError = getRobotUpdateDownloadError as jest.MockedFunction< + typeof getRobotUpdateDownloadError +> const render = ( props: React.ComponentProps @@ -71,12 +77,20 @@ describe('DownloadUpdateModal', () => { }) mockGetRobotSessionIsManualFile.mockReturnValue(false) mockUseDispatchStartRobotUpdate.mockReturnValue(jest.fn) + mockGetRobotUpdateDownloadError.mockReturnValue(null) }) afterEach(() => { jest.resetAllMocks() }) + it('renders robot update download errors', () => { + mockGetRobotUpdateDownloadError.mockReturnValue('test download error') + + const [{ getByText }] = render(props) + getByText('test download error') + }) + it('renders the robot name as a part of the header', () => { const [{ getByText }] = render(props) diff --git a/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/__tests__/useRobotUpdateInfo.test.tsx b/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/__tests__/useRobotUpdateInfo.test.tsx index 8b38bf9cde3..f1fd45669fc 100644 --- a/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/__tests__/useRobotUpdateInfo.test.tsx +++ b/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/__tests__/useRobotUpdateInfo.test.tsx @@ -1,14 +1,34 @@ +import * as React from 'react' import { renderHook } from '@testing-library/react-hooks' +import { createStore } from 'redux' +import { I18nextProvider } from 'react-i18next' +import { Provider } from 'react-redux' + +import { i18n } from '../../../../../i18n' import { useRobotUpdateInfo } from '../useRobotUpdateInfo' +import { getRobotUpdateDownloadProgress } from '../../../../../redux/robot-update' + +import type { Store } from 'redux' +import { State } from '../../../../../redux/types' import type { RobotUpdateSession, UpdateSessionStep, UpdateSessionStage, } from '../../../../../redux/robot-update/types' +jest.mock('../../../../../redux/robot-update') + +const mockGetRobotUpdateDownloadProgress = getRobotUpdateDownloadProgress as jest.MockedFunction< + typeof getRobotUpdateDownloadProgress +> + describe('useRobotUpdateInfo', () => { + let store: Store + let wrapper: React.FunctionComponent<{}> + + const MOCK_ROBOT_NAME = 'testRobot' const mockRobotUpdateSession: RobotUpdateSession | null = { - robotName: 'testRobot', + robotName: MOCK_ROBOT_NAME, fileInfo: { isManualFile: true, systemFile: 'testFile', version: '1.0.0' }, token: null, pathPrefix: null, @@ -18,36 +38,79 @@ describe('useRobotUpdateInfo', () => { error: null, } - it('should return initial values when session is null', () => { - const { result } = renderHook(() => useRobotUpdateInfo(null)) + beforeEach(() => { + jest.useFakeTimers() + store = createStore(jest.fn(), {}) + store.dispatch = jest.fn() + wrapper = ({ children }) => ( + + {children} + + ) + mockGetRobotUpdateDownloadProgress.mockReturnValue(50) + }) - expect(result.current.updateStep).toBe('initial') + it('should return null when session is null', () => { + const { result } = renderHook( + () => useRobotUpdateInfo(MOCK_ROBOT_NAME, null), + { wrapper } + ) + + expect(result.current.updateStep).toBe(null) expect(result.current.progressPercent).toBe(0) }) it('should return initial values when there is no session step and stage', () => { - const { result } = renderHook(session => useRobotUpdateInfo(session), { - initialProps: { - ...mockRobotUpdateSession, - step: null, - stage: null, - }, - }) + const { result } = renderHook( + session => useRobotUpdateInfo(MOCK_ROBOT_NAME, session), + { + initialProps: { + ...mockRobotUpdateSession, + step: null, + stage: null, + } as any, + wrapper, + } + ) expect(result.current.updateStep).toBe('initial') expect(result.current.progressPercent).toBe(0) }) + it('should return download updateStep and appropriate percentages when the update is downloading', () => { + const { result, rerender } = renderHook( + session => useRobotUpdateInfo(MOCK_ROBOT_NAME, session), + { + initialProps: { + ...mockRobotUpdateSession, + step: 'downloadFile', + } as any, + wrapper, + } + ) + + expect(result.current.updateStep).toBe('download') + expect(Math.round(result.current.progressPercent)).toBe(17) + + rerender({ + ...mockRobotUpdateSession, + }) + + expect(result.current.updateStep).toBe('install') + expect(result.current.progressPercent).toBe(50) + }) + it('should update updateStep and progressPercent when session is provided', () => { const { result, rerender } = renderHook( - session => useRobotUpdateInfo(session), + session => useRobotUpdateInfo(MOCK_ROBOT_NAME, session), { - initialProps: mockRobotUpdateSession, + initialProps: mockRobotUpdateSession as any, + wrapper, } ) expect(result.current.updateStep).toBe('install') - expect(Math.round(result.current.progressPercent)).toBe(75) + expect(Math.round(result.current.progressPercent)).toBe(25) rerender({ ...mockRobotUpdateSession, @@ -63,14 +126,15 @@ describe('useRobotUpdateInfo', () => { it('should return correct updateStep and progressPercent values when there is an error', () => { const { result, rerender } = renderHook( - session => useRobotUpdateInfo(session), + session => useRobotUpdateInfo(MOCK_ROBOT_NAME, session), { - initialProps: mockRobotUpdateSession, + initialProps: mockRobotUpdateSession as any, + wrapper, } ) expect(result.current.updateStep).toBe('install') - expect(Math.round(result.current.progressPercent)).toBe(75) + expect(Math.round(result.current.progressPercent)).toBe(25) rerender({ ...mockRobotUpdateSession, @@ -78,34 +142,42 @@ describe('useRobotUpdateInfo', () => { }) expect(result.current.updateStep).toBe('error') - expect(Math.round(result.current.progressPercent)).toBe(75) + expect(Math.round(result.current.progressPercent)).toBe(25) }) it('should calculate correct progressPercent when the update is not manual', () => { - const { result } = renderHook(session => useRobotUpdateInfo(session), { - initialProps: { - ...mockRobotUpdateSession, - fileInfo: { - systemFile: 'downloadPath', - version: '1.0.0', - isManualFile: false, - }, - }, - }) + const { result } = renderHook( + session => useRobotUpdateInfo(MOCK_ROBOT_NAME, session), + { + initialProps: { + ...mockRobotUpdateSession, + fileInfo: { + systemFile: 'downloadPath', + version: '1.0.0', + isManualFile: false, + }, + } as any, + wrapper, + } + ) expect(result.current.updateStep).toBe('install') - expect(Math.round(result.current.progressPercent)).toBe(75) + expect(Math.round(result.current.progressPercent)).toBe(25) }) it('should ignore progressPercent reported by a step marked as ignored', () => { - const { result } = renderHook(session => useRobotUpdateInfo(session), { - initialProps: { - ...mockRobotUpdateSession, - step: 'processFile' as UpdateSessionStep, - stage: 'awaiting-file' as UpdateSessionStage, - progress: 100, - }, - }) + const { result } = renderHook( + session => useRobotUpdateInfo(MOCK_ROBOT_NAME, session), + { + initialProps: { + ...mockRobotUpdateSession, + step: 'processFile' as UpdateSessionStep, + stage: 'awaiting-file' as UpdateSessionStage, + progress: 100, + } as any, + wrapper, + } + ) expect(result.current.updateStep).toBe('install') expect(Math.round(result.current.progressPercent)).toBe(0) diff --git a/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/useRobotUpdateInfo.ts b/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/useRobotUpdateInfo.ts index 3e1b6e60a56..75c35746c9d 100644 --- a/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/useRobotUpdateInfo.ts +++ b/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/useRobotUpdateInfo.ts @@ -1,16 +1,20 @@ import * as React from 'react' +import { useSelector } from 'react-redux' + +import { getRobotUpdateDownloadProgress } from '../../../../redux/robot-update' + import type { RobotUpdateSession } from '../../../../redux/robot-update/types' +import type { State } from '../../../../redux/types' export function useRobotUpdateInfo( + robotName: string, session: RobotUpdateSession | null -): { updateStep: UpdateStep; progressPercent: number } { - const progressPercent = useFindProgressPercentFrom(session) +): { updateStep: UpdateStep | null; progressPercent: number } { + const progressPercent = useFindProgressPercentFrom(robotName, session) - const shellReportedUpdateStep = React.useMemo( - () => getShellReportedUpdateStep(session), - [session] - ) - const updateStep = useTransitionUpdateStepFrom(shellReportedUpdateStep) + const updateStep = React.useMemo(() => determineUpdateStepFrom(session), [ + session, + ]) return { updateStep, @@ -19,22 +23,35 @@ export function useRobotUpdateInfo( } function useFindProgressPercentFrom( + robotName: string, session: RobotUpdateSession | null ): number { const [progressPercent, setProgressPercent] = React.useState(0) + const hasSeenDownloadFileStep = React.useRef(false) const prevSeenUpdateStep = React.useRef(null) const prevSeenStepProgress = React.useRef(0) const currentStepWithProgress = React.useRef(-1) - if (session == null) return progressPercent + const downloadProgress = useSelector((state: State) => + getRobotUpdateDownloadProgress(state, robotName) + ) + + if (session == null) { + if (progressPercent !== 0) { + setProgressPercent(0) + prevSeenStepProgress.current = 0 + hasSeenDownloadFileStep.current = false + } + return progressPercent + } - const { + let { step: sessionStep, stage: sessionStage, progress: stepProgress, } = session - if (sessionStep === 'getToken') { + if (sessionStep == null && sessionStage == null) { if (progressPercent !== 0) { setProgressPercent(0) prevSeenStepProgress.current = 0 @@ -46,27 +63,30 @@ function useFindProgressPercentFrom( prevSeenStepProgress.current = 100 } return progressPercent - } else if ( - sessionStage === 'error' || - sessionStage === null || - stepProgress == null || - sessionStep == null - ) { + } else if (sessionStage === 'error') { return progressPercent } const stepAndStage = `${sessionStep}-${sessionStage}` - // Ignored because 0-100 is too fast to be worth recording. + // Ignored because 0-100 is too fast to be worth recording or currently unsupported. const IGNORED_STEPS_AND_STAGES = [ 'processFile-awaiting-file', 'uploadFile-awaiting-file', ] + + if (sessionStep === 'downloadFile') { + hasSeenDownloadFileStep.current = true + stepProgress = downloadProgress + } + + stepProgress = stepProgress ?? 0 + // Each stepAndStage is an equal fraction of the total steps. - const TOTAL_STEPS_WITH_PROGRESS = 2 + const TOTAL_STEPS_WITH_PROGRESS = hasSeenDownloadFileStep.current ? 3 : 2 const isNewStateWithProgress = prevSeenUpdateStep.current !== stepAndStage && - stepProgress > 0 && // Accomodate for shell progress oddities. + stepProgress > 0 && // Accommodate for shell progress oddities. stepProgress < 100 // Proceed to next fraction of progress bar. @@ -79,7 +99,7 @@ function useFindProgressPercentFrom( (100 * currentStepWithProgress.current) / TOTAL_STEPS_WITH_PROGRESS prevSeenStepProgress.current = 0 prevSeenUpdateStep.current = stepAndStage - setProgressPercent(completedStepsWithProgress + stepProgress) + setProgressPercent(completedStepsWithProgress) } // Proceed with current fraction of progress bar. else if ( @@ -87,12 +107,13 @@ function useFindProgressPercentFrom( !IGNORED_STEPS_AND_STAGES.includes(stepAndStage) ) { const currentStepProgress = - progressPercent + (stepProgress - prevSeenStepProgress.current) / TOTAL_STEPS_WITH_PROGRESS + const nonBacktrackedProgressPercent = Math.max( progressPercent, - currentStepProgress + currentStepProgress + progressPercent ) + prevSeenStepProgress.current = stepProgress setProgressPercent(nonBacktrackedProgressPercent) } @@ -108,18 +129,19 @@ export type UpdateStep = | 'finished' | 'error' -function getShellReportedUpdateStep( +function determineUpdateStepFrom( session: RobotUpdateSession | null ): UpdateStep | null { if (session == null) return null const { step: sessionStep, stage: sessionStage, error } = session - // TODO(jh, 09-14-2023: add download logic to app-shell/redux/progress bar. let reportedUpdateStep: UpdateStep if (error != null) { reportedUpdateStep = 'error' } else if (sessionStep == null && sessionStage == null) { reportedUpdateStep = 'initial' + } else if (sessionStep === 'downloadFile') { + reportedUpdateStep = 'download' } else if (sessionStep === 'finished') { reportedUpdateStep = 'finished' } else if ( @@ -134,44 +156,3 @@ function getShellReportedUpdateStep( return reportedUpdateStep } - -// Shell steps have the potential to backtrack, so use guarded transitions. -function useTransitionUpdateStepFrom( - reportedUpdateStep: UpdateStep | null -): UpdateStep { - const [updateStep, setUpdateStep] = React.useState('initial') - const prevUpdateStep = React.useRef(null) - - switch (reportedUpdateStep) { - case 'initial': - if (updateStep !== 'initial') { - setUpdateStep('initial') - prevUpdateStep.current = null - } - break - case 'error': - if (updateStep !== 'error') { - setUpdateStep('error') - } - break - case 'install': - if (updateStep === 'initial' && prevUpdateStep.current == null) { - setUpdateStep('install') - prevUpdateStep.current = 'initial' - } - break - case 'restart': - if (updateStep === 'install' && prevUpdateStep.current === 'initial') { - setUpdateStep('restart') - prevUpdateStep.current = 'install' - } - break - case 'finished': - if (updateStep === 'restart' && prevUpdateStep.current === 'install') { - setUpdateStep('finished') - prevUpdateStep.current = 'restart' - } - break - } - return updateStep -} diff --git a/app/src/redux/robot-update/__tests__/epic.test.ts b/app/src/redux/robot-update/__tests__/epic.test.ts index 92172ec3852..91141fa75ab 100644 --- a/app/src/redux/robot-update/__tests__/epic.test.ts +++ b/app/src/redux/robot-update/__tests__/epic.test.ts @@ -386,6 +386,46 @@ describe('robot update epics', () => { }) }) + describe('startUpdateAfterFileDownload', () => { + it('should start the update after file download if the robot is a flex', () => { + testScheduler.run(({ hot, cold, expectObservable }) => { + const session: ReturnType = { + stage: 'done', + step: 'downloadFile', + } as any + + getRobotUpdateRobot.mockReturnValue(brRobotFlex) + getRobotUpdateSession.mockReturnValue(session) + + const state$ = hot('-a', { a: state }) + const output$ = epics.startUpdateAfterFileDownload(null as any, state$) + + expectObservable(output$).toBe('-a', { + a: actions.readSystemRobotUpdateFile('flex'), + }) + }) + }) + + it('should start the update after file download if the robot is a ot-2', () => { + testScheduler.run(({ hot, cold, expectObservable }) => { + const session: ReturnType = { + stage: 'done', + step: 'downloadFile', + } as any + + getRobotUpdateRobot.mockReturnValue(brRobotOt2) + getRobotUpdateSession.mockReturnValue(session) + + const state$ = hot('-a', { a: state }) + const output$ = epics.startUpdateAfterFileDownload(null as any, state$) + + expectObservable(output$).toBe('-a', { + a: actions.readSystemRobotUpdateFile('ot2'), + }) + }) + }) + }) + it('retryAfterPremigrationEpic', () => { testScheduler.run(({ hot, expectObservable }) => { getRobotUpdateRobot.mockReturnValueOnce(brReadyRobot) diff --git a/app/src/redux/robot-update/__tests__/reducer.test.ts b/app/src/redux/robot-update/__tests__/reducer.test.ts index 05a38d7b303..f681706c2b6 100644 --- a/app/src/redux/robot-update/__tests__/reducer.test.ts +++ b/app/src/redux/robot-update/__tests__/reducer.test.ts @@ -137,6 +137,69 @@ describe('robot update reducer', () => { }, }, }, + { + name: 'handles robotUpdate:CHECKING_FOR_UPDATE', + action: { + type: 'robotUpdate:CHECKING_FOR_UPDATE', + payload: 'ot2', + }, + initialState: { ...INITIAL_STATE, session: null }, + expected: { + ...INITIAL_STATE, + session: { + step: 'downloadFile', + stage: 'writing', + target: 'ot2', + }, + }, + }, + { + name: + 'handles robotUpdate:DOWNLOAD_DONE when the target matches the robot type', + action: { + type: 'robotUpdate:DOWNLOAD_DONE', + payload: 'ot2', + }, + initialState: { + ...INITIAL_STATE, + session: { + step: 'downloadFile', + stage: 'writing', + target: 'ot2', + }, + }, + expected: { + ...INITIAL_STATE, + session: { + step: 'downloadFile', + stage: 'done', + }, + }, + }, + { + name: + 'handles robotUpdate:DOWNLOAD_DONE when the target does not match the robot type', + action: { + type: 'robotUpdate:DOWNLOAD_DONE', + payload: 'ot2', + }, + initialState: { + ...INITIAL_STATE, + session: { + step: 'downloadFile', + stage: 'writing', + target: 'flex', + }, + }, + expected: { + ...INITIAL_STATE, + session: { + step: 'downloadFile', + stage: 'writing', + target: 'flex', + }, + }, + }, { name: 'handles robotUpdate:FILE_INFO', action: { diff --git a/app/src/redux/robot-update/constants.ts b/app/src/redux/robot-update/constants.ts index 2c0e625f892..cff9ed795ca 100644 --- a/app/src/redux/robot-update/constants.ts +++ b/app/src/redux/robot-update/constants.ts @@ -2,6 +2,7 @@ export const PREMIGRATION: 'premigration' = 'premigration' export const PREMIGRATION_RESTART: 'premigrationRestart' = 'premigrationRestart' +export const DOWNLOAD_FILE: 'downloadFile' = 'downloadFile' export const GET_TOKEN: 'getToken' = 'getToken' export const UPLOAD_FILE: 'uploadFile' = 'uploadFile' export const PROCESS_FILE: 'processFile' = 'processFile' @@ -32,6 +33,9 @@ export const REINSTALL: 'reinstall' = 'reinstall' // action types +export const ROBOTUPDATE_CHECKING_FOR_UPDATE: 'robotUpdate:CHECKING_FOR_UPDATE' = + 'robotUpdate:CHECKING_FOR_UPDATE' + export const ROBOTUPDATE_UPDATE_VERSION: 'robotUpdate:UPDATE_VERSION' = 'robotUpdate:UPDATE_VERSION' @@ -47,6 +51,9 @@ export const ROBOTUPDATE_DOWNLOAD_PROGRESS: 'robotUpdate:DOWNLOAD_PROGRESS' = export const ROBOTUPDATE_DOWNLOAD_ERROR: 'robotUpdate:DOWNLOAD_ERROR' = 'robotUpdate:DOWNLOAD_ERROR' +export const ROBOTUPDATE_DOWNLOAD_DONE: 'robotUpdate:DOWNLOAD_DONE' = + 'robotUpdate:DOWNLOAD_DONE' + export const ROBOTUPDATE_SET_UPDATE_SEEN: 'robotUpdate:SET_UPDATE_SEEN' = 'robotUpdate:SET_UPDATE_SEEN' diff --git a/app/src/redux/robot-update/epic.ts b/app/src/redux/robot-update/epic.ts index 07c22e03555..f3ec8fcfacf 100644 --- a/app/src/redux/robot-update/epic.ts +++ b/app/src/redux/robot-update/epic.ts @@ -62,6 +62,7 @@ import { ROBOTUPDATE_FILE_INFO, ROBOTUPDATE_CREATE_SESSION, ROBOTUPDATE_CREATE_SESSION_SUCCESS, + DOWNLOAD_FILE, } from './constants' import type { Observable } from 'rxjs' @@ -144,6 +145,19 @@ export const startUpdateEpic: Epic = (action$, state$) => }) ) +export const startUpdateAfterFileDownload: Epic = (_, state$) => { + return state$.pipe( + filter(passActiveSession({ step: DOWNLOAD_FILE, stage: DONE })), + switchMap(stateWithSession => { + const host: ViewableRobot = getRobotUpdateRobot(stateWithSession) as any + const robotModel = + host?.serverHealth?.robotModel === 'OT-3 Standard' ? 'flex' : 'ot2' + + return of(readSystemRobotUpdateFile(robotModel)) + }) + ) +} + // listen for a the active robot to come back with capabilities after premigration export const retryAfterPremigrationEpic: Epic = (_, state$) => { return state$.pipe( @@ -284,8 +298,6 @@ const passActiveSession = (props: Partial) => ( return ( robot !== null && !session?.error && - typeof session?.pathPrefix === 'string' && - typeof session?.token === 'string' && every( props, (value, key) => session?.[key as keyof RobotUpdateSession] === value @@ -449,6 +461,7 @@ export const removeMigratedRobotsEpic: Epic = (_, state$) => { export const robotUpdateEpic = combineEpics( startUpdateEpic, + startUpdateAfterFileDownload, retryAfterPremigrationEpic, startSessionAfterFileInfoEpic, createSessionEpic, diff --git a/app/src/redux/robot-update/hooks.ts b/app/src/redux/robot-update/hooks.ts index 840349ef331..9316e87ab35 100644 --- a/app/src/redux/robot-update/hooks.ts +++ b/app/src/redux/robot-update/hooks.ts @@ -7,6 +7,7 @@ type DispatchStartRobotUpdate = ( systemFile?: string | undefined ) => void +// Safely start a robot update. export function useDispatchStartRobotUpdate(): DispatchStartRobotUpdate { const dispatch = useDispatch<(a: Action) => void>() diff --git a/app/src/redux/robot-update/reducer.ts b/app/src/redux/robot-update/reducer.ts index fecebc4ee77..50c00c411e2 100644 --- a/app/src/redux/robot-update/reducer.ts +++ b/app/src/redux/robot-update/reducer.ts @@ -23,7 +23,7 @@ export const INITIAL_STATE: RobotUpdateState = { } export const initialSession = ( - robotName: string, + robotName: string | null, session: RobotUpdateSession | null ): RobotUpdateSession => ({ robotName, @@ -67,6 +67,21 @@ export const robotUpdateReducer: Reducer = ( } } + case Constants.ROBOTUPDATE_CHECKING_FOR_UPDATE: { + const session = state.session as RobotUpdateSession + const target = action.payload + + return { + ...state, + session: { + ...session, + step: Constants.DOWNLOAD_FILE, + stage: Constants.WRITING, + target, + }, + } + } + case Constants.ROBOTUPDATE_DOWNLOAD_PROGRESS: { return { ...state, @@ -79,6 +94,24 @@ export const robotUpdateReducer: Reducer = ( } } + case Constants.ROBOTUPDATE_DOWNLOAD_DONE: { + if (!state.session) return state + + const { target, ...session } = state.session + const isThisRobotDownloadDone = + session?.step === Constants.DOWNLOAD_FILE && target === action.payload + + return isThisRobotDownloadDone + ? { + ...state, + session: { + ...session, + stage: Constants.DONE, + }, + } + : state + } + case Constants.ROBOTUPDATE_DOWNLOAD_ERROR: { return { ...state, @@ -104,7 +137,12 @@ export const robotUpdateReducer: Reducer = ( return { ...state, - session: { ...session, step: Constants.GET_TOKEN }, + session: { + ...session, + robotName: host.name, + step: Constants.GET_TOKEN, + stage: null, + }, } } diff --git a/app/src/redux/robot-update/types.ts b/app/src/redux/robot-update/types.ts index c3fbe2193d0..81f43a7e571 100644 --- a/app/src/redux/robot-update/types.ts +++ b/app/src/redux/robot-update/types.ts @@ -39,6 +39,7 @@ export type UpdateSessionStage = export type UpdateSessionStep = | 'premigration' | 'premigrationRestart' + | 'downloadFile' | 'getToken' | 'uploadFile' | 'processFile' @@ -48,7 +49,7 @@ export type UpdateSessionStep = | 'finished' export interface RobotUpdateSession { - robotName: string + robotName: string | null fileInfo: RobotUpdateFileInfo | null token: string | null pathPrefix: string | null @@ -56,6 +57,7 @@ export interface RobotUpdateSession { stage: UpdateSessionStage | null progress: number | null error: string | null + target?: RobotUpdateTarget } export interface PerTargetRobotUpdateState { @@ -181,3 +183,5 @@ export type RobotUpdateAction = | { type: 'robotUpdate:CLEAR_SESSION' } | { type: 'robotUpdate:SET_UPDATE_SEEN'; meta: { robotName: string } } | { type: 'robotUpdate:FILE_UPLOAD_PROGRESS'; payload: number } + | { type: 'robotUpdate:CHECKING_FOR_UPDATE'; payload: RobotUpdateTarget } + | { type: 'robotUpdate:DOWNLOAD_DONE'; payload: RobotUpdateTarget } From d631fc198a9308fdac8f2d0818d84096f233a5b8 Mon Sep 17 00:00:00 2001 From: Ryan Howard Date: Wed, 8 Nov 2023 10:03:58 -0500 Subject: [PATCH 26/65] chore(api): fix push-ot3 for some versions of linux that can't use the multifile scp command (#13911) --- api/Makefile | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/api/Makefile b/api/Makefile index adff7704fd9..c6e78d04939 100755 --- a/api/Makefile +++ b/api/Makefile @@ -184,7 +184,8 @@ push-no-restart-ot3: sdist echo $(sdist_file) $(call push-python-sdist,$(host),$(ssh_key),$(ssh_opts),$(sdist_file),/opt/opentrons-robot-server,opentrons,src,,$(version_file)) ssh $(ssh_helper) root@$(host) "mount -o remount,rw / && mkdir -p /usr/local/bin" - scp $(ssh_helper) ./src/opentrons/hardware_control/scripts/{ot3repl,ot3gripper} root@$(host):/usr/local/bin/ + scp $(ssh_helper) ./src/opentrons/hardware_control/scripts/ot3repl root@$(host):/usr/local/bin/ + scp $(ssh_helper) ./src/opentrons/hardware_control/scripts/ot3gripper root@$(host):/usr/local/bin/ ssh $(ssh_helper) root@$(host) "mount -o remount,ro /" .PHONY: push-ot3 From 9d5418f84bf68f7df71b74914e3aee944e1a1615 Mon Sep 17 00:00:00 2001 From: Frank Sinapi Date: Wed, 8 Nov 2023 10:28:14 -0500 Subject: [PATCH 27/65] fix(api, shared-data, robot-server): stringify all error info in run log (#13942) * fix(shared-data, api): stringify exception details dict to prevent runlog pydantic validation errors * Add protection for run store to return None if pydantic validation of a state summary fails * Log run store errors when they happen --- api/src/opentrons/hardware_control/api.py | 12 +-- .../backends/ot3controller.py | 2 +- api/src/opentrons/hardware_control/errors.py | 2 +- .../instruments/ot2/pipette_handler.py | 2 +- .../instruments/ot3/gripper.py | 8 +- .../instruments/ot3/gripper_handler.py | 2 +- .../instruments/ot3/pipette.py | 2 +- .../instruments/ot3/pipette_handler.py | 2 +- api/src/opentrons/hardware_control/ot3api.py | 2 +- .../protocol_runner/json_file_reader.py | 6 +- robot-server/robot_server/runs/run_store.py | 19 ++-- robot-server/tests/runs/test_run_store.py | 56 +++++++++++ .../errors/exceptions.py | 96 +++++++++---------- 13 files changed, 138 insertions(+), 73 deletions(-) diff --git a/api/src/opentrons/hardware_control/api.py b/api/src/opentrons/hardware_control/api.py index 75d0bd65226..f3f70c16b9a 100644 --- a/api/src/opentrons/hardware_control/api.py +++ b/api/src/opentrons/hardware_control/api.py @@ -618,7 +618,7 @@ async def home(self, axes: Optional[List[Axis]] = None) -> None: if any(unsupported): raise UnsupportedHardwareCommand( message=f"At least one axis in {axes} is not supported on the OT2.", - detail={"unsupported_axes": unsupported}, + detail={"unsupported_axes": str(unsupported)}, ) self._reset_last_mount() # Initialize/update current_position @@ -661,14 +661,14 @@ async def current_position( raise PositionUnknownError( message=f"Current position of {str(mount)} pipette is unknown," " please home.", - detail={"mount": str(mount), "missing_axes": position_axes}, + detail={"mount": str(mount), "missing_axes": str(position_axes)}, ) axes_str = [ot2_axis_to_string(a) for a in position_axes] if not self._backend.is_homed(axes_str): unhomed = self._backend._unhomed_axes(axes_str) raise PositionUnknownError( message=f"{str(mount)} pipette axes ({unhomed}) must be homed.", - detail={"mount": str(mount), "unhomed_axes": unhomed}, + detail={"mount": str(mount), "unhomed_axes": str(unhomed)}, ) elif not self._current_position and not refresh: raise PositionUnknownError( @@ -755,7 +755,7 @@ async def move_axes( """ raise UnsupportedHardwareCommand( message="move_axes is not supported on the OT-2.", - detail={"axes_commanded": list(position.keys())}, + detail={"axes_commanded": str(list(position.keys()))}, ) async def move_rel( @@ -781,7 +781,7 @@ async def move_rel( " is unknown.", detail={ "mount": str(mount), - "fail_on_not_homed": fail_on_not_homed, + "fail_on_not_homed": str(fail_on_not_homed), }, ) else: @@ -797,7 +797,7 @@ async def move_rel( unhomed = self._backend._unhomed_axes(axes_str) raise PositionUnknownError( message=f"{str(mount)} pipette axes ({unhomed}) must be homed.", - detail={"mount": str(mount), "unhomed_axes": unhomed}, + detail={"mount": str(mount), "unhomed_axes": str(unhomed)}, ) await self._cache_and_maybe_retract_mount(mount) diff --git a/api/src/opentrons/hardware_control/backends/ot3controller.py b/api/src/opentrons/hardware_control/backends/ot3controller.py index 7c4ce56ac4f..9718e298dfd 100644 --- a/api/src/opentrons/hardware_control/backends/ot3controller.py +++ b/api/src/opentrons/hardware_control/backends/ot3controller.py @@ -1166,7 +1166,7 @@ def _pop_queue() -> Optional[Tuple[NodeId, ErrorCode]]: mount = Axis.to_ot3_mount(node_to_axis(q_msg[0])) raise PipetteOverpressureError( message=msg.format(str(mount)), - detail={"mount": mount}, + detail={"mount": str(mount)}, ) else: yield diff --git a/api/src/opentrons/hardware_control/errors.py b/api/src/opentrons/hardware_control/errors.py index f678167cf28..6cde3fa076b 100644 --- a/api/src/opentrons/hardware_control/errors.py +++ b/api/src/opentrons/hardware_control/errors.py @@ -25,7 +25,7 @@ class InvalidPipetteName(InvalidInstrumentData): def __init__(self, name: int, mount: str) -> None: super().__init__( message=f"Invalid pipette name key {name} on mount {mount}", - detail={"mount": mount, "name": name}, + detail={"mount": mount, "name": str(name)}, ) diff --git a/api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py b/api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py index 43d4e1518b4..67596cea790 100644 --- a/api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py +++ b/api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py @@ -638,7 +638,7 @@ def plan_check_dispense( # type: ignore[no-untyped-def] message="Cannot push_out on a dispense that does not leave the pipette empty", detail={ "command": "dispense", - "remaining-volume": instrument.current_volume - disp_vol, + "remaining-volume": str(instrument.current_volume - disp_vol), }, ) push_out_ul = 0 diff --git a/api/src/opentrons/hardware_control/instruments/ot3/gripper.py b/api/src/opentrons/hardware_control/instruments/ot3/gripper.py index 7eb757fd333..3eb3c863522 100644 --- a/api/src/opentrons/hardware_control/instruments/ot3/gripper.py +++ b/api/src/opentrons/hardware_control/instruments/ot3/gripper.py @@ -183,16 +183,16 @@ def check_calibration_pin_location_is_accurate(self) -> None: raise CommandPreconditionViolated( "Cannot calibrate gripper without attaching a calibration probe", detail={ - "probe": self._attached_probe, - "jaw_state": self.state, + "probe": str(self._attached_probe), + "jaw_state": str(self.state), }, ) if self.state != GripperJawState.GRIPPING: raise CommandPreconditionViolated( "Cannot calibrate gripper if jaw is not in gripping state", detail={ - "probe": self._attached_probe, - "jaw_state": self.state, + "probe": str(self._attached_probe), + "jaw_state": str(self.state), }, ) diff --git a/api/src/opentrons/hardware_control/instruments/ot3/gripper_handler.py b/api/src/opentrons/hardware_control/instruments/ot3/gripper_handler.py index 51778b08b92..cf2ba55e23d 100644 --- a/api/src/opentrons/hardware_control/instruments/ot3/gripper_handler.py +++ b/api/src/opentrons/hardware_control/instruments/ot3/gripper_handler.py @@ -133,7 +133,7 @@ def check_ready_for_jaw_move(self, command: str) -> None: message=f"Cannot {command} gripper jaw before homing", detail={ "command": command, - "jaw_state": gripper.state, + "jaw_state": str(gripper.state), }, ) diff --git a/api/src/opentrons/hardware_control/instruments/ot3/pipette.py b/api/src/opentrons/hardware_control/instruments/ot3/pipette.py index 89f99416726..1f6dd0b4b59 100644 --- a/api/src/opentrons/hardware_control/instruments/ot3/pipette.py +++ b/api/src/opentrons/hardware_control/instruments/ot3/pipette.py @@ -597,7 +597,7 @@ def set_liquid_class_by_name(self, class_name: str) -> None: message=f"Liquid class {class_name} is not valid for {self._config.display_name}", detail={ "requested-class-name": class_name, - "pipette-model": self._pipette_model, + "pipette-model": str(self._pipette_model), }, ) if ( diff --git a/api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py b/api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py index 8b00f6f7aeb..36b41e3e816 100644 --- a/api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py +++ b/api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py @@ -613,7 +613,7 @@ def plan_check_dispense( message="Cannot push_out on a dispense that does not leave the pipette empty", detail={ "command": "dispense", - "remaining-volume": instrument.current_volume - disp_vol, + "remaining-volume": str(instrument.current_volume - disp_vol), }, ) push_out_ul = 0 diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py index 1a2eb65e8a6..11b9682805c 100644 --- a/api/src/opentrons/hardware_control/ot3api.py +++ b/api/src/opentrons/hardware_control/ot3api.py @@ -945,7 +945,7 @@ async def current_position_ot3( raise PositionUnknownError( message=f"Motor positions for {str(mount)} mount are missing (" f"{mount_axes}); must first home motors.", - detail={"mount": str(mount), "missing_axes": mount_axes}, + detail={"mount": str(mount), "missing_axes": str(mount_axes)}, ) self._assert_motor_ok(mount_axes) diff --git a/api/src/opentrons/protocol_runner/json_file_reader.py b/api/src/opentrons/protocol_runner/json_file_reader.py index 17f82ec8cee..488c28d273b 100644 --- a/api/src/opentrons/protocol_runner/json_file_reader.py +++ b/api/src/opentrons/protocol_runner/json_file_reader.py @@ -25,7 +25,7 @@ def read( message=f"Cannot execute {name} as a JSON protocol", detail={ "kind": "non-json-file-in-json-file-reader", - "metadata-name": protocol_source.metadata.get("name"), + "metadata-name": str(protocol_source.metadata.get("name")), "file-name": protocol_source.main_file.name, }, ) @@ -40,7 +40,9 @@ def read( message=f"{name} is a JSON protocol v{protocol_source.config.schema_version} which this robot cannot execute", detail={ "kind": "schema-version-unknown", - "requested-schema-version": protocol_source.config.schema_version, + "requested-schema-version": str( + protocol_source.config.schema_version + ), "minimum-handled-schema-version": "6", "maximum-handled-shcema-version": "8", }, diff --git a/robot-server/robot_server/runs/run_store.py b/robot-server/robot_server/runs/run_store.py index 32f2eca3251..88471787da3 100644 --- a/robot-server/robot_server/runs/run_store.py +++ b/robot-server/robot_server/runs/run_store.py @@ -1,4 +1,5 @@ """Runs' on-db store.""" +import logging from collections import defaultdict from dataclasses import dataclass from datetime import datetime @@ -6,7 +7,7 @@ from typing import Any, Dict, List, Optional, cast import sqlalchemy -from pydantic import parse_obj_as +from pydantic import parse_obj_as, ValidationError from opentrons.util.helpers import utc_now from opentrons.protocol_engine import StateSummary, CommandSlice @@ -18,6 +19,8 @@ from .action_models import RunAction, RunActionType from .run_models import RunNotFoundError +log = logging.getLogger(__name__) + _CACHE_ENTRIES = 32 @@ -256,11 +259,15 @@ def get_state_summary(self, run_id: str) -> Optional[StateSummary]: with self._sql_engine.begin() as transaction: row = transaction.execute(select_run_data).one() - return ( - StateSummary.parse_obj(row.state_summary) - if row.state_summary is not None - else None - ) + try: + return ( + StateSummary.parse_obj(row.state_summary) + if row.state_summary is not None + else None + ) + except ValidationError as e: + log.warn(f"Error retrieving state summary for {run_id}: {e}") + return None @lru_cache(maxsize=_CACHE_ENTRIES) def _get_all_unparsed_commands(self, run_id: str) -> List[Dict[str, Any]]: diff --git a/robot-server/tests/runs/test_run_store.py b/robot-server/tests/runs/test_run_store.py index 3350a290d13..c805b944714 100644 --- a/robot-server/tests/runs/test_run_store.py +++ b/robot-server/tests/runs/test_run_store.py @@ -104,6 +104,46 @@ def state_summary() -> StateSummary: ) +@pytest.fixture +def invalid_state_summary() -> StateSummary: + """Should fail pydantic validation.""" + analysis_error = pe_errors.ErrorOccurrence.construct( + id="error-id", + # Invalid value here should fail analysis + createdAt=MountType.LEFT, # type: ignore + errorType="BadError", + detail="oh no", + ) + + analysis_labware = pe_types.LoadedLabware( + id="labware-id", + loadName="load-name", + definitionUri="namespace/load-name/42", + location=pe_types.DeckSlotLocation(slotName=DeckSlotName.SLOT_1), + offsetId=None, + ) + + analysis_pipette = pe_types.LoadedPipette( + id="pipette-id", + pipetteName=PipetteNameType.P300_SINGLE, + mount=MountType.LEFT, + ) + + liquids = [Liquid(id="some-id", displayName="water", description="water desc")] + + return StateSummary( + errors=[analysis_error], + labware=[analysis_labware], + pipettes=[analysis_pipette], + # TODO(mc, 2022-02-14): evaluate usage of modules in the analysis resp. + modules=[], + # TODO (tz 22-4-19): added the field to class. make sure what to initialize + labwareOffsets=[], + status=EngineStatus.IDLE, + liquids=liquids, + ) + + def test_update_run_state( subject: RunStore, state_summary: StateSummary, @@ -367,6 +407,22 @@ def test_get_state_summary(subject: RunStore, state_summary: StateSummary) -> No assert result == state_summary +def test_get_state_summary_failure( + subject: RunStore, invalid_state_summary: StateSummary +) -> None: + """It should return None.""" + subject.insert( + run_id="run-id", + protocol_id=None, + created_at=datetime(year=2021, month=1, day=1, tzinfo=timezone.utc), + ) + subject.update_run_state( + run_id="run-id", summary=invalid_state_summary, commands=[] + ) + result = subject.get_state_summary(run_id="run-id") + assert result is None + + def test_get_state_summary_none(subject: RunStore) -> None: """It should return None if no state data stored.""" subject.insert( diff --git a/shared-data/python/opentrons_shared_data/errors/exceptions.py b/shared-data/python/opentrons_shared_data/errors/exceptions.py index fa784e5fb90..9483b404965 100644 --- a/shared-data/python/opentrons_shared_data/errors/exceptions.py +++ b/shared-data/python/opentrons_shared_data/errors/exceptions.py @@ -19,7 +19,7 @@ def __init__( self, code: ErrorCodes, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence["EnumeratedError"]] = None, ) -> None: """Build an EnumeratedError.""" @@ -61,7 +61,7 @@ def __init__( self, code: Optional[ErrorCodes] = None, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a CommunicationError.""" @@ -88,7 +88,7 @@ def __init__( self, code: Optional[ErrorCodes] = None, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a RoboticsControlError.""" @@ -116,7 +116,7 @@ def __init__( self, code: Optional[ErrorCodes] = None, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a RoboticsInteractionError.""" @@ -144,7 +144,7 @@ def __init__( self, code: Optional[ErrorCodes] = None, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[Union[EnumeratedError, BaseException]]] = None, ) -> None: """Build a GeneralError.""" @@ -220,7 +220,7 @@ class RobotInUseError(CommunicationError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a CanbusCommunicationError.""" @@ -233,7 +233,7 @@ class CanbusCommunicationError(CommunicationError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a CanbusCommunicationError.""" @@ -248,7 +248,7 @@ class InternalUSBCommunicationError(CommunicationError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build an InternalUSBCommunicationError.""" @@ -263,7 +263,7 @@ class ModuleCommunicationError(CommunicationError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a CanbusCommunicationError.""" @@ -278,7 +278,7 @@ class CommandTimedOutError(CommunicationError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a CommandTimedOutError.""" @@ -291,7 +291,7 @@ class FirmwareUpdateFailedError(CommunicationError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a FirmwareUpdateFailedError.""" @@ -304,7 +304,7 @@ class InternalMessageFormatError(CommunicationError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build an InternalMesasgeFormatError.""" @@ -319,7 +319,7 @@ class CANBusConfigurationError(CommunicationError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a CANBus Configuration Error.""" @@ -334,7 +334,7 @@ class CANBusBusError(CommunicationError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a CANBus Bus Error.""" @@ -347,7 +347,7 @@ class MotionFailedError(RoboticsControlError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a MotionFailedError.""" @@ -360,7 +360,7 @@ class HomingFailedError(RoboticsControlError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a HomingFailedError.""" @@ -373,7 +373,7 @@ class StallOrCollisionDetectedError(RoboticsControlError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a StallOrCollisionDetectedError.""" @@ -388,7 +388,7 @@ class MotionPlanningFailureError(RoboticsControlError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a MotionPlanningFailureError.""" @@ -401,7 +401,7 @@ class PositionEstimationInvalidError(RoboticsControlError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a PositionEstimationFailedError.""" @@ -416,7 +416,7 @@ class MoveConditionNotMetError(RoboticsControlError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a MoveConditionNotMetError.""" @@ -435,7 +435,7 @@ def __init__( self, structure_height: float, lower_limit: float, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a CalibrationStructureNotFoundError.""" @@ -454,7 +454,7 @@ def __init__( self, edge_name: str, stride: float, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a EdgeNotFoundError.""" @@ -473,7 +473,7 @@ def __init__( self, found: float, nominal: float, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a EarlyCapacitiveSenseTrigger.""" @@ -492,7 +492,7 @@ def __init__( self, found: float, nominal: float, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a InaccurateNonContactSweepError.""" @@ -513,7 +513,7 @@ class MisalignedGantryError(RoboticsControlError): def __init__( self, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a MisalignedGantryError.""" @@ -534,7 +534,7 @@ class UnmatchedTipPresenceStates(RoboticsControlError): def __init__( self, states: Dict[int, int], - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build an UnmatchedTipPresenceStatesError.""" @@ -562,7 +562,7 @@ class PositionUnknownError(RoboticsControlError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a PositionUnknownError.""" @@ -575,7 +575,7 @@ class ExecutionCancelledError(RoboticsControlError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a ExecutionCancelledError.""" @@ -588,7 +588,7 @@ class LabwareDroppedError(RoboticsInteractionError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a LabwareDroppedError.""" @@ -601,7 +601,7 @@ class TipPickupFailedError(RoboticsInteractionError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a TipPickupFailedError.""" @@ -614,7 +614,7 @@ class TipDropFailedError(RoboticsInteractionError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a TipPickupFailedError.""" @@ -629,7 +629,7 @@ def __init__( action: str, pipette_name: str, mount: str, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build an UnexpectedTipRemovalError.""" @@ -651,7 +651,7 @@ def __init__( pipette_name: str, mount: str, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build an UnexpectedTipAttachError.""" @@ -670,7 +670,7 @@ def __init__( action: str, subsystems_to_update: List[Any], message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a FirmwareUpdateRequiredError.""" @@ -687,7 +687,7 @@ class PipetteOverpressureError(RoboticsInteractionError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build an PipetteOverpressureError.""" @@ -700,7 +700,7 @@ class EStopActivatedError(RoboticsInteractionError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build an EStopActivatedError.""" @@ -713,7 +713,7 @@ class EStopNotPresentError(RoboticsInteractionError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build an EStopNotPresentError.""" @@ -726,7 +726,7 @@ class PipetteNotPresentError(RoboticsInteractionError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build an PipetteNotPresentError.""" @@ -739,7 +739,7 @@ class GripperNotPresentError(RoboticsInteractionError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a GripperNotPresentError.""" @@ -752,7 +752,7 @@ class InvalidActuator(RoboticsInteractionError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build an InvalidActuator.""" @@ -766,7 +766,7 @@ def __init__( self, identifier: str, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a ModuleNotPresentError.""" @@ -784,7 +784,7 @@ class InvalidInstrumentData(RoboticsInteractionError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build an InvalidInstrumentData.""" @@ -797,7 +797,7 @@ class InvalidLiquidClassName(RoboticsInteractionError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build an InvalidLiquidClassName.""" @@ -812,7 +812,7 @@ class TipDetectorNotFound(RoboticsInteractionError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a TipDetectorNotFound.""" @@ -827,7 +827,7 @@ def __init__( api_element: str, since_version: str, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build an APIRemoved error.""" @@ -849,7 +849,7 @@ class CommandPreconditionViolated(GeneralError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build a CommandPreconditionViolated instance.""" @@ -893,7 +893,7 @@ class UnsupportedHardwareCommand(GeneralError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build an UnsupportedHardwareCommand.""" @@ -908,7 +908,7 @@ class InvalidProtocolData(GeneralError): def __init__( self, message: Optional[str] = None, - detail: Optional[Dict[str, Any]] = None, + detail: Optional[Dict[str, str]] = None, wrapping: Optional[Sequence[EnumeratedError]] = None, ) -> None: """Build an InvalidProtocolData.""" From 566027a3a719d4e29f14bc7991653adf1b60144d Mon Sep 17 00:00:00 2001 From: Shlok Amin Date: Wed, 8 Nov 2023 11:17:28 -0500 Subject: [PATCH 28/65] refactor(app): only show ODD runs loading screen when server returns 503 (#13940) --- .../Devices/__tests__/RecentProtocolRuns.test.tsx | 5 +++-- .../Devices/hooks/__tests__/useIsRobotBusy.test.ts | 3 ++- .../pages/OnDeviceDisplay/RobotDashboard/index.tsx | 2 +- react-api-client/src/runs/useAllRunsQuery.ts | 12 +++++++++--- 4 files changed, 15 insertions(+), 7 deletions(-) diff --git a/app/src/organisms/Devices/__tests__/RecentProtocolRuns.test.tsx b/app/src/organisms/Devices/__tests__/RecentProtocolRuns.test.tsx index 570da04652d..2cfb460f4a7 100644 --- a/app/src/organisms/Devices/__tests__/RecentProtocolRuns.test.tsx +++ b/app/src/organisms/Devices/__tests__/RecentProtocolRuns.test.tsx @@ -8,6 +8,7 @@ import { RecentProtocolRuns } from '../RecentProtocolRuns' import { HistoricalProtocolRun } from '../HistoricalProtocolRun' import type { Runs } from '@opentrons/api-client' +import type { AxiosError } from 'axios' jest.mock('@opentrons/react-api-client') jest.mock('../hooks') @@ -57,7 +58,7 @@ describe('RecentProtocolRuns', () => { mockUseIsRobotViewable.mockReturnValue(true) mockUseAllRunsQuery.mockReturnValue({ data: {}, - } as UseQueryResult) + } as UseQueryResult) const [{ getByText }] = render() getByText('No protocol runs yet!') @@ -76,7 +77,7 @@ describe('RecentProtocolRuns', () => { }, ], }, - } as UseQueryResult) + } as UseQueryResult) const [{ getByText }] = render() getByText('Recent Protocol Runs') getByText('Run') diff --git a/app/src/organisms/Devices/hooks/__tests__/useIsRobotBusy.test.ts b/app/src/organisms/Devices/hooks/__tests__/useIsRobotBusy.test.ts index 559ea98da67..fd6a466c5e8 100644 --- a/app/src/organisms/Devices/hooks/__tests__/useIsRobotBusy.test.ts +++ b/app/src/organisms/Devices/hooks/__tests__/useIsRobotBusy.test.ts @@ -14,6 +14,7 @@ import { useIsRobotBusy } from '../useIsRobotBusy' import { useIsFlex } from '../useIsFlex' import type { Sessions, Runs } from '@opentrons/api-client' +import type { AxiosError } from 'axios' jest.mock('@opentrons/react-api-client') jest.mock('../../../ProtocolUpload/hooks') @@ -49,7 +50,7 @@ describe('useIsRobotBusy', () => { current: {}, }, }, - } as UseQueryResult) + } as UseQueryResult) mockUseEstopQuery.mockReturnValue({ data: mockEstopStatus } as any) mockUseIsFlex.mockReturnValue(false) }) diff --git a/app/src/pages/OnDeviceDisplay/RobotDashboard/index.tsx b/app/src/pages/OnDeviceDisplay/RobotDashboard/index.tsx index f2d861b6a13..a4609200d86 100644 --- a/app/src/pages/OnDeviceDisplay/RobotDashboard/index.tsx +++ b/app/src/pages/OnDeviceDisplay/RobotDashboard/index.tsx @@ -58,7 +58,7 @@ export function RobotDashboard(): JSX.Element { // GET runs query will error with 503 if database is initializing // this should be momentary, and the type of error to come from this endpoint // so, all errors will be mapped to an initializing spinner - if (allRunsQueryError != null) { + if (allRunsQueryError?.code === '503') { contents = } else if (recentRunsOfUniqueProtocols.length > 0) { contents = ( diff --git a/react-api-client/src/runs/useAllRunsQuery.ts b/react-api-client/src/runs/useAllRunsQuery.ts index a1e3665860f..35bc910c67b 100644 --- a/react-api-client/src/runs/useAllRunsQuery.ts +++ b/react-api-client/src/runs/useAllRunsQuery.ts @@ -3,10 +3,11 @@ import { useQuery } from 'react-query' import { useHost } from '../api' import type { UseQueryOptions, UseQueryResult } from 'react-query' +import type { AxiosError } from 'axios' export type UseAllRunsQueryOptions = UseQueryOptions< Runs, - Error, + AxiosError, Runs, Array > @@ -15,7 +16,7 @@ export function useAllRunsQuery( params: GetRunsParams = {}, options: UseAllRunsQueryOptions = {}, hostOverride?: HostConfig | null -): UseQueryResult { +): UseQueryResult { const contextHost = useHost() const host = hostOverride != null ? { ...contextHost, ...hostOverride } : contextHost @@ -25,7 +26,12 @@ export function useAllRunsQuery( } const query = useQuery( queryKey, - () => getRuns(host as HostConfig, params).then(response => response.data), + () => + getRuns(host as HostConfig, params) + .then(response => response.data) + .catch((e: AxiosError) => { + throw e + }), { enabled: host !== null, ...options } ) From 8c55cb17621d97d5b13d6182f37bdd1fd2bd821b Mon Sep 17 00:00:00 2001 From: Nick Diehl <47604184+ncdiehl11@users.noreply.github.com> Date: Wed, 8 Nov 2023 11:24:05 -0500 Subject: [PATCH 29/65] fix(app): update video assets for attach and detach 96-channel pipette (#13929) closes RQA-1863 Update video assets for attach/detach 96-channel pipette due to stroke issue in existing animations --- .../Pipette_Attach_96.webm | Bin 234222 -> 228876 bytes .../Pipette_Detach_96.webm | Bin 220217 -> 209640 bytes 2 files changed, 0 insertions(+), 0 deletions(-) diff --git a/app/src/assets/videos/pipette-wizard-flows/Pipette_Attach_96.webm 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Andy Sigler Date: Wed, 8 Nov 2023 11:44:02 -0500 Subject: [PATCH 30/65] fix(hardware-testing): Improvements to daily-setup process after more testing (#13899) --- .eslintignore | 1 + hardware-testing/Makefile | 3 + .../hardware_testing/gravimetric/__main__.py | 44 ++++++++++++- .../gravimetric/daily_setup.py | 43 +++++++----- .../hardware_testing/gravimetric/helpers.py | 13 ++-- .../hardware_testing/gravimetric/trial.py | 2 +- .../hardware_testing/tools/plot/index.html | 2 +- .../hardware_testing/tools/plot/index.js | 4 +- .../tools/plot/plotly-2.12.1.min.js | 65 +++++++++++++++++++ .../hardware_testing/tools/plot/server.py | 6 +- 10 files changed, 155 insertions(+), 28 deletions(-) create mode 100644 hardware-testing/hardware_testing/tools/plot/plotly-2.12.1.min.js diff --git a/.eslintignore b/.eslintignore index 27885c64ce6..1444a777aa1 100644 --- a/.eslintignore +++ b/.eslintignore @@ -27,6 +27,7 @@ update-server/** robot-server/** notify-server/** shared-data/python/** +hardware-testing/** # app-testing don't format the json protocols app-testing/files diff --git a/hardware-testing/Makefile b/hardware-testing/Makefile index 1206e24b175..d8af8fcca85 100755 --- a/hardware-testing/Makefile +++ b/hardware-testing/Makefile @@ -130,6 +130,7 @@ test-gravimetric-96: test-gravimetric: -$(MAKE) apply-patches-gravimetric $(python) -m hardware_testing.gravimetric.daily_setup --simulate + $(python) -m hardware_testing.gravimetric.daily_setup --simulate --calibrate $(MAKE) test-gravimetric-single $(MAKE) test-gravimetric-multi $(MAKE) test-gravimetric-96 @@ -181,6 +182,8 @@ ssh $(ssh_helper_ot3) root@$(1) \ mount -o remount,rw / &&\ mv /data/plot/index.html /opt/opentrons-robot-server/hardware_testing/tools/plot &&\ mv /data/plot/index.js /opt/opentrons-robot-server/hardware_testing/tools/plot &&\ +mv /data/plot/plotly-2.12.1.min.js /opt/opentrons-robot-server/hardware_testing/tools/plot &&\ +mv /data/plot/favicon.png /opt/opentrons-robot-server/hardware_testing/tools/plot &&\ rm -rf /data/plot &&\ cleanup || cleanup" endef diff --git a/hardware-testing/hardware_testing/gravimetric/__main__.py b/hardware-testing/hardware_testing/gravimetric/__main__.py index 2d790535445..4c54bb3a71e 100644 --- a/hardware-testing/hardware_testing/gravimetric/__main__.py +++ b/hardware-testing/hardware_testing/gravimetric/__main__.py @@ -2,8 +2,10 @@ from json import load as json_load from pathlib import Path import argparse +from time import time from typing import List, Union, Dict, Optional, Any, Tuple from dataclasses import dataclass +from opentrons.hardware_control.types import OT3Mount from opentrons.protocol_api import ProtocolContext from . import report import subprocess @@ -40,6 +42,7 @@ from .measurement.record import GravimetricRecorder from .measurement import DELAY_FOR_MEASUREMENT from .measurement.scale import Scale +from .measurement.environment import read_environment_data from .trial import TestResources, _change_pipettes from .tips import get_tips from hardware_testing.drivers import asair_sensor @@ -570,6 +573,7 @@ def _main( parser.add_argument( "--mode", type=str, choices=["", "default", "lowVolumeDefault"], default="" ) + parser.add_argument("--pre-heat", action="store_true") args = parser.parse_args() run_args = RunArgs.build_run_args(args) if not run_args.ctx.is_simulating(): @@ -580,14 +584,50 @@ def _main( shell=True, ) sleep(1) + hw = run_args.ctx._core.get_hardware() try: if not run_args.ctx.is_simulating() and not args.photometric: ui.get_user_ready("CLOSE the door, and MOVE AWAY from machine") ui.print_info("homing...") run_args.ctx.home() + + if args.pre_heat: + ui.print_header("PRE-HEAT") + mnt = OT3Mount.LEFT + hw.add_tip(mnt, 1) + hw.prepare_for_aspirate(mnt) + env_data = read_environment_data( + mnt.name.lower(), hw.is_simulator, run_args.environment_sensor + ) + start_temp = env_data.celsius_pipette + temp_limit = min(start_temp + 3.0, 28.0) + max_pre_heat_seconds = 60 * 10 + now = time() + start_time = now + while ( + now - start_time < max_pre_heat_seconds + and env_data.celsius_pipette < temp_limit + ): + ui.print_info( + f"pre-heat {int(now - start_time)} seconds " + f"({max_pre_heat_seconds} limit): " + f"{round(env_data.celsius_pipette, 2)} C " + f"({round(temp_limit, 2)} C limit)" + ) + # NOTE: moving slowly helps make sure full current is sent to coils + hw.aspirate(mnt, rate=0.1) + hw.dispense(mnt, rate=0.1, push_out=0) + env_data = read_environment_data( + mnt.name.lower(), hw.is_simulator, run_args.environment_sensor + ) + if run_args.ctx.is_simulating(): + now += 1 + else: + now = time() + hw.remove_tip(mnt) + for tip, volumes in run_args.volumes: if args.channels == 96 and not run_args.ctx.is_simulating(): - hw = run_args.ctx._core.get_hardware() ui.alert_user_ready(f"prepare the {tip}ul tipracks", hw) _main(args, run_args, tip, volumes) finally: @@ -598,5 +638,5 @@ def _main( _change_pipettes(run_args.ctx, run_args.pipette) if not run_args.ctx.is_simulating(): serial_logger.terminate() - del run_args.ctx._core.get_hardware()._backend.eeprom_driver._gpio + del hw._backend.eeprom_driver._gpio print("done\n\n") diff --git a/hardware-testing/hardware_testing/gravimetric/daily_setup.py b/hardware-testing/hardware_testing/gravimetric/daily_setup.py index 4e3eb26ba0d..bc13dc9d0bf 100644 --- a/hardware-testing/hardware_testing/gravimetric/daily_setup.py +++ b/hardware-testing/hardware_testing/gravimetric/daily_setup.py @@ -102,7 +102,6 @@ def _check_unstable_count(tag: str) -> None: OT3Mount.LEFT, Point(x=MOVE_X_MM, y=MOVE_Y_MM), speed=GANTRY_MAX_SPEED ) _check_unstable_count(tag) - hw.set_status_bar_state(COLOR_STATES["idle"]) # WALKING @@ -114,13 +113,12 @@ def _check_unstable_count(tag: str) -> None: if not hw.is_simulator: ui.get_user_ready("prepare to WALK") tag = "WALKING" + hw.set_status_bar_state(COLOR_STATES["walking"]) with recorder.samples_of_tag(tag): - num_disco_cycles = int(WALKING_SECONDS / 5) - for _ in range(num_disco_cycles): - hw.set_status_bar_state(COLOR_STATES["walking"]) - if not hw.is_simulator: - sleep(5) + if not hw.is_simulator: + sleep(WALKING_SECONDS) _check_unstable_count(tag) + hw.set_status_bar_state(COLOR_STATES["idle"]) def _wait_for_stability( @@ -155,7 +153,10 @@ def _wait_for_stability( def _run( - hw_api: SyncHardwareAPI, recorder: GravimetricRecorder, skip_stability: bool + hw_api: SyncHardwareAPI, + recorder: GravimetricRecorder, + skip_stability: bool, + calibrate: bool = False, ) -> None: ui.print_title("GRAVIMETRIC DAILY SETUP") ui.print_info(f"Scale: {recorder.max_capacity}g (SN:{recorder.serial_number})") @@ -185,13 +186,15 @@ def _calibrate() -> None: _record() hw_api.set_status_bar_state(COLOR_STATES["interact"]) if not hw_api.is_simulator: - ui.get_user_ready("INSTALL Radwag's default weighing pan") + if calibrate: + ui.get_user_ready("INSTALL Radwag's default weighing pan") ui.get_user_ready("REMOVE all weights, vials, and labware from scale") ui.get_user_ready("CLOSE door and step away from fixture") hw_api.set_status_bar_state(COLOR_STATES["idle"]) ui.print_header("TEST STABILITY") if not skip_stability: + print("homing...") hw_api.home() _wait_for_stability(recorder, hw_api, tag="stability") _test_stability(recorder, hw_api) @@ -204,12 +207,13 @@ def _calibrate() -> None: _wait_for_stability(recorder, hw_api, tag="zero") _zero() - ui.print_header("CALIBRATE SCALE") - if hw_api.is_simulator or ui.get_user_answer("calibrate (ADJUST) this scale"): - if not hw_api.is_simulator: - ui.get_user_ready("about to CALIBRATE the scale:") - _wait_for_stability(recorder, hw_api, tag="calibrate") - _calibrate() + if calibrate: + ui.print_header("CALIBRATE SCALE") + if hw_api.is_simulator or ui.get_user_answer("calibrate (ADJUST) this scale"): + if not hw_api.is_simulator: + ui.get_user_ready("about to CALIBRATE the scale:") + _wait_for_stability(recorder, hw_api, tag="calibrate") + _calibrate() ui.print_header("TEST ACCURACY") if hw_api.is_simulator: @@ -242,6 +246,7 @@ def _calibrate() -> None: if __name__ == "__main__": parser = argparse.ArgumentParser() parser.add_argument("--simulate", action="store_true") + parser.add_argument("--calibrate", action="store_true") parser.add_argument("--skip-stability", action="store_true") args = parser.parse_args() _ctx = helpers.get_api_context( @@ -263,15 +268,19 @@ def _calibrate() -> None: simulate=_hw.is_simulator, ) try: - _run(_hw, _rec, args.skip_stability) + _run(_hw, _rec, args.skip_stability, args.calibrate) _hw.set_status_bar_state(COLOR_STATES["pass"]) ui.print_header("Result: PASS") + if not args.simulate: + ui.get_user_ready("test done") + except KeyboardInterrupt: + ui.print_header("Result: EXITED EARLY") except Exception as e: _hw.set_status_bar_state(COLOR_STATES["fail"]) ui.print_header("Result: FAIL") - raise e - finally: if not args.simulate: ui.get_user_ready("test done") + raise e + finally: _rec.stop() _hw.set_status_bar_state(COLOR_STATES["idle"]) diff --git a/hardware-testing/hardware_testing/gravimetric/helpers.py b/hardware-testing/hardware_testing/gravimetric/helpers.py index cc891234616..7836e069218 100644 --- a/hardware-testing/hardware_testing/gravimetric/helpers.py +++ b/hardware-testing/hardware_testing/gravimetric/helpers.py @@ -1,5 +1,6 @@ """Opentrons helper methods.""" import asyncio +from random import random, randint from types import MethodType from typing import Any, List, Dict, Optional, Tuple from statistics import stdev @@ -320,10 +321,14 @@ def _get_volumes( test_volumes = get_volume_increments( pipette_channels, pipette_volume, tip_volume, mode=mode ) - elif user_volumes and not ctx.is_simulating(): - _inp = input( - f'Enter desired volumes for tip{tip_volume}, comma separated (eg: "10,100,1000") :' - ) + elif user_volumes: + if ctx.is_simulating(): + rand_vols = [round(random() * tip_volume, 1) for _ in range(randint(1, 3))] + _inp = ",".join([str(r) for r in rand_vols]) + else: + _inp = input( + f'Enter desired volumes for tip{tip_volume}, comma separated (eg: "10,100,1000") :' + ) test_volumes = [ float(vol_str) for vol_str in _inp.strip().split(",") if vol_str ] diff --git a/hardware-testing/hardware_testing/gravimetric/trial.py b/hardware-testing/hardware_testing/gravimetric/trial.py index 72d370930c2..9c410b5d1eb 100644 --- a/hardware-testing/hardware_testing/gravimetric/trial.py +++ b/hardware-testing/hardware_testing/gravimetric/trial.py @@ -146,7 +146,7 @@ def build_gravimetric_trials( for trial in range(cfg.trials): d: Optional[float] = None cv: Optional[float] = None - if not cfg.increment: + if not cfg.increment and not cfg.user_volumes: d, cv = config.QC_TEST_MIN_REQUIREMENTS[cfg.pipette_channels][ cfg.pipette_volume ][cfg.tip_volume][volume] diff --git a/hardware-testing/hardware_testing/tools/plot/index.html b/hardware-testing/hardware_testing/tools/plot/index.html index 6b8389645be..124607b6a1b 100644 --- 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l}(n),y=[[l.l+l.w*u.x[0],l.t+l.h*(1-u.y[1])],[l.l+l.w*u.x[1],l.t+l.h*(1-u.y[0])]],x=n.center||{},b=f.rotation||{},_=h.range||[],T=p.range||[];if(n.fitbounds){d._length=y[1][0]-y[0][0],m._length=y[1][1]-y[0][1],d.range=g(r,d),m.range=g(r,m);var k=(d.range[0]+d.range[1])/2,A=(m.range[0]+m.range[1])/2;if(n._isScoped)x={lon:k,lat:A};else if(n._isClipped){x={lon:k,lat:A},b={lon:k,lat:A,roll:b.roll};var M=f.type,S=w.lonaxisSpan[M]/2||180,L=w.lataxisSpan[M]/2||90;_=[k-S,k+S],T=[A-L,A+L]}else x={lon:k,lat:A},b={lon:k,lat:b.lat,roll:b.roll}}v.center([x.lon-b.lon,x.lat-b.lat]).rotate([-b.lon,-b.lat,b.roll]).parallels(f.parallels);var C=E(_,T);v.fitExtent(y,C);var P=this.bounds=v.getBounds(C),I=this.fitScale=v.scale(),O=v.translate();if(n.fitbounds){var z=v.getBounds(E(d.range,m.range)),D=Math.min((P[1][0]-P[0][0])/(z[1][0]-z[0][0]),(P[1][1]-P[0][1])/(z[1][1]-z[0][1]));isFinite(D)?v.scale(D*I):c.warn("Something went wrong during"+this.id+"fitbounds computations.")}else v.scale(f.scale*I);var R=this.midPt=[(P[0][0]+P[1][0])/2,(P[0][1]+P[1][1])/2];if(v.translate([O[0]+(R[0]-O[0]),O[1]+(R[1]-O[1])]).clipExtent(P),n._isAlbersUsa){var F=v([x.lon,x.lat]),B=v.translate();v.translate([B[0]-(F[0]-B[0]),B[1]-(F[1]-B[1])])}},S.updateBaseLayers=function(t,e){var r=this,i=r.topojson,a=r.layers,o=r.basePaths;function s(t){return"lonaxis"===t||"lataxis"===t}function l(t){return Boolean(w.lineLayers[t])}function c(t){return Boolean(w.fillLayers[t])}var u=(this.hasChoropleth?w.layersForChoropleth:w.layers).filter((function(t){return l(t)||c(t)?e["show"+t]:!s(t)||e[t].showgrid})),p=r.framework.selectAll(".layer").data(u,String);p.exit().each((function(t){delete a[t],delete o[t],n.select(this).remove()})),p.enter().append("g").attr("class",(function(t){return"layer "+t})).each((function(t){var e=a[t]=n.select(this);"bg"===t?r.bgRect=e.append("rect").style("pointer-events","all"):s(t)?o[t]=e.append("path").style("fill","none"):"backplot"===t?e.append("g").classed("choroplethlayer",!0):"frontplot"===t?e.append("g").classed("scatterlayer",!0):l(t)?o[t]=e.append("path").style("fill","none").style("stroke-miterlimit",2):c(t)&&(o[t]=e.append("path").style("stroke","none"))})),p.order(),p.each((function(r){var n=o[r],a=w.layerNameToAdjective[r];"frame"===r?n.datum(w.sphereSVG):l(r)||c(r)?n.datum(A(i,i.objects[r])):s(r)&&n.datum(function(t,e,r){var n,i,a,o=e[t],s=w.scopeDefaults[e.scope];"lonaxis"===t?(n=s.lonaxisRange,i=s.lataxisRange,a=function(t,e){return[t,e]}):"lataxis"===t&&(n=s.lataxisRange,i=s.lonaxisRange,a=function(t,e){return[e,t]});var l={type:"linear",range:[n[0],n[1]-1e-6],tick0:o.tick0,dtick:o.dtick};m.setConvert(l,r);var c=m.calcTicks(l);e.isScoped||"lonaxis"!==t||c.pop();for(var u=c.length,f=new Array(u),h=0;h-1&&b(n.event,i,[r.xaxis],[r.yaxis],r.id,f),s.indexOf("event")>-1&&p.click(i,n.event))}))}function h(t){return r.projection.invert([t[0]+r.xaxis._offset,t[1]+r.yaxis._offset])}},S.makeFramework=function(){var t=this,e=t.graphDiv,r=e._fullLayout,i="clip"+r._uid+t.id;t.clipDef=r._clips.append("clipPath").attr("id",i),t.clipRect=t.clipDef.append("rect"),t.framework=n.select(t.container).append("g").attr("class","geo "+t.id).call(h.setClipUrl,i,e),t.project=function(e){var r=t.projection(e);return r?[r[0]-t.xaxis._offset,r[1]-t.yaxis._offset]:[null,null]},t.xaxis={_id:"x",c2p:function(e){return t.project(e)[0]}},t.yaxis={_id:"y",c2p:function(e){return t.project(e)[1]}},t.mockAxis={type:"linear",showexponent:"all",exponentformat:"B"},m.setConvert(t.mockAxis,r)},S.saveViewInitial=function(t){var e,r=t.center||{},n=t.projection,i=n.rotation||{};this.viewInitial={fitbounds:t.fitbounds,"projection.scale":n.scale},e=t._isScoped?{"center.lon":r.lon,"center.lat":r.lat}:t._isClipped?{"projection.rotation.lon":i.lon,"projection.rotation.lat":i.lat}:{"center.lon":r.lon,"center.lat":r.lat,"projection.rotation.lon":i.lon},c.extendFlat(this.viewInitial,e)},S.render=function(){var t,e=this.projection,r=e.getPath();function n(t){var r=e(t.lonlat);return r?u(r[0],r[1]):null}function i(t){return e.isLonLatOverEdges(t.lonlat)?"none":null}for(t in this.basePaths)this.basePaths[t].attr("d",r);for(t in this.dataPaths)this.dataPaths[t].attr("d",(function(t){return r(t.geojson)}));for(t in this.dataPoints)this.dataPoints[t].attr("display",i).attr("transform",n)}},{"../../components/color":366,"../../components/dragelement":385,"../../components/drawing":388,"../../components/fx":406,"../../lib":503,"../../lib/geo_location_utils":496,"../../lib/topojson_utils":532,"../../registry":638,"../cartesian/autorange":553,"../cartesian/axes":554,"../cartesian/select":575,"../plots":619,"./constants":587,"./zoom":592,"@plotly/d3":58,"d3-geo":114,"d3-geo-projection":113,"topojson-client":315}],589:[function(t,e,r){"use strict";var n=t("../../plots/get_data").getSubplotCalcData,i=t("../../lib").counterRegex,a=t("./geo"),o="geo",s=i(o),l={};l.geo={valType:"subplotid",dflt:o,editType:"calc"},e.exports={attr:o,name:o,idRoot:o,idRegex:s,attrRegex:s,attributes:l,layoutAttributes:t("./layout_attributes"),supplyLayoutDefaults:t("./layout_defaults"),plot:function(t){for(var e=t._fullLayout,r=t.calcdata,i=e._subplots.geo,s=0;s0&&P<0&&(P+=360);var I,O,z,D=(C+P)/2;if(!p){var R=d?f.projRotate:[D,0,0];I=r("projection.rotation.lon",R[0]),r("projection.rotation.lat",R[1]),r("projection.rotation.roll",R[2]),r("showcoastlines",!d&&x)&&(r("coastlinecolor"),r("coastlinewidth")),r("showocean",!!x&&void 0)&&r("oceancolor")}(p?(O=-96.6,z=38.7):(O=d?D:I,z=(L[0]+L[1])/2),r("center.lon",O),r("center.lat",z),m&&(r("projection.tilt"),r("projection.distance")),g)&&r("projection.parallels",f.projParallels||[0,60]);r("projection.scale"),r("showland",!!x&&void 0)&&r("landcolor"),r("showlakes",!!x&&void 0)&&r("lakecolor"),r("showrivers",!!x&&void 0)&&(r("rivercolor"),r("riverwidth")),r("showcountries",d&&"usa"!==u&&x)&&(r("countrycolor"),r("countrywidth")),("usa"===u||"north america"===u&&50===c)&&(r("showsubunits",x),r("subunitcolor"),r("subunitwidth")),d||r("showframe",x)&&(r("framecolor"),r("framewidth")),r("bgcolor"),r("fitbounds")&&(delete e.projection.scale,d?(delete e.center.lon,delete e.center.lat):v?(delete e.center.lon,delete e.center.lat,delete e.projection.rotation.lon,delete e.projection.rotation.lat,delete e.lonaxis.range,delete e.lataxis.range):(delete e.center.lon,delete e.center.lat,delete e.projection.rotation.lon))}e.exports=function(t,e,r){i(t,e,r,{type:"geo",attributes:s,handleDefaults:c,fullData:r,partition:"y"})}},{"../../lib":503,"../get_data":593,"../subplot_defaults":632,"./constants":587,"./layout_attributes":590}],592:[function(t,e,r){"use strict";var n=t("@plotly/d3"),i=t("../../lib"),a=t("../../registry"),o=Math.PI/180,s=180/Math.PI,l={cursor:"pointer"},c={cursor:"auto"};function u(t,e){return n.behavior.zoom().translate(e.translate()).scale(e.scale())}function f(t,e,r){var n=t.id,o=t.graphDiv,s=o.layout,l=s[n],c=o._fullLayout,u=c[n],f={},h={};function p(t,e){f[n+"."+t]=i.nestedProperty(l,t).get(),a.call("_storeDirectGUIEdit",s,c._preGUI,f);var r=i.nestedProperty(u,t);r.get()!==e&&(r.set(e),i.nestedProperty(l,t).set(e),h[n+"."+t]=e)}r(p),p("projection.scale",e.scale()/t.fitScale),p("fitbounds",!1),o.emit("plotly_relayout",h)}function h(t,e){var r=u(0,e);function i(r){var n=e.invert(t.midPt);r("center.lon",n[0]),r("center.lat",n[1])}return r.on("zoomstart",(function(){n.select(this).style(l)})).on("zoom",(function(){e.scale(n.event.scale).translate(n.event.translate),t.render();var r=e.invert(t.midPt);t.graphDiv.emit("plotly_relayouting",{"geo.projection.scale":e.scale()/t.fitScale,"geo.center.lon":r[0],"geo.center.lat":r[1]})})).on("zoomend",(function(){n.select(this).style(c),f(t,e,i)})),r}function p(t,e){var r,i,a,o,s,h,p,d,m,g=u(0,e);function v(t){return e.invert(t)}function y(r){var n=e.rotate(),i=e.invert(t.midPt);r("projection.rotation.lon",-n[0]),r("center.lon",i[0]),r("center.lat",i[1])}return g.on("zoomstart",(function(){n.select(this).style(l),r=n.mouse(this),i=e.rotate(),a=e.translate(),o=i,s=v(r)})).on("zoom",(function(){if(h=n.mouse(this),function(t){var r=v(t);if(!r)return!0;var n=e(r);return Math.abs(n[0]-t[0])>2||Math.abs(n[1]-t[1])>2}(r))return g.scale(e.scale()),void g.translate(e.translate());e.scale(n.event.scale),e.translate([a[0],n.event.translate[1]]),s?v(h)&&(d=v(h),p=[o[0]+(d[0]-s[0]),i[1],i[2]],e.rotate(p),o=p):s=v(r=h),m=!0,t.render();var l=e.rotate(),c=e.invert(t.midPt);t.graphDiv.emit("plotly_relayouting",{"geo.projection.scale":e.scale()/t.fitScale,"geo.center.lon":c[0],"geo.center.lat":c[1],"geo.projection.rotation.lon":-l[0]})})).on("zoomend",(function(){n.select(this).style(c),m&&f(t,e,y)})),g}function d(t,e){var r,i={r:e.rotate(),k:e.scale()},a=u(0,e),o=function(t){var e=0,r=arguments.length,i=[];for(;++ed?(a=(f>0?90:-90)-p,i=0):(a=Math.asin(f/d)*s-p,i=Math.sqrt(d*d-f*f));var m=180-a-2*p,g=(Math.atan2(h,u)-Math.atan2(c,i))*s,v=(Math.atan2(h,u)-Math.atan2(c,-i))*s;return b(r[0],r[1],a,g)<=b(r[0],r[1],m,v)?[a,g,r[2]]:[m,v,r[2]]}function b(t,e,r,n){var i=_(r-t),a=_(n-e);return Math.sqrt(i*i+a*a)}function _(t){return(t%360+540)%360-180}function w(t,e,r){var n=r*o,i=t.slice(),a=0===e?1:0,s=2===e?1:2,l=Math.cos(n),c=Math.sin(n);return i[a]=t[a]*l-t[s]*c,i[s]=t[s]*l+t[a]*c,i}function T(t){return[Math.atan2(2*(t[0]*t[1]+t[2]*t[3]),1-2*(t[1]*t[1]+t[2]*t[2]))*s,Math.asin(Math.max(-1,Math.min(1,2*(t[0]*t[2]-t[3]*t[1]))))*s,Math.atan2(2*(t[0]*t[3]+t[1]*t[2]),1-2*(t[2]*t[2]+t[3]*t[3]))*s]}function k(t,e){for(var r=0,n=0,i=t.length;nMath.abs(s)?(c.boxEnd[1]=c.boxStart[1]+Math.abs(a)*_*(s>=0?1:-1),c.boxEnd[1]l[3]&&(c.boxEnd[1]=l[3],c.boxEnd[0]=c.boxStart[0]+(l[3]-c.boxStart[1])/Math.abs(_))):(c.boxEnd[0]=c.boxStart[0]+Math.abs(s)/_*(a>=0?1:-1),c.boxEnd[0]l[2]&&(c.boxEnd[0]=l[2],c.boxEnd[1]=c.boxStart[1]+(l[2]-c.boxStart[0])*Math.abs(_)))}}else c.boxEnabled?(a=c.boxStart[0]!==c.boxEnd[0],s=c.boxStart[1]!==c.boxEnd[1],a||s?(a&&(g(0,c.boxStart[0],c.boxEnd[0]),t.xaxis.autorange=!1),s&&(g(1,c.boxStart[1],c.boxEnd[1]),t.yaxis.autorange=!1),t.relayoutCallback()):t.glplot.setDirty(),c.boxEnabled=!1,c.boxInited=!1):c.boxInited&&(c.boxInited=!1);break;case"pan":c.boxEnabled=!1,c.boxInited=!1,e?(c.panning||(c.dragStart[0]=n,c.dragStart[1]=i),Math.abs(c.dragStart[0]-n).999&&(m="turntable"):m="turntable")}else m="turntable";r("dragmode",m),r("hovermode",n.getDfltFromLayout("hovermode"))}e.exports=function(t,e,r){var i=e._basePlotModules.length>1;o(t,e,r,{type:"gl3d",attributes:l,handleDefaults:u,fullLayout:e,font:e.font,fullData:r,getDfltFromLayout:function(e){if(!i)return n.validate(t[e],l[e])?t[e]:void 0},autotypenumbersDflt:e.autotypenumbers,paper_bgcolor:e.paper_bgcolor,calendar:e.calendar})}},{"../../../components/color":366,"../../../lib":503,"../../../registry":638,"../../get_data":593,"../../subplot_defaults":632,"./axis_defaults":601,"./layout_attributes":604}],604:[function(t,e,r){"use strict";var n=t("./axis_attributes"),i=t("../../domain").attributes,a=t("../../../lib/extend").extendFlat,o=t("../../../lib").counterRegex;function s(t,e,r){return{x:{valType:"number",dflt:t,editType:"camera"},y:{valType:"number",dflt:e,editType:"camera"},z:{valType:"number",dflt:r,editType:"camera"},editType:"camera"}}e.exports={_arrayAttrRegexps:[o("scene",".annotations",!0)],bgcolor:{valType:"color",dflt:"rgba(0,0,0,0)",editType:"plot"},camera:{up:a(s(0,0,1),{}),center:a(s(0,0,0),{}),eye:a(s(1.25,1.25,1.25),{}),projection:{type:{valType:"enumerated",values:["perspective","orthographic"],dflt:"perspective",editType:"calc"},editType:"calc"},editType:"camera"},domain:i({name:"scene",editType:"plot"}),aspectmode:{valType:"enumerated",values:["auto","cube","data","manual"],dflt:"auto",editType:"plot",impliedEdits:{"aspectratio.x":void 0,"aspectratio.y":void 0,"aspectratio.z":void 0}},aspectratio:{x:{valType:"number",min:0,editType:"plot",impliedEdits:{"^aspectmode":"manual"}},y:{valType:"number",min:0,editType:"plot",impliedEdits:{"^aspectmode":"manual"}},z:{valType:"number",min:0,editType:"plot",impliedEdits:{"^aspectmode":"manual"}},editType:"plot",impliedEdits:{aspectmode:"manual"}},xaxis:n,yaxis:n,zaxis:n,dragmode:{valType:"enumerated",values:["orbit","turntable","zoom","pan",!1],editType:"plot"},hovermode:{valType:"enumerated",values:["closest",!1],dflt:"closest",editType:"modebar"},uirevision:{valType:"any",editType:"none"},editType:"plot",_deprecated:{cameraposition:{valType:"info_array",editType:"camera"}}}},{"../../../lib":503,"../../../lib/extend":493,"../../domain":584,"./axis_attributes":600}],605:[function(t,e,r){"use strict";var n=t("../../../lib/str2rgbarray"),i=["xaxis","yaxis","zaxis"];function a(){this.enabled=[!0,!0,!0],this.colors=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.drawSides=[!0,!0,!0],this.lineWidth=[1,1,1]}a.prototype.merge=function(t){for(var e=0;e<3;++e){var r=t[i[e]];r.visible?(this.enabled[e]=r.showspikes,this.colors[e]=n(r.spikecolor),this.drawSides[e]=r.spikesides,this.lineWidth[e]=r.spikethickness):(this.enabled[e]=!1,this.drawSides[e]=!1)}},e.exports=function(t){var e=new a;return e.merge(t),e}},{"../../../lib/str2rgbarray":528}],606:[function(t,e,r){"use strict";e.exports=function(t){for(var e=t.axesOptions,r=t.glplot.axesPixels,s=t.fullSceneLayout,l=[[],[],[]],c=0;c<3;++c){var u=s[a[c]];if(u._length=(r[c].hi-r[c].lo)*r[c].pixelsPerDataUnit/t.dataScale[c],Math.abs(u._length)===1/0||isNaN(u._length))l[c]=[];else{u._input_range=u.range.slice(),u.range[0]=r[c].lo/t.dataScale[c],u.range[1]=r[c].hi/t.dataScale[c],u._m=1/(t.dataScale[c]*r[c].pixelsPerDataUnit),u.range[0]===u.range[1]&&(u.range[0]-=1,u.range[1]+=1);var 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M=r.radialAxisAngle=r.vangles?F(U(R(d.angle),r.vangles)):d.angle,S=l(f,p),E=S+s(-M);V(i["radial-axis"],v&&(d.showticklabels||d.ticks),{transform:E}),V(i["radial-grid"],v&&d.showgrid,{transform:y?"":S}),V(i["radial-line"].select("line"),v&&d.showline,{x1:y?-a:u,y1:0,x2:a,y2:0,transform:E}).attr("stroke-width",d.linewidth).call(c.stroke,d.linecolor)},N.updateRadialAxisTitle=function(t,e,r){if(!this.isSmith){var n=this.gd,i=this.radius,a=this.cx,o=this.cy,s=this.getRadial(e),l=this.id+"title",c=0;if(s.title){var f=u.bBox(this.layers["radial-axis"].node()).height,h=s.title.font.size,p=s.side;c="top"===p?h:"counterclockwise"===p?-(f+.4*h):f+.8*h}var d=void 0!==r?r:this.radialAxisAngle,m=R(d),g=Math.cos(m),v=Math.sin(m),y=a+i/2*g+c*v,b=o-i/2*v+c*g;this.layers["radial-axis-title"]=x.draw(n,l,{propContainer:s,propName:this.id+".radialaxis.title",placeholder:z(n,"Click to enter radial axis 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e=v(t),r=Math.cos(e),n=Math.sin(e);return"M"+[f+u*r,p-u*n]+"L"+[f+a*r,p-a*n]},w=h.makeLabelFns(m,0).labelStandoff,T={xFn:function(t){var e=v(t);return Math.cos(e)*w},yFn:function(t){var e=v(t),r=Math.sin(e)>0?.2:1;return-Math.sin(e)*(w+t.fontSize*r)+Math.abs(Math.cos(e))*(t.fontSize*M)},anchorFn:function(t){var e=v(t),r=Math.cos(e);return Math.abs(r)<.1?"middle":r>0?"start":"end"},heightFn:function(t,e,r){var n=v(t);return-.5*(1+Math.sin(n))*r}},k=j(d);r.angularTickLayout!==k&&(i["angular-axis"].selectAll("."+m._id+"tick").remove(),r.angularTickLayout=k);var A,S=g?[1/0].concat(m.tickvals||[]).map((function(t){return h.tickText(m,t,!0,!1)})):h.calcTicks(m);if(g&&(S[0].text="\u221e",S[0].fontSize*=1.75),"linear"===e.gridshape?(A=S.map(v),o.angleDelta(A[0],A[1])<0&&(A=A.slice().reverse())):A=null,r.vangles=A,"category"===m.type&&(S=S.filter((function(t){return o.isAngleInsideSector(v(t),r.sectorInRad)}))),m.visible){var E="inside"===m.ticks?-1:1,L=(m.linewidth||1)/2;h.drawTicks(n,m,{vals:S,layer:i["angular-axis"],path:"M"+E*L+",0h"+E*m.ticklen,transFn:b,crisp:!1}),h.drawGrid(n,m,{vals:S,layer:i["angular-grid"],path:_,transFn:o.noop,crisp:!1}),h.drawLabels(n,m,{vals:S,layer:i["angular-axis"],repositionOnUpdate:!0,transFn:x,labelFns:T})}V(i["angular-line"].select("path"),d.showline,{d:r.pathSubplot(),transform:l(f,p)}).attr("stroke-width",d.linewidth).call(c.stroke,d.linecolor)},N.updateFx=function(t,e){this.gd._context.staticPlot||(!this.isSmith&&(this.updateAngularDrag(t),this.updateRadialDrag(t,e,0),this.updateRadialDrag(t,e,1)),this.updateHoverAndMainDrag(t))},N.updateHoverAndMainDrag=function(t){var e,r,s=this,c=s.isSmith,u=s.gd,f=s.layers,h=t._zoomlayer,p=S.MINZOOM,d=S.OFFEDGE,m=s.radius,x=s.innerRadius,T=s.cx,k=s.cy,A=s.cxx,M=s.cyy,L=s.sectorInRad,C=s.vangles,P=s.radialAxis,I=E.clampTiny,O=E.findXYatLength,z=E.findEnclosingVertexAngles,D=S.cornerHalfWidth,R=S.cornerLen/2,F=g.makeDragger(f,"path","maindrag",!1===t.dragmode?"none":"crosshair");n.select(F).attr("d",s.pathSubplot()).attr("transform",l(T,k)),F.onmousemove=function(t){y.hover(u,t,s.id),u._fullLayout._lasthover=F,u._fullLayout._hoversubplot=s.id},F.onmouseout=function(t){u._dragging||v.unhover(u,t)};var B,N,j,U,V,H,q,G,Y,W={element:F,gd:u,subplot:s.id,plotinfo:{id:s.id,xaxis:s.xaxis,yaxis:s.yaxis},xaxes:[s.xaxis],yaxes:[s.yaxis]};function X(t,e){return Math.sqrt(t*t+e*e)}function Z(t,e){return X(t-A,e-M)}function J(t,e){return Math.atan2(M-e,t-A)}function K(t,e){return[t*Math.cos(e),t*Math.sin(-e)]}function Q(t,e){if(0===t)return s.pathSector(2*D);var r=R/t,n=e-r,i=e+r,a=Math.max(0,Math.min(t,m)),o=a-D,l=a+D;return"M"+K(o,n)+"A"+[o,o]+" 0,0,0 "+K(o,i)+"L"+K(l,i)+"A"+[l,l]+" 0,0,1 "+K(l,n)+"Z"}function $(t,e,r){if(0===t)return s.pathSector(2*D);var n,i,a=K(t,e),o=K(t,r),l=I((a[0]+o[0])/2),c=I((a[1]+o[1])/2);if(l&&c){var u=c/l,f=-1/u,h=O(D,u,l,c);n=O(R,f,h[0][0],h[0][1]),i=O(R,f,h[1][0],h[1][1])}else{var p,d;c?(p=R,d=D):(p=D,d=R),n=[[l-p,c-d],[l+p,c-d]],i=[[l-p,c+d],[l+p,c+d]]}return"M"+n.join("L")+"L"+i.reverse().join("L")+"Z"}function tt(t,e){return e=Math.max(Math.min(e,m),x),tp?(t-1&&1===t&&_(e,u,[s.xaxis],[s.yaxis],s.id,W),r.indexOf("event")>-1&&y.click(u,e,s.id)}W.prepFn=function(t,n,a){var l=u._fullLayout.dragmode,f=F.getBoundingClientRect();u._fullLayout._calcInverseTransform(u);var p=u._fullLayout._invTransform;e=u._fullLayout._invScaleX,r=u._fullLayout._invScaleY;var d=o.apply3DTransform(p)(n-f.left,a-f.top);if(B=d[0],N=d[1],C){var v=E.findPolygonOffset(m,L[0],L[1],C);B+=A+v[0],N+=M+v[1]}switch(l){case"zoom":W.clickFn=st,c||(W.moveFn=C?it:rt,W.doneFn=at,function(){j=null,U=null,V=s.pathSubplot(),H=!1;var t=u._fullLayout[s.id];q=i(t.bgcolor).getLuminance(),(G=g.makeZoombox(h,q,T,k,V)).attr("fill-rule","evenodd"),Y=g.makeCorners(h,T,k),w(u)}());break;case"select":case"lasso":b(t,n,a,W,l)}},v.init(W)},N.updateRadialDrag=function(t,e,r){var i=this,c=i.gd,u=i.layers,f=i.radius,h=i.innerRadius,p=i.cx,d=i.cy,m=i.radialAxis,y=S.radialDragBoxSize,x=y/2;if(m.visible){var b,_,T,M=R(i.radialAxisAngle),E=m._rl,L=E[0],C=E[1],P=E[r],I=.75*(E[1]-E[0])/(1-i.getHole(e))/f;r?(b=p+(f+x)*Math.cos(M),_=d-(f+x)*Math.sin(M),T="radialdrag"):(b=p+(h-x)*Math.cos(M),_=d-(h-x)*Math.sin(M),T="radialdrag-inner");var O,z,D,B=g.makeRectDragger(u,T,"crosshair",-x,-x,y,y),N={element:B,gd:c};!1===t.dragmode&&(N.dragmode=!1),V(n.select(B),m.visible&&h0==(r?D>L:Dn?function(t){return t<=0}:function(t){return t>=0};t.c2g=function(r){var n=t.c2l(r)-e;return(s(n)?n:0)+o},t.g2c=function(r){return t.l2c(r+e-o)},t.g2p=function(t){return t*a},t.c2p=function(e){return t.g2p(t.c2g(e))}}}(t,e);break;case"angularaxis":!function(t,e){var r=t.type;if("linear"===r){var i=t.d2c,s=t.c2d;t.d2c=function(t,e){return function(t,e){return"degrees"===e?a(t):t}(i(t),e)},t.c2d=function(t,e){return s(function(t,e){return"degrees"===e?o(t):t}(t,e))}}t.makeCalcdata=function(e,i){var a,o,s=e[i],l=e._length,c=function(r){return t.d2c(r,e.thetaunit)};if(s){if(n.isTypedArray(s)&&"linear"===r){if(l===s.length)return s;if(s.subarray)return s.subarray(0,l)}for(a=new Array(l),o=0;o0?1:0}function i(t){var e=t[0],r=t[1];if(!isFinite(e)||!isFinite(r))return[1,0];var n=(e+1)*(e+1)+r*r;return[(e*e+r*r-1)/n,2*r/n]}function a(t,e){var r=e[0],n=e[1];return[r*t.radius+t.cx,-n*t.radius+t.cy]}function o(t,e){return e*t.radius}e.exports={smith:i,reactanceArc:function(t,e,r,n){var s=a(t,i([r,e])),l=s[0],c=s[1],u=a(t,i([n,e])),f=u[0],h=u[1];if(0===e)return["M"+l+","+c,"L"+f+","+h].join(" ");var p=o(t,1/Math.abs(e));return["M"+l+","+c,"A"+p+","+p+" 0 0,"+(e<0?1:0)+" "+f+","+h].join(" ")},resistanceArc:function(t,e,r,s){var l=o(t,1/(e+1)),c=a(t,i([e,r])),u=c[0],f=c[1],h=a(t,i([e,s])),p=h[0],d=h[1];if(n(r)!==n(s)){var m=a(t,i([e,0]));return["M"+u+","+f,"A"+l+","+l+" 0 0,"+(00){for(var n=[],i=0;i=u&&(h.min=0,d.min=0,g.min=0,t.aaxis&&delete t.aaxis.min,t.baxis&&delete t.baxis.min,t.caxis&&delete t.caxis.min)}function m(t,e,r,n){var i=h[e._name];function o(r,n){return a.coerce(t,e,i,r,n)}o("uirevision",n.uirevision),e.type="linear";var p=o("color"),d=p!==i.color.dflt?p:r.font.color,m=e._name.charAt(0).toUpperCase(),g="Component 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n=t("@plotly/d3"),i=t("tinycolor2"),a=t("../../registry"),o=t("../../lib"),s=o.strTranslate,l=o._,c=t("../../components/color"),u=t("../../components/drawing"),f=t("../cartesian/set_convert"),h=t("../../lib/extend").extendFlat,p=t("../plots"),d=t("../cartesian/axes"),m=t("../../components/dragelement"),g=t("../../components/fx"),v=t("../../components/dragelement/helpers"),y=v.freeMode,x=v.rectMode,b=t("../../components/titles"),_=t("../cartesian/select").prepSelect,w=t("../cartesian/select").selectOnClick,T=t("../cartesian/select").clearSelect,k=t("../cartesian/select").clearSelectionsCache,A=t("../cartesian/constants");function M(t,e){this.id=t.id,this.graphDiv=t.graphDiv,this.init(e),this.makeFramework(e),this.aTickLayout=null,this.bTickLayout=null,this.cTickLayout=null}e.exports=M;var S=M.prototype;S.init=function(t){this.container=t._ternarylayer,this.defs=t._defs,this.layoutId=t._uid,this.traceHash={},this.layers={}},S.plot=function(t,e){var r=e[this.id],n=e._size;this._hasClipOnAxisFalse=!1;for(var i=0;iE*b?i=(a=b)*E:a=(i=x)/E,o=v*i/x,l=y*a/b,r=e.l+e.w*m-i/2,n=e.t+e.h*(1-g)-a/2,p.x0=r,p.y0=n,p.w=i,p.h=a,p.sum=_,p.xaxis={type:"linear",range:[w+2*k-_,_-w-2*T],domain:[m-o/2,m+o/2],_id:"x"},f(p.xaxis,p.graphDiv._fullLayout),p.xaxis.setScale(),p.xaxis.isPtWithinRange=function(t){return t.a>=p.aaxis.range[0]&&t.a<=p.aaxis.range[1]&&t.b>=p.baxis.range[1]&&t.b<=p.baxis.range[0]&&t.c>=p.caxis.range[1]&&t.c<=p.caxis.range[0]},p.yaxis={type:"linear",range:[w,_-T-k],domain:[g-l/2,g+l/2],_id:"y"},f(p.yaxis,p.graphDiv._fullLayout),p.yaxis.setScale(),p.yaxis.isPtWithinRange=function(){return!0};var A=p.yaxis.domain[0],M=p.aaxis=h({},t.aaxis,{range:[w,_-T-k],side:"left",tickangle:(+t.aaxis.tickangle||0)-30,domain:[A,A+l*E],anchor:"free",position:0,_id:"y",_length:i});f(M,p.graphDiv._fullLayout),M.setScale();var S=p.baxis=h({},t.baxis,{range:[_-w-k,T],side:"bottom",domain:p.xaxis.domain,anchor:"free",position:0,_id:"x",_length:i});f(S,p.graphDiv._fullLayout),S.setScale();var L=p.caxis=h({},t.caxis,{range:[_-w-T,k],side:"right",tickangle:(+t.caxis.tickangle||0)+30,domain:[A,A+l*E],anchor:"free",position:0,_id:"y",_length:i});f(L,p.graphDiv._fullLayout),L.setScale();var C="M"+r+","+(n+a)+"h"+i+"l-"+i/2+",-"+a+"Z";p.clipDef.select("path").attr("d",C),p.layers.plotbg.select("path").attr("d",C);var P="M0,"+a+"h"+i+"l-"+i/2+",-"+a+"Z";p.clipDefRelative.select("path").attr("d",P);var I=s(r,n);p.plotContainer.selectAll(".scatterlayer,.maplayer").attr("transform",I),p.clipDefRelative.select("path").attr("transform",null);var O=s(r-S._offset,n+a);p.layers.baxis.attr("transform",O),p.layers.bgrid.attr("transform",O);var z=s(r+i/2,n)+"rotate(30)"+s(0,-M._offset);p.layers.aaxis.attr("transform",z),p.layers.agrid.attr("transform",z);var 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n=t("@plotly/d3"),i=t("../../lib"),a=i.strTranslate,o=t("../../constants/xmlns_namespaces"),s=t("./constants"),l=i.isIOS()||i.isSafari()||i.isIE();e.exports=function(t,e,r,c){var u=e.xaxis,f=e.yaxis,h=!(l||t._context._exportedPlot);i.makeTraceGroups(c,r,"im").each((function(e){var r=n.select(this),l=e[0],c=l.trace,p=("fast"===c.zsmooth||!1===c.zsmooth&&h)&&!c._hasZ&&c._hasSource&&"linear"===u.type&&"linear"===f.type;c._realImage=p;var d,m,g,v,y,x,b=l.z,_=l.x0,w=l.y0,T=l.w,k=l.h,A=c.dx,M=c.dy;for(x=0;void 0===d&&x0;)m=u.c2p(_+x*A),x--;for(x=0;void 0===v&&x0;)y=f.c2p(w+x*M),x--;if(mI[0];if(O||z){var D=d+S/2,R=v+E/2;C+="transform:"+a(D+"px",R+"px")+"scale("+(O?-1:1)+","+(z?-1:1)+")"+a(-D+"px",-R+"px")+";"}}L.attr("style",C);var F=new Promise((function(t){if(c._hasZ)t();else if(c._hasSource)if(c._canvas&&c._canvas.el.width===T&&c._canvas.el.height===k&&c._canvas.source===c.source)t();else{var e=document.createElement("canvas");e.width=T,e.height=k;var 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U=j.select("path");w(M)?(U.transition().duration(M.duration).ease(M.easing).each("end",(function(){S&&S()})).each("interrupt",(function(){S&&S()})).attrTween("d",(V=N,H=L(r[0].lastY),q=L(r[0].y),function(){var t=i(H,q);return function(e){return V.endAngle(t(e))()}})),p._lastValue=r[0].y):U.attr("d","number"==typeof r[0].y?N.endAngle(L(r[0].y)):"M0,0Z");var V,H,q;U.call(T),j.exit().remove(),F=[];var G=p.gauge.threshold.value;(G||0===G)&&F.push({range:[G,G],color:p.gauge.threshold.color,line:{color:p.gauge.threshold.line.color,width:p.gauge.threshold.line.width},thickness:p.gauge.threshold.thickness});var Y=_.selectAll("g.threshold-arc").data(F);Y.enter().append("g").classed("threshold-arc",!0).append("path"),Y.select("path").call(P).call(T),Y.exit().remove();var W=_.selectAll("g.gauge-outline").data([x]);W.enter().append("g").classed("gauge-outline",!0).append("path"),W.select("path").call(P).call(T),W.exit().remove()}(t,0,e,{radius:U,innerRadius:V,gauge:Y,layer:W,size:B,gaugeBg:C,gaugeOutline:P,transitionOpts:r,onComplete:g});var X=O.selectAll("g.bullet").data(R?e:[]);X.exit().remove();var Z=O.selectAll("g.bulletaxis").data(R?e:[]);Z.exit().remove(),R&&function(t,e,r,n){var i,a,o,s,c,u=r[0].trace,f=n.gauge,p=n.layer,m=n.gaugeBg,g=n.gaugeOutline,v=n.size,x=u.domain,b=n.transitionOpts,_=n.onComplete;f.enter().append("g").classed("bullet",!0),f.attr("transform",l(v.l,v.t)),p.enter().append("g").classed("bulletaxis",!0).classed("crisp",!0),p.selectAll("g.xbulletaxistick,path,text").remove();var A=v.h,M=u.gauge.bar.thickness*A,S=x.x[0],E=x.x[0]+(x.x[1]-x.x[0])*(u._hasNumber||u._hasDelta?1-h.bulletNumberDomainSize:1);(i=k(t,u.gauge.axis))._id="xbulletaxis",i.domain=[S,E],i.setScale(),a=d.calcTicks(i),o=d.makeTransTickFn(i),s=d.getTickSigns(i)[2],c=v.t+v.h,i.visible&&(d.drawTicks(t,i,{vals:"inside"===i.ticks?d.clipEnds(i,a):a,layer:p,path:d.makeTickPath(i,c,s),transFn:o}),d.drawLabels(t,i,{vals:a,layer:p,transFn:o,labelFns:d.makeLabelFns(i,c)}));function L(t){t.attr("width",(function(t){return Math.max(0,i.c2p(t.range[1])-i.c2p(t.range[0]))})).attr("x",(function(t){return i.c2p(t.range[0])})).attr("y",(function(t){return.5*(1-t.thickness)*A})).attr("height",(function(t){return t.thickness*A}))}var C=[m].concat(u.gauge.steps),P=f.selectAll("g.bg-bullet").data(C);P.enter().append("g").classed("bg-bullet",!0).append("rect"),P.select("rect").call(L).call(T),P.exit().remove();var I=f.selectAll("g.value-bullet").data([u.gauge.bar]);I.enter().append("g").classed("value-bullet",!0).append("rect"),I.select("rect").attr("height",M).attr("y",(A-M)/2).call(T),w(b)?I.select("rect").transition().duration(b.duration).ease(b.easing).each("end",(function(){_&&_()})).each("interrupt",(function(){_&&_()})).attr("width",Math.max(0,i.c2p(Math.min(u.gauge.axis.range[1],r[0].y)))):I.select("rect").attr("width","number"==typeof r[0].y?Math.max(0,i.c2p(Math.min(u.gauge.axis.range[1],r[0].y))):0);I.exit().remove();var O=r.filter((function(){return u.gauge.threshold.value||0===u.gauge.threshold.value})),z=f.selectAll("g.threshold-bullet").data(O);z.enter().append("g").classed("threshold-bullet",!0).append("line"),z.select("line").attr("x1",i.c2p(u.gauge.threshold.value)).attr("x2",i.c2p(u.gauge.threshold.value)).attr("y1",(1-u.gauge.threshold.thickness)/2*A).attr("y2",(1-(1-u.gauge.threshold.thickness)/2)*A).call(y.stroke,u.gauge.threshold.line.color).style("stroke-width",u.gauge.threshold.line.width),z.exit().remove();var D=f.selectAll("g.gauge-outline").data([g]);D.enter().append("g").classed("gauge-outline",!0).append("rect"),D.select("rect").call(L).call(T),D.exit().remove()}(t,0,e,{gauge:X,layer:Z,size:B,gaugeBg:C,gaugeOutline:P,transitionOpts:r,onComplete:g});var J=O.selectAll("text.title").data(e);J.exit().remove(),J.enter().append("text").classed("title",!0),J.attr("text-anchor",(function(){return 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n=t("../../components/colorscale/attributes"),i=t("../../plots/cartesian/axis_format_attributes").axisHoverFormat,a=t("../../plots/template_attributes").hovertemplateAttrs,o=t("../mesh3d/attributes"),s=t("../../plots/attributes"),l=t("../../lib/extend").extendFlat,c=t("../../plot_api/edit_types").overrideAll;var 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d&&(D(t,"A")&&(f=H(null,[e,r,n,a],c,u)||f),D(t,"B")&&(f=H(null,[r,n,i,l],c,u)||f),D(t,"C")&&(f=H(null,[r,a,o,l],c,u)||f),D(t,"D")&&(f=H(null,[n,a,s,l],c,u)||f),D(t,"E")&&(f=H(null,[r,n,a,l],c,u)||f)),m&&(f=H(t,[r,n,a,l],c,u)||f),f}function G(t,e,r,n,i,a,o,s){return[!0===s[0]||V(t,U([e,r,n]),[e,r,n],a,o),!0===s[1]||V(t,U([n,i,e]),[n,i,e],a,o)]}function Y(t,e,r,n,i,a,o,s,l){return s?G(t,e,r,i,n,a,o,l):G(t,r,i,n,e,a,o,l)}function W(t,e,r,n,i,a,o){var s,l,c,u,f=!1,h=function(){f=V(t,[s,l,c],[-1,-1,-1],i,a)||f,f=V(t,[c,u,s],[-1,-1,-1],i,a)||f},p=o[0],d=o[1],m=o[2];return p&&(s=O(U([k(e,r-0,n-0)])[0],U([k(e-1,r-0,n-0)])[0],p),l=O(U([k(e,r-0,n-1)])[0],U([k(e-1,r-0,n-1)])[0],p),c=O(U([k(e,r-1,n-1)])[0],U([k(e-1,r-1,n-1)])[0],p),u=O(U([k(e,r-1,n-0)])[0],U([k(e-1,r-1,n-0)])[0],p),h()),d&&(s=O(U([k(e-0,r,n-0)])[0],U([k(e-0,r-1,n-0)])[0],d),l=O(U([k(e-0,r,n-1)])[0],U([k(e-0,r-1,n-1)])[0],d),c=O(U([k(e-1,r,n-1)])[0],U([k(e-1,r-1,n-1)])[0],d),u=O(U([k(e-1,r,n-0)])[0],U([k(e-1,r-1,n-0)])[0],d),h()),m&&(s=O(U([k(e-0,r-0,n)])[0],U([k(e-0,r-0,n-1)])[0],m),l=O(U([k(e-0,r-1,n)])[0],U([k(e-0,r-1,n-1)])[0],m),c=O(U([k(e-1,r-1,n)])[0],U([k(e-1,r-1,n-1)])[0],m),u=O(U([k(e-1,r-0,n)])[0],U([k(e-1,r-0,n-1)])[0],m),h()),f}function X(t,e,r,n,i,a,o,s,l,c,u,f){var h=t;return f?(d&&"even"===t&&(h=null),q(h,e,r,n,i,a,o,s,l,c,u)):(d&&"odd"===t&&(h=null),q(h,l,s,o,a,i,n,r,e,c,u))}function Z(t,e,r,n,i){for(var a=[],o=0,s=0;sMath.abs(d-M)?[A,d]:[d,M];$(e,T[0],T[1])}}var L=[[Math.min(S,M),Math.max(S,M)],[Math.min(A,E),Math.max(A,E)]];["x","y","z"].forEach((function(e){for(var r=[],n=0;n0&&(u.push(p.id),"x"===e?f.push([p.distRatio,0,0]):"y"===e?f.push([0,p.distRatio,0]):f.push([0,0,p.distRatio]))}else c=nt(1,"x"===e?b-1:"y"===e?_-1:w-1);u.length>0&&(r[i]="x"===e?tt(null,u,a,o,f,r[i]):"y"===e?et(null,u,a,o,f,r[i]):rt(null,u,a,o,f,r[i]),i++),c.length>0&&(r[i]="x"===e?Z(null,c,a,o,r[i]):"y"===e?J(null,c,a,o,r[i]):K(null,c,a,o,r[i]),i++)}var d=t.caps[e];d.show&&d.fill&&(z(d.fill),r[i]="x"===e?Z(null,[0,b-1],a,o,r[i]):"y"===e?J(null,[0,_-1],a,o,r[i]):K(null,[0,w-1],a,o,r[i]),i++)}})),0===g&&P(),t._meshX=n,t._meshY=i,t._meshZ=a,t._meshIntensity=o,t._Xs=v,t._Ys=y,t._Zs=x}(),t}e.exports={findNearestOnAxis:l,generateIsoMeshes:h,createIsosurfaceTrace:function(t,e){var r=t.glplot.gl,i=n({gl:r}),a=new c(t,i,e.uid);return i._trace=a,a.update(e),t.glplot.add(i),a}}},{"../../../stackgl_modules":1124,"../../components/colorscale":378,"../../lib/gl_format_color":499,"../../lib/str2rgbarray":528,"../../plots/gl3d/zip3":609}],865:[function(t,e,r){"use strict";var n=t("../../lib"),i=t("../../registry"),a=t("./attributes"),o=t("../../components/colorscale/defaults");function s(t,e,r,n,a){var s=a("isomin"),l=a("isomax");null!=l&&null!=s&&s>l&&(e.isomin=null,e.isomax=null);var c=a("x"),u=a("y"),f=a("z"),h=a("value");c&&c.length&&u&&u.length&&f&&f.length&&h&&h.length?(i.getComponentMethod("calendars","handleTraceDefaults")(t,e,["x","y","z"],n),a("valuehoverformat"),["x","y","z"].forEach((function(t){a(t+"hoverformat");var e="caps."+t;a(e+".show")&&a(e+".fill");var r="slices."+t;a(r+".show")&&(a(r+".fill"),a(r+".locations"))})),a("spaceframe.show")&&a("spaceframe.fill"),a("surface.show")&&(a("surface.count"),a("surface.fill"),a("surface.pattern")),a("contour.show")&&(a("contour.color"),a("contour.width")),["text","hovertext","hovertemplate","lighting.ambient","lighting.diffuse","lighting.specular","lighting.roughness","lighting.fresnel","lighting.vertexnormalsepsilon","lighting.facenormalsepsilon","lightposition.x","lightposition.y","lightposition.z","flatshading","opacity"].forEach((function(t){a(t)})),o(t,e,n,a,{prefix:"",cLetter:"c"}),e._length=null):e.visible=!1}e.exports={supplyDefaults:function(t,e,r,i){s(t,e,r,i,(function(r,i){return n.coerce(t,e,a,r,i)}))},supplyIsoDefaults:s}},{"../../components/colorscale/defaults":376,"../../lib":503,"../../registry":638,"./attributes":862}],866:[function(t,e,r){"use strict";e.exports={attributes:t("./attributes"),supplyDefaults:t("./defaults").supplyDefaults,calc:t("./calc"),colorbar:{min:"cmin",max:"cmax"},plot:t("./convert").createIsosurfaceTrace,moduleType:"trace",name:"isosurface",basePlotModule:t("../../plots/gl3d"),categories:["gl3d","showLegend"],meta:{}}},{"../../plots/gl3d":598,"./attributes":862,"./calc":863,"./convert":864,"./defaults":865}],867:[function(t,e,r){"use strict";var n=t("../../components/colorscale/attributes"),i=t("../../plots/cartesian/axis_format_attributes").axisHoverFormat,a=t("../../plots/template_attributes").hovertemplateAttrs,o=t("../surface/attributes"),s=t("../../plots/attributes"),l=t("../../lib/extend").extendFlat;e.exports=l({x:{valType:"data_array",editType:"calc+clearAxisTypes"},y:{valType:"data_array",editType:"calc+clearAxisTypes"},z:{valType:"data_array",editType:"calc+clearAxisTypes"},i:{valType:"data_array",editType:"calc"},j:{valType:"data_array",editType:"calc"},k:{valType:"data_array",editType:"calc"},text:{valType:"string",dflt:"",arrayOk:!0,editType:"calc"},hovertext:{valType:"string",dflt:"",arrayOk:!0,editType:"calc"},hovertemplate:a({editType:"calc"}),xhoverformat:i("x"),yhoverformat:i("y"),zhoverformat:i("z"),delaunayaxis:{valType:"enumerated",values:["x","y","z"],dflt:"z",editType:"calc"},alphahull:{valType:"number",dflt:-1,editType:"calc"},intensity:{valType:"data_array",editType:"calc"},intensitymode:{valType:"enumerated",values:["vertex","cell"],dflt:"vertex",editType:"calc"},color:{valType:"color",editType:"calc"},vertexcolor:{valType:"data_array",editType:"calc"},facecolor:{valType:"data_array",editType:"calc"},transforms:void 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n=t("../../components/colorscale/calc");e.exports=function(t,e){e.intensity&&n(t,e,{vals:e.intensity,containerStr:"",cLetter:"c"})}},{"../../components/colorscale/calc":374}],869:[function(t,e,r){"use strict";var n=t("../../../stackgl_modules").gl_mesh3d,i=t("../../../stackgl_modules").delaunay_triangulate,a=t("../../../stackgl_modules").alpha_shape,o=t("../../../stackgl_modules").convex_hull,s=t("../../lib/gl_format_color").parseColorScale,l=t("../../lib/str2rgbarray"),c=t("../../components/colorscale").extractOpts,u=t("../../plots/gl3d/zip3");function f(t,e,r){this.scene=t,this.uid=r,this.mesh=e,this.name="",this.color="#fff",this.data=null,this.showContour=!1}var h=f.prototype;function p(t){for(var e=[],r=t.length,n=0;n=e-.5)return!1;return!0}h.handlePick=function(t){if(t.object===this.mesh){var e=t.index=t.data.index;t.data._cellCenter?t.traceCoordinate=t.data.dataCoordinate:t.traceCoordinate=[this.data.x[e],this.data.y[e],this.data.z[e]];var r=this.data.hovertext||this.data.text;return Array.isArray(r)&&void 0!==r[e]?t.textLabel=r[e]:r&&(t.textLabel=r),!0}},h.update=function(t){var e=this.scene,r=e.fullSceneLayout;this.data=t;var n,f=t.x.length,h=u(d(r.xaxis,t.x,e.dataScale[0],t.xcalendar),d(r.yaxis,t.y,e.dataScale[1],t.ycalendar),d(r.zaxis,t.z,e.dataScale[2],t.zcalendar));if(t.i&&t.j&&t.k){if(t.i.length!==t.j.length||t.j.length!==t.k.length||!g(t.i,f)||!g(t.j,f)||!g(t.k,f))return;n=u(m(t.i),m(t.j),m(t.k))}else n=0===t.alphahull?o(h):t.alphahull>0?a(t.alphahull,h):function(t,e){for(var r=["x","y","z"].indexOf(t),n=[],a=e.length,o=0;ov):g=A>w,v=A;var M=c(w,T,k,A);M.pos=_,M.yc=(w+A)/2,M.i=b,M.dir=g?"increasing":"decreasing",M.x=M.pos,M.y=[k,T],y&&(M.orig_p=r[b]),d&&(M.tx=e.text[b]),m&&(M.htx=e.hovertext[b]),x.push(M)}else x.push({pos:_,empty:!0})}return e._extremes[l._id]=a.findExtremes(l,n.concat(h,f),{padded:!0}),x.length&&(x[0].t={labels:{open:i(t,"open:")+" ",high:i(t,"high:")+" ",low:i(t,"low:")+" 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o=r("x"),s=r("open"),l=r("high"),c=r("low"),u=r("close");if(r("hoverlabel.split"),n.getComponentMethod("calendars","handleTraceDefaults")(t,e,["x"],a),s&&l&&c&&u){var f=Math.min(s.length,l.length,c.length,u.length);return o&&(f=Math.min(f,i.minRowLength(o))),e._length=f,f}}},{"../../lib":503,"../../registry":638}],878:[function(t,e,r){"use strict";var n=t("@plotly/d3"),i=t("../../lib");e.exports=function(t,e,r,a){var o=e.yaxis,s=e.xaxis,l=!!s.rangebreaks;i.makeTraceGroups(a,r,"trace ohlc").each((function(t){var e=n.select(this),r=t[0],a=r.t;if(!0!==r.trace.visible||a.empty)e.remove();else{var c=a.tickLen,u=e.selectAll("path").data(i.identity);u.enter().append("path"),u.exit().remove(),u.attr("d",(function(t){if(t.empty)return"M0,0Z";var e=s.c2p(t.pos-c,!0),r=s.c2p(t.pos+c,!0),n=l?(e+r)/2:s.c2p(t.pos,!0);return"M"+e+","+o.c2p(t.o,!0)+"H"+n+"M"+n+","+o.c2p(t.h,!0)+"V"+o.c2p(t.l,!0)+"M"+r+","+o.c2p(t.c,!0)+"H"+n}))}}))}},{"../../lib":503,"@plotly/d3":58}],879:[function(t,e,r){"use 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n=t("@plotly/d3"),i=t("d3-interpolate").interpolateNumber,a=t("../../plot_api/plot_api"),o=t("../../components/fx"),s=t("../../lib"),l=s.strTranslate,c=t("../../components/drawing"),u=t("tinycolor2"),f=t("../../lib/svg_text_utils");function h(t,e,r,i){var a=t.map(F.bind(0,e,r)),o=i.selectAll("g.parcatslayer").data([null]);o.enter().append("g").attr("class","parcatslayer").style("pointer-events","all");var u=o.selectAll("g.trace.parcats").data(a,p),h=u.enter().append("g").attr("class","trace parcats");u.attr("transform",(function(t){return l(t.x,t.y)})),h.append("g").attr("class","paths");var y=u.select("g.paths").selectAll("path.path").data((function(t){return t.paths}),p);y.attr("fill",(function(t){return t.model.color}));var x=y.enter().append("path").attr("class","path").attr("stroke-opacity",0).attr("fill",(function(t){return t.model.color})).attr("fill-opacity",0);_(x),y.attr("d",(function(t){return t.svgD})),x.empty()||y.sort(m),y.exit().remove(),y.on("mouseover",g).on("mouseout",v).on("click",b),h.append("g").attr("class","dimensions");var w=u.select("g.dimensions").selectAll("g.dimension").data((function(t){return t.dimensions}),p);w.enter().append("g").attr("class","dimension"),w.attr("transform",(function(t){return l(t.x,0)})),w.exit().remove();var A=w.selectAll("g.category").data((function(t){return t.categories}),p),M=A.enter().append("g").attr("class","category");A.attr("transform",(function(t){return l(0,t.y)})),M.append("rect").attr("class","catrect").attr("pointer-events","none"),A.select("rect.catrect").attr("fill","none").attr("width",(function(t){return t.width})).attr("height",(function(t){return t.height})),T(M);var S=A.selectAll("rect.bandrect").data((function(t){return t.bands}),p);S.each((function(){s.raiseToTop(this)})),S.attr("fill",(function(t){return t.color}));var 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t.model.categoryLabel})).each((function(t){c.font(n.select(this),t.parcatsViewModel.categorylabelfont),f.convertToTspans(n.select(this),e)})),M.append("text").attr("class","dimlabel"),A.select("text.dimlabel").attr("text-anchor","middle").attr("alignment-baseline","baseline").attr("cursor",(function(t){return"fixed"===t.parcatsViewModel.arrangement?"default":"ew-resize"})).attr("x",(function(t){return t.width/2})).attr("y",-5).text((function(t,e){return 0===e?t.parcatsViewModel.model.dimensions[t.model.dimensionInd].dimensionLabel:null})).each((function(t){c.font(n.select(this),t.parcatsViewModel.labelfont)})),A.selectAll("rect.bandrect").on("mouseover",L).on("mouseout",C),A.exit().remove(),w.call(n.behavior.drag().origin((function(t){return{x:t.x,y:0}})).on("dragstart",P).on("drag",I).on("dragend",O)),u.each((function(t){t.traceSelection=n.select(this),t.pathSelection=n.select(this).selectAll("g.paths").selectAll("path.path"),t.dimensionSelection=n.select(this).selectAll("g.dimensions").selectAll("g.dimension")})),u.exit().remove()}function p(t){return t.key}function d(t){var e=t.parcatsViewModel.dimensions.length,r=t.parcatsViewModel.dimensions[e-1].model.dimensionInd;return t.model.dimensionInd===r}function m(t,e){return t.model.rawColor>e.model.rawColor?1:t.model.rawColor"),L=n.mouse(f)[0];o.loneHover({trace:h,x:b-d.left+m.left,y:_-d.top+m.top,text:E,color:t.model.color,borderColor:"black",fontFamily:'Monaco, "Courier New", 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e=t.parcatsViewModel;if(!e.dragDimension&&(_(e.pathSelection),T(e.dimensionSelection.selectAll("g.category")),k(e.dimensionSelection.selectAll("g.category").selectAll("rect.bandrect")),o.loneUnhover(e.graphDiv._fullLayout._hoverlayer.node()),e.pathSelection.sort(m),-1===e.hoverinfoItems.indexOf("skip"))){"color"===t.parcatsViewModel.hoveron?S(this,"plotly_unhover",n.event):M(this,"plotly_unhover",n.event)}}function P(t){"fixed"!==t.parcatsViewModel.arrangement&&(t.dragDimensionDisplayInd=t.model.displayInd,t.initialDragDimensionDisplayInds=t.parcatsViewModel.model.dimensions.map((function(t){return t.displayInd})),t.dragHasMoved=!1,t.dragCategoryDisplayInd=null,n.select(this).selectAll("g.category").select("rect.catrect").each((function(e){var r=n.mouse(this)[0],i=n.mouse(this)[1];-2<=r&&r<=e.width+2&&-2<=i&&i<=e.height+2&&(t.dragCategoryDisplayInd=e.model.displayInd,t.initialDragCategoryDisplayInds=t.model.categories.map((function(t){return t.displayInd})),e.model.dragY=e.y,s.raiseToTop(this.parentNode),n.select(this.parentNode).selectAll("rect.bandrect").each((function(e){e.yf.y+f.height/2&&(o.model.displayInd=f.model.displayInd,f.model.displayInd=l),t.dragCategoryDisplayInd=o.model.displayInd}if(null===t.dragCategoryDisplayInd||"freeform"===t.parcatsViewModel.arrangement){a.model.dragX=n.event.x;var h=t.parcatsViewModel.dimensions[r],p=t.parcatsViewModel.dimensions[i];void 0!==h&&a.model.dragXp.x&&(a.model.displayInd=p.model.displayInd,p.model.displayInd=t.dragDimensionDisplayInd),t.dragDimensionDisplayInd=a.model.displayInd}j(t.parcatsViewModel),N(t.parcatsViewModel),R(t.parcatsViewModel),D(t.parcatsViewModel)}}function O(t){if("fixed"!==t.parcatsViewModel.arrangement&&null!==t.dragDimensionDisplayInd){n.select(this).selectAll("text").attr("font-weight","normal");var e={},r=z(t.parcatsViewModel),i=t.parcatsViewModel.model.dimensions.map((function(t){return t.displayInd})),o=t.initialDragDimensionDisplayInds.some((function(t,e){return t!==i[e]}));o&&i.forEach((function(r,n){var i=t.parcatsViewModel.model.dimensions[n].containerInd;e["dimensions["+i+"].displayindex"]=r}));var s=!1;if(null!==t.dragCategoryDisplayInd){var l=t.model.categories.map((function(t){return t.displayInd}));if(s=t.initialDragCategoryDisplayInds.some((function(t,e){return t!==l[e]}))){var c=t.model.categories.slice().sort((function(t,e){return t.displayInd-e.displayInd})),u=c.map((function(t){return t.categoryValue})),f=c.map((function(t){return t.categoryLabel}));e["dimensions["+t.model.containerInd+"].categoryarray"]=[u],e["dimensions["+t.model.containerInd+"].ticktext"]=[f],e["dimensions["+t.model.containerInd+"].categoryorder"]="array"}}if(-1===t.parcatsViewModel.hoverinfoItems.indexOf("skip")&&!t.dragHasMoved&&t.potentialClickBand&&("color"===t.parcatsViewModel.hoveron?S(t.potentialClickBand,"plotly_click",n.event.sourceEvent):M(t.potentialClickBand,"plotly_click",n.event.sourceEvent)),t.model.dragX=null,null!==t.dragCategoryDisplayInd)t.parcatsViewModel.dimensions[t.dragDimensionDisplayInd].categories[t.dragCategoryDisplayInd].model.dragY=null,t.dragCategoryDisplayInd=null;t.dragDimensionDisplayInd=null,t.parcatsViewModel.dragDimension=null,t.dragHasMoved=null,t.potentialClickBand=null,j(t.parcatsViewModel),N(t.parcatsViewModel),n.transition().duration(300).ease("cubic-in-out").each((function(){R(t.parcatsViewModel,!0),D(t.parcatsViewModel,!0)})).each("end",(function(){(o||s)&&a.restyle(t.parcatsViewModel.graphDiv,e,[r])}))}}function z(t){for(var e,r=t.graphDiv._fullData,n=0;n=0;s--)u+="C"+c[s]+","+(e[s+1]+n)+" "+l[s]+","+(e[s]+n)+" "+(t[s]+r[s])+","+(e[s]+n),u+="l-"+r[s]+",0 ";return u+="Z"}function N(t){var e=t.dimensions,r=t.model,n=e.map((function(t){return t.categories.map((function(t){return t.y}))})),i=t.model.dimensions.map((function(t){return t.categories.map((function(t){return t.displayInd}))})),a=t.model.dimensions.map((function(t){return t.displayInd})),o=t.dimensions.map((function(t){return t.model.dimensionInd})),s=e.map((function(t){return t.x})),l=e.map((function(t){return t.width})),c=[];for(var u in r.paths)r.paths.hasOwnProperty(u)&&c.push(r.paths[u]);function f(t){var e=t.categoryInds.map((function(t,e){return i[e][t]}));return o.map((function(t){return e[t]}))}c.sort((function(e,r){var n=f(e),i=f(r);return"backward"===t.sortpaths&&(n.reverse(),i.reverse()),n.push(e.valueInds[0]),i.push(r.valueInds[0]),t.bundlecolors&&(n.unshift(e.rawColor),i.unshift(r.rawColor)),ni?1:0}));for(var h=new Array(c.length),p=e[0].model.count,d=e[0].categories.map((function(t){return t.height})).reduce((function(t,e){return t+e})),m=0;m0?d*(v.count/p):0;for(var y,x=new Array(n.length),b=0;b1?(t.width-80-16)/(n-1):0)*i;var a,o,s,l,c,u=[],f=t.model.maxCats,h=e.categories.length,p=e.count,d=t.height-8*(f-1),m=8*(f-h)/2,g=e.categories.map((function(t){return{displayInd:t.displayInd,categoryInd:t.categoryInd}}));for(g.sort((function(t,e){return t.displayInd-e.displayInd})),c=0;c0?o.count/p*d:0,s={key:o.valueInds[0],model:o,width:16,height:a,y:null!==o.dragY?o.dragY:m,bands:[],parcatsViewModel:t},m=m+a+8,u.push(s);return{key:e.dimensionInd,x:null!==e.dragX?e.dragX:r,y:0,width:16,model:e,categories:u,parcatsViewModel:t,dragCategoryDisplayInd:null,dragDimensionDisplayInd:null,initialDragDimensionDisplayInds:null,initialDragCategoryDisplayInds:null,dragHasMoved:null,potentialClickBand:null}}e.exports=function(t,e,r,n){h(r,t,n,e)}},{"../../components/drawing":388,"../../components/fx":406,"../../lib":503,"../../lib/svg_text_utils":529,"../../plot_api/plot_api":540,"@plotly/d3":58,"d3-interpolate":116,tinycolor2:312}],887:[function(t,e,r){"use strict";var n=t("./parcats");e.exports=function(t,e,r,i){var a=t._fullLayout,o=a._paper,s=a._size;n(t,o,e,{width:s.w,height:s.h,margin:{t:s.t,r:s.r,b:s.b,l:s.l}},r,i)}},{"./parcats":886}],888:[function(t,e,r){"use strict";var n=t("../../components/colorscale/attributes"),i=t("../../plots/cartesian/layout_attributes"),a=t("../../plots/font_attributes"),o=t("../../plots/domain").attributes,s=t("../../lib/extend").extendFlat,l=t("../../plot_api/plot_template").templatedArray;e.exports={domain:o({name:"parcoords",trace:!0,editType:"plot"}),labelangle:{valType:"angle",dflt:0,editType:"plot"},labelside:{valType:"enumerated",values:["top","bottom"],dflt:"top",editType:"plot"},labelfont:a({editType:"plot"}),tickfont:a({editType:"plot"}),rangefont:a({editType:"plot"}),dimensions:l("dimension",{label:{valType:"string",editType:"plot"},tickvals:s({},i.tickvals,{editType:"plot"}),ticktext:s({},i.ticktext,{editType:"plot"}),tickformat:s({},i.tickformat,{editType:"plot"}),visible:{valType:"boolean",dflt:!0,editType:"plot"},range:{valType:"info_array",items:[{valType:"number",editType:"plot"},{valType:"number",editType:"plot"}],editType:"plot"},constraintrange:{valType:"info_array",freeLength:!0,dimensions:"1-2",items:[{valType:"any",editType:"plot"},{valType:"any",editType:"plot"}],editType:"plot"},multiselect:{valType:"boolean",dflt:!0,editType:"plot"},values:{valType:"data_array",editType:"calc"},editType:"calc"}),line:s({editType:"calc"},n("line",{colorscaleDflt:"Viridis",autoColorDflt:!1,editTypeOverride:"calc"}))}},{"../../components/colorscale/attributes":373,"../../lib/extend":493,"../../plot_api/plot_template":543,"../../plots/cartesian/layout_attributes":569,"../../plots/domain":584,"../../plots/font_attributes":585}],889:[function(t,e,r){"use 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r=e.height-i.mouse(t)[1]-2*n.verticalPadding,a=e.brush.svgBrush;a.wasDragged=!0,a._dragging=!0,a.grabbingBar?a.newExtent=[r-a.grabPoint,r+a.barLength-a.grabPoint].map(e.unitToPaddedPx.invert):a.newExtent=[a.startExtent,e.unitToPaddedPx.invert(r)].sort(s),e.brush.filterSpecified=!0,a.extent=a.stayingIntervals.concat([a.newExtent]),a.brushCallback(e),b(t.parentNode)}function T(t,e){var r=_(e,e.height-i.mouse(t)[1]-2*n.verticalPadding),a="crosshair";r.clickableOrdinalRange?a="pointer":r.region&&(a=r.region+"-resize"),i.select(document.body).style("cursor",a)}function k(t){t.on("mousemove",(function(t){i.event.preventDefault(),t.parent.inBrushDrag||T(this,t)})).on("mouseleave",(function(t){t.parent.inBrushDrag||y()})).call(i.behavior.drag().on("dragstart",(function(t){!function(t,e){i.event.sourceEvent.stopPropagation();var r=e.height-i.mouse(t)[1]-2*n.verticalPadding,a=e.unitToPaddedPx.invert(r),o=e.brush,s=_(e,r),l=s.interval,c=o.svgBrush;if(c.wasDragged=!1,c.grabbingBar="ns"===s.region,c.grabbingBar){var u=l.map(e.unitToPaddedPx);c.grabPoint=r-u[0]-n.verticalPadding,c.barLength=u[1]-u[0]}c.clickableOrdinalRange=s.clickableOrdinalRange,c.stayingIntervals=e.multiselect&&o.filterSpecified?o.filter.getConsolidated():[],l&&(c.stayingIntervals=c.stayingIntervals.filter((function(t){return t[0]!==l[0]&&t[1]!==l[1]}))),c.startExtent=s.region?l["s"===s.region?1:0]:a,e.parent.inBrushDrag=!0,c.brushStartCallback()}(this,t)})).on("drag",(function(t){w(this,t)})).on("dragend",(function(t){!function(t,e){var r=e.brush,n=r.filter,a=r.svgBrush;a._dragging||(T(t,e),w(t,e),e.brush.svgBrush.wasDragged=!1),a._dragging=!1,i.event.sourceEvent.stopPropagation();var o=a.grabbingBar;if(a.grabbingBar=!1,a.grabLocation=void 0,e.parent.inBrushDrag=!1,y(),!a.wasDragged)return a.wasDragged=void 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t,e,r=[];return{set:function(n){1===(r=n.map((function(t){return t.slice().sort(s)})).sort(A)).length&&r[0][0]===-1/0&&r[0][1]===1/0&&(r=[[0,-1]]),t=S(r),e=r.reduce((function(t,e){return[Math.min(t[0],e[0]),Math.max(t[1],e[1])]}),[1/0,-1/0])},get:function(){return r.slice()},getConsolidated:function(){return t},getBounds:function(){return e}}}();return l.set(r),{filter:l,filterSpecified:e,svgBrush:{extent:[],brushStartCallback:n,brushCallback:(o=i,function(t){var e=t.brush,r=function(t){return t.svgBrush.extent.map((function(t){return t.slice()}))}(e).slice();e.filter.set(r),o()}),brushEndCallback:a}}},ensureAxisBrush:function(t,e){var r=t.selectAll("."+n.cn.axisBrush).data(o,a);r.enter().append("g").classed(n.cn.axisBrush,!0),function(t,e){var r=t.selectAll(".background").data(o);r.enter().append("rect").classed("background",!0).call(d).call(m).style("pointer-events","auto").attr("transform",l(0,n.verticalPadding)),r.call(k).attr("height",(function(t){return t.height-n.verticalPadding}));var i=t.selectAll(".highlight-shadow").data(o);i.enter().append("line").classed("highlight-shadow",!0).attr("x",-n.bar.width/2).attr("stroke-width",n.bar.width+n.bar.strokeWidth).attr("stroke",e).attr("opacity",n.bar.strokeOpacity).attr("stroke-linecap","butt"),i.attr("y1",(function(t){return t.height})).call(x);var a=t.selectAll(".highlight").data(o);a.enter().append("line").classed("highlight",!0).attr("x",-n.bar.width/2).attr("stroke-width",n.bar.width-n.bar.strokeWidth).attr("stroke",n.bar.fillColor).attr("opacity",n.bar.fillOpacity).attr("stroke-linecap","butt"),a.attr("y1",(function(t){return t.height})).call(x)}(r,e)},cleanRanges:function(t,e){if(Array.isArray(t[0])?(t=t.map((function(t){return t.sort(s)})),t=e.multiselect?S(t.sort(A)):[t[0]]):t=[t.sort(s)],e.tickvals){var r=e.tickvals.slice().sort(s);if(!(t=t.map((function(t){var e=[p(0,r,t[0],[]),p(1,r,t[1],[])];if(e[1]>e[0])return e})).filter((function(t){return t}))).length)return}return t.length>1?t:t[0]}}},{"../../lib":503,"../../lib/gup":500,"./constants":893,"@plotly/d3":58}],890:[function(t,e,r){"use strict";e.exports={attributes:t("./attributes"),supplyDefaults:t("./defaults"),calc:t("./calc"),colorbar:{container:"line",min:"cmin",max:"cmax"},moduleType:"trace",name:"parcoords",basePlotModule:t("./base_plot"),categories:["gl","regl","noOpacity","noHover"],meta:{}}},{"./attributes":888,"./base_plot":891,"./calc":892,"./defaults":894}],891:[function(t,e,r){"use strict";var n=t("@plotly/d3"),i=t("../../plots/get_data").getModuleCalcData,a=t("./plot"),o=t("../../constants/xmlns_namespaces");r.name="parcoords",r.plot=function(t){var e=i(t.calcdata,"parcoords")[0];e.length&&a(t,e)},r.clean=function(t,e,r,n){var i=n._has&&n._has("parcoords"),a=e._has&&e._has("parcoords");i&&!a&&(n._paperdiv.selectAll(".parcoords").remove(),n._glimages.selectAll("*").remove())},r.toSVG=function(t){var e=t._fullLayout._glimages,r=n.select(t).selectAll(".svg-container");r.filter((function(t,e){return e===r.size()-1})).selectAll(".gl-canvas-context, .gl-canvas-focus").each((function(){var t=this.toDataURL("image/png");e.append("svg:image").attr({xmlns:o.svg,"xlink:href":t,preserveAspectRatio:"none",x:0,y:0,width:this.style.width,height:this.style.height})})),window.setTimeout((function(){n.selectAll("#filterBarPattern").attr("id","filterBarPattern")}),60)}},{"../../constants/xmlns_namespaces":480,"../../plots/get_data":593,"./plot":900,"@plotly/d3":58}],892:[function(t,e,r){"use strict";var n=t("../../lib").isArrayOrTypedArray,i=t("../../components/colorscale"),a=t("../../lib/gup").wrap;e.exports=function(t,e){var r,o;return i.hasColorscale(e,"line")&&n(e.line.color)?(r=e.line.color,o=i.extractOpts(e.line).colorscale,i.calc(t,e,{vals:r,containerStr:"line",cLetter:"c"})):(r=function(t){for(var e=new Array(t),r=0;rf&&(n.log("parcoords traces support up to "+f+" dimensions at the 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n(t)?Array.prototype.slice.call(t):t},r.isOrdinal=function(t){return!!t.tickvals},r.isVisible=function(t){return t.visible||!("visible"in t)}},{"../../lib":503}],896:[function(t,e,r){"use strict";var n=t("./base_index");n.plot=t("./plot"),e.exports=n},{"./base_index":890,"./plot":900}],897:[function(t,e,r){"use strict";var n=t("glslify"),i=n(["precision highp float;\n#define GLSLIFY 1\n\nvarying vec4 fragColor;\n\nattribute vec4 p01_04, p05_08, p09_12, p13_16,\n p17_20, p21_24, p25_28, p29_32,\n p33_36, p37_40, p41_44, p45_48,\n p49_52, p53_56, p57_60, colors;\n\nuniform mat4 dim0A, dim1A, dim0B, dim1B, dim0C, dim1C, dim0D, dim1D,\n loA, hiA, loB, hiB, loC, hiC, loD, hiD;\n\nuniform vec2 resolution, viewBoxPos, viewBoxSize;\nuniform float maskHeight;\nuniform float drwLayer; // 0: context, 1: focus, 2: pick\nuniform vec4 contextColor;\nuniform sampler2D maskTexture, palette;\n\nbool isPick = (drwLayer > 1.5);\nbool isContext = (drwLayer < 0.5);\n\nconst vec4 ZEROS = vec4(0.0, 0.0, 0.0, 0.0);\nconst vec4 UNITS = vec4(1.0, 1.0, 1.0, 1.0);\n\nfloat val(mat4 p, mat4 v) {\n return dot(matrixCompMult(p, v) * UNITS, UNITS);\n}\n\nfloat axisY(float ratio, mat4 A, mat4 B, mat4 C, mat4 D) {\n float y1 = val(A, dim0A) + val(B, dim0B) + val(C, dim0C) + val(D, dim0D);\n float y2 = val(A, dim1A) + val(B, dim1B) + val(C, dim1C) + val(D, dim1D);\n return y1 * (1.0 - ratio) + y2 * ratio;\n}\n\nint iMod(int a, int b) {\n return a - b * (a / b);\n}\n\nbool fOutside(float p, float lo, float hi) {\n return (lo < hi) && (lo > p || p > hi);\n}\n\nbool vOutside(vec4 p, vec4 lo, vec4 hi) {\n return (\n fOutside(p[0], lo[0], hi[0]) ||\n fOutside(p[1], lo[1], hi[1]) ||\n fOutside(p[2], lo[2], hi[2]) ||\n fOutside(p[3], lo[3], hi[3])\n );\n}\n\nbool mOutside(mat4 p, mat4 lo, mat4 hi) {\n return (\n vOutside(p[0], lo[0], hi[0]) ||\n vOutside(p[1], lo[1], hi[1]) ||\n vOutside(p[2], lo[2], hi[2]) ||\n vOutside(p[3], lo[3], hi[3])\n );\n}\n\nbool outsideBoundingBox(mat4 A, mat4 B, mat4 C, mat4 D) {\n return mOutside(A, loA, hiA) ||\n mOutside(B, loB, hiB) ||\n mOutside(C, loC, hiC) ||\n mOutside(D, loD, hiD);\n}\n\nbool outsideRasterMask(mat4 A, mat4 B, mat4 C, mat4 D) {\n mat4 pnts[4];\n pnts[0] = A;\n pnts[1] = B;\n pnts[2] = C;\n pnts[3] = D;\n\n for(int i = 0; i < 4; ++i) {\n for(int j = 0; j < 4; ++j) {\n for(int k = 0; k < 4; ++k) {\n if(0 == iMod(\n int(255.0 * texture2D(maskTexture,\n vec2(\n (float(i * 2 + j / 2) + 0.5) / 8.0,\n (pnts[i][j][k] * (maskHeight - 1.0) + 1.0) / maskHeight\n ))[3]\n ) / int(pow(2.0, float(iMod(j * 4 + k, 8)))),\n 2\n )) return true;\n }\n }\n }\n return false;\n}\n\nvec4 position(bool isContext, float v, mat4 A, mat4 B, mat4 C, mat4 D) {\n float x = 0.5 * sign(v) + 0.5;\n float y = axisY(x, A, B, C, D);\n float z = 1.0 - abs(v);\n\n z += isContext ? 0.0 : 2.0 * float(\n outsideBoundingBox(A, B, C, D) ||\n outsideRasterMask(A, B, C, D)\n );\n\n return vec4(\n 2.0 * (vec2(x, y) * viewBoxSize + viewBoxPos) / resolution - 1.0,\n z,\n 1.0\n );\n}\n\nvoid main() {\n mat4 A = mat4(p01_04, p05_08, p09_12, p13_16);\n mat4 B = mat4(p17_20, p21_24, p25_28, p29_32);\n mat4 C = mat4(p33_36, p37_40, p41_44, p45_48);\n mat4 D = mat4(p49_52, p53_56, p57_60, ZEROS);\n\n float v = colors[3];\n\n gl_Position = position(isContext, v, A, B, C, D);\n\n fragColor =\n isContext ? vec4(contextColor) :\n isPick ? vec4(colors.rgb, 1.0) : texture2D(palette, vec2(abs(v), 0.5));\n}\n"]),a=n(["precision highp float;\n#define GLSLIFY 1\n\nvarying vec4 fragColor;\n\nvoid main() {\n gl_FragColor = fragColor;\n}\n"]),o=t("./constants").maxDimensionCount,s=t("../../lib"),l=new Uint8Array(4),c=new Uint8Array(4),u={shape:[256,1],format:"rgba",type:"uint8",mag:"nearest",min:"nearest"};function f(t,e,r,n,i){var a=t._gl;a.enable(a.SCISSOR_TEST),a.scissor(e,r,n,i),t.clear({color:[0,0,0,0],depth:1})}function h(t,e,r,n,i,a){var o=a.key;r.drawCompleted||(!function(t){t.read({x:0,y:0,width:1,height:1,data:l})}(t),r.drawCompleted=!0),function s(l){var c=Math.min(n,i-l*n);0===l&&(window.cancelAnimationFrame(r.currentRafs[o]),delete r.currentRafs[o],f(t,a.scissorX,a.scissorY,a.scissorWidth,a.viewBoxSize[1])),r.clearOnly||(a.count=2*c,a.offset=2*l*n,e(a),l*n+c>>8*e)%256/255}function m(t,e,r){for(var n=new Array(8*e),i=0,a=0;au&&(u=t[i].dim1.canvasX,o=i);0===s&&f(T,0,0,r.canvasWidth,r.canvasHeight);var p=function(t){var e,r,n,i=[[],[]];for(n=0;n<64;n++){var a=!t&&no._length&&(S=S.slice(0,o._length));var L,C=o.tickvals;function P(t,e){return{val:t,text:L[e]}}function I(t,e){return t.val-e.val}if(Array.isArray(C)&&C.length){L=o.ticktext,Array.isArray(L)&&L.length?L.length>C.length?L=L.slice(0,C.length):C.length>L.length&&(C=C.slice(0,L.length)):L=C.map(a(o.tickformat));for(var O=1;O=r||l>=i)return;var c=t.lineLayer.readPixel(s,i-1-l),u=0!==c[3],f=u?c[2]+256*(c[1]+256*c[0]):null,h={x:s,y:l,clientX:e.clientX,clientY:e.clientY,dataIndex:t.model.key,curveNumber:f};f!==B&&(u?a.hover(h):a.unhover&&a.unhover(h),B=f)}})),F.style("opacity",(function(t){return t.pick?0:1})),h.style("background","rgba(255, 255, 255, 0)");var N=h.selectAll("."+y.cn.parcoords).data(R,d);N.exit().remove(),N.enter().append("g").classed(y.cn.parcoords,!0).style("shape-rendering","crispEdges").style("pointer-events","none"),N.attr("transform",(function(t){return c(t.model.translateX,t.model.translateY)}));var j=N.selectAll("."+y.cn.parcoordsControlView).data(m,d);j.enter().append("g").classed(y.cn.parcoordsControlView,!0),j.attr("transform",(function(t){return c(t.model.pad.l,t.model.pad.t)}));var U=j.selectAll("."+y.cn.yAxis).data((function(t){return t.dimensions}),d);U.enter().append("g").classed(y.cn.yAxis,!0),j.each((function(t){O(U,t,_)})),F.each((function(t){if(t.viewModel){!t.lineLayer||a?t.lineLayer=b(this,t):t.lineLayer.update(t),(t.key||0===t.key)&&(t.viewModel[t.key]=t.lineLayer);var e=!t.context||a;t.lineLayer.render(t.viewModel.panels,e)}})),U.attr("transform",(function(t){return c(t.xScale(t.xIndex),0)})),U.call(n.behavior.drag().origin((function(t){return t})).on("drag",(function(t){var e=t.parent;S.linePickActive(!1),t.x=Math.max(-y.overdrag,Math.min(t.model.width+y.overdrag,n.event.x)),t.canvasX=t.x*t.model.canvasPixelRatio,U.sort((function(t,e){return t.x-e.x})).each((function(e,r){e.xIndex=r,e.x=t===e?e.x:e.xScale(e.xIndex),e.canvasX=e.x*e.model.canvasPixelRatio})),O(U,e,_),U.filter((function(e){return 0!==Math.abs(t.xIndex-e.xIndex)})).attr("transform",(function(t){return 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Z=Y.selectAll("."+y.cn.axisExtentBottom).data(m,d);Z.enter().append("g").classed(y.cn.axisExtentBottom,!0),Z.attr("transform",(function(t){return c(0,t.model.height+y.axisExtentOffset)}));var J=Z.selectAll("."+y.cn.axisExtentBottomText).data(m,d);J.enter().append("text").classed(y.cn.axisExtentBottomText,!0).attr("dy","0.75em").call(P),J.text((function(t){return D(t,!1)})).each((function(t){f.font(n.select(this),t.model.rangeFont)})),x.ensureAxisBrush(V,T)}},{"../../components/colorscale":378,"../../components/drawing":388,"../../lib":503,"../../lib/gup":500,"../../lib/svg_text_utils":529,"../../plots/cartesian/axes":554,"./axisbrush":889,"./constants":893,"./helpers":895,"./lines":897,"@plotly/d3":58,"color-rgba":91}],900:[function(t,e,r){"use strict";var n=t("./parcoords"),i=t("../../lib/prepare_regl"),a=t("./helpers").isVisible,o={};function s(t,e,r){var n=e.indexOf(r),i=t.indexOf(n);return-1===i&&(i+=e.length),i}(e.exports=function(t,e){var r=t._fullLayout;if(i(t,[],o)){var l={},c={},u={},f={},h=r._size;e.forEach((function(e,r){var n=e[0].trace;u[r]=n.index;var i=f[r]=n._fullInput.index;l[r]=t.data[i].dimensions,c[r]=t.data[i].dimensions.slice()}));n(t,e,{width:h.w,height:h.h,margin:{t:h.t,r:h.r,b:h.b,l:h.l}},{filterChanged:function(e,n,i){var a=c[e][n],o=i.map((function(t){return t.slice()})),s="dimensions["+n+"].constraintrange",l=r._tracePreGUI[t._fullData[u[e]]._fullInput.uid];if(void 0===l[s]){var h=a.constraintrange;l[s]=h||null}var p=t._fullData[u[e]].dimensions[n];o.length?(1===o.length&&(o=o[0]),a.constraintrange=o,p.constraintrange=o.slice(),o=[o]):(delete a.constraintrange,delete p.constraintrange,o=null);var d={};d[s]=o,t.emit("plotly_restyle",[d,[f[e]]])},hover:function(e){t.emit("plotly_hover",e)},unhover:function(e){t.emit("plotly_unhover",e)},axesMoved:function(e,r){var n=function(t,e){return function(r,n){return s(t,e,r)-s(t,e,n)}}(r,c[e].filter(a));l[e].sort(n),c[e].filter((function(t){return!a(t)})).sort((function(t){return 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n=t("../../plots/attributes"),i=t("../../plots/domain").attributes,a=t("../../plots/font_attributes"),o=t("../../components/color/attributes"),s=t("../../plots/template_attributes").hovertemplateAttrs,l=t("../../plots/template_attributes").texttemplateAttrs,c=t("../../lib/extend").extendFlat,u=a({editType:"plot",arrayOk:!0,colorEditType:"plot"});e.exports={labels:{valType:"data_array",editType:"calc"},label0:{valType:"number",dflt:0,editType:"calc"},dlabel:{valType:"number",dflt:1,editType:"calc"},values:{valType:"data_array",editType:"calc"},marker:{colors:{valType:"data_array",editType:"calc"},line:{color:{valType:"color",dflt:o.defaultLine,arrayOk:!0,editType:"style"},width:{valType:"number",min:0,dflt:0,arrayOk:!0,editType:"style"},editType:"calc"},editType:"calc"},text:{valType:"data_array",editType:"plot"},hovertext:{valType:"string",dflt:"",arrayOk:!0,editType:"style"},scalegroup:{valType:"string",dflt:"",editType:"calc"},textinfo:{valType:"flaglist",flags:["label","text","value","percent"],extras:["none"],editType:"calc"},hoverinfo:c({},n.hoverinfo,{flags:["label","text","value","percent","name"]}),hovertemplate:s({},{keys:["label","color","value","percent","text"]}),texttemplate:l({editType:"plot"},{keys:["label","color","value","percent","text"]}),textposition:{valType:"enumerated",values:["inside","outside","auto","none"],dflt:"auto",arrayOk:!0,editType:"plot"},textfont:c({},u,{}),insidetextorientation:{valType:"enumerated",values:["horizontal","radial","tangential","auto"],dflt:"auto",editType:"plot"},insidetextfont:c({},u,{}),outsidetextfont:c({},u,{}),automargin:{valType:"boolean",dflt:!1,editType:"plot"},title:{text:{valType:"string",dflt:"",editType:"plot"},font:c({},u,{}),position:{valType:"enumerated",values:["top 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strict";var n=t("../../plots/plots");r.name="pie",r.plot=function(t,e,i,a){n.plotBasePlot(r.name,t,e,i,a)},r.clean=function(t,e,i,a){n.cleanBasePlot(r.name,t,e,i,a)}},{"../../plots/plots":619}],903:[function(t,e,r){"use strict";var n=t("fast-isnumeric"),i=t("tinycolor2"),a=t("../../components/color"),o={};function s(t){return function(e,r){return!!e&&(!!(e=i(e)).isValid()&&(e=a.addOpacity(e,e.getAlpha()),t[r]||(t[r]=e),e))}}function l(t,e){var r,n=JSON.stringify(t),a=e[n];if(!a){for(a=t.slice(),r=0;r=0})),("funnelarea"===e.type?v:e.sort)&&a.sort((function(t,e){return e.v-t.v})),a[0]&&(a[0].vTotal=g),a},crossTraceCalc:function(t,e){var r=(e||{}).type;r||(r="pie");var n=t._fullLayout,i=t.calcdata,a=n[r+"colorway"],s=n["_"+r+"colormap"];n["extend"+r+"colors"]&&(a=l(a,o));for(var c=0,u=0;u0){s=!0;break}}s||(o=0)}return{hasLabels:r,hasValues:a,len:o}}e.exports={handleLabelsAndValues:l,supplyDefaults:function(t,e,r,n){function c(r,n){return i.coerce(t,e,a,r,n)}var u=l(c("labels"),c("values")),f=u.len;if(e._hasLabels=u.hasLabels,e._hasValues=u.hasValues,!e._hasLabels&&e._hasValues&&(c("label0"),c("dlabel")),f){e._length=f,c("marker.line.width")&&c("marker.line.color"),c("marker.colors"),c("scalegroup");var h,p=c("text"),d=c("texttemplate");if(d||(h=c("textinfo",Array.isArray(p)?"text+percent":"percent")),c("hovertext"),c("hovertemplate"),d||h&&"none"!==h){var m=c("textposition");s(t,e,n,c,m,{moduleHasSelected:!1,moduleHasUnselected:!1,moduleHasConstrain:!1,moduleHasCliponaxis:!1,moduleHasTextangle:!1,moduleHasInsideanchor:!1}),(Array.isArray(m)||"auto"===m||"outside"===m)&&c("automargin"),("inside"===m||"auto"===m||Array.isArray(m))&&c("insidetextorientation")}o(e,n,c);var g=c("hole");if(c("title.text")){var v=c("title.position",g?"middle center":"top center");g||"middle center"!==v||(e.title.position="top center"),i.coerceFont(c,"title.font",n.font)}c("sort"),c("direction"),c("rotation"),c("pull")}else 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r=0;r"),name:f.hovertemplate||-1!==h.indexOf("name")?f.name:void 0,idealAlign:t.pxmid[0]<0?"left":"right",color:g.castOption(_.bgcolor,t.pts)||t.color,borderColor:g.castOption(_.bordercolor,t.pts),fontFamily:g.castOption(w.family,t.pts),fontSize:g.castOption(w.size,t.pts),fontColor:g.castOption(w.color,t.pts),nameLength:g.castOption(_.namelength,t.pts),textAlign:g.castOption(_.align,t.pts),hovertemplate:g.castOption(f.hovertemplate,t.pts),hovertemplateLabels:t,eventData:[v(t,f)]},{container:r._hoverlayer.node(),outerContainer:r._paper.node(),gd:e,inOut_bbox:T}),t.bbox=T[0],c._hasHoverLabel=!0}c._hasHoverEvent=!0,e.emit("plotly_hover",{points:[v(t,f)],event:n.event})}})),t.on("mouseout",(function(t){var r=e._fullLayout,i=e._fullData[c.index],o=n.select(this).datum();c._hasHoverEvent&&(t.originalEvent=n.event,e.emit("plotly_unhover",{points:[v(o,i)],event:n.event}),c._hasHoverEvent=!1),c._hasHoverLabel&&(a.loneUnhover(r._hoverlayer.node()),c._hasHoverLabel=!1)})),t.on("click",(function(t){var r=e._fullLayout,i=e._fullData[c.index];e._dragging||!1===r.hovermode||(e._hoverdata=[v(t,i)],a.click(e,n.event))}))}function b(t,e,r){var n=g.castOption(t.insidetextfont.color,e.pts);!n&&t._input.textfont&&(n=g.castOption(t._input.textfont.color,e.pts));var i=g.castOption(t.insidetextfont.family,e.pts)||g.castOption(t.textfont.family,e.pts)||r.family,a=g.castOption(t.insidetextfont.size,e.pts)||g.castOption(t.textfont.size,e.pts)||r.size;return{color:n||o.contrast(e.color),family:i,size:a}}function _(t,e){for(var r,n,i=0;ie&&e>n||r=-4;g-=2)v(Math.PI*g,"tan");for(g=4;g>=-4;g-=2)v(Math.PI*(g+1),"tan")}if(f||p){for(g=4;g>=-4;g-=2)v(Math.PI*(g+1.5),"rad");for(g=4;g>=-4;g-=2)v(Math.PI*(g+.5),"rad")}}if(s||d||f){var y=Math.sqrt(t.width*t.width+t.height*t.height);if((a={scale:i*n*2/y,rCenter:1-i,rotate:0}).textPosAngle=(e.startangle+e.stopangle)/2,a.scale>=1)return a;m.push(a)}(d||p)&&((a=T(t,n,o,l,c)).textPosAngle=(e.startangle+e.stopangle)/2,m.push(a)),(d||h)&&((a=k(t,n,o,l,c)).textPosAngle=(e.startangle+e.stopangle)/2,m.push(a));for(var x=0,b=0,_=0;_=1)break}return m[x]}function T(t,e,r,n,i){e=Math.max(0,e-2*m);var a=t.width/t.height,o=S(a,n,e,r);return{scale:2*o/t.height,rCenter:A(a,o/e),rotate:M(i)}}function k(t,e,r,n,i){e=Math.max(0,e-2*m);var a=t.height/t.width,o=S(a,n,e,r);return{scale:2*o/t.width,rCenter:A(a,o/e),rotate:M(i+Math.PI/2)}}function A(t,e){return Math.cos(e)-t*e}function M(t){return(180/Math.PI*t+720)%180-90}function S(t,e,r,n){var i=t+1/(2*Math.tan(e));return r*Math.min(1/(Math.sqrt(i*i+.5)+i),n/(Math.sqrt(t*t+n/2)+t))}function E(t,e){return t.v!==e.vTotal||e.trace.hole?Math.min(1/(1+1/Math.sin(t.halfangle)),t.ring/2):1}function L(t,e){var r=e.pxmid[0],n=e.pxmid[1],i=t.width/2,a=t.height/2;return r<0&&(i*=-1),n<0&&(a*=-1),{scale:1,rCenter:1,rotate:0,x:i+Math.abs(a)*(i>0?1:-1)/2,y:a/(1+r*r/(n*n)),outside:!0}}function C(t,e){var r,n,i,a=t.trace,o={x:t.cx,y:t.cy},s={tx:0,ty:0};s.ty+=a.title.font.size,i=I(a),-1!==a.title.position.indexOf("top")?(o.y-=(1+i)*t.r,s.ty-=t.titleBox.height):-1!==a.title.position.indexOf("bottom")&&(o.y+=(1+i)*t.r);var l,c,u=(l=t.r,c=t.trace.aspectratio,l/(void 0===c?1:c)),f=e.w*(a.domain.x[1]-a.domain.x[0])/2;return-1!==a.title.position.indexOf("left")?(f+=u,o.x-=(1+i)*u,s.tx+=t.titleBox.width/2):-1!==a.title.position.indexOf("center")?f*=2:-1!==a.title.position.indexOf("right")&&(f+=u,o.x+=(1+i)*u,s.tx-=t.titleBox.width/2),r=f/t.titleBox.width,n=P(t,e)/t.titleBox.height,{x:o.x,y:o.y,scale:Math.min(r,n),tx:s.tx,ty:s.ty}}function P(t,e){var r=t.trace,n=e.h*(r.domain.y[1]-r.domain.y[0]);return Math.min(t.titleBox.height,n/2)}function I(t){var e,r=t.pull;if(!r)return 0;if(Array.isArray(r))for(r=0,e=0;er&&(r=t.pull[e]);return r}function O(t,e){for(var r=[],n=0;n1?(c=r.r,u=c/i.aspectratio):(u=r.r,c=u*i.aspectratio),c*=(1+i.baseratio)/2,l=c*u}o=Math.min(o,l/r.vTotal)}for(n=0;n")}if(a){var x=l.castOption(i,e.i,"texttemplate");if(x){var b=function(t){return{label:t.label,value:t.v,valueLabel:g.formatPieValue(t.v,n.separators),percent:t.v/r.vTotal,percentLabel:g.formatPiePercent(t.v/r.vTotal,n.separators),color:t.color,text:t.text,customdata:l.castOption(i,t.i,"customdata")}}(e),_=g.getFirstFilled(i.text,e.pts);(y(_)||""===_)&&(b.text=_),e.text=l.texttemplateString(x,b,t._fullLayout._d3locale,b,i._meta||{})}else e.text=""}}function R(t,e){var r=t.rotate*Math.PI/180,n=Math.cos(r),i=Math.sin(r),a=(e.left+e.right)/2,o=(e.top+e.bottom)/2;t.textX=a*n-o*i,t.textY=a*i+o*n,t.noCenter=!0}e.exports={plot:function(t,e){var r=t._fullLayout,a=r._size;d("pie",r),_(e,t),O(e,a);var h=l.makeTraceGroups(r._pielayer,e,"trace").each((function(e){var h=n.select(this),d=e[0],m=d.trace;!function(t){var e,r,n,i=t[0],a=i.r,o=i.trace,s=g.getRotationAngle(o.rotation),l=2*Math.PI/i.vTotal,c="px0",u="px1";if("counterclockwise"===o.direction){for(e=0;ei.vTotal/2?1:0,r.halfangle=Math.PI*Math.min(r.v/i.vTotal,.5),r.ring=1-o.hole,r.rInscribed=E(r,i))}(e),h.attr("stroke-linejoin","round"),h.each((function(){var v=n.select(this).selectAll("g.slice").data(e);v.enter().append("g").classed("slice",!0),v.exit().remove();var y=[[[],[]],[[],[]]],_=!1;v.each((function(i,a){if(i.hidden)n.select(this).selectAll("path,g").remove();else{i.pointNumber=i.i,i.curveNumber=m.index,y[i.pxmid[1]<0?0:1][i.pxmid[0]<0?0:1].push(i);var o=d.cx,c=d.cy,u=n.select(this),h=u.selectAll("path.surface").data([i]);if(h.enter().append("path").classed("surface",!0).style({"pointer-events":"all"}),u.call(x,t,e),m.pull){var v=+g.castOption(m.pull,i.pts)||0;v>0&&(o+=v*i.pxmid[0],c+=v*i.pxmid[1])}i.cxFinal=o,i.cyFinal=c;var T=m.hole;if(i.v===d.vTotal){var k="M"+(o+i.px0[0])+","+(c+i.px0[1])+C(i.px0,i.pxmid,!0,1)+C(i.pxmid,i.px0,!0,1)+"Z";T?h.attr("d","M"+(o+T*i.px0[0])+","+(c+T*i.px0[1])+C(i.px0,i.pxmid,!1,T)+C(i.pxmid,i.px0,!1,T)+"Z"+k):h.attr("d",k)}else{var A=C(i.px0,i.px1,!0,1);if(T){var M=1-T;h.attr("d","M"+(o+T*i.px1[0])+","+(c+T*i.px1[1])+C(i.px1,i.px0,!1,T)+"l"+M*i.px0[0]+","+M*i.px0[1]+A+"Z")}else h.attr("d","M"+o+","+c+"l"+i.px0[0]+","+i.px0[1]+A+"Z")}D(t,i,d);var S=g.castOption(m.textposition,i.pts),E=u.selectAll("g.slicetext").data(i.text&&"none"!==S?[0]:[]);E.enter().append("g").classed("slicetext",!0),E.exit().remove(),E.each((function(){var u=l.ensureSingle(n.select(this),"text","",(function(t){t.attr("data-notex",1)})),h=l.ensureUniformFontSize(t,"outside"===S?function(t,e,r){var n=g.castOption(t.outsidetextfont.color,e.pts)||g.castOption(t.textfont.color,e.pts)||r.color,i=g.castOption(t.outsidetextfont.family,e.pts)||g.castOption(t.textfont.family,e.pts)||r.family,a=g.castOption(t.outsidetextfont.size,e.pts)||g.castOption(t.textfont.size,e.pts)||r.size;return{color:n,family:i,size:a}}(m,i,r.font):b(m,i,r.font));u.text(i.text).attr({class:"slicetext",transform:"","text-anchor":"middle"}).call(s.font,h).call(f.convertToTspans,t);var v,y=s.bBox(u.node());if("outside"===S)v=L(y,i);else if(v=w(y,i,d),"auto"===S&&v.scale<1){var x=l.ensureUniformFontSize(t,m.outsidetextfont);u.call(s.font,x),v=L(y=s.bBox(u.node()),i)}var T=v.textPosAngle,k=void 0===T?i.pxmid:z(d.r,T);if(v.targetX=o+k[0]*v.rCenter+(v.x||0),v.targetY=c+k[1]*v.rCenter+(v.y||0),R(v,y),v.outside){var 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e=Math.sqrt(t.titleBox.width*t.titleBox.width+t.titleBox.height*t.titleBox.height);return{x:t.cx,y:t.cy,scale:t.trace.hole*t.r*2/e,tx:0,ty:-t.titleBox.height/2+t.trace.title.font.size}}(d):C(d,a),r.attr("transform",u(e.x,e.y)+c(Math.min(1,e.scale))+u(e.tx,e.ty))})),_&&function(t,e){var r,n,i,a,o,s,l,c,u,f,h,p,d;function m(t,e){return t.pxmid[1]-e.pxmid[1]}function v(t,e){return e.pxmid[1]-t.pxmid[1]}function y(t,r){r||(r={});var i,c,u,h,p=r.labelExtraY+(n?r.yLabelMax:r.yLabelMin),d=n?t.yLabelMin:t.yLabelMax,m=n?t.yLabelMax:t.yLabelMin,v=t.cyFinal+o(t.px0[1],t.px1[1]),y=p-d;if(y*l>0&&(t.labelExtraY=y),Array.isArray(e.pull))for(c=0;c=(g.castOption(e.pull,u.pts)||0)||((t.pxmid[1]-u.pxmid[1])*l>0?(y=u.cyFinal+o(u.px0[1],u.px1[1])-d-t.labelExtraY)*l>0&&(t.labelExtraY+=y):(m+t.labelExtraY-v)*l>0&&(i=3*s*Math.abs(c-f.indexOf(t)),(h=u.cxFinal+a(u.px0[0],u.px1[0])+i-(t.cxFinal+t.pxmid[0])-t.labelExtraX)*s>0&&(t.labelExtraX+=h)))}for(n=0;n<2;n++)for(i=n?m:v,o=n?Math.max:Math.min,l=n?1:-1,r=0;r<2;r++){for(a=r?Math.max:Math.min,s=r?1:-1,(c=t[n][r]).sort(i),u=t[1-n][r],f=u.concat(c),p=[],h=0;hMath.abs(f)?s+="l"+f*t.pxmid[0]/t.pxmid[1]+","+f+"H"+(a+t.labelExtraX+c):s+="l"+t.labelExtraX+","+u+"v"+(f-u)+"h"+c}else s+="V"+(t.yLabelMid+t.labelExtraY)+"h"+c;l.ensureSingle(r,"path","textline").call(o.stroke,e.outsidetextfont.color).attr({"stroke-width":Math.min(2,e.outsidetextfont.size/8),d:s,fill:"none"})}else 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n=t("@plotly/d3"),i=t("./style_one"),a=t("../bar/uniform_text").resizeText;e.exports=function(t){var e=t._fullLayout._pielayer.selectAll(".trace");a(t,e,"pie"),e.each((function(t){var e=t[0].trace,r=n.select(this);r.style({opacity:e.opacity}),r.selectAll("path.surface").each((function(t){n.select(this).call(i,t,e)}))}))}},{"../bar/uniform_text":664,"./style_one":912,"@plotly/d3":58}],912:[function(t,e,r){"use strict";var n=t("../../components/color"),i=t("./helpers").castOption;e.exports=function(t,e,r){var a=r.marker.line,o=i(a.color,e.pts)||n.defaultLine,s=i(a.width,e.pts)||0;t.style("stroke-width",s).call(n.fill,e.color).call(n.stroke,o)}},{"../../components/color":366,"./helpers":906}],913:[function(t,e,r){"use strict";var n=t("../scatter/attributes");e.exports={x:n.x,y:n.y,xy:{valType:"data_array",editType:"calc"},indices:{valType:"data_array",editType:"calc"},xbounds:{valType:"data_array",editType:"calc"},ybounds:{valType:"data_array",editType:"calc"},text:n.text,marker:{color:{valType:"color",arrayOk:!1,editType:"calc"},opacity:{valType:"number",min:0,max:1,dflt:1,arrayOk:!1,editType:"calc"},blend:{valType:"boolean",dflt:null,editType:"calc"},sizemin:{valType:"number",min:.1,max:2,dflt:.5,editType:"calc"},sizemax:{valType:"number",min:.1,dflt:20,editType:"calc"},border:{color:{valType:"color",arrayOk:!1,editType:"calc"},arearatio:{valType:"number",min:0,max:1,dflt:0,editType:"calc"},editType:"calc"},editType:"calc"},transforms:void 0}},{"../scatter/attributes":927}],914:[function(t,e,r){"use strict";var n=t("../../../stackgl_modules").gl_pointcloud2d,i=t("../../lib/str2rgbarray"),a=t("../../plots/cartesian/autorange").findExtremes,o=t("../scatter/get_trace_color");function s(t,e){this.scene=t,this.uid=e,this.type="pointcloud",this.pickXData=[],this.pickYData=[],this.xData=[],this.yData=[],this.textLabels=[],this.color="rgb(0, 0, 0)",this.name="",this.hoverinfo="all",this.idToIndex=new Int32Array(0),this.bounds=[0,0,0,0],this.pointcloudOptions={positions:new Float32Array(0),idToIndex:this.idToIndex,sizemin:.5,sizemax:12,color:[0,0,0,1],areaRatio:1,borderColor:[0,0,0,1]},this.pointcloud=n(t.glplot,this.pointcloudOptions),this.pointcloud._trace=this}var l=s.prototype;l.handlePick=function(t){var e=this.idToIndex[t.pointId];return{trace:this,dataCoord:t.dataCoord,traceCoord:this.pickXYData?[this.pickXYData[2*e],this.pickXYData[2*e+1]]:[this.pickXData[e],this.pickYData[e]],textLabel:Array.isArray(this.textLabels)?this.textLabels[e]:this.textLabels,color:this.color,name:this.name,pointIndex:e,hoverinfo:this.hoverinfo}},l.update=function(t){this.index=t.index,this.textLabels=t.text,this.name=t.name,this.hoverinfo=t.hoverinfo,this.bounds=[1/0,1/0,-1/0,-1/0],this.updateFast(t),this.color=o(t,{})},l.updateFast=function(t){var e,r,n,o,s,l,c=this.xData=this.pickXData=t.x,u=this.yData=this.pickYData=t.y,f=this.pickXYData=t.xy,h=t.xbounds&&t.ybounds,p=t.indices,d=this.bounds;if(f){if(n=f,e=f.length>>>1,h)d[0]=t.xbounds[0],d[2]=t.xbounds[1],d[1]=t.ybounds[0],d[3]=t.ybounds[1];else for(l=0;ld[2]&&(d[2]=o),sd[3]&&(d[3]=s);if(p)r=p;else for(r=new Int32Array(e),l=0;ld[2]&&(d[2]=o),sd[3]&&(d[3]=s);this.idToIndex=r,this.pointcloudOptions.idToIndex=r,this.pointcloudOptions.positions=n;var m=i(t.marker.color),g=i(t.marker.border.color),v=t.opacity*t.marker.opacity;m[3]*=v,this.pointcloudOptions.color=m;var y=t.marker.blend;if(null===y){y=c.length<100||u.length<100}this.pointcloudOptions.blend=y,g[3]*=v,this.pointcloudOptions.borderColor=g;var x=t.marker.sizemin,b=Math.max(t.marker.sizemax,t.marker.sizemin);this.pointcloudOptions.sizeMin=x,this.pointcloudOptions.sizeMax=b,this.pointcloudOptions.areaRatio=t.marker.border.arearatio,this.pointcloud.update(this.pointcloudOptions);var _=this.scene.xaxis,w=this.scene.yaxis,T=b/2||.5;t._extremes[_._id]=a(_,[d[0],d[2]],{ppad:T}),t._extremes[w._id]=a(w,[d[1],d[3]],{ppad:T})},l.dispose=function(){this.pointcloud.dispose()},e.exports=function(t,e){var r=new s(t,e.uid);return r.update(e),r}},{"../../../stackgl_modules":1124,"../../lib/str2rgbarray":528,"../../plots/cartesian/autorange":553,"../scatter/get_trace_color":937}],915:[function(t,e,r){"use strict";var n=t("../../lib"),i=t("./attributes");e.exports=function(t,e,r){function a(r,a){return n.coerce(t,e,i,r,a)}a("x"),a("y"),a("xbounds"),a("ybounds"),t.xy&&t.xy instanceof Float32Array&&(e.xy=t.xy),t.indices&&t.indices instanceof Int32Array&&(e.indices=t.indices),a("text"),a("marker.color",r),a("marker.opacity"),a("marker.blend"),a("marker.sizemin"),a("marker.sizemax"),a("marker.border.color",r),a("marker.border.arearatio"),e._length=null}},{"../../lib":503,"./attributes":913}],916:[function(t,e,r){"use strict";["*pointcloud* trace is deprecated!","Please consider switching to the *scattergl* trace type."].join(" ");e.exports={attributes:t("./attributes"),supplyDefaults:t("./defaults"),calc:t("../scatter3d/calc"),plot:t("./convert"),moduleType:"trace",name:"pointcloud",basePlotModule:t("../../plots/gl2d"),categories:["gl","gl2d","showLegend"],meta:{}}},{"../../plots/gl2d":596,"../scatter3d/calc":956,"./attributes":913,"./convert":914,"./defaults":915}],917:[function(t,e,r){"use strict";var n=t("../../plots/font_attributes"),i=t("../../plots/attributes"),a=t("../../components/color/attributes"),o=t("../../components/fx/attributes"),s=t("../../plots/domain").attributes,l=t("../../plots/template_attributes").hovertemplateAttrs,c=t("../../components/colorscale/attributes"),u=t("../../plot_api/plot_template").templatedArray,f=t("../../plots/cartesian/axis_format_attributes").descriptionOnlyNumbers,h=t("../../lib/extend").extendFlat,p=t("../../plot_api/edit_types").overrideAll;(e.exports=p({hoverinfo:h({},i.hoverinfo,{flags:[],arrayOk:!1}),hoverlabel:o.hoverlabel,domain:s({name:"sankey",trace:!0}),orientation:{valType:"enumerated",values:["v","h"],dflt:"h"},valueformat:{valType:"string",dflt:".3s",description:f("value")},valuesuffix:{valType:"string",dflt:""},arrangement:{valType:"enumerated",values:["snap","perpendicular","freeform","fixed"],dflt:"snap"},textfont:n({}),customdata:void 0,node:{label:{valType:"data_array",dflt:[]},groups:{valType:"info_array",impliedEdits:{x:[],y:[]},dimensions:2,freeLength:!0,dflt:[],items:{valType:"number",editType:"calc"}},x:{valType:"data_array",dflt:[]},y:{valType:"data_array",dflt:[]},color:{valType:"color",arrayOk:!0},customdata:{valType:"data_array",editType:"calc"},line:{color:{valType:"color",dflt:a.defaultLine,arrayOk:!0},width:{valType:"number",min:0,dflt:.5,arrayOk:!0}},pad:{valType:"number",arrayOk:!1,min:0,dflt:20},thickness:{valType:"number",arrayOk:!1,min:1,dflt:20},hoverinfo:{valType:"enumerated",values:["all","none","skip"],dflt:"all"},hoverlabel:o.hoverlabel,hovertemplate:l({},{keys:["value","label"]})},link:{label:{valType:"data_array",dflt:[]},color:{valType:"color",arrayOk:!0},customdata:{valType:"data_array",editType:"calc"},line:{color:{valType:"color",dflt:a.defaultLine,arrayOk:!0},width:{valType:"number",min:0,dflt:0,arrayOk:!0}},source:{valType:"data_array",dflt:[]},target:{valType:"data_array",dflt:[]},value:{valType:"data_array",dflt:[]},hoverinfo:{valType:"enumerated",values:["all","none","skip"],dflt:"all"},hoverlabel:o.hoverlabel,hovertemplate:l({},{keys:["value","label"]}),colorscales:u("concentrationscales",{editType:"calc",label:{valType:"string",editType:"calc",dflt:""},cmax:{valType:"number",editType:"calc",dflt:1},cmin:{valType:"number",editType:"calc",dflt:0},colorscale:h(c().colorscale,{dflt:[[0,"white"],[1,"black"]]})})}},"calc","nested")).transforms=void 0},{"../../components/color/attributes":365,"../../components/colorscale/attributes":373,"../../components/fx/attributes":397,"../../lib/extend":493,"../../plot_api/edit_types":536,"../../plot_api/plot_template":543,"../../plots/attributes":550,"../../plots/cartesian/axis_format_attributes":557,"../../plots/domain":584,"../../plots/font_attributes":585,"../../plots/template_attributes":633}],918:[function(t,e,r){"use strict";var n=t("../../plot_api/edit_types").overrideAll,i=t("../../plots/get_data").getModuleCalcData,a=t("./plot"),o=t("../../components/fx/layout_attributes"),s=t("../../lib/setcursor"),l=t("../../components/dragelement"),c=t("../../plots/cartesian/select").prepSelect,u=t("../../lib"),f=t("../../registry");function h(t,e){var r=t._fullData[e],n=t._fullLayout,i=n.dragmode,a="pan"===n.dragmode?"move":"crosshair",o=r._bgRect;if("pan"!==i&&"zoom"!==i){s(o,a);var h={_id:"x",c2p:u.identity,_offset:r._sankey.translateX,_length:r._sankey.width},p={_id:"y",c2p:u.identity,_offset:r._sankey.translateY,_length:r._sankey.height},d={gd:t,element:o.node(),plotinfo:{id:e,xaxis:h,yaxis:p,fillRangeItems:u.noop},subplot:e,xaxes:[h],yaxes:[p],doneFnCompleted:function(r){var n,i=t._fullData[e],a=i.node.groups.slice(),o=[];function s(t){for(var e=i._sankey.graph.nodes,r=0;ry&&(y=a.source[e]),a.target[e]>y&&(y=a.target[e]);var x,b=y+1;t.node._count=b;var _=t.node.groups,w={};for(e=0;e<_.length;e++){var T=_[e];for(x=0;x0&&s(E,b)&&s(L,b)&&(!w.hasOwnProperty(E)||!w.hasOwnProperty(L)||w[E]!==w[L])){w.hasOwnProperty(L)&&(L=w[L]),w.hasOwnProperty(E)&&(E=w[E]),L=+L,h[E=+E]=h[L]=!0;var C="";a.label&&a.label[e]&&(C=a.label[e]);var P=null;C&&p.hasOwnProperty(C)&&(P=p[C]),c.push({pointNumber:e,label:C,color:u?a.color[e]:a.color,customdata:f?a.customdata[e]:a.customdata,concentrationscale:P,source:E,target:L,value:+S}),M.source.push(E),M.target.push(L)}}var I=b+_.length,O=o(r.color),z=o(r.customdata),D=[];for(e=0;eb-1,childrenNodes:[],pointNumber:e,label:R,color:O?r.color[e]:r.color,customdata:z?r.customdata[e]:r.customdata})}var F=!1;return function(t,e,r){for(var a=i.init2dArray(t,0),o=0;o1}))}(I,M.source,M.target)&&(F=!0),{circular:F,links:c,nodes:D,groups:_,groupLookup:w}}e.exports=function(t,e){var r=c(e);return a({circular:r.circular,_nodes:r.nodes,_links:r.links,_groups:r.groups,_groupLookup:r.groupLookup})}},{"../../components/colorscale":378,"../../lib":503,"../../lib/gup":500,"strongly-connected-components":306}],920:[function(t,e,r){"use strict";e.exports={nodeTextOffsetHorizontal:4,nodeTextOffsetVertical:3,nodePadAcross:10,sankeyIterations:50,forceIterations:5,forceTicksPerFrame:10,duration:500,ease:"linear",cn:{sankey:"sankey",sankeyLinks:"sankey-links",sankeyLink:"sankey-link",sankeyNodeSet:"sankey-node-set",sankeyNode:"sankey-node",nodeRect:"node-rect",nodeLabel:"node-label"}}},{}],921:[function(t,e,r){"use strict";var n=t("../../lib"),i=t("./attributes"),a=t("../../components/color"),o=t("tinycolor2"),s=t("../../plots/domain").defaults,l=t("../../components/fx/hoverlabel_defaults"),c=t("../../plot_api/plot_template"),u=t("../../plots/array_container_defaults");function f(t,e){function r(r,a){return n.coerce(t,e,i.link.colorscales,r,a)}r("label"),r("cmin"),r("cmax"),r("colorscale")}e.exports=function(t,e,r,h){function p(r,a){return n.coerce(t,e,i,r,a)}var d=n.extendDeep(h.hoverlabel,t.hoverlabel),m=t.node,g=c.newContainer(e,"node");function v(t,e){return n.coerce(m,g,i.node,t,e)}v("label"),v("groups"),v("x"),v("y"),v("pad"),v("thickness"),v("line.color"),v("line.width"),v("hoverinfo",t.hoverinfo),l(m,g,v,d),v("hovertemplate");var y=h.colorway;v("color",g.label.map((function(t,e){return a.addOpacity(function(t){return y[t%y.length]}(e),.8)}))),v("customdata");var x=t.link||{},b=c.newContainer(e,"link");function _(t,e){return 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n=t("../../lib"),i=t("../../registry"),a=t("./attributes"),o=t("./constants"),s=t("./subtypes"),l=t("./xy_defaults"),c=t("./period_defaults"),u=t("./stack_defaults"),f=t("./marker_defaults"),h=t("./line_defaults"),p=t("./line_shape_defaults"),d=t("./text_defaults"),m=t("./fillcolor_defaults"),g=t("../../lib").coercePattern;e.exports=function(t,e,r,v){function y(r,i){return n.coerce(t,e,a,r,i)}var x=l(t,e,v,y);if(x||(e.visible=!1),e.visible){c(t,e,v,y),y("xhoverformat"),y("yhoverformat");var b=u(t,e,v,y),_=!b&&x=Math.min(e,r)&&d<=Math.max(e,r)?0:1/0}var n=Math.max(3,t.mrc||0),i=1-1/n,a=Math.abs(h.c2p(t.x)-d);return a=Math.min(e,r)&&m<=Math.max(e,r)?0:1/0}var n=Math.max(3,t.mrc||0),i=1-1/n,a=Math.abs(p.c2p(t.y)-m);return aW!=(N=z[I][1])>=W&&(R=z[I-1][0],F=z[I][0],N-B&&(D=R+(F-R)*(W-B)/(N-B),H=Math.min(H,D),q=Math.max(q,D)));H=Math.max(H,0),q=Math.min(q,h._length);var X=s.defaultLine;return 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n=t("../../plots/template_attributes").hovertemplateAttrs,i=t("../../plots/template_attributes").texttemplateAttrs,a=t("../../lib/extend").extendFlat,o=t("../scatter/attributes"),s=t("../../plots/attributes"),l=o.line;e.exports={mode:o.mode,real:{valType:"data_array",editType:"calc+clearAxisTypes"},imag:{valType:"data_array",editType:"calc+clearAxisTypes"},text:o.text,texttemplate:i({editType:"plot"},{keys:["real","imag","text"]}),hovertext:o.hovertext,line:{color:l.color,width:l.width,dash:l.dash,shape:a({},l.shape,{values:["linear","spline"]}),smoothing:l.smoothing,editType:"calc"},connectgaps:o.connectgaps,marker:o.marker,cliponaxis:a({},o.cliponaxis,{dflt:!1}),textposition:o.textposition,textfont:o.textfont,fill:a({},o.fill,{values:["none","toself","tonext"],dflt:"none"}),fillcolor:o.fillcolor,hoverinfo:a({},s.hoverinfo,{flags:["real","imag","text","name"]}),hoveron:o.hoveron,hovertemplate:n(),selected:o.selected,unselected:o.unselected}},{"../../lib/extend":493,"../../plots/attributes":550,"../../plots/template_attributes":633,"../scatter/attributes":927}],1018:[function(t,e,r){"use 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h(t,e,r){this.scene=t,this.uid=r,this.surface=e,this.data=null,this.showContour=[!1,!1,!1],this.contourStart=[null,null,null],this.contourEnd=[null,null,null],this.contourSize=[0,0,0],this.minValues=[1/0,1/0,1/0],this.maxValues=[-1/0,-1/0,-1/0],this.dataScaleX=1,this.dataScaleY=1,this.refineData=!0,this.objectOffset=[0,0,0]}var p=h.prototype;p.getXat=function(t,e,r,n){var i=l(this.data.x)?l(this.data.x[0])?this.data.x[e][t]:this.data.x[t]:t;return void 0===r?i:n.d2l(i,0,r)},p.getYat=function(t,e,r,n){var i=l(this.data.y)?l(this.data.y[0])?this.data.y[e][t]:this.data.y[e]:e;return void 0===r?i:n.d2l(i,0,r)},p.getZat=function(t,e,r,n){var i=this.data.z[e][t];return null===i&&this.data.connectgaps&&this.data._interpolatedZ&&(i=this.data._interpolatedZ[e][t]),void 0===r?i:n.d2l(i,0,r)},p.handlePick=function(t){if(t.object===this.surface){var e=(t.data.index[0]-1)/this.dataScaleX-1,r=(t.data.index[1]-1)/this.dataScaleY-1,n=Math.max(Math.min(Math.round(e),this.data.z[0].length-1),0),i=Math.max(Math.min(Math.round(r),this.data._ylength-1),0);t.index=[n,i],t.traceCoordinate=[this.getXat(n,i),this.getYat(n,i),this.getZat(n,i)],t.dataCoordinate=[this.getXat(n,i,this.data.xcalendar,this.scene.fullSceneLayout.xaxis),this.getYat(n,i,this.data.ycalendar,this.scene.fullSceneLayout.yaxis),this.getZat(n,i,this.data.zcalendar,this.scene.fullSceneLayout.zaxis)];for(var a=0;a<3;a++){var o=t.dataCoordinate[a];null!=o&&(t.dataCoordinate[a]*=this.scene.dataScale[a])}var s=this.data.hovertext||this.data.text;return Array.isArray(s)&&s[i]&&void 0!==s[i][n]?t.textLabel=s[i][n]:t.textLabel=s||"",t.data.dataCoordinate=t.dataCoordinate.slice(),this.surface.highlight(t.data),this.scene.glplot.spikes.position=t.dataCoordinate,!0}};var 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m(t,e){if(t0){r=d[n];break}return r}function y(t,e){if(!(t<1||e<1)){for(var r=g(t),n=g(e),i=1,a=0;a_;)r--,r/=v(r),++r1?n:1},p.refineCoords=function(t){for(var e=this.dataScaleX,r=this.dataScaleY,n=t[0].shape[0],a=t[0].shape[1],o=0|Math.floor(t[0].shape[0]*e+1),s=0|Math.floor(t[0].shape[1]*r+1),l=1+n+1,c=1+a+1,u=i(new Float32Array(l*c),[l,c]),f=[1/e,0,0,0,1/r,0,0,0,1],h=0;h0&&null!==this.contourStart[t]&&null!==this.contourEnd[t]&&this.contourEnd[t]>this.contourStart[t]))for(i[t]=!0,e=this.contourStart[t];ea&&(this.minValues[e]=a),this.maxValues[e]",maxDimensionCount:60,overdrag:45,releaseTransitionDuration:120,releaseTransitionEase:"cubic-out",scrollbarCaptureWidth:18,scrollbarHideDelay:1e3,scrollbarHideDuration:1e3,scrollbarOffset:5,scrollbarWidth:8,transitionDuration:100,transitionEase:"cubic-out",uplift:5,wrapSpacer:" ",wrapSplitCharacter:" 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r=l(e.cells.values),p=function(t){return t.slice(e.header.values.length,t.length)},d=l(e.header.values);d.length&&!d[0].length&&(d[0]=[""],d=l(d));var m=d.concat(p(r).map((function(){return c((d[0]||[""]).length)}))),g=e.domain,v=Math.floor(t._fullLayout._size.w*(g.x[1]-g.x[0])),y=Math.floor(t._fullLayout._size.h*(g.y[1]-g.y[0])),x=e.header.values.length?m[0].map((function(){return e.header.height})):[n.emptyHeaderHeight],b=r.length?r[0].map((function(){return e.cells.height})):[],_=x.reduce(s,0),w=h(b,y-_+n.uplift),T=f(h(x,_),[]),k=f(w,T),A={},M=e._fullInput.columnorder.concat(p(r.map((function(t,e){return e})))),S=m.map((function(t,r){var n=Array.isArray(e.columnwidth)?e.columnwidth[Math.min(r,e.columnwidth.length-1)]:e.columnwidth;return a(n)?Number(n):1})),E=S.reduce(s,0);S=S.map((function(t){return t/E*v}));var L=Math.max(o(e.header.line.width),o(e.cells.line.width)),C={key:e.uid+t._context.staticPlot,translateX:g.x[0]*t._fullLayout._size.w,translateY:t._fullLayout._size.h*(1-g.y[1]),size:t._fullLayout._size,width:v,maxLineWidth:L,height:y,columnOrder:M,groupHeight:y,rowBlocks:k,headerRowBlocks:T,scrollY:0,cells:i({},e.cells,{values:r}),headerCells:i({},e.header,{values:m}),gdColumns:m.map((function(t){return t[0]})),gdColumnsOriginalOrder:m.map((function(t){return t[0]})),prevPages:[0,0],scrollbarState:{scrollbarScrollInProgress:!1},columns:m.map((function(t,e){var r=A[t];return A[t]=(r||0)+1,{key:t+"__"+A[t],label:t,specIndex:e,xIndex:M[e],xScale:u,x:void 0,calcdata:void 0,columnWidth:S[e]}}))};return C.columns.forEach((function(t){t.calcdata=C,t.x=u(t)})),C}},{"../../lib/extend":493,"./constants":1069,"fast-isnumeric":190}],1071:[function(t,e,r){"use strict";var n=t("../../lib/extend").extendFlat;r.splitToPanels=function(t){var e=[0,0],r=n({},t,{key:"header",type:"header",page:0,prevPages:e,currentRepaint:[null,null],dragHandle:!0,values:t.calcdata.headerCells.values[t.specIndex],rowBlocks:t.calcdata.headerRowBlocks,calcdata:n({},t.calcdata,{cells:t.calcdata.headerCells})});return[n({},t,{key:"cells1",type:"cells",page:0,prevPages:e,currentRepaint:[null,null],dragHandle:!1,values:t.calcdata.cells.values[t.specIndex],rowBlocks:t.calcdata.rowBlocks}),n({},t,{key:"cells2",type:"cells",page:1,prevPages:e,currentRepaint:[null,null],dragHandle:!1,values:t.calcdata.cells.values[t.specIndex],rowBlocks:t.calcdata.rowBlocks}),r]},r.splitToCells=function(t){var e=function(t){var e=t.rowBlocks[t.page],r=e?e.rows[0].rowIndex:0,n=e?r+e.rows.length:0;return[r,n]}(t);return(t.values||[]).slice(e[0],e[1]).map((function(r,n){return{keyWithinBlock:n+("string"==typeof r&&r.match(/[<$&> 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f,h,p=u?"":T(t.calcdata.cells.prefix,e,r)||"",d=u?"":T(t.calcdata.cells.suffix,e,r)||"",m=u?null:T(t.calcdata.cells.format,e,r)||null,g=p+(m?a(m)(t.value):t.value)+d;if(t.wrappingNeeded=!t.wrapped&&!l&&!u&&(f=w(g)),t.cellHeightMayIncrease=s||u||t.mayHaveMarkup||(void 0===f?w(g):f),t.needsConvertToTspans=t.mayHaveMarkup||t.wrappingNeeded||t.latex,t.wrappingNeeded){var v=(" "===n.wrapSplitCharacter?g.replace(/i&&n.push(a),i+=l}return n}(i,l,s);1===c.length&&(c[0]===i.length-1?c.unshift(c[0]-1):c.push(c[0]+1)),c[0]%2&&c.reverse(),e.each((function(t,e){t.page=c[e],t.scrollY=l})),e.attr("transform",(function(t){var e=D(t.rowBlocks,t.page)-t.scrollY;return u(0,e)})),t&&(C(t,r,e,c,n.prevPages,n,0),C(t,r,e,c,n.prevPages,n,1),x(r,t))}}function L(t,e,r,a){return function(o){var s=o.calcdata?o.calcdata:o,l=e.filter((function(t){return s.key===t.key})),c=r||s.scrollbarState.dragMultiplier,u=s.scrollY;s.scrollY=void 0===a?s.scrollY+c*i.event.dy:a;var f=l.selectAll("."+n.cn.yColumn).selectAll("."+n.cn.columnBlock).filter(A);return E(t,f,l),s.scrollY===u}}function C(t,e,r,n,i,a,o){n[o]!==i[o]&&(clearTimeout(a.currentRepaint[o]),a.currentRepaint[o]=setTimeout((function(){var a=r.filter((function(t,e){return e===o&&n[e]!==i[e]}));b(t,e,a,r),i[o]=n[o]})))}function P(t,e,r,a){return function(){var o=i.select(e.parentNode);o.each((function(t){var e=t.fragments;o.selectAll("tspan.line").each((function(t,r){e[r].width=this.getComputedTextLength()}));var r,i,a=e[e.length-1].width,s=e.slice(0,-1),l=[],c=0,u=t.column.columnWidth-2*n.cellPad;for(t.value="";s.length;)c+(i=(r=s.shift()).width+a)>u&&(t.value+=l.join(n.wrapSpacer)+n.lineBreaker,l=[],c=0),l.push(r.text),c+=i;c&&(t.value+=l.join(n.wrapSpacer)),t.wrapped=!0})),o.selectAll("tspan.line").remove(),_(o.select("."+n.cn.cellText),r,t,a),i.select(e.parentNode.parentNode).call(z)}}function I(t,e,r,a,o){return function(){if(!o.settledY){var 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0==(8191&e)&&(r+=13,e>>>=13),0==(127&e)&&(r+=7,e>>>=7),0==(15&e)&&(r+=4,e>>>=4),0==(3&e)&&(r+=2,e>>>=2),0==(1&e)&&r++,r},a.prototype.bitLength=function(){var t=this.words[this.length-1],e=this._countBits(t);return 26*(this.length-1)+e},a.prototype.zeroBits=function(){if(this.isZero())return 0;for(var t=0,e=0;et.length?this.clone().ior(t):t.clone().ior(this)},a.prototype.uor=function(t){return this.length>t.length?this.clone().iuor(t):t.clone().iuor(this)},a.prototype.iuand=function(t){var e;e=this.length>t.length?t:this;for(var r=0;rt.length?this.clone().iand(t):t.clone().iand(this)},a.prototype.uand=function(t){return this.length>t.length?this.clone().iuand(t):t.clone().iuand(this)},a.prototype.iuxor=function(t){var e,r;this.length>t.length?(e=this,r=t):(e=t,r=this);for(var n=0;nt.length?this.clone().ixor(t):t.clone().ixor(this)},a.prototype.uxor=function(t){return this.length>t.length?this.clone().iuxor(t):t.clone().iuxor(this)},a.prototype.inotn=function(t){n("number"==typeof t&&t>=0);var e=0|Math.ceil(t/26),r=t%26;this._expand(e),r>0&&e--;for(var i=0;i0&&(this.words[i]=~this.words[i]&67108863>>26-r),this.strip()},a.prototype.notn=function(t){return this.clone().inotn(t)},a.prototype.setn=function(t,e){n("number"==typeof t&&t>=0);var r=t/26|0,i=t%26;return this._expand(r+1),this.words[r]=e?this.words[r]|1<t.length?(r=this,n=t):(r=t,n=this);for(var i=0,a=0;a>>26;for(;0!==i&&a>>26;if(this.length=r.length,0!==i)this.words[this.length]=i,this.length++;else if(r!==this)for(;at.length?this.clone().iadd(t):t.clone().iadd(this)},a.prototype.isub=function(t){if(0!==t.negative){t.negative=0;var e=this.iadd(t);return t.negative=1,e._normSign()}if(0!==this.negative)return this.negative=0,this.iadd(t),this.negative=1,this._normSign();var r,n,i=this.cmp(t);if(0===i)return this.negative=0,this.length=1,this.words[0]=0,this;i>0?(r=this,n=t):(r=t,n=this);for(var a=0,o=0;o>26,this.words[o]=67108863&e;for(;0!==a&&o>26,this.words[o]=67108863&e;if(0===a&&o>>13,p=0|o[1],d=8191&p,m=p>>>13,g=0|o[2],v=8191&g,y=g>>>13,x=0|o[3],b=8191&x,_=x>>>13,w=0|o[4],T=8191&w,k=w>>>13,A=0|o[5],M=8191&A,S=A>>>13,E=0|o[6],L=8191&E,C=E>>>13,P=0|o[7],I=8191&P,O=P>>>13,z=0|o[8],D=8191&z,R=z>>>13,F=0|o[9],B=8191&F,N=F>>>13,j=0|s[0],U=8191&j,V=j>>>13,H=0|s[1],q=8191&H,G=H>>>13,Y=0|s[2],W=8191&Y,X=Y>>>13,Z=0|s[3],J=8191&Z,K=Z>>>13,Q=0|s[4],$=8191&Q,tt=Q>>>13,et=0|s[5],rt=8191&et,nt=et>>>13,it=0|s[6],at=8191&it,ot=it>>>13,st=0|s[7],lt=8191&st,ct=st>>>13,ut=0|s[8],ft=8191&ut,ht=ut>>>13,pt=0|s[9],dt=8191&pt,mt=pt>>>13;r.negative=t.negative^e.negative,r.length=19;var gt=(c+(n=Math.imul(f,U))|0)+((8191&(i=(i=Math.imul(f,V))+Math.imul(h,U)|0))<<13)|0;c=((a=Math.imul(h,V))+(i>>>13)|0)+(gt>>>26)|0,gt&=67108863,n=Math.imul(d,U),i=(i=Math.imul(d,V))+Math.imul(m,U)|0,a=Math.imul(m,V);var vt=(c+(n=n+Math.imul(f,q)|0)|0)+((8191&(i=(i=i+Math.imul(f,G)|0)+Math.imul(h,q)|0))<<13)|0;c=((a=a+Math.imul(h,G)|0)+(i>>>13)|0)+(vt>>>26)|0,vt&=67108863,n=Math.imul(v,U),i=(i=Math.imul(v,V))+Math.imul(y,U)|0,a=Math.imul(y,V),n=n+Math.imul(d,q)|0,i=(i=i+Math.imul(d,G)|0)+Math.imul(m,q)|0,a=a+Math.imul(m,G)|0;var yt=(c+(n=n+Math.imul(f,W)|0)|0)+((8191&(i=(i=i+Math.imul(f,X)|0)+Math.imul(h,W)|0))<<13)|0;c=((a=a+Math.imul(h,X)|0)+(i>>>13)|0)+(yt>>>26)|0,yt&=67108863,n=Math.imul(b,U),i=(i=Math.imul(b,V))+Math.imul(_,U)|0,a=Math.imul(_,V),n=n+Math.imul(v,q)|0,i=(i=i+Math.imul(v,G)|0)+Math.imul(y,q)|0,a=a+Math.imul(y,G)|0,n=n+Math.imul(d,W)|0,i=(i=i+Math.imul(d,X)|0)+Math.imul(m,W)|0,a=a+Math.imul(m,X)|0;var xt=(c+(n=n+Math.imul(f,J)|0)|0)+((8191&(i=(i=i+Math.imul(f,K)|0)+Math.imul(h,J)|0))<<13)|0;c=((a=a+Math.imul(h,K)|0)+(i>>>13)|0)+(xt>>>26)|0,xt&=67108863,n=Math.imul(T,U),i=(i=Math.imul(T,V))+Math.imul(k,U)|0,a=Math.imul(k,V),n=n+Math.imul(b,q)|0,i=(i=i+Math.imul(b,G)|0)+Math.imul(_,q)|0,a=a+Math.imul(_,G)|0,n=n+Math.imul(v,W)|0,i=(i=i+Math.imul(v,X)|0)+Math.imul(y,W)|0,a=a+Math.imul(y,X)|0,n=n+Math.imul(d,J)|0,i=(i=i+Math.imul(d,K)|0)+Math.imul(m,J)|0,a=a+Math.imul(m,K)|0;var bt=(c+(n=n+Math.imul(f,$)|0)|0)+((8191&(i=(i=i+Math.imul(f,tt)|0)+Math.imul(h,$)|0))<<13)|0;c=((a=a+Math.imul(h,tt)|0)+(i>>>13)|0)+(bt>>>26)|0,bt&=67108863,n=Math.imul(M,U),i=(i=Math.imul(M,V))+Math.imul(S,U)|0,a=Math.imul(S,V),n=n+Math.imul(T,q)|0,i=(i=i+Math.imul(T,G)|0)+Math.imul(k,q)|0,a=a+Math.imul(k,G)|0,n=n+Math.imul(b,W)|0,i=(i=i+Math.imul(b,X)|0)+Math.imul(_,W)|0,a=a+Math.imul(_,X)|0,n=n+Math.imul(v,J)|0,i=(i=i+Math.imul(v,K)|0)+Math.imul(y,J)|0,a=a+Math.imul(y,K)|0,n=n+Math.imul(d,$)|0,i=(i=i+Math.imul(d,tt)|0)+Math.imul(m,$)|0,a=a+Math.imul(m,tt)|0;var _t=(c+(n=n+Math.imul(f,rt)|0)|0)+((8191&(i=(i=i+Math.imul(f,nt)|0)+Math.imul(h,rt)|0))<<13)|0;c=((a=a+Math.imul(h,nt)|0)+(i>>>13)|0)+(_t>>>26)|0,_t&=67108863,n=Math.imul(L,U),i=(i=Math.imul(L,V))+Math.imul(C,U)|0,a=Math.imul(C,V),n=n+Math.imul(M,q)|0,i=(i=i+Math.imul(M,G)|0)+Math.imul(S,q)|0,a=a+Math.imul(S,G)|0,n=n+Math.imul(T,W)|0,i=(i=i+Math.imul(T,X)|0)+Math.imul(k,W)|0,a=a+Math.imul(k,X)|0,n=n+Math.imul(b,J)|0,i=(i=i+Math.imul(b,K)|0)+Math.imul(_,J)|0,a=a+Math.imul(_,K)|0,n=n+Math.imul(v,$)|0,i=(i=i+Math.imul(v,tt)|0)+Math.imul(y,$)|0,a=a+Math.imul(y,tt)|0,n=n+Math.imul(d,rt)|0,i=(i=i+Math.imul(d,nt)|0)+Math.imul(m,rt)|0,a=a+Math.imul(m,nt)|0;var wt=(c+(n=n+Math.imul(f,at)|0)|0)+((8191&(i=(i=i+Math.imul(f,ot)|0)+Math.imul(h,at)|0))<<13)|0;c=((a=a+Math.imul(h,ot)|0)+(i>>>13)|0)+(wt>>>26)|0,wt&=67108863,n=Math.imul(I,U),i=(i=Math.imul(I,V))+Math.imul(O,U)|0,a=Math.imul(O,V),n=n+Math.imul(L,q)|0,i=(i=i+Math.imul(L,G)|0)+Math.imul(C,q)|0,a=a+Math.imul(C,G)|0,n=n+Math.imul(M,W)|0,i=(i=i+Math.imul(M,X)|0)+Math.imul(S,W)|0,a=a+Math.imul(S,X)|0,n=n+Math.imul(T,J)|0,i=(i=i+Math.imul(T,K)|0)+Math.imul(k,J)|0,a=a+Math.imul(k,K)|0,n=n+Math.imul(b,$)|0,i=(i=i+Math.imul(b,tt)|0)+Math.imul(_,$)|0,a=a+Math.imul(_,tt)|0,n=n+Math.imul(v,rt)|0,i=(i=i+Math.imul(v,nt)|0)+Math.imul(y,rt)|0,a=a+Math.imul(y,nt)|0,n=n+Math.imul(d,at)|0,i=(i=i+Math.imul(d,ot)|0)+Math.imul(m,at)|0,a=a+Math.imul(m,ot)|0;var Tt=(c+(n=n+Math.imul(f,lt)|0)|0)+((8191&(i=(i=i+Math.imul(f,ct)|0)+Math.imul(h,lt)|0))<<13)|0;c=((a=a+Math.imul(h,ct)|0)+(i>>>13)|0)+(Tt>>>26)|0,Tt&=67108863,n=Math.imul(D,U),i=(i=Math.imul(D,V))+Math.imul(R,U)|0,a=Math.imul(R,V),n=n+Math.imul(I,q)|0,i=(i=i+Math.imul(I,G)|0)+Math.imul(O,q)|0,a=a+Math.imul(O,G)|0,n=n+Math.imul(L,W)|0,i=(i=i+Math.imul(L,X)|0)+Math.imul(C,W)|0,a=a+Math.imul(C,X)|0,n=n+Math.imul(M,J)|0,i=(i=i+Math.imul(M,K)|0)+Math.imul(S,J)|0,a=a+Math.imul(S,K)|0,n=n+Math.imul(T,$)|0,i=(i=i+Math.imul(T,tt)|0)+Math.imul(k,$)|0,a=a+Math.imul(k,tt)|0,n=n+Math.imul(b,rt)|0,i=(i=i+Math.imul(b,nt)|0)+Math.imul(_,rt)|0,a=a+Math.imul(_,nt)|0,n=n+Math.imul(v,at)|0,i=(i=i+Math.imul(v,ot)|0)+Math.imul(y,at)|0,a=a+Math.imul(y,ot)|0,n=n+Math.imul(d,lt)|0,i=(i=i+Math.imul(d,ct)|0)+Math.imul(m,lt)|0,a=a+Math.imul(m,ct)|0;var kt=(c+(n=n+Math.imul(f,ft)|0)|0)+((8191&(i=(i=i+Math.imul(f,ht)|0)+Math.imul(h,ft)|0))<<13)|0;c=((a=a+Math.imul(h,ht)|0)+(i>>>13)|0)+(kt>>>26)|0,kt&=67108863,n=Math.imul(B,U),i=(i=Math.imul(B,V))+Math.imul(N,U)|0,a=Math.imul(N,V),n=n+Math.imul(D,q)|0,i=(i=i+Math.imul(D,G)|0)+Math.imul(R,q)|0,a=a+Math.imul(R,G)|0,n=n+Math.imul(I,W)|0,i=(i=i+Math.imul(I,X)|0)+Math.imul(O,W)|0,a=a+Math.imul(O,X)|0,n=n+Math.imul(L,J)|0,i=(i=i+Math.imul(L,K)|0)+Math.imul(C,J)|0,a=a+Math.imul(C,K)|0,n=n+Math.imul(M,$)|0,i=(i=i+Math.imul(M,tt)|0)+Math.imul(S,$)|0,a=a+Math.imul(S,tt)|0,n=n+Math.imul(T,rt)|0,i=(i=i+Math.imul(T,nt)|0)+Math.imul(k,rt)|0,a=a+Math.imul(k,nt)|0,n=n+Math.imul(b,at)|0,i=(i=i+Math.imul(b,ot)|0)+Math.imul(_,at)|0,a=a+Math.imul(_,ot)|0,n=n+Math.imul(v,lt)|0,i=(i=i+Math.imul(v,ct)|0)+Math.imul(y,lt)|0,a=a+Math.imul(y,ct)|0,n=n+Math.imul(d,ft)|0,i=(i=i+Math.imul(d,ht)|0)+Math.imul(m,ft)|0,a=a+Math.imul(m,ht)|0;var At=(c+(n=n+Math.imul(f,dt)|0)|0)+((8191&(i=(i=i+Math.imul(f,mt)|0)+Math.imul(h,dt)|0))<<13)|0;c=((a=a+Math.imul(h,mt)|0)+(i>>>13)|0)+(At>>>26)|0,At&=67108863,n=Math.imul(B,q),i=(i=Math.imul(B,G))+Math.imul(N,q)|0,a=Math.imul(N,G),n=n+Math.imul(D,W)|0,i=(i=i+Math.imul(D,X)|0)+Math.imul(R,W)|0,a=a+Math.imul(R,X)|0,n=n+Math.imul(I,J)|0,i=(i=i+Math.imul(I,K)|0)+Math.imul(O,J)|0,a=a+Math.imul(O,K)|0,n=n+Math.imul(L,$)|0,i=(i=i+Math.imul(L,tt)|0)+Math.imul(C,$)|0,a=a+Math.imul(C,tt)|0,n=n+Math.imul(M,rt)|0,i=(i=i+Math.imul(M,nt)|0)+Math.imul(S,rt)|0,a=a+Math.imul(S,nt)|0,n=n+Math.imul(T,at)|0,i=(i=i+Math.imul(T,ot)|0)+Math.imul(k,at)|0,a=a+Math.imul(k,ot)|0,n=n+Math.imul(b,lt)|0,i=(i=i+Math.imul(b,ct)|0)+Math.imul(_,lt)|0,a=a+Math.imul(_,ct)|0,n=n+Math.imul(v,ft)|0,i=(i=i+Math.imul(v,ht)|0)+Math.imul(y,ft)|0,a=a+Math.imul(y,ht)|0;var Mt=(c+(n=n+Math.imul(d,dt)|0)|0)+((8191&(i=(i=i+Math.imul(d,mt)|0)+Math.imul(m,dt)|0))<<13)|0;c=((a=a+Math.imul(m,mt)|0)+(i>>>13)|0)+(Mt>>>26)|0,Mt&=67108863,n=Math.imul(B,W),i=(i=Math.imul(B,X))+Math.imul(N,W)|0,a=Math.imul(N,X),n=n+Math.imul(D,J)|0,i=(i=i+Math.imul(D,K)|0)+Math.imul(R,J)|0,a=a+Math.imul(R,K)|0,n=n+Math.imul(I,$)|0,i=(i=i+Math.imul(I,tt)|0)+Math.imul(O,$)|0,a=a+Math.imul(O,tt)|0,n=n+Math.imul(L,rt)|0,i=(i=i+Math.imul(L,nt)|0)+Math.imul(C,rt)|0,a=a+Math.imul(C,nt)|0,n=n+Math.imul(M,at)|0,i=(i=i+Math.imul(M,ot)|0)+Math.imul(S,at)|0,a=a+Math.imul(S,ot)|0,n=n+Math.imul(T,lt)|0,i=(i=i+Math.imul(T,ct)|0)+Math.imul(k,lt)|0,a=a+Math.imul(k,ct)|0,n=n+Math.imul(b,ft)|0,i=(i=i+Math.imul(b,ht)|0)+Math.imul(_,ft)|0,a=a+Math.imul(_,ht)|0;var St=(c+(n=n+Math.imul(v,dt)|0)|0)+((8191&(i=(i=i+Math.imul(v,mt)|0)+Math.imul(y,dt)|0))<<13)|0;c=((a=a+Math.imul(y,mt)|0)+(i>>>13)|0)+(St>>>26)|0,St&=67108863,n=Math.imul(B,J),i=(i=Math.imul(B,K))+Math.imul(N,J)|0,a=Math.imul(N,K),n=n+Math.imul(D,$)|0,i=(i=i+Math.imul(D,tt)|0)+Math.imul(R,$)|0,a=a+Math.imul(R,tt)|0,n=n+Math.imul(I,rt)|0,i=(i=i+Math.imul(I,nt)|0)+Math.imul(O,rt)|0,a=a+Math.imul(O,nt)|0,n=n+Math.imul(L,at)|0,i=(i=i+Math.imul(L,ot)|0)+Math.imul(C,at)|0,a=a+Math.imul(C,ot)|0,n=n+Math.imul(M,lt)|0,i=(i=i+Math.imul(M,ct)|0)+Math.imul(S,lt)|0,a=a+Math.imul(S,ct)|0,n=n+Math.imul(T,ft)|0,i=(i=i+Math.imul(T,ht)|0)+Math.imul(k,ft)|0,a=a+Math.imul(k,ht)|0;var Et=(c+(n=n+Math.imul(b,dt)|0)|0)+((8191&(i=(i=i+Math.imul(b,mt)|0)+Math.imul(_,dt)|0))<<13)|0;c=((a=a+Math.imul(_,mt)|0)+(i>>>13)|0)+(Et>>>26)|0,Et&=67108863,n=Math.imul(B,$),i=(i=Math.imul(B,tt))+Math.imul(N,$)|0,a=Math.imul(N,tt),n=n+Math.imul(D,rt)|0,i=(i=i+Math.imul(D,nt)|0)+Math.imul(R,rt)|0,a=a+Math.imul(R,nt)|0,n=n+Math.imul(I,at)|0,i=(i=i+Math.imul(I,ot)|0)+Math.imul(O,at)|0,a=a+Math.imul(O,ot)|0,n=n+Math.imul(L,lt)|0,i=(i=i+Math.imul(L,ct)|0)+Math.imul(C,lt)|0,a=a+Math.imul(C,ct)|0,n=n+Math.imul(M,ft)|0,i=(i=i+Math.imul(M,ht)|0)+Math.imul(S,ft)|0,a=a+Math.imul(S,ht)|0;var Lt=(c+(n=n+Math.imul(T,dt)|0)|0)+((8191&(i=(i=i+Math.imul(T,mt)|0)+Math.imul(k,dt)|0))<<13)|0;c=((a=a+Math.imul(k,mt)|0)+(i>>>13)|0)+(Lt>>>26)|0,Lt&=67108863,n=Math.imul(B,rt),i=(i=Math.imul(B,nt))+Math.imul(N,rt)|0,a=Math.imul(N,nt),n=n+Math.imul(D,at)|0,i=(i=i+Math.imul(D,ot)|0)+Math.imul(R,at)|0,a=a+Math.imul(R,ot)|0,n=n+Math.imul(I,lt)|0,i=(i=i+Math.imul(I,ct)|0)+Math.imul(O,lt)|0,a=a+Math.imul(O,ct)|0,n=n+Math.imul(L,ft)|0,i=(i=i+Math.imul(L,ht)|0)+Math.imul(C,ft)|0,a=a+Math.imul(C,ht)|0;var Ct=(c+(n=n+Math.imul(M,dt)|0)|0)+((8191&(i=(i=i+Math.imul(M,mt)|0)+Math.imul(S,dt)|0))<<13)|0;c=((a=a+Math.imul(S,mt)|0)+(i>>>13)|0)+(Ct>>>26)|0,Ct&=67108863,n=Math.imul(B,at),i=(i=Math.imul(B,ot))+Math.imul(N,at)|0,a=Math.imul(N,ot),n=n+Math.imul(D,lt)|0,i=(i=i+Math.imul(D,ct)|0)+Math.imul(R,lt)|0,a=a+Math.imul(R,ct)|0,n=n+Math.imul(I,ft)|0,i=(i=i+Math.imul(I,ht)|0)+Math.imul(O,ft)|0,a=a+Math.imul(O,ht)|0;var Pt=(c+(n=n+Math.imul(L,dt)|0)|0)+((8191&(i=(i=i+Math.imul(L,mt)|0)+Math.imul(C,dt)|0))<<13)|0;c=((a=a+Math.imul(C,mt)|0)+(i>>>13)|0)+(Pt>>>26)|0,Pt&=67108863,n=Math.imul(B,lt),i=(i=Math.imul(B,ct))+Math.imul(N,lt)|0,a=Math.imul(N,ct),n=n+Math.imul(D,ft)|0,i=(i=i+Math.imul(D,ht)|0)+Math.imul(R,ft)|0,a=a+Math.imul(R,ht)|0;var It=(c+(n=n+Math.imul(I,dt)|0)|0)+((8191&(i=(i=i+Math.imul(I,mt)|0)+Math.imul(O,dt)|0))<<13)|0;c=((a=a+Math.imul(O,mt)|0)+(i>>>13)|0)+(It>>>26)|0,It&=67108863,n=Math.imul(B,ft),i=(i=Math.imul(B,ht))+Math.imul(N,ft)|0,a=Math.imul(N,ht);var Ot=(c+(n=n+Math.imul(D,dt)|0)|0)+((8191&(i=(i=i+Math.imul(D,mt)|0)+Math.imul(R,dt)|0))<<13)|0;c=((a=a+Math.imul(R,mt)|0)+(i>>>13)|0)+(Ot>>>26)|0,Ot&=67108863;var zt=(c+(n=Math.imul(B,dt))|0)+((8191&(i=(i=Math.imul(B,mt))+Math.imul(N,dt)|0))<<13)|0;return c=((a=Math.imul(N,mt))+(i>>>13)|0)+(zt>>>26)|0,zt&=67108863,l[0]=gt,l[1]=vt,l[2]=yt,l[3]=xt,l[4]=bt,l[5]=_t,l[6]=wt,l[7]=Tt,l[8]=kt,l[9]=At,l[10]=Mt,l[11]=St,l[12]=Et,l[13]=Lt,l[14]=Ct,l[15]=Pt,l[16]=It,l[17]=Ot,l[18]=zt,0!==c&&(l[19]=c,r.length++),r};function m(t,e,r){return(new g).mulp(t,e,r)}function g(t,e){this.x=t,this.y=e}Math.imul||(d=p),a.prototype.mulTo=function(t,e){var r=this.length+t.length;return 10===this.length&&10===t.length?d(this,t,e):r<63?p(this,t,e):r<1024?function(t,e,r){r.negative=e.negative^t.negative,r.length=t.length+e.length;for(var n=0,i=0,a=0;a>>26)|0)>>>26,o&=67108863}r.words[a]=s,n=o,o=i}return 0!==n?r.words[a]=n:r.length--,r.strip()}(this,t,e):m(this,t,e)},g.prototype.makeRBT=function(t){for(var e=new Array(t),r=a.prototype._countBits(t)-1,n=0;n>=1;return n},g.prototype.permute=function(t,e,r,n,i,a){for(var o=0;o>>=1)i++;return 1<>>=13,r[2*o+1]=8191&a,a>>>=13;for(o=2*e;o>=26,e+=i/67108864|0,e+=a>>>26,this.words[r]=67108863&a}return 0!==e&&(this.words[r]=e,this.length++),this},a.prototype.muln=function(t){return this.clone().imuln(t)},a.prototype.sqr=function(){return this.mul(this)},a.prototype.isqr=function(){return this.imul(this.clone())},a.prototype.pow=function(t){var e=function(t){for(var e=new Array(t.bitLength()),r=0;r>>i}return e}(t);if(0===e.length)return new a(1);for(var r=this,n=0;n=0);var e,r=t%26,i=(t-r)/26,a=67108863>>>26-r<<26-r;if(0!==r){var o=0;for(e=0;e>>26-r}o&&(this.words[e]=o,this.length++)}if(0!==i){for(e=this.length-1;e>=0;e--)this.words[e+i]=this.words[e];for(e=0;e=0),i=e?(e-e%26)/26:0;var a=t%26,o=Math.min((t-a)/26,this.length),s=67108863^67108863>>>a<o)for(this.length-=o,c=0;c=0&&(0!==u||c>=i);c--){var f=0|this.words[c];this.words[c]=u<<26-a|f>>>a,u=f&s}return l&&0!==u&&(l.words[l.length++]=u),0===this.length&&(this.words[0]=0,this.length=1),this.strip()},a.prototype.ishrn=function(t,e,r){return n(0===this.negative),this.iushrn(t,e,r)},a.prototype.shln=function(t){return this.clone().ishln(t)},a.prototype.ushln=function(t){return this.clone().iushln(t)},a.prototype.shrn=function(t){return this.clone().ishrn(t)},a.prototype.ushrn=function(t){return this.clone().iushrn(t)},a.prototype.testn=function(t){n("number"==typeof t&&t>=0);var e=t%26,r=(t-e)/26,i=1<=0);var e=t%26,r=(t-e)/26;if(n(0===this.negative,"imaskn works only with positive numbers"),this.length<=r)return this;if(0!==e&&r++,this.length=Math.min(r,this.length),0!==e){var i=67108863^67108863>>>e<=67108864;e++)this.words[e]-=67108864,e===this.length-1?this.words[e+1]=1:this.words[e+1]++;return this.length=Math.max(this.length,e+1),this},a.prototype.isubn=function(t){if(n("number"==typeof t),n(t<67108864),t<0)return this.iaddn(-t);if(0!==this.negative)return this.negative=0,this.iaddn(t),this.negative=1,this;if(this.words[0]-=t,1===this.length&&this.words[0]<0)this.words[0]=-this.words[0],this.negative=1;else for(var e=0;e>26)-(l/67108864|0),this.words[i+r]=67108863&a}for(;i>26,this.words[i+r]=67108863&a;if(0===s)return this.strip();for(n(-1===s),s=0,i=0;i>26,this.words[i]=67108863&a;return this.negative=1,this.strip()},a.prototype._wordDiv=function(t,e){var r=(this.length,t.length),n=this.clone(),i=t,o=0|i.words[i.length-1];0!==(r=26-this._countBits(o))&&(i=i.ushln(r),n.iushln(r),o=0|i.words[i.length-1]);var s,l=n.length-i.length;if("mod"!==e){(s=new a(null)).length=l+1,s.words=new Array(s.length);for(var c=0;c=0;f--){var h=67108864*(0|n.words[i.length+f])+(0|n.words[i.length+f-1]);for(h=Math.min(h/o|0,67108863),n._ishlnsubmul(i,h,f);0!==n.negative;)h--,n.negative=0,n._ishlnsubmul(i,1,f),n.isZero()||(n.negative^=1);s&&(s.words[f]=h)}return s&&s.strip(),n.strip(),"div"!==e&&0!==r&&n.iushrn(r),{div:s||null,mod:n}},a.prototype.divmod=function(t,e,r){return n(!t.isZero()),this.isZero()?{div:new a(0),mod:new a(0)}:0!==this.negative&&0===t.negative?(s=this.neg().divmod(t,e),"mod"!==e&&(i=s.div.neg()),"div"!==e&&(o=s.mod.neg(),r&&0!==o.negative&&o.iadd(t)),{div:i,mod:o}):0===this.negative&&0!==t.negative?(s=this.divmod(t.neg(),e),"mod"!==e&&(i=s.div.neg()),{div:i,mod:s.mod}):0!=(this.negative&t.negative)?(s=this.neg().divmod(t.neg(),e),"div"!==e&&(o=s.mod.neg(),r&&0!==o.negative&&o.isub(t)),{div:s.div,mod:o}):t.length>this.length||this.cmp(t)<0?{div:new a(0),mod:this}:1===t.length?"div"===e?{div:this.divn(t.words[0]),mod:null}:"mod"===e?{div:null,mod:new a(this.modn(t.words[0]))}:{div:this.divn(t.words[0]),mod:new a(this.modn(t.words[0]))}:this._wordDiv(t,e);var i,o,s},a.prototype.div=function(t){return this.divmod(t,"div",!1).div},a.prototype.mod=function(t){return this.divmod(t,"mod",!1).mod},a.prototype.umod=function(t){return this.divmod(t,"mod",!0).mod},a.prototype.divRound=function(t){var e=this.divmod(t);if(e.mod.isZero())return e.div;var r=0!==e.div.negative?e.mod.isub(t):e.mod,n=t.ushrn(1),i=t.andln(1),a=r.cmp(n);return a<0||1===i&&0===a?e.div:0!==e.div.negative?e.div.isubn(1):e.div.iaddn(1)},a.prototype.modn=function(t){n(t<=67108863);for(var e=(1<<26)%t,r=0,i=this.length-1;i>=0;i--)r=(e*r+(0|this.words[i]))%t;return r},a.prototype.idivn=function(t){n(t<=67108863);for(var e=0,r=this.length-1;r>=0;r--){var i=(0|this.words[r])+67108864*e;this.words[r]=i/t|0,e=i%t}return this.strip()},a.prototype.divn=function(t){return this.clone().idivn(t)},a.prototype.egcd=function(t){n(0===t.negative),n(!t.isZero());var e=this,r=t.clone();e=0!==e.negative?e.umod(t):e.clone();for(var i=new a(1),o=new a(0),s=new a(0),l=new a(1),c=0;e.isEven()&&r.isEven();)e.iushrn(1),r.iushrn(1),++c;for(var u=r.clone(),f=e.clone();!e.isZero();){for(var h=0,p=1;0==(e.words[0]&p)&&h<26;++h,p<<=1);if(h>0)for(e.iushrn(h);h-- >0;)(i.isOdd()||o.isOdd())&&(i.iadd(u),o.isub(f)),i.iushrn(1),o.iushrn(1);for(var d=0,m=1;0==(r.words[0]&m)&&d<26;++d,m<<=1);if(d>0)for(r.iushrn(d);d-- >0;)(s.isOdd()||l.isOdd())&&(s.iadd(u),l.isub(f)),s.iushrn(1),l.iushrn(1);e.cmp(r)>=0?(e.isub(r),i.isub(s),o.isub(l)):(r.isub(e),s.isub(i),l.isub(o))}return{a:s,b:l,gcd:r.iushln(c)}},a.prototype._invmp=function(t){n(0===t.negative),n(!t.isZero());var e=this,r=t.clone();e=0!==e.negative?e.umod(t):e.clone();for(var i,o=new a(1),s=new a(0),l=r.clone();e.cmpn(1)>0&&r.cmpn(1)>0;){for(var c=0,u=1;0==(e.words[0]&u)&&c<26;++c,u<<=1);if(c>0)for(e.iushrn(c);c-- >0;)o.isOdd()&&o.iadd(l),o.iushrn(1);for(var f=0,h=1;0==(r.words[0]&h)&&f<26;++f,h<<=1);if(f>0)for(r.iushrn(f);f-- >0;)s.isOdd()&&s.iadd(l),s.iushrn(1);e.cmp(r)>=0?(e.isub(r),o.isub(s)):(r.isub(e),s.isub(o))}return(i=0===e.cmpn(1)?o:s).cmpn(0)<0&&i.iadd(t),i},a.prototype.gcd=function(t){if(this.isZero())return t.abs();if(t.isZero())return this.abs();var e=this.clone(),r=t.clone();e.negative=0,r.negative=0;for(var n=0;e.isEven()&&r.isEven();n++)e.iushrn(1),r.iushrn(1);for(;;){for(;e.isEven();)e.iushrn(1);for(;r.isEven();)r.iushrn(1);var i=e.cmp(r);if(i<0){var a=e;e=r,r=a}else if(0===i||0===r.cmpn(1))break;e.isub(r)}return r.iushln(n)},a.prototype.invm=function(t){return this.egcd(t).a.umod(t)},a.prototype.isEven=function(){return 0==(1&this.words[0])},a.prototype.isOdd=function(){return 1==(1&this.words[0])},a.prototype.andln=function(t){return this.words[0]&t},a.prototype.bincn=function(t){n("number"==typeof t);var e=t%26,r=(t-e)/26,i=1<>>26,s&=67108863,this.words[o]=s}return 0!==a&&(this.words[o]=a,this.length++),this},a.prototype.isZero=function(){return 1===this.length&&0===this.words[0]},a.prototype.cmpn=function(t){var e,r=t<0;if(0!==this.negative&&!r)return-1;if(0===this.negative&&r)return 1;if(this.strip(),this.length>1)e=1;else{r&&(t=-t),n(t<=67108863,"Number is too big");var i=0|this.words[0];e=i===t?0:it.length)return 1;if(this.length=0;r--){var n=0|this.words[r],i=0|t.words[r];if(n!==i){ni&&(e=1);break}}return e},a.prototype.gtn=function(t){return 1===this.cmpn(t)},a.prototype.gt=function(t){return 1===this.cmp(t)},a.prototype.gten=function(t){return this.cmpn(t)>=0},a.prototype.gte=function(t){return this.cmp(t)>=0},a.prototype.ltn=function(t){return-1===this.cmpn(t)},a.prototype.lt=function(t){return-1===this.cmp(t)},a.prototype.lten=function(t){return this.cmpn(t)<=0},a.prototype.lte=function(t){return this.cmp(t)<=0},a.prototype.eqn=function(t){return 0===this.cmpn(t)},a.prototype.eq=function(t){return 0===this.cmp(t)},a.red=function(t){return new T(t)},a.prototype.toRed=function(t){return n(!this.red,"Already a number in reduction context"),n(0===this.negative,"red works only with positives"),t.convertTo(this)._forceRed(t)},a.prototype.fromRed=function(){return n(this.red,"fromRed works only with numbers in reduction context"),this.red.convertFrom(this)},a.prototype._forceRed=function(t){return this.red=t,this},a.prototype.forceRed=function(t){return n(!this.red,"Already a number in reduction context"),this._forceRed(t)},a.prototype.redAdd=function(t){return n(this.red,"redAdd works only with red numbers"),this.red.add(this,t)},a.prototype.redIAdd=function(t){return n(this.red,"redIAdd works only with red numbers"),this.red.iadd(this,t)},a.prototype.redSub=function(t){return n(this.red,"redSub works only with red numbers"),this.red.sub(this,t)},a.prototype.redISub=function(t){return n(this.red,"redISub works only with red numbers"),this.red.isub(this,t)},a.prototype.redShl=function(t){return n(this.red,"redShl works only with red numbers"),this.red.shl(this,t)},a.prototype.redMul=function(t){return n(this.red,"redMul works only with red numbers"),this.red._verify2(this,t),this.red.mul(this,t)},a.prototype.redIMul=function(t){return n(this.red,"redMul works only with red numbers"),this.red._verify2(this,t),this.red.imul(this,t)},a.prototype.redSqr=function(){return n(this.red,"redSqr works only with red numbers"),this.red._verify1(this),this.red.sqr(this)},a.prototype.redISqr=function(){return n(this.red,"redISqr works only with red numbers"),this.red._verify1(this),this.red.isqr(this)},a.prototype.redSqrt=function(){return n(this.red,"redSqrt works only with red numbers"),this.red._verify1(this),this.red.sqrt(this)},a.prototype.redInvm=function(){return n(this.red,"redInvm works only with red numbers"),this.red._verify1(this),this.red.invm(this)},a.prototype.redNeg=function(){return n(this.red,"redNeg works only with red numbers"),this.red._verify1(this),this.red.neg(this)},a.prototype.redPow=function(t){return n(this.red&&!t.red,"redPow(normalNum)"),this.red._verify1(this),this.red.pow(this,t)};var v={k256:null,p224:null,p192:null,p25519:null};function y(t,e){this.name=t,this.p=new a(e,16),this.n=this.p.bitLength(),this.k=new a(1).iushln(this.n).isub(this.p),this.tmp=this._tmp()}function x(){y.call(this,"k256","ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff fffffffe fffffc2f")}function b(){y.call(this,"p224","ffffffff ffffffff ffffffff ffffffff 00000000 00000000 00000001")}function _(){y.call(this,"p192","ffffffff ffffffff ffffffff fffffffe ffffffff ffffffff")}function w(){y.call(this,"25519","7fffffffffffffff ffffffffffffffff ffffffffffffffff ffffffffffffffed")}function T(t){if("string"==typeof t){var e=a._prime(t);this.m=e.p,this.prime=e}else n(t.gtn(1),"modulus must be greater than 1"),this.m=t,this.prime=null}function k(t){T.call(this,t),this.shift=this.m.bitLength(),this.shift%26!=0&&(this.shift+=26-this.shift%26),this.r=new a(1).iushln(this.shift),this.r2=this.imod(this.r.sqr()),this.rinv=this.r._invmp(this.m),this.minv=this.rinv.mul(this.r).isubn(1).div(this.m),this.minv=this.minv.umod(this.r),this.minv=this.r.sub(this.minv)}y.prototype._tmp=function(){var t=new a(null);return t.words=new Array(Math.ceil(this.n/13)),t},y.prototype.ireduce=function(t){var 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u(t){this.gl=t,this.pixelRatio=1,this.bounds=[[-10,-10,-10],[10,10,10]],this.ticks=[[],[],[]],this.autoTicks=!0,this.tickSpacing=[1,1,1],this.tickEnable=[!0,!0,!0],this.tickFont=["sans-serif","sans-serif","sans-serif"],this.tickSize=[12,12,12],this.tickAngle=[0,0,0],this.tickAlign=["auto","auto","auto"],this.tickColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.tickPad=[10,10,10],this.lastCubeProps={cubeEdges:[0,0,0],axis:[0,0,0]},this.labels=["x","y","z"],this.labelEnable=[!0,!0,!0],this.labelFont="sans-serif",this.labelSize=[20,20,20],this.labelAngle=[0,0,0],this.labelAlign=["auto","auto","auto"],this.labelColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.labelPad=[10,10,10],this.lineEnable=[!0,!0,!0],this.lineMirror=[!1,!1,!1],this.lineWidth=[1,1,1],this.lineColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.lineTickEnable=[!0,!0,!0],this.lineTickMirror=[!1,!1,!1],this.lineTickLength=[0,0,0],this.lineTickWidth=[1,1,1],this.lineTickColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.gridEnable=[!0,!0,!0],this.gridWidth=[1,1,1],this.gridColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.zeroEnable=[!0,!0,!0],this.zeroLineColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.zeroLineWidth=[2,2,2],this.backgroundEnable=[!1,!1,!1],this.backgroundColor=[[.8,.8,.8,.5],[.8,.8,.8,.5],[.8,.8,.8,.5]],this._firstInit=!0,this._text=null,this._lines=null,this._background=a(t)}var 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t||(this.autoTicks=!0),f=!0,u=!0,this._firstInit=!1),f&&this.autoTicks&&(r=s.create(this.bounds,this.tickSpacing),u=!0),u){for(p=0;p<3;++p)r[p].sort((function(t,e){return t.x-e.x}));s.equal(r,this.ticks)?u=!1:this.ticks=r}o("tickEnable"),l("tickFont")&&(u=!0),a("tickSize"),a("tickAngle"),a("tickPad"),c("tickColor");var m=l("labels");l("labelFont")&&(m=!0),o("labelEnable"),a("labelSize"),a("labelPad"),c("labelColor"),o("lineEnable"),o("lineMirror"),a("lineWidth"),c("lineColor"),o("lineTickEnable"),o("lineTickMirror"),a("lineTickLength"),a("lineTickWidth"),c("lineTickColor"),o("gridEnable"),a("gridWidth"),c("gridColor"),o("zeroEnable"),c("zeroLineColor"),a("zeroLineWidth"),o("backgroundEnable"),c("backgroundColor"),this._text?this._text&&(m||u)&&this._text.update(this.bounds,this.labels,this.labelFont,this.ticks,this.tickFont):this._text=n(this.gl,this.bounds,this.labels,this.labelFont,this.ticks,this.tickFont),this._lines&&u&&(this._lines.dispose(),this._lines=null),this._lines||(this._lines=i(this.gl,this.bounds,this.ticks))};var p=[new h,new h,new h];function d(t,e,r,n,i){for(var a=t.primalOffset,o=t.primalMinor,s=t.mirrorOffset,l=t.mirrorMinor,c=n[e],u=0;u<3;++u)if(e!==u){var f=a,h=s,p=o,d=l;c&1<0?(p[u]=-1,d[u]=0):(p[u]=0,d[u]=1)}}var m=[0,0,0],g={model:l,view:l,projection:l,_ortho:!1};f.isOpaque=function(){return!0},f.isTransparent=function(){return!1},f.drawTransparent=function(t){};var v=[0,0,0],y=[0,0,0],x=[0,0,0];f.draw=function(t){t=t||g;for(var e=this.gl,r=t.model||l,n=t.view||l,i=t.projection||l,a=this.bounds,s=t._ortho||!1,u=o(r,n,i,a,s),f=u.cubeEdges,h=u.axis,b=n[12],_=n[13],w=n[14],T=n[15],k=(s?2:1)*this.pixelRatio*(i[3]*b+i[7]*_+i[11]*w+i[15]*T)/e.drawingBufferHeight,A=0;A<3;++A)this.lastCubeProps.cubeEdges[A]=f[A],this.lastCubeProps.axis[A]=h[A];var M=p;for(A=0;A<3;++A)d(p[A],A,this.bounds,f,h);e=this.gl;var S,E=m;for(A=0;A<3;++A)this.backgroundEnable[A]?E[A]=h[A]:E[A]=0;this._background.draw(r,n,i,a,E,this.backgroundColor),this._lines.bind(r,n,i,this);for(A=0;A<3;++A){var L=[0,0,0];h[A]>0?L[A]=a[1][A]:L[A]=a[0][A];for(var C=0;C<2;++C){var P=(A+1+C)%3,I=(A+1+(1^C))%3;this.gridEnable[P]&&this._lines.drawGrid(P,I,this.bounds,L,this.gridColor[P],this.gridWidth[P]*this.pixelRatio)}for(C=0;C<2;++C){P=(A+1+C)%3,I=(A+1+(1^C))%3;this.zeroEnable[I]&&Math.min(a[0][I],a[1][I])<=0&&Math.max(a[0][I],a[1][I])>=0&&this._lines.drawZero(P,I,this.bounds,L,this.zeroLineColor[I],this.zeroLineWidth[I]*this.pixelRatio)}}for(A=0;A<3;++A){this.lineEnable[A]&&this._lines.drawAxisLine(A,this.bounds,M[A].primalOffset,this.lineColor[A],this.lineWidth[A]*this.pixelRatio),this.lineMirror[A]&&this._lines.drawAxisLine(A,this.bounds,M[A].mirrorOffset,this.lineColor[A],this.lineWidth[A]*this.pixelRatio);var O=c(v,M[A].primalMinor),z=c(y,M[A].mirrorMinor),D=this.lineTickLength;for(C=0;C<3;++C){var R=k/r[5*C];O[C]*=D[C]*R,z[C]*=D[C]*R}this.lineTickEnable[A]&&this._lines.drawAxisTicks(A,M[A].primalOffset,O,this.lineTickColor[A],this.lineTickWidth[A]*this.pixelRatio),this.lineTickMirror[A]&&this._lines.drawAxisTicks(A,M[A].mirrorOffset,z,this.lineTickColor[A],this.lineTickWidth[A]*this.pixelRatio)}this._lines.unbind(),this._text.bind(r,n,i,this.pixelRatio);var F,B;function N(t){(B=[0,0,0])[t]=1}function j(t,e,r){var n=(t+1)%3,i=(t+2)%3,a=e[n],o=e[i],s=r[n],l=r[i];a>0&&l>0||a>0&&l<0||a<0&&l>0||a<0&&l<0?N(n):(o>0&&s>0||o>0&&s<0||o<0&&s>0||o<0&&s<0)&&N(i)}for(A=0;A<3;++A){var U=M[A].primalMinor,V=M[A].mirrorMinor,H=c(x,M[A].primalOffset);for(C=0;C<3;++C)this.lineTickEnable[A]&&(H[C]+=k*U[C]*Math.max(this.lineTickLength[C],0)/r[5*C]);var q=[0,0,0];if(q[A]=1,this.tickEnable[A]){-3600===this.tickAngle[A]?(this.tickAngle[A]=0,this.tickAlign[A]="auto"):this.tickAlign[A]=-1,F=1,"auto"===(S=[this.tickAlign[A],.5,F])[0]?S[0]=0:S[0]=parseInt(""+S[0]),B=[0,0,0],j(A,U,V);for(C=0;C<3;++C)H[C]+=k*U[C]*this.tickPad[C]/r[5*C];this._text.drawTicks(A,this.tickSize[A],this.tickAngle[A],H,this.tickColor[A],q,B,S)}if(this.labelEnable[A]){F=0,B=[0,0,0],this.labels[A].length>4&&(N(A),F=1),"auto"===(S=[this.labelAlign[A],.5,F])[0]?S[0]=0:S[0]=parseInt(""+S[0]);for(C=0;C<3;++C)H[C]+=k*U[C]*this.labelPad[C]/r[5*C];H[A]+=.5*(a[0][A]+a[1][A]),this._text.drawLabel(A,this.labelSize[A],this.labelAngle[A],H,this.labelColor[A],[0,0,0],B,S)}}this._text.unbind()},f.dispose=function(){this._text.dispose(),this._lines.dispose(),this._background.dispose(),this._lines=null,this._text=null,this._background=null,this.gl=null}},{"./lib/background.js":71,"./lib/cube.js":72,"./lib/lines.js":73,"./lib/text.js":75,"./lib/ticks.js":76}],71:[function(t,e,r){"use strict";e.exports=function(t){for(var e=[],r=[],s=0,l=0;l<3;++l)for(var c=(l+1)%3,u=(l+2)%3,f=[0,0,0],h=[0,0,0],p=-1;p<=1;p+=2){r.push(s,s+2,s+1,s+1,s+2,s+3),f[l]=p,h[l]=p;for(var d=-1;d<=1;d+=2){f[c]=d;for(var m=-1;m<=1;m+=2)f[u]=m,e.push(f[0],f[1],f[2],h[0],h[1],h[2]),s+=1}var g=c;c=u,u=g}var v=n(t,new Float32Array(e)),y=n(t,new Uint16Array(r),t.ELEMENT_ARRAY_BUFFER),x=i(t,[{buffer:v,type:t.FLOAT,size:3,offset:0,stride:24},{buffer:v,type:t.FLOAT,size:3,offset:12,stride:24}],y),b=a(t);return b.attributes.position.location=0,b.attributes.normal.location=1,new o(t,v,x,b)};var n=t("gl-buffer"),i=t("gl-vao"),a=t("./shaders").bg;function o(t,e,r,n){this.gl=t,this.buffer=e,this.vao=r,this.shader=n}var s=o.prototype;s.draw=function(t,e,r,n,i,a){for(var o=!1,s=0;s<3;++s)o=o||i[s];if(o){var l=this.gl;l.enable(l.POLYGON_OFFSET_FILL),l.polygonOffset(1,2),this.shader.bind(),this.shader.uniforms={model:t,view:e,projection:r,bounds:n,enable:i,colors:a},this.vao.bind(),this.vao.draw(this.gl.TRIANGLES,36),this.vao.unbind(),l.disable(l.POLYGON_OFFSET_FILL)}},s.dispose=function(){this.vao.dispose(),this.buffer.dispose(),this.shader.dispose()}},{"./shaders":74,"gl-buffer":78,"gl-vao":150}],72:[function(t,e,r){"use strict";e.exports=function(t,e,r,a,p){i(s,e,t),i(s,r,s);for(var y=0,x=0;x<2;++x){u[2]=a[x][2];for(var b=0;b<2;++b){u[1]=a[b][1];for(var _=0;_<2;++_)u[0]=a[_][0],h(l[y],u,s),y+=1}}var w=-1;for(x=0;x<8;++x){for(var T=l[x][3],k=0;k<3;++k)c[x][k]=l[x][k]/T;p&&(c[x][2]*=-1),T<0&&(w<0||c[x][2]E&&(w|=1<E&&(w|=1<c[x][1])&&(R=x);var F=-1;for(x=0;x<3;++x){if((N=R^1<c[B][0]&&(B=N)}var j=m;j[0]=j[1]=j[2]=0,j[n.log2(F^R)]=R&F,j[n.log2(R^B)]=R&B;var U=7^B;U===w||U===D?(U=7^F,j[n.log2(B^U)]=U&B):j[n.log2(F^U)]=U&F;var V=g,H=w;for(A=0;A<3;++A)V[A]=H&1< HALF_PI) && (b <= ONE_AND_HALF_PI)) ?\n b - PI :\n b;\n}\n\nfloat look_horizontal_or_vertical(float a, float ratio) {\n // ratio controls the ratio between being horizontal to (vertical + horizontal)\n // if ratio is set to 0.5 then it is 50%, 50%.\n // when using a higher ratio e.g. 0.75 the result would\n // likely be more horizontal than vertical.\n\n float b = positive_angle(a);\n\n return\n (b < ( ratio) * HALF_PI) ? 0.0 :\n (b < (2.0 - ratio) * HALF_PI) ? -HALF_PI :\n (b < (2.0 + ratio) * HALF_PI) ? 0.0 :\n (b < (4.0 - ratio) * HALF_PI) ? HALF_PI :\n 0.0;\n}\n\nfloat roundTo(float a, float b) {\n return float(b * floor((a + 0.5 * b) / b));\n}\n\nfloat look_round_n_directions(float a, int n) {\n float b = positive_angle(a);\n float div = TWO_PI / float(n);\n float c = roundTo(b, div);\n return look_upwards(c);\n}\n\nfloat applyAlignOption(float rawAngle, float delta) {\n return\n (option > 2) ? look_round_n_directions(rawAngle + delta, option) : // option 3-n: round to n directions\n (option == 2) ? look_horizontal_or_vertical(rawAngle + delta, hv_ratio) : // horizontal or vertical\n (option == 1) ? rawAngle + delta : // use free angle, and flip to align with one direction of the axis\n (option == 0) ? look_upwards(rawAngle) : // use free angle, and stay upwards\n (option ==-1) ? 0.0 : // useful for backward compatibility, all texts remains horizontal\n rawAngle; // otherwise return back raw input angle\n}\n\nbool isAxisTitle = (axis.x == 0.0) &&\n (axis.y == 0.0) &&\n (axis.z == 0.0);\n\nvoid main() {\n //Compute world offset\n float axisDistance = position.z;\n vec3 dataPosition = axisDistance * axis + offset;\n\n float beta = angle; // i.e. user defined attributes for each tick\n\n float axisAngle;\n float clipAngle;\n float flip;\n\n if (enableAlign) {\n axisAngle = (isAxisTitle) ? HALF_PI :\n computeViewAngle(dataPosition, dataPosition + axis);\n clipAngle = computeViewAngle(dataPosition, dataPosition + alignDir);\n\n axisAngle += (sin(axisAngle) < 0.0) ? PI : 0.0;\n clipAngle += (sin(clipAngle) < 0.0) ? PI : 0.0;\n\n flip = (dot(vec2(cos(axisAngle), sin(axisAngle)),\n vec2(sin(clipAngle),-cos(clipAngle))) > 0.0) ? 1.0 : 0.0;\n\n beta += applyAlignOption(clipAngle, flip * PI);\n }\n\n //Compute plane offset\n vec2 planeCoord = position.xy * pixelScale;\n\n mat2 planeXform = scale * mat2(\n cos(beta), sin(beta),\n -sin(beta), cos(beta)\n );\n\n vec2 viewOffset = 2.0 * planeXform * planeCoord / resolution;\n\n //Compute clip position\n vec3 clipPosition = project(dataPosition);\n\n //Apply text offset in clip coordinates\n clipPosition += vec3(viewOffset, 0.0);\n\n //Done\n gl_Position = vec4(clipPosition, 1.0);\n}"]),l=n(["precision highp float;\n#define GLSLIFY 1\n\nuniform vec4 color;\nvoid main() {\n gl_FragColor = color;\n}"]);r.text=function(t){return i(t,s,l,null,[{name:"position",type:"vec3"}])};var c=n(["precision highp float;\n#define GLSLIFY 1\n\nattribute vec3 position;\nattribute vec3 normal;\n\nuniform mat4 model, view, projection;\nuniform vec3 enable;\nuniform vec3 bounds[2];\n\nvarying vec3 colorChannel;\n\nvoid main() {\n\n vec3 signAxis = sign(bounds[1] - bounds[0]);\n\n vec3 realNormal = signAxis * normal;\n\n if(dot(realNormal, enable) > 0.0) {\n vec3 minRange = min(bounds[0], bounds[1]);\n vec3 maxRange = max(bounds[0], bounds[1]);\n vec3 nPosition = mix(minRange, maxRange, 0.5 * (position + 1.0));\n gl_Position = projection * view * model * vec4(nPosition, 1.0);\n } else {\n gl_Position = vec4(0,0,0,0);\n }\n\n colorChannel = abs(realNormal);\n}"]),u=n(["precision highp float;\n#define GLSLIFY 1\n\nuniform vec4 colors[3];\n\nvarying vec3 colorChannel;\n\nvoid main() {\n gl_FragColor = colorChannel.x * colors[0] +\n colorChannel.y * colors[1] +\n colorChannel.z * colors[2];\n}"]);r.bg=function(t){return i(t,c,u,null,[{name:"position",type:"vec3"},{name:"normal",type:"vec3"}])}},{"gl-shader":132,glslify:231}],75:[function(t,e,r){(function(r){(function(){"use strict";e.exports=function(t,e,r,a,s,l){var u=n(t),f=i(t,[{buffer:u,size:3}]),h=o(t);h.attributes.position.location=0;var p=new c(t,h,u,f);return p.update(e,r,a,s,l),p};var n=t("gl-buffer"),i=t("gl-vao"),a=t("vectorize-text"),o=t("./shaders").text,s=window||r.global||{},l=s.__TEXT_CACHE||{};s.__TEXT_CACHE={};function c(t,e,r,n){this.gl=t,this.shader=e,this.buffer=r,this.vao=n,this.tickOffset=this.tickCount=this.labelOffset=this.labelCount=null}var u=c.prototype,f=[0,0];u.bind=function(t,e,r,n){this.vao.bind(),this.shader.bind();var i=this.shader.uniforms;i.model=t,i.view=e,i.projection=r,i.pixelScale=n,f[0]=this.gl.drawingBufferWidth,f[1]=this.gl.drawingBufferHeight,this.shader.uniforms.resolution=f},u.unbind=function(){this.vao.unbind()},u.update=function(t,e,r,n,i){var o=[];function s(t,e,r,n,i,s){var c=l[r];c||(c=l[r]={});var u=c[e];u||(u=c[e]=function(t,e){try{return a(t,e)}catch(e){return console.warn('error vectorizing text:"'+t+'" error:',e),{cells:[],positions:[]}}}(e,{triangles:!0,font:r,textAlign:"center",textBaseline:"middle",lineSpacing:i,styletags:s}));for(var f=(n||12)/12,h=u.positions,p=u.cells,d=0,m=p.length;d=0;--v){var y=h[g[v]];o.push(f*y[0],-f*y[1],t)}}for(var c=[0,0,0],u=[0,0,0],f=[0,0,0],h=[0,0,0],p={breaklines:!0,bolds:!0,italics:!0,subscripts:!0,superscripts:!0},d=0;d<3;++d){f[d]=o.length/3|0,s(.5*(t[0][d]+t[1][d]),e[d],r[d],12,1.25,p),h[d]=(o.length/3|0)-f[d],c[d]=o.length/3|0;for(var m=0;m=0&&(i=r.length-n-1);var a=Math.pow(10,i),o=Math.round(t*e*a),s=o+"";if(s.indexOf("e")>=0)return s;var l=o/a,c=o%a;o<0?(l=0|-Math.ceil(l),c=0|-c):(l=0|Math.floor(l),c|=0);var u=""+l;if(o<0&&(u="-"+u),i){for(var f=""+c;f.length=t[0][i];--o)a.push({x:o*e[i],text:n(e[i],o)});r.push(a)}return r},r.equal=function(t,e){for(var r=0;r<3;++r){if(t[r].length!==e[r].length)return!1;for(var n=0;nr)throw new Error("gl-buffer: If resizing buffer, must not specify offset");return t.bufferSubData(e,a,i),r}function u(t,e){for(var r=n.malloc(t.length,e),i=t.length,a=0;a=0;--n){if(e[n]!==r)return!1;r*=t[n]}return!0}(t.shape,t.stride))0===t.offset&&t.data.length===t.shape[0]?this.length=c(this.gl,this.type,this.length,this.usage,t.data,e):this.length=c(this.gl,this.type,this.length,this.usage,t.data.subarray(t.offset,t.shape[0]),e);else{var s=n.malloc(t.size,r),l=a(s,t.shape);i.assign(l,t),this.length=c(this.gl,this.type,this.length,this.usage,e<0?s:s.subarray(0,t.size),e),n.free(s)}}else if(Array.isArray(t)){var f;f=this.type===this.gl.ELEMENT_ARRAY_BUFFER?u(t,"uint16"):u(t,"float32"),this.length=c(this.gl,this.type,this.length,this.usage,e<0?f:f.subarray(0,t.length),e),n.free(f)}else if("object"==typeof t&&"number"==typeof t.length)this.length=c(this.gl,this.type,this.length,this.usage,t,e);else{if("number"!=typeof t&&void 0!==t)throw new Error("gl-buffer: Invalid data type");if(e>=0)throw new Error("gl-buffer: Cannot specify offset when resizing buffer");(t|=0)<=0&&(t=1),this.gl.bufferData(this.type,0|t,this.usage),this.length=t}},e.exports=function(t,e,r,n){if(r=r||t.ARRAY_BUFFER,n=n||t.DYNAMIC_DRAW,r!==t.ARRAY_BUFFER&&r!==t.ELEMENT_ARRAY_BUFFER)throw new Error("gl-buffer: Invalid type for webgl buffer, must be either gl.ARRAY_BUFFER or gl.ELEMENT_ARRAY_BUFFER");if(n!==t.DYNAMIC_DRAW&&n!==t.STATIC_DRAW&&n!==t.STREAM_DRAW)throw new Error("gl-buffer: Invalid usage for buffer, must be either gl.DYNAMIC_DRAW, gl.STATIC_DRAW or gl.STREAM_DRAW");var i=t.createBuffer(),a=new s(t,r,i,0,n);return a.update(e),a}},{ndarray:259,"ndarray-ops":254,"typedarray-pool":308}],79:[function(t,e,r){"use strict";var n=t("gl-vec3");e.exports=function(t,e){var r=t.positions,i=t.vectors,a={positions:[],vertexIntensity:[],vertexIntensityBounds:t.vertexIntensityBounds,vectors:[],cells:[],coneOffset:t.coneOffset,colormap:t.colormap};if(0===t.positions.length)return e&&(e[0]=[0,0,0],e[1]=[0,0,0]),a;for(var o=0,s=1/0,l=-1/0,c=1/0,u=-1/0,f=1/0,h=-1/0,p=null,d=null,m=[],g=1/0,v=!1,y=0;yo&&(o=n.length(b)),y){var _=2*n.distance(p,x)/(n.length(d)+n.length(b));_?(g=Math.min(g,_),v=!1):v=!0}v||(p=x,d=b),m.push(b)}var w=[s,c,f],T=[l,u,h];e&&(e[0]=w,e[1]=T),0===o&&(o=1);var k=1/o;isFinite(g)||(g=1),a.vectorScale=g;var A=t.coneSize||.5;t.absoluteConeSize&&(A=t.absoluteConeSize*k),a.coneScale=A;y=0;for(var M=0;y=1},p.isTransparent=function(){return this.opacity<1},p.pickSlots=1,p.setPickBase=function(t){this.pickId=t},p.update=function(t){t=t||{};var e=this.gl;this.dirty=!0,"lightPosition"in t&&(this.lightPosition=t.lightPosition),"opacity"in t&&(this.opacity=t.opacity),"ambient"in t&&(this.ambientLight=t.ambient),"diffuse"in t&&(this.diffuseLight=t.diffuse),"specular"in t&&(this.specularLight=t.specular),"roughness"in t&&(this.roughness=t.roughness),"fresnel"in t&&(this.fresnel=t.fresnel),void 0!==t.tubeScale&&(this.tubeScale=t.tubeScale),void 0!==t.vectorScale&&(this.vectorScale=t.vectorScale),void 0!==t.coneScale&&(this.coneScale=t.coneScale),void 0!==t.coneOffset&&(this.coneOffset=t.coneOffset),t.colormap&&(this.texture.shape=[256,256],this.texture.minFilter=e.LINEAR_MIPMAP_LINEAR,this.texture.magFilter=e.LINEAR,this.texture.setPixels(function(t){for(var e=u({colormap:t,nshades:256,format:"rgba"}),r=new Uint8Array(1024),n=0;n<256;++n){for(var i=e[n],a=0;a<3;++a)r[4*n+a]=i[a];r[4*n+3]=255*i[3]}return c(r,[256,256,4],[4,0,1])}(t.colormap)),this.texture.generateMipmap());var r=t.cells,n=t.positions,i=t.vectors;if(n&&r&&i){var a=[],o=[],s=[],l=[],f=[];this.cells=r,this.positions=n,this.vectors=i;var h=t.meshColor||[1,1,1,1],p=t.vertexIntensity,d=1/0,m=-1/0;if(p)if(t.vertexIntensityBounds)d=+t.vertexIntensityBounds[0],m=+t.vertexIntensityBounds[1];else for(var g=0;g0){var m=this.triShader;m.bind(),m.uniforms=c,this.triangleVAO.bind(),e.drawArrays(e.TRIANGLES,0,3*this.triangleCount),this.triangleVAO.unbind()}},p.drawPick=function(t){t=t||{};for(var e=this.gl,r=t.model||f,n=t.view||f,i=t.projection||f,a=[[-1e6,-1e6,-1e6],[1e6,1e6,1e6]],o=0;o<3;++o)a[0][o]=Math.max(a[0][o],this.clipBounds[0][o]),a[1][o]=Math.min(a[1][o],this.clipBounds[1][o]);this._model=[].slice.call(r),this._view=[].slice.call(n),this._projection=[].slice.call(i),this._resolution=[e.drawingBufferWidth,e.drawingBufferHeight];var s={model:r,view:n,projection:i,clipBounds:a,tubeScale:this.tubeScale,vectorScale:this.vectorScale,coneScale:this.coneScale,coneOffset:this.coneOffset,pickId:this.pickId/255},l=this.pickShader;l.bind(),l.uniforms=s,this.triangleCount>0&&(this.triangleVAO.bind(),e.drawArrays(e.TRIANGLES,0,3*this.triangleCount),this.triangleVAO.unbind())},p.pick=function(t){if(!t)return null;if(t.id!==this.pickId)return null;var e=t.value[0]+256*t.value[1]+65536*t.value[2],r=this.cells[e],n=this.positions[r[1]].slice(0,3),i={position:n,dataCoordinate:n,index:Math.floor(r[1]/48)};return"cone"===this.traceType?i.index=Math.floor(r[1]/48):"streamtube"===this.traceType&&(i.intensity=this.intensity[r[1]],i.velocity=this.vectors[r[1]].slice(0,3),i.divergence=this.vectors[r[1]][3],i.index=e),i},p.dispose=function(){this.texture.dispose(),this.triShader.dispose(),this.pickShader.dispose(),this.triangleVAO.dispose(),this.trianglePositions.dispose(),this.triangleVectors.dispose(),this.triangleColors.dispose(),this.triangleUVs.dispose(),this.triangleIds.dispose()},e.exports=function(t,e,r){var n=r.shaders;1===arguments.length&&(t=(e=t).gl);var s=d(t,n),l=m(t,n),u=o(t,c(new Uint8Array([255,255,255,255]),[1,1,4]));u.generateMipmap(),u.minFilter=t.LINEAR_MIPMAP_LINEAR,u.magFilter=t.LINEAR;var f=i(t),p=i(t),g=i(t),v=i(t),y=i(t),x=a(t,[{buffer:f,type:t.FLOAT,size:4},{buffer:y,type:t.UNSIGNED_BYTE,size:4,normalized:!0},{buffer:g,type:t.FLOAT,size:4},{buffer:v,type:t.FLOAT,size:2},{buffer:p,type:t.FLOAT,size:4}]),b=new h(t,u,s,l,f,p,y,g,v,x,r.traceType||"cone");return b.update(e),b}},{colormap:53,"gl-buffer":78,"gl-mat4/invert":98,"gl-mat4/multiply":100,"gl-shader":132,"gl-texture2d":146,"gl-vao":150,ndarray:259}],81:[function(t,e,r){var n=t("glslify"),i=n(["precision highp float;\n\nprecision highp float;\n#define GLSLIFY 1\n\nvec3 getOrthogonalVector(vec3 v) {\n // Return up-vector for only-z vector.\n // Return ax + by + cz = 0, a point that lies on the plane that has v as a normal and that isn't (0,0,0).\n // From the above if-statement we have ||a|| > 0 U ||b|| > 0.\n // Assign z = 0, x = -b, y = a:\n // a*-b + b*a + c*0 = -ba + ba + 0 = 0\n if (v.x*v.x > v.z*v.z || v.y*v.y > v.z*v.z) {\n return normalize(vec3(-v.y, v.x, 0.0));\n } else {\n return normalize(vec3(0.0, v.z, -v.y));\n }\n}\n\n// Calculate the cone vertex and normal at the given index.\n//\n// The returned vertex is for a cone with its top at origin and height of 1.0,\n// pointing in the direction of the vector attribute.\n//\n// Each cone is made up of a top vertex, a center base vertex and base perimeter vertices.\n// These vertices are used to make up the triangles of the cone by the following:\n// segment + 0 top vertex\n// segment + 1 perimeter vertex a+1\n// segment + 2 perimeter vertex a\n// segment + 3 center base vertex\n// segment + 4 perimeter vertex a\n// segment + 5 perimeter vertex a+1\n// Where segment is the number of the radial segment * 6 and a is the angle at that radial segment.\n// To go from index to segment, floor(index / 6)\n// To go from segment to angle, 2*pi * (segment/segmentCount)\n// To go from index to segment index, index - (segment*6)\n//\nvec3 getConePosition(vec3 d, float rawIndex, float coneOffset, out vec3 normal) {\n\n const float segmentCount = 8.0;\n\n float index = rawIndex - floor(rawIndex /\n (segmentCount * 6.0)) *\n (segmentCount * 6.0);\n\n float segment = floor(0.001 + index/6.0);\n float segmentIndex = index - (segment*6.0);\n\n normal = -normalize(d);\n\n if (segmentIndex > 2.99 && segmentIndex < 3.01) {\n return mix(vec3(0.0), -d, coneOffset);\n }\n\n float nextAngle = (\n (segmentIndex > 0.99 && segmentIndex < 1.01) ||\n (segmentIndex > 4.99 && segmentIndex < 5.01)\n ) ? 1.0 : 0.0;\n float angle = 2.0 * 3.14159 * ((segment + nextAngle) / segmentCount);\n\n vec3 v1 = mix(d, vec3(0.0), coneOffset);\n vec3 v2 = v1 - d;\n\n vec3 u = getOrthogonalVector(d);\n vec3 v = normalize(cross(u, d));\n\n vec3 x = u * cos(angle) * length(d)*0.25;\n vec3 y = v * sin(angle) * length(d)*0.25;\n vec3 v3 = v2 + x + y;\n if (segmentIndex < 3.0) {\n vec3 tx = u * sin(angle);\n vec3 ty = v * -cos(angle);\n vec3 tangent = tx + ty;\n normal = normalize(cross(v3 - v1, tangent));\n }\n\n if (segmentIndex == 0.0) {\n return mix(d, vec3(0.0), coneOffset);\n }\n return v3;\n}\n\nattribute vec3 vector;\nattribute vec4 color, position;\nattribute vec2 uv;\n\nuniform float vectorScale, coneScale, coneOffset;\nuniform mat4 model, view, projection, inverseModel;\nuniform vec3 eyePosition, lightPosition;\n\nvarying vec3 f_normal, f_lightDirection, f_eyeDirection, f_data, f_position;\nvarying vec4 f_color;\nvarying vec2 f_uv;\n\nvoid main() {\n // Scale the vector magnitude to stay constant with\n // model & view changes.\n vec3 normal;\n vec3 XYZ = getConePosition(mat3(model) * ((vectorScale * coneScale) * vector), position.w, coneOffset, normal);\n vec4 conePosition = model * vec4(position.xyz, 1.0) + vec4(XYZ, 0.0);\n\n //Lighting geometry parameters\n vec4 cameraCoordinate = view * conePosition;\n cameraCoordinate.xyz /= cameraCoordinate.w;\n f_lightDirection = lightPosition - cameraCoordinate.xyz;\n f_eyeDirection = eyePosition - cameraCoordinate.xyz;\n f_normal = normalize((vec4(normal, 0.0) * inverseModel).xyz);\n\n // vec4 m_position = model * vec4(conePosition, 1.0);\n vec4 t_position = view * conePosition;\n gl_Position = projection * t_position;\n\n f_color = color;\n f_data = conePosition.xyz;\n f_position = position.xyz;\n f_uv = uv;\n}\n"]),a=n(["#extension GL_OES_standard_derivatives : enable\n\nprecision highp float;\n#define GLSLIFY 1\n\nfloat beckmannDistribution(float x, float roughness) {\n float NdotH = max(x, 0.0001);\n float cos2Alpha = NdotH * NdotH;\n float tan2Alpha = (cos2Alpha - 1.0) / cos2Alpha;\n float roughness2 = roughness * roughness;\n float denom = 3.141592653589793 * roughness2 * cos2Alpha * cos2Alpha;\n return exp(tan2Alpha / roughness2) / denom;\n}\n\nfloat cookTorranceSpecular(\n vec3 lightDirection,\n vec3 viewDirection,\n vec3 surfaceNormal,\n float roughness,\n float fresnel) {\n\n float VdotN = max(dot(viewDirection, surfaceNormal), 0.0);\n float LdotN = max(dot(lightDirection, surfaceNormal), 0.0);\n\n //Half angle vector\n vec3 H = normalize(lightDirection + viewDirection);\n\n //Geometric term\n float NdotH = max(dot(surfaceNormal, H), 0.0);\n float VdotH = max(dot(viewDirection, H), 0.000001);\n float LdotH = max(dot(lightDirection, H), 0.000001);\n float G1 = (2.0 * NdotH * VdotN) / VdotH;\n float G2 = (2.0 * NdotH * LdotN) / LdotH;\n float G = min(1.0, min(G1, G2));\n \n //Distribution term\n float D = beckmannDistribution(NdotH, roughness);\n\n //Fresnel term\n float F = pow(1.0 - VdotN, fresnel);\n\n //Multiply terms and done\n return G * F * D / max(3.14159265 * VdotN, 0.000001);\n}\n\nbool outOfRange(float a, float b, float p) {\n return ((p > max(a, b)) || \n (p < min(a, b)));\n}\n\nbool outOfRange(vec2 a, vec2 b, vec2 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y));\n}\n\nbool outOfRange(vec3 a, vec3 b, vec3 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y) ||\n outOfRange(a.z, b.z, p.z));\n}\n\nbool outOfRange(vec4 a, vec4 b, vec4 p) {\n return outOfRange(a.xyz, b.xyz, p.xyz);\n}\n\nuniform vec3 clipBounds[2];\nuniform float roughness, fresnel, kambient, kdiffuse, kspecular, opacity;\nuniform sampler2D texture;\n\nvarying vec3 f_normal, f_lightDirection, f_eyeDirection, f_data, f_position;\nvarying vec4 f_color;\nvarying vec2 f_uv;\n\nvoid main() {\n if (outOfRange(clipBounds[0], clipBounds[1], f_position)) discard;\n vec3 N = normalize(f_normal);\n vec3 L = normalize(f_lightDirection);\n vec3 V = normalize(f_eyeDirection);\n\n if(gl_FrontFacing) {\n N = -N;\n }\n\n float specular = min(1.0, max(0.0, cookTorranceSpecular(L, V, N, roughness, fresnel)));\n float diffuse = min(kambient + kdiffuse * max(dot(N, L), 0.0), 1.0);\n\n vec4 surfaceColor = f_color * texture2D(texture, f_uv);\n vec4 litColor = surfaceColor.a * vec4(diffuse * surfaceColor.rgb + kspecular * vec3(1,1,1) * specular, 1.0);\n\n gl_FragColor = litColor * opacity;\n}\n"]),o=n(["precision highp float;\n\nprecision highp float;\n#define GLSLIFY 1\n\nvec3 getOrthogonalVector(vec3 v) {\n // Return up-vector for only-z vector.\n // Return ax + by + cz = 0, a point that lies on the plane that has v as a normal and that isn't (0,0,0).\n // From the above if-statement we have ||a|| > 0 U ||b|| > 0.\n // Assign z = 0, x = -b, y = a:\n // a*-b + b*a + c*0 = -ba + ba + 0 = 0\n if (v.x*v.x > v.z*v.z || v.y*v.y > v.z*v.z) {\n return normalize(vec3(-v.y, v.x, 0.0));\n } else {\n return normalize(vec3(0.0, v.z, -v.y));\n }\n}\n\n// Calculate the cone vertex and normal at the given index.\n//\n// The returned vertex is for a cone with its top at origin and height of 1.0,\n// pointing in the direction of the vector attribute.\n//\n// Each cone is made up of a top vertex, a center base vertex and base perimeter vertices.\n// These vertices are used to make up the triangles of the cone by the following:\n// segment + 0 top vertex\n// segment + 1 perimeter vertex a+1\n// segment + 2 perimeter vertex a\n// segment + 3 center base vertex\n// segment + 4 perimeter vertex a\n// segment + 5 perimeter vertex a+1\n// Where segment is the number of the radial segment * 6 and a is the angle at that radial segment.\n// To go from index to segment, floor(index / 6)\n// To go from segment to angle, 2*pi * (segment/segmentCount)\n// To go from index to segment index, index - (segment*6)\n//\nvec3 getConePosition(vec3 d, float rawIndex, float coneOffset, out vec3 normal) {\n\n const float segmentCount = 8.0;\n\n float index = rawIndex - floor(rawIndex /\n (segmentCount * 6.0)) *\n (segmentCount * 6.0);\n\n float segment = floor(0.001 + index/6.0);\n float segmentIndex = index - (segment*6.0);\n\n normal = -normalize(d);\n\n if (segmentIndex > 2.99 && segmentIndex < 3.01) {\n return mix(vec3(0.0), -d, coneOffset);\n }\n\n float nextAngle = (\n (segmentIndex > 0.99 && segmentIndex < 1.01) ||\n (segmentIndex > 4.99 && segmentIndex < 5.01)\n ) ? 1.0 : 0.0;\n float angle = 2.0 * 3.14159 * ((segment + nextAngle) / segmentCount);\n\n vec3 v1 = mix(d, vec3(0.0), coneOffset);\n vec3 v2 = v1 - d;\n\n vec3 u = getOrthogonalVector(d);\n vec3 v = normalize(cross(u, d));\n\n vec3 x = u * cos(angle) * length(d)*0.25;\n vec3 y = v * sin(angle) * length(d)*0.25;\n vec3 v3 = v2 + x + y;\n if (segmentIndex < 3.0) {\n vec3 tx = u * sin(angle);\n vec3 ty = v * -cos(angle);\n vec3 tangent = tx + ty;\n normal = normalize(cross(v3 - v1, tangent));\n }\n\n if (segmentIndex == 0.0) {\n return mix(d, vec3(0.0), coneOffset);\n }\n return v3;\n}\n\nattribute vec4 vector;\nattribute vec4 position;\nattribute vec4 id;\n\nuniform mat4 model, view, projection;\nuniform float vectorScale, coneScale, coneOffset;\n\nvarying vec3 f_position;\nvarying vec4 f_id;\n\nvoid main() {\n vec3 normal;\n vec3 XYZ = getConePosition(mat3(model) * ((vectorScale * coneScale) * vector.xyz), position.w, coneOffset, normal);\n vec4 conePosition = model * vec4(position.xyz, 1.0) + vec4(XYZ, 0.0);\n gl_Position = projection * view * conePosition;\n f_id = id;\n f_position = position.xyz;\n}\n"]),s=n(["precision highp float;\n#define GLSLIFY 1\n\nbool outOfRange(float a, float b, float p) {\n return ((p > max(a, b)) || \n (p < min(a, b)));\n}\n\nbool outOfRange(vec2 a, vec2 b, vec2 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y));\n}\n\nbool outOfRange(vec3 a, vec3 b, vec3 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y) ||\n outOfRange(a.z, b.z, p.z));\n}\n\nbool outOfRange(vec4 a, vec4 b, vec4 p) {\n return outOfRange(a.xyz, b.xyz, p.xyz);\n}\n\nuniform vec3 clipBounds[2];\nuniform float pickId;\n\nvarying vec3 f_position;\nvarying vec4 f_id;\n\nvoid main() {\n if (outOfRange(clipBounds[0], clipBounds[1], f_position)) discard;\n\n gl_FragColor = vec4(pickId, f_id.xyz);\n}"]);r.meshShader={vertex:i,fragment:a,attributes:[{name:"position",type:"vec4"},{name:"color",type:"vec4"},{name:"uv",type:"vec2"},{name:"vector",type:"vec3"}]},r.pickShader={vertex:o,fragment:s,attributes:[{name:"position",type:"vec4"},{name:"id",type:"vec4"},{name:"vector",type:"vec3"}]}},{glslify:231}],82:[function(t,e,r){e.exports={0:"NONE",1:"ONE",2:"LINE_LOOP",3:"LINE_STRIP",4:"TRIANGLES",5:"TRIANGLE_STRIP",6:"TRIANGLE_FAN",256:"DEPTH_BUFFER_BIT",512:"NEVER",513:"LESS",514:"EQUAL",515:"LEQUAL",516:"GREATER",517:"NOTEQUAL",518:"GEQUAL",519:"ALWAYS",768:"SRC_COLOR",769:"ONE_MINUS_SRC_COLOR",770:"SRC_ALPHA",771:"ONE_MINUS_SRC_ALPHA",772:"DST_ALPHA",773:"ONE_MINUS_DST_ALPHA",774:"DST_COLOR",775:"ONE_MINUS_DST_COLOR",776:"SRC_ALPHA_SATURATE",1024:"STENCIL_BUFFER_BIT",1028:"FRONT",1029:"BACK",1032:"FRONT_AND_BACK",1280:"INVALID_ENUM",1281:"INVALID_VALUE",1282:"INVALID_OPERATION",1285:"OUT_OF_MEMORY",1286:"INVALID_FRAMEBUFFER_OPERATION",2304:"CW",2305:"CCW",2849:"LINE_WIDTH",2884:"CULL_FACE",2885:"CULL_FACE_MODE",2886:"FRONT_FACE",2928:"DEPTH_RANGE",2929:"DEPTH_TEST",2930:"DEPTH_WRITEMASK",2931:"DEPTH_CLEAR_VALUE",2932:"DEPTH_FUNC",2960:"STENCIL_TEST",2961:"STENCIL_CLEAR_VALUE",2962:"STENCIL_FUNC",2963:"STENCIL_VALUE_MASK",2964:"STENCIL_FAIL",2965:"STENCIL_PASS_DEPTH_FAIL",2966:"STENCIL_PASS_DEPTH_PASS",2967:"STENCIL_REF",2968:"STENCIL_WRITEMASK",2978:"VIEWPORT",3024:"DITHER",3042:"BLEND",3088:"SCISSOR_BOX",3089:"SCISSOR_TEST",3106:"COLOR_CLEAR_VALUE",3107:"COLOR_WRITEMASK",3317:"UNPACK_ALIGNMENT",3333:"PACK_ALIGNMENT",3379:"MAX_TEXTURE_SIZE",3386:"MAX_VIEWPORT_DIMS",3408:"SUBPIXEL_BITS",3410:"RED_BITS",3411:"GREEN_BITS",3412:"BLUE_BITS",3413:"ALPHA_BITS",3414:"DEPTH_BITS",3415:"STENCIL_BITS",3553:"TEXTURE_2D",4352:"DONT_CARE",4353:"FASTEST",4354:"NICEST",5120:"BYTE",5121:"UNSIGNED_BYTE",5122:"SHORT",5123:"UNSIGNED_SHORT",5124:"INT",5125:"UNSIGNED_INT",5126:"FLOAT",5386:"INVERT",5890:"TEXTURE",6401:"STENCIL_INDEX",6402:"DEPTH_COMPONENT",6406:"ALPHA",6407:"RGB",6408:"RGBA",6409:"LUMINANCE",6410:"LUMINANCE_ALPHA",7680:"KEEP",7681:"REPLACE",7682:"INCR",7683:"DECR",7936:"VENDOR",7937:"RENDERER",7938:"VERSION",9728:"NEAREST",9729:"LINEAR",9984:"NEAREST_MIPMAP_NEAREST",9985:"LINEAR_MIPMAP_NEAREST",9986:"NEAREST_MIPMAP_LINEAR",9987:"LINEAR_MIPMAP_LINEAR",10240:"TEXTURE_MAG_FILTER",10241:"TEXTURE_MIN_FILTER",10242:"TEXTURE_WRAP_S",10243:"TEXTURE_WRAP_T",10497:"REPEAT",10752:"POLYGON_OFFSET_UNITS",16384:"COLOR_BUFFER_BIT",32769:"CONSTANT_COLOR",32770:"ONE_MINUS_CONSTANT_COLOR",32771:"CONSTANT_ALPHA",32772:"ONE_MINUS_CONSTANT_ALPHA",32773:"BLEND_COLOR",32774:"FUNC_ADD",32777:"BLEND_EQUATION_RGB",32778:"FUNC_SUBTRACT",32779:"FUNC_REVERSE_SUBTRACT",32819:"UNSIGNED_SHORT_4_4_4_4",32820:"UNSIGNED_SHORT_5_5_5_1",32823:"POLYGON_OFFSET_FILL",32824:"POLYGON_OFFSET_FACTOR",32854:"RGBA4",32855:"RGB5_A1",32873:"TEXTURE_BINDING_2D",32926:"SAMPLE_ALPHA_TO_COVERAGE",32928:"SAMPLE_COVERAGE",32936:"SAMPLE_BUFFERS",32937:"SAMPLES",32938:"SAMPLE_COVERAGE_VALUE",32939:"SAMPLE_COVERAGE_INVERT",32968:"BLEND_DST_RGB",32969:"BLEND_SRC_RGB",32970:"BLEND_DST_ALPHA",32971:"BLEND_SRC_ALPHA",33071:"CLAMP_TO_EDGE",33170:"GENERATE_MIPMAP_HINT",33189:"DEPTH_COMPONENT16",33306:"DEPTH_STENCIL_ATTACHMENT",33635:"UNSIGNED_SHORT_5_6_5",33648:"MIRRORED_REPEAT",33901:"ALIASED_POINT_SIZE_RANGE",33902:"ALIASED_LINE_WIDTH_RANGE",33984:"TEXTURE0",33985:"TEXTURE1",33986:"TEXTURE2",33987:"TEXTURE3",33988:"TEXTURE4",33989:"TEXTURE5",33990:"TEXTURE6",33991:"TEXTURE7",33992:"TEXTURE8",33993:"TEXTURE9",33994:"TEXTURE10",33995:"TEXTURE11",33996:"TEXTURE12",33997:"TEXTURE13",33998:"TEXTURE14",33999:"TEXTURE15",34e3:"TEXTURE16",34001:"TEXTURE17",34002:"TEXTURE18",34003:"TEXTURE19",34004:"TEXTURE20",34005:"TEXTURE21",34006:"TEXTURE22",34007:"TEXTURE23",34008:"TEXTURE24",34009:"TEXTURE25",34010:"TEXTURE26",34011:"TEXTURE27",34012:"TEXTURE28",34013:"TEXTURE29",34014:"TEXTURE30",34015:"TEXTURE31",34016:"ACTIVE_TEXTURE",34024:"MAX_RENDERBUFFER_SIZE",34041:"DEPTH_STENCIL",34055:"INCR_WRAP",34056:"DECR_WRAP",34067:"TEXTURE_CUBE_MAP",34068:"TEXTURE_BINDING_CUBE_MAP",34069:"TEXTURE_CUBE_MAP_POSITIVE_X",34070:"TEXTURE_CUBE_MAP_NEGATIVE_X",34071:"TEXTURE_CUBE_MAP_POSITIVE_Y",34072:"TEXTURE_CUBE_MAP_NEGATIVE_Y",34073:"TEXTURE_CUBE_MAP_POSITIVE_Z",34074:"TEXTURE_CUBE_MAP_NEGATIVE_Z",34076:"MAX_CUBE_MAP_TEXTURE_SIZE",34338:"VERTEX_ATTRIB_ARRAY_ENABLED",34339:"VERTEX_ATTRIB_ARRAY_SIZE",34340:"VERTEX_ATTRIB_ARRAY_STRIDE",34341:"VERTEX_ATTRIB_ARRAY_TYPE",34342:"CURRENT_VERTEX_ATTRIB",34373:"VERTEX_ATTRIB_ARRAY_POINTER",34466:"NUM_COMPRESSED_TEXTURE_FORMATS",34467:"COMPRESSED_TEXTURE_FORMATS",34660:"BUFFER_SIZE",34661:"BUFFER_USAGE",34816:"STENCIL_BACK_FUNC",34817:"STENCIL_BACK_FAIL",34818:"STENCIL_BACK_PASS_DEPTH_FAIL",34819:"STENCIL_BACK_PASS_DEPTH_PASS",34877:"BLEND_EQUATION_ALPHA",34921:"MAX_VERTEX_ATTRIBS",34922:"VERTEX_ATTRIB_ARRAY_NORMALIZED",34930:"MAX_TEXTURE_IMAGE_UNITS",34962:"ARRAY_BUFFER",34963:"ELEMENT_ARRAY_BUFFER",34964:"ARRAY_BUFFER_BINDING",34965:"ELEMENT_ARRAY_BUFFER_BINDING",34975:"VERTEX_ATTRIB_ARRAY_BUFFER_BINDING",35040:"STREAM_DRAW",35044:"STATIC_DRAW",35048:"DYNAMIC_DRAW",35632:"FRAGMENT_SHADER",35633:"VERTEX_SHADER",35660:"MAX_VERTEX_TEXTURE_IMAGE_UNITS",35661:"MAX_COMBINED_TEXTURE_IMAGE_UNITS",35663:"SHADER_TYPE",35664:"FLOAT_VEC2",35665:"FLOAT_VEC3",35666:"FLOAT_VEC4",35667:"INT_VEC2",35668:"INT_VEC3",35669:"INT_VEC4",35670:"BOOL",35671:"BOOL_VEC2",35672:"BOOL_VEC3",35673:"BOOL_VEC4",35674:"FLOAT_MAT2",35675:"FLOAT_MAT3",35676:"FLOAT_MAT4",35678:"SAMPLER_2D",35680:"SAMPLER_CUBE",35712:"DELETE_STATUS",35713:"COMPILE_STATUS",35714:"LINK_STATUS",35715:"VALIDATE_STATUS",35716:"INFO_LOG_LENGTH",35717:"ATTACHED_SHADERS",35718:"ACTIVE_UNIFORMS",35719:"ACTIVE_UNIFORM_MAX_LENGTH",35720:"SHADER_SOURCE_LENGTH",35721:"ACTIVE_ATTRIBUTES",35722:"ACTIVE_ATTRIBUTE_MAX_LENGTH",35724:"SHADING_LANGUAGE_VERSION",35725:"CURRENT_PROGRAM",36003:"STENCIL_BACK_REF",36004:"STENCIL_BACK_VALUE_MASK",36005:"STENCIL_BACK_WRITEMASK",36006:"FRAMEBUFFER_BINDING",36007:"RENDERBUFFER_BINDING",36048:"FRAMEBUFFER_ATTACHMENT_OBJECT_TYPE",36049:"FRAMEBUFFER_ATTACHMENT_OBJECT_NAME",36050:"FRAMEBUFFER_ATTACHMENT_TEXTURE_LEVEL",36051:"FRAMEBUFFER_ATTACHMENT_TEXTURE_CUBE_MAP_FACE",36053:"FRAMEBUFFER_COMPLETE",36054:"FRAMEBUFFER_INCOMPLETE_ATTACHMENT",36055:"FRAMEBUFFER_INCOMPLETE_MISSING_ATTACHMENT",36057:"FRAMEBUFFER_INCOMPLETE_DIMENSIONS",36061:"FRAMEBUFFER_UNSUPPORTED",36064:"COLOR_ATTACHMENT0",36096:"DEPTH_ATTACHMENT",36128:"STENCIL_ATTACHMENT",36160:"FRAMEBUFFER",36161:"RENDERBUFFER",36162:"RENDERBUFFER_WIDTH",36163:"RENDERBUFFER_HEIGHT",36164:"RENDERBUFFER_INTERNAL_FORMAT",36168:"STENCIL_INDEX8",36176:"RENDERBUFFER_RED_SIZE",36177:"RENDERBUFFER_GREEN_SIZE",36178:"RENDERBUFFER_BLUE_SIZE",36179:"RENDERBUFFER_ALPHA_SIZE",36180:"RENDERBUFFER_DEPTH_SIZE",36181:"RENDERBUFFER_STENCIL_SIZE",36194:"RGB565",36336:"LOW_FLOAT",36337:"MEDIUM_FLOAT",36338:"HIGH_FLOAT",36339:"LOW_INT",36340:"MEDIUM_INT",36341:"HIGH_INT",36346:"SHADER_COMPILER",36347:"MAX_VERTEX_UNIFORM_VECTORS",36348:"MAX_VARYING_VECTORS",36349:"MAX_FRAGMENT_UNIFORM_VECTORS",37440:"UNPACK_FLIP_Y_WEBGL",37441:"UNPACK_PREMULTIPLY_ALPHA_WEBGL",37442:"CONTEXT_LOST_WEBGL",37443:"UNPACK_COLORSPACE_CONVERSION_WEBGL",37444:"BROWSER_DEFAULT_WEBGL"}},{}],83:[function(t,e,r){var n=t("./1.0/numbers");e.exports=function(t){return n[t]}},{"./1.0/numbers":82}],84:[function(t,e,r){"use strict";e.exports=function(t){var e=t.gl,r=n(e),o=i(e,[{buffer:r,type:e.FLOAT,size:3,offset:0,stride:40},{buffer:r,type:e.FLOAT,size:4,offset:12,stride:40},{buffer:r,type:e.FLOAT,size:3,offset:28,stride:40}]),l=a(e);l.attributes.position.location=0,l.attributes.color.location=1,l.attributes.offset.location=2;var c=new s(e,r,o,l);return c.update(t),c};var n=t("gl-buffer"),i=t("gl-vao"),a=t("./shaders/index"),o=[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1];function s(t,e,r,n){this.gl=t,this.shader=n,this.buffer=e,this.vao=r,this.pixelRatio=1,this.bounds=[[1/0,1/0,1/0],[-1/0,-1/0,-1/0]],this.clipBounds=[[-1/0,-1/0,-1/0],[1/0,1/0,1/0]],this.lineWidth=[1,1,1],this.capSize=[10,10,10],this.lineCount=[0,0,0],this.lineOffset=[0,0,0],this.opacity=1,this.hasAlpha=!1}var l=s.prototype;function c(t,e){for(var r=0;r<3;++r)t[0][r]=Math.min(t[0][r],e[r]),t[1][r]=Math.max(t[1][r],e[r])}l.isOpaque=function(){return!this.hasAlpha},l.isTransparent=function(){return this.hasAlpha},l.drawTransparent=l.draw=function(t){var e=this.gl,r=this.shader.uniforms;this.shader.bind();var n=r.view=t.view||o,i=r.projection=t.projection||o;r.model=t.model||o,r.clipBounds=this.clipBounds,r.opacity=this.opacity;var a=n[12],s=n[13],l=n[14],c=n[15],u=(t._ortho||!1?2:1)*this.pixelRatio*(i[3]*a+i[7]*s+i[11]*l+i[15]*c)/e.drawingBufferHeight;this.vao.bind();for(var f=0;f<3;++f)e.lineWidth(this.lineWidth[f]*this.pixelRatio),r.capSize=this.capSize[f]*u,this.lineCount[f]&&e.drawArrays(e.LINES,this.lineOffset[f],this.lineCount[f]);this.vao.unbind()};var u=function(){for(var t=new Array(3),e=0;e<3;++e){for(var r=[],n=1;n<=2;++n)for(var i=-1;i<=1;i+=2){var a=[0,0,0];a[(n+e)%3]=i,r.push(a)}t[e]=r}return t}();function f(t,e,r,n){for(var i=u[n],a=0;a0)(m=u.slice())[s]+=p[1][s],i.push(u[0],u[1],u[2],d[0],d[1],d[2],d[3],0,0,0,m[0],m[1],m[2],d[0],d[1],d[2],d[3],0,0,0),c(this.bounds,m),o+=2+f(i,m,d,s)}}this.lineCount[s]=o-this.lineOffset[s]}this.buffer.update(i)}},l.dispose=function(){this.shader.dispose(),this.buffer.dispose(),this.vao.dispose()}},{"./shaders/index":85,"gl-buffer":78,"gl-vao":150}],85:[function(t,e,r){"use strict";var n=t("glslify"),i=t("gl-shader"),a=n(["precision highp float;\n#define GLSLIFY 1\n\nattribute vec3 position, offset;\nattribute vec4 color;\nuniform mat4 model, view, projection;\nuniform float capSize;\nvarying vec4 fragColor;\nvarying vec3 fragPosition;\n\nvoid main() {\n vec4 worldPosition = model * vec4(position, 1.0);\n worldPosition = (worldPosition / worldPosition.w) + vec4(capSize * offset, 0.0);\n gl_Position = projection * view * worldPosition;\n fragColor = color;\n fragPosition = position;\n}"]),o=n(["precision highp float;\n#define GLSLIFY 1\n\nbool outOfRange(float a, float b, float p) {\n return ((p > max(a, b)) || \n (p < min(a, b)));\n}\n\nbool outOfRange(vec2 a, vec2 b, vec2 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y));\n}\n\nbool outOfRange(vec3 a, vec3 b, vec3 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y) ||\n outOfRange(a.z, b.z, p.z));\n}\n\nbool outOfRange(vec4 a, vec4 b, vec4 p) {\n return outOfRange(a.xyz, b.xyz, p.xyz);\n}\n\nuniform vec3 clipBounds[2];\nuniform float opacity;\nvarying vec3 fragPosition;\nvarying vec4 fragColor;\n\nvoid main() {\n if (\n outOfRange(clipBounds[0], clipBounds[1], fragPosition) ||\n fragColor.a * opacity == 0.\n ) discard;\n\n gl_FragColor = opacity * fragColor;\n}"]);e.exports=function(t){return i(t,a,o,null,[{name:"position",type:"vec3"},{name:"color",type:"vec4"},{name:"offset",type:"vec3"}])}},{"gl-shader":132,glslify:231}],86:[function(t,e,r){"use strict";var n=t("gl-texture2d");e.exports=function(t,e,r,n){i||(i=t.FRAMEBUFFER_UNSUPPORTED,a=t.FRAMEBUFFER_INCOMPLETE_ATTACHMENT,o=t.FRAMEBUFFER_INCOMPLETE_DIMENSIONS,s=t.FRAMEBUFFER_INCOMPLETE_MISSING_ATTACHMENT);var c=t.getExtension("WEBGL_draw_buffers");!l&&c&&function(t,e){var r=t.getParameter(e.MAX_COLOR_ATTACHMENTS_WEBGL);l=new Array(r+1);for(var n=0;n<=r;++n){for(var i=new Array(r),a=0;au||r<0||r>u)throw new Error("gl-fbo: Parameters are too large for FBO");var f=1;if("color"in(n=n||{})){if((f=Math.max(0|n.color,0))<0)throw new Error("gl-fbo: Must specify a nonnegative number of colors");if(f>1){if(!c)throw new Error("gl-fbo: Multiple draw buffer extension not supported");if(f>t.getParameter(c.MAX_COLOR_ATTACHMENTS_WEBGL))throw new Error("gl-fbo: Context does not support "+f+" draw buffers")}}var h=t.UNSIGNED_BYTE,p=t.getExtension("OES_texture_float");if(n.float&&f>0){if(!p)throw new Error("gl-fbo: Context does not support floating point textures");h=t.FLOAT}else n.preferFloat&&f>0&&p&&(h=t.FLOAT);var m=!0;"depth"in n&&(m=!!n.depth);var g=!1;"stencil"in n&&(g=!!n.stencil);return new d(t,e,r,h,f,m,g,c)};var i,a,o,s,l=null;function c(t){return[t.getParameter(t.FRAMEBUFFER_BINDING),t.getParameter(t.RENDERBUFFER_BINDING),t.getParameter(t.TEXTURE_BINDING_2D)]}function u(t,e){t.bindFramebuffer(t.FRAMEBUFFER,e[0]),t.bindRenderbuffer(t.RENDERBUFFER,e[1]),t.bindTexture(t.TEXTURE_2D,e[2])}function f(t){switch(t){case i:throw new Error("gl-fbo: Framebuffer unsupported");case a:throw new Error("gl-fbo: Framebuffer incomplete attachment");case o:throw new Error("gl-fbo: Framebuffer incomplete dimensions");case s:throw new Error("gl-fbo: Framebuffer incomplete missing attachment");default:throw new Error("gl-fbo: Framebuffer failed for unspecified reason")}}function h(t,e,r,i,a,o){if(!i)return null;var s=n(t,e,r,a,i);return s.magFilter=t.NEAREST,s.minFilter=t.NEAREST,s.mipSamples=1,s.bind(),t.framebufferTexture2D(t.FRAMEBUFFER,o,t.TEXTURE_2D,s.handle,0),s}function p(t,e,r,n,i){var a=t.createRenderbuffer();return t.bindRenderbuffer(t.RENDERBUFFER,a),t.renderbufferStorage(t.RENDERBUFFER,n,e,r),t.framebufferRenderbuffer(t.FRAMEBUFFER,i,t.RENDERBUFFER,a),a}function d(t,e,r,n,i,a,o,s){this.gl=t,this._shape=[0|e,0|r],this._destroyed=!1,this._ext=s,this.color=new Array(i);for(var d=0;d1&&s.drawBuffersWEBGL(l[o]);var y=r.getExtension("WEBGL_depth_texture");y?d?t.depth=h(r,i,a,y.UNSIGNED_INT_24_8_WEBGL,r.DEPTH_STENCIL,r.DEPTH_STENCIL_ATTACHMENT):m&&(t.depth=h(r,i,a,r.UNSIGNED_SHORT,r.DEPTH_COMPONENT,r.DEPTH_ATTACHMENT)):m&&d?t._depth_rb=p(r,i,a,r.DEPTH_STENCIL,r.DEPTH_STENCIL_ATTACHMENT):m?t._depth_rb=p(r,i,a,r.DEPTH_COMPONENT16,r.DEPTH_ATTACHMENT):d&&(t._depth_rb=p(r,i,a,r.STENCIL_INDEX,r.STENCIL_ATTACHMENT));var x=r.checkFramebufferStatus(r.FRAMEBUFFER);if(x!==r.FRAMEBUFFER_COMPLETE){t._destroyed=!0,r.bindFramebuffer(r.FRAMEBUFFER,null),r.deleteFramebuffer(t.handle),t.handle=null,t.depth&&(t.depth.dispose(),t.depth=null),t._depth_rb&&(r.deleteRenderbuffer(t._depth_rb),t._depth_rb=null);for(v=0;vi||r<0||r>i)throw new Error("gl-fbo: Can't resize FBO, invalid dimensions");t._shape[0]=e,t._shape[1]=r;for(var a=c(n),o=0;o>8*p&255;this.pickOffset=r,i.bind();var d=i.uniforms;d.viewTransform=t,d.pickOffset=e,d.shape=this.shape;var m=i.attributes;return this.positionBuffer.bind(),m.position.pointer(),this.weightBuffer.bind(),m.weight.pointer(s.UNSIGNED_BYTE,!1),this.idBuffer.bind(),m.pickId.pointer(s.UNSIGNED_BYTE,!1),s.drawArrays(s.TRIANGLES,0,o),r+this.shape[0]*this.shape[1]}}}(),f.pick=function(t,e,r){var n=this.pickOffset,i=this.shape[0]*this.shape[1];if(r=n+i)return null;var a=r-n,o=this.xData,s=this.yData;return{object:this,pointId:a,dataCoord:[o[a%this.shape[0]],s[a/this.shape[0]|0]]}},f.update=function(t){var e=(t=t||{}).shape||[0,0],r=t.x||i(e[0]),o=t.y||i(e[1]),s=t.z||new Float32Array(e[0]*e[1]),l=!1!==t.zsmooth;this.xData=r,this.yData=o;var c,u,f,p,d=t.colorLevels||[0],m=t.colorValues||[0,0,0,1],g=d.length,v=this.bounds;l?(c=v[0]=r[0],u=v[1]=o[0],f=v[2]=r[r.length-1],p=v[3]=o[o.length-1]):(c=v[0]=r[0]+(r[1]-r[0])/2,u=v[1]=o[0]+(o[1]-o[0])/2,f=v[2]=r[r.length-1]+(r[r.length-1]-r[r.length-2])/2,p=v[3]=o[o.length-1]+(o[o.length-1]-o[o.length-2])/2);var y=1/(f-c),x=1/(p-u),b=e[0],_=e[1];this.shape=[b,_];var w=(l?(b-1)*(_-1):b*_)*(h.length>>>1);this.numVertices=w;for(var T=a.mallocUint8(4*w),k=a.mallocFloat32(2*w),A=a.mallocUint8(2*w),M=a.mallocUint32(w),S=0,E=l?b-1:b,L=l?_-1:_,C=0;C max(a, b)) || \n (p < min(a, b)));\n}\n\nbool outOfRange(vec2 a, vec2 b, vec2 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y));\n}\n\nbool outOfRange(vec3 a, vec3 b, vec3 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y) ||\n outOfRange(a.z, b.z, p.z));\n}\n\nbool outOfRange(vec4 a, vec4 b, vec4 p) {\n return outOfRange(a.xyz, b.xyz, p.xyz);\n}\n\nuniform vec3 clipBounds[2];\nuniform sampler2D dashTexture;\nuniform float dashScale;\nuniform float opacity;\n\nvarying vec3 worldPosition;\nvarying float pixelArcLength;\nvarying vec4 fragColor;\n\nvoid main() {\n if (\n outOfRange(clipBounds[0], clipBounds[1], worldPosition) ||\n fragColor.a * opacity == 0.\n ) discard;\n\n float dashWeight = texture2D(dashTexture, vec2(dashScale * pixelArcLength, 0)).r;\n if(dashWeight < 0.5) {\n discard;\n }\n gl_FragColor = fragColor * opacity;\n}\n"]),s=n(["precision highp float;\n#define GLSLIFY 1\n\n#define FLOAT_MAX 1.70141184e38\n#define FLOAT_MIN 1.17549435e-38\n\n// https://github.com/mikolalysenko/glsl-read-float/blob/master/index.glsl\nvec4 packFloat(float v) {\n float av = abs(v);\n\n //Handle special cases\n if(av < FLOAT_MIN) {\n return vec4(0.0, 0.0, 0.0, 0.0);\n } else if(v > FLOAT_MAX) {\n return vec4(127.0, 128.0, 0.0, 0.0) / 255.0;\n } else if(v < -FLOAT_MAX) {\n return vec4(255.0, 128.0, 0.0, 0.0) / 255.0;\n }\n\n vec4 c = vec4(0,0,0,0);\n\n //Compute exponent and mantissa\n float e = floor(log2(av));\n float m = av * pow(2.0, -e) - 1.0;\n\n //Unpack mantissa\n c[1] = floor(128.0 * m);\n m -= c[1] / 128.0;\n c[2] = floor(32768.0 * m);\n m -= c[2] / 32768.0;\n c[3] = floor(8388608.0 * m);\n\n //Unpack exponent\n float ebias = e + 127.0;\n c[0] = floor(ebias / 2.0);\n ebias -= c[0] * 2.0;\n c[1] += floor(ebias) * 128.0;\n\n //Unpack sign bit\n c[0] += 128.0 * step(0.0, -v);\n\n //Scale back to range\n return c / 255.0;\n}\n\nbool outOfRange(float a, float b, float p) {\n return ((p > max(a, b)) || \n (p < min(a, b)));\n}\n\nbool outOfRange(vec2 a, vec2 b, vec2 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y));\n}\n\nbool outOfRange(vec3 a, vec3 b, vec3 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y) ||\n outOfRange(a.z, b.z, p.z));\n}\n\nbool outOfRange(vec4 a, vec4 b, vec4 p) {\n return outOfRange(a.xyz, b.xyz, p.xyz);\n}\n\nuniform float pickId;\nuniform vec3 clipBounds[2];\n\nvarying vec3 worldPosition;\nvarying float pixelArcLength;\nvarying vec4 fragColor;\n\nvoid main() {\n if (outOfRange(clipBounds[0], clipBounds[1], worldPosition)) discard;\n\n gl_FragColor = vec4(pickId/255.0, packFloat(pixelArcLength).xyz);\n}"]),l=[{name:"position",type:"vec3"},{name:"nextPosition",type:"vec3"},{name:"arcLength",type:"float"},{name:"lineWidth",type:"float"},{name:"color",type:"vec4"}];r.createShader=function(t){return i(t,a,o,null,l)},r.createPickShader=function(t){return i(t,a,s,null,l)}},{"gl-shader":132,glslify:231}],91:[function(t,e,r){"use strict";e.exports=function(t){var e=t.gl||t.scene&&t.scene.gl,r=f(e);r.attributes.position.location=0,r.attributes.nextPosition.location=1,r.attributes.arcLength.location=2,r.attributes.lineWidth.location=3,r.attributes.color.location=4;var o=h(e);o.attributes.position.location=0,o.attributes.nextPosition.location=1,o.attributes.arcLength.location=2,o.attributes.lineWidth.location=3,o.attributes.color.location=4;for(var s=n(e),l=i(e,[{buffer:s,size:3,offset:0,stride:48},{buffer:s,size:3,offset:12,stride:48},{buffer:s,size:1,offset:24,stride:48},{buffer:s,size:1,offset:28,stride:48},{buffer:s,size:4,offset:32,stride:48}]),u=c(new Array(1024),[256,1,4]),p=0;p<1024;++p)u.data[p]=255;var d=a(e,u);d.wrap=e.REPEAT;var m=new v(e,r,o,s,l,d);return m.update(t),m};var n=t("gl-buffer"),i=t("gl-vao"),a=t("gl-texture2d"),o=new Uint8Array(4),s=new Float32Array(o.buffer);var l=t("binary-search-bounds"),c=t("ndarray"),u=t("./lib/shaders"),f=u.createShader,h=u.createPickShader,p=[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1];function d(t,e){for(var r=0,n=0;n<3;++n){var i=t[n]-e[n];r+=i*i}return Math.sqrt(r)}function m(t){for(var e=[[-1e6,-1e6,-1e6],[1e6,1e6,1e6]],r=0;r<3;++r)e[0][r]=Math.max(t[0][r],e[0][r]),e[1][r]=Math.min(t[1][r],e[1][r]);return e}function g(t,e,r,n){this.arcLength=t,this.position=e,this.index=r,this.dataCoordinate=n}function v(t,e,r,n,i,a){this.gl=t,this.shader=e,this.pickShader=r,this.buffer=n,this.vao=i,this.clipBounds=[[-1/0,-1/0,-1/0],[1/0,1/0,1/0]],this.points=[],this.arcLength=[],this.vertexCount=0,this.bounds=[[0,0,0],[0,0,0]],this.pickId=0,this.lineWidth=1,this.texture=a,this.dashScale=1,this.opacity=1,this.hasAlpha=!1,this.dirty=!0,this.pixelRatio=1}var y=v.prototype;y.isTransparent=function(){return this.hasAlpha},y.isOpaque=function(){return!this.hasAlpha},y.pickSlots=1,y.setPickBase=function(t){this.pickId=t},y.drawTransparent=y.draw=function(t){if(this.vertexCount){var e=this.gl,r=this.shader,n=this.vao;r.bind(),r.uniforms={model:t.model||p,view:t.view||p,projection:t.projection||p,clipBounds:m(this.clipBounds),dashTexture:this.texture.bind(),dashScale:this.dashScale/this.arcLength[this.arcLength.length-1],opacity:this.opacity,screenShape:[e.drawingBufferWidth,e.drawingBufferHeight],pixelRatio:this.pixelRatio},n.bind(),n.draw(e.TRIANGLE_STRIP,this.vertexCount),n.unbind()}},y.drawPick=function(t){if(this.vertexCount){var e=this.gl,r=this.pickShader,n=this.vao;r.bind(),r.uniforms={model:t.model||p,view:t.view||p,projection:t.projection||p,pickId:this.pickId,clipBounds:m(this.clipBounds),screenShape:[e.drawingBufferWidth,e.drawingBufferHeight],pixelRatio:this.pixelRatio},n.bind(),n.draw(e.TRIANGLE_STRIP,this.vertexCount),n.unbind()}},y.update=function(t){var e,r;this.dirty=!0;var n=!!t.connectGaps;"dashScale"in t&&(this.dashScale=t.dashScale),this.hasAlpha=!1,"opacity"in t&&(this.opacity=+t.opacity,this.opacity<1&&(this.hasAlpha=!0));var i=[],a=[],o=[],s=0,u=0,f=[[1/0,1/0,1/0],[-1/0,-1/0,-1/0]],h=t.position||t.positions;if(h){var p=t.color||t.colors||[0,0,0,1],m=t.lineWidth||1,g=!1;t:for(e=1;e0){for(var w=0;w<24;++w)i.push(i[i.length-12]);u+=2,g=!0}continue t}f[0][r]=Math.min(f[0][r],b[r],_[r]),f[1][r]=Math.max(f[1][r],b[r],_[r])}Array.isArray(p[0])?(v=p.length>e-1?p[e-1]:p.length>0?p[p.length-1]:[0,0,0,1],y=p.length>e?p[e]:p.length>0?p[p.length-1]:[0,0,0,1]):v=y=p,3===v.length&&(v=[v[0],v[1],v[2],1]),3===y.length&&(y=[y[0],y[1],y[2],1]),!this.hasAlpha&&v[3]<1&&(this.hasAlpha=!0),x=Array.isArray(m)?m.length>e-1?m[e-1]:m.length>0?m[m.length-1]:[0,0,0,1]:m;var T=s;if(s+=d(b,_),g){for(r=0;r<2;++r)i.push(b[0],b[1],b[2],_[0],_[1],_[2],T,x,v[0],v[1],v[2],v[3]);u+=2,g=!1}i.push(b[0],b[1],b[2],_[0],_[1],_[2],T,x,v[0],v[1],v[2],v[3],b[0],b[1],b[2],_[0],_[1],_[2],T,-x,v[0],v[1],v[2],v[3],_[0],_[1],_[2],b[0],b[1],b[2],s,-x,y[0],y[1],y[2],y[3],_[0],_[1],_[2],b[0],b[1],b[2],s,x,y[0],y[1],y[2],y[3]),u+=4}}if(this.buffer.update(i),a.push(s),o.push(h[h.length-1].slice()),this.bounds=f,this.vertexCount=u,this.points=o,this.arcLength=a,"dashes"in t){var k=t.dashes.slice();for(k.unshift(0),e=1;e1.0001)return null;v+=g[f]}if(Math.abs(v-1)>.001)return null;return[h,s(t,g),g]}},{barycentric:14,"polytope-closest-point/lib/closest_point_2d.js":270}],111:[function(t,e,r){var n=t("glslify"),i=n(["precision highp float;\n#define GLSLIFY 1\n\nattribute vec3 position, normal;\nattribute vec4 color;\nattribute vec2 uv;\n\nuniform mat4 model\n , view\n , projection\n , inverseModel;\nuniform vec3 eyePosition\n , lightPosition;\n\nvarying vec3 f_normal\n , f_lightDirection\n , f_eyeDirection\n , f_data;\nvarying vec4 f_color;\nvarying vec2 f_uv;\n\nvec4 project(vec3 p) {\n return projection * view * model * vec4(p, 1.0);\n}\n\nvoid main() {\n gl_Position = project(position);\n\n //Lighting geometry parameters\n vec4 cameraCoordinate = view * vec4(position , 1.0);\n cameraCoordinate.xyz /= cameraCoordinate.w;\n f_lightDirection = lightPosition - cameraCoordinate.xyz;\n f_eyeDirection = eyePosition - cameraCoordinate.xyz;\n f_normal = normalize((vec4(normal, 0.0) * inverseModel).xyz);\n\n f_color = color;\n f_data = position;\n f_uv = uv;\n}\n"]),a=n(["#extension GL_OES_standard_derivatives : enable\n\nprecision highp float;\n#define GLSLIFY 1\n\nfloat beckmannDistribution(float x, float roughness) {\n float NdotH = max(x, 0.0001);\n float cos2Alpha = NdotH * NdotH;\n float tan2Alpha = (cos2Alpha - 1.0) / cos2Alpha;\n float roughness2 = roughness * roughness;\n float denom = 3.141592653589793 * roughness2 * cos2Alpha * cos2Alpha;\n return exp(tan2Alpha / roughness2) / denom;\n}\n\nfloat cookTorranceSpecular(\n vec3 lightDirection,\n vec3 viewDirection,\n vec3 surfaceNormal,\n float roughness,\n float fresnel) {\n\n float VdotN = max(dot(viewDirection, surfaceNormal), 0.0);\n float LdotN = max(dot(lightDirection, surfaceNormal), 0.0);\n\n //Half angle vector\n vec3 H = normalize(lightDirection + viewDirection);\n\n //Geometric term\n float NdotH = max(dot(surfaceNormal, H), 0.0);\n float VdotH = max(dot(viewDirection, H), 0.000001);\n float LdotH = max(dot(lightDirection, H), 0.000001);\n float G1 = (2.0 * NdotH * VdotN) / VdotH;\n float G2 = (2.0 * NdotH * LdotN) / LdotH;\n float G = min(1.0, min(G1, G2));\n \n //Distribution term\n float D = beckmannDistribution(NdotH, roughness);\n\n //Fresnel term\n float F = pow(1.0 - VdotN, fresnel);\n\n //Multiply terms and done\n return G * F * D / max(3.14159265 * VdotN, 0.000001);\n}\n\n//#pragma glslify: beckmann = require(glsl-specular-beckmann) // used in gl-surface3d\n\nbool outOfRange(float a, float b, float p) {\n return ((p > max(a, b)) || \n (p < min(a, b)));\n}\n\nbool outOfRange(vec2 a, vec2 b, vec2 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y));\n}\n\nbool outOfRange(vec3 a, vec3 b, vec3 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y) ||\n outOfRange(a.z, b.z, p.z));\n}\n\nbool outOfRange(vec4 a, vec4 b, vec4 p) {\n return outOfRange(a.xyz, b.xyz, p.xyz);\n}\n\nuniform vec3 clipBounds[2];\nuniform float roughness\n , fresnel\n , kambient\n , kdiffuse\n , kspecular;\nuniform sampler2D texture;\n\nvarying vec3 f_normal\n , f_lightDirection\n , f_eyeDirection\n , f_data;\nvarying vec4 f_color;\nvarying vec2 f_uv;\n\nvoid main() {\n if (f_color.a == 0.0 ||\n outOfRange(clipBounds[0], clipBounds[1], f_data)\n ) discard;\n\n vec3 N = normalize(f_normal);\n vec3 L = normalize(f_lightDirection);\n vec3 V = normalize(f_eyeDirection);\n\n if(gl_FrontFacing) {\n N = -N;\n }\n\n float specular = min(1.0, max(0.0, cookTorranceSpecular(L, V, N, roughness, fresnel)));\n //float specular = max(0.0, beckmann(L, V, N, roughness)); // used in gl-surface3d\n\n float diffuse = min(kambient + kdiffuse * max(dot(N, L), 0.0), 1.0);\n\n vec4 surfaceColor = vec4(f_color.rgb, 1.0) * texture2D(texture, f_uv);\n vec4 litColor = surfaceColor.a * vec4(diffuse * surfaceColor.rgb + kspecular * vec3(1,1,1) * specular, 1.0);\n\n gl_FragColor = litColor * f_color.a;\n}\n"]),o=n(["precision highp float;\n#define GLSLIFY 1\n\nattribute vec3 position;\nattribute vec4 color;\nattribute vec2 uv;\n\nuniform mat4 model, view, projection;\n\nvarying vec4 f_color;\nvarying vec3 f_data;\nvarying vec2 f_uv;\n\nvoid main() {\n gl_Position = projection * view * model * vec4(position, 1.0);\n f_color = color;\n f_data = position;\n f_uv = uv;\n}"]),s=n(["precision highp float;\n#define GLSLIFY 1\n\nbool outOfRange(float a, float b, float p) {\n return ((p > max(a, b)) || \n (p < min(a, b)));\n}\n\nbool outOfRange(vec2 a, vec2 b, vec2 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y));\n}\n\nbool outOfRange(vec3 a, vec3 b, vec3 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y) ||\n outOfRange(a.z, b.z, p.z));\n}\n\nbool outOfRange(vec4 a, vec4 b, vec4 p) {\n return outOfRange(a.xyz, b.xyz, p.xyz);\n}\n\nuniform vec3 clipBounds[2];\nuniform sampler2D texture;\nuniform float opacity;\n\nvarying vec4 f_color;\nvarying vec3 f_data;\nvarying vec2 f_uv;\n\nvoid main() {\n if (outOfRange(clipBounds[0], clipBounds[1], f_data)) discard;\n\n gl_FragColor = f_color * texture2D(texture, f_uv) * opacity;\n}"]),l=n(["precision highp float;\n#define GLSLIFY 1\n\nbool outOfRange(float a, float b, float p) {\n return ((p > max(a, b)) || \n (p < min(a, b)));\n}\n\nbool outOfRange(vec2 a, vec2 b, vec2 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y));\n}\n\nbool outOfRange(vec3 a, vec3 b, vec3 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y) ||\n outOfRange(a.z, b.z, p.z));\n}\n\nbool outOfRange(vec4 a, vec4 b, vec4 p) {\n return outOfRange(a.xyz, b.xyz, p.xyz);\n}\n\nattribute vec3 position;\nattribute vec4 color;\nattribute vec2 uv;\nattribute float pointSize;\n\nuniform mat4 model, view, projection;\nuniform vec3 clipBounds[2];\n\nvarying vec4 f_color;\nvarying vec2 f_uv;\n\nvoid main() {\n if (outOfRange(clipBounds[0], clipBounds[1], position)) {\n\n gl_Position = vec4(0.0, 0.0 ,0.0 ,0.0);\n } else {\n gl_Position = projection * view * model * vec4(position, 1.0);\n }\n gl_PointSize = pointSize;\n f_color = color;\n f_uv = uv;\n}"]),c=n(["precision highp float;\n#define GLSLIFY 1\n\nuniform sampler2D texture;\nuniform float opacity;\n\nvarying vec4 f_color;\nvarying vec2 f_uv;\n\nvoid main() {\n vec2 pointR = gl_PointCoord.xy - vec2(0.5, 0.5);\n if(dot(pointR, pointR) > 0.25) {\n discard;\n }\n gl_FragColor = f_color * texture2D(texture, f_uv) * opacity;\n}"]),u=n(["precision highp float;\n#define GLSLIFY 1\n\nattribute vec3 position;\nattribute vec4 id;\n\nuniform mat4 model, view, projection;\n\nvarying vec3 f_position;\nvarying vec4 f_id;\n\nvoid main() {\n gl_Position = projection * view * model * vec4(position, 1.0);\n f_id = id;\n f_position = position;\n}"]),f=n(["precision highp float;\n#define GLSLIFY 1\n\nbool outOfRange(float a, float b, float p) {\n return ((p > max(a, b)) || \n (p < min(a, b)));\n}\n\nbool outOfRange(vec2 a, vec2 b, vec2 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y));\n}\n\nbool outOfRange(vec3 a, vec3 b, vec3 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y) ||\n outOfRange(a.z, b.z, p.z));\n}\n\nbool outOfRange(vec4 a, vec4 b, vec4 p) {\n return outOfRange(a.xyz, b.xyz, p.xyz);\n}\n\nuniform vec3 clipBounds[2];\nuniform float pickId;\n\nvarying vec3 f_position;\nvarying vec4 f_id;\n\nvoid main() {\n if (outOfRange(clipBounds[0], clipBounds[1], f_position)) discard;\n\n gl_FragColor = vec4(pickId, f_id.xyz);\n}"]),h=n(["precision highp float;\n#define GLSLIFY 1\n\nbool outOfRange(float a, float b, float p) {\n return ((p > max(a, b)) || \n (p < min(a, b)));\n}\n\nbool outOfRange(vec2 a, vec2 b, vec2 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y));\n}\n\nbool outOfRange(vec3 a, vec3 b, vec3 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y) ||\n outOfRange(a.z, b.z, p.z));\n}\n\nbool outOfRange(vec4 a, vec4 b, vec4 p) {\n return outOfRange(a.xyz, b.xyz, p.xyz);\n}\n\nattribute vec3 position;\nattribute float pointSize;\nattribute vec4 id;\n\nuniform mat4 model, view, projection;\nuniform vec3 clipBounds[2];\n\nvarying vec3 f_position;\nvarying vec4 f_id;\n\nvoid main() {\n if (outOfRange(clipBounds[0], clipBounds[1], position)) {\n\n gl_Position = vec4(0.0, 0.0, 0.0, 0.0);\n } else {\n gl_Position = projection * view * model * vec4(position, 1.0);\n gl_PointSize = pointSize;\n }\n f_id = id;\n f_position = position;\n}"]),p=n(["precision highp float;\n#define GLSLIFY 1\n\nattribute vec3 position;\n\nuniform mat4 model, view, projection;\n\nvoid main() {\n gl_Position = projection * view * model * vec4(position, 1.0);\n}"]),d=n(["precision highp float;\n#define GLSLIFY 1\n\nuniform vec3 contourColor;\n\nvoid main() {\n gl_FragColor = vec4(contourColor, 1.0);\n}\n"]);r.meshShader={vertex:i,fragment:a,attributes:[{name:"position",type:"vec3"},{name:"normal",type:"vec3"},{name:"color",type:"vec4"},{name:"uv",type:"vec2"}]},r.wireShader={vertex:o,fragment:s,attributes:[{name:"position",type:"vec3"},{name:"color",type:"vec4"},{name:"uv",type:"vec2"}]},r.pointShader={vertex:l,fragment:c,attributes:[{name:"position",type:"vec3"},{name:"color",type:"vec4"},{name:"uv",type:"vec2"},{name:"pointSize",type:"float"}]},r.pickShader={vertex:u,fragment:f,attributes:[{name:"position",type:"vec3"},{name:"id",type:"vec4"}]},r.pointPickShader={vertex:h,fragment:f,attributes:[{name:"position",type:"vec3"},{name:"pointSize",type:"float"},{name:"id",type:"vec4"}]},r.contourShader={vertex:p,fragment:d,attributes:[{name:"position",type:"vec3"}]}},{glslify:231}],112:[function(t,e,r){"use strict";var n=t("gl-shader"),i=t("gl-buffer"),a=t("gl-vao"),o=t("gl-texture2d"),s=t("normals"),l=t("gl-mat4/multiply"),c=t("gl-mat4/invert"),u=t("ndarray"),f=t("colormap"),h=t("simplicial-complex-contour"),p=t("typedarray-pool"),d=t("./lib/shaders"),m=t("./lib/closest-point"),g=d.meshShader,v=d.wireShader,y=d.pointShader,x=d.pickShader,b=d.pointPickShader,_=d.contourShader,w=[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1];function T(t,e,r,n,i,a,o,s,l,c,u,f,h,p,d,m,g,v,y,x,b,_,T,k,A,M,S){this.gl=t,this.pixelRatio=1,this.cells=[],this.positions=[],this.intensity=[],this.texture=e,this.dirty=!0,this.triShader=r,this.lineShader=n,this.pointShader=i,this.pickShader=a,this.pointPickShader=o,this.contourShader=s,this.trianglePositions=l,this.triangleColors=u,this.triangleNormals=h,this.triangleUVs=f,this.triangleIds=c,this.triangleVAO=p,this.triangleCount=0,this.lineWidth=1,this.edgePositions=d,this.edgeColors=g,this.edgeUVs=v,this.edgeIds=m,this.edgeVAO=y,this.edgeCount=0,this.pointPositions=x,this.pointColors=_,this.pointUVs=T,this.pointSizes=k,this.pointIds=b,this.pointVAO=A,this.pointCount=0,this.contourLineWidth=1,this.contourPositions=M,this.contourVAO=S,this.contourCount=0,this.contourColor=[0,0,0],this.contourEnable=!0,this.pickVertex=!0,this.pickId=1,this.bounds=[[1/0,1/0,1/0],[-1/0,-1/0,-1/0]],this.clipBounds=[[-1/0,-1/0,-1/0],[1/0,1/0,1/0]],this.lightPosition=[1e5,1e5,0],this.ambientLight=.8,this.diffuseLight=.8,this.specularLight=2,this.roughness=.5,this.fresnel=1.5,this.opacity=1,this.hasAlpha=!1,this.opacityscale=!1,this._model=w,this._view=w,this._projection=w,this._resolution=[1,1]}var k=T.prototype;function A(t,e){if(!e)return 1;if(!e.length)return 1;for(var r=0;rt&&r>0){var n=(e[r][0]-t)/(e[r][0]-e[r-1][0]);return e[r][1]*(1-n)+n*e[r-1][1]}}return 1}function M(t){var e=n(t,g.vertex,g.fragment);return e.attributes.position.location=0,e.attributes.color.location=2,e.attributes.uv.location=3,e.attributes.normal.location=4,e}function S(t){var e=n(t,v.vertex,v.fragment);return e.attributes.position.location=0,e.attributes.color.location=2,e.attributes.uv.location=3,e}function E(t){var e=n(t,y.vertex,y.fragment);return e.attributes.position.location=0,e.attributes.color.location=2,e.attributes.uv.location=3,e.attributes.pointSize.location=4,e}function L(t){var e=n(t,x.vertex,x.fragment);return e.attributes.position.location=0,e.attributes.id.location=1,e}function C(t){var e=n(t,b.vertex,b.fragment);return e.attributes.position.location=0,e.attributes.id.location=1,e.attributes.pointSize.location=4,e}function P(t){var e=n(t,_.vertex,_.fragment);return e.attributes.position.location=0,e}k.isOpaque=function(){return!this.hasAlpha},k.isTransparent=function(){return this.hasAlpha},k.pickSlots=1,k.setPickBase=function(t){this.pickId=t},k.highlight=function(t){if(t&&this.contourEnable){for(var e=h(this.cells,this.intensity,t.intensity),r=e.cells,n=e.vertexIds,i=e.vertexWeights,a=r.length,o=p.mallocFloat32(6*a),s=0,l=0;l0&&((f=this.triShader).bind(),f.uniforms=s,this.triangleVAO.bind(),e.drawArrays(e.TRIANGLES,0,3*this.triangleCount),this.triangleVAO.unbind());this.edgeCount>0&&this.lineWidth>0&&((f=this.lineShader).bind(),f.uniforms=s,this.edgeVAO.bind(),e.lineWidth(this.lineWidth*this.pixelRatio),e.drawArrays(e.LINES,0,2*this.edgeCount),this.edgeVAO.unbind());this.pointCount>0&&((f=this.pointShader).bind(),f.uniforms=s,this.pointVAO.bind(),e.drawArrays(e.POINTS,0,this.pointCount),this.pointVAO.unbind());this.contourEnable&&this.contourCount>0&&this.contourLineWidth>0&&((f=this.contourShader).bind(),f.uniforms=s,this.contourVAO.bind(),e.drawArrays(e.LINES,0,this.contourCount),this.contourVAO.unbind())},k.drawPick=function(t){t=t||{};for(var e=this.gl,r=t.model||w,n=t.view||w,i=t.projection||w,a=[[-1e6,-1e6,-1e6],[1e6,1e6,1e6]],o=0;o<3;++o)a[0][o]=Math.max(a[0][o],this.clipBounds[0][o]),a[1][o]=Math.min(a[1][o],this.clipBounds[1][o]);this._model=[].slice.call(r),this._view=[].slice.call(n),this._projection=[].slice.call(i),this._resolution=[e.drawingBufferWidth,e.drawingBufferHeight];var s,l={model:r,view:n,projection:i,clipBounds:a,pickId:this.pickId/255};((s=this.pickShader).bind(),s.uniforms=l,this.triangleCount>0&&(this.triangleVAO.bind(),e.drawArrays(e.TRIANGLES,0,3*this.triangleCount),this.triangleVAO.unbind()),this.edgeCount>0&&(this.edgeVAO.bind(),e.lineWidth(this.lineWidth*this.pixelRatio),e.drawArrays(e.LINES,0,2*this.edgeCount),this.edgeVAO.unbind()),this.pointCount>0)&&((s=this.pointPickShader).bind(),s.uniforms=l,this.pointVAO.bind(),e.drawArrays(e.POINTS,0,this.pointCount),this.pointVAO.unbind())},k.pick=function(t){if(!t)return null;if(t.id!==this.pickId)return null;for(var e=t.value[0]+256*t.value[1]+65536*t.value[2],r=this.cells[e],n=this.positions,i=new Array(r.length),a=0;ai[k]&&(r.uniforms.dataAxis=c,r.uniforms.screenOffset=u,r.uniforms.color=g[t],r.uniforms.angle=v[t],a.drawArrays(a.TRIANGLES,i[k],i[A]-i[k]))),y[t]&&T&&(u[1^t]-=M*p*x[t],r.uniforms.dataAxis=f,r.uniforms.screenOffset=u,r.uniforms.color=b[t],r.uniforms.angle=_[t],a.drawArrays(a.TRIANGLES,w,T)),u[1^t]=M*s[2+(1^t)]-1,d[t+2]&&(u[1^t]+=M*p*m[t+2],ki[k]&&(r.uniforms.dataAxis=c,r.uniforms.screenOffset=u,r.uniforms.color=g[t+2],r.uniforms.angle=v[t+2],a.drawArrays(a.TRIANGLES,i[k],i[A]-i[k]))),y[t+2]&&T&&(u[1^t]+=M*p*x[t+2],r.uniforms.dataAxis=f,r.uniforms.screenOffset=u,r.uniforms.color=b[t+2],r.uniforms.angle=_[t+2],a.drawArrays(a.TRIANGLES,w,T))}),m.drawTitle=function(){var t=[0,0],e=[0,0];return function(){var r=this.plot,n=this.shader,i=r.gl,a=r.screenBox,o=r.titleCenter,s=r.titleAngle,l=r.titleColor,c=r.pixelRatio;if(this.titleCount){for(var u=0;u<2;++u)e[u]=2*(o[u]*c-a[u])/(a[2+u]-a[u])-1;n.bind(),n.uniforms.dataAxis=t,n.uniforms.screenOffset=e,n.uniforms.angle=s,n.uniforms.color=l,i.drawArrays(i.TRIANGLES,this.titleOffset,this.titleCount)}}}(),m.bind=(h=[0,0],p=[0,0],d=[0,0],function(){var t=this.plot,e=this.shader,r=t._tickBounds,n=t.dataBox,i=t.screenBox,a=t.viewBox;e.bind();for(var o=0;o<2;++o){var s=r[o],l=r[o+2]-s,c=.5*(n[o+2]+n[o]),u=n[o+2]-n[o],f=a[o],m=a[o+2]-f,g=i[o],v=i[o+2]-g;p[o]=2*l/u*m/v,h[o]=2*(s-c)/u*m/v}d[1]=2*t.pixelRatio/(i[3]-i[1]),d[0]=d[1]*(i[3]-i[1])/(i[2]-i[0]),e.uniforms.dataScale=p,e.uniforms.dataShift=h,e.uniforms.textScale=d,this.vbo.bind(),e.attributes.textCoordinate.pointer()}),m.update=function(t){var e,r,n,i,o,s=[],l=t.ticks,c=t.bounds;for(o=0;o<2;++o){var u=[Math.floor(s.length/3)],f=[-1/0],h=l[o];for(e=0;e=0){var m=e[d]-n[d]*(e[d+2]-e[d])/(n[d+2]-n[d]);0===d?o.drawLine(m,e[1],m,e[3],p[d],h[d]):o.drawLine(e[0],m,e[2],m,p[d],h[d])}}for(d=0;d=0;--t)this.objects[t].dispose();this.objects.length=0;for(t=this.overlays.length-1;t>=0;--t)this.overlays[t].dispose();this.overlays.length=0,this.gl=null},c.addObject=function(t){this.objects.indexOf(t)<0&&(this.objects.push(t),this.setDirty())},c.removeObject=function(t){for(var e=this.objects,r=0;rMath.abs(e))c.rotate(a,0,0,-t*r*Math.PI*d.rotateSpeed/window.innerWidth);else if(!d._ortho){var o=-d.zoomSpeed*i*e/window.innerHeight*(a-c.lastT())/20;c.pan(a,0,0,f*(Math.exp(o)-1))}}}),!0)},d.enableMouseListeners(),d};var n=t("right-now"),i=t("3d-view"),a=t("mouse-change"),o=t("mouse-wheel"),s=t("mouse-event-offset"),l=t("has-passive-events")},{"3d-view":7,"has-passive-events":232,"mouse-change":247,"mouse-event-offset":248,"mouse-wheel":250,"right-now":278}],120:[function(t,e,r){var n=t("glslify"),i=t("gl-shader"),a=n(["precision mediump float;\n#define GLSLIFY 1\nattribute vec2 position;\nvarying vec2 uv;\nvoid main() {\n uv = position;\n gl_Position = vec4(position, 0, 1);\n}"]),o=n(["precision mediump float;\n#define GLSLIFY 1\n\nuniform sampler2D accumBuffer;\nvarying vec2 uv;\n\nvoid main() {\n vec4 accum = texture2D(accumBuffer, 0.5 * (uv + 1.0));\n gl_FragColor = min(vec4(1,1,1,1), accum);\n}"]);e.exports=function(t){return i(t,a,o,null,[{name:"position",type:"vec2"}])}},{"gl-shader":132,glslify:231}],121:[function(t,e,r){"use strict";var n=t("./camera.js"),i=t("gl-axes3d"),a=t("gl-axes3d/properties"),o=t("gl-spikes3d"),s=t("gl-select-static"),l=t("gl-fbo"),c=t("a-big-triangle"),u=t("mouse-change"),f=t("gl-mat4/perspective"),h=t("gl-mat4/ortho"),p=t("./lib/shader"),d=t("is-mobile")({tablet:!0,featureDetect:!0});function m(){this.mouse=[-1,-1],this.screen=null,this.distance=1/0,this.index=null,this.dataCoordinate=null,this.dataPosition=null,this.object=null,this.data=null}function g(t){var e=Math.round(Math.log(Math.abs(t))/Math.log(10));if(e<0){var r=Math.round(Math.pow(10,-e));return Math.ceil(t*r)/r}if(e>0){r=Math.round(Math.pow(10,e));return Math.ceil(t/r)*r}return Math.ceil(t)}function v(t){return"boolean"!=typeof t||t}e.exports={createScene:function(t){(t=t||{}).camera=t.camera||{};var e=t.canvas;if(!e){if(e=document.createElement("canvas"),t.container)t.container.appendChild(e);else document.body.appendChild(e)}var r=t.gl;r||(t.glOptions&&(d=!!t.glOptions.preserveDrawingBuffer),r=function(t,e){var r=null;try{(r=t.getContext("webgl",e))||(r=t.getContext("experimental-webgl",e))}catch(t){return null}return r}(e,t.glOptions||{premultipliedAlpha:!0,antialias:!0,preserveDrawingBuffer:d}));if(!r)throw new Error("webgl not supported");var y=t.bounds||[[-10,-10,-10],[10,10,10]],x=new m,b=l(r,r.drawingBufferWidth,r.drawingBufferHeight,{preferFloat:!d}),_=p(r),w=t.cameraObject&&!0===t.cameraObject._ortho||t.camera.projection&&"orthographic"===t.camera.projection.type||!1,T={eye:t.camera.eye||[2,0,0],center:t.camera.center||[0,0,0],up:t.camera.up||[0,1,0],zoomMin:t.camera.zoomMax||.1,zoomMax:t.camera.zoomMin||100,mode:t.camera.mode||"turntable",_ortho:w},k=t.axes||{},A=i(r,k);A.enable=!k.disable;var M=t.spikes||{},S=o(r,M),E=[],L=[],C=[],P=[],I=!0,O=!0,z=new Array(16),D=new Array(16),R={view:null,projection:z,model:D,_ortho:!1},F=(O=!0,[r.drawingBufferWidth,r.drawingBufferHeight]),B=t.cameraObject||n(e,T),N={gl:r,contextLost:!1,pixelRatio:t.pixelRatio||1,canvas:e,selection:x,camera:B,axes:A,axesPixels:null,spikes:S,bounds:y,objects:E,shape:F,aspect:t.aspectRatio||[1,1,1],pickRadius:t.pickRadius||10,zNear:t.zNear||.01,zFar:t.zFar||1e3,fovy:t.fovy||Math.PI/4,clearColor:t.clearColor||[0,0,0,0],autoResize:v(t.autoResize),autoBounds:v(t.autoBounds),autoScale:!!t.autoScale,autoCenter:v(t.autoCenter),clipToBounds:v(t.clipToBounds),snapToData:!!t.snapToData,onselect:t.onselect||null,onrender:t.onrender||null,onclick:t.onclick||null,cameraParams:R,oncontextloss:null,mouseListener:null,_stopped:!1,getAspectratio:function(){return{x:this.aspect[0],y:this.aspect[1],z:this.aspect[2]}},setAspectratio:function(t){this.aspect[0]=t.x,this.aspect[1]=t.y,this.aspect[2]=t.z,O=!0},setBounds:function(t,e){this.bounds[0][t]=e.min,this.bounds[1][t]=e.max},setClearColor:function(t){this.clearColor=t},clearRGBA:function(){this.gl.clearColor(this.clearColor[0],this.clearColor[1],this.clearColor[2],this.clearColor[3]),this.gl.clear(this.gl.COLOR_BUFFER_BIT|this.gl.DEPTH_BUFFER_BIT)}},j=[r.drawingBufferWidth/N.pixelRatio|0,r.drawingBufferHeight/N.pixelRatio|0];function U(){if(!N._stopped&&N.autoResize){var t=e.parentNode,r=1,n=1;t&&t!==document.body?(r=t.clientWidth,n=t.clientHeight):(r=window.innerWidth,n=window.innerHeight);var i=0|Math.ceil(r*N.pixelRatio),a=0|Math.ceil(n*N.pixelRatio);if(i!==e.width||a!==e.height){e.width=i,e.height=a;var o=e.style;o.position=o.position||"absolute",o.left="0px",o.top="0px",o.width=r+"px",o.height=n+"px",I=!0}}}N.autoResize&&U();function V(){for(var t=E.length,e=P.length,n=0;n0&&0===C[e-1];)C.pop(),P.pop().dispose()}function H(){if(N.contextLost)return!0;r.isContextLost()&&(N.contextLost=!0,N.mouseListener.enabled=!1,N.selection.object=null,N.oncontextloss&&N.oncontextloss())}window.addEventListener("resize",U),N.update=function(t){N._stopped||(t=t||{},I=!0,O=!0)},N.add=function(t){N._stopped||(t.axes=A,E.push(t),L.push(-1),I=!0,O=!0,V())},N.remove=function(t){if(!N._stopped){var e=E.indexOf(t);e<0||(E.splice(e,1),L.pop(),I=!0,O=!0,V())}},N.dispose=function(){if(!N._stopped&&(N._stopped=!0,window.removeEventListener("resize",U),e.removeEventListener("webglcontextlost",H),N.mouseListener.enabled=!1,!N.contextLost)){A.dispose(),S.dispose();for(var t=0;tx.distance)continue;for(var c=0;c 1.0) {\n discard;\n }\n baseColor = mix(borderColor, color, step(radius, centerFraction));\n gl_FragColor = vec4(baseColor.rgb * baseColor.a, baseColor.a);\n }\n}\n"]),r.pickVertex=n(["precision mediump float;\n#define GLSLIFY 1\n\nattribute vec2 position;\nattribute vec4 pickId;\n\nuniform mat3 matrix;\nuniform float pointSize;\nuniform vec4 pickOffset;\n\nvarying vec4 fragId;\n\nvoid main() {\n vec3 hgPosition = matrix * vec3(position, 1);\n gl_Position = vec4(hgPosition.xy, 0, hgPosition.z);\n gl_PointSize = pointSize;\n\n vec4 id = pickId + pickOffset;\n id.y += floor(id.x / 256.0);\n id.x -= floor(id.x / 256.0) * 256.0;\n\n id.z += floor(id.y / 256.0);\n id.y -= floor(id.y / 256.0) * 256.0;\n\n id.w += floor(id.z / 256.0);\n id.z -= floor(id.z / 256.0) * 256.0;\n\n fragId = id;\n}\n"]),r.pickFragment=n(["precision mediump float;\n#define GLSLIFY 1\n\nvarying vec4 fragId;\n\nvoid main() {\n float radius = length(2.0 * gl_PointCoord.xy - 1.0);\n if(radius > 1.0) {\n discard;\n }\n gl_FragColor = fragId / 255.0;\n}\n"])},{glslify:231}],123:[function(t,e,r){"use strict";var n=t("gl-shader"),i=t("gl-buffer"),a=t("typedarray-pool"),o=t("./lib/shader");function s(t,e,r,n,i){this.plot=t,this.offsetBuffer=e,this.pickBuffer=r,this.shader=n,this.pickShader=i,this.sizeMin=.5,this.sizeMinCap=2,this.sizeMax=20,this.areaRatio=1,this.pointCount=0,this.color=[1,0,0,1],this.borderColor=[0,0,0,1],this.blend=!1,this.pickOffset=0,this.points=null}e.exports=function(t,e){var r=t.gl,a=i(r),l=i(r),c=n(r,o.pointVertex,o.pointFragment),u=n(r,o.pickVertex,o.pickFragment),f=new s(t,a,l,c,u);return f.update(e),t.addObject(f),f};var l,c,u=s.prototype;u.dispose=function(){this.shader.dispose(),this.pickShader.dispose(),this.offsetBuffer.dispose(),this.pickBuffer.dispose(),this.plot.removeObject(this)},u.update=function(t){var e;function r(e,r){return e in t?t[e]:r}t=t||{},this.sizeMin=r("sizeMin",.5),this.sizeMax=r("sizeMax",20),this.color=r("color",[1,0,0,1]).slice(),this.areaRatio=r("areaRatio",1),this.borderColor=r("borderColor",[0,0,0,1]).slice(),this.blend=r("blend",!1);var n=t.positions.length>>>1,i=t.positions instanceof Float32Array,o=t.idToIndex instanceof Int32Array&&t.idToIndex.length>=n,s=t.positions,l=i?s:a.mallocFloat32(s.length),c=o?t.idToIndex:a.mallocInt32(n);if(i||l.set(s),!o)for(l.set(s),e=0;e>>1;for(r=0;r=e[0]&&a<=e[2]&&o>=e[1]&&o<=e[3]&&n++}return n}(this.points,i),u=this.plot.pickPixelRatio*Math.max(Math.min(this.sizeMinCap,this.sizeMin),Math.min(this.sizeMax,this.sizeMax/Math.pow(s,.33333)));l[0]=2/a,l[4]=2/o,l[6]=-2*i[0]/a-1,l[7]=-2*i[1]/o-1,this.offsetBuffer.bind(),r.bind(),r.attributes.position.pointer(),r.uniforms.matrix=l,r.uniforms.color=this.color,r.uniforms.borderColor=this.borderColor,r.uniforms.pointCloud=u<5,r.uniforms.pointSize=u,r.uniforms.centerFraction=Math.min(1,Math.max(0,Math.sqrt(1-this.areaRatio))),e&&(c[0]=255&t,c[1]=t>>8&255,c[2]=t>>16&255,c[3]=t>>24&255,this.pickBuffer.bind(),r.attributes.pickId.pointer(n.UNSIGNED_BYTE),r.uniforms.pickOffset=c,this.pickOffset=t);var f=n.getParameter(n.BLEND),h=n.getParameter(n.DITHER);return f&&!this.blend&&n.disable(n.BLEND),h&&n.disable(n.DITHER),n.drawArrays(n.POINTS,0,this.pointCount),f&&!this.blend&&n.enable(n.BLEND),h&&n.enable(n.DITHER),t+this.pointCount}),u.draw=u.unifiedDraw,u.drawPick=u.unifiedDraw,u.pick=function(t,e,r){var n=this.pickOffset,i=this.pointCount;if(r=n+i)return null;var a=r-n,o=this.points;return{object:this,pointId:a,dataCoord:[o[2*a],o[2*a+1]]}}},{"./lib/shader":122,"gl-buffer":78,"gl-shader":132,"typedarray-pool":308}],124:[function(t,e,r){e.exports=function(t,e,r,n){var i,a,o,s,l,c=e[0],u=e[1],f=e[2],h=e[3],p=r[0],d=r[1],m=r[2],g=r[3];(a=c*p+u*d+f*m+h*g)<0&&(a=-a,p=-p,d=-d,m=-m,g=-g);1-a>1e-6?(i=Math.acos(a),o=Math.sin(i),s=Math.sin((1-n)*i)/o,l=Math.sin(n*i)/o):(s=1-n,l=n);return t[0]=s*c+l*p,t[1]=s*u+l*d,t[2]=s*f+l*m,t[3]=s*h+l*g,t}},{}],125:[function(t,e,r){"use strict";e.exports=function(t){return t||0===t?t.toString():""}},{}],126:[function(t,e,r){"use strict";var n=t("vectorize-text");e.exports=function(t,e,r){var a=i[e];a||(a=i[e]={});if(t in a)return a[t];var o={textAlign:"center",textBaseline:"middle",lineHeight:1,font:e,lineSpacing:1.25,styletags:{breaklines:!0,bolds:!0,italics:!0,subscripts:!0,superscripts:!0},triangles:!0},s=n(t,o);o.triangles=!1;var l,c,u=n(t,o);if(r&&1!==r){for(l=0;l max(a, b)) || \n (p < min(a, b)));\n}\n\nbool outOfRange(vec2 a, vec2 b, vec2 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y));\n}\n\nbool outOfRange(vec3 a, vec3 b, vec3 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y) ||\n outOfRange(a.z, b.z, p.z));\n}\n\nbool outOfRange(vec4 a, vec4 b, vec4 p) {\n return outOfRange(a.xyz, b.xyz, p.xyz);\n}\n\nattribute vec3 position;\nattribute vec4 color;\nattribute vec2 glyph;\nattribute vec4 id;\n\nuniform vec4 highlightId;\nuniform float highlightScale;\nuniform mat4 model, view, projection;\nuniform vec3 clipBounds[2];\n\nvarying vec4 interpColor;\nvarying vec4 pickId;\nvarying vec3 dataCoordinate;\n\nvoid main() {\n if (outOfRange(clipBounds[0], clipBounds[1], position)) {\n\n gl_Position = vec4(0,0,0,0);\n } else {\n float scale = 1.0;\n if(distance(highlightId, id) < 0.0001) {\n scale = highlightScale;\n }\n\n vec4 worldPosition = model * vec4(position, 1);\n vec4 viewPosition = view * worldPosition;\n viewPosition = viewPosition / viewPosition.w;\n vec4 clipPosition = projection * (viewPosition + scale * vec4(glyph.x, -glyph.y, 0, 0));\n\n gl_Position = clipPosition;\n interpColor = color;\n pickId = id;\n dataCoordinate = position;\n }\n}"]),o=i(["precision highp float;\n#define GLSLIFY 1\n\nbool outOfRange(float a, float b, float p) {\n return ((p > max(a, b)) || \n (p < min(a, b)));\n}\n\nbool outOfRange(vec2 a, vec2 b, vec2 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y));\n}\n\nbool outOfRange(vec3 a, vec3 b, vec3 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y) ||\n outOfRange(a.z, b.z, p.z));\n}\n\nbool outOfRange(vec4 a, vec4 b, vec4 p) {\n return outOfRange(a.xyz, b.xyz, p.xyz);\n}\n\nattribute vec3 position;\nattribute vec4 color;\nattribute vec2 glyph;\nattribute vec4 id;\n\nuniform mat4 model, view, projection;\nuniform vec2 screenSize;\nuniform vec3 clipBounds[2];\nuniform float highlightScale, pixelRatio;\nuniform vec4 highlightId;\n\nvarying vec4 interpColor;\nvarying vec4 pickId;\nvarying vec3 dataCoordinate;\n\nvoid main() {\n if (outOfRange(clipBounds[0], clipBounds[1], position)) {\n\n gl_Position = vec4(0,0,0,0);\n } else {\n float scale = pixelRatio;\n if(distance(highlightId.bgr, id.bgr) < 0.001) {\n scale *= highlightScale;\n }\n\n vec4 worldPosition = model * vec4(position, 1.0);\n vec4 viewPosition = view * worldPosition;\n vec4 clipPosition = projection * viewPosition;\n clipPosition /= clipPosition.w;\n\n gl_Position = clipPosition + vec4(screenSize * scale * vec2(glyph.x, -glyph.y), 0.0, 0.0);\n interpColor = color;\n pickId = id;\n dataCoordinate = position;\n }\n}"]),s=i(["precision highp float;\n#define GLSLIFY 1\n\nbool outOfRange(float a, float b, float p) {\n return ((p > max(a, b)) || \n (p < min(a, b)));\n}\n\nbool outOfRange(vec2 a, vec2 b, vec2 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y));\n}\n\nbool outOfRange(vec3 a, vec3 b, vec3 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y) ||\n outOfRange(a.z, b.z, p.z));\n}\n\nbool outOfRange(vec4 a, vec4 b, vec4 p) {\n return outOfRange(a.xyz, b.xyz, p.xyz);\n}\n\nattribute vec3 position;\nattribute vec4 color;\nattribute vec2 glyph;\nattribute vec4 id;\n\nuniform float highlightScale;\nuniform vec4 highlightId;\nuniform vec3 axes[2];\nuniform mat4 model, view, projection;\nuniform vec2 screenSize;\nuniform vec3 clipBounds[2];\nuniform float scale, pixelRatio;\n\nvarying vec4 interpColor;\nvarying vec4 pickId;\nvarying vec3 dataCoordinate;\n\nvoid main() {\n if (outOfRange(clipBounds[0], clipBounds[1], position)) {\n\n gl_Position = vec4(0,0,0,0);\n } else {\n float lscale = pixelRatio * scale;\n if(distance(highlightId, id) < 0.0001) {\n lscale *= highlightScale;\n }\n\n vec4 clipCenter = projection * view * model * vec4(position, 1);\n vec3 dataPosition = position + 0.5*lscale*(axes[0] * glyph.x + axes[1] * glyph.y) * clipCenter.w * screenSize.y;\n vec4 clipPosition = projection * view * model * vec4(dataPosition, 1);\n\n gl_Position = clipPosition;\n interpColor = color;\n pickId = id;\n dataCoordinate = dataPosition;\n }\n}\n"]),l=i(["precision highp float;\n#define GLSLIFY 1\n\nbool outOfRange(float a, float b, float p) {\n return ((p > max(a, b)) || \n (p < min(a, b)));\n}\n\nbool outOfRange(vec2 a, vec2 b, vec2 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y));\n}\n\nbool outOfRange(vec3 a, vec3 b, vec3 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y) ||\n outOfRange(a.z, b.z, p.z));\n}\n\nbool outOfRange(vec4 a, vec4 b, vec4 p) {\n return outOfRange(a.xyz, b.xyz, p.xyz);\n}\n\nuniform vec3 fragClipBounds[2];\nuniform float opacity;\n\nvarying vec4 interpColor;\nvarying vec3 dataCoordinate;\n\nvoid main() {\n if (\n outOfRange(fragClipBounds[0], fragClipBounds[1], dataCoordinate) ||\n interpColor.a * opacity == 0.\n ) discard;\n gl_FragColor = interpColor * opacity;\n}\n"]),c=i(["precision highp float;\n#define GLSLIFY 1\n\nbool outOfRange(float a, float b, float p) {\n return ((p > max(a, b)) || \n (p < min(a, b)));\n}\n\nbool outOfRange(vec2 a, vec2 b, vec2 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y));\n}\n\nbool outOfRange(vec3 a, vec3 b, vec3 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y) ||\n outOfRange(a.z, b.z, p.z));\n}\n\nbool outOfRange(vec4 a, vec4 b, vec4 p) {\n return outOfRange(a.xyz, b.xyz, p.xyz);\n}\n\nuniform vec3 fragClipBounds[2];\nuniform float pickGroup;\n\nvarying vec4 pickId;\nvarying vec3 dataCoordinate;\n\nvoid main() {\n if (outOfRange(fragClipBounds[0], fragClipBounds[1], dataCoordinate)) discard;\n\n gl_FragColor = vec4(pickGroup, pickId.bgr);\n}"]),u=[{name:"position",type:"vec3"},{name:"color",type:"vec4"},{name:"glyph",type:"vec2"},{name:"id",type:"vec4"}],f={vertex:a,fragment:l,attributes:u},h={vertex:o,fragment:l,attributes:u},p={vertex:s,fragment:l,attributes:u},d={vertex:a,fragment:c,attributes:u},m={vertex:o,fragment:c,attributes:u},g={vertex:s,fragment:c,attributes:u};function v(t,e){var r=n(t,e),i=r.attributes;return i.position.location=0,i.color.location=1,i.glyph.location=2,i.id.location=3,r}r.createPerspective=function(t){return v(t,f)},r.createOrtho=function(t){return v(t,h)},r.createProject=function(t){return v(t,p)},r.createPickPerspective=function(t){return v(t,d)},r.createPickOrtho=function(t){return v(t,m)},r.createPickProject=function(t){return v(t,g)}},{"gl-shader":132,glslify:231}],128:[function(t,e,r){"use strict";var n=t("is-string-blank"),i=t("gl-buffer"),a=t("gl-vao"),o=t("typedarray-pool"),s=t("gl-mat4/multiply"),l=t("./lib/shaders"),c=t("./lib/glyphs"),u=t("./lib/get-simple-string"),f=[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1];function h(t,e){var r=t[0],n=t[1],i=t[2],a=t[3];return t[0]=e[0]*r+e[4]*n+e[8]*i+e[12]*a,t[1]=e[1]*r+e[5]*n+e[9]*i+e[13]*a,t[2]=e[2]*r+e[6]*n+e[10]*i+e[14]*a,t[3]=e[3]*r+e[7]*n+e[11]*i+e[15]*a,t}function p(t,e,r,n){return h(n,n),h(n,n),h(n,n)}function d(t,e){this.index=t,this.dataCoordinate=this.position=e}function m(t){return!0===t||t>1?1:t}function g(t,e,r,n,i,a,o,s,l,c,u,f){this.gl=t,this.pixelRatio=1,this.shader=e,this.orthoShader=r,this.projectShader=n,this.pointBuffer=i,this.colorBuffer=a,this.glyphBuffer=o,this.idBuffer=s,this.vao=l,this.vertexCount=0,this.lineVertexCount=0,this.opacity=1,this.hasAlpha=!1,this.lineWidth=0,this.projectScale=[2/3,2/3,2/3],this.projectOpacity=[1,1,1],this.projectHasAlpha=!1,this.pickId=0,this.pickPerspectiveShader=c,this.pickOrthoShader=u,this.pickProjectShader=f,this.points=[],this._selectResult=new d(0,[0,0,0]),this.useOrtho=!0,this.bounds=[[1/0,1/0,1/0],[-1/0,-1/0,-1/0]],this.axesProject=[!0,!0,!0],this.axesBounds=[[-1/0,-1/0,-1/0],[1/0,1/0,1/0]],this.highlightId=[1,1,1,1],this.highlightScale=2,this.clipBounds=[[-1/0,-1/0,-1/0],[1/0,1/0,1/0]],this.dirty=!0}e.exports=function(t){var e=t.gl,r=l.createPerspective(e),n=l.createOrtho(e),o=l.createProject(e),s=l.createPickPerspective(e),c=l.createPickOrtho(e),u=l.createPickProject(e),f=i(e),h=i(e),p=i(e),d=i(e),m=a(e,[{buffer:f,size:3,type:e.FLOAT},{buffer:h,size:4,type:e.FLOAT},{buffer:p,size:2,type:e.FLOAT},{buffer:d,size:4,type:e.UNSIGNED_BYTE,normalized:!0}]),v=new g(e,r,n,o,f,h,p,d,m,s,c,u);return v.update(t),v};var v=g.prototype;v.pickSlots=1,v.setPickBase=function(t){this.pickId=t},v.isTransparent=function(){if(this.hasAlpha)return!0;for(var t=0;t<3;++t)if(this.axesProject[t]&&this.projectHasAlpha)return!0;return!1},v.isOpaque=function(){if(!this.hasAlpha)return!0;for(var t=0;t<3;++t)if(this.axesProject[t]&&!this.projectHasAlpha)return!0;return!1};var y=[0,0],x=[0,0,0],b=[0,0,0],_=[0,0,0,1],w=[0,0,0,1],T=f.slice(),k=[0,0,0],A=[[0,0,0],[0,0,0]];function M(t){return t[0]=t[1]=t[2]=0,t}function S(t,e){return t[0]=e[0],t[1]=e[1],t[2]=e[2],t[3]=1,t}function E(t,e,r,n){return t[0]=e[0],t[1]=e[1],t[2]=e[2],t[r]=n,t}function L(t,e,r,n){var i,a=e.axesProject,o=e.gl,l=t.uniforms,c=r.model||f,u=r.view||f,h=r.projection||f,d=e.axesBounds,m=function(t){for(var e=A,r=0;r<2;++r)for(var n=0;n<3;++n)e[r][n]=Math.max(Math.min(t[r][n],1e8),-1e8);return e}(e.clipBounds);i=e.axes&&e.axes.lastCubeProps?e.axes.lastCubeProps.axis:[1,1,1],y[0]=2/o.drawingBufferWidth,y[1]=2/o.drawingBufferHeight,t.bind(),l.view=u,l.projection=h,l.screenSize=y,l.highlightId=e.highlightId,l.highlightScale=e.highlightScale,l.clipBounds=m,l.pickGroup=e.pickId/255,l.pixelRatio=n;for(var g=0;g<3;++g)if(a[g]){l.scale=e.projectScale[g],l.opacity=e.projectOpacity[g];for(var v=T,L=0;L<16;++L)v[L]=0;for(L=0;L<4;++L)v[5*L]=1;v[5*g]=0,i[g]<0?v[12+g]=d[0][g]:v[12+g]=d[1][g],s(v,c,v),l.model=v;var C=(g+1)%3,P=(g+2)%3,I=M(x),O=M(b);I[C]=1,O[P]=1;var z=p(0,0,0,S(_,I)),D=p(0,0,0,S(w,O));if(Math.abs(z[1])>Math.abs(D[1])){var R=z;z=D,D=R,R=I,I=O,O=R;var F=C;C=P,P=F}z[0]<0&&(I[C]=-1),D[1]>0&&(O[P]=-1);var B=0,N=0;for(L=0;L<4;++L)B+=Math.pow(c[4*C+L],2),N+=Math.pow(c[4*P+L],2);I[C]/=Math.sqrt(B),O[P]/=Math.sqrt(N),l.axes[0]=I,l.axes[1]=O,l.fragClipBounds[0]=E(k,m[0],g,-1e8),l.fragClipBounds[1]=E(k,m[1],g,1e8),e.vao.bind(),e.vao.draw(o.TRIANGLES,e.vertexCount),e.lineWidth>0&&(o.lineWidth(e.lineWidth*n),e.vao.draw(o.LINES,e.lineVertexCount,e.vertexCount)),e.vao.unbind()}}var C=[[-1e8,-1e8,-1e8],[1e8,1e8,1e8]];function P(t,e,r,n,i,a,o){var s=r.gl;if((a===r.projectHasAlpha||o)&&L(e,r,n,i),a===r.hasAlpha||o){t.bind();var l=t.uniforms;l.model=n.model||f,l.view=n.view||f,l.projection=n.projection||f,y[0]=2/s.drawingBufferWidth,y[1]=2/s.drawingBufferHeight,l.screenSize=y,l.highlightId=r.highlightId,l.highlightScale=r.highlightScale,l.fragClipBounds=C,l.clipBounds=r.axes.bounds,l.opacity=r.opacity,l.pickGroup=r.pickId/255,l.pixelRatio=i,r.vao.bind(),r.vao.draw(s.TRIANGLES,r.vertexCount),r.lineWidth>0&&(s.lineWidth(r.lineWidth*i),r.vao.draw(s.LINES,r.lineVertexCount,r.vertexCount)),r.vao.unbind()}}function I(t,e,r,i){var a;a=Array.isArray(t)?e=this.pointCount||e<0)return null;var r=this.points[e],n=this._selectResult;n.index=e;for(var i=0;i<3;++i)n.position[i]=n.dataCoordinate[i]=r[i];return n},v.highlight=function(t){if(t){var e=t.index,r=255&e,n=e>>8&255,i=e>>16&255;this.highlightId=[r/255,n/255,i/255,0]}else this.highlightId=[1,1,1,1]},v.update=function(t){if("perspective"in(t=t||{})&&(this.useOrtho=!t.perspective),"orthographic"in t&&(this.useOrtho=!!t.orthographic),"lineWidth"in t&&(this.lineWidth=t.lineWidth),"project"in t)if(Array.isArray(t.project))this.axesProject=t.project;else{var e=!!t.project;this.axesProject=[e,e,e]}if("projectScale"in t)if(Array.isArray(t.projectScale))this.projectScale=t.projectScale.slice();else{var r=+t.projectScale;this.projectScale=[r,r,r]}if(this.projectHasAlpha=!1,"projectOpacity"in t){if(Array.isArray(t.projectOpacity))this.projectOpacity=t.projectOpacity.slice();else{r=+t.projectOpacity;this.projectOpacity=[r,r,r]}for(var n=0;n<3;++n)this.projectOpacity[n]=m(this.projectOpacity[n]),this.projectOpacity[n]<1&&(this.projectHasAlpha=!0)}this.hasAlpha=!1,"opacity"in t&&(this.opacity=m(t.opacity),this.opacity<1&&(this.hasAlpha=!0)),this.dirty=!0;var i,a,s=t.position,l=t.font||"normal",c=t.alignment||[0,0];if(2===c.length)i=c[0],a=c[1];else{i=[],a=[];for(n=0;n0){var O=0,z=x,D=[0,0,0,1],R=[0,0,0,1],F=Array.isArray(p)&&Array.isArray(p[0]),B=Array.isArray(v)&&Array.isArray(v[0]);t:for(n=0;n<_;++n){y+=1;for(w=s[n],T=0;T<3;++T){if(isNaN(w[T])||!isFinite(w[T]))continue t;f[T]=Math.max(f[T],w[T]),u[T]=Math.min(u[T],w[T])}k=(N=I(h,n,l,this.pixelRatio)).mesh,A=N.lines,M=N.bounds;var N,j=N.visible;if(j)if(Array.isArray(p)){if(3===(U=F?n0?1-M[0][0]:Y<0?1+M[1][0]:1,W*=W>0?1-M[0][1]:W<0?1+M[1][1]:1],Z=k.cells||[],J=k.positions||[];for(T=0;T0){var v=r*u;o.drawBox(f-v,h-v,p+v,h+v,a),o.drawBox(f-v,d-v,p+v,d+v,a),o.drawBox(f-v,h-v,f+v,d+v,a),o.drawBox(p-v,h-v,p+v,d+v,a)}}}},s.update=function(t){t=t||{},this.innerFill=!!t.innerFill,this.outerFill=!!t.outerFill,this.innerColor=(t.innerColor||[0,0,0,.5]).slice(),this.outerColor=(t.outerColor||[0,0,0,.5]).slice(),this.borderColor=(t.borderColor||[0,0,0,1]).slice(),this.borderWidth=t.borderWidth||0,this.selectBox=(t.selectBox||this.selectBox).slice()},s.dispose=function(){this.boxBuffer.dispose(),this.boxShader.dispose(),this.plot.removeOverlay(this)}},{"./lib/shaders":129,"gl-buffer":78,"gl-shader":132}],131:[function(t,e,r){"use strict";e.exports=function(t,e){var r=e[0],a=e[1],o=n(t,r,a,{}),s=i.mallocUint8(r*a*4);return new l(t,o,s)};var n=t("gl-fbo"),i=t("typedarray-pool"),a=t("ndarray"),o=t("bit-twiddle").nextPow2;function s(t,e,r,n,i){this.coord=[t,e],this.id=r,this.value=n,this.distance=i}function l(t,e,r){this.gl=t,this.fbo=e,this.buffer=r,this._readTimeout=null;var n=this;this._readCallback=function(){n.gl&&(e.bind(),t.readPixels(0,0,e.shape[0],e.shape[1],t.RGBA,t.UNSIGNED_BYTE,n.buffer),n._readTimeout=null)}}var c=l.prototype;Object.defineProperty(c,"shape",{get:function(){return this.gl?this.fbo.shape.slice():[0,0]},set:function(t){if(this.gl){this.fbo.shape=t;var e=this.fbo.shape[0],r=this.fbo.shape[1];if(r*e*4>this.buffer.length){i.free(this.buffer);for(var n=this.buffer=i.mallocUint8(o(r*e*4)),a=0;ar)for(t=r;te)for(t=e;t=0){for(var T=0|w.type.charAt(w.type.length-1),k=new Array(T),A=0;A=0;)M+=1;_[y]=M}var S=new Array(r.length);function E(){h.program=o.program(p,h._vref,h._fref,b,_);for(var t=0;t=0){if((d=h.charCodeAt(h.length-1)-48)<2||d>4)throw new n("","Invalid data type for attribute "+f+": "+h);s(t,e,p[0],i,d,a,f)}else{if(!(h.indexOf("mat")>=0))throw new n("","Unknown data type for attribute "+f+": "+h);var d;if((d=h.charCodeAt(h.length-1)-48)<2||d>4)throw new n("","Invalid data type for attribute "+f+": "+h);l(t,e,p,i,d,a,f)}}}return a};var n=t("./GLError");function i(t,e,r,n,i,a){this._gl=t,this._wrapper=e,this._index=r,this._locations=n,this._dimension=i,this._constFunc=a}var a=i.prototype;a.pointer=function(t,e,r,n){var i=this._gl,a=this._locations[this._index];i.vertexAttribPointer(a,this._dimension,t||i.FLOAT,!!e,r||0,n||0),i.enableVertexAttribArray(a)},a.set=function(t,e,r,n){return this._constFunc(this._locations[this._index],t,e,r,n)},Object.defineProperty(a,"location",{get:function(){return this._locations[this._index]},set:function(t){return t!==this._locations[this._index]&&(this._locations[this._index]=0|t,this._wrapper.program=null),0|t}});var o=[function(t,e,r){return void 0===r.length?t.vertexAttrib1f(e,r):t.vertexAttrib1fv(e,r)},function(t,e,r,n){return void 0===r.length?t.vertexAttrib2f(e,r,n):t.vertexAttrib2fv(e,r)},function(t,e,r,n,i){return void 0===r.length?t.vertexAttrib3f(e,r,n,i):t.vertexAttrib3fv(e,r)},function(t,e,r,n,i,a){return void 0===r.length?t.vertexAttrib4f(e,r,n,i,a):t.vertexAttrib4fv(e,r)}];function s(t,e,r,n,a,s,l){var c=o[a],u=new i(t,e,r,n,a,c);Object.defineProperty(s,l,{set:function(e){return t.disableVertexAttribArray(n[r]),c(t,n[r],e),e},get:function(){return u},enumerable:!0})}function l(t,e,r,n,i,a,o){for(var l=new Array(i),c=new Array(i),u=0;u4)throw new i("","Invalid uniform dimension type for matrix "+name+": "+v);t["uniformMatrix"+g+"fv"](s[u],!1,f);break}throw new i("","Unknown uniform data type for "+name+": "+v)}if((g=v.charCodeAt(v.length-1)-48)<2||g>4)throw new i("","Invalid data type");switch(v.charAt(0)){case"b":case"i":t["uniform"+g+"iv"](s[u],f);break;case"v":t["uniform"+g+"fv"](s[u],f);break;default:throw new i("","Unrecognized data type for vector "+name+": "+v)}}}}}}function c(t,e,n){if("object"==typeof n){var c=u(n);Object.defineProperty(t,e,{get:a(c),set:l(n),enumerable:!0,configurable:!1})}else s[n]?Object.defineProperty(t,e,{get:(f=n,function(t,e,r){return t.getUniform(e.program,r[f])}),set:l(n),enumerable:!0,configurable:!1}):t[e]=function(t){switch(t){case"bool":return!1;case"int":case"sampler2D":case"samplerCube":case"float":return 0;default:var e=t.indexOf("vec");if(0<=e&&e<=1&&t.length===4+e){if((r=t.charCodeAt(t.length-1)-48)<2||r>4)throw new i("","Invalid data type");return"b"===t.charAt(0)?o(r,!1):o(r,0)}if(0===t.indexOf("mat")&&4===t.length){var r;if((r=t.charCodeAt(t.length-1)-48)<2||r>4)throw new i("","Invalid uniform dimension type for matrix "+name+": "+t);return o(r*r,0)}throw new i("","Unknown uniform data type for "+name+": "+t)}}(r[n].type);var f}function u(t){var e;if(Array.isArray(t)){e=new Array(t.length);for(var r=0;r1){s[0]in a||(a[s[0]]=[]),a=a[s[0]];for(var l=1;l1)for(var l=0;l 0 U ||b|| > 0.\n // Assign z = 0, x = -b, y = a:\n // a*-b + b*a + c*0 = -ba + ba + 0 = 0\n if (v.x*v.x > v.z*v.z || v.y*v.y > v.z*v.z) {\n return normalize(vec3(-v.y, v.x, 0.0));\n } else {\n return normalize(vec3(0.0, v.z, -v.y));\n }\n}\n\n// Calculate the tube vertex and normal at the given index.\n//\n// The returned vertex is for a tube ring with its center at origin, radius of length(d), pointing in the direction of d.\n//\n// Each tube segment is made up of a ring of vertices.\n// These vertices are used to make up the triangles of the tube by connecting them together in the vertex array.\n// The indexes of tube segments run from 0 to 8.\n//\nvec3 getTubePosition(vec3 d, float index, out vec3 normal) {\n float segmentCount = 8.0;\n\n float angle = 2.0 * 3.14159 * (index / segmentCount);\n\n vec3 u = getOrthogonalVector(d);\n vec3 v = normalize(cross(u, d));\n\n vec3 x = u * cos(angle) * length(d);\n vec3 y = v * sin(angle) * length(d);\n vec3 v3 = x + y;\n\n normal = normalize(v3);\n\n return v3;\n}\n\nattribute vec4 vector;\nattribute vec4 color, position;\nattribute vec2 uv;\n\nuniform float vectorScale, tubeScale;\nuniform mat4 model, view, projection, inverseModel;\nuniform vec3 eyePosition, lightPosition;\n\nvarying vec3 f_normal, f_lightDirection, f_eyeDirection, f_data, f_position;\nvarying vec4 f_color;\nvarying vec2 f_uv;\n\nvoid main() {\n // Scale the vector magnitude to stay constant with\n // model & view changes.\n vec3 normal;\n vec3 XYZ = getTubePosition(mat3(model) * (tubeScale * vector.w * normalize(vector.xyz)), position.w, normal);\n vec4 tubePosition = model * vec4(position.xyz, 1.0) + vec4(XYZ, 0.0);\n\n //Lighting geometry parameters\n vec4 cameraCoordinate = view * tubePosition;\n cameraCoordinate.xyz /= cameraCoordinate.w;\n f_lightDirection = lightPosition - cameraCoordinate.xyz;\n f_eyeDirection = eyePosition - cameraCoordinate.xyz;\n f_normal = normalize((vec4(normal, 0.0) * inverseModel).xyz);\n\n // vec4 m_position = model * vec4(tubePosition, 1.0);\n vec4 t_position = view * tubePosition;\n gl_Position = projection * t_position;\n\n f_color = color;\n f_data = tubePosition.xyz;\n f_position = position.xyz;\n f_uv = uv;\n}\n"]),a=n(["#extension GL_OES_standard_derivatives : enable\n\nprecision highp float;\n#define GLSLIFY 1\n\nfloat beckmannDistribution(float x, float roughness) {\n float NdotH = max(x, 0.0001);\n float cos2Alpha = NdotH * NdotH;\n float tan2Alpha = (cos2Alpha - 1.0) / cos2Alpha;\n float roughness2 = roughness * roughness;\n float denom = 3.141592653589793 * roughness2 * cos2Alpha * cos2Alpha;\n return exp(tan2Alpha / roughness2) / denom;\n}\n\nfloat cookTorranceSpecular(\n vec3 lightDirection,\n vec3 viewDirection,\n vec3 surfaceNormal,\n float roughness,\n float fresnel) {\n\n float VdotN = max(dot(viewDirection, surfaceNormal), 0.0);\n float LdotN = max(dot(lightDirection, surfaceNormal), 0.0);\n\n //Half angle vector\n vec3 H = normalize(lightDirection + viewDirection);\n\n //Geometric term\n float NdotH = max(dot(surfaceNormal, H), 0.0);\n float VdotH = max(dot(viewDirection, H), 0.000001);\n float LdotH = max(dot(lightDirection, H), 0.000001);\n float G1 = (2.0 * NdotH * VdotN) / VdotH;\n float G2 = (2.0 * NdotH * LdotN) / LdotH;\n float G = min(1.0, min(G1, G2));\n \n //Distribution term\n float D = beckmannDistribution(NdotH, roughness);\n\n //Fresnel term\n float F = pow(1.0 - VdotN, fresnel);\n\n //Multiply terms and done\n return G * F * D / max(3.14159265 * VdotN, 0.000001);\n}\n\nbool outOfRange(float a, float b, float p) {\n return ((p > max(a, b)) || \n (p < min(a, b)));\n}\n\nbool outOfRange(vec2 a, vec2 b, vec2 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y));\n}\n\nbool outOfRange(vec3 a, vec3 b, vec3 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y) ||\n outOfRange(a.z, b.z, p.z));\n}\n\nbool outOfRange(vec4 a, vec4 b, vec4 p) {\n return outOfRange(a.xyz, b.xyz, p.xyz);\n}\n\nuniform vec3 clipBounds[2];\nuniform float roughness, fresnel, kambient, kdiffuse, kspecular, opacity;\nuniform sampler2D texture;\n\nvarying vec3 f_normal, f_lightDirection, f_eyeDirection, f_data, f_position;\nvarying vec4 f_color;\nvarying vec2 f_uv;\n\nvoid main() {\n if (outOfRange(clipBounds[0], clipBounds[1], f_position)) discard;\n vec3 N = normalize(f_normal);\n vec3 L = normalize(f_lightDirection);\n vec3 V = normalize(f_eyeDirection);\n\n if(gl_FrontFacing) {\n N = -N;\n }\n\n float specular = min(1.0, max(0.0, cookTorranceSpecular(L, V, N, roughness, fresnel)));\n float diffuse = min(kambient + kdiffuse * max(dot(N, L), 0.0), 1.0);\n\n vec4 surfaceColor = f_color * texture2D(texture, f_uv);\n vec4 litColor = surfaceColor.a * vec4(diffuse * surfaceColor.rgb + kspecular * vec3(1,1,1) * specular, 1.0);\n\n gl_FragColor = litColor * opacity;\n}\n"]),o=n(["precision highp float;\n\nprecision highp float;\n#define GLSLIFY 1\n\nvec3 getOrthogonalVector(vec3 v) {\n // Return up-vector for only-z vector.\n // Return ax + by + cz = 0, a point that lies on the plane that has v as a normal and that isn't (0,0,0).\n // From the above if-statement we have ||a|| > 0 U ||b|| > 0.\n // Assign z = 0, x = -b, y = a:\n // a*-b + b*a + c*0 = -ba + ba + 0 = 0\n if (v.x*v.x > v.z*v.z || v.y*v.y > v.z*v.z) {\n return normalize(vec3(-v.y, v.x, 0.0));\n } else {\n return normalize(vec3(0.0, v.z, -v.y));\n }\n}\n\n// Calculate the tube vertex and normal at the given index.\n//\n// The returned vertex is for a tube ring with its center at origin, radius of length(d), pointing in the direction of d.\n//\n// Each tube segment is made up of a ring of vertices.\n// These vertices are used to make up the triangles of the tube by connecting them together in the vertex array.\n// The indexes of tube segments run from 0 to 8.\n//\nvec3 getTubePosition(vec3 d, float index, out vec3 normal) {\n float segmentCount = 8.0;\n\n float angle = 2.0 * 3.14159 * (index / segmentCount);\n\n vec3 u = getOrthogonalVector(d);\n vec3 v = normalize(cross(u, d));\n\n vec3 x = u * cos(angle) * length(d);\n vec3 y = v * sin(angle) * length(d);\n vec3 v3 = x + y;\n\n normal = normalize(v3);\n\n return v3;\n}\n\nattribute vec4 vector;\nattribute vec4 position;\nattribute vec4 id;\n\nuniform mat4 model, view, projection;\nuniform float tubeScale;\n\nvarying vec3 f_position;\nvarying vec4 f_id;\n\nvoid main() {\n vec3 normal;\n vec3 XYZ = getTubePosition(mat3(model) * (tubeScale * vector.w * normalize(vector.xyz)), position.w, normal);\n vec4 tubePosition = model * vec4(position.xyz, 1.0) + vec4(XYZ, 0.0);\n\n gl_Position = projection * view * tubePosition;\n f_id = id;\n f_position = position.xyz;\n}\n"]),s=n(["precision highp float;\n#define GLSLIFY 1\n\nbool outOfRange(float a, float b, float p) {\n return ((p > max(a, b)) || \n (p < min(a, b)));\n}\n\nbool outOfRange(vec2 a, vec2 b, vec2 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y));\n}\n\nbool outOfRange(vec3 a, vec3 b, vec3 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y) ||\n outOfRange(a.z, b.z, p.z));\n}\n\nbool outOfRange(vec4 a, vec4 b, vec4 p) {\n return outOfRange(a.xyz, b.xyz, p.xyz);\n}\n\nuniform vec3 clipBounds[2];\nuniform float pickId;\n\nvarying vec3 f_position;\nvarying vec4 f_id;\n\nvoid main() {\n if (outOfRange(clipBounds[0], clipBounds[1], f_position)) discard;\n\n gl_FragColor = vec4(pickId, f_id.xyz);\n}"]);r.meshShader={vertex:i,fragment:a,attributes:[{name:"position",type:"vec4"},{name:"color",type:"vec4"},{name:"uv",type:"vec2"},{name:"vector",type:"vec4"}]},r.pickShader={vertex:o,fragment:s,attributes:[{name:"position",type:"vec4"},{name:"id",type:"vec4"},{name:"vector",type:"vec4"}]}},{glslify:231}],143:[function(t,e,r){"use strict";var n=t("gl-vec3"),i=t("gl-vec4"),a=["xyz","xzy","yxz","yzx","zxy","zyx"],o=function(t,e,r,a){for(var o=0,s=0;s0)for(T=0;T<8;T++){var k=(T+1)%8;c.push(h[T],p[T],p[k],p[k],h[k],h[T]),f.push(y,v,v,v,y,y),d.push(m,g,g,g,m,m);var A=c.length;u.push([A-6,A-5,A-4],[A-3,A-2,A-1])}var M=h;h=p,p=M;var S=y;y=v,v=S;var E=m;m=g,g=E}return{positions:c,cells:u,vectors:f,vertexIntensity:d}}(t,r,a,o)})),f=[],h=[],p=[],d=[];for(s=0;se)return r-1}return r},l=function(t,e,r){return tr?r:t},c=function(t){var e=1/0;t.sort((function(t,e){return t-e}));for(var r=t.length,n=1;nf-1||y>h-1||x>p-1)return n.create();var b,_,w,T,k,A,M=a[0][d],S=a[0][v],E=a[1][m],L=a[1][y],C=a[2][g],P=(o-M)/(S-M),I=(c-E)/(L-E),O=(u-C)/(a[2][x]-C);switch(isFinite(P)||(P=.5),isFinite(I)||(I=.5),isFinite(O)||(O=.5),r.reversedX&&(d=f-1-d,v=f-1-v),r.reversedY&&(m=h-1-m,y=h-1-y),r.reversedZ&&(g=p-1-g,x=p-1-x),r.filled){case 5:k=g,A=x,w=m*p,T=y*p,b=d*p*h,_=v*p*h;break;case 4:k=g,A=x,b=d*p,_=v*p,w=m*p*f,T=y*p*f;break;case 3:w=m,T=y,k=g*h,A=x*h,b=d*h*p,_=v*h*p;break;case 2:w=m,T=y,b=d*h,_=v*h,k=g*h*f,A=x*h*f;break;case 1:b=d,_=v,k=g*f,A=x*f,w=m*f*p,T=y*f*p;break;default:b=d,_=v,w=m*f,T=y*f,k=g*f*h,A=x*f*h}var z=i[b+w+k],D=i[b+w+A],R=i[b+T+k],F=i[b+T+A],B=i[_+w+k],N=i[_+w+A],j=i[_+T+k],U=i[_+T+A],V=n.create(),H=n.create(),q=n.create(),G=n.create();n.lerp(V,z,B,P),n.lerp(H,D,N,P),n.lerp(q,R,j,P),n.lerp(G,F,U,P);var Y=n.create(),W=n.create();n.lerp(Y,V,q,I),n.lerp(W,H,G,I);var X=n.create();return n.lerp(X,Y,W,O),X}(e,t,p)},m=t.getDivergence||function(t,e){var r=n.create(),i=1e-4;n.add(r,t,[i,0,0]);var a=d(r);n.subtract(a,a,e),n.scale(a,a,1/i),n.add(r,t,[0,i,0]);var o=d(r);n.subtract(o,o,e),n.scale(o,o,1/i),n.add(r,t,[0,0,i]);var s=d(r);return n.subtract(s,s,e),n.scale(s,s,1/i),n.add(r,a,o),n.add(r,r,s),r},g=[],v=e[0][0],y=e[0][1],x=e[0][2],b=e[1][0],_=e[1][1],w=e[1][2],T=function(t){var e=t[0],r=t[1],n=t[2];return!(eb||r_||nw)},k=10*n.distance(e[0],e[1])/i,A=k*k,M=1,S=0,E=r.length;E>1&&(M=function(t){for(var e=[],r=[],n=[],i={},a={},o={},s=t.length,l=0;lS&&(S=F),D.push(F),g.push({points:P,velocities:I,divergences:D});for(var B=0;B<100*i&&P.lengthA&&n.scale(N,N,k/Math.sqrt(j)),n.add(N,N,C),O=d(N),n.squaredDistance(z,N)-A>-1e-4*A){P.push(N),z=N,I.push(O);R=m(N,O),F=n.length(R);isFinite(F)&&F>S&&(S=F),D.push(F)}C=N}}var U=o(g,t.colormap,S,M);return f?U.tubeScale=f:(0===S&&(S=1),U.tubeScale=.5*u*M/S),U};var u=t("./lib/shaders"),f=t("gl-cone3d").createMesh;e.exports.createTubeMesh=function(t,e){return f(t,e,{shaders:u,traceType:"streamtube"})}},{"./lib/shaders":142,"gl-cone3d":79,"gl-vec3":169,"gl-vec4":205}],144:[function(t,e,r){var n=t("gl-shader"),i=t("glslify"),a=i(["precision highp float;\n#define GLSLIFY 1\n\nattribute vec4 uv;\nattribute vec3 f;\nattribute vec3 normal;\n\nuniform vec3 objectOffset;\nuniform mat4 model, view, projection, inverseModel;\nuniform vec3 lightPosition, eyePosition;\nuniform sampler2D colormap;\n\nvarying float value, kill;\nvarying vec3 worldCoordinate;\nvarying vec2 planeCoordinate;\nvarying vec3 lightDirection, eyeDirection, surfaceNormal;\nvarying vec4 vColor;\n\nvoid main() {\n vec3 localCoordinate = vec3(uv.zw, f.x);\n worldCoordinate = objectOffset + localCoordinate;\n vec4 worldPosition = model * vec4(worldCoordinate, 1.0);\n vec4 clipPosition = projection * view * worldPosition;\n gl_Position = clipPosition;\n kill = f.y;\n value = f.z;\n planeCoordinate = uv.xy;\n\n vColor = texture2D(colormap, vec2(value, value));\n\n //Lighting geometry parameters\n vec4 cameraCoordinate = view * worldPosition;\n cameraCoordinate.xyz /= cameraCoordinate.w;\n lightDirection = lightPosition - cameraCoordinate.xyz;\n eyeDirection = eyePosition - cameraCoordinate.xyz;\n surfaceNormal = normalize((vec4(normal,0) * inverseModel).xyz);\n}\n"]),o=i(["precision highp float;\n#define GLSLIFY 1\n\nfloat beckmannDistribution(float x, float roughness) {\n float NdotH = max(x, 0.0001);\n float cos2Alpha = NdotH * NdotH;\n float tan2Alpha = (cos2Alpha - 1.0) / cos2Alpha;\n float roughness2 = roughness * roughness;\n float denom = 3.141592653589793 * roughness2 * cos2Alpha * cos2Alpha;\n return exp(tan2Alpha / roughness2) / denom;\n}\n\nfloat beckmannSpecular(\n vec3 lightDirection,\n vec3 viewDirection,\n vec3 surfaceNormal,\n float roughness) {\n return beckmannDistribution(dot(surfaceNormal, normalize(lightDirection + viewDirection)), roughness);\n}\n\nbool outOfRange(float a, float b, float p) {\n return ((p > max(a, b)) || \n (p < min(a, b)));\n}\n\nbool outOfRange(vec2 a, vec2 b, vec2 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y));\n}\n\nbool outOfRange(vec3 a, vec3 b, vec3 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y) ||\n outOfRange(a.z, b.z, p.z));\n}\n\nbool outOfRange(vec4 a, vec4 b, vec4 p) {\n return outOfRange(a.xyz, b.xyz, p.xyz);\n}\n\nuniform vec3 lowerBound, upperBound;\nuniform float contourTint;\nuniform vec4 contourColor;\nuniform sampler2D colormap;\nuniform vec3 clipBounds[2];\nuniform float roughness, fresnel, kambient, kdiffuse, kspecular, opacity;\nuniform float vertexColor;\n\nvarying float value, kill;\nvarying vec3 worldCoordinate;\nvarying vec3 lightDirection, eyeDirection, surfaceNormal;\nvarying vec4 vColor;\n\nvoid main() {\n if (\n kill > 0.0 ||\n vColor.a == 0.0 ||\n outOfRange(clipBounds[0], clipBounds[1], worldCoordinate)\n ) discard;\n\n vec3 N = normalize(surfaceNormal);\n vec3 V = normalize(eyeDirection);\n vec3 L = normalize(lightDirection);\n\n if(gl_FrontFacing) {\n N = -N;\n }\n\n float specular = max(beckmannSpecular(L, V, N, roughness), 0.);\n float diffuse = min(kambient + kdiffuse * max(dot(N, L), 0.0), 1.0);\n\n //decide how to interpolate color \u2014 in vertex or in fragment\n vec4 surfaceColor =\n step(vertexColor, .5) * texture2D(colormap, vec2(value, value)) +\n step(.5, vertexColor) * vColor;\n\n vec4 litColor = surfaceColor.a * vec4(diffuse * surfaceColor.rgb + kspecular * vec3(1,1,1) * specular, 1.0);\n\n gl_FragColor = mix(litColor, contourColor, contourTint) * opacity;\n}\n"]),s=i(["precision highp float;\n#define GLSLIFY 1\n\nattribute vec4 uv;\nattribute float f;\n\nuniform vec3 objectOffset;\nuniform mat3 permutation;\nuniform mat4 model, view, projection;\nuniform float height, zOffset;\nuniform sampler2D colormap;\n\nvarying float value, kill;\nvarying vec3 worldCoordinate;\nvarying vec2 planeCoordinate;\nvarying vec3 lightDirection, eyeDirection, surfaceNormal;\nvarying vec4 vColor;\n\nvoid main() {\n vec3 dataCoordinate = permutation * vec3(uv.xy, height);\n worldCoordinate = objectOffset + dataCoordinate;\n vec4 worldPosition = model * vec4(worldCoordinate, 1.0);\n\n vec4 clipPosition = projection * view * worldPosition;\n clipPosition.z += zOffset;\n\n gl_Position = clipPosition;\n value = f + objectOffset.z;\n kill = -1.0;\n planeCoordinate = uv.zw;\n\n vColor = texture2D(colormap, vec2(value, value));\n\n //Don't do lighting for contours\n surfaceNormal = vec3(1,0,0);\n eyeDirection = vec3(0,1,0);\n lightDirection = vec3(0,0,1);\n}\n"]),l=i(["precision highp float;\n#define GLSLIFY 1\n\nbool outOfRange(float a, float b, float p) {\n return ((p > max(a, b)) || \n (p < min(a, b)));\n}\n\nbool outOfRange(vec2 a, vec2 b, vec2 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y));\n}\n\nbool outOfRange(vec3 a, vec3 b, vec3 p) {\n return (outOfRange(a.x, b.x, p.x) ||\n outOfRange(a.y, b.y, p.y) ||\n outOfRange(a.z, b.z, p.z));\n}\n\nbool outOfRange(vec4 a, vec4 b, vec4 p) {\n return outOfRange(a.xyz, b.xyz, p.xyz);\n}\n\nuniform vec2 shape;\nuniform vec3 clipBounds[2];\nuniform float pickId;\n\nvarying float value, kill;\nvarying vec3 worldCoordinate;\nvarying vec2 planeCoordinate;\nvarying vec3 surfaceNormal;\n\nvec2 splitFloat(float v) {\n float vh = 255.0 * v;\n float upper = floor(vh);\n float lower = fract(vh);\n return vec2(upper / 255.0, floor(lower * 16.0) / 16.0);\n}\n\nvoid main() {\n if ((kill > 0.0) ||\n (outOfRange(clipBounds[0], clipBounds[1], worldCoordinate))) discard;\n\n vec2 ux = splitFloat(planeCoordinate.x / shape.x);\n vec2 uy = splitFloat(planeCoordinate.y / shape.y);\n gl_FragColor = vec4(pickId, ux.x, uy.x, ux.y + (uy.y/16.0));\n}\n"]);r.createShader=function(t){var e=n(t,a,o,null,[{name:"uv",type:"vec4"},{name:"f",type:"vec3"},{name:"normal",type:"vec3"}]);return e.attributes.uv.location=0,e.attributes.f.location=1,e.attributes.normal.location=2,e},r.createPickShader=function(t){var e=n(t,a,l,null,[{name:"uv",type:"vec4"},{name:"f",type:"vec3"},{name:"normal",type:"vec3"}]);return e.attributes.uv.location=0,e.attributes.f.location=1,e.attributes.normal.location=2,e},r.createContourShader=function(t){var e=n(t,s,o,null,[{name:"uv",type:"vec4"},{name:"f",type:"float"}]);return e.attributes.uv.location=0,e.attributes.f.location=1,e},r.createPickContourShader=function(t){var e=n(t,s,l,null,[{name:"uv",type:"vec4"},{name:"f",type:"float"}]);return e.attributes.uv.location=0,e.attributes.f.location=1,e}},{"gl-shader":132,glslify:231}],145:[function(t,e,r){"use strict";e.exports=function(t){var e=t.gl,r=y(e),n=b(e),s=x(e),l=_(e),c=i(e),u=a(e,[{buffer:c,size:4,stride:40,offset:0},{buffer:c,size:3,stride:40,offset:16},{buffer:c,size:3,stride:40,offset:28}]),f=i(e),h=a(e,[{buffer:f,size:4,stride:20,offset:0},{buffer:f,size:1,stride:20,offset:16}]),p=i(e),d=a(e,[{buffer:p,size:2,type:e.FLOAT}]),m=o(e,1,256,e.RGBA,e.UNSIGNED_BYTE);m.minFilter=e.LINEAR,m.magFilter=e.LINEAR;var g=new M(e,[0,0],[[0,0,0],[0,0,0]],r,n,c,u,m,s,l,f,h,p,d,[0,0,0]),v={levels:[[],[],[]]};for(var w in t)v[w]=t[w];return v.colormap=v.colormap||"jet",g.update(v),g};var n=t("bit-twiddle"),i=t("gl-buffer"),a=t("gl-vao"),o=t("gl-texture2d"),s=t("typedarray-pool"),l=t("colormap"),c=t("ndarray-ops"),u=t("ndarray-pack"),f=t("ndarray"),h=t("surface-nets"),p=t("gl-mat4/multiply"),d=t("gl-mat4/invert"),m=t("binary-search-bounds"),g=t("ndarray-gradient"),v=t("./lib/shaders"),y=v.createShader,x=v.createContourShader,b=v.createPickShader,_=v.createPickContourShader,w=[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1],T=[[0,0],[0,1],[1,0],[1,1],[1,0],[0,1]],k=[[0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0]];function A(t,e,r,n,i){this.position=t,this.index=e,this.uv=r,this.level=n,this.dataCoordinate=i}!function(){for(var t=0;t<3;++t){var e=k[t],r=(t+2)%3;e[(t+1)%3+0]=1,e[r+3]=1,e[t+6]=1}}();function M(t,e,r,n,i,a,o,l,c,u,h,p,d,m,g){this.gl=t,this.shape=e,this.bounds=r,this.objectOffset=g,this.intensityBounds=[],this._shader=n,this._pickShader=i,this._coordinateBuffer=a,this._vao=o,this._colorMap=l,this._contourShader=c,this._contourPickShader=u,this._contourBuffer=h,this._contourVAO=p,this._contourOffsets=[[],[],[]],this._contourCounts=[[],[],[]],this._vertexCount=0,this._pickResult=new A([0,0,0],[0,0],[0,0],[0,0,0],[0,0,0]),this._dynamicBuffer=d,this._dynamicVAO=m,this._dynamicOffsets=[0,0,0],this._dynamicCounts=[0,0,0],this.contourWidth=[1,1,1],this.contourLevels=[[1],[1],[1]],this.contourTint=[0,0,0],this.contourColor=[[.5,.5,.5,1],[.5,.5,.5,1],[.5,.5,.5,1]],this.showContour=!0,this.showSurface=!0,this.enableHighlight=[!0,!0,!0],this.highlightColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.highlightTint=[1,1,1],this.highlightLevel=[-1,-1,-1],this.enableDynamic=[!0,!0,!0],this.dynamicLevel=[NaN,NaN,NaN],this.dynamicColor=[[0,0,0,1],[0,0,0,1],[0,0,0,1]],this.dynamicTint=[1,1,1],this.dynamicWidth=[1,1,1],this.axesBounds=[[1/0,1/0,1/0],[-1/0,-1/0,-1/0]],this.surfaceProject=[!1,!1,!1],this.contourProject=[[!1,!1,!1],[!1,!1,!1],[!1,!1,!1]],this.colorBounds=[!1,!1],this._field=[f(s.mallocFloat(1024),[0,0]),f(s.mallocFloat(1024),[0,0]),f(s.mallocFloat(1024),[0,0])],this.pickId=1,this.clipBounds=[[-1/0,-1/0,-1/0],[1/0,1/0,1/0]],this.snapToData=!1,this.pixelRatio=1,this.opacity=1,this.lightPosition=[10,1e4,0],this.ambientLight=.8,this.diffuseLight=.8,this.specularLight=2,this.roughness=.5,this.fresnel=1.5,this.vertexColor=0,this.dirty=!0}var S=M.prototype;S.genColormap=function(t,e){var r=!1,n=u([l({colormap:t,nshades:256,format:"rgba"}).map((function(t,n){var i=e?function(t,e){if(!e)return 1;if(!e.length)return 1;for(var r=0;rt&&r>0){var n=(e[r][0]-t)/(e[r][0]-e[r-1][0]);return e[r][1]*(1-n)+n*e[r-1][1]}}return 1}(n/255,e):t[3];return i<1&&(r=!0),[t[0],t[1],t[2],255*i]}))]);return c.divseq(n,255),this.hasAlphaScale=r,n},S.isTransparent=function(){return this.opacity<1||this.hasAlphaScale},S.isOpaque=function(){return!this.isTransparent()},S.pickSlots=1,S.setPickBase=function(t){this.pickId=t};var E=[0,0,0],L={showSurface:!1,showContour:!1,projections:[w.slice(),w.slice(),w.slice()],clipBounds:[[[0,0,0],[0,0,0]],[[0,0,0],[0,0,0]],[[0,0,0],[0,0,0]]]};function C(t,e){var r,n,i,a=e.axes&&e.axes.lastCubeProps.axis||E,o=e.showSurface,s=e.showContour;for(r=0;r<3;++r)for(o=o||e.surfaceProject[r],n=0;n<3;++n)s=s||e.contourProject[r][n];for(r=0;r<3;++r){var l=L.projections[r];for(n=0;n<16;++n)l[n]=0;for(n=0;n<4;++n)l[5*n]=1;l[5*r]=0,l[12+r]=e.axesBounds[+(a[r]>0)][r],p(l,t.model,l);var c=L.clipBounds[r];for(i=0;i<2;++i)for(n=0;n<3;++n)c[i][n]=t.clipBounds[i][n];c[0][r]=-1e8,c[1][r]=1e8}return L.showSurface=o,L.showContour=s,L}var P={model:w,view:w,projection:w,inverseModel:w.slice(),lowerBound:[0,0,0],upperBound:[0,0,0],colorMap:0,clipBounds:[[0,0,0],[0,0,0]],height:0,contourTint:0,contourColor:[0,0,0,1],permutation:[1,0,0,0,1,0,0,0,1],zOffset:-1e-4,objectOffset:[0,0,0],kambient:1,kdiffuse:1,kspecular:1,lightPosition:[1e3,1e3,1e3],eyePosition:[0,0,0],roughness:1,fresnel:1,opacity:1,vertexColor:0},I=w.slice(),O=[1,0,0,0,1,0,0,0,1];function z(t,e){t=t||{};var r=this.gl;r.disable(r.CULL_FACE),this._colorMap.bind(0);var n=P;n.model=t.model||w,n.view=t.view||w,n.projection=t.projection||w,n.lowerBound=[this.bounds[0][0],this.bounds[0][1],this.colorBounds[0]||this.bounds[0][2]],n.upperBound=[this.bounds[1][0],this.bounds[1][1],this.colorBounds[1]||this.bounds[1][2]],n.objectOffset=this.objectOffset,n.contourColor=this.contourColor[0],n.inverseModel=d(n.inverseModel,n.model);for(var i=0;i<2;++i)for(var a=n.clipBounds[i],o=0;o<3;++o)a[o]=Math.min(Math.max(this.clipBounds[i][o],-1e8),1e8);n.kambient=this.ambientLight,n.kdiffuse=this.diffuseLight,n.kspecular=this.specularLight,n.roughness=this.roughness,n.fresnel=this.fresnel,n.opacity=this.opacity,n.height=0,n.permutation=O,n.vertexColor=this.vertexColor;var s=I;for(p(s,n.view,n.model),p(s,n.projection,s),d(s,s),i=0;i<3;++i)n.eyePosition[i]=s[12+i]/s[15];var l=s[15];for(i=0;i<3;++i)l+=this.lightPosition[i]*s[4*i+3];for(i=0;i<3;++i){var c=s[12+i];for(o=0;o<3;++o)c+=s[4*o+i]*this.lightPosition[o];n.lightPosition[i]=c/l}var u=C(n,this);if(u.showSurface){for(this._shader.bind(),this._shader.uniforms=n,this._vao.bind(),this.showSurface&&this._vertexCount&&this._vao.draw(r.TRIANGLES,this._vertexCount),i=0;i<3;++i)this.surfaceProject[i]&&this.vertexCount&&(this._shader.uniforms.model=u.projections[i],this._shader.uniforms.clipBounds=u.clipBounds[i],this._vao.draw(r.TRIANGLES,this._vertexCount));this._vao.unbind()}if(u.showContour){var f=this._contourShader;n.kambient=1,n.kdiffuse=0,n.kspecular=0,n.opacity=1,f.bind(),f.uniforms=n;var h=this._contourVAO;for(h.bind(),i=0;i<3;++i)for(f.uniforms.permutation=k[i],r.lineWidth(this.contourWidth[i]*this.pixelRatio),o=0;o>4)/16)/255,i=Math.floor(n),a=n-i,o=e[1]*(t.value[1]+(15&t.value[2])/16)/255,s=Math.floor(o),l=o-s;i+=1,s+=1;var c=r.position;c[0]=c[1]=c[2]=0;for(var u=0;u<2;++u)for(var f=u?a:1-a,h=0;h<2;++h)for(var p=i+u,d=s+h,g=f*(h?l:1-l),v=0;v<3;++v)c[v]+=this._field[v].get(p,d)*g;for(var y=this._pickResult.level,x=0;x<3;++x)if(y[x]=m.le(this.contourLevels[x],c[x]),y[x]<0)this.contourLevels[x].length>0&&(y[x]=0);else if(y[x]Math.abs(_-c[x])&&(y[x]+=1)}for(r.index[0]=a<.5?i:i+1,r.index[1]=l<.5?s:s+1,r.uv[0]=n/e[0],r.uv[1]=o/e[1],v=0;v<3;++v)r.dataCoordinate[v]=this._field[v].get(r.index[0],r.index[1]);return r},S.padField=function(t,e){var r=e.shape.slice(),n=t.shape.slice();c.assign(t.lo(1,1).hi(r[0],r[1]),e),c.assign(t.lo(1).hi(r[0],1),e.hi(r[0],1)),c.assign(t.lo(1,n[1]-1).hi(r[0],1),e.lo(0,r[1]-1).hi(r[0],1)),c.assign(t.lo(0,1).hi(1,r[1]),e.hi(1)),c.assign(t.lo(n[0]-1,1).hi(1,r[1]),e.lo(r[0]-1)),t.set(0,0,e.get(0,0)),t.set(0,n[1]-1,e.get(0,r[1]-1)),t.set(n[0]-1,0,e.get(r[0]-1,0)),t.set(n[0]-1,n[1]-1,e.get(r[0]-1,r[1]-1))},S.update=function(t){t=t||{},this.objectOffset=t.objectOffset||this.objectOffset,this.dirty=!0,"contourWidth"in t&&(this.contourWidth=R(t.contourWidth,Number)),"showContour"in t&&(this.showContour=R(t.showContour,Boolean)),"showSurface"in t&&(this.showSurface=!!t.showSurface),"contourTint"in t&&(this.contourTint=R(t.contourTint,Boolean)),"contourColor"in t&&(this.contourColor=B(t.contourColor)),"contourProject"in t&&(this.contourProject=R(t.contourProject,(function(t){return R(t,Boolean)}))),"surfaceProject"in t&&(this.surfaceProject=t.surfaceProject),"dynamicColor"in t&&(this.dynamicColor=B(t.dynamicColor)),"dynamicTint"in t&&(this.dynamicTint=R(t.dynamicTint,Number)),"dynamicWidth"in t&&(this.dynamicWidth=R(t.dynamicWidth,Number)),"opacity"in t&&(this.opacity=t.opacity),"opacityscale"in t&&(this.opacityscale=t.opacityscale),"colorBounds"in t&&(this.colorBounds=t.colorBounds),"vertexColor"in t&&(this.vertexColor=t.vertexColor?1:0),"colormap"in t&&this._colorMap.setPixels(this.genColormap(t.colormap,this.opacityscale));var e=t.field||t.coords&&t.coords[2]||null,r=!1;if(e||(e=this._field[2].shape[0]||this._field[2].shape[2]?this._field[2].lo(1,1).hi(this._field[2].shape[0]-2,this._field[2].shape[1]-2):this._field[2].hi(0,0)),"field"in t||"coords"in t){var i=(e.shape[0]+2)*(e.shape[1]+2);i>this._field[2].data.length&&(s.freeFloat(this._field[2].data),this._field[2].data=s.mallocFloat(n.nextPow2(i))),this._field[2]=f(this._field[2].data,[e.shape[0]+2,e.shape[1]+2]),this.padField(this._field[2],e),this.shape=e.shape.slice();for(var a=this.shape,o=0;o<2;++o)this._field[2].size>this._field[o].data.length&&(s.freeFloat(this._field[o].data),this._field[o].data=s.mallocFloat(this._field[2].size)),this._field[o]=f(this._field[o].data,[a[0]+2,a[1]+2]);if(t.coords){var l=t.coords;if(!Array.isArray(l)||3!==l.length)throw new Error("gl-surface: invalid coordinates for x/y");for(o=0;o<2;++o){var c=l[o];for(v=0;v<2;++v)if(c.shape[v]!==a[v])throw new Error("gl-surface: coords have incorrect shape");this.padField(this._field[o],c)}}else if(t.ticks){var u=t.ticks;if(!Array.isArray(u)||2!==u.length)throw new Error("gl-surface: invalid ticks");for(o=0;o<2;++o){var p=u[o];if((Array.isArray(p)||p.length)&&(p=f(p)),p.shape[0]!==a[o])throw new Error("gl-surface: invalid tick length");var d=f(p.data,a);d.stride[o]=p.stride[0],d.stride[1^o]=0,this.padField(this._field[o],d)}}else{for(o=0;o<2;++o){var m=[0,0];m[o]=1,this._field[o]=f(this._field[o].data,[a[0]+2,a[1]+2],m,0)}this._field[0].set(0,0,0);for(var v=0;v0){for(var xt=0;xt<5;++xt)Q.pop();U-=1}continue t}Q.push(nt[0],nt[1],ot[0],ot[1],nt[2]),U+=1}}rt.push(U)}this._contourOffsets[$]=et,this._contourCounts[$]=rt}var bt=s.mallocFloat(Q.length);for(o=0;oi||r<0||r>i)throw new Error("gl-texture2d: Invalid texture size");return t._shape=[e,r],t.bind(),n.texImage2D(n.TEXTURE_2D,0,t.format,e,r,0,t.format,t.type,null),t._mipLevels=[0],t}function p(t,e,r,n,i,a){this.gl=t,this.handle=e,this.format=i,this.type=a,this._shape=[r,n],this._mipLevels=[0],this._magFilter=t.NEAREST,this._minFilter=t.NEAREST,this._wrapS=t.CLAMP_TO_EDGE,this._wrapT=t.CLAMP_TO_EDGE,this._anisoSamples=1;var o=this,s=[this._wrapS,this._wrapT];Object.defineProperties(s,[{get:function(){return o._wrapS},set:function(t){return o.wrapS=t}},{get:function(){return o._wrapT},set:function(t){return o.wrapT=t}}]),this._wrapVector=s;var l=[this._shape[0],this._shape[1]];Object.defineProperties(l,[{get:function(){return o._shape[0]},set:function(t){return o.width=t}},{get:function(){return o._shape[1]},set:function(t){return o.height=t}}]),this._shapeVector=l}var d=p.prototype;function m(t,e){return 3===t.length?1===e[2]&&e[1]===t[0]*t[2]&&e[0]===t[2]:1===e[0]&&e[1]===t[0]}function g(t){var e=t.createTexture();return t.bindTexture(t.TEXTURE_2D,e),t.texParameteri(t.TEXTURE_2D,t.TEXTURE_MIN_FILTER,t.NEAREST),t.texParameteri(t.TEXTURE_2D,t.TEXTURE_MAG_FILTER,t.NEAREST),t.texParameteri(t.TEXTURE_2D,t.TEXTURE_WRAP_S,t.CLAMP_TO_EDGE),t.texParameteri(t.TEXTURE_2D,t.TEXTURE_WRAP_T,t.CLAMP_TO_EDGE),e}function v(t,e,r,n,i){var a=t.getParameter(t.MAX_TEXTURE_SIZE);if(e<0||e>a||r<0||r>a)throw new Error("gl-texture2d: Invalid texture shape");if(i===t.FLOAT&&!t.getExtension("OES_texture_float"))throw new Error("gl-texture2d: Floating point textures not supported on this platform");var o=g(t);return t.texImage2D(t.TEXTURE_2D,0,n,e,r,0,n,i,null),new p(t,o,e,r,n,i)}function y(t,e,r,n,i,a){var o=g(t);return t.texImage2D(t.TEXTURE_2D,0,i,i,a,e),new p(t,o,r,n,i,a)}function x(t,e){var r=e.dtype,o=e.shape.slice(),s=t.getParameter(t.MAX_TEXTURE_SIZE);if(o[0]<0||o[0]>s||o[1]<0||o[1]>s)throw new Error("gl-texture2d: Invalid texture size");var l=m(o,e.stride.slice()),c=0;"float32"===r?c=t.FLOAT:"float64"===r?(c=t.FLOAT,l=!1,r="float32"):"uint8"===r?c=t.UNSIGNED_BYTE:(c=t.UNSIGNED_BYTE,l=!1,r="uint8");var u,h,d=0;if(2===o.length)d=t.LUMINANCE,o=[o[0],o[1],1],e=n(e.data,o,[e.stride[0],e.stride[1],1],e.offset);else{if(3!==o.length)throw new Error("gl-texture2d: Invalid shape for texture");if(1===o[2])d=t.ALPHA;else if(2===o[2])d=t.LUMINANCE_ALPHA;else if(3===o[2])d=t.RGB;else{if(4!==o[2])throw new Error("gl-texture2d: Invalid shape for pixel coords");d=t.RGBA}}c!==t.FLOAT||t.getExtension("OES_texture_float")||(c=t.UNSIGNED_BYTE,l=!1);var v=e.size;if(l)u=0===e.offset&&e.data.length===v?e.data:e.data.subarray(e.offset,e.offset+v);else{var y=[o[2],o[2]*o[0],1];h=a.malloc(v,r);var x=n(h,o,y,0);"float32"!==r&&"float64"!==r||c!==t.UNSIGNED_BYTE?i.assign(x,e):f(x,e),u=h.subarray(0,v)}var b=g(t);return t.texImage2D(t.TEXTURE_2D,0,d,o[0],o[1],0,d,c,u),l||a.free(h),new p(t,b,o[0],o[1],d,c)}Object.defineProperties(d,{minFilter:{get:function(){return this._minFilter},set:function(t){this.bind();var e=this.gl;if(this.type===e.FLOAT&&o.indexOf(t)>=0&&(e.getExtension("OES_texture_float_linear")||(t=e.NEAREST)),s.indexOf(t)<0)throw new Error("gl-texture2d: Unknown filter mode "+t);return e.texParameteri(e.TEXTURE_2D,e.TEXTURE_MIN_FILTER,t),this._minFilter=t}},magFilter:{get:function(){return this._magFilter},set:function(t){this.bind();var e=this.gl;if(this.type===e.FLOAT&&o.indexOf(t)>=0&&(e.getExtension("OES_texture_float_linear")||(t=e.NEAREST)),s.indexOf(t)<0)throw new Error("gl-texture2d: Unknown filter mode "+t);return e.texParameteri(e.TEXTURE_2D,e.TEXTURE_MAG_FILTER,t),this._magFilter=t}},mipSamples:{get:function(){return this._anisoSamples},set:function(t){var e=this._anisoSamples;if(this._anisoSamples=0|Math.max(t,1),e!==this._anisoSamples){var r=this.gl.getExtension("EXT_texture_filter_anisotropic");r&&this.gl.texParameterf(this.gl.TEXTURE_2D,r.TEXTURE_MAX_ANISOTROPY_EXT,this._anisoSamples)}return this._anisoSamples}},wrapS:{get:function(){return this._wrapS},set:function(t){if(this.bind(),l.indexOf(t)<0)throw new Error("gl-texture2d: Unknown wrap mode "+t);return this.gl.texParameteri(this.gl.TEXTURE_2D,this.gl.TEXTURE_WRAP_S,t),this._wrapS=t}},wrapT:{get:function(){return this._wrapT},set:function(t){if(this.bind(),l.indexOf(t)<0)throw new Error("gl-texture2d: Unknown wrap mode "+t);return this.gl.texParameteri(this.gl.TEXTURE_2D,this.gl.TEXTURE_WRAP_T,t),this._wrapT=t}},wrap:{get:function(){return this._wrapVector},set:function(t){if(Array.isArray(t)||(t=[t,t]),2!==t.length)throw new Error("gl-texture2d: Must specify wrap mode for rows and columns");for(var e=0;e<2;++e)if(l.indexOf(t[e])<0)throw new Error("gl-texture2d: Unknown wrap mode "+t);this._wrapS=t[0],this._wrapT=t[1];var r=this.gl;return this.bind(),r.texParameteri(r.TEXTURE_2D,r.TEXTURE_WRAP_S,this._wrapS),r.texParameteri(r.TEXTURE_2D,r.TEXTURE_WRAP_T,this._wrapT),t}},shape:{get:function(){return this._shapeVector},set:function(t){if(Array.isArray(t)){if(2!==t.length)throw new Error("gl-texture2d: Invalid texture shape")}else t=[0|t,0|t];return h(this,0|t[0],0|t[1]),[0|t[0],0|t[1]]}},width:{get:function(){return this._shape[0]},set:function(t){return h(this,t|=0,this._shape[1]),t}},height:{get:function(){return this._shape[1]},set:function(t){return t|=0,h(this,this._shape[0],t),t}}}),d.bind=function(t){var e=this.gl;return void 0!==t&&e.activeTexture(e.TEXTURE0+(0|t)),e.bindTexture(e.TEXTURE_2D,this.handle),void 0!==t?0|t:e.getParameter(e.ACTIVE_TEXTURE)-e.TEXTURE0},d.dispose=function(){this.gl.deleteTexture(this.handle)},d.generateMipmap=function(){this.bind(),this.gl.generateMipmap(this.gl.TEXTURE_2D);for(var t=Math.min(this._shape[0],this._shape[1]),e=0;t>0;++e,t>>>=1)this._mipLevels.indexOf(e)<0&&this._mipLevels.push(e)},d.setPixels=function(t,e,r,o){var s=this.gl;this.bind(),Array.isArray(e)?(o=r,r=0|e[1],e=0|e[0]):(e=e||0,r=r||0),o=o||0;var l=u(t)?t:t.raw;if(l){this._mipLevels.indexOf(o)<0?(s.texImage2D(s.TEXTURE_2D,0,this.format,this.format,this.type,l),this._mipLevels.push(o)):s.texSubImage2D(s.TEXTURE_2D,o,e,r,this.format,this.type,l)}else{if(!(t.shape&&t.stride&&t.data))throw new Error("gl-texture2d: Unsupported data type");if(t.shape.length<2||e+t.shape[1]>this._shape[1]>>>o||r+t.shape[0]>this._shape[0]>>>o||e<0||r<0)throw new Error("gl-texture2d: Texture dimensions are out of bounds");!function(t,e,r,o,s,l,c,u){var h=u.dtype,p=u.shape.slice();if(p.length<2||p.length>3)throw new Error("gl-texture2d: Invalid ndarray, must be 2d or 3d");var d=0,g=0,v=m(p,u.stride.slice());"float32"===h?d=t.FLOAT:"float64"===h?(d=t.FLOAT,v=!1,h="float32"):"uint8"===h?d=t.UNSIGNED_BYTE:(d=t.UNSIGNED_BYTE,v=!1,h="uint8");if(2===p.length)g=t.LUMINANCE,p=[p[0],p[1],1],u=n(u.data,p,[u.stride[0],u.stride[1],1],u.offset);else{if(3!==p.length)throw new Error("gl-texture2d: Invalid shape for texture");if(1===p[2])g=t.ALPHA;else if(2===p[2])g=t.LUMINANCE_ALPHA;else if(3===p[2])g=t.RGB;else{if(4!==p[2])throw new Error("gl-texture2d: Invalid shape for pixel coords");g=t.RGBA}p[2]}g!==t.LUMINANCE&&g!==t.ALPHA||s!==t.LUMINANCE&&s!==t.ALPHA||(g=s);if(g!==s)throw new Error("gl-texture2d: Incompatible texture format for setPixels");var 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p=h.prototype;p.setDistanceLimits=function(t,e){t=t>0?Math.log(t):-1/0,e=e>0?Math.log(e):1/0,e=Math.max(e,t),this.radius.bounds[0][0]=t,this.radius.bounds[1][0]=e},p.getDistanceLimits=function(t){var e=this.radius.bounds[0];return t?(t[0]=Math.exp(e[0][0]),t[1]=Math.exp(e[1][0]),t):[Math.exp(e[0][0]),Math.exp(e[1][0])]},p.recalcMatrix=function(t){this.center.curve(t),this.up.curve(t),this.right.curve(t),this.radius.curve(t),this.angle.curve(t);for(var e=this.computedUp,r=this.computedRight,n=0,i=0,a=0;a<3;++a)i+=e[a]*r[a],n+=e[a]*e[a];var l=Math.sqrt(n),u=0;for(a=0;a<3;++a)r[a]-=e[a]*i/n,u+=r[a]*r[a],e[a]/=l;var f=Math.sqrt(u);for(a=0;a<3;++a)r[a]/=f;var h=this.computedToward;o(h,e,r),s(h,h);var p=Math.exp(this.computedRadius[0]),d=this.computedAngle[0],m=this.computedAngle[1],g=Math.cos(d),v=Math.sin(d),y=Math.cos(m),x=Math.sin(m),b=this.computedCenter,_=g*y,w=v*y,T=x,k=-g*x,A=-v*x,M=y,S=this.computedEye,E=this.computedMatrix;for(a=0;a<3;++a){var L=_*r[a]+w*h[a]+T*e[a];E[4*a+1]=k*r[a]+A*h[a]+M*e[a],E[4*a+2]=L,E[4*a+3]=0}var C=E[1],P=E[5],I=E[9],O=E[2],z=E[6],D=E[10],R=P*D-I*z,F=I*O-C*D,B=C*z-P*O,N=c(R,F,B);R/=N,F/=N,B/=N,E[0]=R,E[4]=F,E[8]=B;for(a=0;a<3;++a)S[a]=b[a]+E[2+4*a]*p;for(a=0;a<3;++a){u=0;for(var j=0;j<3;++j)u+=E[a+4*j]*S[j];E[12+a]=-u}E[15]=1},p.getMatrix=function(t,e){this.recalcMatrix(t);var r=this.computedMatrix;if(e){for(var n=0;n<16;++n)e[n]=r[n];return e}return r};var d=[0,0,0];p.rotate=function(t,e,r,n){if(this.angle.move(t,e,r),n){this.recalcMatrix(t);var i=this.computedMatrix;d[0]=i[2],d[1]=i[6],d[2]=i[10];for(var o=this.computedUp,s=this.computedRight,l=this.computedToward,c=0;c<3;++c)i[4*c]=o[c],i[4*c+1]=s[c],i[4*c+2]=l[c];a(i,i,n,d);for(c=0;c<3;++c)o[c]=i[4*c],s[c]=i[4*c+1];this.up.set(t,o[0],o[1],o[2]),this.right.set(t,s[0],s[1],s[2])}},p.pan=function(t,e,r,n){e=e||0,r=r||0,n=n||0,this.recalcMatrix(t);var 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diff --git a/hardware-testing/hardware_testing/tools/plot/server.py b/hardware-testing/hardware_testing/tools/plot/server.py index b3bda88917f..72149fc959f 100644 --- a/hardware-testing/hardware_testing/tools/plot/server.py +++ b/hardware-testing/hardware_testing/tools/plot/server.py @@ -2,6 +2,7 @@ from http.server import BaseHTTPRequestHandler, HTTPServer import json from pathlib import Path +from time import time from typing import List, Any from hardware_testing.data import create_folder_for_test_data @@ -67,8 +68,9 @@ def _list_file_paths_in_directory( for sub_p in sub_dir_paths: _ret.append(sub_p) # sort newest to oldest - _ret.sort(key=lambda f: f.stem) # name includes timestamp - _ret.reverse() + # NOTE: system time on machines in SZ will randomly switch to the wrong time + # so here we can sort relative to whatever the current system time is + _ret.sort(key=lambda f: abs(time() - f.stat().st_mtime)) return _ret def _respond_to_data_request(self) -> None: From 815ab8e4ec1192c2e66b378ba6d0e1c25025f64a Mon Sep 17 00:00:00 2001 From: Jethary Rader <66035149+jerader@users.noreply.github.com> Date: Thu, 2 Nov 2023 13:16:14 -0400 Subject: [PATCH 31/65] fix(protocol-designer): loadName in loadLabware is now true loadName (#13903) addressing RESC-161 --- protocol-designer/src/load-file/migration/7_0_0.ts | 6 ++++-- .../src/load-file/migration/__tests__/7_0_0.test.ts | 7 +++---- protocol-designer/src/step-forms/reducers/index.ts | 6 ++++++ 3 files changed, 13 insertions(+), 6 deletions(-) diff --git a/protocol-designer/src/load-file/migration/7_0_0.ts b/protocol-designer/src/load-file/migration/7_0_0.ts index b3d61ef0466..c1d88c264fb 100644 --- a/protocol-designer/src/load-file/migration/7_0_0.ts +++ b/protocol-designer/src/load-file/migration/7_0_0.ts @@ -173,7 +173,9 @@ export const migrateFile = ( .map(command => { const labwareId = command.params.labwareId const definitionId = labware[labwareId].definitionId - const { namespace, version } = labwareDefinitions[definitionId] + const { namespace, version, parameters } = labwareDefinitions[ + definitionId + ] const labwareLocation = command.params.location let location: LabwareLocation = 'offDeck' if (labwareLocation === 'offDeck') { @@ -188,7 +190,7 @@ export const migrateFile = ( ...command, params: { ...command.params, - loadName: definitionId, + loadName: parameters.loadName, namespace, version, location, diff --git a/protocol-designer/src/load-file/migration/__tests__/7_0_0.test.ts b/protocol-designer/src/load-file/migration/__tests__/7_0_0.test.ts index 4044825af70..b5c13c2af97 100644 --- a/protocol-designer/src/load-file/migration/__tests__/7_0_0.test.ts +++ b/protocol-designer/src/load-file/migration/__tests__/7_0_0.test.ts @@ -69,7 +69,7 @@ describe('v7 migration', () => { '0b44c760-75c7-11ea-b42f-4b64e50f43e5:opentrons/opentrons_96_tiprack_300ul/1', location: { slotName: '2' }, displayName: 'Opentrons 96 Tip Rack 300 µL', - loadName: 'opentrons/opentrons_96_tiprack_300ul/1', + loadName: 'opentrons_96_tiprack_300ul', namespace: 'opentrons', version: 1, }, @@ -84,7 +84,7 @@ describe('v7 migration', () => { moduleId: '0b419310-75c7-11ea-b42f-4b64e50f43e5:magneticModuleType', }, displayName: 'NEST 96 Well Plate 100 µL PCR Full Skirt', - loadName: 'opentrons/nest_96_wellplate_100ul_pcr_full_skirt/1', + loadName: 'nest_96_wellplate_100ul_pcr_full_skirt', namespace: 'opentrons', version: 1, }, @@ -101,8 +101,7 @@ describe('v7 migration', () => { }, namespace: 'opentrons', version: 1, - loadName: - 'opentrons/opentrons_24_aluminumblock_generic_2ml_screwcap/1', + loadName: 'opentrons_24_aluminumblock_generic_2ml_screwcap', displayName: 'Opentrons 24 Well Aluminum Block with Generic 2 mL Screwcap', }, diff --git a/protocol-designer/src/step-forms/reducers/index.ts b/protocol-designer/src/step-forms/reducers/index.ts index 82e0021ea29..87153305e6a 100644 --- a/protocol-designer/src/step-forms/reducers/index.ts +++ b/protocol-designer/src/step-forms/reducers/index.ts @@ -92,6 +92,7 @@ import type { EditProfileStepAction, FormPatch, } from '../../steplist/actions' +import { import type { FormData, StepIdType, @@ -1162,6 +1163,11 @@ export const labwareInvariantProperties: Reducer< labwareDef.namespace === namespace && labwareDef.version === version ) + if (labwareDefinitionMatch == null) { + console.error( + `expected to find labware definition match with loadname ${loadName} but could not` + ) + } const labwareDefURI = labwareDefinitionMatch != null ? labwareDefinitionMatch[0] : '' const id = labwareId ?? '' From cc160b8ebaa41b7d7e30840fac6801f88f12a6dd Mon Sep 17 00:00:00 2001 From: Jethary Rader <66035149+jerader@users.noreply.github.com> Date: Fri, 3 Nov 2023 17:26:42 -0400 Subject: [PATCH 32/65] fix(protocol-designer): moving labware onto an adapter on the deck (#13914) closes RAUT-847 --- .../top-selectors/labware-locations/index.ts | 1 - .../src/commandCreators/atomic/moveLabware.ts | 52 ++++++++----------- 2 files changed, 21 insertions(+), 32 deletions(-) diff --git a/protocol-designer/src/top-selectors/labware-locations/index.ts b/protocol-designer/src/top-selectors/labware-locations/index.ts index 5db5f8f7509..1ef2640b018 100644 --- a/protocol-designer/src/top-selectors/labware-locations/index.ts +++ b/protocol-designer/src/top-selectors/labware-locations/index.ts @@ -132,7 +132,6 @@ export const getUnocuppiedLabwareLocationOptions: Selector< const labwareOnAdapter = Object.values(labware).find( temporalProperties => temporalProperties.slot === labwareId ) - const adapterSlot = labwareOnDeck.slot const modIdWithAdapter = Object.keys(modules).find( modId => modId === labwareOnDeck.slot diff --git a/step-generation/src/commandCreators/atomic/moveLabware.ts b/step-generation/src/commandCreators/atomic/moveLabware.ts index 3c7c414d0e8..d14814fa3b0 100644 --- a/step-generation/src/commandCreators/atomic/moveLabware.ts +++ b/step-generation/src/commandCreators/atomic/moveLabware.ts @@ -87,45 +87,35 @@ export const moveLabware: CommandCreator = ( newLocation !== 'offDeck' && 'labwareId' in newLocation ? newLocation.labwareId : null - const destModuleIdUnderAdapter = + + const destModuleOrSlotUnderAdapterId = destAdapterId != null ? prevRobotState.labware[destAdapterId].slot : null - const destinationModuleId = - destModuleIdUnderAdapter != null ? destModuleIdUnderAdapter : destModuleId + const destinationModuleIdOrSlot = + destModuleOrSlotUnderAdapterId != null + ? destModuleOrSlotUnderAdapterId + : destModuleId if (newLocation === 'offDeck' && useGripper) { errors.push(errorCreators.labwareOffDeck()) } - if ( - tiprackHasTip && - newLocationInWasteChute && - getHasWasteChute(additionalEquipmentEntities) - ) { - warnings.push(warningCreators.tiprackInWasteChuteHasTips()) - } else if ( - labwareHasLiquid && - newLocationInWasteChute && - getHasWasteChute(additionalEquipmentEntities) + destinationModuleIdOrSlot != null && + prevRobotState.modules[destinationModuleIdOrSlot] != null ) { - warnings.push(warningCreators.labwareInWasteChuteHasLiquid()) - } - - if (destinationModuleId != null) { const destModuleState = - prevRobotState.modules[destinationModuleId]?.moduleState ?? null - if (destModuleState != null) { - if ( - destModuleState.type === THERMOCYCLER_MODULE_TYPE && - destModuleState.lidOpen !== true - ) { - errors.push(errorCreators.thermocyclerLidClosed()) - } else if (destModuleState.type === HEATERSHAKER_MODULE_TYPE) { - if (destModuleState.latchOpen !== true) { - errors.push(errorCreators.heaterShakerLatchClosed()) - } - if (destModuleState.targetSpeed !== null) { - errors.push(errorCreators.heaterShakerIsShaking()) - } + prevRobotState.modules[destinationModuleIdOrSlot].moduleState + + if ( + destModuleState.type === THERMOCYCLER_MODULE_TYPE && + destModuleState.lidOpen !== true + ) { + errors.push(errorCreators.thermocyclerLidClosed()) + } else if (destModuleState.type === HEATERSHAKER_MODULE_TYPE) { + if (destModuleState.latchOpen !== true) { + errors.push(errorCreators.heaterShakerLatchClosed()) + } + if (destModuleState.targetSpeed !== null) { + errors.push(errorCreators.heaterShakerIsShaking()) } } } From bc63525bb783a3b17b8950af6980fe3db4640941 Mon Sep 17 00:00:00 2001 From: Max Marrone Date: Wed, 8 Nov 2023 14:32:48 -0500 Subject: [PATCH 33/65] feat(robot-server): Add HTTP endpoints for getting and setting the robot's deck configuration (#13894) Adds placeholder implementations of two new HTTP endpoints PUT /deck_configuration and GET /deck_configuration --- .../deck_configuration/__init__.py | 1 + .../fastapi_dependencies.py | 27 +++ .../robot_server/deck_configuration/models.py | 64 ++++++ .../robot_server/deck_configuration/router.py | 96 +++++++++ .../robot_server/deck_configuration/store.py | 28 +++ .../deck_configuration/validation.py | 114 +++++++++++ .../deck_configuration/validation_mapping.py | 39 ++++ robot-server/robot_server/hardware.py | 9 + .../robot_server/persistence/__init__.py | 2 +- robot-server/robot_server/router.py | 30 ++- .../deck_configuration/test_validation.py | 190 ++++++++++++++++++ robot-server/tests/integration/conftest.py | 1 + .../test_deck_configuration.tavern.yaml | 110 ++++++++++ 13 files changed, 699 insertions(+), 12 deletions(-) create mode 100644 robot-server/robot_server/deck_configuration/__init__.py create mode 100644 robot-server/robot_server/deck_configuration/fastapi_dependencies.py create mode 100644 robot-server/robot_server/deck_configuration/models.py create mode 100644 robot-server/robot_server/deck_configuration/router.py create mode 100644 robot-server/robot_server/deck_configuration/store.py create mode 100644 robot-server/robot_server/deck_configuration/validation.py create mode 100644 robot-server/robot_server/deck_configuration/validation_mapping.py create mode 100644 robot-server/tests/deck_configuration/test_validation.py create mode 100644 robot-server/tests/integration/http_api/test_deck_configuration.tavern.yaml diff --git a/robot-server/robot_server/deck_configuration/__init__.py b/robot-server/robot_server/deck_configuration/__init__.py new file mode 100644 index 00000000000..13bacaf8a4d --- /dev/null +++ b/robot-server/robot_server/deck_configuration/__init__.py @@ -0,0 +1 @@ +"""The HTTP API, and supporting code, for getting and setting the robot's deck configuration.""" diff --git a/robot-server/robot_server/deck_configuration/fastapi_dependencies.py b/robot-server/robot_server/deck_configuration/fastapi_dependencies.py new file mode 100644 index 00000000000..aef59d60548 --- /dev/null +++ b/robot-server/robot_server/deck_configuration/fastapi_dependencies.py @@ -0,0 +1,27 @@ +"""Dependency functions for use with `fastapi.Depends()`.""" + + +import fastapi +from server_utils.fastapi_utils.app_state import ( + AppState, + AppStateAccessor, + get_app_state, +) + +from robot_server.deck_configuration.store import DeckConfigurationStore + + +_accessor = AppStateAccessor[DeckConfigurationStore]("deck_configuration_store") + + +async def get_deck_configuration_store( + app_state: AppState = fastapi.Depends(get_app_state), +) -> DeckConfigurationStore: + """Return the server's singleton `DeckConfigurationStore`.""" + deck_configuration_store = _accessor.get_from(app_state) + if deck_configuration_store is None: + # If this initialization becomes async, we will need to protect it with a lock, + # to protect against the bug described in https://github.com/Opentrons/opentrons/pull/11927. + deck_configuration_store = DeckConfigurationStore() + _accessor.set_on(app_state, deck_configuration_store) + return deck_configuration_store diff --git a/robot-server/robot_server/deck_configuration/models.py b/robot-server/robot_server/deck_configuration/models.py new file mode 100644 index 00000000000..a0f2b6b7114 --- /dev/null +++ b/robot-server/robot_server/deck_configuration/models.py @@ -0,0 +1,64 @@ +"""HTTP-facing JSON models for deck configuration.""" + + +from datetime import datetime +from typing import List, Optional +from typing_extensions import Literal + +import pydantic + +from robot_server.errors import ErrorDetails + + +class CutoutFixture(pydantic.BaseModel): + """A single element of the robot's deck configuration.""" + + # These are deliberately typed as plain strs, instead of Enums or Literals, + # because we want shared-data to be the source of truth. + # + # The downside of this is that to use this HTTP interface, you need to be familiar with deck + # definitions. To make this better, we could perhaps autogenerate OpenAPI / JSON Schema spec + # fragments from shared-data and inject them here. + cutoutFixtureId: str = pydantic.Field( + description=( + "What kind of cutout fixture is mounted onto the deck." + " Valid values are the `id`s of `cutoutFixtures` in the" + " [deck definition](https://github.com/Opentrons/opentrons/tree/edge/shared-data/deck)." + ) + ) + cutoutId: str = pydantic.Field( + description=( + "Where on the deck this cutout fixture is mounted." + " Valid values are the `id`s of `cutouts` in the" + " [deck definition](https://github.com/Opentrons/opentrons/tree/edge/shared-data/deck)." + ) + ) + + +class DeckConfigurationRequest(pydantic.BaseModel): + """A request to set the robot's deck configuration.""" + + cutoutFixtures: List[CutoutFixture] = pydantic.Field( + description="A full list of all the cutout fixtures that are mounted onto the deck." + ) + + +class DeckConfigurationResponse(pydantic.BaseModel): + """A response for the robot's current deck configuration.""" + + cutoutFixtures: List[CutoutFixture] = pydantic.Field( + description="A full list of all the cutout fixtures that are mounted onto the deck." + ) + lastUpdatedAt: Optional[datetime] = pydantic.Field( + description=( + "When the deck configuration was last set over HTTP." + " If that has never happened, this will be `null` or omitted." + ) + ) + + +class InvalidDeckConfiguration(ErrorDetails): + """Error details for when a client supplies an invalid deck configuration.""" + + id: Literal["InvalidDeckConfiguration"] = "InvalidDeckConfiguration" + title: str = "Invalid Deck Configuration" diff --git a/robot-server/robot_server/deck_configuration/router.py b/robot-server/robot_server/deck_configuration/router.py new file mode 100644 index 00000000000..890ed5ba8cb --- /dev/null +++ b/robot-server/robot_server/deck_configuration/router.py @@ -0,0 +1,96 @@ +"""The HTTP API for getting and setting the robot's current deck configuration.""" + + +from datetime import datetime +from typing import Union + +import fastapi +from starlette.status import HTTP_422_UNPROCESSABLE_ENTITY + +from opentrons_shared_data.deck.dev_types import DeckDefinitionV4 + +from robot_server.errors import ErrorBody +from robot_server.hardware import get_deck_definition +from robot_server.service.dependencies import get_current_time +from robot_server.service.json_api import PydanticResponse, RequestModel, SimpleBody + +from . import models +from . import validation +from . import validation_mapping +from .fastapi_dependencies import get_deck_configuration_store +from .store import DeckConfigurationStore + + +router = fastapi.APIRouter() + + +@router.put( + "/deck_configuration", + summary="Set the deck configuration", + description=( + "Inform the robot how its deck is physically set up." + "\n\n" + "When you use the `/runs` and `/maintenance_runs` endpoints to command the robot to move," + " the robot will automatically dodge the obstacles that you declare here." + "\n\n" + "If a run command tries to do something that inherently conflicts with this deck" + " configuration, such as loading a labware into a staging area slot that this deck" + " configuration doesn't provide, the run command will fail with an error." + "\n\n" + "After you set the deck configuration, it will persist, even across reboots," + " until you set it to something else." + ), + responses={ + fastapi.status.HTTP_200_OK: { + "model": SimpleBody[models.DeckConfigurationResponse] + }, + fastapi.status.HTTP_422_UNPROCESSABLE_ENTITY: { + "model": ErrorBody[models.InvalidDeckConfiguration] + }, + }, +) +async def put_deck_configuration( # noqa: D103 + request_body: RequestModel[models.DeckConfigurationRequest], + store: DeckConfigurationStore = fastapi.Depends(get_deck_configuration_store), + last_updated_at: datetime = fastapi.Depends(get_current_time), + deck_definition: DeckDefinitionV4 = fastapi.Depends(get_deck_definition), +) -> PydanticResponse[ + Union[ + SimpleBody[models.DeckConfigurationResponse], + ErrorBody[models.InvalidDeckConfiguration], + ] +]: + placements = validation_mapping.map_in(request_body.data) + validation_errors = validation.get_configuration_errors(deck_definition, placements) + if len(validation_errors) == 0: + success_data = await store.set(request_body.data, last_updated_at) + return await PydanticResponse.create( + content=SimpleBody.construct(data=success_data) + ) + else: + error_data = validation_mapping.map_out(validation_errors) + return await PydanticResponse.create( + content=ErrorBody.construct(errors=error_data), + status_code=HTTP_422_UNPROCESSABLE_ENTITY, + ) + + +@router.get( + "/deck_configuration", + summary="Get the deck configuration", + description=( + "Get the robot's current deck configuration." + " See `PUT /deck_configuration` for background information." + ), + responses={ + fastapi.status.HTTP_200_OK: { + "model": SimpleBody[models.DeckConfigurationResponse] + }, + }, +) +async def get_deck_configuration( # noqa: D103 + store: DeckConfigurationStore = fastapi.Depends(get_deck_configuration_store), +) -> PydanticResponse[SimpleBody[models.DeckConfigurationResponse]]: + return await PydanticResponse.create( + content=SimpleBody.construct(data=await store.get()) + ) diff --git a/robot-server/robot_server/deck_configuration/store.py b/robot-server/robot_server/deck_configuration/store.py new file mode 100644 index 00000000000..0bf63de3f06 --- /dev/null +++ b/robot-server/robot_server/deck_configuration/store.py @@ -0,0 +1,28 @@ +# noqa: D100 + +from datetime import datetime +from typing import List, Optional + +from . import models + + +class DeckConfigurationStore: + """An in-memory stand-in for a persistent store of the robot's deck configuration.""" + + def __init__(self) -> None: + self._cutoutFixtures: List[models.CutoutFixture] = [] + self._last_updated_at: Optional[datetime] = None + + async def set( + self, request: models.DeckConfigurationRequest, last_updated_at: datetime + ) -> models.DeckConfigurationResponse: + """Set the robot's current deck configuration.""" + self._cutoutFixtures = request.cutoutFixtures + self._last_updated_at = last_updated_at + return await self.get() + + async def get(self) -> models.DeckConfigurationResponse: + """Get the robot's current deck configuration.""" + return models.DeckConfigurationResponse.construct( + cutoutFixtures=self._cutoutFixtures, lastUpdatedAt=self._last_updated_at + ) diff --git a/robot-server/robot_server/deck_configuration/validation.py b/robot-server/robot_server/deck_configuration/validation.py new file mode 100644 index 00000000000..681ed4213df --- /dev/null +++ b/robot-server/robot_server/deck_configuration/validation.py @@ -0,0 +1,114 @@ +"""Validate a deck configuration.""" + + +from collections import defaultdict +from dataclasses import dataclass +from typing import DefaultDict, FrozenSet, List, Set, Tuple, Union + +from opentrons_shared_data.deck import dev_types as deck_types + + +@dataclass(frozen=True) +class Placement: + """A placement of a cutout fixture in a cutout.""" + + cutout_id: str + cutout_fixture_id: str + + +@dataclass(frozen=True) +class UnoccupiedCutoutError: + """When a cutout has been left empty--no cutout fixtures mounted to it.""" + + cutout_id: str + + +@dataclass(frozen=True) +class OvercrowdedCutoutError: + """When a cutout has had more than one cutout fixture mounted to it.""" + + cutout_id: str + cutout_fixture_ids: Tuple[str, ...] + """All the conflicting cutout fixtures, in input order.""" + + +@dataclass(frozen=True) +class InvalidLocationError: + """When a cutout fixture has been mounted somewhere it cannot be mounted.""" + + cutout_id: str + cutout_fixture_id: str + allowed_cutout_ids: FrozenSet[str] + + +@dataclass(frozen=True) +class UnrecognizedCutoutFixtureError: + """When an cutout has been mounted that's not defined by the deck definition.""" + + cutout_fixture_id: str + + +ConfigurationError = Union[ + UnoccupiedCutoutError, + OvercrowdedCutoutError, + InvalidLocationError, + UnrecognizedCutoutFixtureError, +] + + +def get_configuration_errors( + deck_definition: deck_types.DeckDefinitionV4, + placements: List[Placement], +) -> Set[ConfigurationError]: + """Return all the problems with the given deck configration. + + If there are no problems, return ``{}``. + """ + errors: Set[ConfigurationError] = set() + fixtures_by_cutout: DefaultDict[str, List[str]] = defaultdict(list) + + for placement in placements: + fixtures_by_cutout[placement.cutout_id].append(placement.cutout_fixture_id) + + expected_cutouts = set(c["id"] for c in deck_definition["locations"]["cutouts"]) + occupied_cutouts = set(fixtures_by_cutout.keys()) + errors.update( + UnoccupiedCutoutError(cutout_id) + for cutout_id in expected_cutouts - occupied_cutouts + ) + + for cutout, fixtures in fixtures_by_cutout.items(): + if len(fixtures) > 1: + errors.add(OvercrowdedCutoutError(cutout, tuple(fixtures))) + + for placement in placements: + found_cutout_fixture = _find_cutout_fixture( + deck_definition, placement.cutout_fixture_id + ) + if isinstance(found_cutout_fixture, UnrecognizedCutoutFixtureError): + errors.add(found_cutout_fixture) + else: + allowed_cutout_ids = frozenset(found_cutout_fixture["mayMountTo"]) + if placement.cutout_id not in allowed_cutout_ids: + errors.add( + InvalidLocationError( + cutout_id=placement.cutout_id, + cutout_fixture_id=placement.cutout_fixture_id, + allowed_cutout_ids=allowed_cutout_ids, + ) + ) + + return errors + + +def _find_cutout_fixture( + deck_definition: deck_types.DeckDefinitionV4, cutout_fixture_id: str +) -> Union[deck_types.CutoutFixture, UnrecognizedCutoutFixtureError]: + try: + return next( + cutout_fixture + for cutout_fixture in deck_definition["cutoutFixtures"] + if cutout_fixture["id"] == cutout_fixture_id + ) + except StopIteration: + return UnrecognizedCutoutFixtureError(cutout_fixture_id=cutout_fixture_id) diff --git a/robot-server/robot_server/deck_configuration/validation_mapping.py b/robot-server/robot_server/deck_configuration/validation_mapping.py new file mode 100644 index 00000000000..10d9b65158a --- /dev/null +++ b/robot-server/robot_server/deck_configuration/validation_mapping.py @@ -0,0 +1,39 @@ +"""Convert between internal types for validation and HTTP-exposed response models.""" + +import dataclasses +from typing import Iterable, List + +from . import models +from . import validation + + +def map_in(request: models.DeckConfigurationRequest) -> List[validation.Placement]: + """Map a request from HTTP to internal types that can be validated.""" + return [ + validation.Placement(cutout_id=p.cutoutId, cutout_fixture_id=p.cutoutFixtureId) + for p in request.cutoutFixtures + ] + + +def map_out( + validation_errors: Iterable[validation.ConfigurationError], +) -> List[models.InvalidDeckConfiguration]: + """Map internal results from validation to HTTP-exposed types.""" + return [_map_out_single_error(e) for e in validation_errors] + + +def _map_out_single_error( + error: validation.ConfigurationError, +) -> models.InvalidDeckConfiguration: + # Expose the error details in a developer-facing, kind of lazy way. + # This format isn't guaranteed by robot-server's HTTP API; + # it's just meant to help app developers debug their deck config requests. + meta = { + "deckConfigurationProblem": error.__class__.__name__, + # Note that this dataclasses.asdict() will break if the internal error + # that we're mapping from is ever not a dataclass. + **dataclasses.asdict(error), + } + return models.InvalidDeckConfiguration( + detail="Invalid deck configuration.", meta=meta + ) diff --git a/robot-server/robot_server/hardware.py b/robot-server/robot_server/hardware.py index 6af230bd9ff..760580fcef2 100644 --- a/robot-server/robot_server/hardware.py +++ b/robot-server/robot_server/hardware.py @@ -16,6 +16,8 @@ from uuid import uuid4 # direct to avoid import cycles in service.dependencies from traceback import format_exception_only, TracebackException from contextlib import contextmanager + +from opentrons_shared_data import deck from opentrons_shared_data.robot.dev_types import RobotType, RobotTypeEnum from opentrons import initialize as initialize_api, should_use_ot3 @@ -284,6 +286,13 @@ async def get_deck_type() -> DeckType: return DeckType(guess_deck_type_from_global_config()) +async def get_deck_definition( + deck_type: DeckType = Depends(get_deck_type), +) -> deck.dev_types.DeckDefinitionV4: + """Return this robot's deck definition.""" + return deck.load(deck_type, version=4) + + async def _postinit_ot2_tasks( hardware: ThreadManagedHardware, app_state: AppState, diff --git a/robot-server/robot_server/persistence/__init__.py b/robot-server/robot_server/persistence/__init__.py index 6a36022788a..e220ec29735 100644 --- a/robot-server/robot_server/persistence/__init__.py +++ b/robot-server/robot_server/persistence/__init__.py @@ -1,4 +1,4 @@ -"""Data access initialization and management.""" +"""Support for persisting data across device reboots.""" from ._database import create_sql_engine, sqlite_rowid diff --git a/robot-server/robot_server/router.py b/robot-server/robot_server/router.py index 0ef30d30a2c..76449fb220a 100644 --- a/robot-server/robot_server/router.py +++ b/robot-server/robot_server/router.py @@ -3,23 +3,25 @@ from .constants import V1_TAG from .errors import LegacyErrorResponse +from .versioning import check_version_header + +from .commands import commands_router +from .deck_configuration.router import router as deck_configuration_router from .health import health_router -from .protocols import protocols_router -from .runs import runs_router +from .instruments import instruments_router from .maintenance_runs.router import maintenance_runs_router -from .commands import commands_router from .modules import modules_router -from .instruments import instruments_router -from .system import system_router -from .versioning import check_version_header +from .protocols import protocols_router +from .robot.router import robot_router +from .runs import runs_router +from .service.labware.router import router as labware_router from .service.legacy.routers import legacy_routes -from .service.session.router import router as deprecated_session_router +from .service.notifications.router import router as notifications_router from .service.pipette_offset.router import router as pip_os_router -from .service.labware.router import router as labware_router +from .service.session.router import router as deprecated_session_router from .service.tip_length.router import router as tl_router -from .service.notifications.router import router as notifications_router from .subsystems.router import subsystems_router -from .robot.router import robot_router +from .system import system_router router = APIRouter() @@ -69,6 +71,12 @@ dependencies=[Depends(check_version_header)], ) +router.include_router( + router=deck_configuration_router, + tags=["Deck Configuration"], + dependencies=[Depends(check_version_header)], +) + router.include_router( router=modules_router, tags=["Attached Modules"], @@ -77,7 +85,7 @@ router.include_router( router=instruments_router, - tags=["Attached instruments"], + tags=["Attached Instruments"], dependencies=[Depends(check_version_header)], ) diff --git a/robot-server/tests/deck_configuration/test_validation.py b/robot-server/tests/deck_configuration/test_validation.py new file mode 100644 index 00000000000..c2024ef5e86 --- /dev/null +++ b/robot-server/tests/deck_configuration/test_validation.py @@ -0,0 +1,190 @@ +"""Unit tests for robot_server.deck_configuration.validation.""" + +from opentrons_shared_data.deck import load as load_deck_definition + +from robot_server.deck_configuration import validation as subject + + +def test_valid() -> None: + """It should return an empty error list if the input is valid.""" + deck_definition = load_deck_definition("ot3_standard", version=4) + cutout_fixtures = [ + subject.Placement(cutout_fixture_id=cutout_fixture_id, cutout_id=cutout_id) + for cutout_fixture_id, cutout_id in [ + ("singleLeftSlot", "cutoutA1"), + ("singleLeftSlot", "cutoutB1"), + ("singleLeftSlot", "cutoutC1"), + ("singleLeftSlot", "cutoutD1"), + ("singleCenterSlot", "cutoutA2"), + ("singleCenterSlot", "cutoutB2"), + ("singleCenterSlot", "cutoutC2"), + ("singleCenterSlot", "cutoutD2"), + ("stagingAreaRightSlot", "cutoutA3"), + ("singleRightSlot", "cutoutB3"), + ("stagingAreaRightSlot", "cutoutC3"), + ("singleRightSlot", "cutoutD3"), + ] + ] + assert subject.get_configuration_errors(deck_definition, cutout_fixtures) == set() + + +def test_invalid_empty_cutouts() -> None: + """It should enforce that every cutout is occupied.""" + deck_definition = load_deck_definition("ot3_standard", version=4) + cutout_fixtures = [ + subject.Placement(cutout_fixture_id=cutout_fixture_id, cutout_id=cutout_id) + for cutout_fixture_id, cutout_id in [ + ("singleLeftSlot", "cutoutA1"), + ("singleLeftSlot", "cutoutB1"), + ("singleLeftSlot", "cutoutC1"), + ("singleLeftSlot", "cutoutD1"), + ("singleCenterSlot", "cutoutA2"), + ("singleCenterSlot", "cutoutB2"), + # Invalid because we haven't placed anything into cutout C2 or D2. + # ("singleCenterSlot", "cutoutC2"), + # ("singleCenterSlot", "cutoutD2"), + ("stagingAreaRightSlot", "cutoutA3"), + ("singleRightSlot", "cutoutB3"), + ("stagingAreaRightSlot", "cutoutC3"), + ("singleRightSlot", "cutoutD3"), + ] + ] + assert subject.get_configuration_errors(deck_definition, cutout_fixtures) == { + subject.UnoccupiedCutoutError(cutout_id="cutoutC2"), + subject.UnoccupiedCutoutError(cutout_id="cutoutD2"), + } + + +def test_invalid_overcrowded_cutouts() -> None: + """It should prevent you from putting multiple things into a single cutout.""" + deck_definition = load_deck_definition("ot3_standard", version=4) + cutout_fixtures = [ + subject.Placement(cutout_fixture_id=cutout_fixture_id, cutout_id=cutout_id) + for cutout_fixture_id, cutout_id in [ + ("singleLeftSlot", "cutoutA1"), + ("singleLeftSlot", "cutoutB1"), + ("singleLeftSlot", "cutoutC1"), + ("singleLeftSlot", "cutoutD1"), + ("singleCenterSlot", "cutoutA2"), + ("singleCenterSlot", "cutoutB2"), + ("singleCenterSlot", "cutoutC2"), + ("singleCenterSlot", "cutoutD2"), + ("stagingAreaRightSlot", "cutoutA3"), + ("singleRightSlot", "cutoutB3"), + # Invalid because we're placing two things in cutout C3... + ("stagingAreaRightSlot", "cutoutC3"), + ("stagingAreaRightSlot", "cutoutC3"), + # ...and two things in cutout D3. + ("wasteChuteRightAdapterNoCover", "cutoutD3"), + ("singleRightSlot", "cutoutD3"), + ] + ] + assert subject.get_configuration_errors(deck_definition, cutout_fixtures) == { + subject.OvercrowdedCutoutError( + cutout_id="cutoutC3", + cutout_fixture_ids=("stagingAreaRightSlot", "stagingAreaRightSlot"), + ), + subject.OvercrowdedCutoutError( + cutout_id="cutoutD3", + cutout_fixture_ids=("wasteChuteRightAdapterNoCover", "singleRightSlot"), + ), + } + + +def test_invalid_cutout_for_fixture() -> None: + """Each fixture must be placed in a location that's valid for that particular fixture.""" + deck_definition = load_deck_definition("ot3_standard", version=4) + cutout_fixtures = [ + subject.Placement(cutout_fixture_id=cutout_fixture_id, cutout_id=cutout_id) + for cutout_fixture_id, cutout_id in [ + ("singleLeftSlot", "cutoutA1"), + ("singleLeftSlot", "cutoutB1"), + ("singleLeftSlot", "cutoutC1"), + ("singleLeftSlot", "cutoutD1"), + ("singleCenterSlot", "cutoutA2"), + ("singleCenterSlot", "cutoutB2"), + # Invalid because wasteChuteRightAdapterNoCover can't be placed in cutout C2... + ("wasteChuteRightAdapterNoCover", "cutoutC2"), + # ...nor can singleLeftSlot be placed in cutout D2. + ("singleLeftSlot", "cutoutD2"), + ("stagingAreaRightSlot", "cutoutA3"), + ("singleRightSlot", "cutoutB3"), + ("stagingAreaRightSlot", "cutoutC3"), + ("singleRightSlot", "cutoutD3"), + ] + ] + assert subject.get_configuration_errors(deck_definition, cutout_fixtures) == { + subject.InvalidLocationError( + cutout_id="cutoutC2", + cutout_fixture_id="wasteChuteRightAdapterNoCover", + allowed_cutout_ids=frozenset(["cutoutD3"]), + ), + subject.InvalidLocationError( + cutout_id="cutoutD2", + cutout_fixture_id="singleLeftSlot", + allowed_cutout_ids=frozenset( + ["cutoutA1", "cutoutB1", "cutoutC1", "cutoutD1"] + ), + ), + } + + +def test_unrecognized_cutout() -> None: + """It should raise a sensible error if you pass a totally nonexistent cutout.""" + deck_definition = load_deck_definition("ot3_standard", version=4) + cutout_fixtures = [ + subject.Placement(cutout_fixture_id=cutout_fixture_id, cutout_id=cutout_id) + for cutout_fixture_id, cutout_id in [ + ("singleLeftSlot", "cutoutA1"), + ("singleLeftSlot", "cutoutB1"), + ("singleLeftSlot", "cutoutC1"), + ("singleLeftSlot", "cutoutD1"), + ("singleCenterSlot", "cutoutA2"), + ("singleCenterSlot", "cutoutB2"), + ("singleCenterSlot", "cutoutC2"), + ("singleCenterSlot", "cutoutD2"), + ("singleRightSlot", "cutoutA3"), + ("singleRightSlot", "cutoutB3"), + ("singleRightSlot", "cutoutC3"), + ("singleRightSlot", "cutoutD3"), + # Invalid because "someUnrecognizedCutout" is not defined by the deck definition. + ("singleRightSlot", "someUnrecognizedCutout"), + ] + ] + assert subject.get_configuration_errors(deck_definition, cutout_fixtures) == { + subject.InvalidLocationError( + cutout_fixture_id="singleRightSlot", + cutout_id="someUnrecognizedCutout", + allowed_cutout_ids=frozenset( + ["cutoutA3", "cutoutB3", "cutoutC3", "cutoutD3"] + ), + ) + } + + +def test_unrecognized_cutout_fixture() -> None: + """It should raise a sensible error if you pass a totally nonexistent cutout fixture.""" + deck_definition = load_deck_definition("ot3_standard", version=4) + cutout_fixtures = [ + subject.Placement(cutout_fixture_id=cutout_fixture_id, cutout_id=cutout_id) + for cutout_fixture_id, cutout_id in [ + ("singleLeftSlot", "cutoutA1"), + ("singleLeftSlot", "cutoutB1"), + ("singleLeftSlot", "cutoutC1"), + ("singleLeftSlot", "cutoutD1"), + ("singleCenterSlot", "cutoutA2"), + ("singleCenterSlot", "cutoutB2"), + ("singleCenterSlot", "cutoutC2"), + ("singleCenterSlot", "cutoutD2"), + ("singleRightSlot", "cutoutA3"), + ("singleRightSlot", "cutoutB3"), + ("singleRightSlot", "cutoutC3"), + # Invalid because "someUnrecognizedCutoutFixture" is not defined by the deck definition. + ("someUnrecognizedCutoutFixture", "cutoutD3"), + ] + ] + assert subject.get_configuration_errors(deck_definition, cutout_fixtures) == { + subject.UnrecognizedCutoutFixtureError( + cutout_fixture_id="someUnrecognizedCutoutFixture" + ) + } diff --git a/robot-server/tests/integration/conftest.py b/robot-server/tests/integration/conftest.py index 669e2cb7655..6ba77ffbe6b 100644 --- a/robot-server/tests/integration/conftest.py +++ b/robot-server/tests/integration/conftest.py @@ -133,6 +133,7 @@ def _wait_until_ready(base_url: str) -> None: time.sleep(0.1) +# TODO(mm, 2023-11-02): This should also restore the server's original deck configuration. def _clean_server_state(base_url: str) -> None: async def _clean_server_state_async() -> None: async with RobotClient.make(base_url=base_url, version="*") as robot_client: diff --git a/robot-server/tests/integration/http_api/test_deck_configuration.tavern.yaml b/robot-server/tests/integration/http_api/test_deck_configuration.tavern.yaml new file mode 100644 index 00000000000..61419b258f0 --- /dev/null +++ b/robot-server/tests/integration/http_api/test_deck_configuration.tavern.yaml @@ -0,0 +1,110 @@ +test_name: Test setting and getting a Flex deck configuration + +marks: + - ot3_only + - usefixtures: + - ot3_server_base_url + +stages: + - name: Set a valid deck configuration + request: + url: '{ot3_server_base_url}/deck_configuration' + method: PUT + json: + data: + cutoutFixtures: &expectedCutoutFixtures + - cutoutFixtureId: singleLeftSlot + cutoutId: cutoutA1 + - cutoutFixtureId: singleLeftSlot + cutoutId: cutoutB1 + - cutoutFixtureId: singleLeftSlot + cutoutId: cutoutC1 + - cutoutFixtureId: singleLeftSlot + cutoutId: cutoutD1 + - cutoutFixtureId: singleCenterSlot + cutoutId: cutoutA2 + - cutoutFixtureId: singleCenterSlot + cutoutId: cutoutB2 + - cutoutFixtureId: singleCenterSlot + cutoutId: cutoutC2 + - cutoutFixtureId: singleCenterSlot + cutoutId: cutoutD2 + # Throw in a weird right-side deck layout + # so we know this won't happen to match the default. + - cutoutFixtureId: stagingAreaRightSlot + cutoutId: cutoutA3 + - cutoutFixtureId: singleRightSlot + cutoutId: cutoutB3 + - cutoutFixtureId: stagingAreaRightSlot + cutoutId: cutoutC3 + - cutoutFixtureId: singleRightSlot + cutoutId: cutoutD3 + + - name: Get the deck configuration + request: + url: '{ot3_server_base_url}/deck_configuration' + response: + json: + data: + lastUpdatedAt: !anystr + cutoutFixtures: *expectedCutoutFixtures + save: + json: + last_updated_at: data.lastUpdatedAt + + - name: Set an invalid deck configuration + request: + url: '{ot3_server_base_url}/deck_configuration' + method: PUT + json: + data: + cutoutFixtures: + # Invalid deck configuration: cutoutA1 is left unoccupied. + # - cutoutFixtureId: singleLeftSlot + # cutoutId: cutoutA1 + - cutoutFixtureId: singleLeftSlot + cutoutId: cutoutB1 + - cutoutFixtureId: singleLeftSlot + cutoutId: cutoutC1 + - cutoutFixtureId: singleLeftSlot + cutoutId: cutoutD1 + - cutoutFixtureId: singleCenterSlot + cutoutId: cutoutA2 + - cutoutFixtureId: singleCenterSlot + cutoutId: cutoutB2 + - cutoutFixtureId: singleCenterSlot + cutoutId: cutoutC2 + - cutoutFixtureId: singleCenterSlot + cutoutId: cutoutD2 + - cutoutFixtureId: singleRightSlot + cutoutId: cutoutA3 + - cutoutFixtureId: singleRightSlot + cutoutId: cutoutB3 + - cutoutFixtureId: singleRightSlot + cutoutId: cutoutC3 + - cutoutFixtureId: singleRightSlot + cutoutId: cutoutD3 + response: + status_code: 422 + json: + errors: + - id: InvalidDeckConfiguration + title: Invalid Deck Configuration + errorCode: '4000' + detail: Invalid deck configuration. + meta: + deckConfigurationProblem: UnoccupiedCutoutError + cutout_id: cutoutA1 + + - name: Get the deck configuration and make sure it's not the invalid one + request: + url: '{ot3_server_base_url}/deck_configuration' + response: + json: + data: + lastUpdatedAt: '{last_updated_at}' + cutoutFixtures: *expectedCutoutFixtures +# TODO(mm, 2023-11-02): +# +# - Test that the server has a default deck configuration. +# The default configuration will be different between OT-2 and Flex. From 93d83f17750a93be39175ee5f80009b0672d8b5a Mon Sep 17 00:00:00 2001 From: Jethary Rader <66035149+jerader@users.noreply.github.com> Date: Wed, 8 Nov 2023 14:54:18 -0500 Subject: [PATCH 34/65] refactor(protocol-designer): remove unneeded loadLabware commands from 8_0_0 migration (#13945) --- .../src/load-file/migration/8_0_0.ts | 39 +------------------ 1 file changed, 2 insertions(+), 37 deletions(-) diff --git a/protocol-designer/src/load-file/migration/8_0_0.ts b/protocol-designer/src/load-file/migration/8_0_0.ts index c397cea13e9..734f2f9ea46 100644 --- a/protocol-designer/src/load-file/migration/8_0_0.ts +++ b/protocol-designer/src/load-file/migration/8_0_0.ts @@ -37,13 +37,7 @@ interface LabwareLocationUpdate { export const migrateFile = ( appData: ProtocolFileV7 ): ProtocolFile => { - const { - designerApplication, - commands, - robot, - labwareDefinitions, - liquids, - } = appData + const { designerApplication, commands, robot, liquids } = appData if (designerApplication == null || designerApplication.data == null) { throw Error('The designerApplication key in your file is corrupt.') @@ -135,31 +129,6 @@ export const migrateFile = ( filteredSavedStepForms ) - const loadLabwareCommands: LoadLabwareCreateCommand[] = commands - .filter( - (command): command is LoadLabwareCreateCommand => - command.commandType === 'loadLabware' - ) - .map(command => { - // protocols that do multiple migrations through 7.0.0 have a loadName === definitionURI - // this ternary below fixes that - const loadName = - labwareDefinitions[command.params.loadName] != null - ? labwareDefinitions[command.params.loadName].parameters.loadName - : command.params.loadName - return { - ...command, - params: { - ...command.params, - loadName, - }, - } - }) - - const migratedCommandsV8 = commands.filter( - command => command.commandType !== 'loadLabware' - ) - const flexDeckSpec: OT3RobotMixin = { robot: { model: FLEX_ROBOT_TYPE, @@ -216,11 +185,7 @@ export const migrateFile = ( const commandv8Mixin: CommandV8Mixin = { commandSchemaId: 'opentronsCommandSchemaV8', - commands: [ - ...migratedCommandsV8, - ...loadLabwareCommands, - ...trashLoadCommand, - ], + commands: [...commands, ...trashLoadCommand], } const commandAnnotionaV1Mixin: CommandAnnotationV1Mixin = { From 7a781647911931f0c57f15d8a675dc541ec0e60e Mon Sep 17 00:00:00 2001 From: koji Date: Wed, 8 Nov 2023 15:15:34 -0500 Subject: [PATCH 35/65] refactor(app): update deckmap and deck configurator styling (#13946) * refactor(app): update deck configurator styling (#13946) --- .../DeckConfigurator/EmptyConfigFixture.tsx | 37 +++++++++++++++---- .../StagingAreaConfigFixture.tsx | 33 ++++++++++++----- .../TrashBinConfigFixture.tsx | 32 +++++++++++----- .../WasteChuteConfigFixture.tsx | 33 ++++++++++++----- 4 files changed, 100 insertions(+), 35 deletions(-) diff --git a/components/src/hardware-sim/DeckConfigurator/EmptyConfigFixture.tsx b/components/src/hardware-sim/DeckConfigurator/EmptyConfigFixture.tsx index ef579ea5bda..d53f7d98188 100644 --- a/components/src/hardware-sim/DeckConfigurator/EmptyConfigFixture.tsx +++ b/components/src/hardware-sim/DeckConfigurator/EmptyConfigFixture.tsx @@ -1,4 +1,5 @@ import * as React from 'react' +import { css } from 'styled-components' import { getDeckDefFromRobotType, @@ -71,14 +72,7 @@ export function EmptyConfigFixture( flexProps={{ flex: '1' }} foreignObjectProps={{ flex: '1' }} > - + ) } + +const EMPTY_CONFIG_STYLE = css` + align-items: ${ALIGN_CENTER}; + justify-content: ${JUSTIFY_CENTER}; + background-color: ${COLORS.mediumBlueEnabled}; + border: 3px dashed ${COLORS.blueEnabled}; + border-radius: ${BORDERS.radiusSoftCorners}; + width: 100%; + + &:active { + border: 3px solid ${COLORS.blueEnabled}; + background-color: ${COLORS.mediumBluePressed}; + } + + &:focus { + border: 3px solid ${COLORS.blueEnabled}; + background-color: ${COLORS.mediumBluePressed}; + } + + &:hover { + background-color: ${COLORS.mediumBluePressed}; + } + + &:focus-visible { + border: 3px solid ${COLORS.fundamentalsFocus}; + } +` diff --git a/components/src/hardware-sim/DeckConfigurator/StagingAreaConfigFixture.tsx b/components/src/hardware-sim/DeckConfigurator/StagingAreaConfigFixture.tsx index f8ba5b44e35..6f7013e053f 100644 --- a/components/src/hardware-sim/DeckConfigurator/StagingAreaConfigFixture.tsx +++ b/components/src/hardware-sim/DeckConfigurator/StagingAreaConfigFixture.tsx @@ -1,4 +1,5 @@ import * as React from 'react' +import { css } from 'styled-components' import { getDeckDefFromRobotType, @@ -64,15 +65,7 @@ export function StagingAreaConfigFixture( flexProps={{ flex: '1' }} foreignObjectProps={{ flex: '1' }} > - + {stagingAreaDef.metadata.displayName} @@ -89,3 +82,25 @@ export function StagingAreaConfigFixture( ) } + +const STAGING_AREA_CONFIG_STYLE = css` + align-items: ${ALIGN_CENTER}; + background-color: ${COLORS.grey2}; + border-radius: ${BORDERS.borderRadiusSize1}; + color: ${COLORS.white}; + grid-gap: ${SPACING.spacing8}; + justify-content: ${JUSTIFY_CENTER}; + width: 100%; + + &:active { + background-color: ${COLORS.darkBlack90}; + } + + &:hover { + background-color: ${COLORS.grey1}; + } + + &:focus-visible { + border: 3px solid ${COLORS.fundamentalsFocus}; + } +` diff --git a/components/src/hardware-sim/DeckConfigurator/TrashBinConfigFixture.tsx b/components/src/hardware-sim/DeckConfigurator/TrashBinConfigFixture.tsx index 0d78b538fb7..5ca41d53c33 100644 --- a/components/src/hardware-sim/DeckConfigurator/TrashBinConfigFixture.tsx +++ b/components/src/hardware-sim/DeckConfigurator/TrashBinConfigFixture.tsx @@ -1,4 +1,5 @@ import * as React from 'react' +import { css } from 'styled-components' import { getDeckDefFromRobotType, @@ -70,15 +71,7 @@ export function TrashBinConfigFixture( flexProps={{ flex: '1' }} foreignObjectProps={{ flex: '1' }} > - + {trashBinDef.metadata.displayName} @@ -95,3 +88,24 @@ export function TrashBinConfigFixture( ) } + +const TRASH_BIN_CONFIG_STYLE = css` + align-items: ${ALIGN_CENTER}; + background-color: ${COLORS.grey2}; + border-radius: ${BORDERS.borderRadiusSize1}; + color: ${COLORS.white}; + justify-content: ${JUSTIFY_CENTER}; + grid-gap: ${SPACING.spacing8}; + width: 100%; + + &:active { + background-color: ${COLORS.darkBlack90}; + } + + &:hover { + background-color: ${COLORS.grey1}; + } + + &:focus-visible { + } +` diff --git a/components/src/hardware-sim/DeckConfigurator/WasteChuteConfigFixture.tsx b/components/src/hardware-sim/DeckConfigurator/WasteChuteConfigFixture.tsx index da0b9241df7..e43ae7eadfb 100644 --- a/components/src/hardware-sim/DeckConfigurator/WasteChuteConfigFixture.tsx +++ b/components/src/hardware-sim/DeckConfigurator/WasteChuteConfigFixture.tsx @@ -1,4 +1,5 @@ import * as React from 'react' +import { css } from 'styled-components' import { getDeckDefFromRobotType, @@ -64,15 +65,7 @@ export function WasteChuteConfigFixture( flexProps={{ flex: '1' }} foreignObjectProps={{ flex: '1' }} > - + {wasteChuteDef.metadata.displayName} @@ -89,3 +82,25 @@ export function WasteChuteConfigFixture( ) } + +const WASTE_CHUTE_CONFIG_STYLE = css` + align-items: ${ALIGN_CENTER}; + background-color: ${COLORS.grey2}; + border-radius: ${BORDERS.borderRadiusSize1}; + color: ${COLORS.white}; + justify-content: ${JUSTIFY_CENTER}; + grid-gap: ${SPACING.spacing8}; + width: 100%; + + &:active { + background-color: ${COLORS.darkBlack90}; + } + + &:hover { + background-color: ${COLORS.grey1}; + } + + &:focus-visible { + border: 3px solid ${COLORS.fundamentalsFocus}; + } +` From 9fb282be8aa9bbdf8303caec60358e29c60ad7b9 Mon Sep 17 00:00:00 2001 From: Frank Sinapi Date: Wed, 8 Nov 2023 15:35:45 -0500 Subject: [PATCH 36/65] fix(hardware): error details should always be strings (#13948) --- .../opentrons_hardware/firmware_bindings/messages/payloads.py | 4 ++-- .../opentrons_hardware/hardware_control/move_group_runner.py | 2 +- hardware/opentrons_hardware/hardware_control/tool_sensors.py | 2 +- hardware/opentrons_hardware/instruments/gripper/serials.py | 2 +- hardware/opentrons_hardware/instruments/pipettes/serials.py | 2 +- 5 files changed, 6 insertions(+), 6 deletions(-) diff --git a/hardware/opentrons_hardware/firmware_bindings/messages/payloads.py b/hardware/opentrons_hardware/firmware_bindings/messages/payloads.py index 8525b04459a..1e31028957e 100644 --- a/hardware/opentrons_hardware/firmware_bindings/messages/payloads.py +++ b/hardware/opentrons_hardware/firmware_bindings/messages/payloads.py @@ -319,13 +319,13 @@ def __post_init__(self) -> None: raise InternalMessageFormatError( f"FirmwareUpdateData: Data address needs to be doubleword aligned." f" {address} mod 8 equals {address % 8} and should be 0", - detail={"address": address}, + detail={"address": str(address)}, ) if data_length > FirmwareUpdateDataField.NUM_BYTES: raise InternalMessageFormatError( f"FirmwareUpdateData: Data cannot be more than" f" {FirmwareUpdateDataField.NUM_BYTES} bytes got {data_length}.", - detail={"size": data_length}, + detail={"size": str(data_length)}, ) @classmethod diff --git a/hardware/opentrons_hardware/hardware_control/move_group_runner.py b/hardware/opentrons_hardware/hardware_control/move_group_runner.py index 29b6aa89267..e906ea93646 100644 --- a/hardware/opentrons_hardware/hardware_control/move_group_runner.py +++ b/hardware/opentrons_hardware/hardware_control/move_group_runner.py @@ -617,7 +617,7 @@ async def _run_one_group(self, group_id: int, can_messenger: CanMessenger) -> No detail={ "missing-nodes": missing_node_msg, "full-timeout": str(full_timeout), - "expected-time": expected_time, + "expected-time": str(expected_time), "elapsed": str(time.time() - start_time), }, ) diff --git a/hardware/opentrons_hardware/hardware_control/tool_sensors.py b/hardware/opentrons_hardware/hardware_control/tool_sensors.py index 34f18b87542..a0f9fbcd745 100644 --- a/hardware/opentrons_hardware/hardware_control/tool_sensors.py +++ b/hardware/opentrons_hardware/hardware_control/tool_sensors.py @@ -186,7 +186,7 @@ async def capacitive_probe( detail={ "tool": tool.name, "sensor": sensor_id.name, - "threshold": relative_threshold_pf, + "threshold": str(relative_threshold_pf), }, ) LOG.info(f"starting capacitive probe with threshold {threshold.to_float()}") diff --git a/hardware/opentrons_hardware/instruments/gripper/serials.py b/hardware/opentrons_hardware/instruments/gripper/serials.py index 09f41d92dd6..6691aa64fea 100644 --- a/hardware/opentrons_hardware/instruments/gripper/serials.py +++ b/hardware/opentrons_hardware/instruments/gripper/serials.py @@ -70,6 +70,6 @@ def gripper_serial_val_from_parts(model: int, serialval: bytes) -> bytes: except struct.error as e: raise InvalidInstrumentData( message="Invalid serial data", - detail={"model": model, "serial": serialval}, + detail={"model": str(model), "serial": str(serialval)}, wrapping=[PythonException(e)], ) diff --git a/hardware/opentrons_hardware/instruments/pipettes/serials.py b/hardware/opentrons_hardware/instruments/pipettes/serials.py index b7b43cd3b59..e697821373a 100644 --- a/hardware/opentrons_hardware/instruments/pipettes/serials.py +++ b/hardware/opentrons_hardware/instruments/pipettes/serials.py @@ -93,6 +93,6 @@ def serial_val_from_parts(name: PipetteName, model: int, serialval: bytes) -> by except struct.error as e: raise InvalidInstrumentData( message="Invalid pipette serial", - detail={"name": name, "model": model, "serial": str(serialval)}, + detail={"name": str(name), "model": str(model), "serial": str(serialval)}, wrapping=[PythonException(e)], ) From fac2cef2e353d13f3ba7c61e6fb36cbd71e24ccf Mon Sep 17 00:00:00 2001 From: Nick Diehl <47604184+ncdiehl11@users.noreply.github.com> Date: Wed, 8 Nov 2023 15:47:49 -0500 Subject: [PATCH 37/65] fix(app): ODD LPC copy and styling (#13925) closes RQA-1052 closes RQA-1353 closes RQA-1358 Fix copy for preparing space conditional on step index and module presence. Correctly style ExitConfirmation step. Fix button alignment in TipConfirmation. --- .../en/labware_position_check.json | 1 + .../LabwarePositionCheck/CheckItem.tsx | 5 +- .../LabwarePositionCheck/ExitConfirmation.tsx | 46 +++++++++++++++---- .../LabwarePositionCheckComponent.tsx | 11 ++++- .../LabwarePositionCheck/PickUpTip.tsx | 9 +++- .../LabwarePositionCheck/ReturnTip.tsx | 6 ++- .../LabwarePositionCheck/TipConfirmation.tsx | 8 +++- .../__tests__/PickUpTip.test.tsx | 36 ++++++++++++++- .../__tests__/ReturnTip.test.tsx | 19 +++++++- 9 files changed, 124 insertions(+), 17 deletions(-) diff --git a/app/src/assets/localization/en/labware_position_check.json b/app/src/assets/localization/en/labware_position_check.json index be73b09f6b9..58fe6550ddd 100644 --- a/app/src/assets/localization/en/labware_position_check.json +++ b/app/src/assets/localization/en/labware_position_check.json @@ -11,6 +11,7 @@ "check_labware_in_slot_title": "Check Labware {{labware_display_name}} in slot {{slot}}", "check_remaining_labware_with_primary_pipette_section": "Check remaining labware with {{primary_mount}} Pipette and tip", "clear_all_slots": "Clear all deck slots of labware, leaving modules in place", + "clear_all_slots_odd": "Clear all deck slots of labware", "cli_ssh": "Command Line Interface (SSH)", "close_and_apply_offset_data": "Close and apply labware offset data", "confirm_pick_up_tip_modal_title": "Did the pipette pick up a tip successfully?", diff --git a/app/src/organisms/LabwarePositionCheck/CheckItem.tsx b/app/src/organisms/LabwarePositionCheck/CheckItem.tsx index 7cfb76e79d0..aaed13ca607 100644 --- a/app/src/organisms/LabwarePositionCheck/CheckItem.tsx +++ b/app/src/organisms/LabwarePositionCheck/CheckItem.tsx @@ -454,7 +454,10 @@ export const CheckItem = (props: CheckItemProps): JSX.Element | null => { })} body={ } labwareDef={labwareDef} diff --git a/app/src/organisms/LabwarePositionCheck/ExitConfirmation.tsx b/app/src/organisms/LabwarePositionCheck/ExitConfirmation.tsx index 5bdb7911af7..23f498392d9 100644 --- a/app/src/organisms/LabwarePositionCheck/ExitConfirmation.tsx +++ b/app/src/organisms/LabwarePositionCheck/ExitConfirmation.tsx @@ -16,15 +16,13 @@ import { RESPONSIVENESS, SecondaryButton, JUSTIFY_FLEX_END, + TEXT_ALIGN_CENTER, } from '@opentrons/components' import { StyledText } from '../../atoms/text' -import { NeedHelpLink } from '../CalibrationPanels' import { useSelector } from 'react-redux' import { getIsOnDevice } from '../../redux/config' import { SmallButton } from '../../atoms/buttons' -const LPC_HELP_LINK_URL = - 'https://support.opentrons.com/s/article/How-Labware-Offsets-work-on-the-OT-2' interface ExitConfirmationProps { onGoBack: () => void onConfirmExit: () => void @@ -45,12 +43,28 @@ export const ExitConfirmation = (props: ExitConfirmationProps): JSX.Element => { flexDirection={DIRECTION_COLUMN} justifyContent={JUSTIFY_CENTER} alignItems={ALIGN_CENTER} + paddingX={SPACING.spacing32} > - {t('exit_screen_title')} - - {t('exit_screen_subtitle')} - + {isOnDevice ? ( + <> + + {t('exit_screen_title')} + + + + {t('exit_screen_subtitle')} + + + + ) : ( + <> + {t('exit_screen_title')} + + {t('exit_screen_subtitle')} + + + )} {isOnDevice ? ( { justifyContent={JUSTIFY_SPACE_BETWEEN} alignItems={ALIGN_CENTER} > - {t('shared:go_back')} @@ -97,8 +110,23 @@ export const ExitConfirmation = (props: ExitConfirmationProps): JSX.Element => { const ConfirmationHeader = styled.h1` margin-top: ${SPACING.spacing24}; - ${TYPOGRAPHY.h1Default} + ${TYPOGRAPHY.level3HeaderSemiBold} @media ${RESPONSIVENESS.touchscreenMediaQuerySpecs} { ${TYPOGRAPHY.level4HeaderSemiBold} } ` + +const ConfirmationHeaderODD = styled.h1` + margin-top: ${SPACING.spacing24}; + ${TYPOGRAPHY.level3HeaderBold} + @media ${RESPONSIVENESS.touchscreenMediaQuerySpecs} { + ${TYPOGRAPHY.level4HeaderSemiBold} + } +` +const ConfirmationBodyODD = styled.h1` + ${TYPOGRAPHY.level4HeaderRegular} + @media ${RESPONSIVENESS.touchscreenMediaQuerySpecs} { + ${TYPOGRAPHY.level4HeaderRegular} + } + color: ${COLORS.darkBlack70}; +` diff --git a/app/src/organisms/LabwarePositionCheck/LabwarePositionCheckComponent.tsx b/app/src/organisms/LabwarePositionCheck/LabwarePositionCheckComponent.tsx index 4a96d8bc2e3..95f9fc02c5e 100644 --- a/app/src/organisms/LabwarePositionCheck/LabwarePositionCheckComponent.tsx +++ b/app/src/organisms/LabwarePositionCheck/LabwarePositionCheckComponent.tsx @@ -261,6 +261,8 @@ export const LabwarePositionCheckComponent = ( const currentStep = LPCSteps?.[currentStepIndex] if (currentStep == null) return null + const protocolHasModules = protocolData.modules.length > 0 + const handleJog = ( axis: Axis, dir: Sign, @@ -357,7 +359,14 @@ export const LabwarePositionCheckComponent = ( } else if (currentStep.section === 'DETACH_PROBE') { modalContent = } else if (currentStep.section === 'PICK_UP_TIP') { - modalContent = + modalContent = ( + + ) } else if (currentStep.section === 'RETURN_TIP') { modalContent = ( { const { t, i18n } = useTranslation(['labware_position_check', 'shared']) @@ -67,6 +69,8 @@ export const PickUpTip = (props: PickUpTipProps): JSX.Element | null => { setFatalError, adapterId, robotType, + protocolHasModules, + currentStepIndex, } = props const [showTipConfirmation, setShowTipConfirmation] = React.useState(false) const isOnDevice = useSelector(getIsOnDevice) @@ -87,7 +91,10 @@ export const PickUpTip = (props: PickUpTipProps): JSX.Element | null => { ) const labwareDisplayName = getLabwareDisplayName(labwareDef) const instructions = [ - t('clear_all_slots'), + ...(protocolHasModules && currentStepIndex === 1 + ? [t('place_modules')] + : []), + isOnDevice ? t('clear_all_slots_odd') : t('clear_all_slots'), { adapterId, } = props + const isOnDevice = useSelector(getIsOnDevice) + const labwareDef = getLabwareDef(labwareId, protocolData) if (labwareDef == null) return null @@ -60,7 +64,7 @@ export const ReturnTip = (props: ReturnTipProps): JSX.Element | null => { const labwareDisplayName = getLabwareDisplayName(labwareDef) const instructions = [ - t('clear_all_slots'), + isOnDevice ? t('clear_all_slots_odd') : t('clear_all_slots'), - + { existingOffsets: mockExistingOffsets, isRobotMoving: false, robotType: FLEX_ROBOT_TYPE, + protocolHasModules: false, + currentStepIndex: 1, } mockUseProtocolMetaData.mockReturnValue({ robotType: 'OT-3 Standard' }) }) @@ -69,16 +71,46 @@ describe('PickUpTip', () => { jest.resetAllMocks() resetAllWhenMocks() }) - it('renders correct copy when preparing space', () => { + it('renders correct copy when preparing space on desktop if protocol has modules', () => { + props.protocolHasModules = true const { getByText, getByRole } = render(props) getByRole('heading', { name: 'Prepare tip rack in Slot D1' }) + getByText('Place modules on deck') getByText('Clear all deck slots of labware, leaving modules in place') getByText( matchTextWithSpans('Place a full Mock TipRack Definition into Slot D1') ) - getByRole('link', { name: 'Need help?' }) getByRole('button', { name: 'Confirm placement' }) }) + it('renders correct copy when preparing space on touchscreen if protocol has modules', () => { + mockGetIsOnDevice.mockReturnValue(true) + props.protocolHasModules = true + const { getByText, getByRole } = render(props) + getByRole('heading', { name: 'Prepare tip rack in Slot D1' }) + getByText('Place modules on deck') + getByText('Clear all deck slots of labware') + getByText( + matchTextWithSpans('Place a full Mock TipRack Definition into Slot D1') + ) + }) + it('renders correct copy when preparing space on desktop if protocol has no modules', () => { + const { getByText, getByRole } = render(props) + getByRole('heading', { name: 'Prepare tip rack in Slot D1' }) + getByText('Clear all deck slots of labware, leaving modules in place') + getByText( + matchTextWithSpans('Place a full Mock TipRack Definition into Slot D1') + ) + getByRole('button', { name: 'Confirm placement' }) + }) + it('renders correct copy when preparing space on touchscreen if protocol has no modules', () => { + mockGetIsOnDevice.mockReturnValue(true) + const { getByText, getByRole } = render(props) + getByRole('heading', { name: 'Prepare tip rack in Slot D1' }) + getByText('Clear all deck slots of labware') + getByText( + matchTextWithSpans('Place a full Mock TipRack Definition into Slot D1') + ) + }) it('renders correct copy when confirming position on desktop', () => { const { getByText, getByRole } = render({ ...props, diff --git a/app/src/organisms/LabwarePositionCheck/__tests__/ReturnTip.test.tsx b/app/src/organisms/LabwarePositionCheck/__tests__/ReturnTip.test.tsx index 465609db8c4..037d171579a 100644 --- a/app/src/organisms/LabwarePositionCheck/__tests__/ReturnTip.test.tsx +++ b/app/src/organisms/LabwarePositionCheck/__tests__/ReturnTip.test.tsx @@ -7,12 +7,17 @@ import { ReturnTip } from '../ReturnTip' import { SECTIONS } from '../constants' import { mockCompletedAnalysis } from '../__fixtures__' import { useProtocolMetadata } from '../../Devices/hooks' +import { getIsOnDevice } from '../../../redux/config' jest.mock('../../Devices/hooks') +jest.mock('../../../redux/config') const mockUseProtocolMetaData = useProtocolMetadata as jest.MockedFunction< typeof useProtocolMetadata > +const mockGetIsOnDevice = getIsOnDevice as jest.MockedFunction< + typeof getIsOnDevice +> const matchTextWithSpans: (text: string) => MatcherFunction = ( text: string @@ -37,6 +42,7 @@ describe('ReturnTip', () => { beforeEach(() => { mockChainRunCommands = jest.fn().mockImplementation(() => Promise.resolve()) + mockGetIsOnDevice.mockReturnValue(false) props = { section: SECTIONS.RETURN_TIP, pipetteId: mockCompletedAnalysis.pipettes[0].id, @@ -55,7 +61,7 @@ describe('ReturnTip', () => { afterEach(() => { jest.restoreAllMocks() }) - it('renders correct copy', () => { + it('renders correct copy on desktop', () => { const { getByText, getByRole } = render(props) getByRole('heading', { name: 'Return tip rack to Slot D1' }) getByText('Clear all deck slots of labware, leaving modules in place') @@ -66,6 +72,17 @@ describe('ReturnTip', () => { ) getByRole('link', { name: 'Need help?' }) }) + it('renders correct copy on device', () => { + mockGetIsOnDevice.mockReturnValue(true) + const { getByText, getByRole } = render(props) + getByRole('heading', { name: 'Return tip rack to Slot D1' }) + getByText('Clear all deck slots of labware') + getByText( + matchTextWithSpans( + 'Place the Mock TipRack Definition that you used before back into Slot D1. The pipette will return tips to their original location in the rack.' + ) + ) + }) it('executes correct chained commands when CTA is clicked', async () => { const { getByRole } = render(props) await getByRole('button', { name: 'Confirm placement' }).click() From 73258b46887890324cbeac8b585df0a1edacaf5b Mon Sep 17 00:00:00 2001 From: Brian Arthur Cooper Date: Wed, 8 Nov 2023 15:58:39 -0500 Subject: [PATCH 38/65] fix(app, robot_server): allow non-standard tip racks in tip length calibration from dashboard (#13891) Mirror our approach for loading an alternate tip rack into a legacy calibration session from deck/pipette-offset to tip length calibration Closes RAUT-809 --- app/src/organisms/CalibrateDeck/index.tsx | 1 + app/src/organisms/CalibrateTipLength/index.tsx | 6 +++++- app/src/organisms/CalibrateTipLength/types.ts | 1 + .../Introduction/__tests__/Introduction.test.tsx | 3 ++- .../organisms/CalibrationPanels/Introduction/index.tsx | 3 ++- app/src/organisms/CalibrationPanels/types.ts | 1 + .../hooks/useDashboardCalibrateTipLength.tsx | 1 + .../sessions/__fixtures__/tip-length-calibration.ts | 1 + app/src/redux/sessions/tip-length-calibration/types.ts | 3 ++- .../robot/calibration/tip_length/user_flow.py | 9 ++++++++- 10 files changed, 24 insertions(+), 5 deletions(-) diff --git a/app/src/organisms/CalibrateDeck/index.tsx b/app/src/organisms/CalibrateDeck/index.tsx index 5beac8275f3..87d0a65f432 100644 --- a/app/src/organisms/CalibrateDeck/index.tsx +++ b/app/src/organisms/CalibrateDeck/index.tsx @@ -175,6 +175,7 @@ export function CalibrateDeck( supportedCommands={supportedCommands} defaultTipracks={instrument?.defaultTipracks} calInvalidationHandler={offsetInvalidationHandler} + allowChangeTipRack /> )} diff --git a/app/src/organisms/CalibrateTipLength/index.tsx b/app/src/organisms/CalibrateTipLength/index.tsx index bc63d34f134..21016afa1de 100644 --- a/app/src/organisms/CalibrateTipLength/index.tsx +++ b/app/src/organisms/CalibrateTipLength/index.tsx @@ -71,8 +71,10 @@ export function CalibrateTipLength( dispatchRequests, isJogging, offsetInvalidationHandler, + allowChangeTipRack = false, } = props - const { currentStep, instrument, labware } = session?.details ?? {} + const { currentStep, instrument, labware, supportedCommands } = + session?.details ?? {} const queryClient = useQueryClient() const host = useHost() @@ -171,7 +173,9 @@ export function CalibrateTipLength( calBlock={calBlock} currentStep={currentStep} sessionType={session.sessionType} + supportedCommands={supportedCommands} calInvalidationHandler={offsetInvalidationHandler} + allowChangeTipRack={allowChangeTipRack} /> )} diff --git a/app/src/organisms/CalibrateTipLength/types.ts b/app/src/organisms/CalibrateTipLength/types.ts index 48f685343e1..bcb791c5f5d 100644 --- a/app/src/organisms/CalibrateTipLength/types.ts +++ b/app/src/organisms/CalibrateTipLength/types.ts @@ -7,5 +7,6 @@ export interface CalibrateTipLengthParentProps { dispatchRequests: DispatchRequestsType showSpinner: boolean isJogging: boolean + allowChangeTipRack?: boolean offsetInvalidationHandler?: () => void } diff --git a/app/src/organisms/CalibrationPanels/Introduction/__tests__/Introduction.test.tsx b/app/src/organisms/CalibrationPanels/Introduction/__tests__/Introduction.test.tsx index bccf4a9202b..8b0cb221597 100644 --- a/app/src/organisms/CalibrationPanels/Introduction/__tests__/Introduction.test.tsx +++ b/app/src/organisms/CalibrationPanels/Introduction/__tests__/Introduction.test.tsx @@ -52,9 +52,10 @@ describe('Introduction', () => { getByRole('link', { name: 'Need help?' }) expect(queryByRole('button', { name: 'Change tip rack' })).toBe(null) }) - it('renders change tip rack button if deck calibration', () => { + it('renders change tip rack button if allowChangeTipRack', () => { const { getByRole, getByText, queryByRole } = render({ sessionType: Sessions.SESSION_TYPE_DECK_CALIBRATION, + allowChangeTipRack: true, })[0] const button = getByRole('button', { name: 'Change tip rack' }) button.click() diff --git a/app/src/organisms/CalibrationPanels/Introduction/index.tsx b/app/src/organisms/CalibrationPanels/Introduction/index.tsx index 9a70d1ea0ad..5bdc25ce51c 100644 --- a/app/src/organisms/CalibrationPanels/Introduction/index.tsx +++ b/app/src/organisms/CalibrationPanels/Introduction/index.tsx @@ -35,6 +35,7 @@ export function Introduction(props: CalibrationPanelProps): JSX.Element { instruments, supportedCommands, calInvalidationHandler, + allowChangeTipRack = false, } = props const { t } = useTranslation('robot_calibration') @@ -167,7 +168,7 @@ export function Introduction(props: CalibrationPanelProps): JSX.Element { > - {sessionType === Sessions.SESSION_TYPE_DECK_CALIBRATION ? ( + {allowChangeTipRack ? ( setShowChooseTipRack(true)}> {t('change_tip_rack')} diff --git a/app/src/organisms/CalibrationPanels/types.ts b/app/src/organisms/CalibrationPanels/types.ts index 16d9f9d60fd..cc8700aa8be 100644 --- a/app/src/organisms/CalibrationPanels/types.ts +++ b/app/src/organisms/CalibrationPanels/types.ts @@ -32,4 +32,5 @@ export interface CalibrationPanelProps { supportedCommands?: SessionCommandString[] | null defaultTipracks?: LabwareDefinition2[] | null calInvalidationHandler?: () => void + allowChangeTipRack?: boolean } diff --git a/app/src/pages/Devices/CalibrationDashboard/hooks/useDashboardCalibrateTipLength.tsx b/app/src/pages/Devices/CalibrationDashboard/hooks/useDashboardCalibrateTipLength.tsx index f368c4061c0..a26a63ac6f5 100644 --- a/app/src/pages/Devices/CalibrationDashboard/hooks/useDashboardCalibrateTipLength.tsx +++ b/app/src/pages/Devices/CalibrationDashboard/hooks/useDashboardCalibrateTipLength.tsx @@ -180,6 +180,7 @@ export function useDashboardCalibrateTipLength( dispatchRequests={dispatchRequests} isJogging={isJogging} offsetInvalidationHandler={invalidateHandlerRef.current} + allowChangeTipRack={sessionParams.current?.tipRackDefinition == null} /> ) diff --git a/app/src/redux/sessions/__fixtures__/tip-length-calibration.ts b/app/src/redux/sessions/__fixtures__/tip-length-calibration.ts index 8877b9f1c69..fbb433c063b 100644 --- a/app/src/redux/sessions/__fixtures__/tip-length-calibration.ts +++ b/app/src/redux/sessions/__fixtures__/tip-length-calibration.ts @@ -35,6 +35,7 @@ export const mockTipLengthCalibrationSessionDetails: TipLengthCalibrationSession }, currentStep: 'labwareLoaded', labware: [mockTipLengthTipRack, mockTipLengthCalBlock], + supportedCommands: [], } export const mockTipLengthCalibrationSessionParams: TipLengthCalibrationSessionParams = { diff --git a/app/src/redux/sessions/tip-length-calibration/types.ts b/app/src/redux/sessions/tip-length-calibration/types.ts index 7e9980d6af7..16b5eebb865 100644 --- a/app/src/redux/sessions/tip-length-calibration/types.ts +++ b/app/src/redux/sessions/tip-length-calibration/types.ts @@ -8,7 +8,7 @@ import { TIP_LENGTH_STEP_MEASURING_TIP_OFFSET, TIP_LENGTH_STEP_CALIBRATION_COMPLETE, } from '../constants' -import type { CalibrationLabware } from '../types' +import type { CalibrationLabware, SessionCommandString } from '../types' import type { LabwareDefinition2, PipetteModel } from '@opentrons/shared-data' @@ -40,4 +40,5 @@ export interface TipLengthCalibrationSessionDetails { instrument: TipLengthCalibrationInstrument currentStep: TipLengthCalibrationStep labware: CalibrationLabware[] + supportedCommands: SessionCommandString[] } diff --git a/robot-server/robot_server/robot/calibration/tip_length/user_flow.py b/robot-server/robot_server/robot/calibration/tip_length/user_flow.py index 11811ea339a..e771c0def5d 100644 --- a/robot-server/robot_server/robot/calibration/tip_length/user_flow.py +++ b/robot-server/robot_server/robot/calibration/tip_length/user_flow.py @@ -82,6 +82,7 @@ def __init__( cast(List[LabwareUri], self.hw_pipette.liquid_class.default_tipracks) ) self._supported_commands = SupportedCommands(namespace="calibration") + self._supported_commands.loadLabware = True def _set_current_state(self, to_state: State): self._current_state = to_state @@ -168,7 +169,13 @@ async def load_labware( self, tiprackDefinition: Optional[LabwareDefinition] = None, ): - pass + self._supported_commands.loadLabware = False + if tiprackDefinition: + verified_definition = labware.verify_definition(tiprackDefinition) + self._tip_rack = self._get_tip_rack_lw(verified_definition) + if self._deck[TIP_RACK_SLOT]: + del self._deck[TIP_RACK_SLOT] + self._deck[TIP_RACK_SLOT] = self._tip_rack async def move_to_tip_rack(self): await self._move(Location(self.tip_origin, None)) From f74f8146550fe7b9da34c939521610c069773669 Mon Sep 17 00:00:00 2001 From: Brian Arthur Cooper Date: Wed, 8 Nov 2023 15:59:45 -0500 Subject: [PATCH 39/65] fix(app): fix last run protocol sorting on protocol dashboard (#13905) We were incorrectly calculating the last run timestamp of a given protocol, this fixes the logic to report the correct value Closes RAUT-843 --- app/src/pages/ProtocolDashboard/index.tsx | 9 ++++++++- app/src/pages/ProtocolDashboard/utils.ts | 6 +++--- 2 files changed, 11 insertions(+), 4 deletions(-) diff --git a/app/src/pages/ProtocolDashboard/index.tsx b/app/src/pages/ProtocolDashboard/index.tsx index 4c64285667d..fd11c3e2192 100644 --- a/app/src/pages/ProtocolDashboard/index.tsx +++ b/app/src/pages/ProtocolDashboard/index.tsx @@ -96,7 +96,14 @@ export function ProtocolDashboard(): JSX.Element { } const runData = runs.data?.data != null ? runs.data?.data : [] - const sortedProtocols = sortProtocols(sortBy, unpinnedProtocols, runData) + const allRunsNewestFirst = runData.sort( + (a, b) => new Date(b.createdAt).getTime() - new Date(a.createdAt).getTime() + ) + const sortedProtocols = sortProtocols( + sortBy, + unpinnedProtocols, + allRunsNewestFirst + ) const handleProtocolsBySortKey = ( sortKey: ProtocolsOnDeviceSortKey ): void => { diff --git a/app/src/pages/ProtocolDashboard/utils.ts b/app/src/pages/ProtocolDashboard/utils.ts index 74ee9a8f3b7..cdf873b4298 100644 --- a/app/src/pages/ProtocolDashboard/utils.ts +++ b/app/src/pages/ProtocolDashboard/utils.ts @@ -7,17 +7,17 @@ const DUMMY_FOR_NO_DATE_CASE = -8640000000000000 export function sortProtocols( sortBy: ProtocolsOnDeviceSortKey, protocols: ProtocolResource[], - runs: RunData[] + allRunsNewestFirst: RunData[] ): ProtocolResource[] { protocols.sort((a, b) => { const aName = a.metadata.protocolName ?? a.files[0].name const bName = b.metadata.protocolName ?? b.files[0].name const aLastRun = new Date( - runs.find(run => run.protocolId === a.id)?.completedAt ?? + allRunsNewestFirst.find(run => run.protocolId === a.id)?.completedAt ?? new Date(DUMMY_FOR_NO_DATE_CASE) ) const bLastRun = new Date( - runs.find(run => run.protocolId === b.id)?.completedAt ?? + allRunsNewestFirst.find(run => run.protocolId === b.id)?.completedAt ?? new Date(DUMMY_FOR_NO_DATE_CASE) ) const aDate = new Date(a.createdAt) From fd00fe24e4556fb4b21ced0dd1079f23afa4dfc5 Mon Sep 17 00:00:00 2001 From: Jethary Rader <66035149+jerader@users.noreply.github.com> Date: Wed, 8 Nov 2023 16:21:24 -0500 Subject: [PATCH 40/65] feat(protocol-designer): modal updates and deck map design tweaks (#13900) closes RAUT-807 RAUT-816 RAUT-817 --- .../cypress/integration/migrations.spec.js | 2 +- .../src/components/DeckSetup/DeckSetup.css | 1 + .../components/DeckSetup/FlexModuleTag.tsx | 1 + .../src/components/DeckSetup/index.tsx | 1 - .../components/FileSidebar/FileSidebar.tsx | 12 ++++----- .../__tests__/FileSidebar.test.tsx | 10 +++---- .../AnnouncementModal/announcements.tsx | 25 ++++++++++++++++++ .../src/images/deck_configuration.png | Bin 0 -> 173096 bytes .../src/localization/en/alert.json | 4 +-- protocol-designer/src/tutorial/index.ts | 3 ++- 10 files changed, 43 insertions(+), 16 deletions(-) create mode 100644 protocol-designer/src/images/deck_configuration.png diff --git a/protocol-designer/cypress/integration/migrations.spec.js b/protocol-designer/cypress/integration/migrations.spec.js index ec21b08994e..400e63e5268 100644 --- a/protocol-designer/cypress/integration/migrations.spec.js +++ b/protocol-designer/cypress/integration/migrations.spec.js @@ -130,7 +130,7 @@ describe('Protocol fixtures migrate and match snapshots', () => { cy.get('div') .contains( - 'This protocol can only run on app and robot server version 7.0 or higher' + 'This protocol can only run on app and robot server version 7.1 or higher' ) .should('exist') cy.get('button').contains('continue', { matchCase: false }).click() diff --git a/protocol-designer/src/components/DeckSetup/DeckSetup.css b/protocol-designer/src/components/DeckSetup/DeckSetup.css index f6641390146..ac65e2975a5 100644 --- a/protocol-designer/src/components/DeckSetup/DeckSetup.css +++ b/protocol-designer/src/components/DeckSetup/DeckSetup.css @@ -2,6 +2,7 @@ .deck_wrapper { flex: 1; + margin-top: 1rem; } .deck_header { diff --git a/protocol-designer/src/components/DeckSetup/FlexModuleTag.tsx b/protocol-designer/src/components/DeckSetup/FlexModuleTag.tsx index 6e9d28cead7..28e82c0c9e2 100644 --- a/protocol-designer/src/components/DeckSetup/FlexModuleTag.tsx +++ b/protocol-designer/src/components/DeckSetup/FlexModuleTag.tsx @@ -25,6 +25,7 @@ export function FlexModuleTag(props: FlexModuleTagProps): JSX.Element { padding: SPACING.spacing4, height: '100%', color: COLORS.white, + border: `1px solid ${COLORS.darkGrey}`, }} > diff --git a/protocol-designer/src/components/DeckSetup/index.tsx b/protocol-designer/src/components/DeckSetup/index.tsx index 8197275779a..5109d454526 100644 --- a/protocol-designer/src/components/DeckSetup/index.tsx +++ b/protocol-designer/src/components/DeckSetup/index.tsx @@ -518,7 +518,6 @@ export const DeckSetup = (): JSX.Element => { {drilledDown && }

    ) @@ -325,8 +325,8 @@ export function FileSidebar(props: Props): JSX.Element { content: React.ReactNode } => { return { - hintKey: 'export_v7_protocol_7_0', - content: v7WarningContent, + hintKey: 'export_v8_protocol_7_1', + content: v8WarningContent, } } diff --git a/protocol-designer/src/components/FileSidebar/__tests__/FileSidebar.test.tsx b/protocol-designer/src/components/FileSidebar/__tests__/FileSidebar.test.tsx index 8b15ec934f1..88b9ae98d9a 100644 --- a/protocol-designer/src/components/FileSidebar/__tests__/FileSidebar.test.tsx +++ b/protocol-designer/src/components/FileSidebar/__tests__/FileSidebar.test.tsx @@ -16,7 +16,7 @@ import { } from '@opentrons/shared-data/pipette/fixtures/name' import fixture_tiprack_10_ul from '@opentrons/shared-data/labware/fixtures/2/fixture_tiprack_10_ul.json' import { useBlockingHint } from '../../Hints/useBlockingHint' -import { FileSidebar, v7WarningContent } from '../FileSidebar' +import { FileSidebar, v8WarningContent } from '../FileSidebar' import { FLEX_TRASH_DEF_URI } from '@opentrons/step-generation' jest.mock('../../Hints/useBlockingHint') @@ -273,8 +273,8 @@ describe('FileSidebar', () => { // Before save button is clicked, enabled should be false expect(mockUseBlockingHint).toHaveBeenNthCalledWith(1, { enabled: false, - hintKey: 'export_v7_protocol_7_0', - content: v7WarningContent, + hintKey: 'export_v8_protocol_7_1', + content: v8WarningContent, handleCancel: expect.any(Function), handleContinue: expect.any(Function), }) @@ -285,8 +285,8 @@ describe('FileSidebar', () => { // After save button is clicked, enabled should be true expect(mockUseBlockingHint).toHaveBeenLastCalledWith({ enabled: true, - hintKey: 'export_v7_protocol_7_0', - content: v7WarningContent, + hintKey: 'export_v8_protocol_7_1', + content: v8WarningContent, handleCancel: expect.any(Function), handleContinue: expect.any(Function), }) diff --git a/protocol-designer/src/components/modals/AnnouncementModal/announcements.tsx b/protocol-designer/src/components/modals/AnnouncementModal/announcements.tsx index 512682dd041..b692d4b2cfd 100644 --- a/protocol-designer/src/components/modals/AnnouncementModal/announcements.tsx +++ b/protocol-designer/src/components/modals/AnnouncementModal/announcements.tsx @@ -6,6 +6,7 @@ import { JUSTIFY_SPACE_AROUND, SPACING, } from '@opentrons/components' + import styles from './AnnouncementModal.css' export interface Announcement { @@ -219,4 +220,28 @@ export const announcements: Announcement[] = [ ), }, + { + announcementKey: 'deckConfigAnd96Channel8.0', + image: ( + + + + ), + heading: "We've updated the Protocol Designer", + message: ( + <> +

    + Introducing the Protocol Designer 8.0 with deck configuration and + 96-channel pipette support! +

    +

    + All protocols now require Opentrons App version + 7.1+ to run. +

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    • {i18n.t('card.body.data_collected_is_internal')}
      • - {/* TODO: BC 2018-09-26 uncomment when only using fullstory
    • {i18n.t('card.body.data_only_from_pd')}
      • */} +
    • {i18n.t('card.body.data_only_from_pd')}
    • {i18n.t('card.body.opt_out_of_data_collection')}
    diff --git a/protocol-designer/src/initialize.ts b/protocol-designer/src/initialize.ts index 8131c18f072..b69af44bc07 100644 --- a/protocol-designer/src/initialize.ts +++ b/protocol-designer/src/initialize.ts @@ -1,7 +1,6 @@ import { i18n } from './localization' import { selectors as loadFileSelectors } from './load-file' -import { selectors as analyticsSelectors } from './analytics' -import { initializeFullstory } from './analytics/fullstory' + export const initialize = (store: Record): void => { if (process.env.NODE_ENV === 'production') { window.onbeforeunload = (_e: unknown) => { @@ -10,10 +9,5 @@ export const initialize = (store: Record): void => { ? i18n.t('alert.window.confirm_leave') : undefined } - - // Initialize analytics if user has already opted in - if (analyticsSelectors.getHasOptedIn(store.getState())) { - initializeFullstory() - } } } From e376d3e914d5280f9ea613eb59e2115bda937ae3 Mon Sep 17 00:00:00 2001 From: Brian Arthur Cooper Date: Thu, 9 Nov 2023 10:54:35 -0500 Subject: [PATCH 43/65] feat(app): allow multi file upload for labware and protocols (#13898) Within the file browser that launches when importing protocols or labware into the Opentrons App, support multi file select. Closes RAUT-218 --- app-shell/src/dialogs/index.ts | 18 +++++++++++ .../src/labware/__tests__/dispatch.test.ts | 8 ++++- app-shell/src/labware/index.ts | 1 + .../assets/localization/en/protocol_info.json | 2 +- .../__tests__/UploadInput.test.tsx | 4 +-- app/src/molecules/UploadInput/index.tsx | 30 +++++++------------ .../AddCustomLabwareSlideout.test.tsx | 2 +- .../ProtocolsLanding/ProtocolList.tsx | 6 ++-- ...ploadInput.tsx => ProtocolUploadInput.tsx} | 9 +++--- .../ProtocolsLanding/ProtocolsEmptyState.tsx | 4 +-- .../__tests__/UploadInput.test.tsx | 10 +++---- 11 files changed, 57 insertions(+), 37 deletions(-) rename app/src/organisms/ProtocolsLanding/{UploadInput.tsx => ProtocolUploadInput.tsx} (83%) diff --git a/app-shell/src/dialogs/index.ts b/app-shell/src/dialogs/index.ts index 5b2ef9f2b24..92e59defb39 100644 --- a/app-shell/src/dialogs/index.ts +++ b/app-shell/src/dialogs/index.ts @@ -11,6 +11,17 @@ interface BaseDialogOptions { interface FileDialogOptions extends BaseDialogOptions { filters: Array<{ name: string; extensions: string[] }> + properties: Array< + | 'openDirectory' + | 'createDirectory' + | 'openFile' + | 'multiSelections' + | 'showHiddenFiles' + | 'promptToCreate' + | 'noResolveAliases' + | 'treatPackageAsDirectory' + | 'dontAddToRecent' + > } const BASE_DIRECTORY_OPTS = { @@ -55,6 +66,13 @@ export function showOpenFileDialog( openDialogOpts = { ...openDialogOpts, filters: options.filters } } + if (options.properties != null) { + openDialogOpts = { + ...openDialogOpts, + properties: [...(openDialogOpts.properties ?? []), ...options.properties], + } + } + return dialog .showOpenDialog(browserWindow, openDialogOpts) .then((result: OpenDialogReturnValue) => { diff --git a/app-shell/src/labware/__tests__/dispatch.test.ts b/app-shell/src/labware/__tests__/dispatch.test.ts index c7a8e9198d5..f88f271956d 100644 --- a/app-shell/src/labware/__tests__/dispatch.test.ts +++ b/app-shell/src/labware/__tests__/dispatch.test.ts @@ -229,7 +229,13 @@ describe('labware module dispatches', () => { return flush().then(() => { expect(showOpenFileDialog).toHaveBeenCalledWith(mockMainWindow, { defaultPath: '__mock-app-path__', - filters: [{ name: 'JSON Labware Definitions', extensions: ['json'] }], + filters: [ + { + name: 'JSON Labware Definitions', + extensions: ['json'], + }, + ], + properties: ['multiSelections'], }) expect(dispatch).not.toHaveBeenCalled() }) diff --git a/app-shell/src/labware/index.ts b/app-shell/src/labware/index.ts index e7adcc1e4ae..f46f9134527 100644 --- a/app-shell/src/labware/index.ts +++ b/app-shell/src/labware/index.ts @@ -158,6 +158,7 @@ export function registerLabware( filters: [ { name: 'JSON Labware Definitions', extensions: ['json'] }, ], + properties: ['multiSelections' as const], } addLabwareTask = showOpenFileDialog(mainWindow, dialogOptions).then( diff --git a/app/src/assets/localization/en/protocol_info.json b/app/src/assets/localization/en/protocol_info.json index 0fc225e6f65..bbaac1ce9c2 100644 --- a/app/src/assets/localization/en/protocol_info.json +++ b/app/src/assets/localization/en/protocol_info.json @@ -3,7 +3,6 @@ "browse_protocol_library": "Open Protocol Library", "cancel_run": "Cancel Run", "choose_file": "Choose File...", - "choose_protocol_file": "Choose File", "choose_snippet_type": "Choose the Labware Offset Data Python Snippet based on target execution environment.", "continue_proceed_to_calibrate": "Proceed to Calibrate", "continue_verify_calibrations": "Verify pipette and labware calibrations", @@ -86,6 +85,7 @@ "unpin_protocol": "Unpin protocol", "unpinned_protocol": "Unpinned protocol", "update_robot_for_custom_labware": "You have custom labware definitions saved to your app, but this robot needs to be updated before you can use these definitions with Python protocols", + "upload": "Upload", "upload_and_simulate": "Open a protocol to run on {{robot_name}}", "valid_file_types": "Valid file types: Python files (.py) or Protocol Designer files (.json)" } diff --git a/app/src/molecules/UploadInput/__tests__/UploadInput.test.tsx b/app/src/molecules/UploadInput/__tests__/UploadInput.test.tsx index 945dfe756be..9da307296b0 100644 --- a/app/src/molecules/UploadInput/__tests__/UploadInput.test.tsx +++ b/app/src/molecules/UploadInput/__tests__/UploadInput.test.tsx @@ -30,12 +30,12 @@ describe('UploadInput', () => { it('renders correct contents for empty state', () => { const { getByRole } = render() - expect(getByRole('button', { name: 'Choose File' })).toBeTruthy() + expect(getByRole('button', { name: 'Upload' })).toBeTruthy() }) it('opens file select on button click', () => { const { getByRole, getByTestId } = render() - const button = getByRole('button', { name: 'Choose File' }) + const button = getByRole('button', { name: 'Upload' }) const input = getByTestId('file_input') input.click = jest.fn() fireEvent.click(button) diff --git a/app/src/molecules/UploadInput/index.tsx b/app/src/molecules/UploadInput/index.tsx index 81c52e244ec..d3fe7571d93 100644 --- a/app/src/molecules/UploadInput/index.tsx +++ b/app/src/molecules/UploadInput/index.tsx @@ -1,5 +1,5 @@ import * as React from 'react' -import { css } from 'styled-components' +import styled, { css } from 'styled-components' import { useTranslation } from 'react-i18next' import { Icon, @@ -16,7 +16,7 @@ import { } from '@opentrons/components' import { StyledText } from '../../atoms/text' -const DROP_ZONE_STYLES = css` +const StyledLabel = styled.label` display: flex; cursor: pointer; flex-direction: ${DIRECTION_COLUMN}; @@ -39,7 +39,7 @@ const DRAG_OVER_STYLES = css` border: 2px dashed ${COLORS.blueEnabled}; ` -const INPUT_STYLES = css` +const StyledInput = styled.input` position: fixed; clip: rect(1px 1px 1px 1px); ` @@ -61,8 +61,7 @@ export function UploadInput(props: UploadInputProps): JSX.Element | null { const handleDrop: React.DragEventHandler = e => { e.preventDefault() e.stopPropagation() - const { files = [] } = 'dataTransfer' in e ? e.dataTransfer : {} - props.onUpload(files[0]) + Array.from(e.dataTransfer.files).forEach(f => props.onUpload(f)) setIsFileOverDropZone(false) } const handleDragEnter: React.DragEventHandler = e => { @@ -85,17 +84,10 @@ export function UploadInput(props: UploadInputProps): JSX.Element | null { } const onChange: React.ChangeEventHandler = event => { - const { files = [] } = event.target ?? {} - files?.[0] != null && props.onUpload(files?.[0]) + ;[...(event.target.files ?? [])].forEach(f => props.onUpload(f)) if ('value' in event.currentTarget) event.currentTarget.value = '' } - const dropZoneStyles = isFileOverDropZone - ? css` - ${DROP_ZONE_STYLES} ${DRAG_OVER_STYLES} - ` - : DROP_ZONE_STYLES - return ( - {t('choose_protocol_file')} + {t('upload')} - + ) } diff --git a/app/src/organisms/AddCustomLabwareSlideout/__tests__/AddCustomLabwareSlideout.test.tsx b/app/src/organisms/AddCustomLabwareSlideout/__tests__/AddCustomLabwareSlideout.test.tsx index a5efa4a80e7..7bf3f23675f 100644 --- a/app/src/organisms/AddCustomLabwareSlideout/__tests__/AddCustomLabwareSlideout.test.tsx +++ b/app/src/organisms/AddCustomLabwareSlideout/__tests__/AddCustomLabwareSlideout.test.tsx @@ -46,7 +46,7 @@ describe('AddCustomLabwareSlideout', () => { const [{ getByText, getByRole }] = render(props) getByText('Import a Custom Labware Definition') getByText('Or choose a file from your computer to upload.') - const btn = getByRole('button', { name: 'Choose File' }) + const btn = getByRole('button', { name: 'Upload' }) fireEvent.click(btn) expect(mockTrackEvent).toHaveBeenCalledWith({ name: ANALYTICS_ADD_CUSTOM_LABWARE, diff --git a/app/src/organisms/ProtocolsLanding/ProtocolList.tsx b/app/src/organisms/ProtocolsLanding/ProtocolList.tsx index d12e6c8fd3a..d812fed10f7 100644 --- a/app/src/organisms/ProtocolsLanding/ProtocolList.tsx +++ b/app/src/organisms/ProtocolsLanding/ProtocolList.tsx @@ -29,7 +29,7 @@ import { StyledText } from '../../atoms/text' import { Slideout } from '../../atoms/Slideout' import { ChooseRobotToRunProtocolSlideout } from '../ChooseRobotToRunProtocolSlideout' import { SendProtocolToOT3Slideout } from '../SendProtocolToOT3Slideout' -import { UploadInput } from './UploadInput' +import { ProtocolUploadInput } from './ProtocolUploadInput' import { ProtocolCard } from './ProtocolCard' import { EmptyStateLinks } from './EmptyStateLinks' import { MenuItem } from '../../atoms/MenuList/MenuItem' @@ -254,7 +254,9 @@ export function ProtocolList(props: ProtocolListProps): JSX.Element | null { onCloseClick={() => setShowImportProtocolSlideout(false)} > - setShowImportProtocolSlideout(false)} /> + setShowImportProtocolSlideout(false)} + /> diff --git a/app/src/organisms/ProtocolsLanding/UploadInput.tsx b/app/src/organisms/ProtocolsLanding/ProtocolUploadInput.tsx similarity index 83% rename from app/src/organisms/ProtocolsLanding/UploadInput.tsx rename to app/src/organisms/ProtocolsLanding/ProtocolUploadInput.tsx index aa454b9d690..181da16300f 100644 --- a/app/src/organisms/ProtocolsLanding/UploadInput.tsx +++ b/app/src/organisms/ProtocolsLanding/ProtocolUploadInput.tsx @@ -10,7 +10,7 @@ import { SPACING, } from '@opentrons/components' import { StyledText } from '../../atoms/text' -import { UploadInput as FileImporter } from '../../molecules/UploadInput' +import { UploadInput } from '../../molecules/UploadInput' import { addProtocol } from '../../redux/protocol-storage' import { useTrackEvent, @@ -24,8 +24,9 @@ export interface UploadInputProps { onUpload?: () => void } -// TODO(bc, 2022-3-21): consider making this generic for any file upload and adding it to molecules/organisms with onUpload taking the files from the event -export function UploadInput(props: UploadInputProps): JSX.Element | null { +export function ProtocolUploadInput( + props: UploadInputProps +): JSX.Element | null { const { t } = useTranslation(['protocol_info', 'shared']) const dispatch = useDispatch() const logger = useLogger(__filename) @@ -49,7 +50,7 @@ export function UploadInput(props: UploadInputProps): JSX.Element | null { alignItems={ALIGN_CENTER} marginY={SPACING.spacing20} > - handleUpload(file)} uploadText={t('valid_file_types')} dragAndDropText={ diff --git a/app/src/organisms/ProtocolsLanding/ProtocolsEmptyState.tsx b/app/src/organisms/ProtocolsLanding/ProtocolsEmptyState.tsx index 8388a075d5f..a6238653e6e 100644 --- a/app/src/organisms/ProtocolsLanding/ProtocolsEmptyState.tsx +++ b/app/src/organisms/ProtocolsLanding/ProtocolsEmptyState.tsx @@ -9,7 +9,7 @@ import { } from '@opentrons/components' import { StyledText } from '../../atoms/text' -import { UploadInput } from './UploadInput' +import { ProtocolUploadInput } from './ProtocolUploadInput' import { EmptyStateLinks } from './EmptyStateLinks' export function ProtocolsEmptyState(): JSX.Element | null { const { t } = useTranslation('protocol_info') @@ -25,7 +25,7 @@ export function ProtocolsEmptyState(): JSX.Element | null { {t('import_a_file')} - + ) diff --git a/app/src/organisms/ProtocolsLanding/__tests__/UploadInput.test.tsx b/app/src/organisms/ProtocolsLanding/__tests__/UploadInput.test.tsx index 83455f3b071..c269696c5ce 100644 --- a/app/src/organisms/ProtocolsLanding/__tests__/UploadInput.test.tsx +++ b/app/src/organisms/ProtocolsLanding/__tests__/UploadInput.test.tsx @@ -8,13 +8,13 @@ import { useTrackEvent, ANALYTICS_IMPORT_PROTOCOL_TO_APP, } from '../../../redux/analytics' -import { UploadInput } from '../UploadInput' +import { ProtocolUploadInput } from '../ProtocolUploadInput' jest.mock('../../../redux/analytics') const mockUseTrackEvent = useTrackEvent as jest.Mock -describe('UploadInput', () => { +describe('ProtocolUploadInput', () => { let onUpload: jest.MockedFunction<() => {}> let trackEvent: jest.MockedFunction let render: () => ReturnType[0] @@ -26,7 +26,7 @@ describe('UploadInput', () => { render = () => { return renderWithProviders( - + , { i18nInstance: i18n, @@ -41,7 +41,7 @@ describe('UploadInput', () => { it('renders correct contents for empty state', () => { const { findByText, getByRole } = render() - getByRole('button', { name: 'Choose File' }) + getByRole('button', { name: 'Upload' }) findByText('Drag and drop or') findByText('your files') findByText( @@ -52,7 +52,7 @@ describe('UploadInput', () => { it('opens file select on button click', () => { const { getByRole, getByTestId } = render() - const button = getByRole('button', { name: 'Choose File' }) + const button = getByRole('button', { name: 'Upload' }) const input = getByTestId('file_input') input.click = jest.fn() fireEvent.click(button) From b31abc59bedfd6e18e2f516d53cbc237c598c39d Mon Sep 17 00:00:00 2001 From: Brian Arthur Cooper Date: Thu, 9 Nov 2023 11:56:36 -0500 Subject: [PATCH 44/65] refactor(app, api-client): add utilities for parsing deck config via addressable areas (#13947) Instead of explicit load fixture commands, extrapolate the simplest possible setup for the deck given the included addressable areas referenced in a set of protocol commands Closes RAUT-853 --- api-client/src/protocols/utils.ts | 58 +++++ .../hooks/getLabwareLocationCombos.ts | 19 +- .../organisms/CommandText/LoadCommandText.tsx | 5 +- .../utils/getLabwareOffsetLocation.ts | 12 +- .../ProtocolRun/utils/getLabwareRenderInfo.ts | 5 +- .../ProtocolRun/utils/getLocationInfoNames.ts | 2 + .../utils/getRunLabwareRenderInfo.ts | 5 +- .../LabwarePositionCheck/utils/labware.ts | 5 +- .../__tests__/ProtocolSetupLabware.test.tsx | 8 - .../__tests__/utils.test.ts | 142 +++++++++++ app/src/resources/deck_configuration/utils.ts | 232 ++++++++++++++++-- .../hardware-sim/Deck/MoveLabwareOnDeck.tsx | 17 +- .../src/labware-ingred/reducers/index.ts | 2 + .../src/load-file/migration/8_0_0.ts | 2 +- shared-data/command/types/setup.ts | 2 + shared-data/deck/index.ts | 1 + shared-data/deck/types/schemaV4.ts | 64 +++++ shared-data/js/helpers/index.ts | 23 +- shared-data/js/index.ts | 1 + shared-data/js/types.ts | 23 +- shared-data/tsconfig.json | 1 + tsconfig-eslint.json | 1 + 22 files changed, 591 insertions(+), 39 deletions(-) create mode 100644 app/src/resources/deck_configuration/__tests__/utils.test.ts create mode 100644 shared-data/deck/index.ts create mode 100644 shared-data/deck/types/schemaV4.ts diff --git a/api-client/src/protocols/utils.ts b/api-client/src/protocols/utils.ts index e8f19c42a7e..4ba88a02e5e 100644 --- a/api-client/src/protocols/utils.ts +++ b/api-client/src/protocols/utils.ts @@ -16,6 +16,7 @@ import type { ModuleModel, PipetteName, RunTimeCommand, + AddressableAreaName, } from '@opentrons/shared-data' interface PipetteNamesByMount { @@ -244,6 +245,63 @@ export function parseInitialLoadedFixturesByCutout( ) } +export function parseAllAddressableAreas( + commands: RunTimeCommand[] +): AddressableAreaName[] { + return commands.reduce((acc, command) => { + if ( + command.commandType === 'moveLabware' && + command.params.newLocation !== 'offDeck' && + 'slotName' in command.params.newLocation && + !acc.includes(command.params.newLocation.slotName as AddressableAreaName) + ) { + return [ + ...acc, + command.params.newLocation.slotName as AddressableAreaName, + ] + } else if ( + command.commandType === 'moveLabware' && + command.params.newLocation !== 'offDeck' && + 'addressableAreaName' in command.params.newLocation && + !acc.includes( + command.params.newLocation.addressableAreaName as AddressableAreaName + ) + ) { + return [ + ...acc, + command.params.newLocation.addressableAreaName as AddressableAreaName, + ] + } else if ( + (command.commandType === 'loadLabware' || + command.commandType === 'loadModule') && + command.params.location !== 'offDeck' && + 'slotName' in command.params.location && + !acc.includes(command.params.location.slotName as AddressableAreaName) + ) { + return [...acc, command.params.location.slotName as AddressableAreaName] + } else if ( + command.commandType === 'loadLabware' && + command.params.location !== 'offDeck' && + 'addressableAreaName' in command.params.location && + !acc.includes( + command.params.location.addressableAreaName as AddressableAreaName + ) + ) { + return [ + ...acc, + command.params.location.addressableAreaName as AddressableAreaName, + ] + } + // TODO(BC, 11/6/23): once moveToAddressableArea command exists add it back here + // else if (command.commandType === 'moveToAddressableArea') { + // ... + // } + else { + return acc + } + }, []) +} + export interface LiquidsById { [liquidId: string]: { displayName: string diff --git a/app/src/organisms/ApplyHistoricOffsets/hooks/getLabwareLocationCombos.ts b/app/src/organisms/ApplyHistoricOffsets/hooks/getLabwareLocationCombos.ts index b297775880f..2555c5e8441 100644 --- a/app/src/organisms/ApplyHistoricOffsets/hooks/getLabwareLocationCombos.ts +++ b/app/src/organisms/ApplyHistoricOffsets/hooks/getLabwareLocationCombos.ts @@ -59,7 +59,12 @@ export function getLabwareLocationCombos( }) } else { return appendLocationComboIfUniq(acc, { - location: command.params.location, + location: { + slotName: + 'addressableAreaName' in command.params.location + ? command.params.location.addressableAreaName + : command.params.location.slotName, + }, definitionUri, labwareId: command.result.labwareId, }) @@ -107,7 +112,12 @@ export function getLabwareLocationCombos( }) } else { return appendLocationComboIfUniq(acc, { - location: command.params.newLocation, + location: { + slotName: + 'addressableAreaName' in command.params.newLocation + ? command.params.newLocation.addressableAreaName + : command.params.newLocation.slotName, + }, definitionUri: labwareEntity.definitionUri, labwareId: command.params.labwareId, }) @@ -191,7 +201,10 @@ function resolveAdapterLocation( } else { adapterOffsetLocation = { definitionUri: labwareDefUri, - slotName: labwareEntity.location.slotName, + slotName: + 'addressableAreaName' in labwareEntity.location + ? labwareEntity.location.addressableAreaName + : labwareEntity.location.slotName, } } return { diff --git a/app/src/organisms/CommandText/LoadCommandText.tsx b/app/src/organisms/CommandText/LoadCommandText.tsx index 5446ad1acc6..52ddc0ec7da 100644 --- a/app/src/organisms/CommandText/LoadCommandText.tsx +++ b/app/src/organisms/CommandText/LoadCommandText.tsx @@ -136,7 +136,10 @@ export const LoadCommandText = ({ ? t('load_labware_info_protocol_setup_off_deck', { labware }) : t('load_labware_info_protocol_setup_no_module', { labware, - slot_name: command.params.location?.slotName, + slot_name: + 'addressableAreaName' in command.params.location + ? command.params.location.addressableAreaName + : command.params.location.slotName, }) } } diff --git a/app/src/organisms/Devices/ProtocolRun/utils/getLabwareOffsetLocation.ts b/app/src/organisms/Devices/ProtocolRun/utils/getLabwareOffsetLocation.ts index e831be067d9..287c5ef1338 100644 --- a/app/src/organisms/Devices/ProtocolRun/utils/getLabwareOffsetLocation.ts +++ b/app/src/organisms/Devices/ProtocolRun/utils/getLabwareOffsetLocation.ts @@ -39,6 +39,11 @@ export const getLabwareOffsetLocation = ( slotName: adapter.location.slotName, definitionUri: adapter.definitionUri, } + } else if ('addressableAreaName' in adapter.location) { + return { + slotName: adapter.location.addressableAreaName, + definitionUri: adapter.definitionUri, + } } else if ('moduleId' in adapter.location) { const moduleIdUnderAdapter = adapter.location.moduleId const moduleModel = modules.find( @@ -52,7 +57,12 @@ export const getLabwareOffsetLocation = ( return { slotName, moduleModel, definitionUri: adapter.definitionUri } } } else { - return { slotName: labwareLocation.slotName } + return { + slotName: + 'addressableAreaName' in labwareLocation + ? labwareLocation.addressableAreaName + : labwareLocation.slotName, + } } return null } diff --git a/app/src/organisms/Devices/ProtocolRun/utils/getLabwareRenderInfo.ts b/app/src/organisms/Devices/ProtocolRun/utils/getLabwareRenderInfo.ts index 86ae0ec6146..f5fcc0ea240 100644 --- a/app/src/organisms/Devices/ProtocolRun/utils/getLabwareRenderInfo.ts +++ b/app/src/organisms/Devices/ProtocolRun/utils/getLabwareRenderInfo.ts @@ -75,7 +75,10 @@ export const getLabwareRenderInfo = ( ) } // TODO(bh, 2023-10-19): convert this to deck definition v4 addressableAreas - const slotName = location.slotName.toString() + const slotName = + 'addressableAreaName' in location + ? location.addressableAreaName + : location.slotName // TODO(bh, 2023-10-19): remove slotPosition when render info no longer relies on directly const slotPosition = getSlotPosition(deckDef, slotName) diff --git a/app/src/organisms/Devices/ProtocolRun/utils/getLocationInfoNames.ts b/app/src/organisms/Devices/ProtocolRun/utils/getLocationInfoNames.ts index ee49db3573e..594d5d37f97 100644 --- a/app/src/organisms/Devices/ProtocolRun/utils/getLocationInfoNames.ts +++ b/app/src/organisms/Devices/ProtocolRun/utils/getLocationInfoNames.ts @@ -46,6 +46,8 @@ export function getLocationInfoNames( return { slotName: 'Off deck', labwareName } } else if ('slotName' in labwareLocation) { return { slotName: labwareLocation.slotName, labwareName } + } else if ('addressableAreaName' in labwareLocation) { + return { slotName: labwareLocation.addressableAreaName, labwareName } } else if ('moduleId' in labwareLocation) { const loadModuleCommandUnderLabware = loadModuleCommands?.find( command => command.result?.moduleId === labwareLocation.moduleId diff --git a/app/src/organisms/InterventionModal/utils/getRunLabwareRenderInfo.ts b/app/src/organisms/InterventionModal/utils/getRunLabwareRenderInfo.ts index 12718b07411..3590d470522 100644 --- a/app/src/organisms/InterventionModal/utils/getRunLabwareRenderInfo.ts +++ b/app/src/organisms/InterventionModal/utils/getRunLabwareRenderInfo.ts @@ -36,7 +36,10 @@ export function getRunLabwareRenderInfo( } if (location !== 'offDeck') { - const slotName = location.slotName + const slotName = + 'addressableAreaName' in location + ? location.addressableAreaName + : location.slotName const slotPosition = deckDef.locations.orderedSlots.find(slot => slot.id === slotName) ?.position ?? [] diff --git a/app/src/organisms/LabwarePositionCheck/utils/labware.ts b/app/src/organisms/LabwarePositionCheck/utils/labware.ts index fdaa37ba2ee..bdd6f019aaf 100644 --- a/app/src/organisms/LabwarePositionCheck/utils/labware.ts +++ b/app/src/organisms/LabwarePositionCheck/utils/labware.ts @@ -192,7 +192,10 @@ export const getLabwareIdsInOrder = ( ).location.slotName } } else { - slot = loc.slotName + slot = + 'addressableAreaName' in loc + ? loc.addressableAreaName + : loc.slotName } return [ ...innerAcc, diff --git a/app/src/organisms/ProtocolSetupLabware/__tests__/ProtocolSetupLabware.test.tsx b/app/src/organisms/ProtocolSetupLabware/__tests__/ProtocolSetupLabware.test.tsx index a9ee4c013a9..9a9c2a9999e 100644 --- a/app/src/organisms/ProtocolSetupLabware/__tests__/ProtocolSetupLabware.test.tsx +++ b/app/src/organisms/ProtocolSetupLabware/__tests__/ProtocolSetupLabware.test.tsx @@ -7,7 +7,6 @@ import { useModulesQuery, } from '@opentrons/react-api-client' import { renderWithProviders } from '@opentrons/components' -import { getDeckDefFromRobotType } from '@opentrons/shared-data' import ot3StandardDeckDef from '@opentrons/shared-data/deck/definitions/3/ot3_standard.json' import { i18n } from '../../../i18n' @@ -25,7 +24,6 @@ import { } from '../__fixtures__' jest.mock('@opentrons/react-api-client') -jest.mock('@opentrons/shared-data/js/helpers') jest.mock( '../../../organisms/LabwarePositionCheck/useMostRecentCompletedAnalysis' ) @@ -37,9 +35,6 @@ const mockUseCreateLiveCommandMutation = useCreateLiveCommandMutation as jest.Mo const mockUseModulesQuery = useModulesQuery as jest.MockedFunction< typeof useModulesQuery > -const mockGetDeckDefFromRobotType = getDeckDefFromRobotType as jest.MockedFunction< - typeof getDeckDefFromRobotType -> const mockUseMostRecentCompletedAnalysis = useMostRecentCompletedAnalysis as jest.MockedFunction< typeof useMostRecentCompletedAnalysis > @@ -72,9 +67,6 @@ describe('ProtocolSetupLabware', () => { when(mockUseMostRecentCompletedAnalysis) .calledWith(RUN_ID) .mockReturnValue(mockRecentAnalysis) - when(mockGetDeckDefFromRobotType) - .calledWith('OT-3 Standard') - .mockReturnValue(ot3StandardDeckDef as any) when(mockGetProtocolModulesInfo) .calledWith(mockRecentAnalysis, ot3StandardDeckDef as any) .mockReturnValue(mockProtocolModuleInfo) diff --git a/app/src/resources/deck_configuration/__tests__/utils.test.ts b/app/src/resources/deck_configuration/__tests__/utils.test.ts new file mode 100644 index 00000000000..3fd7f03baac --- /dev/null +++ b/app/src/resources/deck_configuration/__tests__/utils.test.ts @@ -0,0 +1,142 @@ +import { RunTimeCommand } from '@opentrons/shared-data' +import { + FLEX_SIMPLEST_DECK_CONFIG, + getSimplestDeckConfigForProtocolCommands, +} from '../utils' + +const RUN_TIME_COMMAND_STUB_MIXIN: Pick< + RunTimeCommand, + 'id' | 'createdAt' | 'startedAt' | 'completedAt' | 'status' +> = { + id: 'fake_id', + createdAt: 'fake_createdAt', + startedAt: 'fake_startedAt', + completedAt: 'fake_createdAt', + status: 'succeeded', +} + +describe('getSimplestDeckConfigForProtocolCommands', () => { + it('returns simplest deck if no commands alter addressable areas', () => { + expect(getSimplestDeckConfigForProtocolCommands([])).toEqual( + FLEX_SIMPLEST_DECK_CONFIG + ) + }) + it('returns staging area fixtures if commands address column 4 areas', () => { + const cutoutConfigs = getSimplestDeckConfigForProtocolCommands([ + { + ...RUN_TIME_COMMAND_STUB_MIXIN, + commandType: 'loadLabware', + params: { + loadName: 'fake_load_name', + location: { slotName: 'A4' }, + version: 1, + namespace: 'fake_namespace', + }, + }, + { + ...RUN_TIME_COMMAND_STUB_MIXIN, + commandType: 'loadLabware', + params: { + loadName: 'fake_load_name', + location: { slotName: 'B4' }, + version: 1, + namespace: 'fake_namespace', + }, + }, + { + ...RUN_TIME_COMMAND_STUB_MIXIN, + commandType: 'loadLabware', + params: { + loadName: 'fake_load_name', + location: { slotName: 'C4' }, + version: 1, + namespace: 'fake_namespace', + }, + }, + { + ...RUN_TIME_COMMAND_STUB_MIXIN, + commandType: 'loadLabware', + params: { + loadName: 'fake_load_name', + location: { slotName: 'D4' }, + version: 1, + namespace: 'fake_namespace', + }, + }, + ]) + expect(cutoutConfigs).toEqual([ + ...FLEX_SIMPLEST_DECK_CONFIG.slice(0, 8), + { + cutoutId: 'cutoutA3', + cutoutFixtureId: 'stagingAreaRightSlot', + requiredAddressableAreas: ['A4'], + }, + { + cutoutId: 'cutoutB3', + cutoutFixtureId: 'stagingAreaRightSlot', + requiredAddressableAreas: ['B4'], + }, + { + cutoutId: 'cutoutC3', + cutoutFixtureId: 'stagingAreaRightSlot', + requiredAddressableAreas: ['C4'], + }, + { + cutoutId: 'cutoutD3', + cutoutFixtureId: 'stagingAreaRightSlot', + requiredAddressableAreas: ['D4'], + }, + ]) + }) + it('returns simplest cutout fixture where many are possible', () => { + const cutoutConfigs = getSimplestDeckConfigForProtocolCommands([ + { + ...RUN_TIME_COMMAND_STUB_MIXIN, + commandType: 'moveLabware', + params: { + newLocation: { addressableAreaName: 'gripperWasteChute' }, + labwareId: 'fake_labwareId', + strategy: 'usingGripper', + }, + }, + ]) + expect(cutoutConfigs).toEqual([ + ...FLEX_SIMPLEST_DECK_CONFIG.slice(0, 11), + { + cutoutId: 'cutoutD3', + cutoutFixtureId: 'wasteChuteRightAdapterNoCover', + requiredAddressableAreas: ['gripperWasteChute'], + }, + ]) + }) + it('returns compatible cutout fixture where multiple addressable requirements present', () => { + const cutoutConfigs = getSimplestDeckConfigForProtocolCommands([ + { + ...RUN_TIME_COMMAND_STUB_MIXIN, + commandType: 'moveLabware', + params: { + newLocation: { addressableAreaName: 'gripperWasteChute' }, + labwareId: 'fake_labwareId', + strategy: 'usingGripper', + }, + }, + { + ...RUN_TIME_COMMAND_STUB_MIXIN, + commandType: 'moveLabware', + params: { + newLocation: { addressableAreaName: 'D4' }, + labwareId: 'fake_labwareId', + strategy: 'usingGripper', + }, + }, + ]) + expect(cutoutConfigs).toEqual([ + ...FLEX_SIMPLEST_DECK_CONFIG.slice(0, 11), + { + cutoutId: 'cutoutD3', + cutoutFixtureId: 'stagingAreaSlotWithWasteChuteRightAdapterNoCover', + requiredAddressableAreas: ['gripperWasteChute', 'D4'], + }, + ]) + }) +}) diff --git a/app/src/resources/deck_configuration/utils.ts b/app/src/resources/deck_configuration/utils.ts index 7acdd5c80ef..fdc59aa539b 100644 --- a/app/src/resources/deck_configuration/utils.ts +++ b/app/src/resources/deck_configuration/utils.ts @@ -1,23 +1,227 @@ -import { v4 as uuidv4 } from 'uuid' +import { parseAllAddressableAreas } from '@opentrons/api-client' +import { + FLEX_ROBOT_TYPE, + getDeckDefFromRobotTypeV4, +} from '@opentrons/shared-data' -import { parseInitialLoadedFixturesByCutout } from '@opentrons/api-client' -import { STANDARD_SLOT_DECK_CONFIG_FIXTURE } from '@opentrons/components' +import type { + CutoutId, + DeckConfiguration, + RunTimeCommand, + Cutout, + CutoutFixtureId, + CutoutFixture, + AddressableAreaName, + FixtureLoadName, +} from '@opentrons/shared-data' -import type { DeckConfiguration, RunTimeCommand } from '@opentrons/shared-data' +interface CutoutConfig { + cutoutId: CutoutId + cutoutFixtureId: CutoutFixtureId + requiredAddressableAreas: AddressableAreaName[] +} -export function getDeckConfigFromProtocolCommands( +export const FLEX_SIMPLEST_DECK_CONFIG: CutoutConfig[] = [ + { + cutoutId: 'cutoutA1', + cutoutFixtureId: 'singleLeftSlot', + requiredAddressableAreas: [], + }, + { + cutoutId: 'cutoutB1', + cutoutFixtureId: 'singleLeftSlot', + requiredAddressableAreas: [], + }, + { + cutoutId: 'cutoutC1', + cutoutFixtureId: 'singleLeftSlot', + requiredAddressableAreas: [], + }, + { + cutoutId: 'cutoutD1', + cutoutFixtureId: 'singleLeftSlot', + requiredAddressableAreas: [], + }, + { + cutoutId: 'cutoutA2', + cutoutFixtureId: 'singleCenterSlot', + requiredAddressableAreas: [], + }, + { + cutoutId: 'cutoutB2', + cutoutFixtureId: 'singleCenterSlot', + requiredAddressableAreas: [], + }, + { + cutoutId: 'cutoutC2', + cutoutFixtureId: 'singleCenterSlot', + requiredAddressableAreas: [], + }, + { + cutoutId: 'cutoutD2', + cutoutFixtureId: 'singleCenterSlot', + requiredAddressableAreas: [], + }, + { + cutoutId: 'cutoutA3', + cutoutFixtureId: 'singleRightSlot', + requiredAddressableAreas: [], + }, + { + cutoutId: 'cutoutB3', + cutoutFixtureId: 'singleRightSlot', + requiredAddressableAreas: [], + }, + { + cutoutId: 'cutoutC3', + cutoutFixtureId: 'singleRightSlot', + requiredAddressableAreas: [], + }, + { + cutoutId: 'cutoutD3', + cutoutFixtureId: 'singleRightSlot', + requiredAddressableAreas: [], + }, +] + +export function getSimplestDeckConfigForProtocolCommands( protocolAnalysisCommands: RunTimeCommand[] +): CutoutConfig[] { + // TODO(BC, 2023-11-06): abstract out the robot type + const deckDef = getDeckDefFromRobotTypeV4(FLEX_ROBOT_TYPE) + + const addressableAreas = parseAllAddressableAreas(protocolAnalysisCommands) + const simplestDeckConfig = addressableAreas.reduce( + (acc, addressableArea) => { + const cutoutFixturesForAddressableArea = getCutoutFixturesForAddressableAreas( + [addressableArea], + deckDef.cutoutFixtures + ) + const cutoutIdForAddressableArea = getCutoutIdForAddressableArea( + addressableArea, + cutoutFixturesForAddressableArea + ) + const cutoutFixturesForCutoutId = + cutoutIdForAddressableArea != null + ? getCutoutFixturesForCutoutId( + cutoutIdForAddressableArea, + deckDef.cutoutFixtures + ) + : null + + const existingCutoutConfig = acc.find( + cutoutConfig => cutoutConfig.cutoutId === cutoutIdForAddressableArea + ) + + if ( + existingCutoutConfig != null && + cutoutFixturesForCutoutId != null && + cutoutIdForAddressableArea != null + ) { + const indexOfExistingFixture = cutoutFixturesForCutoutId.findIndex( + ({ id }) => id === existingCutoutConfig.cutoutFixtureId + ) + const accIndex = acc.findIndex( + ({ cutoutId }) => cutoutId === cutoutIdForAddressableArea + ) + const previousRequiredAAs = acc[accIndex]?.requiredAddressableAreas + const allNextRequiredAddressableAreas = previousRequiredAAs.includes( + addressableArea + ) + ? previousRequiredAAs + : [...previousRequiredAAs, addressableArea] + const nextCompatibleCutoutFixture = getSimplestFixtureForAddressableAreas( + cutoutIdForAddressableArea, + allNextRequiredAddressableAreas, + cutoutFixturesForCutoutId + ) + const indexOfCurrentFixture = cutoutFixturesForCutoutId.findIndex( + ({ id }) => id === nextCompatibleCutoutFixture?.id + ) + + if ( + nextCompatibleCutoutFixture != null && + indexOfCurrentFixture > indexOfExistingFixture + ) { + return [ + ...acc.slice(0, accIndex), + { + cutoutId: cutoutIdForAddressableArea, + cutoutFixtureId: nextCompatibleCutoutFixture.id, + requiredAddressableAreas: allNextRequiredAddressableAreas, + }, + ...acc.slice(accIndex + 1), + ] + } + } + return acc + }, + FLEX_SIMPLEST_DECK_CONFIG + ) + + return simplestDeckConfig +} + +// TODO(BC, 11/7/23): remove this function in favor of getSimplestDeckConfigForProtocolCommands +export function getDeckConfigFromProtocolCommands( + commands: RunTimeCommand[] ): DeckConfiguration { - const loadedFixtureCommands = Object.values( - parseInitialLoadedFixturesByCutout(protocolAnalysisCommands) + return getSimplestDeckConfigForProtocolCommands(commands).map( + ({ cutoutId, cutoutFixtureId }) => ({ + fixtureId: cutoutFixtureId, + fixtureLocation: cutoutId as Cutout, + loadName: cutoutFixtureId as FixtureLoadName, + }) ) +} - const deckConfig = loadedFixtureCommands.map(command => ({ - fixtureId: command.params.fixtureId ?? uuidv4(), - fixtureLocation: command.params.location.cutout, - loadName: command.params.loadName, - })) +function getCutoutFixturesForAddressableAreas( + addressableAreas: AddressableAreaName[], + cutoutFixtures: CutoutFixture[] +): CutoutFixture[] { + return cutoutFixtures.filter(cutoutFixture => + Object.values(cutoutFixture.providesAddressableAreas).some(providedAAs => + addressableAreas.every(aa => providedAAs.includes(aa)) + ) + ) +} - // TODO(bh, 2023-10-18): remove stub when load fixture commands available - return deckConfig.length > 0 ? deckConfig : STANDARD_SLOT_DECK_CONFIG_FIXTURE +function getCutoutFixturesForCutoutId( + cutoutId: CutoutId, + cutoutFixtures: CutoutFixture[] +): CutoutFixture[] { + return cutoutFixtures.filter(cutoutFixture => + cutoutFixture.mayMountTo.some(mayMountTo => mayMountTo.includes(cutoutId)) + ) +} + +function getCutoutIdForAddressableArea( + addressableArea: AddressableAreaName, + cutoutFixtures: CutoutFixture[] +): CutoutId | null { + return cutoutFixtures.reduce((acc, cutoutFixture) => { + const [cutoutId] = + Object.entries( + cutoutFixture.providesAddressableAreas + ).find(([_cutoutId, providedAAs]) => + providedAAs.includes(addressableArea) + ) ?? [] + return (cutoutId as CutoutId) ?? acc + }, null) +} + +function getSimplestFixtureForAddressableAreas( + cutoutId: CutoutId, + requiredAddressableAreas: AddressableAreaName[], + allCutoutFixtures: CutoutFixture[] +): CutoutFixture | null { + const cutoutFixturesForCutoutId = getCutoutFixturesForCutoutId( + cutoutId, + allCutoutFixtures + ) + const nextCompatibleCutoutFixtures = getCutoutFixturesForAddressableAreas( + requiredAddressableAreas, + cutoutFixturesForCutoutId + ) + return nextCompatibleCutoutFixtures?.[0] ?? null } diff --git a/components/src/hardware-sim/Deck/MoveLabwareOnDeck.tsx b/components/src/hardware-sim/Deck/MoveLabwareOnDeck.tsx index 55656526e1b..a93f06ca8ae 100644 --- a/components/src/hardware-sim/Deck/MoveLabwareOnDeck.tsx +++ b/components/src/hardware-sim/Deck/MoveLabwareOnDeck.tsx @@ -85,7 +85,11 @@ function getLabwareCoordinates({ // adapter on deck const loadedAdapterSlot = orderedSlots.find( - s => s.id === loadedAdapterLocation.slotName + s => + s.id === + ('slotName' in loadedAdapterLocation + ? loadedAdapterLocation.slotName + : loadedAdapterLocation.addressableAreaName) ) return loadedAdapterSlot != null ? { @@ -94,6 +98,17 @@ function getLabwareCoordinates({ z: loadedAdapterSlot.position[2], } : null + } else if ('addressableAreaName' in location) { + const slotCoordinateTuple = + orderedSlots.find(s => s.id === location.addressableAreaName)?.position ?? + null + return slotCoordinateTuple != null + ? { + x: slotCoordinateTuple[0], + y: slotCoordinateTuple[1], + z: slotCoordinateTuple[2], + } + : null } else if ('slotName' in location) { const slotCoordinateTuple = orderedSlots.find(s => s.id === location.slotName)?.position ?? null diff --git a/protocol-designer/src/labware-ingred/reducers/index.ts b/protocol-designer/src/labware-ingred/reducers/index.ts index a26e5b1b95f..4d0fd60f10f 100644 --- a/protocol-designer/src/labware-ingred/reducers/index.ts +++ b/protocol-designer/src/labware-ingred/reducers/index.ts @@ -232,6 +232,8 @@ export const savedLabware: Reducer = handleActions( slot = location.moduleId } else if ('labwareId' in location) { slot = location.labwareId + } else if ('addressableAreaName' in location) { + slot = location.addressableAreaName } else { slot = location.slotName } diff --git a/protocol-designer/src/load-file/migration/8_0_0.ts b/protocol-designer/src/load-file/migration/8_0_0.ts index 734f2f9ea46..c7afb0bbffe 100644 --- a/protocol-designer/src/load-file/migration/8_0_0.ts +++ b/protocol-designer/src/load-file/migration/8_0_0.ts @@ -18,12 +18,12 @@ import type { CommandV8Mixin, LabwareV2Mixin, LiquidV1Mixin, - LoadLabwareCreateCommand, OT2RobotMixin, OT3RobotMixin, ProtocolBase, ProtocolFile, } from '@opentrons/shared-data/protocol/types/schemaV8' +import type { LoadLabwareCreateCommand } from '@opentrons/shared-data/protocol/types/schemaV7' import type { DesignerApplicationData } from './utils/getLoadLiquidCommands' // NOTE: this migration is to schema v8 and updates fixed trash by diff --git a/shared-data/command/types/setup.ts b/shared-data/command/types/setup.ts index fd43093d16c..f8fb78752e5 100644 --- a/shared-data/command/types/setup.ts +++ b/shared-data/command/types/setup.ts @@ -92,11 +92,13 @@ export type LabwareLocation = | { slotName: string } | { moduleId: string } | { labwareId: string } + | { addressableAreaName: string } export type NonStackedLocation = | 'offDeck' | { slotName: string } | { moduleId: string } + | { addressableAreaName: string } export interface ModuleLocation { slotName: string diff --git a/shared-data/deck/index.ts b/shared-data/deck/index.ts new file mode 100644 index 00000000000..f05ccb33b7f --- /dev/null +++ b/shared-data/deck/index.ts @@ -0,0 +1 @@ +export * from './types/schemaV4' diff --git a/shared-data/deck/types/schemaV4.ts b/shared-data/deck/types/schemaV4.ts new file mode 100644 index 00000000000..f81029da61e --- /dev/null +++ b/shared-data/deck/types/schemaV4.ts @@ -0,0 +1,64 @@ +export type FlexAddressableAreaName = + | 'D1' + | 'D2' + | 'D3' + | 'C1' + | 'C2' + | 'C3' + | 'B1' + | 'B2' + | 'B3' + | 'A1' + | 'A2' + | 'A3' + | 'A4' + | 'B4' + | 'C4' + | 'D4' + | 'movableTrash' + | '1and8ChannelWasteChute' + | '96ChannelWasteChute' + | 'gripperWasteChute' + +export type OT2AddressableAreaName = + | '1' + | '2' + | '3' + | '4' + | '5' + | '6' + | '7' + | '8' + | '9' + | '10' + | '11' + | 'fixedTrash' + +export type AddressableAreaName = + | FlexAddressableAreaName + | OT2AddressableAreaName + +export type CutoutId = + | 'cutoutD1' + | 'cutoutD2' + | 'cutoutD3' + | 'cutoutC1' + | 'cutoutC2' + | 'cutoutC3' + | 'cutoutB1' + | 'cutoutB2' + | 'cutoutB3' + | 'cutoutA1' + | 'cutoutA2' + | 'cutoutA3' + +export type CutoutFixtureId = + | 'singleLeftSlot' + | 'singleCenterSlot' + | 'singleRightSlot' + | 'stagingAreaRightSlot' + | 'trashBinAdapter' + | 'wasteChuteRightAdapterCovered' + | 'wasteChuteRightAdapterNoCover' + | 'stagingAreaSlotWithWasteChuteRightAdapterCovered' + | 'stagingAreaSlotWithWasteChuteRightAdapterNoCover' diff --git a/shared-data/js/helpers/index.ts b/shared-data/js/helpers/index.ts index 7c6cebc3847..c686898f9bc 100644 --- a/shared-data/js/helpers/index.ts +++ b/shared-data/js/helpers/index.ts @@ -2,8 +2,10 @@ import assert from 'assert' import uniq from 'lodash/uniq' import { OPENTRONS_LABWARE_NAMESPACE } from '../constants' -import standardDeckDefOt2 from '../../deck/definitions/3/ot2_standard.json' -import standardDeckDefOt3 from '../../deck/definitions/3/ot3_standard.json' +import standardOt2DeckDefv3 from '../../deck/definitions/3/ot2_standard.json' +import standardFlexDeckDefv3 from '../../deck/definitions/3/ot3_standard.json' +import standardOt2DeckDef from '../../deck/definitions/4/ot2_standard.json' +import standardFlexDeckDef from '../../deck/definitions/4/ot3_standard.json' import type { DeckDefinition, LabwareDefinition2, @@ -224,7 +226,7 @@ export const getAreSlotsHorizontallyAdjacent = ( if (isNaN(slotBNumber) || isNaN(slotANumber)) { return false } - const orderedSlots = standardDeckDefOt2.locations.orderedSlots + const orderedSlots = standardOt2DeckDefv3.locations.orderedSlots // intentionally not substracting by 1 because trash (slot 12) should not count const numSlots = orderedSlots.length @@ -260,7 +262,7 @@ export const getAreSlotsVerticallyAdjacent = ( if (isNaN(slotBNumber) || isNaN(slotANumber)) { return false } - const orderedSlots = standardDeckDefOt2.locations.orderedSlots + const orderedSlots = standardOt2DeckDefv3.locations.orderedSlots // intentionally not substracting by 1 because trash (slot 12) should not count const numSlots = orderedSlots.length @@ -349,5 +351,16 @@ export const getDeckDefFromRobotType = ( robotType: RobotType ): DeckDefinition => { // @ts-expect-error imported JSON not playing nice with TS. see https://github.com/microsoft/TypeScript/issues/32063 - return robotType === 'OT-3 Standard' ? standardDeckDefOt3 : standardDeckDefOt2 + return robotType === 'OT-3 Standard' + ? standardFlexDeckDefv3 + : standardOt2DeckDefv3 +} + +export const getDeckDefFromRobotTypeV4 = ( + robotType: RobotType +): DeckDefinition => { + // @ts-expect-error imported JSON not playing nice with TS. see https://github.com/microsoft/TypeScript/issues/32063 + return robotType === 'OT-3 Standard' + ? standardFlexDeckDef + : standardOt2DeckDef } diff --git a/shared-data/js/index.ts b/shared-data/js/index.ts index 61fe3babedf..ce7335fa426 100644 --- a/shared-data/js/index.ts +++ b/shared-data/js/index.ts @@ -8,6 +8,7 @@ export * from './modules' export * from './fixtures' export * from './gripper' export * from '../protocol' +export * from '../deck' export * from './titleCase' export * from './errors' export * from './fixtures' diff --git a/shared-data/js/types.ts b/shared-data/js/types.ts index 07b5302b63d..28b509a7f26 100644 --- a/shared-data/js/types.ts +++ b/shared-data/js/types.ts @@ -30,9 +30,9 @@ import { WASTE_CHUTE_LOAD_NAME, } from './constants' import type { INode } from 'svgson' -import type { RunTimeCommand } from '../command/types' +import type { RunTimeCommand, LabwareLocation } from '../command/types' import type { PipetteName } from './pipettes' -import type { LabwareLocation } from '../protocol/types/schemaV7/command/setup' +import type { AddressableAreaName, CutoutFixtureId, CutoutId } from '../deck' export type RobotType = 'OT-2 Standard' | 'OT-3 Standard' @@ -284,10 +284,28 @@ export interface DeckCalibrationPoint { displayName: string } +export interface CutoutFixture { + id: CutoutFixtureId + mayMountTo: CutoutId[] + displayName: string + providesAddressableAreas: Record +} + +export interface AddressableArea { + id: AddressableAreaName + areaType: 'slot' | 'movableTrash' | 'fixedTrash' | 'wasteChute' + matingSurfaceUnitVector: UnitVectorTuple + offsetFromCutoutFixture: UnitVectorTuple + boundingBox: Dimensions + displayName: string + compatibleModuleTypes: ModuleType[] +} + export interface DeckLocations { orderedSlots: DeckSlot[] calibrationPoints: DeckCalibrationPoint[] fixtures: DeckFixture[] + addressableAreas: AddressableArea[] } export interface DeckMetadata { @@ -300,6 +318,7 @@ export interface DeckDefinition { cornerOffsetFromOrigin: CoordinateTuple dimensions: CoordinateTuple robot: DeckRobot + cutoutFixtures: CutoutFixture[] locations: DeckLocations metadata: DeckMetadata layers: INode[] diff --git a/shared-data/tsconfig.json b/shared-data/tsconfig.json index 1b1c50493db..bfeef7fb684 100644 --- a/shared-data/tsconfig.json +++ b/shared-data/tsconfig.json @@ -9,6 +9,7 @@ "include": [ "js", "protocol", + "deck", "command/types", "liquid/types", "commandAnnotation/types" diff --git a/tsconfig-eslint.json b/tsconfig-eslint.json index 555566fb1f5..11672e612c6 100644 --- a/tsconfig-eslint.json +++ b/tsconfig-eslint.json @@ -19,6 +19,7 @@ "labware-designer/typings", "labware-library/src", "labware-library/typings", + "shared-data/deck", "shared-data/js", "shared-data/protocol", "shared-data/pipette", From cc8cf3cc7234a67b2a6de11d8025008b51ba573b Mon Sep 17 00:00:00 2001 From: Jethary Rader <66035149+jerader@users.noreply.github.com> Date: Thu, 9 Nov 2023 12:50:20 -0500 Subject: [PATCH 45/65] feat(protocol-designer): wire up unused equipment logic for waste chute (#13957) closes RAUT-814 --- .../components/FileSidebar/FileSidebar.tsx | 3 +- ...Areas.ts => getUnusedStagingAreas.test.ts} | 0 .../utils/__tests__/getUnusedTrash.test.ts | 45 +++++++++++++++++-- .../FileSidebar/utils/getUnusedTrash.ts | 19 ++++++-- 4 files changed, 59 insertions(+), 8 deletions(-) rename protocol-designer/src/components/FileSidebar/utils/__tests__/{getUnusedStagingAreas.ts => getUnusedStagingAreas.test.ts} (100%) diff --git a/protocol-designer/src/components/FileSidebar/FileSidebar.tsx b/protocol-designer/src/components/FileSidebar/FileSidebar.tsx index 2b3e1c1daf5..a5f563888c7 100644 --- a/protocol-designer/src/components/FileSidebar/FileSidebar.tsx +++ b/protocol-designer/src/components/FileSidebar/FileSidebar.tsx @@ -256,13 +256,12 @@ export function FileSidebar(props: Props): JSX.Element { ) const { trashBinUnused, wasteChuteUnused } = getUnusedTrash( labwareOnDeck, - // additionalEquipment, + additionalEquipment, fileData?.commands ) const fixtureWithoutStep: Fixture = { trashBin: trashBinUnused, - // TODO(jr, 10/30/23): wire this up later when we know waste chute commands wasteChute: wasteChuteUnused, stagingAreaSlots: getUnusedStagingAreas( additionalEquipment, diff --git a/protocol-designer/src/components/FileSidebar/utils/__tests__/getUnusedStagingAreas.ts b/protocol-designer/src/components/FileSidebar/utils/__tests__/getUnusedStagingAreas.test.ts similarity index 100% rename from protocol-designer/src/components/FileSidebar/utils/__tests__/getUnusedStagingAreas.ts rename to protocol-designer/src/components/FileSidebar/utils/__tests__/getUnusedStagingAreas.test.ts diff --git a/protocol-designer/src/components/FileSidebar/utils/__tests__/getUnusedTrash.test.ts b/protocol-designer/src/components/FileSidebar/utils/__tests__/getUnusedTrash.test.ts index 474a2f9d733..3d66dec7c66 100644 --- a/protocol-designer/src/components/FileSidebar/utils/__tests__/getUnusedTrash.test.ts +++ b/protocol-designer/src/components/FileSidebar/utils/__tests__/getUnusedTrash.test.ts @@ -2,6 +2,7 @@ import { FLEX_TRASH_DEF_URI } from '../../../../constants' import { getUnusedTrash } from '../getUnusedTrash' import type { CreateCommand } from '@opentrons/shared-data' import type { InitialDeckSetup } from '../../../../step-forms' +import type { AdditionalEquipment } from '../../FileSidebar' describe('getUnusedTrash', () => { it('returns true for unused trash bin', () => { @@ -10,7 +11,7 @@ describe('getUnusedTrash', () => { [labwareId]: { labwareDefURI: FLEX_TRASH_DEF_URI, id: labwareId }, } as unknown) as InitialDeckSetup['labware'] - expect(getUnusedTrash(mockTrash, [])).toEqual({ + expect(getUnusedTrash(mockTrash, {}, [])).toEqual({ trashBinUnused: true, wasteChuteUnused: false, }) @@ -29,10 +30,48 @@ describe('getUnusedTrash', () => { }, ] as unknown) as CreateCommand[] - expect(getUnusedTrash(mockTrash, mockCommand)).toEqual({ + expect(getUnusedTrash(mockTrash, {}, mockCommand)).toEqual({ trashBinUnused: true, wasteChuteUnused: false, }) }) - // TODO(jr, 10/30/23): add test coverage for waste chute + it('returns true for unused waste chute', () => { + const wasteChute = 'wasteChuteId' + const mockAdditionalEquipment = { + [wasteChute]: { + name: 'wasteChute', + id: wasteChute, + location: 'cutoutD3', + }, + } as AdditionalEquipment + expect(getUnusedTrash({}, mockAdditionalEquipment, [])).toEqual({ + trashBinUnused: false, + wasteChuteUnused: true, + }) + }) + it('returns false for unused waste chute', () => { + const wasteChute = 'wasteChuteId' + const mockAdditionalEquipment = { + [wasteChute]: { + name: 'wasteChute', + id: wasteChute, + location: 'cutoutD3', + }, + } as AdditionalEquipment + const mockCommand = ([ + { + labwareId: { + commandType: 'moveToAddressableArea', + params: { + pipetteId: 'mockId', + addressableAreaName: '1and8ChannelWasteChute', + }, + }, + }, + ] as unknown) as CreateCommand[] + expect(getUnusedTrash({}, mockAdditionalEquipment, mockCommand)).toEqual({ + trashBinUnused: false, + wasteChuteUnused: true, + }) + }) }) diff --git a/protocol-designer/src/components/FileSidebar/utils/getUnusedTrash.ts b/protocol-designer/src/components/FileSidebar/utils/getUnusedTrash.ts index 2585b2c75eb..90cf88e6ada 100644 --- a/protocol-designer/src/components/FileSidebar/utils/getUnusedTrash.ts +++ b/protocol-designer/src/components/FileSidebar/utils/getUnusedTrash.ts @@ -11,9 +11,9 @@ interface UnusedTrash { wasteChuteUnused: boolean } -// TODO(jr, 10/30/23): plug in waste chute logic when we know the commands! export const getUnusedTrash = ( labwareOnDeck: InitialDeckSetup['labware'], + additionalEquipment: InitialDeckSetup['additionalEquipmentOnDeck'], commands?: CreateCommand[] ): UnusedTrash => { const trashBin = Object.values(labwareOnDeck).find( @@ -21,7 +21,6 @@ export const getUnusedTrash = ( labware.labwareDefURI === FLEX_TRASH_DEF_URI || labware.labwareDefURI === OT_2_TRASH_DEF_URI ) - const hasTrashBinCommands = trashBin != null ? commands?.some( @@ -32,8 +31,22 @@ export const getUnusedTrash = ( command.params.labwareId === trashBin.id) ) : null + const wasteChute = Object.values(additionalEquipment).find( + aE => aE.name === 'wasteChute' + ) + const hasWasteChuteCommands = + wasteChute != null + ? commands?.some( + command => + command.commandType === 'moveToAddressableArea' && + (command.params.addressableAreaName === '1and8ChannelWasteChute' || + command.params.addressableAreaName === 'gripperWasteChute' || + command.params.addressableAreaName === '96ChannelWasteChute') + ) + : null + return { trashBinUnused: trashBin != null && !hasTrashBinCommands, - wasteChuteUnused: false, + wasteChuteUnused: wasteChute != null && !hasWasteChuteCommands, } } From 5db88638e717df44e82b2cd5ec6fd2dd87bc4879 Mon Sep 17 00:00:00 2001 From: Alise Au <20424172+ahiuchingau@users.noreply.github.com> Date: Thu, 9 Nov 2023 13:19:26 -0500 Subject: [PATCH 46/65] fix origin & target for fast home should not include other axes (#13955) --- api/src/opentrons/hardware_control/ot3api.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py index 11b9682805c..1842d26152d 100644 --- a/api/src/opentrons/hardware_control/ot3api.py +++ b/api/src/opentrons/hardware_control/ot3api.py @@ -1397,9 +1397,9 @@ async def _retrieve_home_position( self, axis: Axis ) -> Tuple[OT3AxisMap[float], OT3AxisMap[float]]: origin = await self._backend.update_position() - target_pos = {ax: pos for ax, pos in origin.items()} - target_pos.update({axis: self._backend.home_position()[axis]}) - return origin, target_pos + origin_pos = {axis: origin[axis]} + target_pos = {axis: self._backend.home_position()[axis]} + return origin_pos, target_pos @_adjust_high_throughput_z_current async def _home_axis(self, axis: Axis) -> None: From 66cd8fc67881db001c696fe4f9d18853b356d227 Mon Sep 17 00:00:00 2001 From: Sarah Breen Date: Thu, 9 Nov 2023 13:45:40 -0500 Subject: [PATCH 47/65] feat(app): final copy and animations for golden tip LPC probe screens (#13941) fix RAUT-810, RAUT-811 --- .../images/lpc_level_probe_with_labware.svg | 315 ++++++++++++++++++ .../images/lpc_level_probe_with_tip.svg | 127 +++++++ .../en/labware_position_check.json | 21 +- .../LabwarePositionCheck/AttachProbe.tsx | 138 +++++--- .../LabwarePositionCheck/CheckItem.tsx | 15 +- .../LabwarePositionCheck/DetachProbe.tsx | 27 +- .../LabwarePositionCheck/ExitConfirmation.tsx | 23 +- .../IntroScreen/index.tsx | 29 +- .../LabwarePositionCheck/JogToWell.tsx | 10 +- .../LabwarePositionCheckComponent.tsx | 18 +- .../LabwarePositionCheck/PickUpTip.tsx | 9 +- .../__tests__/CheckItem.test.tsx | 1 + .../__tests__/ExitConfirmation.test.tsx | 17 +- .../PipetteWizardFlows/AttachProbe.tsx | 75 +---- .../PipetteWizardFlows/ProbeNotAttached.tsx | 101 ++++++ 15 files changed, 785 insertions(+), 141 deletions(-) create mode 100644 app/src/assets/images/lpc_level_probe_with_labware.svg create mode 100644 app/src/assets/images/lpc_level_probe_with_tip.svg create mode 100644 app/src/organisms/PipetteWizardFlows/ProbeNotAttached.tsx diff --git a/app/src/assets/images/lpc_level_probe_with_labware.svg b/app/src/assets/images/lpc_level_probe_with_labware.svg new file mode 100644 index 00000000000..5e75128d9fc --- /dev/null +++ b/app/src/assets/images/lpc_level_probe_with_labware.svg @@ -0,0 +1,315 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/app/src/assets/images/lpc_level_probe_with_tip.svg b/app/src/assets/images/lpc_level_probe_with_tip.svg new file mode 100644 index 00000000000..799e78dd3d1 --- /dev/null +++ b/app/src/assets/images/lpc_level_probe_with_tip.svg @@ -0,0 +1,127 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/app/src/assets/localization/en/labware_position_check.json b/app/src/assets/localization/en/labware_position_check.json index 58fe6550ddd..f08c465f7fa 100644 --- a/app/src/assets/localization/en/labware_position_check.json +++ b/app/src/assets/localization/en/labware_position_check.json @@ -6,22 +6,27 @@ "applied_offset_data": "Applied Labware Offset data", "apply_offset_data": "Apply labware offset data", "apply_offsets": "apply offsets", - "attach_probe": "Attach probe to pipette", + "attach_probe": "Attach calibration probe", + "backmost": "backmost", + "calibration_probe": "calibration probe", "check_item_in_location": "Check {{item}} in {{location}}", "check_labware_in_slot_title": "Check Labware {{labware_display_name}} in slot {{slot}}", "check_remaining_labware_with_primary_pipette_section": "Check remaining labware with {{primary_mount}} Pipette and tip", + "check_tip_location": "the top of the tip in the A1 position", + "check_well_location": "well A1 on the labware", "clear_all_slots": "Clear all deck slots of labware, leaving modules in place", "clear_all_slots_odd": "Clear all deck slots of labware", "cli_ssh": "Command Line Interface (SSH)", "close_and_apply_offset_data": "Close and apply labware offset data", + "confirm_detached": "Confirm removal", "confirm_pick_up_tip_modal_title": "Did the pipette pick up a tip successfully?", "confirm_pick_up_tip_modal_try_again_text": "No, try again", "confirm_position_and_move": "Confirm position, move to slot {{next_slot}}", "confirm_position_and_pick_up_tip": "Confirm position, pick up tip", "confirm_position_and_return_tip": "Confirm position, return tip to Slot {{next_slot}} and home", - "ensure_nozzle_is_above_tip_odd": "Ensure that the pipette nozzle furthest from you is centered above and level with the top of the tip in the A1 position. If it isn't, tap Move pipette and then jog the pipette until it is properly aligned.", - "ensure_nozzle_is_above_tip_desktop": "Ensure that the pipette nozzle furthest from you is centered above and level with the top of the tip in the A1 position. If it isn't, use the controls below or your keyboard to jog the pipette until it is properly aligned.", - "ensure_tip_is_above_well": "Ensure that the pipette tip furthest from you is centered above and level with well A1 on the labware.", + "detach_probe": "Remove calibration probe", + "ensure_nozzle_position_odd": "Ensure that the {{tip_type}} is centered above and level with {{item_location}}. If it isn't, tap Move pipette and then jog the pipette until it is properly aligned.", + "ensure_nozzle_position_desktop": "Ensure that the {{tip_type}} is centered above and level with {{item_location}}. If it isn't, use the controls below or your keyboard to jog the pipette until it is properly aligned.", "error_modal_header": "Something went wrong", "error_modal_problem_in_app": "There was an error performing Labware Position Check. Please restart the app. If the problem persists, please contact Opentrons Support", "error_modal_problem_on_robot": "There was an error processing your request on the robot", @@ -30,8 +35,7 @@ "exit_screen_subtitle": "If you exit now, all labware offsets will be discarded. This cannot be undone.", "exit_screen_title": "Exit before completing Labware Position Check?", "get_labware_offset_data": "Get Labware Offset Data", - "install_probe_8_channel": "Take the calibration probe from its storage location. Ensure its collar is unlocked. Push the pipette ejector up and press the probe firmly onto the backmost pipette nozzle. Twist the collar to lock the probe. Test that the probe is secure by gently pulling it back and forth.", - "install_probe_96_channel": "Take the calibration probe from its storage location. Ensure its collar is unlocked. Push the pipette ejector up and press the probe firmly onto the A1 (back left corner) pipette nozzle. Twist the collar to lock the probe. Test that the probe is secure by gently pulling it back and forth.", + "install_probe": "Take the calibration probe from its storage location. Ensure its collar is fully unlocked. Push the pipette ejector up and press the probe firmly onto the {{location}} pipette nozzle as far as it can go. Twist the collar to lock the probe. Test that the probe is secure by gently pulling it back and forth.", "jog_controls_adjustment": "Need to make an adjustment?", "jupyter_notebook": "Jupyter Notebook", "labware_display_location_text": "Deck Slot {{slot}}", @@ -70,6 +74,7 @@ "move_to_a1_position": "Move the pipette to line up in the A1 position", "moving_to_slot_title": "Moving to slot {{slot}}", "new_labware_offset_data": "New labware offset data", + "ninety_six_probe_location": "A1 (back left corner)", "no_labware_offsets": "No Labware Offset", "no_offset_data_available": "No labware offset data available", "no_offset_data_on_robot": "This robot has no useable labware offset data for this run.", @@ -77,6 +82,7 @@ "offsets": "offsets", "pick_up_tip_from_rack_in_location": "Pick up tip from tip rack in {{location}}", "picking_up_tip_title": "Picking up tip in slot {{slot}}", + "pipette_nozzle": "pipette nozzle furthest from you", "place_a_full_tip_rack_in_location": "Place a full {{tip_rack}} into {{location}}", "place_labware_in_adapter_in_location": "Place a {{adapter}} followed by a {{labware}} into {{location}}", "place_labware_in_location": "Place a {{labware}} into {{location}}", @@ -85,6 +91,9 @@ "position_check_description": "Labware Position Check is a guided workflow that checks every labware on the deck for an added degree of precision in your protocol.When you check a labware, the OT-2’s pipette nozzle or attached tip will stop at the center of the A1 well. If the pipette nozzle or tip is not centered, you can reveal the OT-2’s jog controls to make an adjustment. This Labware Offset will be applied to the entire labware. Offset data is measured to the nearest 1/10th mm and can be made in the X, Y and/or Z directions.", "prepare_item_in_location": "Prepare {{item}} in {{location}}", "primary_pipette_tipracks_section": "Check tip racks with {{primary_mount}} Pipette and pick up a tip", + "remove_calibration_probe": "Remove calibration probe", + "remove_probe": "Unlock the calibraiton probe, remove it from the nozzle, and return it to its storage location.", + "remove_probe_before_exit": "Remove the calibration probe before exiting", "return_tip_rack_to_location": "Return tip rack to {{location}}", "return_tip_section": "Return tip", "returning_tip_title": "Returning tip in slot {{slot}}", diff --git a/app/src/organisms/LabwarePositionCheck/AttachProbe.tsx b/app/src/organisms/LabwarePositionCheck/AttachProbe.tsx index 5381c23aed5..f54032e48f1 100644 --- a/app/src/organisms/LabwarePositionCheck/AttachProbe.tsx +++ b/app/src/organisms/LabwarePositionCheck/AttachProbe.tsx @@ -1,15 +1,18 @@ import * as React from 'react' import { Trans, useTranslation } from 'react-i18next' import { RESPONSIVENESS, SPACING, TYPOGRAPHY } from '@opentrons/components' -import { css } from 'styled-components' -import { StyledText } from '../../atoms/text' -import { RobotMotionLoader } from './RobotMotionLoader' +import { useInstrumentsQuery } from '@opentrons/react-api-client' import { CompletedProtocolAnalysis, getPipetteNameSpecs, } from '@opentrons/shared-data' +import { css } from 'styled-components' +import { StyledText } from '../../atoms/text' +import { ProbeNotAttached } from '../PipetteWizardFlows/ProbeNotAttached' +import { RobotMotionLoader } from './RobotMotionLoader' import attachProbe1 from '../../assets/videos/pipette-wizard-flows/Pipette_Attach_Probe_1.webm' import attachProbe8 from '../../assets/videos/pipette-wizard-flows/Pipette_Attach_Probe_8.webm' +import attachProbe96 from '../../assets/videos/pipette-wizard-flows/Pipette_Attach_Probe_96.webm' import { useChainRunCommands } from '../../resources/runs/hooks' import { GenericWizardTile } from '../../molecules/GenericWizardTile' @@ -19,7 +22,7 @@ import type { RegisterPositionAction, WorkingOffset, } from './types' -import type { LabwareOffset } from '@opentrons/api-client' +import type { LabwareOffset, PipetteData } from '@opentrons/api-client' interface AttachProbeProps extends AttachProbeStep { protocolData: CompletedProtocolAnalysis @@ -31,7 +34,9 @@ interface AttachProbeProps extends AttachProbeStep { existingOffsets: LabwareOffset[] handleJog: Jog isRobotMoving: boolean + isOnDevice: boolean } + export const AttachProbe = (props: AttachProbeProps): JSX.Element | null => { const { t, i18n } = useTranslation(['labware_position_check', 'shared']) const { @@ -41,43 +46,96 @@ export const AttachProbe = (props: AttachProbeProps): JSX.Element | null => { chainRunCommands, isRobotMoving, setFatalError, + isOnDevice, } = props + const [isPending, setIsPending] = React.useState(false) + const [showUnableToDetect, setShowUnableToDetect] = React.useState( + false + ) const pipette = protocolData.pipettes.find(p => p.id === pipetteId) const pipetteName = pipette?.pipetteName const pipetteChannels = pipetteName != null ? getPipetteNameSpecs(pipetteName)?.channels ?? 1 : 1 - const pipetteMount = pipette?.mount - if (pipetteName == null || pipetteMount == null) return null + let probeVideoSrc = attachProbe1 + let probeLocation = '' + if (pipetteChannels === 8) { + probeLocation = t('backmost') + probeVideoSrc = attachProbe8 + } else if (pipetteChannels === 96) { + probeLocation = t('ninety_six_probe_location') + probeVideoSrc = attachProbe96 + } - const pipetteZMotorAxis: 'leftZ' | 'rightZ' = - pipetteMount === 'left' ? 'leftZ' : 'rightZ' + const pipetteMount = pipette?.mount + const { refetch, data: attachedInstrumentsData } = useInstrumentsQuery({ + enabled: false, + onSettled: () => { + setIsPending(false) + }, + }) + const attachedPipette = attachedInstrumentsData?.data.find( + (instrument): instrument is PipetteData => + instrument.ok && instrument.mount === pipetteMount + ) - const handleProbeAttached = (): void => { + React.useEffect(() => { + // move into correct position for probe attach on mount chainRunCommands( [ { - commandType: 'retractAxis' as const, + commandType: 'calibration/moveToMaintenancePosition' as const, params: { - axis: pipetteZMotorAxis, + mount: pipetteMount ?? 'left', }, }, - { - commandType: 'retractAxis' as const, - params: { axis: 'x' }, - }, - { - commandType: 'retractAxis' as const, - params: { axis: 'y' }, - }, ], false - ) - .then(() => proceed()) - .catch((e: Error) => { - setFatalError( - `AttachProbe failed to move to safe location after probe attach with message: ${e.message}` - ) + ).catch(error => setFatalError(error.message)) + }, []) + + if (pipetteName == null || pipetteMount == null) return null + + const pipetteZMotorAxis: 'leftZ' | 'rightZ' = + pipetteMount === 'left' ? 'leftZ' : 'rightZ' + + const handleProbeAttached = (): void => { + setIsPending(true) + refetch() + .then(() => { + if (attachedPipette?.state?.tipDetected) { + chainRunCommands( + [ + { commandType: 'home', params: { axes: [pipetteZMotorAxis] } }, + { + commandType: 'retractAxis' as const, + params: { + axis: pipetteZMotorAxis, + }, + }, + { + commandType: 'retractAxis' as const, + params: { axis: 'x' }, + }, + { + commandType: 'retractAxis' as const, + params: { axis: 'y' }, + }, + ], + false + ) + .then(() => proceed()) + .catch((e: Error) => { + setFatalError( + `AttachProbe failed to move to safe location after probe attach with message: ${e.message}` + ) + }) + } else { + setShowUnableToDetect(true) + } + }) + .catch(error => { + setFatalError(error.message) }) } @@ -85,11 +143,19 @@ export const AttachProbe = (props: AttachProbeProps): JSX.Element | null => { return ( ) + else if (showUnableToDetect) + return ( + + ) return ( { loop={true} controls={false} > - 1 ? attachProbe8 : attachProbe1} /> + } bodyText={ - pipetteChannels > 1 ? ( + , - block: , + bold: , }} /> - ) : ( - {t('install_probe')} - ) + } - proceedButtonText={t('begin_calibration')} + proceedButtonText={i18n.format(t('shared:continue'), 'capitalize')} proceed={handleProbeAttached} /> ) diff --git a/app/src/organisms/LabwarePositionCheck/CheckItem.tsx b/app/src/organisms/LabwarePositionCheck/CheckItem.tsx index aaed13ca607..97fe3137690 100644 --- a/app/src/organisms/LabwarePositionCheck/CheckItem.tsx +++ b/app/src/organisms/LabwarePositionCheck/CheckItem.tsx @@ -55,6 +55,7 @@ interface CheckItemProps extends Omit { handleJog: Jog isRobotMoving: boolean robotType: RobotType + shouldUseMetalProbe: boolean } export const CheckItem = (props: CheckItemProps): JSX.Element | null => { const { @@ -73,6 +74,7 @@ export const CheckItem = (props: CheckItemProps): JSX.Element | null => { existingOffsets, setFatalError, robotType, + shouldUseMetalProbe, } = props const { t, i18n } = useTranslation(['labware_position_check', 'shared']) const isOnDevice = useSelector(getIsOnDevice) @@ -431,9 +433,17 @@ export const CheckItem = (props: CheckItemProps): JSX.Element | null => { t={t} i18nKey={ isOnDevice - ? 'ensure_nozzle_is_above_tip_odd' - : 'ensure_nozzle_is_above_tip_desktop' + ? 'ensure_nozzle_position_odd' + : 'ensure_nozzle_position_desktop' } + values={{ + tip_type: shouldUseMetalProbe + ? t('calibration_probe') + : t('pipette_nozzle'), + item_location: isTiprack + ? t('check_tip_location') + : t('check_well_location'), + }} components={{ block: , bold: }} /> } @@ -444,6 +454,7 @@ export const CheckItem = (props: CheckItemProps): JSX.Element | null => { handleJog={handleJog} initialPosition={initialPosition} existingOffset={existingOffset} + shouldUseMetalProbe={shouldUseMetalProbe} /> ) : ( { const pipetteName = pipette?.pipetteName const pipetteChannels = pipetteName != null ? getPipetteNameSpecs(pipetteName)?.channels ?? 1 : 1 + let probeVideoSrc = detachProbe1 + if (pipetteChannels === 8) { + probeVideoSrc = detachProbe8 + } else if (pipetteChannels === 96) { + probeVideoSrc = detachProbe96 + } const pipetteMount = pipette?.mount + + React.useEffect(() => { + // move into correct position for probe detach on mount + chainRunCommands( + [ + { + commandType: 'calibration/moveToMaintenancePosition' as const, + params: { + mount: pipetteMount ?? 'left', + }, + }, + ], + false + ).catch(error => setFatalError(error.message)) + }, []) + if (pipetteName == null || pipetteMount == null) return null const pipetteZMotorAxis: 'leftZ' | 'rightZ' = @@ -76,7 +99,7 @@ export const DetachProbe = (props: DetachProbeProps): JSX.Element | null => { .then(() => proceed()) .catch((e: Error) => { setFatalError( - `DetachProbe failed to move to safe location after probe attach with message: ${e.message}` + `DetachProbe failed to move to safe location after probe detach with message: ${e.message}` ) }) } @@ -101,7 +124,7 @@ export const DetachProbe = (props: DetachProbeProps): JSX.Element | null => { loop={true} controls={false} > - 1 ? detachProbe8 : detachProbe1} /> + } bodyText={ diff --git a/app/src/organisms/LabwarePositionCheck/ExitConfirmation.tsx b/app/src/organisms/LabwarePositionCheck/ExitConfirmation.tsx index 23f498392d9..7a86442779b 100644 --- a/app/src/organisms/LabwarePositionCheck/ExitConfirmation.tsx +++ b/app/src/organisms/LabwarePositionCheck/ExitConfirmation.tsx @@ -26,11 +26,12 @@ import { SmallButton } from '../../atoms/buttons' interface ExitConfirmationProps { onGoBack: () => void onConfirmExit: () => void + shouldUseMetalProbe: boolean } export const ExitConfirmation = (props: ExitConfirmationProps): JSX.Element => { const { i18n, t } = useTranslation(['labware_position_check', 'shared']) - const { onGoBack, onConfirmExit } = props + const { onGoBack, onConfirmExit, shouldUseMetalProbe } = props const isOnDevice = useSelector(getIsOnDevice) return ( { {isOnDevice ? ( <> - {t('exit_screen_title')} + {shouldUseMetalProbe + ? t('remove_probe_before_exit') + : t('exit_screen_title')} @@ -59,7 +62,11 @@ export const ExitConfirmation = (props: ExitConfirmationProps): JSX.Element => { ) : ( <> - {t('exit_screen_title')} + + {shouldUseMetalProbe + ? t('remove_probe_before_exit') + : t('exit_screen_title')} + {t('exit_screen_subtitle')} @@ -80,7 +87,11 @@ export const ExitConfirmation = (props: ExitConfirmationProps): JSX.Element => { /> @@ -99,7 +110,9 @@ export const ExitConfirmation = (props: ExitConfirmationProps): JSX.Element => { onClick={onConfirmExit} textTransform={TYPOGRAPHY.textTransformCapitalize} > - {t('shared:exit')} + {shouldUseMetalProbe + ? t('remove_calibration_probe') + : i18n.format(t('shared:exit'), 'capitalize')} diff --git a/app/src/organisms/LabwarePositionCheck/IntroScreen/index.tsx b/app/src/organisms/LabwarePositionCheck/IntroScreen/index.tsx index b0e112154fe..d5cf8dc0ee6 100644 --- a/app/src/organisms/LabwarePositionCheck/IntroScreen/index.tsx +++ b/app/src/organisms/LabwarePositionCheck/IntroScreen/index.tsx @@ -34,6 +34,7 @@ import { css } from 'styled-components' import { Portal } from '../../../App/portal' import { LegacyModalShell } from '../../../molecules/LegacyModal' import { SmallButton } from '../../../atoms/buttons' +import { CALIBRATION_PROBE } from '../../PipetteWizardFlows/constants' import { TerseOffsetTable } from '../ResultsSummary' import { getLabwareDefinitionsFromCommands } from '../utils/labware' @@ -52,6 +53,7 @@ export const IntroScreen = (props: { isRobotMoving: boolean existingOffsets: LabwareOffset[] protocolName: string + shouldUseMetalProbe: boolean }): JSX.Element | null => { const { proceed, @@ -61,6 +63,7 @@ export const IntroScreen = (props: { setFatalError, existingOffsets, protocolName, + shouldUseMetalProbe, } = props const isOnDevice = useSelector(getIsOnDevice) const { t, i18n } = useTranslation(['labware_position_check', 'shared']) @@ -74,6 +77,19 @@ export const IntroScreen = (props: { ) }) } + const requiredEquipmentList = [ + { + loadName: t('all_modules_and_labware_from_protocol', { + protocol_name: protocolName, + }), + displayName: t('all_modules_and_labware_from_protocol', { + protocol_name: protocolName, + }), + }, + ] + if (shouldUseMetalProbe) { + requiredEquipmentList.push(CALIBRATION_PROBE) + } if (isRobotMoving) { return ( @@ -91,18 +107,7 @@ export const IntroScreen = (props: { /> } rightElement={ - + } footer={ diff --git a/app/src/organisms/LabwarePositionCheck/JogToWell.tsx b/app/src/organisms/LabwarePositionCheck/JogToWell.tsx index c634a2edb3e..4e91343b85a 100644 --- a/app/src/organisms/LabwarePositionCheck/JogToWell.tsx +++ b/app/src/organisms/LabwarePositionCheck/JogToWell.tsx @@ -29,6 +29,8 @@ import { import levelWithTip from '../../assets/images/lpc_level_with_tip.svg' import levelWithLabware from '../../assets/images/lpc_level_with_labware.svg' +import levelProbeWithTip from '../../assets/images/lpc_level_probe_with_tip.svg' +import levelProbeWithLabware from '../../assets/images/lpc_level_probe_with_labware.svg' import { getIsOnDevice } from '../../redux/config' import { Portal } from '../../App/portal' import { LegacyModalShell } from '../../molecules/LegacyModal' @@ -57,6 +59,7 @@ interface JogToWellProps { body: React.ReactNode initialPosition: VectorOffset existingOffset: VectorOffset + shouldUseMetalProbe: boolean } export const JogToWell = (props: JogToWellProps): JSX.Element | null => { const { t } = useTranslation(['labware_position_check', 'shared']) @@ -70,6 +73,7 @@ export const JogToWell = (props: JogToWellProps): JSX.Element | null => { handleJog, initialPosition, existingOffset, + shouldUseMetalProbe, } = props const [joggedPosition, setJoggedPosition] = React.useState( @@ -109,6 +113,10 @@ export const JogToWell = (props: JogToWellProps): JSX.Element | null => { getVectorDifference(joggedPosition, initialPosition) ) const isTipRack = getIsTiprack(labwareDef) + let levelSrc = isTipRack ? levelWithTip : levelWithLabware + if (shouldUseMetalProbe) { + levelSrc = isTipRack ? levelProbeWithTip : levelProbeWithLabware + } return ( { {`level diff --git a/app/src/organisms/LabwarePositionCheck/LabwarePositionCheckComponent.tsx b/app/src/organisms/LabwarePositionCheck/LabwarePositionCheckComponent.tsx index 95f9fc02c5e..8df5ad42bfa 100644 --- a/app/src/organisms/LabwarePositionCheck/LabwarePositionCheckComponent.tsx +++ b/app/src/organisms/LabwarePositionCheck/LabwarePositionCheckComponent.tsx @@ -338,6 +338,7 @@ export const LabwarePositionCheckComponent = ( ) } else if (currentStep.section === 'BEFORE_BEGINNING') { @@ -346,6 +347,7 @@ export const LabwarePositionCheckComponent = ( {...movementStepProps} {...{ existingOffsets }} protocolName={protocolName} + shouldUseMetalProbe={shouldUseMetalProbe} /> ) } else if ( @@ -353,9 +355,21 @@ export const LabwarePositionCheckComponent = ( currentStep.section === 'CHECK_TIP_RACKS' || currentStep.section === 'CHECK_LABWARE' ) { - modalContent = + modalContent = ( + + ) } else if (currentStep.section === 'ATTACH_PROBE') { - modalContent = + modalContent = ( + + ) } else if (currentStep.section === 'DETACH_PROBE') { modalContent = } else if (currentStep.section === 'PICK_UP_TIP') { diff --git a/app/src/organisms/LabwarePositionCheck/PickUpTip.tsx b/app/src/organisms/LabwarePositionCheck/PickUpTip.tsx index 9457fcea6e9..72141eb28ae 100644 --- a/app/src/organisms/LabwarePositionCheck/PickUpTip.tsx +++ b/app/src/organisms/LabwarePositionCheck/PickUpTip.tsx @@ -407,10 +407,14 @@ export const PickUpTip = (props: PickUpTipProps): JSX.Element | null => { t={t} i18nKey={ isOnDevice - ? 'ensure_nozzle_is_above_tip_odd' - : 'ensure_nozzle_is_above_tip_desktop' + ? 'ensure_nozzle_position_odd' + : 'ensure_nozzle_position_desktop' } components={{ block: , bold: }} + values={{ + tip_type: t('pipette_nozzle'), + item_location: t('check_tip_location'), + }} /> } labwareDef={labwareDef} @@ -420,6 +424,7 @@ export const PickUpTip = (props: PickUpTipProps): JSX.Element | null => { handleJog={handleJog} initialPosition={initialPosition} existingOffset={existingOffset} + shouldUseMetalProbe={false} /> ) : ( { existingOffsets: mockExistingOffsets, isRobotMoving: false, robotType: FLEX_ROBOT_TYPE, + shouldUseMetalProbe: false, } }) afterEach(() => { diff --git a/app/src/organisms/LabwarePositionCheck/__tests__/ExitConfirmation.test.tsx b/app/src/organisms/LabwarePositionCheck/__tests__/ExitConfirmation.test.tsx index 61552a0f1cb..3263e098e22 100644 --- a/app/src/organisms/LabwarePositionCheck/__tests__/ExitConfirmation.test.tsx +++ b/app/src/organisms/LabwarePositionCheck/__tests__/ExitConfirmation.test.tsx @@ -17,6 +17,7 @@ describe('ExitConfirmation', () => { props = { onGoBack: jest.fn(), onConfirmExit: jest.fn(), + shouldUseMetalProbe: false, } }) afterEach(() => { @@ -29,14 +30,26 @@ describe('ExitConfirmation', () => { getByText( 'If you exit now, all labware offsets will be discarded. This cannot be undone.' ) - getByRole('button', { name: 'exit' }) + getByRole('button', { name: 'Exit' }) getByRole('button', { name: 'Go back' }) }) it('should invoke callback props when ctas are clicked', () => { const { getByRole } = render(props) getByRole('button', { name: 'Go back' }).click() expect(props.onGoBack).toHaveBeenCalled() - getByRole('button', { name: 'exit' }).click() + getByRole('button', { name: 'Exit' }).click() expect(props.onConfirmExit).toHaveBeenCalled() }) + it('should render correct copy for golden tip LPC', () => { + const { getByText, getByRole } = render({ + ...props, + shouldUseMetalProbe: true, + }) + getByText('Remove the calibration probe before exiting') + getByText( + 'If you exit now, all labware offsets will be discarded. This cannot be undone.' + ) + getByRole('button', { name: 'Remove calibration probe' }) + getByRole('button', { name: 'Go back' }) + }) }) diff --git a/app/src/organisms/PipetteWizardFlows/AttachProbe.tsx b/app/src/organisms/PipetteWizardFlows/AttachProbe.tsx index 881d8e04631..f12c7065661 100644 --- a/app/src/organisms/PipetteWizardFlows/AttachProbe.tsx +++ b/app/src/organisms/PipetteWizardFlows/AttachProbe.tsx @@ -3,19 +3,13 @@ import { css } from 'styled-components' import { Trans, useTranslation } from 'react-i18next' import { Flex, - Btn, - PrimaryButton, TYPOGRAPHY, COLORS, SPACING, RESPONSIVENESS, - JUSTIFY_SPACE_BETWEEN, - ALIGN_FLEX_END, - ALIGN_CENTER, } from '@opentrons/components' import { LEFT, MotorAxes } from '@opentrons/shared-data' import { useInstrumentsQuery } from '@opentrons/react-api-client' -import { SmallButton } from '../../atoms/buttons' import { StyledText } from '../../atoms/text' import { GenericWizardTile } from '../../molecules/GenericWizardTile' import { SimpleWizardBody } from '../../molecules/SimpleWizardBody' @@ -25,6 +19,7 @@ import pipetteProbe8 from '../../assets/videos/pipette-wizard-flows/Pipette_Prob import probing96 from '../../assets/videos/pipette-wizard-flows/Pipette_Probing_96.webm' import { BODY_STYLE, SECTIONS, FLOWS } from './constants' import { getPipetteAnimations } from './utils' +import { ProbeNotAttached } from './ProbeNotAttached' import type { PipetteData } from '@opentrons/api-client' import type { PipetteWizardStepProps } from './types' @@ -43,32 +38,6 @@ const IN_PROGRESS_STYLE = css` } ` -const ALIGN_BUTTONS = css` - align-items: ${ALIGN_FLEX_END}; - - @media ${RESPONSIVENESS.touchscreenMediaQuerySpecs} { - align-items: ${ALIGN_CENTER}; - } -` -const GO_BACK_BUTTON_STYLE = css` - ${TYPOGRAPHY.pSemiBold}; - color: ${COLORS.darkGreyEnabled}; - padding-left: ${SPACING.spacing32}; - - &:hover { - opacity: 70%; - } - - @media ${RESPONSIVENESS.touchscreenMediaQuerySpecs} { - font-weight: ${TYPOGRAPHY.fontWeightSemiBold}; - font-size: ${TYPOGRAPHY.fontSize22}; - padding-left: 0rem; - &:hover { - opacity: 100%; - } - } -` - export const AttachProbe = (props: AttachProbeProps): JSX.Element | null => { const { proceed, @@ -89,7 +58,6 @@ export const AttachProbe = (props: AttachProbeProps): JSX.Element | null => { const [showUnableToDetect, setShowUnableToDetect] = React.useState( false ) - const [numberOfTryAgains, setNumberOfTryAgains] = React.useState(0) const pipetteId = attachedPipettes[mount]?.serialNumber const displayName = attachedPipettes[mount]?.displayName @@ -211,41 +179,12 @@ export const AttachProbe = (props: AttachProbeProps): JSX.Element | null => { ) else if (showUnableToDetect) return ( - 2 ? t('something_seems_wrong') : undefined - } - iconColor={COLORS.errorEnabled} - isSuccess={false} - > - - setShowUnableToDetect(false)}> - - {t('shared:go_back')} - - - {isOnDevice ? ( - { - setNumberOfTryAgains(numberOfTryAgains + 1) - handleOnClick() - }} - /> - ) : ( - - {t('try_again')} - - )} - - + ) return errorMessage != null ? ( diff --git a/app/src/organisms/PipetteWizardFlows/ProbeNotAttached.tsx b/app/src/organisms/PipetteWizardFlows/ProbeNotAttached.tsx new file mode 100644 index 00000000000..ffee8350cbc --- /dev/null +++ b/app/src/organisms/PipetteWizardFlows/ProbeNotAttached.tsx @@ -0,0 +1,101 @@ +import * as React from 'react' +import { useTranslation } from 'react-i18next' +import { + Flex, + Btn, + PrimaryButton, + RESPONSIVENESS, + SPACING, + TYPOGRAPHY, + COLORS, + JUSTIFY_SPACE_BETWEEN, + ALIGN_FLEX_END, + ALIGN_CENTER, +} from '@opentrons/components' +import { css } from 'styled-components' +import { SimpleWizardBody } from '../../molecules/SimpleWizardBody' +import { StyledText } from '../../atoms/text' +import { SmallButton } from '../../atoms/buttons' + +interface ProbeNotAttachedProps { + handleOnClick: () => void + setShowUnableToDetect: (ableToDetect: boolean) => void + isOnDevice: boolean + isPending: boolean +} + +export const ProbeNotAttached = ( + props: ProbeNotAttachedProps +): JSX.Element | null => { + const { t, i18n } = useTranslation(['pipette_wizard_flows', 'shared']) + const { isOnDevice, isPending, handleOnClick, setShowUnableToDetect } = props + const [numberOfTryAgains, setNumberOfTryAgains] = React.useState(0) + + return ( + 2 ? t('something_seems_wrong') : undefined} + iconColor={COLORS.errorEnabled} + isSuccess={false} + > + + setShowUnableToDetect(false)}> + + {t('shared:go_back')} + + + {isOnDevice ? ( + { + setNumberOfTryAgains(numberOfTryAgains + 1) + handleOnClick() + }} + /> + ) : ( + { + setNumberOfTryAgains(numberOfTryAgains + 1) + handleOnClick() + }} + > + {i18n.format(t('shared:try_again'), 'capitalize')} + + )} + + + ) +} + +const ALIGN_BUTTONS = css` + align-items: ${ALIGN_FLEX_END}; + + @media ${RESPONSIVENESS.touchscreenMediaQuerySpecs} { + align-items: ${ALIGN_CENTER}; + } +` +const GO_BACK_BUTTON_STYLE = css` + ${TYPOGRAPHY.pSemiBold}; + color: ${COLORS.darkGreyEnabled}; + padding-left: ${SPACING.spacing32}; + + &:hover { + opacity: 70%; + } + + @media ${RESPONSIVENESS.touchscreenMediaQuerySpecs} { + font-weight: ${TYPOGRAPHY.fontWeightSemiBold}; + font-size: ${TYPOGRAPHY.fontSize22}; + padding-left: 0rem; + &:hover { + opacity: 100%; + } + } +` From c784bbb94a1fa8d32f860684b64206c21046fb7c Mon Sep 17 00:00:00 2001 From: Sarah Breen Date: Thu, 9 Nov 2023 13:58:12 -0500 Subject: [PATCH 48/65] fix(app): module calibration should only use calibrated pipette (#13956) fix RQA-1879 --- app/src/organisms/Devices/InstrumentsAndModules.tsx | 3 ++- app/src/organisms/ModuleWizardFlows/index.tsx | 12 ++++++++++-- 2 files changed, 12 insertions(+), 3 deletions(-) diff --git a/app/src/organisms/Devices/InstrumentsAndModules.tsx b/app/src/organisms/Devices/InstrumentsAndModules.tsx index 523c1cd3510..ef6cb2a7f60 100644 --- a/app/src/organisms/Devices/InstrumentsAndModules.tsx +++ b/app/src/organisms/Devices/InstrumentsAndModules.tsx @@ -105,7 +105,8 @@ export function InstrumentsAndModules({ attachedPipettes?.left ?? null ) const attachPipetteRequired = - attachedLeftPipette == null && attachedRightPipette == null + attachedLeftPipette?.data?.calibratedOffset?.last_modified == null && + attachedRightPipette?.data?.calibratedOffset?.last_modified == null const updatePipetteFWRequired = badLeftPipette != null || badRightPipette != null diff --git a/app/src/organisms/ModuleWizardFlows/index.tsx b/app/src/organisms/ModuleWizardFlows/index.tsx index 65fa45f855e..5361380b226 100644 --- a/app/src/organisms/ModuleWizardFlows/index.tsx +++ b/app/src/organisms/ModuleWizardFlows/index.tsx @@ -60,7 +60,11 @@ export const ModuleWizardFlows = ( const isOnDevice = useSelector(getIsOnDevice) const { t } = useTranslation('module_wizard_flows') const attachedPipettes = useAttachedPipettesFromInstrumentsQuery() - const attachedPipette = attachedPipettes.left ?? attachedPipettes.right + const attachedPipette = + attachedPipettes.left?.data.calibratedOffset?.last_modified != null + ? attachedPipettes.left + : attachedPipettes.right + const moduleCalibrationSteps = getModuleCalibrationSteps() const availableSlotNames = FLEX_SLOT_NAMES_BY_MOD_TYPE[getModuleType(attachedModule.moduleModel)] ?? [] @@ -193,7 +197,11 @@ export const ModuleWizardFlows = ( continuePastCommandFailure ) } - if (currentStep == null || attachedPipette == null) return null + if ( + currentStep == null || + attachedPipette?.data.calibratedOffset?.last_modified == null + ) + return null const maintenanceRunId = maintenanceRunData?.data.id != null && From 411bba3c9ee47fb53633dcf9f23221808cfe2036 Mon Sep 17 00:00:00 2001 From: Brian Arthur Cooper Date: Thu, 9 Nov 2023 14:00:29 -0500 Subject: [PATCH 49/65] refactor(app): remove unused analytics structures (#13893) --- .../Devices/hooks/useRobotAnalyticsData.ts | 11 +- .../analytics/__tests__/make-event.test.ts | 82 ------ .../analytics/__tests__/selectors.test.ts | 6 - app/src/redux/analytics/make-event.ts | 172 +------------ app/src/redux/analytics/selectors.ts | 236 +----------------- 5 files changed, 26 insertions(+), 481 deletions(-) diff --git a/app/src/organisms/Devices/hooks/useRobotAnalyticsData.ts b/app/src/organisms/Devices/hooks/useRobotAnalyticsData.ts index c1289e0da83..6ca8c95fbca 100644 --- a/app/src/organisms/Devices/hooks/useRobotAnalyticsData.ts +++ b/app/src/organisms/Devices/hooks/useRobotAnalyticsData.ts @@ -4,7 +4,6 @@ import { useSelector, useDispatch } from 'react-redux' import { useRobot } from './' import { getAttachedPipettes } from '../../../redux/pipettes' import { getRobotSettings, fetchSettings } from '../../../redux/robot-settings' -import { FF_PREFIX } from '../../../redux/analytics' import { getRobotApiVersion, getRobotFirmwareVersion, @@ -13,6 +12,8 @@ import { import type { State, Dispatch } from '../../../redux/types' import type { RobotAnalyticsData } from '../../../redux/analytics/types' +const FF_PREFIX = 'robotFF_' + /** * * @param {string} robotName @@ -45,10 +46,10 @@ export function useRobotAnalyticsData( }), // @ts-expect-error RobotAnalyticsData type needs boolean values should it be boolean | string { - robotApiServerVersion: getRobotApiVersion(robot) || '', - robotSmoothieVersion: getRobotFirmwareVersion(robot) || '', - robotLeftPipette: pipettes.left?.model || '', - robotRightPipette: pipettes.right?.model || '', + robotApiServerVersion: getRobotApiVersion(robot) ?? '', + robotSmoothieVersion: getRobotFirmwareVersion(robot) ?? '', + robotLeftPipette: pipettes.left?.model ?? '', + robotRightPipette: pipettes.right?.model ?? '', } ) } diff --git a/app/src/redux/analytics/__tests__/make-event.test.ts b/app/src/redux/analytics/__tests__/make-event.test.ts index 6a149c81d87..c7906c72de8 100644 --- a/app/src/redux/analytics/__tests__/make-event.test.ts +++ b/app/src/redux/analytics/__tests__/make-event.test.ts @@ -14,18 +14,6 @@ const getAnalyticsSessionExitDetails = selectors.getAnalyticsSessionExitDetails const getSessionInstrumentAnalyticsData = selectors.getSessionInstrumentAnalyticsData as jest.MockedFunction< typeof selectors.getSessionInstrumentAnalyticsData > -const getAnalyticsHealthCheckData = selectors.getAnalyticsHealthCheckData as jest.MockedFunction< - typeof selectors.getAnalyticsHealthCheckData -> -const getAnalyticsDeckCalibrationData = selectors.getAnalyticsDeckCalibrationData as jest.MockedFunction< - typeof selectors.getAnalyticsDeckCalibrationData -> -const getAnalyticsPipetteCalibrationData = selectors.getAnalyticsPipetteCalibrationData as jest.MockedFunction< - typeof selectors.getAnalyticsPipetteCalibrationData -> -const getAnalyticsTipLengthCalibrationData = selectors.getAnalyticsTipLengthCalibrationData as jest.MockedFunction< - typeof selectors.getAnalyticsTipLengthCalibrationData -> describe('analytics events map', () => { beforeEach(() => { @@ -63,18 +51,10 @@ describe('analytics events map', () => { someStuff: 'some-other-stuff', }, } as any - getAnalyticsPipetteCalibrationData.mockReturnValue({ - markedBad: true, - calibrationExists: true, - pipetteModel: 'my pipette model', - }) return expect(makeEvent(action, state)).resolves.toEqual({ name: 'pipetteOffsetCalibrationStarted', properties: { ...action.payload, - calibrationExists: true, - markedBad: true, - pipetteModel: 'my pipette model', }, }) }) @@ -87,76 +67,14 @@ describe('analytics events map', () => { someStuff: 'some-other-stuff', }, } as any - getAnalyticsTipLengthCalibrationData.mockReturnValue({ - markedBad: true, - calibrationExists: true, - pipetteModel: 'pipette-model', - }) return expect(makeEvent(action, state)).resolves.toEqual({ name: 'tipLengthCalibrationStarted', properties: { ...action.payload, - calibrationExists: true, - markedBad: true, - pipetteModel: 'pipette-model', - }, - }) - }) - - it('sessions:ENSURE_SESSION for deck cal -> deckCalibrationStarted event', () => { - const state = {} as any - const action = { - type: 'sessions:ENSURE_SESSION', - payload: { - sessionType: 'deckCalibration', - }, - } as any - getAnalyticsDeckCalibrationData.mockReturnValue({ - calibrationStatus: 'IDENTITY', - markedBad: true, - pipettes: { left: { model: 'my pipette model' } }, - } as any) - - return expect(makeEvent(action, state)).resolves.toEqual({ - name: 'deckCalibrationStarted', - properties: { - calibrationStatus: 'IDENTITY', - markedBad: true, - pipettes: { left: { model: 'my pipette model' } }, }, }) }) - it('sessions:ENSURE_SESSION for health check -> calibrationHealthCheckStarted event', () => { - const state = {} as any - const action = { - type: 'sessions:ENSURE_SESSION', - payload: { - sessionType: 'calibrationCheck', - }, - } as any - getAnalyticsHealthCheckData.mockReturnValue({ - pipettes: { left: { model: 'my pipette model' } }, - } as any) - return expect(makeEvent(action, state)).resolves.toEqual({ - name: 'calibrationHealthCheckStarted', - properties: { - pipettes: { left: { model: 'my pipette model' } }, - }, - }) - }) - - it('sessions:ENSURE_SESSION for other session -> no event', () => { - const state = {} as any - const action = { - type: 'sessions:ENSURE_SESSION', - payload: { - sessionType: 'some-other-session', - }, - } as any - return expect(makeEvent(action, state)).resolves.toBeNull() - }) - it('sessions:CREATE_SESSION_COMMAND for exit -> {type}Exit', () => { const state = {} as any const action = { diff --git a/app/src/redux/analytics/__tests__/selectors.test.ts b/app/src/redux/analytics/__tests__/selectors.test.ts index 7bbd0b296a7..63b539748d8 100644 --- a/app/src/redux/analytics/__tests__/selectors.test.ts +++ b/app/src/redux/analytics/__tests__/selectors.test.ts @@ -56,12 +56,6 @@ describe('analytics selectors', () => { }) describe('analytics calibration selectors', () => { - describe('getAnalyticsHealthCheckData', () => { - it('should return null if no robot connected', () => { - const mockState: State = {} as any - expect(Selectors.getAnalyticsHealthCheckData(mockState)).toBeNull() - }) - }) describe('getAnalyticsSessionExitDetails', () => { const mockGetRobotSessionById = SessionsSelectors.getRobotSessionById as jest.MockedFunction< typeof SessionsSelectors.getRobotSessionById diff --git a/app/src/redux/analytics/make-event.ts b/app/src/redux/analytics/make-event.ts index 5b38f947073..8fdede1dbf2 100644 --- a/app/src/redux/analytics/make-event.ts +++ b/app/src/redux/analytics/make-event.ts @@ -1,8 +1,4 @@ // redux action types to analytics events map -// TODO(mc, 2022-03-04): large chunks of this module are commented -// out because RPC-based analytics events were not replaced with -// the switch to the HTTP APIs. Commented out code left to aid with -// analytics replacement. import * as CustomLabware from '../custom-labware' import * as SystemInfo from '../system-info' import * as RobotUpdate from '../robot-update/constants' @@ -14,17 +10,12 @@ import * as RobotAdmin from '../robot-admin' import { getBuildrootAnalyticsData, - getAnalyticsPipetteCalibrationData, - getAnalyticsTipLengthCalibrationData, - getAnalyticsHealthCheckData, - getAnalyticsDeckCalibrationData, getAnalyticsSessionExitDetails, getSessionInstrumentAnalyticsData, } from './selectors' import type { State, Action } from '../types' import type { AnalyticsEvent } from './types' -import type { Mount } from '../pipettes/types' const EVENT_APP_UPDATE_DISMISSED = 'appUpdateDismissed' @@ -33,111 +24,6 @@ export function makeEvent( state: State ): Promise { switch (action.type) { - // case 'robot:CONNECT': { - // const robot = getConnectedRobot(state) - - // if (!robot) { - // log.warn('No robot found for connect response') - // return Promise.resolve(null) - // } - - // const data = getRobotAnalyticsData(state) - - // return Promise.resolve({ - // name: 'robotConnect', - // properties: { - // ...data, - // method: robot.local ? 'usb' : 'wifi', - // success: true, - // }, - // }) - // } - - // case 'protocol:LOAD': { - // return getProtocolAnalyticsData(state).then(data => ({ - // name: 'protocolUploadRequest', - // properties: { - // ...getRobotAnalyticsData(state), - // ...data, - // }, - // })) - // } - - // case 'robot:SESSION_RESPONSE': - // case 'robot:SESSION_ERROR': { - // // only fire event if we had a protocol upload in flight; we don't want - // // to fire if user connects to robot with protocol already loaded - // const { type: actionType, payload: actionPayload, meta } = action - // if (!meta.freshUpload) return Promise.resolve(null) - - // return getProtocolAnalyticsData(state).then(data => ({ - // name: 'protocolUploadResponse', - // properties: { - // ...getRobotAnalyticsData(state), - // ...data, - // success: actionType === 'robot:SESSION_RESPONSE', - // // @ts-expect-error even if we used the in operator, TS cant narrow error to anything more specific than 'unknown' https://github.com/microsoft/TypeScript/issues/25720 - // error: (actionPayload.error && actionPayload.error.message) || '', - // }, - // })) - // } - - // case 'robot:RUN': { - // return getProtocolAnalyticsData(state).then(data => ({ - // name: 'runStart', - // properties: { - // ...getRobotAnalyticsData(state), - // ...data, - // }, - // })) - // } - - // TODO(mc, 2019-01-22): we only get this event if the user keeps their app - // open for the entire run. Fixing this is blocked until we can fix - // session.stop from triggering a run error - // case 'robot:RUN_RESPONSE': { - // const runTime = robotSelectors.getRunSeconds(state) - // const success = !action.error - // const error = action.error ? action.payload?.message || '' : '' - - // return getProtocolAnalyticsData(state).then(data => ({ - // name: 'runFinish', - // properties: { - // ...getRobotAnalyticsData(state), - // ...data, - // runTime, - // success, - // error, - // }, - // })) - // } - - // case 'robot:PAUSE': { - // const runTime = robotSelectors.getRunSeconds(state) - - // return getProtocolAnalyticsData(state).then(data => ({ - // name: 'runPause', - // properties: { ...data, runTime }, - // })) - // } - - // case 'robot:RESUME': { - // const runTime = robotSelectors.getRunSeconds(state) - - // return getProtocolAnalyticsData(state).then(data => ({ - // name: 'runResume', - // properties: { ...data, runTime }, - // })) - // } - - // case 'robot:CANCEL': - // const runTime = robotSelectors.getRunSeconds(state) - - // return getProtocolAnalyticsData(state).then(data => ({ - // name: 'runCancel', - // properties: { ...data, runTime }, - // })) - // robot update events case RobotUpdate.ROBOTUPDATE_SET_UPDATE_SEEN: { const data = getBuildrootAnalyticsData(state, action.meta.robotName) @@ -265,7 +151,7 @@ export function makeEvent( const systemInfoProps = SystemInfo.getU2EDeviceAnalyticsProps(state) return Promise.resolve( - systemInfoProps + systemInfoProps != null ? { superProperties: { ...systemInfoProps, @@ -280,43 +166,16 @@ export function makeEvent( ) } - case Sessions.ENSURE_SESSION: { - switch (action.payload.sessionType) { - case Sessions.SESSION_TYPE_DECK_CALIBRATION: - const dcAnalyticsProps = getAnalyticsDeckCalibrationData(state) - return Promise.resolve( - dcAnalyticsProps - ? { - name: 'deckCalibrationStarted', - properties: dcAnalyticsProps, - } - : null - ) - case Sessions.SESSION_TYPE_CALIBRATION_HEALTH_CHECK: - const hcAnalyticsProps = getAnalyticsHealthCheckData(state) - return Promise.resolve( - hcAnalyticsProps - ? { - name: 'calibrationHealthCheckStarted', - properties: hcAnalyticsProps, - } - : null - ) - default: - return Promise.resolve(null) - } - } - case Sessions.CREATE_SESSION_COMMAND: { switch (action.payload.command.command) { - case sharedCalCommands.EXIT: + case sharedCalCommands.EXIT: { const sessionDetails = getAnalyticsSessionExitDetails( state, action.payload.robotName, action.payload.sessionId ) return Promise.resolve( - sessionDetails + sessionDetails != null ? { name: `${sessionDetails.sessionType}Exit`, properties: { @@ -325,25 +184,25 @@ export function makeEvent( } : null ) - case sharedCalCommands.LOAD_LABWARE: + } + case sharedCalCommands.LOAD_LABWARE: { const commandData = action.payload.command.data - if (commandData) { + if (commandData != null) { const instrData = getSessionInstrumentAnalyticsData( state, action.payload.robotName, action.payload.sessionId ) return Promise.resolve( - instrData + instrData != null ? { name: `${instrData.sessionType}TipRackSelect`, properties: { pipetteModel: instrData.pipetteModel, - // @ts-expect-error TODO: use in operator and add test case for no tiprackDefiniton on CommandData - tipRackDisplayName: commandData.tiprackDefinition - ? // @ts-expect-error TODO: use in operator and add test case for no tiprackDefiniton on CommandData - commandData.tiprackDefinition.metadata.displayName - : null, + tipRackDisplayName: + 'tiprackDefinition' in commandData + ? commandData.tiprackDefinition.metadata.displayName + : null, }, } : null @@ -351,6 +210,7 @@ export function makeEvent( } else { return Promise.resolve(null) } + } default: return Promise.resolve(null) } @@ -374,10 +234,6 @@ export function makeEvent( name: 'pipetteOffsetCalibrationStarted', properties: { ...action.payload, - ...getAnalyticsPipetteCalibrationData( - state, - action.payload.mount as Mount - ), }, }) } @@ -387,10 +243,6 @@ export function makeEvent( name: 'tipLengthCalibrationStarted', properties: { ...action.payload, - ...getAnalyticsTipLengthCalibrationData( - state, - action.payload.mount as Mount - ), }, }) } diff --git a/app/src/redux/analytics/selectors.ts b/app/src/redux/analytics/selectors.ts index d0362f77348..fcb9ab18a2d 100644 --- a/app/src/redux/analytics/selectors.ts +++ b/app/src/redux/analytics/selectors.ts @@ -1,16 +1,5 @@ -// import { createSelector } from 'reselect' import * as Sessions from '../sessions' -// import { -// getProtocolType, -// getProtocolCreatorApp, -// getProtocolApiVersion, -// getProtocolName, -// getProtocolSource, -// getProtocolAuthor, -// getProtocolContents, -// } from '../protocol' - import { getViewableRobots, getRobotApiVersion } from '../discovery' import { @@ -22,127 +11,37 @@ import { import { getRobotSessionById } from '../sessions/selectors' -// import { hash } from './hash' - -// import type { Selector } from 'reselect' import type { State } from '../types' -import type { Mount } from '../pipettes/types' import type { AnalyticsConfig, BuildrootAnalyticsData, - PipetteOffsetCalibrationAnalyticsData, - TipLengthCalibrationAnalyticsData, - DeckCalibrationAnalyticsData, - CalibrationHealthCheckAnalyticsData, AnalyticsSessionExitDetails, SessionInstrumentAnalyticsData, } from './types' -export const FF_PREFIX = 'robotFF_' - -// const _getUnhashedProtocolAnalyticsData: Selector< -// State, -// ProtocolAnalyticsData -// > = createSelector( -// getProtocolType, -// getProtocolCreatorApp, -// getProtocolApiVersion, -// getProtocolName, -// getProtocolSource, -// getProtocolAuthor, -// getProtocolContents, -// getPipettes, -// getModules, -// ( -// type, -// app, -// apiVersion, -// name, -// source, -// author, -// contents, -// pipettes, -// modules -// ) => ({ -// protocolType: type || '', -// protocolAppName: app.name || '', -// protocolAppVersion: app.version || '', -// protocolApiVersion: apiVersion || '', -// protocolName: name || '', -// protocolSource: source || '', -// protocolAuthor: author || '', -// protocolText: contents || '', -// pipettes: pipettes.map(p => p.requestedAs ?? p.name).join(','), -// modules: modules.map(m => m.model).join(','), -// }) -// ) - -// export const getProtocolAnalyticsData: ( -// state: State -// ) => Promise = createSelector< -// State, -// ProtocolAnalyticsData, -// Promise -// >(_getUnhashedProtocolAnalyticsData, (data: ProtocolAnalyticsData) => { -// const hashTasks = [hash(data.protocolAuthor), hash(data.protocolText)] - -// return Promise.all(hashTasks).then(([protocolAuthor, protocolText]) => ({ -// ...data, -// protocolAuthor: data.protocolAuthor !== '' ? protocolAuthor : '', -// protocolText: data.protocolText !== '' ? protocolText : '', -// })) -// }) - -// export function getRobotAnalyticsData(state: State): RobotAnalyticsData | null { -// const robot = getConnectedRobot(state) - -// if (robot) { -// const pipettes = getAttachedPipettes(state, robot.name) -// const settings = getRobotSettings(state, robot.name) - -// // @ts-expect-error RobotAnalyticsData type needs boolean values should it be boolean | string -// return settings.reduce( -// (result, setting) => ({ -// ...result, -// [`${FF_PREFIX}${setting.id}`]: !!setting.value, -// }), -// // @ts-expect-error RobotAnalyticsData type needs boolean values should it be boolean | string -// { -// robotApiServerVersion: getRobotApiVersion(robot) || '', -// robotSmoothieVersion: getRobotFirmwareVersion(robot) || '', -// robotLeftPipette: pipettes.left?.model || '', -// robotRightPipette: pipettes.right?.model || '', -// } -// ) -// } - -// return null -// } - export function getBuildrootAnalyticsData( state: State, robotName: string | null = null ): BuildrootAnalyticsData | null { - const updateVersion = robotName - ? getRobotUpdateVersion(state, robotName) - : null + const updateVersion = + robotName != null ? getRobotUpdateVersion(state, robotName) : null const session = getRobotUpdateSession(state) const robot = robotName === null ? getRobotUpdateRobot(state) - : getViewableRobots(state).find(r => r.name === robotName) || null + : getViewableRobots(state).find(r => r.name === robotName) ?? null if (updateVersion === null || robot === null) return null - const currentVersion = getRobotApiVersion(robot) || 'unknown' - const currentSystem = getRobotSystemType(robot) || 'unknown' + const currentVersion = getRobotApiVersion(robot) ?? 'unknown' + const currentSystem = getRobotSystemType(robot) ?? 'unknown' return { currentVersion, currentSystem, updateVersion, - error: session?.error || null, + error: session != null && 'error' in session ? session.error : null, } } @@ -158,132 +57,13 @@ export function getAnalyticsOptInSeen(state: State): boolean { return state.config?.analytics.seenOptIn ?? true } -export function getAnalyticsPipetteCalibrationData( - state: State, - mount: Mount -): PipetteOffsetCalibrationAnalyticsData | null { - // const robot = getConnectedRobot(state) - - // if (robot) { - // const pipcal = - // getAttachedPipetteCalibrations(state, robot.name)[mount]?.offset ?? null - // const pip = getAttachedPipettes(state, robot.name)[mount] - // return { - // calibrationExists: Boolean(pipcal), - // markedBad: pipcal?.status?.markedBad ?? false, - // // @ts-expect-error protect for cases where model is not on pip - // pipetteModel: pip.model, - // } - // } - return null -} - -export function getAnalyticsTipLengthCalibrationData( - state: State, - mount: Mount -): TipLengthCalibrationAnalyticsData | null { - // const robot = getConnectedRobot(state) - - // if (robot) { - // const tipcal = - // getAttachedPipetteCalibrations(state, robot.name)[mount]?.tipLength ?? - // null - // const pip = getAttachedPipettes(state, robot.name)[mount] - // return { - // calibrationExists: Boolean(tipcal), - // markedBad: tipcal?.status?.markedBad ?? false, - // // @ts-expect-error protect for cases where model is not on pip - // pipetteModel: pip.model, - // } - // } - return null -} - -// function getPipetteModels(state: State, robotName: string): ModelsByMount { -// // @ts-expect-error ensure that both mount keys exist on returned object -// return Object.entries( -// getAttachedPipettes(state, robotName) -// ).reduce((obj, [mount, pipData]): ModelsByMount => { -// if (pipData) { -// obj[mount as Mount] = pick(pipData, ['model']) -// } -// return obj -// // @ts-expect-error ensure that both mount keys exist on returned object -// }, {}) -// } - -// function getCalibrationCheckData( -// state: State, -// robotName: string -// ): CalibrationCheckByMount | null { -// const session = getCalibrationCheckSession(state, robotName) -// if (!session) { -// return null -// } -// const { comparisonsByPipette, instruments } = session.details -// return instruments.reduce( -// (obj, instrument: CalibrationCheckInstrument) => { -// const { rank, mount, model } = instrument -// const succeeded = !some( -// Object.keys(comparisonsByPipette[rank]).map(k => -// Boolean( -// comparisonsByPipette[rank][ -// k as keyof CalibrationCheckComparisonsPerCalibration -// ]?.status === 'OUTSIDE_THRESHOLD' -// ) -// ) -// ) -// obj[mount] = { -// comparisons: comparisonsByPipette[rank], -// succeeded: succeeded, -// model: model, -// } -// return obj -// }, -// { left: null, right: null } -// ) -// } - -export function getAnalyticsDeckCalibrationData( - state: State -): DeckCalibrationAnalyticsData | null { - // TODO(va, 08-17-22): this selector was broken and was always returning null because getConnectedRobot - // always returned null, this should be fixed at the epic level in a future ticket RAUT-150 - // const robot = getConnectedRobot(state) - // if (robot) { - // const dcData = getDeckCalibrationData(state, robot.name) - // return { - // calibrationStatus: getDeckCalibrationStatus(state, robot.name), - // markedBad: !Array.isArray(dcData) - // ? dcData?.status?.markedBad || null - // : null, - // pipettes: getPipetteModels(state, robot.name), - // } - // } - return null -} - -export function getAnalyticsHealthCheckData( - state: State -): CalibrationHealthCheckAnalyticsData | null { - // TODO(va, 08-17-22): this selector was broken and was always returning null because getConnectedRobot - // always returned null, this should be fixed at the epic level in a future ticket RAUT-150 - // const robot = getConnectedRobot(state) - // if (robot) { - // return { - // pipettes: getCalibrationCheckData(state, robot.name), - // } - // } - return null -} - export function getAnalyticsSessionExitDetails( state: State, robotName: string, sessionId: string ): AnalyticsSessionExitDetails | null { const session = getRobotSessionById(state, robotName, sessionId) - if (session) { + if (session != null) { return { step: session.details.currentStep, sessionType: session.sessionType, @@ -298,7 +78,7 @@ export function getSessionInstrumentAnalyticsData( sessionId: string ): SessionInstrumentAnalyticsData | null { const session = getRobotSessionById(state, robotName, sessionId) - if (session) { + if (session != null) { const pipModel = session.sessionType === Sessions.SESSION_TYPE_CALIBRATION_HEALTH_CHECK ? session.details.activePipette.model From f4112d3d178576b6a221344cc7b1312f8baf88c0 Mon Sep 17 00:00:00 2001 From: Jamey H Date: Thu, 9 Nov 2023 15:42:16 -0500 Subject: [PATCH 50/65] fix(app): fix step meter tearing by using no animation (#13960) ODD optimizations do not prevent step meter tearing on the physical ODD when step progress regresses. Playing no animation solves the problem until we optimize ODD animations. --- .../StepMeter/__tests__/StepMeter.test.tsx | 17 +++++++++++++++++ app/src/atoms/StepMeter/index.tsx | 12 ++++++++---- 2 files changed, 25 insertions(+), 4 deletions(-) diff --git a/app/src/atoms/StepMeter/__tests__/StepMeter.test.tsx b/app/src/atoms/StepMeter/__tests__/StepMeter.test.tsx index 50aa54e4343..faa688df6f1 100644 --- a/app/src/atoms/StepMeter/__tests__/StepMeter.test.tsx +++ b/app/src/atoms/StepMeter/__tests__/StepMeter.test.tsx @@ -51,4 +51,21 @@ describe('StepMeter', () => { const bar = getByTestId('StepMeter_StepMeterBar') expect(bar).toHaveStyle('width: 100%') }) + + it('should transition with style when progressing forward and no style if progressing backward', () => { + props = { + ...props, + currentStep: 2, + } + const { getByTestId } = render(props) + getByTestId('StepMeter_StepMeterContainer') + const bar = getByTestId('StepMeter_StepMeterBar') + expect(bar).toHaveStyle('transition: width 0.5s ease-in-out;') + + props = { + ...props, + currentStep: 1, + } + expect(bar).not.toHaveStyle('transition: ;') + }) }) diff --git a/app/src/atoms/StepMeter/index.tsx b/app/src/atoms/StepMeter/index.tsx index ddaf52565cf..0d9774bd363 100644 --- a/app/src/atoms/StepMeter/index.tsx +++ b/app/src/atoms/StepMeter/index.tsx @@ -16,13 +16,13 @@ interface StepMeterProps { export const StepMeter = (props: StepMeterProps): JSX.Element => { const { totalSteps, currentStep } = props + const prevPercentComplete = React.useRef(0) const progress = currentStep != null ? currentStep : 0 - const percentComplete = `${ + const percentComplete = // this logic puts a cap at 100% percentComplete which we should never run into currentStep != null && currentStep > totalSteps ? 100 : (progress / totalSteps) * 100 - }%` const StepMeterContainer = css` position: ${POSITION_RELATIVE}; @@ -45,11 +45,15 @@ export const StepMeter = (props: StepMeterProps): JSX.Element => { top: 0; height: 100%; background-color: ${COLORS.blueEnabled}; - width: ${percentComplete}; + width: ${percentComplete}%; transform: translateX(0); - transition: width 0.5s ease-in-out; + transition: ${prevPercentComplete.current <= percentComplete + ? 'width 0.5s ease-in-out' + : ''}; ` + prevPercentComplete.current = percentComplete + return ( From 711f48abb23cb2770c0f6174d98bfce5969619a4 Mon Sep 17 00:00:00 2001 From: Jamey H Date: Thu, 9 Nov 2023 16:43:04 -0500 Subject: [PATCH 51/65] fix(app): Fix desktop app update modals (#13935) * feat(app): add release notes button on app & robot update modals * fix(app): fix closing app update modal during robot downgrade When downgrading a robot, users are first prompted if they'd like to update their app. When clicking close, the downgrade should proceed instead of crashing the app. --- .../assets/localization/en/app_settings.json | 1 + .../localization/en/device_settings.json | 1 + .../UpdateBuildroot/UpdateRobotModal.tsx | 66 ++++++++++++------- .../UpdateBuildroot/ViewUpdateModal.tsx | 11 ++-- .../__tests__/UpdateRobotModal.test.tsx | 18 ++++- .../__tests__/UpdateAppModal.test.tsx | 15 ++++- app/src/organisms/UpdateAppModal/index.tsx | 49 +++++++++----- 7 files changed, 116 insertions(+), 45 deletions(-) diff --git a/app/src/assets/localization/en/app_settings.json b/app/src/assets/localization/en/app_settings.json index f717a04bac9..0f5ea5a8609 100644 --- a/app/src/assets/localization/en/app_settings.json +++ b/app/src/assets/localization/en/app_settings.json @@ -70,6 +70,7 @@ "problem_during_update": "This update is taking longer than usual.", "prompt": "Always show the prompt to choose calibration block or trash bin", "receive_alert": "Receive an alert when an Opentrons software update is available.", + "release_notes": "Release notes", "remind_later": "Remind me later", "reset_to_default": "Reset to default", "restart_touchscreen": "Restart touchscreen", diff --git a/app/src/assets/localization/en/device_settings.json b/app/src/assets/localization/en/device_settings.json index 2335abe9bd4..f530ad9f711 100644 --- a/app/src/assets/localization/en/device_settings.json +++ b/app/src/assets/localization/en/device_settings.json @@ -83,6 +83,7 @@ "device_reset_description": "Reset labware calibration, boot scripts, and/or robot calibration to factory settings.", "device_reset_slideout_description": "Select individual settings to only clear specific data types.", "device_resets_cannot_be_undone": "Resets cannot be undone", + "release_notes": "Release notes", "directly_connected_to_this_computer": "Directly connected to this computer.", "disconnect": "Disconnect", "disconnect_from_ssid": "Disconnect from {{ssid}}", diff --git a/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/UpdateRobotModal.tsx b/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/UpdateRobotModal.tsx index 674c30a480c..3762cdd1955 100644 --- a/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/UpdateRobotModal.tsx +++ b/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/UpdateRobotModal.tsx @@ -7,7 +7,8 @@ import { useHoverTooltip, ALIGN_CENTER, DIRECTION_COLUMN, - JUSTIFY_FLEX_END, + JUSTIFY_SPACE_BETWEEN, + JUSTIFY_SPACE_AROUND, SPACING, Flex, NewPrimaryBtn, @@ -22,7 +23,9 @@ import { UPGRADE, REINSTALL, DOWNGRADE, + getRobotUpdateVersion, } from '../../../../redux/robot-update' +import { ExternalLink } from '../../../../atoms/Link/ExternalLink' import { ReleaseNotes } from '../../../../molecules/ReleaseNotes' import { useIsRobotBusy } from '../../hooks' import { Tooltip } from '../../../../atoms/Tooltip' @@ -33,6 +36,9 @@ import { useDispatchStartRobotUpdate } from '../../../../redux/robot-update/hook import type { State, Dispatch } from '../../../../redux/types' import type { RobotSystemType } from '../../../../redux/robot-update/types' +export const RELEASE_NOTES_URL_BASE = + 'https://github.com/Opentrons/opentrons/releases/tag/v' + const UpdateAppBanner = styled(Banner)` border: none; ` @@ -73,6 +79,10 @@ export function UpdateRobotModal({ return getRobotUpdateDisplayInfo(state, robotName) }) const dispatchStartRobotUpdate = useDispatchStartRobotUpdate() + const robotUpdateVersion = useSelector((state: State) => { + return getRobotUpdateVersion(state, robotName) ?? '' + }) + const isRobotBusy = useIsRobotBusy() const updateDisabled = updateFromFileDisabledReason !== null || isRobotBusy @@ -98,28 +108,40 @@ export function UpdateRobotModal({ } const robotUpdateFooter = ( - - + - {updateType === UPGRADE ? t('remind_me_later') : t('not_now')} - - dispatchStartRobotUpdate(robotName)} - marginRight={SPACING.spacing12} - css={FOOTER_BUTTON_STYLE} - disabled={updateDisabled} - {...updateButtonProps} - > - {t('update_robot_now')} - - {updateDisabled && ( - - {disabledReason} - - )} + {t('release_notes')} + + + + {updateType === UPGRADE ? t('remind_me_later') : t('not_now')} + + dispatchStartRobotUpdate(robotName)} + marginRight={SPACING.spacing12} + css={FOOTER_BUTTON_STYLE} + disabled={updateDisabled} + {...updateButtonProps} + > + {t('update_robot_now')} + + {updateDisabled && ( + + {disabledReason} + + )} + ) diff --git a/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/ViewUpdateModal.tsx b/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/ViewUpdateModal.tsx index 7b2207f0bb2..1010313bb1d 100644 --- a/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/ViewUpdateModal.tsx +++ b/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/ViewUpdateModal.tsx @@ -27,6 +27,7 @@ export function ViewUpdateModal( props: ViewUpdateModalProps ): JSX.Element | null { const { robotName, robot, closeModal } = props + const [showAppUpdateModal, setShowAppUpdateModal] = React.useState(true) const updateInfo = useSelector((state: State) => getRobotUpdateInfo(state, robotName) @@ -38,7 +39,9 @@ export function ViewUpdateModal( getRobotUpdateAvailable(state, robot) ) const robotSystemType = getRobotSystemType(robot) - const availableAppUpdateVersion = useSelector(getAvailableShellUpdate) + const availableAppUpdateVersion = Boolean( + useSelector(getAvailableShellUpdate) + ) const [ showMigrationWarning, @@ -51,12 +54,12 @@ export function ViewUpdateModal( } let releaseNotes = '' - if (updateInfo?.releaseNotes) releaseNotes = updateInfo.releaseNotes + if (updateInfo?.releaseNotes != null) releaseNotes = updateInfo.releaseNotes - if (availableAppUpdateVersion) + if (availableAppUpdateVersion && showAppUpdateModal) return ( - + setShowAppUpdateModal(false)} /> ) diff --git a/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/__tests__/UpdateRobotModal.test.tsx b/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/__tests__/UpdateRobotModal.test.tsx index d36aab3d057..7af9f5169f3 100644 --- a/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/__tests__/UpdateRobotModal.test.tsx +++ b/app/src/organisms/Devices/RobotSettings/UpdateBuildroot/__tests__/UpdateRobotModal.test.tsx @@ -6,9 +6,12 @@ import { fireEvent } from '@testing-library/react' import { renderWithProviders } from '@opentrons/components' import { i18n } from '../../../../../i18n' -import { getRobotUpdateDisplayInfo } from '../../../../../redux/robot-update' +import { + getRobotUpdateDisplayInfo, + getRobotUpdateVersion, +} from '../../../../../redux/robot-update' import { getDiscoverableRobotByName } from '../../../../../redux/discovery' -import { UpdateRobotModal } from '../UpdateRobotModal' +import { UpdateRobotModal, RELEASE_NOTES_URL_BASE } from '../UpdateRobotModal' import type { Store } from 'redux' import type { State } from '../../../../../redux/types' @@ -25,6 +28,9 @@ const mockGetRobotUpdateDisplayInfo = getRobotUpdateDisplayInfo as jest.MockedFu const mockGetDiscoverableRobotByName = getDiscoverableRobotByName as jest.MockedFunction< typeof getDiscoverableRobotByName > +const mockGetRobotUpdateVersion = getRobotUpdateVersion as jest.MockedFunction< + typeof getRobotUpdateVersion +> const render = (props: React.ComponentProps) => { return renderWithProviders(, { @@ -51,6 +57,7 @@ describe('UpdateRobotModal', () => { updateFromFileDisabledReason: 'test', }) when(mockGetDiscoverableRobotByName).mockReturnValue(null) + when(mockGetRobotUpdateVersion).mockReturnValue('7.0.0') }) afterEach(() => { @@ -93,6 +100,13 @@ describe('UpdateRobotModal', () => { expect(props.closeModal).toHaveBeenCalled() }) + it('renders a release notes link pointing to the Github releases page', () => { + const [{ getByText }] = render(props) + + const link = getByText('Release notes') + expect(link).toHaveAttribute('href', RELEASE_NOTES_URL_BASE + '7.0.0') + }) + it('renders proper text when reinstalling', () => { props = { ...props, diff --git a/app/src/organisms/UpdateAppModal/__tests__/UpdateAppModal.test.tsx b/app/src/organisms/UpdateAppModal/__tests__/UpdateAppModal.test.tsx index a7d8069cf1e..939755c8208 100644 --- a/app/src/organisms/UpdateAppModal/__tests__/UpdateAppModal.test.tsx +++ b/app/src/organisms/UpdateAppModal/__tests__/UpdateAppModal.test.tsx @@ -1,11 +1,13 @@ import * as React from 'react' import { when } from 'jest-when' import { fireEvent } from '@testing-library/react' + import { renderWithProviders } from '@opentrons/components' + import { i18n } from '../../../i18n' import * as Shell from '../../../redux/shell' -import { UpdateAppModal, UpdateAppModalProps } from '..' import { useRemoveActiveAppUpdateToast } from '../../Alerts' +import { UpdateAppModal, UpdateAppModalProps, RELEASE_NOTES_URL_BASE } from '..' import type { State } from '../../../redux/types' import type { ShellUpdateState } from '../../../redux/shell/types' @@ -33,6 +35,9 @@ const mockUseRemoveActiveAppUpdateToast = useRemoveActiveAppUpdateToast as jest. const render = (props: React.ComponentProps) => { return renderWithProviders(, { i18nInstance: i18n, + initialState: { + shell: { update: { info: { version: '7.0.0' }, available: true } }, + }, }) } @@ -76,6 +81,14 @@ describe('UpdateAppModal', () => { fireEvent.click(getByText('Remind me later')) expect(closeModal).toHaveBeenCalled() }) + + it('renders a release notes link pointing to the Github releases page', () => { + const [{ getByText }] = render(props) + + const link = getByText('Release notes') + expect(link).toHaveAttribute('href', RELEASE_NOTES_URL_BASE + '7.0.0') + }) + it('shows error modal on error', () => { getShellUpdateState.mockReturnValue({ error: { diff --git a/app/src/organisms/UpdateAppModal/index.tsx b/app/src/organisms/UpdateAppModal/index.tsx index 16f0fc7e517..367a6edc779 100644 --- a/app/src/organisms/UpdateAppModal/index.tsx +++ b/app/src/organisms/UpdateAppModal/index.tsx @@ -8,20 +8,23 @@ import { ALIGN_CENTER, COLORS, DIRECTION_COLUMN, - JUSTIFY_FLEX_END, SPACING, Flex, NewPrimaryBtn, NewSecondaryBtn, BORDERS, + JUSTIFY_SPACE_BETWEEN, + JUSTIFY_SPACE_AROUND, } from '@opentrons/components' import { getShellUpdateState, + getAvailableShellUpdate, downloadShellUpdate, applyShellUpdate, } from '../../redux/shell' +import { ExternalLink } from '../../atoms/Link/ExternalLink' import { ReleaseNotes } from '../../molecules/ReleaseNotes' import { LegacyModal } from '../../molecules/LegacyModal' import { Banner } from '../../atoms/Banner' @@ -56,7 +59,8 @@ const PlaceholderError = ({ ) } - +export const RELEASE_NOTES_URL_BASE = + 'https://github.com/Opentrons/opentrons/releases/tag/v' const UPDATE_ERROR = 'Update Error' const FOOTER_BUTTON_STYLE = css` text-transform: lowercase; @@ -105,6 +109,7 @@ export function UpdateAppModal(props: UpdateAppModalProps): JSX.Element { const { t } = useTranslation('app_settings') const history = useHistory() const { removeActiveAppUpdateToast } = useRemoveActiveAppUpdateToast() + const availableAppUpdateVersion = useSelector(getAvailableShellUpdate) ?? '' if (downloaded) setTimeout(() => dispatch(applyShellUpdate()), RESTART_APP_AFTER_TIME) @@ -117,21 +122,33 @@ export function UpdateAppModal(props: UpdateAppModalProps): JSX.Element { removeActiveAppUpdateToast() const appUpdateFooter = ( - - - {t('remind_later')} - - dispatch(downloadShellUpdate())} - marginRight={SPACING.spacing12} - css={FOOTER_BUTTON_STYLE} + + - {t('update_app_now')} - + {t('release_notes')} + + + + {t('remind_later')} + + dispatch(downloadShellUpdate())} + marginRight={SPACING.spacing12} + css={FOOTER_BUTTON_STYLE} + > + {t('update_app_now')} + + ) From df4b755481f744f7b4eae7497a172b4de69c2b53 Mon Sep 17 00:00:00 2001 From: Shlok Amin Date: Thu, 9 Nov 2023 16:46:18 -0500 Subject: [PATCH 52/65] refactor(app): remove console log on release notes component (#13951) --- app/src/molecules/ReleaseNotes/index.tsx | 1 - 1 file changed, 1 deletion(-) diff --git a/app/src/molecules/ReleaseNotes/index.tsx b/app/src/molecules/ReleaseNotes/index.tsx index 3d54e195783..537763bdc94 100644 --- a/app/src/molecules/ReleaseNotes/index.tsx +++ b/app/src/molecules/ReleaseNotes/index.tsx @@ -26,7 +26,6 @@ const DEFAULT_RELEASE_NOTES = 'We recommend upgrading to the latest version.' export function ReleaseNotes(props: ReleaseNotesProps): JSX.Element { const { source } = props - console.log(DEFAULT_RELEASE_NOTES) return (
    {source != null ? ( From 0bd816aa986d402d3fb56712fa91227b7e6d4923 Mon Sep 17 00:00:00 2001 From: Seth Foster Date: Thu, 9 Nov 2023 17:05:38 -0500 Subject: [PATCH 53/65] fix(shared-data): Fix the pipette schemas, tests (#13949) The tests that were supposed to ajv the pipette definitions weren't set up properly, and the tests that were supposed to test that the tests were set up properly weren't set up properly, so we weren't testing the schemas so the schemas were wrong. Fix the schema-test setup, the test-setup-schema-test setup, and the schema. --- .../js/__tests__/pipetteSchemaV2.test.ts | 35 ++--- .../schemas/2/pipettePropertiesSchema.json | 129 ++++++++++-------- .../tests/pipette/test_validate_schema.py | 1 + 3 files changed, 85 insertions(+), 80 deletions(-) diff --git a/shared-data/js/__tests__/pipetteSchemaV2.test.ts b/shared-data/js/__tests__/pipetteSchemaV2.test.ts index ae85233ab8c..66845b9cab6 100644 --- a/shared-data/js/__tests__/pipetteSchemaV2.test.ts +++ b/shared-data/js/__tests__/pipetteSchemaV2.test.ts @@ -13,12 +13,12 @@ const allGeometryDefinitions = path.join( const allGeneralDefinitions = path.join( __dirname, - '../../labware/definitions/2/general/**/**/*.json' + '../../pipette/definitions/2/general/**/**/*.json' ) const allLiquidDefinitions = path.join( __dirname, - '../../labware/definitions/2/liquid/**/**/*.json' + '../../pipette/definitions/2/liquid/**/**/*.json' ) const ajv = new Ajv({ allErrors: true, jsonPointers: true }) @@ -29,11 +29,8 @@ const validateGeneralSpecs = ajv.compile(generalSpecsSchema) describe('test schema against all liquid specs definitions', () => { const liquidPaths = glob.sync(allLiquidDefinitions) - - beforeAll(() => { - // Make sure definitions path didn't break, which would give you false positives - expect(liquidPaths.length).toBeGreaterThan(0) - }) + // Make sure definitions path didn't break, which would give you false positives + expect(liquidPaths.length).toBeGreaterThan(0) liquidPaths.forEach(liquidPath => { const liquidDef = require(liquidPath) @@ -45,22 +42,24 @@ describe('test schema against all liquid specs definitions', () => { expect(valid).toBe(true) }) - it(`parent dir matches pipette model: ${liquidPath}`, () => { - expect(['p10', 'p20', 'p50', 'p300', 'p1000']).toContain( + it(`parent dir matches a liquid class: ${liquidPath}`, () => { + expect(['default', 'lowVolumeDefault']).toContain( path.basename(path.dirname(liquidPath)) ) }) + + it(`second parent dir matches pipette model: ${liquidPath}`, () => { + expect(['p10', 'p20', 'p50', 'p300', 'p1000']).toContain( + path.basename(path.dirname(path.dirname(liquidPath))) + ) + }) }) }) describe('test schema against all geometry specs definitions', () => { const geometryPaths = glob.sync(allGeometryDefinitions) - - beforeAll(() => { - // Make sure definitions path didn't break, which would give you false positives - expect(geometryPaths.length).toBeGreaterThan(0) - }) - + // Make sure definitions path didn't break, which would give you false positives + expect(geometryPaths.length).toBeGreaterThan(0) geometryPaths.forEach(geometryPath => { const geometryDef = require(geometryPath) const geometryParentDir = path.dirname(geometryPath) @@ -88,11 +87,7 @@ describe('test schema against all geometry specs definitions', () => { describe('test schema against all general specs definitions', () => { const generalPaths = glob.sync(allGeneralDefinitions) - - beforeAll(() => { - // Make sure definitions path didn't break, which would give you false positives - expect(generalPaths.length).toBeGreaterThan(0) - }) + expect(generalPaths.length).toBeGreaterThan(0) generalPaths.forEach(generalPath => { const generalDef = require(generalPath) diff --git a/shared-data/pipette/schemas/2/pipettePropertiesSchema.json b/shared-data/pipette/schemas/2/pipettePropertiesSchema.json index 810ceade169..d2b2a7c78fa 100644 --- a/shared-data/pipette/schemas/2/pipettePropertiesSchema.json +++ b/shared-data/pipette/schemas/2/pipettePropertiesSchema.json @@ -1,13 +1,13 @@ { "$schema": "http://json-schema.org/draft-07/schema#", - "$id": "opentronsPipetteGeometrySchemaV2", + "$id": "opentronsPipettePropertiesSchemaV2", "definitions": { "channels": { "enum": [1, 8, 96, 384] }, "displayCategory": { "type": "string", - "enum": ["GEN1"] + "enum": ["GEN1", "GEN2", "FLEX"] }, "positiveNumber": { "type": "number", @@ -18,33 +18,6 @@ "minimum": 0.01, "maximum": 2.5 }, - "xyzArray": { - "type": "array", - "description": "Array of 3 numbers, [x, y, z]", - "items": { "type": "number" }, - "minItems": 3, - "maxItems": 3 - }, - "linearEquations": { - "description": "Array containing any number of 3-arrays. Each inner 3-array describes a line segment: [boundary, slope, intercept]. So [1, 2, 3] would mean 'where (next_boundary > x >= 1), y = 2x + 3'", - "type": "array", - "items": { - "type": "array", - "items": { "type": "number" }, - "minItems": 3, - "maxItems": 3 - } - }, - "liquidHandlingSpecs": { - "description": "Object containing linear equations for translating between uL of liquid and mm of plunger travel. There is one linear equation for aspiration and one for dispense", - "type": "object", - "required": ["aspirate", "dispense"], - "additionalProperties": false, - "properties": { - "aspirate": { "$ref": "#/definitions/linearEquations" }, - "dispense": { "$ref": "#/definitions/linearEquations" } - } - }, "editConfigurations": { "type": "object", "description": "Object allowing you to modify a config", @@ -57,17 +30,6 @@ "type": { "type": "string" }, "displayName": { "type": "string" } } - }, - "tipConfigurations": { - "type": "object", - "description": "Object containing configurations specific to tip handling", - "required": ["speed"], - "properties": { - "presses": {}, - "speed": { "$ref": "#/definitions/editConfigurations" }, - "increment": {}, - "distance": {} - } } }, "description": "Version-level pipette specifications, which may vary across different versions of the same pipette", @@ -103,20 +65,43 @@ }, "channels": { "$ref": "#/definitions/channels" }, "partialTipConfigurations": { - "type": "object", "description": "Object containing information on partial tip configurations", - "required": ["partialTipSupported"], - "properties": { - "partialTipSupported": { "type": "boolean" }, - "availableConfigurations": { - "type": "array", - "description": "Array of available configurations", - "items": { - "type": "number", - "enum": [1, 2, 3, 4, 5, 6, 7, 8, 12, 96, 384] + "$oneof": [ + { + "type": "object", + "required": ["partialTipSupported"], + "properties": { + "partialTipSupported": { "type": "boolean", "value": true } + } + }, + { + "type": "object", + "required": [ + "partialTipSupported", + "availableConfigurations", + "perTipPickupCurrent" + ], + "properties": { + "partialTipSupported": { "type": "boolean", "value": false }, + "availableConfigurations": { + "type": "array", + "description": "Array of available configurations", + "items": { + "type": "number", + "enum": [1, 2, 3, 4, 5, 6, 7, 8, 12, 96, 384] + }, + "perTipPickupCurrent": { + "type": "object", + "patternProperties": { + "\\d+": { + "$ref": "#/definitions/positiveNumber" + } + } + } + } } } - } + ] }, "availableSensors": { "type": "object", @@ -142,13 +127,20 @@ }, "plungerPositionsConfigurations": { "type": "object", - "description": "Object containing configurations specific to tip handling", - "required": ["top", "bottom", "blowout", "drop"], - "properties": { - "top": { "$ref": "#/definitions/currentRange" }, - "bottom": {}, - "blowout": { "$ref": "#/definitions/editConfigurations" }, - "drop": {} + "description": "Key positions of the plunger, by liquid configuration", + "required": ["default"], + "patternProperties": { + "\\w+": { + "type": "object", + "description": "Plunger positions for this liquid configuration", + "required": ["top", "bottom", "blowout", "drop"], + "properties": { + "top": { "type": "number" }, + "bottom": { "type": "number" }, + "blowout": { "type": "number" }, + "drop": { "type": "number" } + } + } } }, "plungerMotorConfigurations": { @@ -170,10 +162,27 @@ } }, "pickUpTipConfigurations": { - "$ref": "#/definitions/tipConfigurations" + "type": "object", + "description": "Object containing configurations for picking up tips common to all partial configurations", + "required": ["speed"], + "properties": { + "presses": { "$ref": "#/definitions/positiveNumber" }, + "speed": { "$ref": "#/definitions/positiveNumber" }, + "increment": { "$ref": "#/definitions/positiveNumber" }, + "distance": { "$ref": "#/definitions/positiveNumber" } + } }, "dropTipConfigurations": { - "$ref": "#/definitions/tipConfigurations" + "type": "object", + "description": "Object containing configurations specific to dropping tips", + "required": ["current", "speed"], + "properties": { + "current": { "$ref": "#/definitions/currentRange" }, + "presses": {}, + "speed": { "$ref": "#/definitions/positiveNumber" }, + "increment": {}, + "distance": {} + } }, "displayName": { "type": "string", diff --git a/shared-data/python/tests/pipette/test_validate_schema.py b/shared-data/python/tests/pipette/test_validate_schema.py index 1ac8d111a16..df943dceace 100644 --- a/shared-data/python/tests/pipette/test_validate_schema.py +++ b/shared-data/python/tests/pipette/test_validate_schema.py @@ -18,6 +18,7 @@ def test_check_all_models_are_valid() -> None: "ninety_six_channel": "96", "eight_channel": "multi", } + assert os.listdir(paths_to_validate), "You have a path wrong" for channel_dir in os.listdir(paths_to_validate): for model_dir in os.listdir(paths_to_validate / channel_dir): for version_file in os.listdir(paths_to_validate / channel_dir / model_dir): From 90038a8a9d29355b21db8405d2353cad2a63f025 Mon Sep 17 00:00:00 2001 From: Brent Hagen Date: Thu, 9 Nov 2023 20:44:19 -0500 Subject: [PATCH 54/65] refactor(shared-data,app): migrate to deck definition v4 (#13931) changes default OT-2/Flex deck definitions to v4 in shared-data, app, components, and protocol designer closes RAUT-781 --------- Co-authored-by: Brian Cooper --- .../src/deck_configuration/__stubs__/index.ts | 48 +-- .../src/protocols/__tests__/utils.test.ts | 56 +-- api-client/src/protocols/utils.ts | 1 + app/src/molecules/DeckThumbnail/index.tsx | 2 +- .../organisms/CalibrationPanels/DeckSetup.tsx | 1 + .../AddFixtureModal.stories.tsx | 2 +- .../AddFixtureModal.tsx | 17 +- .../__tests__/AddFixtureModal.test.tsx | 12 +- .../DeviceDetailsDeckConfiguration/index.tsx | 6 +- .../Devices/ProtocolRun/ProtocolRunSetup.tsx | 6 +- .../SetupLiquids/SetupLiquidsMap.tsx | 28 +- .../LocationConflictModal.tsx | 9 +- .../__tests__/LocationConflictModal.test.tsx | 6 +- .../__tests__/NotConfiguredModal.test.tsx | 2 +- .../__tests__/SetupFixtureList.test.tsx | 6 +- .../__tests__/SetupModulesAndDeck.test.tsx | 2 +- .../__tests__/getLabwareRenderInfo.test.ts | 2 +- .../__tests__/getProtocolModulesInfo.test.ts | 2 +- .../ProtocolRun/utils/getLabwareRenderInfo.ts | 45 +-- .../utils/getProtocolModulesInfo.ts | 12 +- .../useLabwareRenderInfoForRunById.test.tsx | 2 +- ...seModuleRenderInfoForProtocolById.test.tsx | 9 +- .../DropTipWizard/ChooseLocation.tsx | 29 +- .../MoveLabwareInterventionContent.tsx | 6 +- .../InterventionModal/__tests__/utils.test.ts | 20 +- .../utils/getRunLabwareRenderInfo.ts | 14 +- .../utils/getRunModuleRenderInfo.ts | 14 +- .../ModuleWizardFlows/SelectLocation.tsx | 2 +- app/src/organisms/ProtocolDetails/index.tsx | 2 +- .../ProtocolSetupDeckConfiguration.test.tsx | 2 +- .../ProtocolSetupDeckConfiguration/index.tsx | 2 +- .../__tests__/ProtocolSetupLabware.test.tsx | 2 +- .../FixtureTable.tsx | 9 +- .../__tests__/FixtureTable.test.tsx | 6 +- .../__tests__/DeckConfiguration.test.tsx | 2 +- .../ProtocolDetails/Hardware.tsx | 7 +- .../__tests__/Hardware.test.tsx | 6 +- .../__tests__/ProtocolSetup.test.tsx | 2 +- app/src/pages/Protocols/hooks/index.ts | 6 +- .../__tests__/hooks.test.ts | 20 +- app/src/resources/deck_configuration/utils.ts | 8 +- .../src/hardware-sim/BaseDeck/BaseDeck.tsx | 212 +++++++----- .../BaseDeck/SingleSlotFixture.tsx | 43 +-- .../BaseDeck/StagingAreaFixture.tsx | 14 +- .../BaseDeck/WasteChuteFixture.tsx | 19 +- .../BaseDeck/WasteChuteStagingAreaFixture.tsx | 17 +- .../BaseDeck/__fixtures__/index.ts | 72 ++-- .../{DeckFromData.tsx => DeckFromLayers.tsx} | 26 +- .../src/hardware-sim/Deck/FlexTrash.tsx | 41 ++- .../hardware-sim/Deck/MoveLabwareOnDeck.tsx | 93 ++--- .../src/hardware-sim/Deck/RobotWorkSpace.tsx | 12 +- .../src/hardware-sim/Deck/StyledDeck.tsx | 26 +- .../hardware-sim/Deck/getDeckDefinitions.ts | 2 +- components/src/hardware-sim/Deck/index.tsx | 2 +- .../DeckConfigurator.stories.tsx | 19 +- .../DeckConfigurator/EmptyConfigFixture.tsx | 21 +- .../StagingAreaConfigFixture.tsx | 14 +- .../TrashBinConfigFixture.tsx | 22 +- .../WasteChuteConfigFixture.tsx | 14 +- .../hardware-sim/DeckConfigurator/index.tsx | 26 +- .../hardware-sim/DeckSlotLocation/index.tsx | 2 +- .../RobotCoordinateSpaceWithDOMCoords.tsx | 2 +- components/src/hardware-sim/index.ts | 1 + .../src/hooks/useSelectDeckLocation/index.tsx | 187 +++++----- .../organisms/CreateLabwareSandbox/index.tsx | 25 +- .../LabwareOverlays/AdapterControls.tsx | 24 +- .../LabwareOverlays/LabwareControls.tsx | 9 +- .../LabwareOverlays/SlotControls.tsx | 34 +- .../__tests__/SlotControls.test.tsx | 22 +- .../src/components/DeckSetup/index.tsx | 326 ++++++++++-------- .../fields/LabwareLocationField/index.tsx | 8 +- .../labware/__tests__/utils.test.ts | 4 +- .../src/components/labware/utils.ts | 4 +- .../CreateFileWizard/StagingAreaTile.tsx | 7 +- .../modals/CreateFileWizard/index.tsx | 4 +- .../components/modules/AdditionalItemsRow.tsx | 17 +- .../src/components/modules/FlexSlotMap.tsx | 27 +- .../components/modules/StagingAreasModal.tsx | 5 +- .../components/modules/StagingAreasRow.tsx | 8 +- .../src/components/modules/TrashModal.tsx | 6 +- .../__tests__/AdditionalItemsRow.test.tsx | 3 +- .../__tests__/StagingAreasRow.test.tsx | 2 +- .../modules/__tests__/TrashModal.test.tsx | 4 +- .../src/components/modules/utils.ts | 1 - .../components/steplist/MoveLabwareHeader.tsx | 4 +- protocol-designer/src/labware-ingred/utils.ts | 2 +- .../top-selectors/labware-locations/index.ts | 9 +- protocol-designer/src/tutorial/selectors.ts | 4 +- ...seCreateDeckConfigurationMutation.test.tsx | 4 +- shared-data/deck/types/schemaV4.ts | 13 +- shared-data/js/constants.ts | 121 ++++++- shared-data/js/fixtures.ts | 128 ++++++- .../getDeckDefFromLoadedLabware.test.ts | 4 +- shared-data/js/helpers/index.ts | 15 +- shared-data/js/types.ts | 78 ++++- .../src/__tests__/moveLabware.test.ts | 10 +- .../__tests__/wasteChuteCommandsUtil.test.ts | 4 +- .../src/commandCreators/atomic/moveLabware.ts | 4 +- step-generation/src/constants.ts | 4 +- step-generation/src/utils/misc.ts | 4 +- .../src/utils/modulePipetteCollision.ts | 1 - 101 files changed, 1363 insertions(+), 908 deletions(-) rename components/src/hardware-sim/Deck/{DeckFromData.tsx => DeckFromLayers.tsx} (59%) diff --git a/api-client/src/deck_configuration/__stubs__/index.ts b/api-client/src/deck_configuration/__stubs__/index.ts index 5f2bd147a0e..2197c25baaa 100644 --- a/api-client/src/deck_configuration/__stubs__/index.ts +++ b/api-client/src/deck_configuration/__stubs__/index.ts @@ -10,63 +10,63 @@ import { import type { Fixture } from '@opentrons/shared-data' export const DECK_CONFIG_STUB: { [fixtureLocation: string]: Fixture } = { - A1: { - fixtureLocation: 'A1', + cutoutA1: { + fixtureLocation: 'cutoutA1', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, - B1: { - fixtureLocation: 'B1', + cutoutB1: { + fixtureLocation: 'cutoutB1', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, - C1: { - fixtureLocation: 'C1', + cutoutC1: { + fixtureLocation: 'cutoutC1', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, - D1: { - fixtureLocation: 'D1', + cutoutD1: { + fixtureLocation: 'cutoutD1', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, - A2: { - fixtureLocation: 'A2', + cutoutA2: { + fixtureLocation: 'cutoutA2', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, - B2: { - fixtureLocation: 'B2', + cutoutB2: { + fixtureLocation: 'cutoutB2', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, - C2: { - fixtureLocation: 'C2', + cutoutC2: { + fixtureLocation: 'cutoutC2', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, - D2: { - fixtureLocation: 'D2', + cutoutD2: { + fixtureLocation: 'cutoutD2', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, - A3: { - fixtureLocation: 'A3', + cutoutA3: { + fixtureLocation: 'cutoutA3', loadName: TRASH_BIN_LOAD_NAME, fixtureId: uuidv4(), }, - B3: { - fixtureLocation: 'B3', + cutoutB3: { + fixtureLocation: 'cutoutB3', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, - C3: { - fixtureLocation: 'C3', + cutoutC3: { + fixtureLocation: 'cutoutC3', loadName: STAGING_AREA_LOAD_NAME, fixtureId: uuidv4(), }, - D3: { - fixtureLocation: 'D3', + cutoutD3: { + fixtureLocation: 'cutoutD3', loadName: WASTE_CHUTE_LOAD_NAME, fixtureId: uuidv4(), }, diff --git a/api-client/src/protocols/__tests__/utils.test.ts b/api-client/src/protocols/__tests__/utils.test.ts index f86532d7359..c9edcae0068 100644 --- a/api-client/src/protocols/__tests__/utils.test.ts +++ b/api-client/src/protocols/__tests__/utils.test.ts @@ -10,17 +10,10 @@ import { parseLiquidsInLoadOrder, parseLabwareInfoByLiquidId, parseInitialLoadedLabwareByAdapter, - parseInitialLoadedFixturesByCutout, } from '../utils' import { simpleAnalysisFileFixture } from '../__fixtures__' -import { - LoadFixtureRunTimeCommand, - RunTimeCommand, - STAGING_AREA_LOAD_NAME, - STANDARD_SLOT_LOAD_NAME, - WASTE_CHUTE_LOAD_NAME, -} from '@opentrons/shared-data' +import { RunTimeCommand } from '@opentrons/shared-data' const mockRunTimeCommands: RunTimeCommand[] = simpleAnalysisFileFixture.commands as any const mockLoadLiquidRunTimeCommands = [ @@ -366,53 +359,6 @@ describe('parseInitialLoadedModulesBySlot', () => { ) }) }) -describe('parseInitialLoadedFixturesByCutout', () => { - it('returns fixtures loaded in cutouts', () => { - const loadFixtureCommands: LoadFixtureRunTimeCommand[] = [ - { - id: 'fakeId1', - commandType: 'loadFixture', - params: { - loadName: STAGING_AREA_LOAD_NAME, - location: { cutout: 'B3' }, - }, - createdAt: 'fake_timestamp', - startedAt: 'fake_timestamp', - completedAt: 'fake_timestamp', - status: 'succeeded', - }, - { - id: 'fakeId2', - commandType: 'loadFixture', - params: { loadName: WASTE_CHUTE_LOAD_NAME, location: { cutout: 'D3' } }, - createdAt: 'fake_timestamp', - startedAt: 'fake_timestamp', - completedAt: 'fake_timestamp', - status: 'succeeded', - }, - { - id: 'fakeId3', - commandType: 'loadFixture', - params: { - loadName: STANDARD_SLOT_LOAD_NAME, - location: { cutout: 'C3' }, - }, - createdAt: 'fake_timestamp', - startedAt: 'fake_timestamp', - completedAt: 'fake_timestamp', - status: 'succeeded', - }, - ] - const expected = { - B3: loadFixtureCommands[0], - D3: loadFixtureCommands[1], - C3: loadFixtureCommands[2], - } - expect(parseInitialLoadedFixturesByCutout(loadFixtureCommands)).toEqual( - expected - ) - }) -}) describe('parseLiquidsInLoadOrder', () => { it('returns liquids in loaded order', () => { const expected = [ diff --git a/api-client/src/protocols/utils.ts b/api-client/src/protocols/utils.ts index 4ba88a02e5e..3ed44a9053a 100644 --- a/api-client/src/protocols/utils.ts +++ b/api-client/src/protocols/utils.ts @@ -229,6 +229,7 @@ export function parseInitialLoadedModulesBySlot( export interface LoadedFixturesBySlot { [slotName: string]: LoadFixtureRunTimeCommand } +// TODO(bh, 2023-11-09): remove this util, there will be no loadFixture command export function parseInitialLoadedFixturesByCutout( commands: RunTimeCommand[] ): LoadedFixturesBySlot { diff --git a/app/src/molecules/DeckThumbnail/index.tsx b/app/src/molecules/DeckThumbnail/index.tsx index a1d0fd06dc6..79df3017cad 100644 --- a/app/src/molecules/DeckThumbnail/index.tsx +++ b/app/src/molecules/DeckThumbnail/index.tsx @@ -87,7 +87,7 @@ export function DeckThumbnail(props: DeckThumbnailProps): JSX.Element | null { const labwareLocations = map( labwareRenderInfo, - ({ labwareDef, displayName, slotName }, labwareId) => { + ({ labwareDef, slotName }, labwareId) => { const labwareInAdapter = initialLoadedLabwareByAdapter[labwareId] // only rendering the labware on top most layer so // either the adapter or the labware are rendered but not both diff --git a/app/src/organisms/CalibrationPanels/DeckSetup.tsx b/app/src/organisms/CalibrationPanels/DeckSetup.tsx index 3b3b208b381..dd19e6254f2 100644 --- a/app/src/organisms/CalibrationPanels/DeckSetup.tsx +++ b/app/src/organisms/CalibrationPanels/DeckSetup.tsx @@ -98,6 +98,7 @@ export function DeckSetup(props: CalibrationPanelProps): JSX.Element { 'fixedTrash', ]} deckDef={deckDef} + showDeckLayers viewBox={`-46 -10 ${488} ${390}`} // TODO: put these in variables > {({ deckSlotsById }) => diff --git a/app/src/organisms/DeviceDetailsDeckConfiguration/AddFixtureModal.stories.tsx b/app/src/organisms/DeviceDetailsDeckConfiguration/AddFixtureModal.stories.tsx index 6b618c0fc1e..cc5ddd4f4e7 100644 --- a/app/src/organisms/DeviceDetailsDeckConfiguration/AddFixtureModal.stories.tsx +++ b/app/src/organisms/DeviceDetailsDeckConfiguration/AddFixtureModal.stories.tsx @@ -25,7 +25,7 @@ const Template: Story> = args => ( export const Default = Template.bind({}) Default.args = { - fixtureLocation: 'D3', + fixtureLocation: 'cutoutD3', setShowAddFixtureModal: () => {}, isOnDevice: true, } diff --git a/app/src/organisms/DeviceDetailsDeckConfiguration/AddFixtureModal.tsx b/app/src/organisms/DeviceDetailsDeckConfiguration/AddFixtureModal.tsx index a1cb43abb46..9fec31200e9 100644 --- a/app/src/organisms/DeviceDetailsDeckConfiguration/AddFixtureModal.tsx +++ b/app/src/organisms/DeviceDetailsDeckConfiguration/AddFixtureModal.tsx @@ -16,6 +16,7 @@ import { } from '@opentrons/components' import { useUpdateDeckConfigurationMutation } from '@opentrons/react-api-client' import { + getCutoutDisplayName, getFixtureDisplayName, STAGING_AREA_LOAD_NAME, TRASH_BIN_LOAD_NAME, @@ -56,13 +57,17 @@ export function AddFixtureModal({ const { updateDeckConfiguration } = useUpdateDeckConfigurationMutation() const modalHeader: ModalHeaderBaseProps = { - title: t('add_to_slot', { slotName: fixtureLocation }), + title: t('add_to_slot', { + slotName: getCutoutDisplayName(fixtureLocation), + }), hasExitIcon: true, onClick: () => setShowAddFixtureModal(false), } const modalProps: LegacyModalProps = { - title: t('add_to_slot', { slotName: fixtureLocation }), + title: t('add_to_slot', { + slotName: getCutoutDisplayName(fixtureLocation), + }), onClose: () => setShowAddFixtureModal(false), closeOnOutsideClick: true, childrenPadding: SPACING.spacing24, @@ -71,13 +76,13 @@ export function AddFixtureModal({ const availableFixtures: FixtureLoadName[] = [TRASH_BIN_LOAD_NAME] if ( - fixtureLocation === 'A3' || - fixtureLocation === 'B3' || - fixtureLocation === 'C3' + fixtureLocation === 'cutoutA3' || + fixtureLocation === 'cutoutB3' || + fixtureLocation === 'cutoutC3' ) { availableFixtures.push(STAGING_AREA_LOAD_NAME) } - if (fixtureLocation === 'D3') { + if (fixtureLocation === 'cutoutD3') { availableFixtures.push(STAGING_AREA_LOAD_NAME, WASTE_CHUTE_LOAD_NAME) } diff --git a/app/src/organisms/DeviceDetailsDeckConfiguration/__tests__/AddFixtureModal.test.tsx b/app/src/organisms/DeviceDetailsDeckConfiguration/__tests__/AddFixtureModal.test.tsx index e497050c353..f20f887bfd4 100644 --- a/app/src/organisms/DeviceDetailsDeckConfiguration/__tests__/AddFixtureModal.test.tsx +++ b/app/src/organisms/DeviceDetailsDeckConfiguration/__tests__/AddFixtureModal.test.tsx @@ -27,7 +27,7 @@ describe('Touchscreen AddFixtureModal', () => { beforeEach(() => { props = { - fixtureLocation: 'D3', + fixtureLocation: 'cutoutD3', setShowAddFixtureModal: mockSetShowAddFixtureModal, setCurrentDeckConfig: mockSetCurrentDeckConfig, isOnDevice: true, @@ -61,7 +61,7 @@ describe('Desktop AddFixtureModal', () => { beforeEach(() => { props = { - fixtureLocation: 'D3', + fixtureLocation: 'cutoutD3', setShowAddFixtureModal: mockSetShowAddFixtureModal, } mockUseUpdateDeckConfigurationMutation.mockReturnValue({ @@ -86,7 +86,7 @@ describe('Desktop AddFixtureModal', () => { }) it('should render text and buttons slot A1', () => { - props = { ...props, fixtureLocation: 'A1' } + props = { ...props, fixtureLocation: 'cutoutA1' } const [{ getByText, getByRole }] = render(props) getByText('Add to slot A1') getByText( @@ -97,7 +97,7 @@ describe('Desktop AddFixtureModal', () => { }) it('should render text and buttons slot B3', () => { - props = { ...props, fixtureLocation: 'B3' } + props = { ...props, fixtureLocation: 'cutoutB3' } const [{ getByText, getAllByRole }] = render(props) getByText('Add to slot B3') getByText( @@ -109,11 +109,11 @@ describe('Desktop AddFixtureModal', () => { }) it('should call a mock function when clicking add button', () => { - props = { ...props, fixtureLocation: 'A1' } + props = { ...props, fixtureLocation: 'cutoutA1' } const [{ getByRole }] = render(props) getByRole('button', { name: 'Add' }).click() expect(mockUpdateDeckConfiguration).toHaveBeenCalledWith({ - fixtureLocation: 'A1', + fixtureLocation: 'cutoutA1', loadName: TRASH_BIN_LOAD_NAME, }) }) diff --git a/app/src/organisms/DeviceDetailsDeckConfiguration/index.tsx b/app/src/organisms/DeviceDetailsDeckConfiguration/index.tsx index 69206f577db..c57cef374f8 100644 --- a/app/src/organisms/DeviceDetailsDeckConfiguration/index.tsx +++ b/app/src/organisms/DeviceDetailsDeckConfiguration/index.tsx @@ -22,6 +22,7 @@ import { useUpdateDeckConfigurationMutation, } from '@opentrons/react-api-client' import { + getCutoutDisplayName, getFixtureDisplayName, STANDARD_SLOT_LOAD_NAME, } from '@opentrons/shared-data' @@ -70,6 +71,7 @@ export function DeviceDetailsDeckConfiguration({ } const handleClickRemove = (fixtureLocation: Cutout): void => { + console.log('remove fixtureLocation', fixtureLocation) updateDeckConfiguration({ fixtureLocation, loadName: STANDARD_SLOT_LOAD_NAME, @@ -187,7 +189,9 @@ export function DeviceDetailsDeckConfiguration({ width={SIZE_5} css={TYPOGRAPHY.labelRegular} > - {fixture.fixtureLocation} + + {getCutoutDisplayName(fixture.fixtureLocation)} + {getFixtureDisplayName(fixture.loadName)} diff --git a/app/src/organisms/Devices/ProtocolRun/ProtocolRunSetup.tsx b/app/src/organisms/Devices/ProtocolRun/ProtocolRunSetup.tsx index 27ca12cdd7c..bf059c06930 100644 --- a/app/src/organisms/Devices/ProtocolRun/ProtocolRunSetup.tsx +++ b/app/src/organisms/Devices/ProtocolRun/ProtocolRunSetup.tsx @@ -88,7 +88,7 @@ export function ProtocolRunSetup({ params: { fixtureId: 'stubbedFixtureId', loadName: WASTE_CHUTE_LOAD_NAME, - location: { cutout: 'D3' }, + location: { cutout: 'cutoutD3' }, }, createdAt: 'fakeTimestamp', startedAt: 'fakeTimestamp', @@ -101,7 +101,7 @@ export function ProtocolRunSetup({ params: { fixtureId: 'stubbedFixtureId_2', loadName: STAGING_AREA_LOAD_NAME, - location: { cutout: 'B3' }, + location: { cutout: 'cutoutB3' }, }, createdAt: 'fakeTimestamp', startedAt: 'fakeTimestamp', @@ -114,7 +114,7 @@ export function ProtocolRunSetup({ params: { fixtureId: 'stubbedFixtureId_3', loadName: TRASH_BIN_LOAD_NAME, - location: { cutout: 'C3' }, + location: { cutout: 'cutoutC3' }, }, createdAt: 'fakeTimestamp', startedAt: 'fakeTimestamp', diff --git a/app/src/organisms/Devices/ProtocolRun/SetupLiquids/SetupLiquidsMap.tsx b/app/src/organisms/Devices/ProtocolRun/SetupLiquids/SetupLiquidsMap.tsx index d639664bdbb..3b718b29d52 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupLiquids/SetupLiquidsMap.tsx +++ b/app/src/organisms/Devices/ProtocolRun/SetupLiquids/SetupLiquidsMap.tsx @@ -96,6 +96,12 @@ export function SetupLiquidsMap( const topLabwareDisplayName = labwareInAdapterInMod?.params.displayName ?? module.nestedLabwareDisplayName + const nestedLabwareWellFill = getWellFillFromLabwareId( + module.nestedLabwareId ?? '', + liquids, + labwareByLiquidId + ) + const labwareHasLiquid = !isEmpty(nestedLabwareWellFill) return { moduleModel: module.moduleDef.model, @@ -106,18 +112,28 @@ export function SetupLiquidsMap( : {}, nestedLabwareDef: topLabwareDefinition, - moduleChildren: ( - <> - {topLabwareDefinition != null && topLabwareId != null ? ( + nestedLabwareWellFill, + moduleChildren: + topLabwareDefinition != null && topLabwareId != null ? ( + setHoverLabwareId(topLabwareId)} + onMouseLeave={() => setHoverLabwareId('')} + onClick={() => + labwareHasLiquid ? setLiquidDetailsLabwareId(topLabwareId) : null + } + cursor={labwareHasLiquid ? 'pointer' : ''} + > - ) : null} - - ), + + ) : null, } }) diff --git a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/LocationConflictModal.tsx b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/LocationConflictModal.tsx index c2ac2721c19..c4960344fa3 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/LocationConflictModal.tsx +++ b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/LocationConflictModal.tsx @@ -21,6 +21,7 @@ import { BORDERS, } from '@opentrons/components' import { + getCutoutDisplayName, getFixtureDisplayName, getModuleDisplayName, STANDARD_SLOT_LOAD_NAME, @@ -101,7 +102,7 @@ export const LocationConflictModal = ( i18nKey="deck_conflict_info" values={{ currentFixture: currentFixtureDisplayName, - cutout, + cutout: getCutoutDisplayName(cutout), }} components={{ block: , @@ -114,7 +115,7 @@ export const LocationConflictModal = ( fontWeight={TYPOGRAPHY.fontWeightBold} paddingBottom={SPACING.spacing8} > - {t('slot_location', { slotName: cutout })} + {t('slot_location', { slotName: getCutoutDisplayName(cutout) })} , @@ -210,7 +211,7 @@ export const LocationConflictModal = ( fontSize={TYPOGRAPHY.fontSizeH4} fontWeight={TYPOGRAPHY.fontWeightBold} > - {t('slot_location', { slotName: cutout })} + {t('slot_location', { slotName: getCutoutDisplayName(cutout) })} { beforeEach(() => { props = { onCloseClick: jest.fn(), - cutout: 'B3', + cutout: 'cutoutB3', requiredFixture: TRASH_BIN_LOAD_NAME, } mockUseDeckConfigurationQuery.mockReturnValue({ @@ -67,7 +67,7 @@ describe('LocationConflictModal', () => { it('should render the modal information for a module fixture conflict', () => { props = { onCloseClick: jest.fn(), - cutout: 'B3', + cutout: 'cutoutB3', requiredModule: 'heaterShakerModuleV1', } const { getByText, getByRole } = render(props) diff --git a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/NotConfiguredModal.test.tsx b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/NotConfiguredModal.test.tsx index d18bee369a8..6a000013101 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/NotConfiguredModal.test.tsx +++ b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/NotConfiguredModal.test.tsx @@ -23,7 +23,7 @@ describe('NotConfiguredModal', () => { beforeEach(() => { props = { onCloseClick: jest.fn(), - cutout: 'B3', + cutout: 'cutoutB3', requiredFixture: TRASH_BIN_LOAD_NAME, } mockUseUpdateDeckConfigurationMutation.mockReturnValue({ diff --git a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/SetupFixtureList.test.tsx b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/SetupFixtureList.test.tsx index 8da24a61675..f35e647914b 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/SetupFixtureList.test.tsx +++ b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/SetupFixtureList.test.tsx @@ -3,7 +3,7 @@ import { renderWithProviders } from '@opentrons/components' import { LoadFixtureRunTimeCommand, WASTE_CHUTE_LOAD_NAME, - WASTE_CHUTE_SLOT, + WASTE_CHUTE_CUTOUT, } from '@opentrons/shared-data' import { i18n } from '../../../../../i18n' import { useLoadedFixturesConfigStatus } from '../../../../../resources/deck_configuration/hooks' @@ -31,7 +31,7 @@ const mockLoadedFixture = { params: { fixtureId: 'stubbedFixtureId', loadName: WASTE_CHUTE_LOAD_NAME, - location: { cutout: 'D3' }, + location: { cutout: 'cutoutD3' }, }, createdAt: 'fakeTimestamp', startedAt: 'fakeTimestamp', @@ -74,7 +74,7 @@ describe('SetupFixtureList', () => { getByText('Status') getByText('Waste Chute') getByRole('button', { name: 'View setup instructions' }) - getByText(WASTE_CHUTE_SLOT) + getByText(WASTE_CHUTE_CUTOUT) getByText('Configured') }) it('should render the headers and a fixture with conflicted status', () => { diff --git a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/SetupModulesAndDeck.test.tsx b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/SetupModulesAndDeck.test.tsx index fa44f9b124c..4fd6e703904 100644 --- a/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/SetupModulesAndDeck.test.tsx +++ b/app/src/organisms/Devices/ProtocolRun/SetupModuleAndDeck/__tests__/SetupModulesAndDeck.test.tsx @@ -24,7 +24,7 @@ const mockLoadedFixturesBySlot: LoadedFixturesBySlot = { params: { fixtureId: 'stubbedFixtureId', loadName: WASTE_CHUTE_LOAD_NAME, - location: { cutout: 'D3' }, + location: { cutout: 'cutoutD3' }, }, createdAt: 'fakeTimestamp', startedAt: 'fakeTimestamp', diff --git a/app/src/organisms/Devices/ProtocolRun/utils/__tests__/getLabwareRenderInfo.test.ts b/app/src/organisms/Devices/ProtocolRun/utils/__tests__/getLabwareRenderInfo.test.ts index f865b679b0c..359e4faad3f 100644 --- a/app/src/organisms/Devices/ProtocolRun/utils/__tests__/getLabwareRenderInfo.test.ts +++ b/app/src/organisms/Devices/ProtocolRun/utils/__tests__/getLabwareRenderInfo.test.ts @@ -1,5 +1,5 @@ import _protocolWithMagTempTC from '@opentrons/shared-data/protocol/fixtures/6/transferSettings.json' -import _standardDeckDef from '@opentrons/shared-data/deck/definitions/3/ot2_standard.json' +import _standardDeckDef from '@opentrons/shared-data/deck/definitions/4/ot2_standard.json' import { getLabwareRenderInfo } from '../getLabwareRenderInfo' import type { CompletedProtocolAnalysis, diff --git a/app/src/organisms/Devices/ProtocolRun/utils/__tests__/getProtocolModulesInfo.test.ts b/app/src/organisms/Devices/ProtocolRun/utils/__tests__/getProtocolModulesInfo.test.ts index 7b7c2362eb0..f23a369d359 100644 --- a/app/src/organisms/Devices/ProtocolRun/utils/__tests__/getProtocolModulesInfo.test.ts +++ b/app/src/organisms/Devices/ProtocolRun/utils/__tests__/getProtocolModulesInfo.test.ts @@ -1,6 +1,6 @@ import _protocolWithMagTempTC from '@opentrons/shared-data/protocol/fixtures/6/transferSettings.json' import _protocolWithMultipleTemps from '@opentrons/shared-data/protocol/fixtures/6/multipleTempModules.json' -import _standardDeckDef from '@opentrons/shared-data/deck/definitions/3/ot2_standard.json' +import _standardDeckDef from '@opentrons/shared-data/deck/definitions/4/ot2_standard.json' import { getProtocolModulesInfo } from '../getProtocolModulesInfo' import { getModuleDef2, diff --git a/app/src/organisms/Devices/ProtocolRun/utils/getLabwareRenderInfo.ts b/app/src/organisms/Devices/ProtocolRun/utils/getLabwareRenderInfo.ts index f5fcc0ea240..74bf968d144 100644 --- a/app/src/organisms/Devices/ProtocolRun/utils/getLabwareRenderInfo.ts +++ b/app/src/organisms/Devices/ProtocolRun/utils/getLabwareRenderInfo.ts @@ -1,4 +1,7 @@ -import { getSlotHasMatingSurfaceUnitVector } from '@opentrons/shared-data' +import { + getPositionFromSlotId, + getSlotHasMatingSurfaceUnitVector, +} from '@opentrons/shared-data' import type { CompletedProtocolAnalysis, DeckDefinition, @@ -7,32 +10,6 @@ import type { ProtocolAnalysisOutput, } from '@opentrons/shared-data' -const getSlotPosition = ( - deckDef: DeckDefinition, - slotName: string -): [number, number, number] => { - let x = 0 - let y = 0 - let z = 0 - const slotPosition = deckDef.locations.orderedSlots.find( - orderedSlot => orderedSlot.id === slotName - )?.position - - if (slotPosition == null) { - console.error( - `expected to find a slot position for slot ${slotName} in ${String( - deckDef.metadata.displayName - )}, but could not` - ) - } else { - x = slotPosition[0] - y = slotPosition[1] - z = slotPosition[2] - } - - return [x, y, z] -} - export interface LabwareRenderInfoById { [labwareId: string]: { x: number @@ -74,13 +51,19 @@ export const getLabwareRenderInfo = ( )} but could not` ) } - // TODO(bh, 2023-10-19): convert this to deck definition v4 addressableAreas + const slotName = 'addressableAreaName' in location ? location.addressableAreaName : location.slotName - // TODO(bh, 2023-10-19): remove slotPosition when render info no longer relies on directly - const slotPosition = getSlotPosition(deckDef, slotName) + const slotPosition = getPositionFromSlotId(slotName, deckDef) + + if (slotPosition == null) { + console.warn( + `expected to find a position for slot ${slotName} in the standard deck definition, but could not` + ) + return acc + } const slotHasMatingSurfaceVector = getSlotHasMatingSurfaceUnitVector( deckDef, @@ -99,5 +82,5 @@ export const getLabwareRenderInfo = ( slotName, }, } - : { ...acc } + : acc }, {}) diff --git a/app/src/organisms/Devices/ProtocolRun/utils/getProtocolModulesInfo.ts b/app/src/organisms/Devices/ProtocolRun/utils/getProtocolModulesInfo.ts index 0b0f3bc23b0..37a5ca93a26 100644 --- a/app/src/organisms/Devices/ProtocolRun/utils/getProtocolModulesInfo.ts +++ b/app/src/organisms/Devices/ProtocolRun/utils/getProtocolModulesInfo.ts @@ -2,6 +2,7 @@ import { SPAN7_8_10_11_SLOT, getModuleDef2, getLoadedLabwareDefinitionsByUri, + getPositionFromSlotId, } from '@opentrons/shared-data' import { getModuleInitialLoadInfo } from './getModuleInitialLoadInfo' import type { @@ -68,13 +69,14 @@ export const getProtocolModulesInfo = ( if (slotName === SPAN7_8_10_11_SLOT) { slotName = '7' } - const slotPosition = - deckDef.locations.orderedSlots.find(slot => slot.id === slotName) - ?.position ?? [] - if (slotPosition.length === 0) { + + const slotPosition = getPositionFromSlotId(slotName, deckDef) + + if (slotPosition == null) { console.warn( - `expected to find a slot position for slot ${slotName} in the standard OT-2 deck definition, but could not` + `expected to find a position for slot ${slotName} in the standard deck definition, but could not` ) + return acc } return [ ...acc, diff --git a/app/src/organisms/Devices/hooks/__tests__/useLabwareRenderInfoForRunById.test.tsx b/app/src/organisms/Devices/hooks/__tests__/useLabwareRenderInfoForRunById.test.tsx index 2f596a43c23..fa6e2ed8996 100644 --- a/app/src/organisms/Devices/hooks/__tests__/useLabwareRenderInfoForRunById.test.tsx +++ b/app/src/organisms/Devices/hooks/__tests__/useLabwareRenderInfoForRunById.test.tsx @@ -1,7 +1,7 @@ import { renderHook } from '@testing-library/react-hooks' import { when, resetAllWhenMocks } from 'jest-when' -import standardDeckDef from '@opentrons/shared-data/deck/definitions/3/ot2_standard.json' +import standardDeckDef from '@opentrons/shared-data/deck/definitions/4/ot2_standard.json' import _heaterShakerCommandsWithResultsKey from '@opentrons/shared-data/protocol/fixtures/6/heaterShakerCommandsWithResultsKey.json' import { useMostRecentCompletedAnalysis } from '../../../LabwarePositionCheck/useMostRecentCompletedAnalysis' diff --git a/app/src/organisms/Devices/hooks/__tests__/useModuleRenderInfoForProtocolById.test.tsx b/app/src/organisms/Devices/hooks/__tests__/useModuleRenderInfoForProtocolById.test.tsx index 4946e81aa7d..17d70702dad 100644 --- a/app/src/organisms/Devices/hooks/__tests__/useModuleRenderInfoForProtocolById.test.tsx +++ b/app/src/organisms/Devices/hooks/__tests__/useModuleRenderInfoForProtocolById.test.tsx @@ -134,7 +134,7 @@ const TEMPERATURE_MODULE_INFO = { const mockFixture = { fixtureId: 'mockId', - fixtureLocation: 'D1', + fixtureLocation: 'cutoutD1', loadName: STAGING_AREA_LOAD_NAME, } as Fixture @@ -187,12 +187,15 @@ describe('useModuleRenderInfoForProtocolById hook', () => { ) expect(result.current).toStrictEqual({ magneticModuleId: { - conflictedFixture: mockFixture, + // TODO(bh, 2023-11-09): update this test once conflict logic has been updated to use getSimplestDeckConfigForProtocolCommands or similar + // conflictedFixture: mockFixture, + conflictedFixture: undefined, attachedModuleMatch: mockMagneticModuleGen2, ...MAGNETIC_MODULE_INFO, }, temperatureModuleId: { - conflictedFixture: mockFixture, + // conflictedFixture: mockFixture, + conflictedFixture: undefined, attachedModuleMatch: mockTemperatureModuleGen2, ...TEMPERATURE_MODULE_INFO, }, diff --git a/app/src/organisms/DropTipWizard/ChooseLocation.tsx b/app/src/organisms/DropTipWizard/ChooseLocation.tsx index deaedcc7b0a..72bdf5c1d85 100644 --- a/app/src/organisms/DropTipWizard/ChooseLocation.tsx +++ b/app/src/organisms/DropTipWizard/ChooseLocation.tsx @@ -1,6 +1,7 @@ import * as React from 'react' import { css } from 'styled-components' import { useTranslation } from 'react-i18next' + import { Flex, DIRECTION_COLUMN, @@ -14,13 +15,19 @@ import { SPACING, TYPOGRAPHY, } from '@opentrons/components' +import { + getDeckDefFromRobotType, + getPositionFromSlotId, +} from '@opentrons/shared-data' + +import { SmallButton } from '../../atoms/buttons' import { StyledText } from '../../atoms/text' +import { InProgressModal } from '../../molecules/InProgressModal/InProgressModal' // import { NeedHelpLink } from '../CalibrationPanels' import { TwoUpTileLayout } from '../LabwarePositionCheck/TwoUpTileLayout' -import { InProgressModal } from '../../molecules/InProgressModal/InProgressModal' -import { RobotType, getDeckDefFromRobotType } from '@opentrons/shared-data' + import type { CommandData } from '@opentrons/api-client' -import { SmallButton } from '../../atoms/buttons' +import type { RobotType } from '@opentrons/shared-data' // TODO: get help link article URL // const NEED_HELP_URL = '' @@ -56,13 +63,19 @@ export const ChooseLocation = ( ) const handleConfirmPosition: React.MouseEventHandler = () => { - const deckLocation = deckDef.locations.orderedSlots.find( + const deckSlot = deckDef.locations.addressableAreas.find( l => l.id === selectedLocation.slotName ) - const slotX = deckLocation?.position[0] - const slotY = deckLocation?.position[1] - const xDimension = deckLocation?.boundingBox.xDimension - const yDimension = deckLocation?.boundingBox.yDimension + + const slotPosition = getPositionFromSlotId( + selectedLocation.slotName, + deckDef + ) + + const slotX = slotPosition?.[0] + const slotY = slotPosition?.[1] + const xDimension = deckSlot?.boundingBox.xDimension + const yDimension = deckSlot?.boundingBox.yDimension if ( slotX != null && slotY != null && diff --git a/app/src/organisms/InterventionModal/MoveLabwareInterventionContent.tsx b/app/src/organisms/InterventionModal/MoveLabwareInterventionContent.tsx index aab4b2b359d..19659b7a537 100644 --- a/app/src/organisms/InterventionModal/MoveLabwareInterventionContent.tsx +++ b/app/src/organisms/InterventionModal/MoveLabwareInterventionContent.tsx @@ -196,8 +196,10 @@ export function MoveLabwareInterventionContent({ movedLabwareDef={movedLabwareDef} loadedModules={run.modules} loadedLabware={run.labware} - // TODO(bh, 2023-07-19): read trash slot name from protocol - trashLocation={robotType === 'OT-3 Standard' ? 'A3' : undefined} + // TODO(bh, 2023-07-19): remove when StyledDeck removed from MoveLabwareOnDeck + trashLocation={ + robotType === 'OT-3 Standard' ? 'cutoutA3' : undefined + } backgroundItems={ <> {moduleRenderInfo.map( diff --git a/app/src/organisms/InterventionModal/__tests__/utils.test.ts b/app/src/organisms/InterventionModal/__tests__/utils.test.ts index 8aa5b57b6bb..2e27af4bbac 100644 --- a/app/src/organisms/InterventionModal/__tests__/utils.test.ts +++ b/app/src/organisms/InterventionModal/__tests__/utils.test.ts @@ -1,7 +1,7 @@ import deepClone from 'lodash/cloneDeep' import { getSlotHasMatingSurfaceUnitVector } from '@opentrons/shared-data' -import deckDefFixture from '@opentrons/shared-data/deck/fixtures/3/deckExample.json' +import standardDeckDef from '@opentrons/shared-data/deck/definitions/4/ot2_standard.json' import { mockLabwareDefinition, @@ -141,7 +141,7 @@ describe('getRunLabwareRenderInfo', () => { const res = getRunLabwareRenderInfo( mockRunData, mockLabwareDefinitionsByUri, - deckDefFixture as any + standardDeckDef as any ) const labwareInfo = res[0] expect(labwareInfo).toBeTruthy() @@ -158,7 +158,7 @@ describe('getRunLabwareRenderInfo', () => { const res = getRunLabwareRenderInfo( mockRunData, mockLabwareDefinitionsByUri, - deckDefFixture as any + standardDeckDef as any ) expect(res).toHaveLength(1) // the offdeck labware still gets added because the mating surface doesn't exist for offdeck labware }) @@ -167,7 +167,7 @@ describe('getRunLabwareRenderInfo', () => { const res = getRunLabwareRenderInfo( mockRunData, mockLabwareDefinitionsByUri, - deckDefFixture as any + standardDeckDef as any ) expect(res).toHaveLength(2) const labwareInfo = res.find( @@ -176,7 +176,7 @@ describe('getRunLabwareRenderInfo', () => { expect(labwareInfo).toBeTruthy() expect(labwareInfo?.x).toEqual(0) expect(labwareInfo?.y).toEqual( - deckDefFixture.cornerOffsetFromOrigin[1] - + standardDeckDef.cornerOffsetFromOrigin[1] - mockLabwareDefinition.dimensions.yDimension ) }) @@ -193,7 +193,7 @@ describe('getRunLabwareRenderInfo', () => { const res = getRunLabwareRenderInfo( { labware: [mockBadSlotLabware] } as any, mockLabwareDefinitionsByUri, - deckDefFixture as any + standardDeckDef as any ) expect(res[0].x).toEqual(0) @@ -211,7 +211,7 @@ describe('getCurrentRunModuleRenderInfo', () => { it('returns run module render info with nested labware', () => { const res = getRunModuleRenderInfo( mockRunData, - deckDefFixture as any, + standardDeckDef as any, mockLabwareDefinitionsByUri ) const moduleInfo = res[0] @@ -232,7 +232,7 @@ describe('getCurrentRunModuleRenderInfo', () => { const res = getRunModuleRenderInfo( mockRunDataNoNesting, - deckDefFixture as any, + standardDeckDef as any, mockLabwareDefinitionsByUri ) @@ -249,7 +249,7 @@ describe('getCurrentRunModuleRenderInfo', () => { const res = getRunModuleRenderInfo( mockRunDataWithTC, - deckDefFixture as any, + standardDeckDef as any, mockLabwareDefinitionsByUri ) @@ -274,7 +274,7 @@ describe('getCurrentRunModuleRenderInfo', () => { const res = getRunModuleRenderInfo( mockRunDataWithBadModuleSlot, - deckDefFixture as any, + standardDeckDef as any, mockLabwareDefinitionsByUri ) diff --git a/app/src/organisms/InterventionModal/utils/getRunLabwareRenderInfo.ts b/app/src/organisms/InterventionModal/utils/getRunLabwareRenderInfo.ts index 3590d470522..1634e12cc2b 100644 --- a/app/src/organisms/InterventionModal/utils/getRunLabwareRenderInfo.ts +++ b/app/src/organisms/InterventionModal/utils/getRunLabwareRenderInfo.ts @@ -1,4 +1,7 @@ -import { getSlotHasMatingSurfaceUnitVector } from '@opentrons/shared-data' +import { + getPositionFromSlotId, + getSlotHasMatingSurfaceUnitVector, +} from '@opentrons/shared-data' import type { RunData } from '@opentrons/api-client' import type { @@ -40,19 +43,18 @@ export function getRunLabwareRenderInfo( 'addressableAreaName' in location ? location.addressableAreaName : location.slotName - const slotPosition = - deckDef.locations.orderedSlots.find(slot => slot.id === slotName) - ?.position ?? [] + const slotPosition = getPositionFromSlotId(slotName, deckDef) const slotHasMatingSurfaceVector = getSlotHasMatingSurfaceUnitVector( deckDef, slotName ) + return slotHasMatingSurfaceVector ? [ ...acc, { - x: slotPosition[0] ?? 0, - y: slotPosition[1] ?? 0, + x: slotPosition?.[0] ?? 0, + y: slotPosition?.[1] ?? 0, labwareId: labware.id, labwareDef, }, diff --git a/app/src/organisms/InterventionModal/utils/getRunModuleRenderInfo.ts b/app/src/organisms/InterventionModal/utils/getRunModuleRenderInfo.ts index 0413f60db7e..46c8a04869e 100644 --- a/app/src/organisms/InterventionModal/utils/getRunModuleRenderInfo.ts +++ b/app/src/organisms/InterventionModal/utils/getRunModuleRenderInfo.ts @@ -1,4 +1,8 @@ -import { SPAN7_8_10_11_SLOT, getModuleDef2 } from '@opentrons/shared-data' +import { + SPAN7_8_10_11_SLOT, + getModuleDef2, + getPositionFromSlotId, +} from '@opentrons/shared-data' import type { RunData } from '@opentrons/api-client' import type { @@ -37,16 +41,14 @@ export function getRunModuleRenderInfo( if (slotName === SPAN7_8_10_11_SLOT) { slotName = '7' } - const slotPosition = - deckDef.locations.orderedSlots.find(slot => slot.id === slotName) - ?.position ?? [] + const slotPosition = getPositionFromSlotId(slotName, deckDef) return [ ...acc, { moduleId: module.id, - x: slotPosition[0] ?? 0, - y: slotPosition[1] ?? 0, + x: slotPosition?.[0] ?? 0, + y: slotPosition?.[1] ?? 0, moduleDef, nestedLabwareDef, nestedLabwareId: nestedLabware?.id ?? null, diff --git a/app/src/organisms/ModuleWizardFlows/SelectLocation.tsx b/app/src/organisms/ModuleWizardFlows/SelectLocation.tsx index eb78f2b63aa..107813567e2 100644 --- a/app/src/organisms/ModuleWizardFlows/SelectLocation.tsx +++ b/app/src/organisms/ModuleWizardFlows/SelectLocation.tsx @@ -66,7 +66,7 @@ export const SelectLocation = ( deckDef={deckDef} selectedLocation={{ slotName }} setSelectedLocation={loc => setSlotName(loc.slotName)} - disabledLocations={deckDef.locations.orderedSlots.reduce< + disabledLocations={deckDef.locations.addressableAreas.reduce< ModuleLocation[] >((acc, slot) => { if (availableSlotNames.some(slotName => slotName === slot.id)) diff --git a/app/src/organisms/ProtocolDetails/index.tsx b/app/src/organisms/ProtocolDetails/index.tsx index da13f2147e0..9b017166cb9 100644 --- a/app/src/organisms/ProtocolDetails/index.tsx +++ b/app/src/organisms/ProtocolDetails/index.tsx @@ -244,7 +244,7 @@ export function ProtocolDetails( params: { fixtureId: 'stubbedFixtureId', loadName: WASTE_CHUTE_LOAD_NAME, - location: { cutout: 'D3' }, + location: { cutout: 'cutoutD3' }, }, createdAt: 'fakeTimestamp', startedAt: 'fakeTimestamp', diff --git a/app/src/organisms/ProtocolSetupDeckConfiguration/__tests__/ProtocolSetupDeckConfiguration.test.tsx b/app/src/organisms/ProtocolSetupDeckConfiguration/__tests__/ProtocolSetupDeckConfiguration.test.tsx index 3b9b63a492f..d453c00ded7 100644 --- a/app/src/organisms/ProtocolSetupDeckConfiguration/__tests__/ProtocolSetupDeckConfiguration.test.tsx +++ b/app/src/organisms/ProtocolSetupDeckConfiguration/__tests__/ProtocolSetupDeckConfiguration.test.tsx @@ -51,7 +51,7 @@ describe('ProtocolSetupDeckConfiguration', () => { beforeEach(() => { props = { - fixtureLocation: 'D3', + fixtureLocation: 'cutoutD3', runId: 'mockRunId', setSetupScreen: mockSetSetupScreen, providedFixtureOptions: [], diff --git a/app/src/organisms/ProtocolSetupDeckConfiguration/index.tsx b/app/src/organisms/ProtocolSetupDeckConfiguration/index.tsx index 8646070aa09..bb5638ac06a 100644 --- a/app/src/organisms/ProtocolSetupDeckConfiguration/index.tsx +++ b/app/src/organisms/ProtocolSetupDeckConfiguration/index.tsx @@ -57,7 +57,7 @@ export function ProtocolSetupDeckConfiguration({ params: { fixtureId: 'stubbedFixtureId', loadName: WASTE_CHUTE_LOAD_NAME, - location: { cutout: 'D3' }, + location: { cutout: 'cutoutD3' }, }, createdAt: 'fakeTimestamp', startedAt: 'fakeTimestamp', diff --git a/app/src/organisms/ProtocolSetupLabware/__tests__/ProtocolSetupLabware.test.tsx b/app/src/organisms/ProtocolSetupLabware/__tests__/ProtocolSetupLabware.test.tsx index 9a9c2a9999e..29d134884b9 100644 --- a/app/src/organisms/ProtocolSetupLabware/__tests__/ProtocolSetupLabware.test.tsx +++ b/app/src/organisms/ProtocolSetupLabware/__tests__/ProtocolSetupLabware.test.tsx @@ -7,7 +7,7 @@ import { useModulesQuery, } from '@opentrons/react-api-client' import { renderWithProviders } from '@opentrons/components' -import ot3StandardDeckDef from '@opentrons/shared-data/deck/definitions/3/ot3_standard.json' +import ot3StandardDeckDef from '@opentrons/shared-data/deck/definitions/4/ot3_standard.json' import { i18n } from '../../../i18n' import { useMostRecentCompletedAnalysis } from '../../../organisms/LabwarePositionCheck/useMostRecentCompletedAnalysis' diff --git a/app/src/organisms/ProtocolSetupModulesAndDeck/FixtureTable.tsx b/app/src/organisms/ProtocolSetupModulesAndDeck/FixtureTable.tsx index 7f5c0ba2542..ef77aae7f2a 100644 --- a/app/src/organisms/ProtocolSetupModulesAndDeck/FixtureTable.tsx +++ b/app/src/organisms/ProtocolSetupModulesAndDeck/FixtureTable.tsx @@ -14,6 +14,7 @@ import { TYPOGRAPHY, } from '@opentrons/components' import { + getCutoutDisplayName, getFixtureDisplayName, WASTE_CHUTE_LOAD_NAME, } from '@opentrons/shared-data' @@ -56,7 +57,7 @@ export function FixtureTable({ params: { fixtureId: 'stubbedFixtureId', loadName: WASTE_CHUTE_LOAD_NAME, - location: { cutout: 'D3' }, + location: { cutout: 'cutoutD3' }, }, createdAt: 'fakeTimestamp', startedAt: 'fakeTimestamp', @@ -176,7 +177,11 @@ export function FixtureTable({ - + { } const [{ getByText }] = render(props) getByText('Not configured').click() - expect(mockSetFixtureLocation).toHaveBeenCalledWith('D3') + expect(mockSetFixtureLocation).toHaveBeenCalledWith('cutoutD3') expect(mockSetSetupScreen).toHaveBeenCalledWith('deck configuration') expect(mockSetProvidedFixtureOptions).toHaveBeenCalledWith(['wasteChute']) }) diff --git a/app/src/pages/DeckConfiguration/__tests__/DeckConfiguration.test.tsx b/app/src/pages/DeckConfiguration/__tests__/DeckConfiguration.test.tsx index ebaccbd62a4..d9e7123ab68 100644 --- a/app/src/pages/DeckConfiguration/__tests__/DeckConfiguration.test.tsx +++ b/app/src/pages/DeckConfiguration/__tests__/DeckConfiguration.test.tsx @@ -30,7 +30,7 @@ jest.mock('react-router-dom', () => { const mockDeckConfig = [ { fixtureId: 'mockFixtureIdC3', - fixtureLocation: 'C3', + fixtureLocation: 'cutoutC3', loadName: TRASH_BIN_LOAD_NAME, }, ] diff --git a/app/src/pages/OnDeviceDisplay/ProtocolDetails/Hardware.tsx b/app/src/pages/OnDeviceDisplay/ProtocolDetails/Hardware.tsx index 5ec14ce19ff..44a64485d22 100644 --- a/app/src/pages/OnDeviceDisplay/ProtocolDetails/Hardware.tsx +++ b/app/src/pages/OnDeviceDisplay/ProtocolDetails/Hardware.tsx @@ -14,6 +14,7 @@ import { } from '@opentrons/components' import { GRIPPER_V1, + getCutoutDisplayName, getGripperDisplayName, getModuleDisplayName, getModuleType, @@ -130,7 +131,11 @@ export const Hardware = (props: { protocolId: string }): JSX.Element => { if (hardware.hardwareType === 'module') { location = } else if (hardware.hardwareType === 'fixture') { - location = + location = ( + + ) } return ( diff --git a/app/src/pages/OnDeviceDisplay/ProtocolDetails/__tests__/Hardware.test.tsx b/app/src/pages/OnDeviceDisplay/ProtocolDetails/__tests__/Hardware.test.tsx index 7c538f79bc5..c2f3fab61c5 100644 --- a/app/src/pages/OnDeviceDisplay/ProtocolDetails/__tests__/Hardware.test.tsx +++ b/app/src/pages/OnDeviceDisplay/ProtocolDetails/__tests__/Hardware.test.tsx @@ -3,7 +3,7 @@ import { when, resetAllWhenMocks } from 'jest-when' import { STAGING_AREA_LOAD_NAME, WASTE_CHUTE_LOAD_NAME, - WASTE_CHUTE_SLOT, + WASTE_CHUTE_CUTOUT, } from '@opentrons/shared-data' import { renderWithProviders } from '@opentrons/components' import { i18n } from '../../../../i18n' @@ -63,13 +63,13 @@ describe('Hardware', () => { { hardwareType: 'fixture', fixtureName: WASTE_CHUTE_LOAD_NAME, - location: { cutout: WASTE_CHUTE_SLOT }, + location: { cutout: WASTE_CHUTE_CUTOUT }, hasSlotConflict: false, }, { hardwareType: 'fixture', fixtureName: STAGING_AREA_LOAD_NAME, - location: { cutout: 'B3' }, + location: { cutout: 'cutoutB3' }, hasSlotConflict: false, }, ], diff --git a/app/src/pages/OnDeviceDisplay/ProtocolSetup/__tests__/ProtocolSetup.test.tsx b/app/src/pages/OnDeviceDisplay/ProtocolSetup/__tests__/ProtocolSetup.test.tsx index 16719381826..32358722ecc 100644 --- a/app/src/pages/OnDeviceDisplay/ProtocolSetup/__tests__/ProtocolSetup.test.tsx +++ b/app/src/pages/OnDeviceDisplay/ProtocolSetup/__tests__/ProtocolSetup.test.tsx @@ -231,7 +231,7 @@ const mockDoorStatus = { } const mockFixture = { fixtureId: 'mockId', - fixtureLocation: 'D1', + fixtureLocation: 'cutoutD1', loadName: STAGING_AREA_LOAD_NAME, } as Fixture diff --git a/app/src/pages/Protocols/hooks/index.ts b/app/src/pages/Protocols/hooks/index.ts index c5232d29f24..625f9831bc5 100644 --- a/app/src/pages/Protocols/hooks/index.ts +++ b/app/src/pages/Protocols/hooks/index.ts @@ -146,19 +146,19 @@ export const useRequiredProtocolHardwareFromAnalysis = ( { hardwareType: 'fixture', fixtureName: 'wasteChute', - location: { cutout: 'D3' }, + location: { cutout: 'cutoutD3' }, hasSlotConflict: false, }, { hardwareType: 'fixture', fixtureName: 'standardSlot', - location: { cutout: 'C3' }, + location: { cutout: 'cutoutC3' }, hasSlotConflict: false, }, { hardwareType: 'fixture', fixtureName: 'stagingArea', - location: { cutout: 'B3' }, + location: { cutout: 'cutoutB3' }, hasSlotConflict: false, }, ] diff --git a/app/src/resources/deck_configuration/__tests__/hooks.test.ts b/app/src/resources/deck_configuration/__tests__/hooks.test.ts index e4818eb31d0..2ee9eb57add 100644 --- a/app/src/resources/deck_configuration/__tests__/hooks.test.ts +++ b/app/src/resources/deck_configuration/__tests__/hooks.test.ts @@ -30,42 +30,42 @@ const mockUseDeckConfigurationQuery = useDeckConfigurationQuery as jest.MockedFu const MOCK_DECK_CONFIG: DeckConfiguration = [ { - fixtureLocation: 'A1', + fixtureLocation: 'cutoutA1', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'B1', + fixtureLocation: 'cutoutB1', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'C1', + fixtureLocation: 'cutoutC1', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'D1', + fixtureLocation: 'cutoutD1', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'A3', + fixtureLocation: 'cutoutA3', loadName: TRASH_BIN_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'B3', + fixtureLocation: 'cutoutB3', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'C3', + fixtureLocation: 'cutoutC3', loadName: STAGING_AREA_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'D3', + fixtureLocation: 'cutoutD3', loadName: WASTE_CHUTE_LOAD_NAME, fixtureId: uuidv4(), }, @@ -77,7 +77,7 @@ const WASTE_CHUTE_LOADED_FIXTURE: LoadFixtureRunTimeCommand = { params: { fixtureId: 'stubbedFixtureId', loadName: WASTE_CHUTE_LOAD_NAME, - location: { cutout: 'D3' }, + location: { cutout: 'cutoutD3' }, }, createdAt: 'fakeTimestamp', startedAt: 'fakeTimestamp', @@ -91,7 +91,7 @@ const STAGING_AREA_LOADED_FIXTURE: LoadFixtureRunTimeCommand = { params: { fixtureId: 'stubbedFixtureId', loadName: STAGING_AREA_LOAD_NAME, - location: { cutout: 'D3' }, + location: { cutout: 'cutoutD3' }, }, createdAt: 'fakeTimestamp', startedAt: 'fakeTimestamp', diff --git a/app/src/resources/deck_configuration/utils.ts b/app/src/resources/deck_configuration/utils.ts index fdc59aa539b..36150586b09 100644 --- a/app/src/resources/deck_configuration/utils.ts +++ b/app/src/resources/deck_configuration/utils.ts @@ -175,7 +175,7 @@ export function getDeckConfigFromProtocolCommands( ) } -function getCutoutFixturesForAddressableAreas( +export function getCutoutFixturesForAddressableAreas( addressableAreas: AddressableAreaName[], cutoutFixtures: CutoutFixture[] ): CutoutFixture[] { @@ -186,7 +186,7 @@ function getCutoutFixturesForAddressableAreas( ) } -function getCutoutFixturesForCutoutId( +export function getCutoutFixturesForCutoutId( cutoutId: CutoutId, cutoutFixtures: CutoutFixture[] ): CutoutFixture[] { @@ -195,7 +195,7 @@ function getCutoutFixturesForCutoutId( ) } -function getCutoutIdForAddressableArea( +export function getCutoutIdForAddressableArea( addressableArea: AddressableAreaName, cutoutFixtures: CutoutFixture[] ): CutoutId | null { @@ -210,7 +210,7 @@ function getCutoutIdForAddressableArea( }, null) } -function getSimplestFixtureForAddressableAreas( +export function getSimplestFixtureForAddressableAreas( cutoutId: CutoutId, requiredAddressableAreas: AddressableAreaName[], allCutoutFixtures: CutoutFixture[] diff --git a/components/src/hardware-sim/BaseDeck/BaseDeck.tsx b/components/src/hardware-sim/BaseDeck/BaseDeck.tsx index 1fe12ccdb91..28d66051393 100644 --- a/components/src/hardware-sim/BaseDeck/BaseDeck.tsx +++ b/components/src/hardware-sim/BaseDeck/BaseDeck.tsx @@ -1,25 +1,23 @@ import * as React from 'react' import { - RobotType, getDeckDefFromRobotType, - ModuleModel, - ModuleLocation, getModuleDef2, - LabwareDefinition2, + getPositionFromSlotId, inferModuleOrientationFromXCoordinate, - LabwareLocation, OT2_ROBOT_TYPE, - STAGING_AREA_LOAD_NAME, - STANDARD_SLOT_LOAD_NAME, - TRASH_BIN_LOAD_NAME, - WASTE_CHUTE_LOAD_NAME, + SINGLE_SLOT_FIXTURES, + STAGING_AREA_RIGHT_SLOT_FIXTURE, + TRASH_BIN_ADAPTER_FIXTURE, + WASTE_CHUTE_CUTOUT, + WASTE_CHUTE_FIXTURES, } from '@opentrons/shared-data' + import { RobotCoordinateSpace } from '../RobotCoordinateSpace' import { Module } from '../Module' import { LabwareRender } from '../Labware' import { FlexTrash } from '../Deck/FlexTrash' -import { DeckFromData } from '../Deck/DeckFromData' +import { DeckFromLayers } from '../Deck/DeckFromLayers' import { SlotLabels } from '../Deck' import { COLORS } from '../../ui-style-constants' @@ -32,10 +30,18 @@ import { StagingAreaFixture } from './StagingAreaFixture' import { WasteChuteFixture } from './WasteChuteFixture' // import { WasteChuteStagingAreaFixture } from './WasteChuteStagingAreaFixture' -import type { DeckConfiguration } from '@opentrons/shared-data' +import type { + DeckConfiguration, + LabwareDefinition2, + LabwareLocation, + ModuleLocation, + ModuleModel, + RobotType, + SingleSlotCutoutFixtureId, + WasteChuteCutoutFixtureId, +} from '@opentrons/shared-data' import type { TrashLocation } from '../Deck/FlexTrash' import type { StagingAreaLocation } from './StagingAreaFixture' -import type { WasteChuteLocation } from './WasteChuteFixture' import type { WellFill } from '../Labware' interface BaseDeckProps { @@ -80,21 +86,26 @@ export function BaseDeck(props: BaseDeckProps): JSX.Element { deckConfig = STANDARD_SLOT_DECK_CONFIG_FIXTURE, showExpansion = true, children, - showSlotLabels = false, + showSlotLabels = true, } = props const deckDef = getDeckDefFromRobotType(robotType) - const singleSlotFixtures = deckConfig.filter( - fixture => fixture.loadName === STANDARD_SLOT_LOAD_NAME + const singleSlotFixtures = deckConfig.filter(fixture => + SINGLE_SLOT_FIXTURES.includes( + fixture.fixtureId as SingleSlotCutoutFixtureId + ) ) const stagingAreaFixtures = deckConfig.filter( - fixture => fixture.loadName === STAGING_AREA_LOAD_NAME + fixture => fixture.fixtureId === STAGING_AREA_RIGHT_SLOT_FIXTURE ) const trashBinFixtures = deckConfig.filter( - fixture => fixture.loadName === TRASH_BIN_LOAD_NAME + fixture => fixture.fixtureId === TRASH_BIN_ADAPTER_FIXTURE ) const wasteChuteFixtures = deckConfig.filter( - fixture => fixture.loadName === WASTE_CHUTE_LOAD_NAME + fixture => + WASTE_CHUTE_FIXTURES.includes( + fixture.fixtureId as WasteChuteCutoutFixtureId + ) && fixture.fixtureLocation === WASTE_CHUTE_CUTOUT ) return ( @@ -102,13 +113,16 @@ export function BaseDeck(props: BaseDeckProps): JSX.Element { viewBox={`${deckDef.cornerOffsetFromOrigin[0]} ${deckDef.cornerOffsetFromOrigin[1]} ${deckDef.dimensions[0]} ${deckDef.dimensions[1]}`} > {robotType === OT2_ROBOT_TYPE ? ( - + ) : ( <> {singleSlotFixtures.map(fixture => ( ( ))} {trashBinFixtures.map(fixture => ( - + ( )} - {moduleLocations.map( - ({ - moduleModel, - moduleLocation, - nestedLabwareDef, - nestedLabwareWellFill, - innerProps, - moduleChildren, - onLabwareClick, - }) => { - const slotDef = deckDef.locations.orderedSlots.find( - s => s.id === moduleLocation.slotName - ) - const moduleDef = getModuleDef2(moduleModel) - return slotDef != null ? ( - - {nestedLabwareDef != null ? ( + <> + {moduleLocations.map( + ({ + moduleModel, + moduleLocation, + nestedLabwareDef, + nestedLabwareWellFill, + innerProps, + moduleChildren, + onLabwareClick, + }) => { + const slotPosition = getPositionFromSlotId( + moduleLocation.slotName, + deckDef + ) + + const moduleDef = getModuleDef2(moduleModel) + return slotPosition != null ? ( + + {nestedLabwareDef != null ? ( + + ) : null} + {moduleChildren} + + ) : null + } + )} + {labwareLocations.map( + ({ + labwareLocation, + definition, + labwareChildren, + wellFill, + onLabwareClick, + }) => { + if ( + labwareLocation === 'offDeck' || + !('slotName' in labwareLocation) + ) { + return null + } + + const slotPosition = getPositionFromSlotId( + labwareLocation.slotName, + deckDef + ) + + return slotPosition != null ? ( + - ) : null} - {moduleChildren} - - ) : null - } - )} - {labwareLocations.map( - ({ - labwareLocation, - definition, - labwareChildren, - wellFill, - onLabwareClick, - }) => { - const slotDef = deckDef.locations.orderedSlots.find( - s => - labwareLocation !== 'offDeck' && - 'slotName' in labwareLocation && - s.id === labwareLocation.slotName - ) - return slotDef != null ? ( - - - {labwareChildren} - - ) : null - } - )} - {showSlotLabels ? ( - - ) : null} + {labwareChildren} + + ) : null + } + )} + {showSlotLabels ? ( + + ) : null} + {children} ) diff --git a/components/src/hardware-sim/BaseDeck/SingleSlotFixture.tsx b/components/src/hardware-sim/BaseDeck/SingleSlotFixture.tsx index 7e763a0fb7f..0fe3ff526e6 100644 --- a/components/src/hardware-sim/BaseDeck/SingleSlotFixture.tsx +++ b/components/src/hardware-sim/BaseDeck/SingleSlotFixture.tsx @@ -3,10 +3,14 @@ import * as React from 'react' import { SlotBase } from './SlotBase' import { SlotClip } from './SlotClip' -import type { Cutout, DeckDefinition, ModuleType } from '@opentrons/shared-data' +import type { + CutoutId, + DeckDefinition, + ModuleType, +} from '@opentrons/shared-data' interface SingleSlotFixtureProps extends React.SVGProps { - cutoutLocation: Cutout + cutoutId: CutoutId deckDefinition: DeckDefinition moduleType?: ModuleType fixtureBaseColor?: React.SVGProps['fill'] @@ -18,7 +22,7 @@ export function SingleSlotFixture( props: SingleSlotFixtureProps ): JSX.Element | null { const { - cutoutLocation, + cutoutId, deckDefinition, fixtureBaseColor, slotClipColor, @@ -26,9 +30,8 @@ export function SingleSlotFixture( ...restProps } = props - // TODO(bh, 2023-10-09): migrate from "orderedSlots" to v4 "cutouts" key - const cutoutDef = deckDefinition?.locations.orderedSlots.find( - s => s.id === cutoutLocation + const cutoutDef = deckDefinition?.locations.cutouts.find( + s => s.id === cutoutId ) if (cutoutDef == null) { console.warn( @@ -38,9 +41,9 @@ export function SingleSlotFixture( } const contentsByCutoutLocation: { - [cutoutLocation in Cutout]: JSX.Element + [cutoutId in CutoutId]: JSX.Element } = { - A1: ( + cutoutA1: ( <> {showExpansion ? ( ), - A2: ( + cutoutA2: ( <> ), - A3: ( + cutoutA3: ( <> ), - B1: ( + cutoutB1: ( <> ), - B2: ( + cutoutB2: ( <> ), - B3: ( + cutoutB3: ( <> ), - C1: ( + cutoutC1: ( <> ), - C2: ( + cutoutC2: ( <> ), - C3: ( + cutoutC3: ( <> ), - D1: ( + cutoutD1: ( <> ), - D2: ( + cutoutD2: ( <> ), - D3: ( + cutoutD3: ( <> {contentsByCutoutLocation[cutoutLocation]} + return {contentsByCutoutLocation[cutoutId]} } diff --git a/components/src/hardware-sim/BaseDeck/StagingAreaFixture.tsx b/components/src/hardware-sim/BaseDeck/StagingAreaFixture.tsx index 2b3d8491da6..3e87517110a 100644 --- a/components/src/hardware-sim/BaseDeck/StagingAreaFixture.tsx +++ b/components/src/hardware-sim/BaseDeck/StagingAreaFixture.tsx @@ -8,7 +8,7 @@ import type { DeckDefinition, ModuleType } from '@opentrons/shared-data' export type StagingAreaLocation = 'A3' | 'B3' | 'C3' | 'D3' interface StagingAreaFixtureProps extends React.SVGProps { - cutoutLocation: StagingAreaLocation + cutoutId: StagingAreaLocation deckDefinition: DeckDefinition moduleType?: ModuleType fixtureBaseColor?: React.SVGProps['fill'] @@ -20,16 +20,15 @@ export function StagingAreaFixture( props: StagingAreaFixtureProps ): JSX.Element | null { const { - cutoutLocation, + cutoutId, deckDefinition, fixtureBaseColor, slotClipColor, ...restProps } = props - // TODO(bh, 2023-10-09): migrate from "orderedSlots" to v4 "cutouts" key - const cutoutDef = deckDefinition?.locations.orderedSlots.find( - s => s.id === cutoutLocation + const cutoutDef = deckDefinition?.locations.cutouts.find( + s => s.id === cutoutId ) if (cutoutDef == null) { console.warn( @@ -38,9 +37,8 @@ export function StagingAreaFixture( return null } - // TODO(bh, 2023-10-10): adjust base and clip d values if needed to fit v4 deck definition const contentsByCutoutLocation: { - [cutoutLocation in StagingAreaLocation]: JSX.Element + [cutoutId in StagingAreaLocation]: JSX.Element } = { A3: ( <> @@ -108,5 +106,5 @@ export function StagingAreaFixture( ), } - return {contentsByCutoutLocation[cutoutLocation]} + return {contentsByCutoutLocation[cutoutId]} } diff --git a/components/src/hardware-sim/BaseDeck/WasteChuteFixture.tsx b/components/src/hardware-sim/BaseDeck/WasteChuteFixture.tsx index a4ac6673bf5..0ef8b60d848 100644 --- a/components/src/hardware-sim/BaseDeck/WasteChuteFixture.tsx +++ b/components/src/hardware-sim/BaseDeck/WasteChuteFixture.tsx @@ -1,5 +1,7 @@ import * as React from 'react' +import { WASTE_CHUTE_CUTOUT } from '@opentrons/shared-data' + import { Icon } from '../../icons' import { Flex, Text } from '../../primitives' import { ALIGN_CENTER, DIRECTION_COLUMN, JUSTIFY_CENTER } from '../../styles' @@ -9,11 +11,8 @@ import { SlotBase } from './SlotBase' import type { DeckDefinition, ModuleType } from '@opentrons/shared-data' -// waste chute only in cutout location D3 -export type WasteChuteLocation = 'D3' - interface WasteChuteFixtureProps extends React.SVGProps { - cutoutLocation: WasteChuteLocation + cutoutId: typeof WASTE_CHUTE_CUTOUT deckDefinition: DeckDefinition moduleType?: ModuleType fixtureBaseColor?: React.SVGProps['fill'] @@ -25,23 +24,22 @@ export function WasteChuteFixture( props: WasteChuteFixtureProps ): JSX.Element | null { const { - cutoutLocation, + cutoutId, deckDefinition, fixtureBaseColor = COLORS.light1, slotClipColor = COLORS.darkGreyEnabled, ...restProps } = props - if (cutoutLocation !== 'D3') { + if (cutoutId !== 'cutoutD3') { console.warn( - `cannot render WasteChuteFixture in given cutout location ${cutoutLocation}` + `cannot render WasteChuteFixture in given cutout location ${cutoutId}` ) return null } - // TODO(bh, 2023-10-09): migrate from "orderedSlots" to v4 "cutouts" key - const cutoutDef = deckDefinition?.locations.orderedSlots.find( - s => s.id === cutoutLocation + const cutoutDef = deckDefinition?.locations.cutouts.find( + s => s.id === cutoutId ) if (cutoutDef == null) { console.warn( @@ -50,7 +48,6 @@ export function WasteChuteFixture( return null } - // TODO(bh, 2023-10-10): adjust base and clip d values if needed to fit v4 deck definition return ( { - cutoutLocation: WasteChuteLocation + cutoutId: typeof WASTE_CHUTE_CUTOUT deckDefinition: DeckDefinition moduleType?: ModuleType fixtureBaseColor?: React.SVGProps['fill'] @@ -22,23 +23,22 @@ export function WasteChuteStagingAreaFixture( props: WasteChuteStagingAreaFixtureProps ): JSX.Element | null { const { - cutoutLocation, + cutoutId, deckDefinition, fixtureBaseColor = COLORS.light1, slotClipColor = COLORS.darkGreyEnabled, ...restProps } = props - if (cutoutLocation !== 'D3') { + if (cutoutId !== WASTE_CHUTE_CUTOUT) { console.warn( - `cannot render WasteChuteStagingAreaFixture in given cutout location ${cutoutLocation}` + `cannot render WasteChuteStagingAreaFixture in given cutout location ${cutoutId}` ) return null } - // TODO(bh, 2023-10-09): migrate from "orderedSlots" to v4 "cutouts" key - const cutoutDef = deckDefinition?.locations.orderedSlots.find( - s => s.id === cutoutLocation + const cutoutDef = deckDefinition?.locations.cutouts.find( + s => s.id === cutoutId ) if (cutoutDef == null) { console.warn( @@ -47,7 +47,6 @@ export function WasteChuteStagingAreaFixture( return null } - // TODO(bh, 2023-10-10): adjust base and clip d values if needed to fit v4 deck definition return ( // TODO: render a "Waste chute" foreign object similar to FlexTrash diff --git a/components/src/hardware-sim/BaseDeck/__fixtures__/index.ts b/components/src/hardware-sim/BaseDeck/__fixtures__/index.ts index e643be8aad2..a994039df34 100644 --- a/components/src/hardware-sim/BaseDeck/__fixtures__/index.ts +++ b/components/src/hardware-sim/BaseDeck/__fixtures__/index.ts @@ -11,62 +11,62 @@ import type { DeckConfiguration } from '@opentrons/shared-data' export const STANDARD_SLOT_DECK_CONFIG_FIXTURE: DeckConfiguration = [ { - fixtureLocation: 'A1', + fixtureLocation: 'cutoutA1', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'B1', + fixtureLocation: 'cutoutB1', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'C1', + fixtureLocation: 'cutoutC1', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'D1', + fixtureLocation: 'cutoutD1', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'A2', + fixtureLocation: 'cutoutA2', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'B2', + fixtureLocation: 'cutoutB2', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'C2', + fixtureLocation: 'cutoutC2', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'D2', + fixtureLocation: 'cutoutD2', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'A3', + fixtureLocation: 'cutoutA3', loadName: TRASH_BIN_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'B3', + fixtureLocation: 'cutoutB3', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'C3', + fixtureLocation: 'cutoutC3', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'D3', + fixtureLocation: 'cutoutD3', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, @@ -75,62 +75,62 @@ export const STANDARD_SLOT_DECK_CONFIG_FIXTURE: DeckConfiguration = [ // contains staging area fixtures export const EXTENDED_DECK_CONFIG_FIXTURE: DeckConfiguration = [ { - fixtureLocation: 'A1', + fixtureLocation: 'cutoutA1', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'B1', + fixtureLocation: 'cutoutB1', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'C1', + fixtureLocation: 'cutoutC1', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'D1', + fixtureLocation: 'cutoutD1', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'A2', + fixtureLocation: 'cutoutA2', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'B2', + fixtureLocation: 'cutoutB2', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'C2', + fixtureLocation: 'cutoutC2', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'D2', + fixtureLocation: 'cutoutD2', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'A3', + fixtureLocation: 'cutoutA3', loadName: TRASH_BIN_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'B3', + fixtureLocation: 'cutoutB3', loadName: STAGING_AREA_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'C3', + fixtureLocation: 'cutoutC3', loadName: STAGING_AREA_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'D3', + fixtureLocation: 'cutoutD3', loadName: STAGING_AREA_LOAD_NAME, fixtureId: uuidv4(), }, @@ -139,62 +139,62 @@ export const EXTENDED_DECK_CONFIG_FIXTURE: DeckConfiguration = [ // contains waste chute fixture export const WASTE_CHUTE_DECK_CONFIG_FIXTURE: DeckConfiguration = [ { - fixtureLocation: 'A1', + fixtureLocation: 'cutoutA1', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'B1', + fixtureLocation: 'cutoutB1', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'C1', + fixtureLocation: 'cutoutC1', loadName: TRASH_BIN_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'D1', + fixtureLocation: 'cutoutD1', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'A2', + fixtureLocation: 'cutoutA2', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'B2', + fixtureLocation: 'cutoutB2', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'C2', + fixtureLocation: 'cutoutC2', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'D2', + fixtureLocation: 'cutoutD2', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'A3', + fixtureLocation: 'cutoutA3', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'B3', + fixtureLocation: 'cutoutB3', loadName: STAGING_AREA_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'C3', + fixtureLocation: 'cutoutC3', loadName: STAGING_AREA_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'D3', + fixtureLocation: 'cutoutD3', loadName: WASTE_CHUTE_LOAD_NAME, fixtureId: uuidv4(), }, diff --git a/components/src/hardware-sim/Deck/DeckFromData.tsx b/components/src/hardware-sim/Deck/DeckFromLayers.tsx similarity index 59% rename from components/src/hardware-sim/Deck/DeckFromData.tsx rename to components/src/hardware-sim/Deck/DeckFromLayers.tsx index 5cd4877a31b..b5dd4c519f0 100644 --- a/components/src/hardware-sim/Deck/DeckFromData.tsx +++ b/components/src/hardware-sim/Deck/DeckFromLayers.tsx @@ -2,11 +2,14 @@ import * as React from 'react' import parseHtml from 'html-react-parser' import { stringify } from 'svgson' +import ot2DeckDefV3 from '@opentrons/shared-data/deck/definitions/3/ot2_standard.json' +import { OT2_ROBOT_TYPE } from '@opentrons/shared-data' + import type { INode } from 'svgson' -import type { DeckDefinition } from '@opentrons/shared-data' +import type { RobotType } from '@opentrons/shared-data' -export interface DeckFromDataProps { - def: DeckDefinition +export interface DeckFromLayersProps { + robotType: RobotType layerBlocklist: string[] } @@ -27,10 +30,21 @@ function filterLayerGroupNodes( }, []) } -export function DeckFromData(props: DeckFromDataProps): JSX.Element { - const { def, layerBlocklist = [] } = props +/** + * a component that renders an OT-2 deck from the V3 deck definition layers property + * takes a robot type prop to protect against an attempted Flex render + */ +export function DeckFromLayers(props: DeckFromLayersProps): JSX.Element | null { + const { robotType, layerBlocklist = [] } = props + + // early return null if not OT-2 + if (robotType !== OT2_ROBOT_TYPE) return null - const layerGroupNodes = filterLayerGroupNodes(def.layers, layerBlocklist) + // get layers from OT-2 deck definition v3 + const layerGroupNodes = filterLayerGroupNodes( + ot2DeckDefV3.layers, + layerBlocklist + ) const groupNodeWrapper = { name: 'g', diff --git a/components/src/hardware-sim/Deck/FlexTrash.tsx b/components/src/hardware-sim/Deck/FlexTrash.tsx index 11c25da03ab..6a2d28ac20c 100644 --- a/components/src/hardware-sim/Deck/FlexTrash.tsx +++ b/components/src/hardware-sim/Deck/FlexTrash.tsx @@ -1,26 +1,30 @@ import * as React from 'react' +import { + FLEX_ROBOT_TYPE, + getDeckDefFromRobotType, +} from '@opentrons/shared-data' + import { Icon } from '../../icons' import { Flex, Text } from '../../primitives' import { ALIGN_CENTER, JUSTIFY_CENTER } from '../../styles' import { BORDERS, TYPOGRAPHY } from '../../ui-style-constants' import { RobotCoordsForeignObject } from './RobotCoordsForeignObject' -import { getDeckDefFromRobotType } from '@opentrons/shared-data' import trashDef from '@opentrons/shared-data/labware/definitions/2/opentrons_1_trash_3200ml_fixed/1.json' import type { RobotType } from '@opentrons/shared-data' // only allow edge cutout locations (columns 1 and 3) export type TrashLocation = - | 'A1' - | 'B1' - | 'C1' - | 'D1' - | 'A3' - | 'B3' - | 'C3' - | 'D3' + | 'cutoutA1' + | 'cutoutB1' + | 'cutoutC1' + | 'cutoutD1' + | 'cutoutA3' + | 'cutoutB3' + | 'cutoutC3' + | 'cutoutD3' interface FlexTrashProps { robotType: RobotType @@ -40,19 +44,18 @@ export const FlexTrash = ({ trashLocation, }: FlexTrashProps): JSX.Element | null => { // be sure we don't try to render for an OT-2 - if (robotType !== 'OT-3 Standard') return null + if (robotType !== FLEX_ROBOT_TYPE) return null + + const deckDefinition = getDeckDefFromRobotType(robotType) - const deckDef = getDeckDefFromRobotType(robotType) - // TODO(bh, 2023-10-09): migrate from "orderedSlots" to v4 "cutouts" key - const trashSlot = deckDef.locations.orderedSlots.find( + const trashSlot = deckDefinition.locations.cutouts.find( slot => slot.id === trashLocation ) // retrieve slot x,y positions and dimensions from deck definition for the given trash slot // TODO(bh, 2023-10-09): refactor position, offsets, and rotation after v4 migration const [x = 0, y = 0] = trashSlot?.position ?? [] - const { xDimension: slotXDimension = 0, yDimension: slotYDimension = 0 } = - trashSlot?.boundingBox ?? {} + const [slotXDimension = 0, slotYDimension = 0] = trashSlot?.position ?? [] // adjust for dimensions from trash definition const { x: xAdjustment, y: yAdjustment } = trashDef.cornerOffsetFromSlot @@ -60,10 +63,10 @@ export const FlexTrash = ({ // rotate trash 180 degrees in column 1 const rotateDegrees = - trashLocation === 'A1' || - trashLocation === 'B1' || - trashLocation === 'C1' || - trashLocation === 'D1' + trashLocation === 'cutoutA1' || + trashLocation === 'cutoutB1' || + trashLocation === 'cutoutC1' || + trashLocation === 'cutoutD1' ? '180' : '0' diff --git a/components/src/hardware-sim/Deck/MoveLabwareOnDeck.tsx b/components/src/hardware-sim/Deck/MoveLabwareOnDeck.tsx index a93f06ca8ae..b1926a0467e 100644 --- a/components/src/hardware-sim/Deck/MoveLabwareOnDeck.tsx +++ b/components/src/hardware-sim/Deck/MoveLabwareOnDeck.tsx @@ -7,6 +7,7 @@ import { LoadedModule, getDeckDefFromRobotType, getModuleDef2, + getPositionFromSlotId, LoadedLabware, } from '@opentrons/shared-data' @@ -19,28 +20,31 @@ import type { LabwareDefinition2, LabwareLocation, RobotType, - DeckSlot, DeckDefinition, } from '@opentrons/shared-data' import type { StyleProps } from '../../primitives' import type { TrashLocation } from './FlexTrash' const getModulePosition = ( - orderedSlots: DeckSlot[], + deckDef: DeckDefinition, moduleId: string, - loadedModules: LoadedModule[], - deckId: DeckDefinition['otId'] + loadedModules: LoadedModule[] ): Coordinates | null => { const loadedModule = loadedModules.find(m => m.id === moduleId) if (loadedModule == null) return null - const modSlot = orderedSlots.find( + const modSlot = deckDef.locations.addressableAreas.find( s => s.id === loadedModule.location.slotName ) if (modSlot == null) return null - const [modX, modY] = modSlot.position + + const modPosition = getPositionFromSlotId(loadedModule.id, deckDef) + if (modPosition == null) return null + const [modX, modY] = modPosition + const deckSpecificAffineTransform = - getModuleDef2(loadedModule.model).slotTransforms?.[deckId]?.[modSlot.id] - ?.labwareOffset ?? IDENTITY_AFFINE_TRANSFORM + getModuleDef2(loadedModule.model).slotTransforms?.[deckDef.otId]?.[ + modSlot.id + ]?.labwareOffset ?? IDENTITY_AFFINE_TRANSFORM const [[labwareX], [labwareY], [labwareZ]] = multiplyMatrices( [[modX], [modY], [1], [1]], deckSpecificAffineTransform @@ -49,15 +53,13 @@ const getModulePosition = ( } function getLabwareCoordinates({ - orderedSlots, + deckDef, location, - deckId, loadedModules, loadedLabware, }: { - orderedSlots: DeckSlot[] + deckDef: DeckDefinition location: LabwareLocation - deckId: DeckDefinition['otId'] loadedModules: LoadedModule[] loadedLabware: LoadedLabware[] }): Coordinates | null { @@ -76,32 +78,31 @@ function getLabwareCoordinates({ // adapter on module if ('moduleId' in loadedAdapterLocation) { return getModulePosition( - orderedSlots, + deckDef, loadedAdapterLocation.moduleId, - loadedModules, - deckId + loadedModules ) } // adapter on deck - const loadedAdapterSlot = orderedSlots.find( - s => - s.id === - ('slotName' in loadedAdapterLocation - ? loadedAdapterLocation.slotName - : loadedAdapterLocation.addressableAreaName) + const loadedAdapterSlotPosition = getPositionFromSlotId( + 'slotName' in loadedAdapterLocation + ? loadedAdapterLocation.slotName + : loadedAdapterLocation.addressableAreaName, + deckDef ) - return loadedAdapterSlot != null + return loadedAdapterSlotPosition != null ? { - x: loadedAdapterSlot.position[0], - y: loadedAdapterSlot.position[1], - z: loadedAdapterSlot.position[2], + x: loadedAdapterSlotPosition[0], + y: loadedAdapterSlotPosition[1], + z: loadedAdapterSlotPosition[2], } : null } else if ('addressableAreaName' in location) { - const slotCoordinateTuple = - orderedSlots.find(s => s.id === location.addressableAreaName)?.position ?? - null + const slotCoordinateTuple = getPositionFromSlotId( + location.addressableAreaName, + deckDef + ) return slotCoordinateTuple != null ? { x: slotCoordinateTuple[0], @@ -110,8 +111,10 @@ function getLabwareCoordinates({ } : null } else if ('slotName' in location) { - const slotCoordinateTuple = - orderedSlots.find(s => s.id === location.slotName)?.position ?? null + const slotCoordinateTuple = getPositionFromSlotId( + location.slotName, + deckDef + ) return slotCoordinateTuple != null ? { x: slotCoordinateTuple[0], @@ -120,12 +123,7 @@ function getLabwareCoordinates({ } : null } else { - return getModulePosition( - orderedSlots, - location.moduleId, - loadedModules, - deckId - ) + return getModulePosition(deckDef, location.moduleId, loadedModules) } } @@ -162,8 +160,20 @@ export function MoveLabwareOnDeck( robotType, ]) + const initialSlotId = + initialLabwareLocation === 'offDeck' || + !('slotName' in initialLabwareLocation) + ? deckDef.locations.addressableAreas[1].id + : initialLabwareLocation.slotName + + const slotPosition = getPositionFromSlotId(initialSlotId, deckDef) ?? [ + 0, + 0, + 0, + ] + const offDeckPosition = { - x: deckDef.locations.orderedSlots[1].position[0], + x: slotPosition[0], y: deckDef.cornerOffsetFromOrigin[1] - movedLabwareDef.dimensions.xDimension - @@ -171,18 +181,16 @@ export function MoveLabwareOnDeck( } const initialPosition = getLabwareCoordinates({ - orderedSlots: deckDef.locations.orderedSlots, + deckDef, location: initialLabwareLocation, loadedModules, - deckId: deckDef.otId, loadedLabware, }) ?? offDeckPosition const finalPosition = getLabwareCoordinates({ - orderedSlots: deckDef.locations.orderedSlots, + deckDef, location: finalLabwareLocation, loadedModules, - deckId: deckDef.otId, loadedLabware, }) ?? offDeckPosition @@ -220,10 +228,11 @@ export function MoveLabwareOnDeck( {...styleProps} > {deckDef != null && ( + // TODO(bh, 2023-11-06): change reference to BaseDeck, pass in deck config as prop, render animation as children )} diff --git a/components/src/hardware-sim/Deck/RobotWorkSpace.tsx b/components/src/hardware-sim/Deck/RobotWorkSpace.tsx index 5f36dababc5..cf3e24e578d 100644 --- a/components/src/hardware-sim/Deck/RobotWorkSpace.tsx +++ b/components/src/hardware-sim/Deck/RobotWorkSpace.tsx @@ -1,4 +1,5 @@ import * as React from 'react' +import { OT2_ROBOT_TYPE } from '@opentrons/shared-data' import { StyleProps, Svg } from '../../primitives' import { StyledDeck } from './StyledDeck' @@ -19,6 +20,8 @@ export interface RobotWorkSpaceProps extends StyleProps { children?: (props: RobotWorkSpaceRenderProps) => React.ReactNode deckFill?: string deckLayerBlocklist?: string[] + // optional boolean to show the OT-2 deck from deck defintion layers + showDeckLayers?: boolean // TODO(bh, 2023-10-09): remove trashSlotName?: TrashLocation trashColor?: string @@ -33,6 +36,7 @@ export function RobotWorkSpace(props: RobotWorkSpaceProps): JSX.Element | null { deckDef, deckFill = '#CCCCCC', deckLayerBlocklist = [], + showDeckLayers = false, trashSlotName, viewBox, trashColor, @@ -65,7 +69,7 @@ export function RobotWorkSpace(props: RobotWorkSpaceProps): JSX.Element | null { const [viewBoxOriginX, viewBoxOriginY] = deckDef.cornerOffsetFromOrigin const [deckXDimension, deckYDimension] = deckDef.dimensions - deckSlotsById = deckDef.locations.orderedSlots.reduce( + deckSlotsById = deckDef.locations.addressableAreas.reduce( (acc, deckSlot) => ({ ...acc, [deckSlot.id]: deckSlot }), {} ) @@ -80,15 +84,15 @@ export function RobotWorkSpace(props: RobotWorkSpaceProps): JSX.Element | null { transform="scale(1, -1)" {...styleProps} > - {deckDef != null && ( + {showDeckLayers ? ( - )} + ) : null} {children?.({ deckSlotsById, getRobotCoordsFromDOMCoords })} ) diff --git a/components/src/hardware-sim/Deck/StyledDeck.tsx b/components/src/hardware-sim/Deck/StyledDeck.tsx index 55e1cbfc3c9..de990cebe3a 100644 --- a/components/src/hardware-sim/Deck/StyledDeck.tsx +++ b/components/src/hardware-sim/Deck/StyledDeck.tsx @@ -1,51 +1,53 @@ import * as React from 'react' import styled from 'styled-components' -import { DeckFromData } from './DeckFromData' +import { DeckFromLayers } from './DeckFromLayers' import { FlexTrash } from './FlexTrash' -import type { DeckFromDataProps } from './DeckFromData' +import type { RobotType } from '@opentrons/shared-data' +import type { DeckFromLayersProps } from './DeckFromLayers' import type { TrashLocation } from './FlexTrash' interface StyledDeckProps { deckFill: string + robotType: RobotType trashColor?: string trashLocation?: TrashLocation } // apply fill to .SLOT_BASE class from ot3_standard deck definition -const StyledG = styled.g` +const StyledG = styled.g>` .SLOT_BASE { fill: ${props => props.deckFill}; } ` export function StyledDeck( - props: StyledDeckProps & DeckFromDataProps + props: StyledDeckProps & DeckFromLayersProps ): JSX.Element { const { deckFill, + robotType, trashLocation, trashColor = '#757070', - ...deckFromDataProps + ...DeckFromLayersProps } = props - - const robotType = deckFromDataProps.def.robot.model ?? 'OT-2 Standard' - const trashSlotClipId = trashLocation != null ? `SLOT_CLIPS_${trashLocation}` : null const trashLayerBlocklist = trashSlotClipId != null - ? deckFromDataProps.layerBlocklist.concat(trashSlotClipId) - : deckFromDataProps.layerBlocklist + ? DeckFromLayersProps.layerBlocklist.concat(trashSlotClipId) + : DeckFromLayersProps.layerBlocklist return ( - + {/* TODO(bh, 2023-11-06): remove trash and trashLocation prop when StyledDeck removed from MoveLabwareOnDeck */} {trashLocation != null ? ( > = args => ( ) -const deckConfig = [ +const deckConfig: Fixture[] = [ { - fixtureLocation: 'A1', + fixtureLocation: 'cutoutA1', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'B1', + fixtureLocation: 'cutoutB1', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'C1', + fixtureLocation: 'cutoutC1', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'D1', + fixtureLocation: 'cutoutD1', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'A3', + fixtureLocation: 'cutoutA3', loadName: TRASH_BIN_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'B3', + fixtureLocation: 'cutoutB3', loadName: STANDARD_SLOT_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'C3', + fixtureLocation: 'cutoutC3', loadName: STAGING_AREA_LOAD_NAME, fixtureId: uuidv4(), }, { - fixtureLocation: 'D3', + fixtureLocation: 'cutoutD3', loadName: WASTE_CHUTE_LOAD_NAME, fixtureId: uuidv4(), }, diff --git a/components/src/hardware-sim/DeckConfigurator/EmptyConfigFixture.tsx b/components/src/hardware-sim/DeckConfigurator/EmptyConfigFixture.tsx index d53f7d98188..a80fac8112b 100644 --- a/components/src/hardware-sim/DeckConfigurator/EmptyConfigFixture.tsx +++ b/components/src/hardware-sim/DeckConfigurator/EmptyConfigFixture.tsx @@ -1,18 +1,13 @@ import * as React from 'react' import { css } from 'styled-components' -import { - getDeckDefFromRobotType, - FLEX_ROBOT_TYPE, -} from '@opentrons/shared-data' - import { Icon } from '../../icons' import { Btn, Flex } from '../../primitives' import { ALIGN_CENTER, DISPLAY_FLEX, JUSTIFY_CENTER } from '../../styles' import { BORDERS, COLORS } from '../../ui-style-constants' import { RobotCoordsForeignObject } from '../Deck/RobotCoordsForeignObject' -import type { Cutout } from '@opentrons/shared-data' +import type { Cutout, DeckDefinition } from '@opentrons/shared-data' // TODO: replace stubs with JSON definitions when available const standardSlotDef = { @@ -33,6 +28,7 @@ const standardSlotDef = { } interface EmptyConfigFixtureProps { + deckDefinition: DeckDefinition fixtureLocation: Cutout handleClickAdd: (fixtureLocation: Cutout) => void } @@ -40,11 +36,10 @@ interface EmptyConfigFixtureProps { export function EmptyConfigFixture( props: EmptyConfigFixtureProps ): JSX.Element { - const { handleClickAdd, fixtureLocation } = props - const deckDef = getDeckDefFromRobotType(FLEX_ROBOT_TYPE) + const { deckDefinition, handleClickAdd, fixtureLocation } = props // TODO: migrate to fixture location for v4 - const standardSlot = deckDef.locations.orderedSlots.find( + const standardSlot = deckDefinition.locations.cutouts.find( slot => slot.id === fixtureLocation ) const [xSlotPosition = 0, ySlotPosition = 0] = standardSlot?.position ?? [] @@ -52,10 +47,10 @@ export function EmptyConfigFixture( // TODO: remove adjustment when reading from fixture position // adjust x differently for right side/left side const isLeftSideofDeck = - fixtureLocation === 'A1' || - fixtureLocation === 'B1' || - fixtureLocation === 'C1' || - fixtureLocation === 'D1' + fixtureLocation === 'cutoutA1' || + fixtureLocation === 'cutoutB1' || + fixtureLocation === 'cutoutC1' || + fixtureLocation === 'cutoutD1' const xAdjustment = isLeftSideofDeck ? -101.5 : -17 const x = xSlotPosition + xAdjustment const yAdjustment = -10 diff --git a/components/src/hardware-sim/DeckConfigurator/StagingAreaConfigFixture.tsx b/components/src/hardware-sim/DeckConfigurator/StagingAreaConfigFixture.tsx index 6f7013e053f..d98cfbfdc13 100644 --- a/components/src/hardware-sim/DeckConfigurator/StagingAreaConfigFixture.tsx +++ b/components/src/hardware-sim/DeckConfigurator/StagingAreaConfigFixture.tsx @@ -1,18 +1,13 @@ import * as React from 'react' import { css } from 'styled-components' -import { - getDeckDefFromRobotType, - FLEX_ROBOT_TYPE, -} from '@opentrons/shared-data' - import { Icon } from '../../icons' import { Btn, Flex, Text } from '../../primitives' import { ALIGN_CENTER, DISPLAY_FLEX, JUSTIFY_CENTER } from '../../styles' import { BORDERS, COLORS, SPACING, TYPOGRAPHY } from '../../ui-style-constants' import { RobotCoordsForeignObject } from '../Deck/RobotCoordsForeignObject' -import type { Cutout } from '@opentrons/shared-data' +import type { Cutout, DeckDefinition } from '@opentrons/shared-data' // TODO: replace stubs with JSON definitions when available const stagingAreaDef = { @@ -33,6 +28,7 @@ const stagingAreaDef = { } interface StagingAreaConfigFixtureProps { + deckDefinition: DeckDefinition fixtureLocation: Cutout handleClickRemove?: (fixtureLocation: Cutout) => void } @@ -40,11 +36,9 @@ interface StagingAreaConfigFixtureProps { export function StagingAreaConfigFixture( props: StagingAreaConfigFixtureProps ): JSX.Element { - const { handleClickRemove, fixtureLocation } = props - const deckDef = getDeckDefFromRobotType(FLEX_ROBOT_TYPE) + const { deckDefinition, handleClickRemove, fixtureLocation } = props - // TODO: migrate to fixture location for v4 - const stagingAreaSlot = deckDef.locations.orderedSlots.find( + const stagingAreaSlot = deckDefinition.locations.cutouts.find( slot => slot.id === fixtureLocation ) const [xSlotPosition = 0, ySlotPosition = 0] = stagingAreaSlot?.position ?? [] diff --git a/components/src/hardware-sim/DeckConfigurator/TrashBinConfigFixture.tsx b/components/src/hardware-sim/DeckConfigurator/TrashBinConfigFixture.tsx index 5ca41d53c33..f47132ebe33 100644 --- a/components/src/hardware-sim/DeckConfigurator/TrashBinConfigFixture.tsx +++ b/components/src/hardware-sim/DeckConfigurator/TrashBinConfigFixture.tsx @@ -1,18 +1,13 @@ import * as React from 'react' import { css } from 'styled-components' -import { - getDeckDefFromRobotType, - FLEX_ROBOT_TYPE, -} from '@opentrons/shared-data' - import { Icon } from '../../icons' import { Btn, Flex, Text } from '../../primitives' import { ALIGN_CENTER, DISPLAY_FLEX, JUSTIFY_CENTER } from '../../styles' import { BORDERS, COLORS, SPACING, TYPOGRAPHY } from '../../ui-style-constants' import { RobotCoordsForeignObject } from '../Deck/RobotCoordsForeignObject' -import type { Cutout } from '@opentrons/shared-data' +import type { Cutout, DeckDefinition } from '@opentrons/shared-data' // TODO: replace stubs with JSON definitions when available const trashBinDef = { @@ -33,6 +28,7 @@ const trashBinDef = { } interface TrashBinConfigFixtureProps { + deckDefinition: DeckDefinition fixtureLocation: Cutout handleClickRemove?: (fixtureLocation: Cutout) => void } @@ -40,21 +36,19 @@ interface TrashBinConfigFixtureProps { export function TrashBinConfigFixture( props: TrashBinConfigFixtureProps ): JSX.Element { - const { handleClickRemove, fixtureLocation } = props - const deckDef = getDeckDefFromRobotType(FLEX_ROBOT_TYPE) + const { deckDefinition, handleClickRemove, fixtureLocation } = props - // TODO: migrate to fixture location for v4 - const trashBinSlot = deckDef.locations.orderedSlots.find( + const trashBinSlot = deckDefinition.locations.cutouts.find( slot => slot.id === fixtureLocation ) const [xSlotPosition = 0, ySlotPosition = 0] = trashBinSlot?.position ?? [] // TODO: remove adjustment when reading from fixture position // adjust x differently for right side/left side const isLeftSideofDeck = - fixtureLocation === 'A1' || - fixtureLocation === 'B1' || - fixtureLocation === 'C1' || - fixtureLocation === 'D1' + fixtureLocation === 'cutoutA1' || + fixtureLocation === 'cutoutB1' || + fixtureLocation === 'cutoutC1' || + fixtureLocation === 'cutoutD1' const xAdjustment = isLeftSideofDeck ? -101.5 : -17 const x = xSlotPosition + xAdjustment const yAdjustment = -10 diff --git a/components/src/hardware-sim/DeckConfigurator/WasteChuteConfigFixture.tsx b/components/src/hardware-sim/DeckConfigurator/WasteChuteConfigFixture.tsx index e43ae7eadfb..2a2c35308d6 100644 --- a/components/src/hardware-sim/DeckConfigurator/WasteChuteConfigFixture.tsx +++ b/components/src/hardware-sim/DeckConfigurator/WasteChuteConfigFixture.tsx @@ -1,18 +1,13 @@ import * as React from 'react' import { css } from 'styled-components' -import { - getDeckDefFromRobotType, - FLEX_ROBOT_TYPE, -} from '@opentrons/shared-data' - import { Icon } from '../../icons' import { Btn, Flex, Text } from '../../primitives' import { ALIGN_CENTER, DISPLAY_FLEX, JUSTIFY_CENTER } from '../../styles' import { BORDERS, COLORS, SPACING, TYPOGRAPHY } from '../../ui-style-constants' import { RobotCoordsForeignObject } from '../Deck/RobotCoordsForeignObject' -import type { Cutout } from '@opentrons/shared-data' +import type { Cutout, DeckDefinition } from '@opentrons/shared-data' // TODO: replace stubs with JSON definitions when available const wasteChuteDef = { @@ -33,6 +28,7 @@ const wasteChuteDef = { } interface WasteChuteConfigFixtureProps { + deckDefinition: DeckDefinition fixtureLocation: Cutout handleClickRemove?: (fixtureLocation: Cutout) => void } @@ -40,11 +36,9 @@ interface WasteChuteConfigFixtureProps { export function WasteChuteConfigFixture( props: WasteChuteConfigFixtureProps ): JSX.Element { - const { handleClickRemove, fixtureLocation } = props - const deckDef = getDeckDefFromRobotType(FLEX_ROBOT_TYPE) + const { deckDefinition, handleClickRemove, fixtureLocation } = props - // TODO: migrate to fixture location for v4 - const wasteChuteSlot = deckDef.locations.orderedSlots.find( + const wasteChuteSlot = deckDefinition.locations.cutouts.find( slot => slot.id === fixtureLocation ) const [xSlotPosition = 0, ySlotPosition = 0] = wasteChuteSlot?.position ?? [] diff --git a/components/src/hardware-sim/DeckConfigurator/index.tsx b/components/src/hardware-sim/DeckConfigurator/index.tsx index 93d66920614..7eba4ebcac0 100644 --- a/components/src/hardware-sim/DeckConfigurator/index.tsx +++ b/components/src/hardware-sim/DeckConfigurator/index.tsx @@ -45,15 +45,15 @@ export function DeckConfigurator(props: DeckConfiguratorProps): JSX.Element { const deckDef = getDeckDefFromRobotType(FLEX_ROBOT_TYPE) // restrict configuration to certain locations - const configurableFixtureLocations = [ - 'A1', - 'B1', - 'C1', - 'D1', - 'A3', - 'B3', - 'C3', - 'D3', + const configurableFixtureLocations: Cutout[] = [ + 'cutoutA1', + 'cutoutB1', + 'cutoutC1', + 'cutoutD1', + 'cutoutA3', + 'cutoutB3', + 'cutoutC3', + 'cutoutD3', ] const configurableDeckConfig = deckConfig.filter(fixture => configurableFixtureLocations.includes(fixture.fixtureLocation) @@ -81,10 +81,10 @@ export function DeckConfigurator(props: DeckConfiguratorProps): JSX.Element { viewBox={`${deckDef.cornerOffsetFromOrigin[0]} ${deckDef.cornerOffsetFromOrigin[1]} ${deckDef.dimensions[0]} ${deckDef.dimensions[1]}`} > {/* TODO(bh, 2023-10-18): migrate to v4 deck def cutouts */} - {deckDef.locations.orderedSlots.map(slotDef => ( + {deckDef.locations.cutouts.map(slotDef => ( ( @@ -101,6 +102,7 @@ export function DeckConfigurator(props: DeckConfiguratorProps): JSX.Element { {emptyFixtures.map(fixture => ( @@ -108,6 +110,7 @@ export function DeckConfigurator(props: DeckConfiguratorProps): JSX.Element { {wasteChuteFixtures.map(fixture => ( @@ -115,6 +118,7 @@ export function DeckConfigurator(props: DeckConfiguratorProps): JSX.Element { {trashBinFixtures.map(fixture => ( diff --git a/components/src/hardware-sim/DeckSlotLocation/index.tsx b/components/src/hardware-sim/DeckSlotLocation/index.tsx index 162a92df3e0..6f24bebf90f 100644 --- a/components/src/hardware-sim/DeckSlotLocation/index.tsx +++ b/components/src/hardware-sim/DeckSlotLocation/index.tsx @@ -25,7 +25,7 @@ export function DeckSlotLocation( ...restProps } = props - const slotDef = deckDefinition?.locations.orderedSlots.find( + const slotDef = deckDefinition?.locations.addressableAreas.find( s => s.id === slotName ) if (slotDef == null) { diff --git a/components/src/hardware-sim/RobotCoordinateSpace/RobotCoordinateSpaceWithDOMCoords.tsx b/components/src/hardware-sim/RobotCoordinateSpace/RobotCoordinateSpaceWithDOMCoords.tsx index cd73a30b371..5ca8396c5be 100644 --- a/components/src/hardware-sim/RobotCoordinateSpace/RobotCoordinateSpaceWithDOMCoords.tsx +++ b/components/src/hardware-sim/RobotCoordinateSpace/RobotCoordinateSpaceWithDOMCoords.tsx @@ -46,7 +46,7 @@ export function RobotCoordinateSpaceWithDOMCoords( const [viewBoxOriginX, viewBoxOriginY] = deckDef.cornerOffsetFromOrigin const [deckXDimension, deckYDimension] = deckDef.dimensions - deckSlotsById = deckDef.locations.orderedSlots.reduce( + deckSlotsById = deckDef.locations.addressableAreas.reduce( (acc, deckSlot) => ({ ...acc, [deckSlot.id]: deckSlot }), {} ) diff --git a/components/src/hardware-sim/index.ts b/components/src/hardware-sim/index.ts index bf31daf32c7..309cad747d5 100644 --- a/components/src/hardware-sim/index.ts +++ b/components/src/hardware-sim/index.ts @@ -2,6 +2,7 @@ export * from './BaseDeck' export * from './BaseDeck/__fixtures__' export * from './Deck' export * from './DeckConfigurator' +export * from './DeckSlotLocation' export * from './Labware' export * from './Module' export * from './Pipette' diff --git a/components/src/hooks/useSelectDeckLocation/index.tsx b/components/src/hooks/useSelectDeckLocation/index.tsx index f571a5c9603..6a801765a33 100644 --- a/components/src/hooks/useSelectDeckLocation/index.tsx +++ b/components/src/hooks/useSelectDeckLocation/index.tsx @@ -1,15 +1,29 @@ import * as React from 'react' import isEqual from 'lodash/isEqual' -import { DeckDefinition, getDeckDefFromRobotType } from '@opentrons/shared-data' -import { RobotCoordinateSpace } from '../../hardware-sim/RobotCoordinateSpace' -import type { ModuleLocation, RobotType } from '@opentrons/shared-data' -import { COLORS, SPACING } from '../../ui-style-constants' -import { RobotCoordsForeignDiv, SlotLabels } from '../../hardware-sim' +import { + FLEX_CUTOUT_BY_SLOT_ID, + getDeckDefFromRobotType, + getPositionFromSlotId, + isAddressableAreaStandardSlot, +} from '@opentrons/shared-data' + +import { + RobotCoordinateSpace, + RobotCoordsForeignDiv, + SingleSlotFixture, + SlotLabels, +} from '../../hardware-sim' import { Icon } from '../../icons' import { Text } from '../../primitives' import { ALIGN_CENTER, JUSTIFY_CENTER } from '../../styles' -import { DeckSlotLocation } from '../../hardware-sim/DeckSlotLocation' +import { COLORS, SPACING } from '../../ui-style-constants' + +import type { + DeckDefinition, + ModuleLocation, + RobotType, +} from '@opentrons/shared-data' export type DeckLocationSelectThemes = 'default' | 'grey' @@ -26,7 +40,7 @@ export function useDeckLocationSelect( selectedLocation, setSelectedLocation, ] = React.useState({ - slotName: deckDef.locations.orderedSlots[0].id, + slotName: deckDef.locations.addressableAreas[0].id, }) return { DeckLocationSelect: ( @@ -60,82 +74,99 @@ export function DeckLocationSelect({ deckDef.cornerOffsetFromOrigin[1] } ${deckDef.dimensions[0] - X_CROP_MM * 2} ${deckDef.dimensions[1]}`} > - {deckDef.locations.orderedSlots.map(slot => { - const slotLocation = { slotName: slot.id } - const isDisabled = disabledLocations.some( - l => - typeof l === 'object' && 'slotName' in l && l.slotName === slot.id + {deckDef.locations.addressableAreas + // only render standard slot fixture components + .filter(addressableArea => + isAddressableAreaStandardSlot(addressableArea.id, deckDef) ) - const isSelected = isEqual(selectedLocation, slotLocation) - let fill = - theme === 'default' - ? COLORS.highlightPurple2 - : COLORS.lightGreyPressed - if (isSelected) - fill = + .map(slot => { + const slotLocation = { slotName: slot.id } + const isDisabled = disabledLocations.some( + l => + typeof l === 'object' && 'slotName' in l && l.slotName === slot.id + ) + const isSelected = isEqual(selectedLocation, slotLocation) + let fill = theme === 'default' - ? COLORS.highlightPurple1 - : COLORS.darkGreyEnabled - if (isDisabled) fill = COLORS.darkGreyDisabled - if (isSelected && slot.id === 'B1' && isThermocycler) { + ? COLORS.highlightPurple2 + : COLORS.lightGreyPressed + if (isSelected) + fill = + theme === 'default' + ? COLORS.highlightPurple1 + : COLORS.darkGreyEnabled + if (isDisabled) fill = COLORS.darkGreyDisabled + if (isSelected && slot.id === 'B1' && isThermocycler) { + return ( + + + + + + Selected + + + + ) + } else if (slot.id === 'A1' && isThermocycler) { + return null + } + + const slotPosition = getPositionFromSlotId(slot.id, deckDef) + const cutoutId = FLEX_CUTOUT_BY_SLOT_ID[slot.id] + return ( - - + + !isDisabled && + setSelectedLocation != null && + setSelectedLocation(slotLocation) + } + cursor={ + setSelectedLocation == null || isDisabled || isSelected + ? 'default' + : 'pointer' + } + deckDefinition={deckDef} /> - - - - Selected - - - + {isSelected && slotPosition != null ? ( + + + + Selected + + + ) : null} + ) - } else if (slot.id === 'A1' && isThermocycler) { - return null - } - return ( - - - !isDisabled && - setSelectedLocation != null && - setSelectedLocation(slotLocation) - } - cursor={ - setSelectedLocation == null || isDisabled || isSelected - ? 'default' - : 'pointer' - } - deckDefinition={deckDef} - /> - {isSelected ? ( - - - - Selected - - - ) : null} - - ) - })} + })} slot.id) +const SLOT_OPTIONS = standardDeckDef.locations.addressableAreas.map( + slot => slot.id +) const DEFAULT_LABWARE_SLOT = SLOT_OPTIONS[0] const SlotSelect = styled.select` @@ -177,12 +180,20 @@ export function CreateLabwareSandbox(): JSX.Element { {viewOnDeck ? ( - - {({ deckSlotsById }) => { - const lwSlot = deckSlotsById[labwareSlot] + + {() => { + const lwPosition = getPositionFromSlotId( + labwareSlot, + (standardDeckDef as unknown) as DeckDefinition + ) return ( { const { - slot, + slotPosition, + slotBoundingBox, addLabware, selectedTerminalItemId, isOver, @@ -104,18 +106,18 @@ export const AdapterControlsComponents = ( {slotBlocked ? ( ) : ( unknown setDraggedLabware: (labware?: LabwareOnDeck | null) => unknown swapBlocked: boolean @@ -24,7 +25,7 @@ interface LabwareControlsProps { export const LabwareControls = (props: LabwareControlsProps): JSX.Element => { const { labwareOnDeck, - slot, + slotPosition, selectedTerminalItemId, setHoveredLabware, setDraggedLabware, @@ -32,7 +33,7 @@ export const LabwareControls = (props: LabwareControlsProps): JSX.Element => { } = props const canEdit = selectedTerminalItemId === START_TERMINAL_ITEM_ID - const [x, y] = slot.position + const [x, y] = slotPosition const width = labwareOnDeck.def.dimensions.xDimension const height = labwareOnDeck.def.dimensions.yDimension return ( diff --git a/protocol-designer/src/components/DeckSetup/LabwareOverlays/SlotControls.tsx b/protocol-designer/src/components/DeckSetup/LabwareOverlays/SlotControls.tsx index ca2fb3a9fdd..2af26bf095f 100644 --- a/protocol-designer/src/components/DeckSetup/LabwareOverlays/SlotControls.tsx +++ b/protocol-designer/src/components/DeckSetup/LabwareOverlays/SlotControls.tsx @@ -23,7 +23,9 @@ import { START_TERMINAL_ITEM_ID, TerminalItemId } from '../../../steplist' import { BlockedSlot } from './BlockedSlot' import type { - DeckSlot as DeckSlotDefinition, + AddressableArea, + CoordinateTuple, + Dimensions, ModuleType, } from '@opentrons/shared-data' import type { BaseState, DeckSlot, ThunkDispatch } from '../../../types' @@ -38,7 +40,9 @@ interface DNDP { } interface OP { - slot: DeckSlotDefinition & { id: DeckSlot } // NOTE: Ian 2019-10-22 make slot `id` more restrictive when used in PD + slotPosition: CoordinateTuple | null + slotBoundingBox: Dimensions + slotId: AddressableArea['id'] moduleType: ModuleType | null selectedTerminalItemId?: TerminalItemId | null handleDragHover?: () => unknown @@ -59,7 +63,8 @@ export const SlotControlsComponent = ( props: SlotControlsProps ): JSX.Element | null => { const { - slot, + slotBoundingBox, + slotPosition, addLabware, selectedTerminalItemId, isOver, @@ -71,7 +76,8 @@ export const SlotControlsComponent = ( } = props if ( selectedTerminalItemId !== START_TERMINAL_ITEM_ID || - (itemType !== DND_TYPES.LABWARE && itemType !== null) + (itemType !== DND_TYPES.LABWARE && itemType !== null) || + slotPosition == null ) return null @@ -107,18 +113,18 @@ export const SlotControlsComponent = ( {slotBlocked ? ( ) : ( , ownProps: OP ): DP => ({ - addLabware: () => dispatch(openAddLabwareModal({ slot: ownProps.slot.id })), + addLabware: () => dispatch(openAddLabwareModal({ slot: ownProps.slotId })), moveDeckItem: (sourceSlot, destSlot) => dispatch(moveDeckItem(sourceSlot, destSlot)), }) @@ -155,7 +161,7 @@ const slotTarget = { drop: (props: SlotControlsProps, monitor: DropTargetMonitor) => { const draggedItem = monitor.getItem() if (draggedItem) { - props.moveDeckItem(draggedItem.labwareOnDeck.slot, props.slot.id) + props.moveDeckItem(draggedItem.labwareOnDeck.slot, props.slotId) } }, hover: (props: SlotControlsProps) => { diff --git a/protocol-designer/src/components/DeckSetup/LabwareOverlays/__tests__/SlotControls.test.tsx b/protocol-designer/src/components/DeckSetup/LabwareOverlays/__tests__/SlotControls.test.tsx index b6ae460ab10..12ba722b0e3 100644 --- a/protocol-designer/src/components/DeckSetup/LabwareOverlays/__tests__/SlotControls.test.tsx +++ b/protocol-designer/src/components/DeckSetup/LabwareOverlays/__tests__/SlotControls.test.tsx @@ -2,7 +2,7 @@ import React from 'react' import { shallow } from 'enzyme' import fixture_96_plate from '@opentrons/shared-data/labware/fixtures/2/fixture_96_plate.json' import { - DeckSlot, + CoordinateTuple, LabwareDefinition2, MAGNETIC_MODULE_TYPE, } from '@opentrons/shared-data' @@ -18,16 +18,12 @@ describe('SlotControlsComponent', () => { typeof labwareModuleCompatibility.getLabwareIsCompatible > beforeEach(() => { - const slot: DeckSlot = { - id: 'deckSlot1', - position: [1, 2, 3], - boundingBox: { - xDimension: 10, - yDimension: 20, - zDimension: 40, - }, - displayName: 'slot 1', - compatibleModules: [MAGNETIC_MODULE_TYPE], + const slotId = 'D1' + const slotPosition: CoordinateTuple = [1, 2, 3] + const slotBoundingBox = { + xDimension: 10, + yDimension: 20, + zDimension: 40, } const labwareOnDeck = { @@ -38,7 +34,9 @@ describe('SlotControlsComponent', () => { } props = { - slot, + slotId, + slotPosition, + slotBoundingBox, addLabware: jest.fn(), moveDeckItem: jest.fn(), selectedTerminalItemId: START_TERMINAL_ITEM_ID, diff --git a/protocol-designer/src/components/DeckSetup/index.tsx b/protocol-designer/src/components/DeckSetup/index.tsx index 5109d454526..3b351618d50 100644 --- a/protocol-designer/src/components/DeckSetup/index.tsx +++ b/protocol-designer/src/components/DeckSetup/index.tsx @@ -11,11 +11,10 @@ import { FlexTrash, RobotCoordinateSpaceWithDOMCoords, WasteChuteFixture, - WasteChuteLocation, StagingAreaFixture, StagingAreaLocation, SingleSlotFixture, - DeckFromData, + DeckFromLayers, } from '@opentrons/components' import { AdditionalEquipmentEntity, @@ -25,7 +24,6 @@ import { import { getLabwareHasQuirk, inferModuleOrientationFromSlot, - DeckSlot as DeckDefSlot, getDeckDefFromRobotType, OT2_ROBOT_TYPE, getModuleDef2, @@ -35,16 +33,15 @@ import { DeckDefinition, RobotType, FLEX_ROBOT_TYPE, - Cutout, TRASH_BIN_LOAD_NAME, STAGING_AREA_LOAD_NAME, + WASTE_CHUTE_CUTOUT, WASTE_CHUTE_LOAD_NAME, + AddressableAreaName, + CutoutFixture, + CutoutId, } from '@opentrons/shared-data' -import { - FLEX_TRASH_DEF_URI, - OT_2_TRASH_DEF_URI, - PSEUDO_DECK_SLOTS, -} from '../../constants' +import { FLEX_TRASH_DEF_URI, OT_2_TRASH_DEF_URI } from '../../constants' import { selectors as labwareDefSelectors } from '../../labware-defs' import { selectors as featureFlagSelectors } from '../../feature-flags' @@ -73,10 +70,14 @@ import { import { FlexModuleTag } from './FlexModuleTag' import { Ot2ModuleTag } from './Ot2ModuleTag' import { SlotLabels } from './SlotLabels' -import { DEFAULT_SLOTS } from './constants' import { getHasGen1MultiChannelPipette, getSwapBlocked } from './utils' import styles from './DeckSetup.css' +import { + getAddressableAreaFromSlotId, + getPositionFromSlotId, + isAddressableAreaStandardSlot, +} from '@opentrons/shared-data/js' export const DECK_LAYER_BLOCKLIST = [ 'calibrationMarkings', @@ -88,7 +89,8 @@ export const DECK_LAYER_BLOCKLIST = [ 'screwHoles', ] -type ContentsProps = RobotWorkSpaceRenderProps & { +interface ContentsProps { + getRobotCoordsFromDOMCoords: RobotWorkSpaceRenderProps['getRobotCoordsFromDOMCoords'] activeDeckSetup: InitialDeckSetup selectedTerminalItemId?: TerminalItemId | null showGen1MultichannelCollisionWarnings: boolean @@ -103,7 +105,6 @@ const darkFill = COLORS.darkGreyEnabled export const DeckSetupContents = (props: ContentsProps): JSX.Element => { const { activeDeckSetup, - deckSlotsById, getRobotCoordsFromDOMCoords, showGen1MultichannelCollisionWarnings, deckDef, @@ -140,9 +141,6 @@ export const DeckSetupContents = (props: ContentsProps): JSX.Element => { ) const slotIdsBlockedBySpanning = getSlotIdsBlockedBySpanning(activeDeckSetup) - const deckSlots: DeckDefSlot[] = values(deckSlotsById) - // modules can be on the deck, including pseudo-slots (eg special 'spanning' slot for thermocycler position) - const moduleParentSlots = [...deckSlots, ...values(PSEUDO_DECK_SLOTS)] const allLabware: LabwareOnDeckType[] = Object.keys( activeDeckSetup.labware @@ -156,35 +154,42 @@ export const DeckSetupContents = (props: ContentsProps): JSX.Element => { const allModules: ModuleOnDeck[] = values(activeDeckSetup.modules) // NOTE: naively hard-coded to show warning north of slots 1 or 3 when occupied by any module - const multichannelWarningSlots: DeckDefSlot[] = showGen1MultichannelCollisionWarnings + const multichannelWarningSlotIds: AddressableAreaName[] = showGen1MultichannelCollisionWarnings ? compact([ - (allModules.some( + allModules.some( moduleOnDeck => moduleOnDeck.slot === '1' && - // @ts-expect-error(sa, 2021-6-21): ModuleModel is a super type of the elements in MODULES_WITH_COLLISION_ISSUES MODULES_WITH_COLLISION_ISSUES.includes(moduleOnDeck.model) - ) && - deckSlotsById?.['4']) || - null, - (allModules.some( + ) + ? deckDef.locations.addressableAreas.find(s => s.id === '4')?.id + : null, + allModules.some( moduleOnDeck => moduleOnDeck.slot === '3' && - // @ts-expect-error(sa, 2021-6-21): ModuleModel is a super type of the elements in MODULES_WITH_COLLISION_ISSUES MODULES_WITH_COLLISION_ISSUES.includes(moduleOnDeck.model) - ) && - deckSlotsById?.['6']) || - null, + ) + ? deckDef.locations.addressableAreas.find(s => s.id === '6')?.id + : null, ]) : [] + console.log( + 'AA', + deckDef.locations.addressableAreas.filter(addressableArea => + isAddressableAreaStandardSlot(addressableArea.id, deckDef) + ) + ) return ( <> {/* all modules */} {allModules.map(moduleOnDeck => { - const slot = moduleParentSlots.find( - slot => slot.id === moduleOnDeck.slot - ) - if (slot == null) { + // modules can be on the deck, including pseudo-slots (eg special 'spanning' slot for thermocycler position) + // const moduleParentSlots = [...deckSlots, ...values(PSEUDO_DECK_SLOTS)] + // const slot = moduleParentSlots.find( + // slot => slot.id === moduleOnDeck.slot + // ) + const slotPosition = getPositionFromSlotId(moduleOnDeck.slot, deckDef) + if (slotPosition == null) { console.warn( `no slot ${moduleOnDeck.slot} for module ${moduleOnDeck.id}` ) @@ -225,17 +230,10 @@ export const DeckSetupContents = (props: ContentsProps): JSX.Element => { const shouldHideChildren = moduleOnDeck.moduleState.type === THERMOCYCLER_MODULE_TYPE && moduleOnDeck.moduleState.lidOpen === false - const labwareInterfaceSlotDef: DeckDefSlot = { - displayName: `Labware interface on ${moduleOnDeck.model}`, - id: moduleOnDeck.id, - position: [0, 0, 0], // Module Component already handles nested positioning - matingSurfaceUnitVector: [-1, 1, -1], - boundingBox: { - xDimension: moduleDef.dimensions.labwareInterfaceXDimension ?? 0, - yDimension: moduleDef.dimensions.labwareInterfaceYDimension ?? 0, - zDimension: 0, - }, - compatibleModules: [THERMOCYCLER_MODULE_TYPE], + const labwareInterfaceBoundingBox = { + xDimension: moduleDef.dimensions.labwareInterfaceXDimension ?? 0, + yDimension: moduleDef.dimensions.labwareInterfaceYDimension ?? 0, + zDimension: 0, } const moduleOrientation = inferModuleOrientationFromSlot( @@ -246,15 +244,13 @@ export const DeckSetupContents = (props: ContentsProps): JSX.Element => { labwareLoadedOnModule?.def.metadata.displayCategory === 'adapter' return ( {labwareLoadedOnModule != null && !shouldHideChildren ? ( @@ -265,19 +261,20 @@ export const DeckSetupContents = (props: ContentsProps): JSX.Element => { labwareOnDeck={labwareLoadedOnModule} /> {isAdapter ? ( - // @ts-expect-error + // @ts-expect-error ) : ( { {labwareLoadedOnModule == null && !shouldHideChildren && !isAdapter ? ( - // @ts-expect-error (ce, 2021-06-21) once we upgrade to the react-dnd hooks api, and use react-redux hooks, typing this will be easier + // @ts-expect-error { })} {/* on-deck warnings */} - {multichannelWarningSlots.map(slot => ( - - ))} + {multichannelWarningSlotIds.map(slotId => { + const slotPosition = getPositionFromSlotId(slotId, deckDef) + const slotBoundingBox = getAddressableAreaFromSlotId(slotId, deckDef) + ?.boundingBox + return slotPosition != null && slotBoundingBox != null ? ( + + ) : null + })} {/* SlotControls for all empty deck + module slots */} - {deckSlots + {deckDef.locations.addressableAreas + // only render standard slot fixture components .filter( - slot => - !slotIdsBlockedBySpanning.includes(slot.id) && - getSlotIsEmpty(activeDeckSetup, slot.id) && - slot.id !== trashSlot + addressableArea => + isAddressableAreaStandardSlot(addressableArea.id, deckDef) && + !slotIdsBlockedBySpanning.includes(addressableArea.id) && + getSlotIsEmpty(activeDeckSetup, addressableArea.id) && + addressableArea.id !== trashSlot ) - .map(slot => { + .map(addressableArea => { return ( - // @ts-expect-error (ce, 2021-06-21) once we upgrade to the react-dnd hooks api, and use react-redux hooks, typing this will be easier + // @ts-expect-error ) @@ -363,8 +372,13 @@ export const DeckSetupContents = (props: ContentsProps): JSX.Element => { allLabware.some(lab => lab.id === labware.slot) ) return null - const slot = deckSlots.find(slot => slot.id === labware.slot) - if (slot == null) { + + const slotPosition = getPositionFromSlotId(labware.slot, deckDef) + const slotBoundingBox = getAddressableAreaFromSlotId( + labware.slot, + deckDef + )?.boundingBox + if (slotPosition == null || slotBoundingBox == null) { console.warn(`no slot ${labware.slot} for labware ${labware.id}!`) return null } @@ -373,27 +387,26 @@ export const DeckSetupContents = (props: ContentsProps): JSX.Element => { return ( {labwareIsAdapter ? ( - <> - {/* @ts-expect-error */} - - + // @ts-expect-error + ) : ( { labware.slot === 'offDeck' ) return null - const slotOnDeck = deckSlots.find(slot => slot.id === labware.slot) - if (slotOnDeck != null) { + if ( + deckDef.locations.addressableAreas.some( + addressableArea => addressableArea.id === labware.slot + ) + ) { return null } const slotForOnTheDeck = allLabware.find(lab => lab.id === labware.slot) ?.slot const slotForOnMod = allModules.find(mod => mod.id === slotForOnTheDeck) ?.slot - const deckDefSlot = deckSlots.find( - s => s.id === (slotForOnMod ?? slotForOnTheDeck) - ) - if (deckDefSlot == null) { + let slotPosition = null + if (slotForOnMod != null) { + slotPosition = getPositionFromSlotId(slotForOnMod, deckDef) + } else if (slotForOnTheDeck != null) { + slotPosition = getPositionFromSlotId(slotForOnTheDeck, deckDef) + } + if (slotPosition == null) { console.warn(`no slot ${labware.slot} for labware ${labware.id}!`) return null } return ( { const trashBinFixtures = [ { fixtureId: trash?.id, - fixtureLocation: trash?.slot as Cutout, + fixtureLocation: + trash?.slot != null + ? getCutoutIdForAddressableArea( + trash?.slot as AddressableAreaName, + deckDef.cutoutFixtures + ) + : null, loadName: TRASH_BIN_LOAD_NAME, }, ] @@ -505,12 +530,9 @@ export const DeckSetup = (): JSX.Element => { const stagingAreaFixtures: AdditionalEquipmentEntity[] = Object.values( activeDeckSetup.additionalEquipmentOnDeck ).filter(aE => aE.name === STAGING_AREA_LOAD_NAME) - const locations = Object.values( - activeDeckSetup.additionalEquipmentOnDeck - ).map(aE => aE.location) - const filteredSlots = DEFAULT_SLOTS.filter( - slot => !locations.includes(slot.fixtureLocation) + const filteredAddressableAreas = deckDef.locations.addressableAreas.filter( + aa => isAddressableAreaStandardSlot(aa.id, deckDef) ) return ( @@ -522,55 +544,63 @@ export const DeckSetup = (): JSX.Element => { deckDef={deckDef} viewBox={`${deckDef.cornerOffsetFromOrigin[0]} ${deckDef.cornerOffsetFromOrigin[1]} ${deckDef.dimensions[0]} ${deckDef.dimensions[1]}`} > - {({ deckSlotsById, getRobotCoordsFromDOMCoords }) => ( + {({ getRobotCoordsFromDOMCoords }) => ( <> {robotType === OT2_ROBOT_TYPE ? ( - + ) : ( <> - {filteredSlots.map(fixture => ( - - ))} + {filteredAddressableAreas.map(addressableArea => { + const cutoutId = getCutoutIdForAddressableArea( + addressableArea.id, + deckDef.cutoutFixtures + ) + return cutoutId != null ? ( + + ) : null + })} {stagingAreaFixtures.map(fixture => ( ))} {trash != null - ? trashBinFixtures.map(fixture => ( - - - - - )) + ? trashBinFixtures.map(fixture => + fixture.fixtureLocation != null ? ( + + + + + ) : null + ) : null} {wasteChuteFixtures.map(fixture => ( { selectedTerminalItemId={selectedTerminalItemId} {...{ deckDef, - deckSlotsById, getRobotCoordsFromDOMCoords, showGen1MultichannelCollisionWarnings, }} @@ -601,3 +630,18 @@ export const DeckSetup = (): JSX.Element => {
    ) } + +function getCutoutIdForAddressableArea( + addressableArea: AddressableAreaName, + cutoutFixtures: CutoutFixture[] +): CutoutId | null { + return cutoutFixtures.reduce((acc, cutoutFixture) => { + const [cutoutId] = + Object.entries( + cutoutFixture.providesAddressableAreas + ).find(([_cutoutId, providedAAs]) => + providedAAs.includes(addressableArea) + ) ?? [] + return (cutoutId as CutoutId) ?? acc + }, null) +} diff --git a/protocol-designer/src/components/StepEditForm/fields/LabwareLocationField/index.tsx b/protocol-designer/src/components/StepEditForm/fields/LabwareLocationField/index.tsx index 1879c63a317..7720a52871e 100644 --- a/protocol-designer/src/components/StepEditForm/fields/LabwareLocationField/index.tsx +++ b/protocol-designer/src/components/StepEditForm/fields/LabwareLocationField/index.tsx @@ -1,6 +1,9 @@ import * as React from 'react' import { useSelector } from 'react-redux' -import { getModuleDisplayName, WASTE_CHUTE_SLOT } from '@opentrons/shared-data' +import { + getModuleDisplayName, + WASTE_CHUTE_CUTOUT, +} from '@opentrons/shared-data' import { i18n } from '../../../../localization' import { getAdditionalEquipmentEntities, @@ -37,7 +40,8 @@ export function LabwareLocationField( if (isLabwareOffDeck && hasWasteChute) { unoccupiedLabwareLocationsOptions = unoccupiedLabwareLocationsOptions.filter( - option => option.value !== 'offDeck' && option.value !== WASTE_CHUTE_SLOT + option => + option.value !== 'offDeck' && option.value !== WASTE_CHUTE_CUTOUT ) } else if (useGripper || isLabwareOffDeck) { unoccupiedLabwareLocationsOptions = unoccupiedLabwareLocationsOptions.filter( diff --git a/protocol-designer/src/components/labware/__tests__/utils.test.ts b/protocol-designer/src/components/labware/__tests__/utils.test.ts index bda5fc71096..b5c63951b1b 100644 --- a/protocol-designer/src/components/labware/__tests__/utils.test.ts +++ b/protocol-designer/src/components/labware/__tests__/utils.test.ts @@ -1,4 +1,4 @@ -import { WASTE_CHUTE_SLOT } from '@opentrons/shared-data' +import { WASTE_CHUTE_CUTOUT } from '@opentrons/shared-data' import { getHasWasteChute } from '..' import type { AdditionalEquipmentEntities } from '@opentrons/step-generation' @@ -25,7 +25,7 @@ describe('getHasWasteChute', () => { mockId2: { id: mockId2, name: 'wasteChute', - location: WASTE_CHUTE_SLOT, + location: WASTE_CHUTE_CUTOUT, }, } as AdditionalEquipmentEntities const result = getHasWasteChute(mockAdditionalEquipmentEntities) diff --git a/protocol-designer/src/components/labware/utils.ts b/protocol-designer/src/components/labware/utils.ts index f3f27add66d..1c92ee47186 100644 --- a/protocol-designer/src/components/labware/utils.ts +++ b/protocol-designer/src/components/labware/utils.ts @@ -1,7 +1,7 @@ import reduce from 'lodash/reduce' import { AdditionalEquipmentEntities, AIR } from '@opentrons/step-generation' import { WellFill } from '@opentrons/components' -import { WASTE_CHUTE_SLOT } from '@opentrons/shared-data' +import { WASTE_CHUTE_CUTOUT } from '@opentrons/shared-data' import { swatchColors, MIXED_WELL_COLOR } from '../swatchColors' import { ContentsByWell, WellContents } from '../../labware-ingred/types' @@ -40,7 +40,7 @@ export const getHasWasteChute = ( ): boolean => { return Object.values(additionalEquipmentEntities).some( additionalEquipmentEntity => - additionalEquipmentEntity.location === WASTE_CHUTE_SLOT && + additionalEquipmentEntity.location === WASTE_CHUTE_CUTOUT && additionalEquipmentEntity.name === 'wasteChute' ) } diff --git a/protocol-designer/src/components/modals/CreateFileWizard/StagingAreaTile.tsx b/protocol-designer/src/components/modals/CreateFileWizard/StagingAreaTile.tsx index 24f11c7b5c7..dc552a72d63 100644 --- a/protocol-designer/src/components/modals/CreateFileWizard/StagingAreaTile.tsx +++ b/protocol-designer/src/components/modals/CreateFileWizard/StagingAreaTile.tsx @@ -13,6 +13,7 @@ import { } from '@opentrons/components' import { OT2_ROBOT_TYPE, + STAGING_AREA_CUTOUTS, STAGING_AREA_LOAD_NAME, STANDARD_SLOT_LOAD_NAME, } from '@opentrons/shared-data' @@ -21,11 +22,9 @@ import { getEnableDeckModification } from '../../../feature-flags/selectors' import { GoBack } from './GoBack' import { HandleEnter } from './HandleEnter' -import type { Cutout, DeckConfiguration } from '@opentrons/shared-data' +import type { DeckConfiguration } from '@opentrons/shared-data' import type { WizardTileProps } from './types' -const STAGING_AREA_SLOTS: Cutout[] = ['A3', 'B3', 'C3', 'D3'] - export function StagingAreaTile(props: WizardTileProps): JSX.Element | null { const { values, goBack, proceed, setFieldValue } = props const isOt2 = values.fields.robotType === OT2_ROBOT_TYPE @@ -49,7 +48,7 @@ export function StagingAreaTile(props: WizardTileProps): JSX.Element | null { // NOTE: fixtureId doesn't matter since we don't create // the entity until you complete the create file wizard via createDeckFixture action // fixtureId here is only needed to visually add to the deck configurator - const STANDARD_EMPTY_SLOTS: DeckConfiguration = STAGING_AREA_SLOTS.map( + const STANDARD_EMPTY_SLOTS: DeckConfiguration = STAGING_AREA_CUTOUTS.map( fixtureLocation => ({ fixtureId: `id_${fixtureLocation}`, fixtureLocation, diff --git a/protocol-designer/src/components/modals/CreateFileWizard/index.tsx b/protocol-designer/src/components/modals/CreateFileWizard/index.tsx index 5bb0029d221..da77d891ae2 100644 --- a/protocol-designer/src/components/modals/CreateFileWizard/index.tsx +++ b/protocol-designer/src/components/modals/CreateFileWizard/index.tsx @@ -26,7 +26,7 @@ import { MAGNETIC_MODULE_V2, THERMOCYCLER_MODULE_V2, TEMPERATURE_MODULE_V2, - WASTE_CHUTE_SLOT, + WASTE_CHUTE_CUTOUT, } from '@opentrons/shared-data' import { actions as stepFormActions, @@ -238,7 +238,7 @@ export function CreateFileWizard(): JSX.Element | null { enableDeckModification && values.additionalEquipment.includes('wasteChute') ) { - dispatch(createDeckFixture('wasteChute', WASTE_CHUTE_SLOT)) + dispatch(createDeckFixture('wasteChute', WASTE_CHUTE_CUTOUT)) } // add staging areas const stagingAreas = values.additionalEquipment.filter(equipment => diff --git a/protocol-designer/src/components/modules/AdditionalItemsRow.tsx b/protocol-designer/src/components/modules/AdditionalItemsRow.tsx index a6686a490f0..69672553acc 100644 --- a/protocol-designer/src/components/modules/AdditionalItemsRow.tsx +++ b/protocol-designer/src/components/modules/AdditionalItemsRow.tsx @@ -1,6 +1,9 @@ import * as React from 'react' import styled from 'styled-components' -import { WASTE_CHUTE_SLOT } from '@opentrons/shared-data' +import { + getCutoutDisplayName, + WASTE_CHUTE_CUTOUT, +} from '@opentrons/shared-data' import { OutlineButton, Flex, @@ -24,6 +27,8 @@ import { FlexSlotMap } from './FlexSlotMap' import styles from './styles.css' +import type { Cutout } from '@opentrons/shared-data' + interface AdditionalItemsRowProps { handleAttachment: () => void isEquipmentAdded: boolean @@ -97,9 +102,11 @@ export function AdditionalItemsRow(
    @@ -107,7 +114,7 @@ export function AdditionalItemsRow( selectedSlots={ name === 'trashBin' ? [trashBinSlot ?? ''] - : [WASTE_CHUTE_SLOT] + : [WASTE_CHUTE_CUTOUT] } />
    diff --git a/protocol-designer/src/components/modules/FlexSlotMap.tsx b/protocol-designer/src/components/modules/FlexSlotMap.tsx index 0f46be8f3a7..507656effb9 100644 --- a/protocol-designer/src/components/modules/FlexSlotMap.tsx +++ b/protocol-designer/src/components/modules/FlexSlotMap.tsx @@ -2,19 +2,22 @@ import * as React from 'react' import { FLEX_ROBOT_TYPE, getDeckDefFromRobotType, + getPositionFromSlotId, } from '@opentrons/shared-data' -import { RobotCoordinateSpace } from '@opentrons/components/src/hardware-sim/RobotCoordinateSpace' -import { DeckSlotLocation } from '@opentrons/components/src/hardware-sim/DeckSlotLocation' import { ALIGN_CENTER, BORDERS, COLORS, Flex, JUSTIFY_CENTER, + RobotCoordinateSpace, RobotCoordsForeignObject, + SingleSlotFixture, SPACING, } from '@opentrons/components' +import type { Cutout } from '@opentrons/shared-data' + const X_ADJUSTMENT_LEFT_SIDE = -101.5 const X_ADJUSTMENT = -17 const X_DIMENSION_MIDDLE_SLOTS = 160.3 @@ -44,20 +47,20 @@ export function FlexSlotMap(props: FlexSlotMapProps): JSX.Element { height="100px" viewBox={`${deckDef.cornerOffsetFromOrigin[0]} ${deckDef.cornerOffsetFromOrigin[1]} ${deckDef.dimensions[0]} ${deckDef.dimensions[1]}`} > - {deckDef.locations.orderedSlots.map(slotDef => ( - ( + ))} {selectedSlots.map((selectedSlot, index) => { - const slot = deckDef.locations.orderedSlots.find( - slot => slot.id === selectedSlot - ) - const [xSlotPosition = 0, ySlotPosition = 0] = slot?.position ?? [] + // if selected slot is passed as a cutout id, trim to define as slot id + const slotFromCutout = selectedSlot.replace('cutout', '') + const [xSlotPosition = 0, ySlotPosition = 0] = + getPositionFromSlotId(slotFromCutout, deckDef) ?? [] const isLeftSideofDeck = selectedSlot === 'A1' || @@ -84,7 +87,7 @@ export function FlexSlotMap(props: FlexSlotMapProps): JSX.Element { return ( ({ fixtureId: `id_${fixtureLocation}`, fixtureLocation: fixtureLocation as Cutout, diff --git a/protocol-designer/src/components/modules/StagingAreasRow.tsx b/protocol-designer/src/components/modules/StagingAreasRow.tsx index dd882953be1..7bdb2a88e78 100644 --- a/protocol-designer/src/components/modules/StagingAreasRow.tsx +++ b/protocol-designer/src/components/modules/StagingAreasRow.tsx @@ -11,6 +11,7 @@ import { TYPOGRAPHY, DIRECTION_ROW, } from '@opentrons/components' +import { getCutoutDisplayName } from '@opentrons/shared-data' import { i18n } from '../../localization' import stagingAreaImage from '../../images/staging_area.png' import { getStagingAreaSlots } from '../../utils' @@ -19,6 +20,7 @@ import { StagingAreasModal } from './StagingAreasModal' import { FlexSlotMap } from './FlexSlotMap' import styles from './styles.css' +import type { Cutout } from '@opentrons/shared-data' import type { AdditionalEquipmentEntity } from '@opentrons/step-generation' interface StagingAreasRowProps { @@ -60,12 +62,14 @@ export function StagingAreasRow(props: StagingAreasRowProps): JSX.Element { className={styles.module_col} style={{ marginLeft: SPACING.spacing32 }} /> - {hasStagingAreas ? ( + {hasStagingAreas && stagingAreaLocations != null ? ( <>
    + getCutoutDisplayName(location as Cutout) + )}`} />
    diff --git a/protocol-designer/src/components/modules/TrashModal.tsx b/protocol-designer/src/components/modules/TrashModal.tsx index fedb02bc905..fb3a1a4762b 100644 --- a/protocol-designer/src/components/modules/TrashModal.tsx +++ b/protocol-designer/src/components/modules/TrashModal.tsx @@ -21,7 +21,7 @@ import { import { FLEX_ROBOT_TYPE, getDeckDefFromRobotType, - WASTE_CHUTE_SLOT, + WASTE_CHUTE_CUTOUT, } from '@opentrons/shared-data' import { i18n } from '../../localization' import { OUTER_SLOTS_FLEX } from '../../modules' @@ -144,7 +144,7 @@ export const TrashModal = (props: TrashModalProps): JSX.Element => { }) ) } else if (trashName === 'wasteChute') { - dispatch(createDeckFixture('wasteChute', WASTE_CHUTE_SLOT)) + dispatch(createDeckFixture('wasteChute', WASTE_CHUTE_CUTOUT)) } onCloseClick() @@ -154,7 +154,7 @@ export const TrashModal = (props: TrashModalProps): JSX.Element => { diff --git a/protocol-designer/src/components/modules/__tests__/AdditionalItemsRow.test.tsx b/protocol-designer/src/components/modules/__tests__/AdditionalItemsRow.test.tsx index 38221bf9321..19801fbd4e2 100644 --- a/protocol-designer/src/components/modules/__tests__/AdditionalItemsRow.test.tsx +++ b/protocol-designer/src/components/modules/__tests__/AdditionalItemsRow.test.tsx @@ -1,7 +1,6 @@ import * as React from 'react' import i18n from 'i18next' import { renderWithProviders } from '@opentrons/components' -import { WASTE_CHUTE_SLOT } from '@opentrons/shared-data' import { Portal } from '../../portals/TopPortal' import { AdditionalItemsRow } from '../AdditionalItemsRow' @@ -71,7 +70,7 @@ describe('AdditionalItemsRow', () => { getByAltText('Waste Chute') getByText('mock slot map') getByText('Position:') - getByText(`Slot ${WASTE_CHUTE_SLOT}`) + getByText('D3') getByRole('button', { name: 'remove' }).click() expect(props.handleAttachment).toHaveBeenCalled() }) diff --git a/protocol-designer/src/components/modules/__tests__/StagingAreasRow.test.tsx b/protocol-designer/src/components/modules/__tests__/StagingAreasRow.test.tsx index baa7ad21fbe..40e74342714 100644 --- a/protocol-designer/src/components/modules/__tests__/StagingAreasRow.test.tsx +++ b/protocol-designer/src/components/modules/__tests__/StagingAreasRow.test.tsx @@ -42,7 +42,7 @@ describe('StagingAreasRow', () => { const { getByRole, getByText } = render(props) getByText('mock slot map') getByText('Position:') - getByText('Slots B3') + getByText('B3') getByRole('button', { name: 'remove' }).click() expect(props.handleAttachment).toHaveBeenCalled() getByRole('button', { name: 'edit' }).click() diff --git a/protocol-designer/src/components/modules/__tests__/TrashModal.test.tsx b/protocol-designer/src/components/modules/__tests__/TrashModal.test.tsx index a498f587784..04c665c46b7 100644 --- a/protocol-designer/src/components/modules/__tests__/TrashModal.test.tsx +++ b/protocol-designer/src/components/modules/__tests__/TrashModal.test.tsx @@ -12,7 +12,7 @@ import { } from '../../../labware-ingred/actions' import { FLEX_TRASH_DEF_URI } from '../../../constants' import { TrashModal } from '../TrashModal' -import { WASTE_CHUTE_SLOT } from '@opentrons/shared-data' +import { WASTE_CHUTE_CUTOUT } from '@opentrons/shared-data' jest.mock('../../../step-forms') jest.mock('../../../step-forms/selectors') @@ -114,7 +114,7 @@ describe('TrashModal ', () => { await waitFor(() => { expect(mockCreateDeckFixture).toHaveBeenCalledWith( 'wasteChute', - WASTE_CHUTE_SLOT + WASTE_CHUTE_CUTOUT ) }) }) diff --git a/protocol-designer/src/components/modules/utils.ts b/protocol-designer/src/components/modules/utils.ts index ead37eaedf6..06491f2cadb 100644 --- a/protocol-designer/src/components/modules/utils.ts +++ b/protocol-designer/src/components/modules/utils.ts @@ -1,6 +1,5 @@ import { MODULES_WITH_COLLISION_ISSUES } from '@opentrons/step-generation' import { ModuleModel } from '@opentrons/shared-data' export function isModuleWithCollisionIssue(model: ModuleModel): boolean { - // @ts-expect-error(sa, 2021-6-21): ModuleModel is a super type of the elements in MODULES_WITH_COLLISION_ISSUES return MODULES_WITH_COLLISION_ISSUES.includes(model) } diff --git a/protocol-designer/src/components/steplist/MoveLabwareHeader.tsx b/protocol-designer/src/components/steplist/MoveLabwareHeader.tsx index 9d641a34362..bfba5d12886 100644 --- a/protocol-designer/src/components/steplist/MoveLabwareHeader.tsx +++ b/protocol-designer/src/components/steplist/MoveLabwareHeader.tsx @@ -6,7 +6,7 @@ import { Tooltip, useHoverTooltip, TOOLTIP_FIXED } from '@opentrons/components' import { getLabwareDisplayName, getModuleDisplayName, - WASTE_CHUTE_SLOT, + WASTE_CHUTE_CUTOUT, } from '@opentrons/shared-data' import { getAdditionalEquipmentEntities, @@ -59,7 +59,7 @@ export function MoveLabwareHeader(props: MoveLabwareHeaderProps): JSX.Element { destSlot = getLabwareDisplayName(labwareEntities[destinationSlot].def) } else if ( getHasWasteChute(additionalEquipmentEntities) && - destinationSlot === WASTE_CHUTE_SLOT + destinationSlot === WASTE_CHUTE_CUTOUT ) { destSlot = i18n.t('application.waste_chute_slot') } else { diff --git a/protocol-designer/src/labware-ingred/utils.ts b/protocol-designer/src/labware-ingred/utils.ts index abb598e16ea..685e1bac8e7 100644 --- a/protocol-designer/src/labware-ingred/utils.ts +++ b/protocol-designer/src/labware-ingred/utils.ts @@ -8,7 +8,7 @@ export function getNextAvailableDeckSlot( robotType: RobotType ): DeckSlot | null | undefined { const deckDef = getDeckDefFromRobotType(robotType) - return deckDef.locations.orderedSlots.find(slot => + return deckDef.locations.addressableAreas.find(slot => getSlotIsEmpty(initialDeckSetup, slot.id) )?.id } diff --git a/protocol-designer/src/top-selectors/labware-locations/index.ts b/protocol-designer/src/top-selectors/labware-locations/index.ts index 1ef2640b018..9fad438c2d4 100644 --- a/protocol-designer/src/top-selectors/labware-locations/index.ts +++ b/protocol-designer/src/top-selectors/labware-locations/index.ts @@ -5,7 +5,8 @@ import { getDeckDefFromRobotType, getModuleDisplayName, FLEX_ROBOT_TYPE, - WASTE_CHUTE_SLOT, + WASTE_CHUTE_ADDRESSABLE_AREAS, + WASTE_CHUTE_CUTOUT, } from '@opentrons/shared-data' import { START_TERMINAL_ITEM_ID, @@ -108,7 +109,7 @@ export const getUnocuppiedLabwareLocationOptions: Selector< ) => { const deckDef = getDeckDefFromRobotType(robotType) const trashSlot = robotType === FLEX_ROBOT_TYPE ? 'A3' : '12' - const allSlotIds = deckDef.locations.orderedSlots.map(slot => slot.id) + const allSlotIds = deckDef.locations.addressableAreas.map(slot => slot.id) const hasWasteChute = getHasWasteChute(additionalEquipmentEntities) if (robotState == null) return null @@ -196,13 +197,13 @@ export const getUnocuppiedLabwareLocationOptions: Selector< .map(lw => lw.slot) .includes(slotId) && slotId !== trashSlot && - (hasWasteChute ? slotId !== WASTE_CHUTE_SLOT : true) + (hasWasteChute ? !(slotId in WASTE_CHUTE_ADDRESSABLE_AREAS) : true) ) .map(slotId => ({ name: slotId, value: slotId })) const offDeck = { name: 'Off-deck', value: 'offDeck' } const wasteChuteSlot = { name: 'Waste Chute in D3', - value: WASTE_CHUTE_SLOT, + value: WASTE_CHUTE_CUTOUT, } return hasWasteChute diff --git a/protocol-designer/src/tutorial/selectors.ts b/protocol-designer/src/tutorial/selectors.ts index ec198989d88..a1185dbee77 100644 --- a/protocol-designer/src/tutorial/selectors.ts +++ b/protocol-designer/src/tutorial/selectors.ts @@ -1,7 +1,7 @@ import { createSelector } from 'reselect' import { THERMOCYCLER_MODULE_TYPE, - WASTE_CHUTE_SLOT, + WASTE_CHUTE_CUTOUT, } from '@opentrons/shared-data' import { timelineFrameBeforeActiveItem } from '../top-selectors/timelineFrames' import { @@ -85,7 +85,7 @@ export const shouldShowWasteChuteHint: Selector = createSelector( return false } const { newLocation } = unsavedForm - if (newLocation === WASTE_CHUTE_SLOT) { + if (newLocation === WASTE_CHUTE_CUTOUT) { return true } diff --git a/react-api-client/src/deck_configuration/__tests__/useCreateDeckConfigurationMutation.test.tsx b/react-api-client/src/deck_configuration/__tests__/useCreateDeckConfigurationMutation.test.tsx index d2e201fc0e0..200b05f9208 100644 --- a/react-api-client/src/deck_configuration/__tests__/useCreateDeckConfigurationMutation.test.tsx +++ b/react-api-client/src/deck_configuration/__tests__/useCreateDeckConfigurationMutation.test.tsx @@ -7,7 +7,7 @@ import { createDeckConfiguration } from '@opentrons/api-client' // import { // TRASH_BIN_LOAD_NAME, // WASTE_CHUTE_LOAD_NAME, -// WASTE_CHUTE_SLOT, +// WASTE_CHUTE_CUTOUT, // } from '@opentrons/shared-data' import { useHost } from '../../api' @@ -27,7 +27,7 @@ const mockUseHost = useHost as jest.MockedFunction // const mockDeckConfiguration = [ // { // fixtureId: 'mockFixtureWasteChuteId', -// fixtureLocation: 'D3', +// fixtureLocation: 'cutoutD3', // loadName: WASTE_CHUTE_LOAD_NAME, // }, // ] as DeckConfiguration diff --git a/shared-data/deck/types/schemaV4.ts b/shared-data/deck/types/schemaV4.ts index f81029da61e..04aeb85cb59 100644 --- a/shared-data/deck/types/schemaV4.ts +++ b/shared-data/deck/types/schemaV4.ts @@ -52,13 +52,20 @@ export type CutoutId = | 'cutoutA2' | 'cutoutA3' -export type CutoutFixtureId = +export type SingleSlotCutoutFixtureId = | 'singleLeftSlot' | 'singleCenterSlot' | 'singleRightSlot' - | 'stagingAreaRightSlot' - | 'trashBinAdapter' + +export type TrashBinAdapterCutoutFixtureId = 'trashBinAdapter' + +export type WasteChuteCutoutFixtureId = | 'wasteChuteRightAdapterCovered' | 'wasteChuteRightAdapterNoCover' | 'stagingAreaSlotWithWasteChuteRightAdapterCovered' | 'stagingAreaSlotWithWasteChuteRightAdapterNoCover' + +export type CutoutFixtureId = + | SingleSlotCutoutFixtureId + | TrashBinAdapterCutoutFixtureId + | WasteChuteCutoutFixtureId diff --git a/shared-data/js/constants.ts b/shared-data/js/constants.ts index 51de83946cc..9ac6327bbcb 100644 --- a/shared-data/js/constants.ts +++ b/shared-data/js/constants.ts @@ -1,4 +1,4 @@ -import type { ModuleType } from './types' +import type { Cutout, ModuleType } from './types' // constants for dealing with robot coordinate system (eg in labwareTools) export const SLOT_LENGTH_MM = 127.76 // along X axis in robot coordinate system @@ -183,9 +183,126 @@ export const TC_MODULE_LOCATION_OT3: 'A1+B1' = 'A1+B1' export const WEIGHT_OF_96_CHANNEL: '~10kg' = '~10kg' -export const WASTE_CHUTE_SLOT: 'D3' = 'D3' +export const STAGING_AREA_CUTOUTS: Cutout[] = [ + 'cutoutA3', + 'cutoutB3', + 'cutoutC3', + 'cutoutD3', +] +export const WASTE_CHUTE_CUTOUT: 'cutoutD3' = 'cutoutD3' export const STAGING_AREA_LOAD_NAME = 'stagingArea' export const STANDARD_SLOT_LOAD_NAME = 'standardSlot' export const TRASH_BIN_LOAD_NAME = 'trashBin' export const WASTE_CHUTE_LOAD_NAME = 'wasteChute' + +export const A1_ADDRESSABLE_AREA: 'A1' = 'A1' +export const A2_ADDRESSABLE_AREA: 'A2' = 'A2' +export const A3_ADDRESSABLE_AREA: 'A3' = 'A3' +export const A4_ADDRESSABLE_AREA: 'A4' = 'A4' +export const B1_ADDRESSABLE_AREA: 'B1' = 'B1' +export const B2_ADDRESSABLE_AREA: 'B2' = 'B2' +export const B3_ADDRESSABLE_AREA: 'B3' = 'B3' +export const B4_ADDRESSABLE_AREA: 'B4' = 'B4' +export const C1_ADDRESSABLE_AREA: 'C1' = 'C1' +export const C2_ADDRESSABLE_AREA: 'C2' = 'C2' +export const C3_ADDRESSABLE_AREA: 'C3' = 'C3' +export const C4_ADDRESSABLE_AREA: 'C4' = 'C4' +export const D1_ADDRESSABLE_AREA: 'D1' = 'D1' +export const D2_ADDRESSABLE_AREA: 'D2' = 'D2' +export const D3_ADDRESSABLE_AREA: 'D3' = 'D3' +export const D4_ADDRESSABLE_AREA: 'D4' = 'D4' + +export const MOVABLE_TRASH_A1_ADDRESSABLE_AREA: 'movableTrashA1' = + 'movableTrashA1' +export const MOVABLE_TRASH_A3_ADDRESSABLE_AREA: 'movableTrashA3' = + 'movableTrashA3' +export const MOVABLE_TRASH_B1_ADDRESSABLE_AREA: 'movableTrashB1' = + 'movableTrashB1' +export const MOVABLE_TRASH_B3_ADDRESSABLE_AREA: 'movableTrashB3' = + 'movableTrashB3' +export const MOVABLE_TRASH_C1_ADDRESSABLE_AREA: 'movableTrashC1' = + 'movableTrashC1' +export const MOVABLE_TRASH_C3_ADDRESSABLE_AREA: 'movableTrashC3' = + 'movableTrashC3' +export const MOVABLE_TRASH_D1_ADDRESSABLE_AREA: 'movableTrashD1' = + 'movableTrashD1' +export const MOVABLE_TRASH_D3_ADDRESSABLE_AREA: 'movableTrashD3' = + 'movableTrashD3' + +export const ONE_AND_EIGHT_CHANNEL_WASTE_CHUTE_ADDRESSABLE_AREA: '1and8ChannelWasteChute' = + '1and8ChannelWasteChute' +export const NINETY_SIX_CHANNEL_WASTE_CHUTE_ADDRESSABLE_AREA: '96ChannelWasteChute' = + '96ChannelWasteChute' +export const GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA: 'gripperWasteChute' = + 'gripperWasteChute' + +export const FLEX_SINGLE_SLOT_ADDRESSABLE_AREAS = [ + A1_ADDRESSABLE_AREA, + A2_ADDRESSABLE_AREA, + A3_ADDRESSABLE_AREA, + B1_ADDRESSABLE_AREA, + B2_ADDRESSABLE_AREA, + B3_ADDRESSABLE_AREA, + C1_ADDRESSABLE_AREA, + C2_ADDRESSABLE_AREA, + C3_ADDRESSABLE_AREA, + D1_ADDRESSABLE_AREA, + D2_ADDRESSABLE_AREA, + D3_ADDRESSABLE_AREA, +] + +export const FLEX_STAGING_AREA_SLOT_ADDRESSABLE_AREAS = [ + A4_ADDRESSABLE_AREA, + B4_ADDRESSABLE_AREA, + C4_ADDRESSABLE_AREA, + D4_ADDRESSABLE_AREA, +] + +export const MOVABLE_TRASH_ADDRESSABLE_AREAS = [ + MOVABLE_TRASH_A1_ADDRESSABLE_AREA, + MOVABLE_TRASH_A3_ADDRESSABLE_AREA, + MOVABLE_TRASH_B1_ADDRESSABLE_AREA, + MOVABLE_TRASH_B3_ADDRESSABLE_AREA, + MOVABLE_TRASH_C1_ADDRESSABLE_AREA, + MOVABLE_TRASH_C3_ADDRESSABLE_AREA, + MOVABLE_TRASH_D1_ADDRESSABLE_AREA, + MOVABLE_TRASH_D3_ADDRESSABLE_AREA, +] + +export const WASTE_CHUTE_ADDRESSABLE_AREAS = [ + ONE_AND_EIGHT_CHANNEL_WASTE_CHUTE_ADDRESSABLE_AREA, + NINETY_SIX_CHANNEL_WASTE_CHUTE_ADDRESSABLE_AREA, + GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA, +] + +export const SINGLE_LEFT_SLOT_FIXTURE: 'singleLeftSlot' = 'singleLeftSlot' +export const SINGLE_CENTER_SLOT_FIXTURE: 'singleCenterSlot' = 'singleCenterSlot' +export const SINGLE_RIGHT_SLOT_FIXTURE: 'singleRightSlot' = 'singleRightSlot' + +export const STAGING_AREA_RIGHT_SLOT_FIXTURE: 'stagingAreaRightSlot' = + 'stagingAreaRightSlot' + +export const TRASH_BIN_ADAPTER_FIXTURE: 'trashBinAdapter' = 'trashBinAdapter' + +export const WASTE_CHUTE_RIGHT_ADAPTER_COVERED_FIXTURE: 'wasteChuteRightAdapterCovered' = + 'wasteChuteRightAdapterCovered' +export const WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE: 'wasteChuteRightAdapterNoCover' = + 'wasteChuteRightAdapterNoCover' +export const STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_COVERED_FIXTURE: 'stagingAreaSlotWithWasteChuteRightAdapterCovered' = + 'stagingAreaSlotWithWasteChuteRightAdapterCovered' +export const STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE: 'stagingAreaSlotWithWasteChuteRightAdapterNoCover' = + 'stagingAreaSlotWithWasteChuteRightAdapterNoCover' + +export const SINGLE_SLOT_FIXTURES = [ + SINGLE_LEFT_SLOT_FIXTURE, + SINGLE_CENTER_SLOT_FIXTURE, + SINGLE_RIGHT_SLOT_FIXTURE, +] + +export const WASTE_CHUTE_FIXTURES = [ + WASTE_CHUTE_RIGHT_ADAPTER_COVERED_FIXTURE, + WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, + STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_COVERED_FIXTURE, + STAGING_AREA_SLOT_WITH_WASTE_CHUTE_RIGHT_ADAPTER_NO_COVER_FIXTURE, +] diff --git a/shared-data/js/fixtures.ts b/shared-data/js/fixtures.ts index d424464e43d..39ae5b9fe8d 100644 --- a/shared-data/js/fixtures.ts +++ b/shared-data/js/fixtures.ts @@ -1,9 +1,97 @@ import { + FLEX_ROBOT_TYPE, STAGING_AREA_LOAD_NAME, TRASH_BIN_LOAD_NAME, WASTE_CHUTE_LOAD_NAME, } from './constants' -import type { FixtureLoadName } from './types' +import type { + AddressableArea, + CoordinateTuple, + Cutout, + DeckDefinition, + FixtureLoadName, + OT2Cutout, +} from './types' + +export function getCutoutDisplayName(cutout: Cutout): string { + return cutout.replace('cutout', '') +} + +// mapping of OT-2 deck slots to cutouts +export const OT2_CUTOUT_BY_SLOT_ID: { [slotId: string]: OT2Cutout } = { + 1: 'cutout1', + 2: 'cutout2', + 3: 'cutout3', + 4: 'cutout4', + 5: 'cutout5', + 6: 'cutout6', + 7: 'cutout7', + 8: 'cutout8', + 9: 'cutout9', + 10: 'cutout10', + 11: 'cutout11', +} + +// mapping of Flex deck slots to cutouts +export const FLEX_CUTOUT_BY_SLOT_ID: { [slotId: string]: Cutout } = { + A1: 'cutoutA1', + A2: 'cutoutA2', + A3: 'cutoutA3', + A4: 'cutoutA3', + B1: 'cutoutB1', + B2: 'cutoutB2', + B3: 'cutoutB3', + B4: 'cutoutB3', + C1: 'cutoutC1', + C2: 'cutoutC2', + C3: 'cutoutC3', + C4: 'cutoutC3', + D1: 'cutoutD1', + D2: 'cutoutD2', + D3: 'cutoutD3', + D4: 'cutoutD3', +} + +// returns the position associated with a slot id +export function getPositionFromSlotId( + slotId: string, + deckDef: DeckDefinition +): CoordinateTuple | null { + const cutoutWithSlot = + deckDef.robot.model === FLEX_ROBOT_TYPE + ? FLEX_CUTOUT_BY_SLOT_ID[slotId] + : OT2_CUTOUT_BY_SLOT_ID[slotId] + + const cutoutPosition = + deckDef.locations.cutouts.find(cutout => cutout.id === cutoutWithSlot) + ?.position ?? null + + // adjust for offset from cutout + const offsetFromCutoutFixture = getAddressableAreaFromSlotId(slotId, deckDef) + ?.offsetFromCutoutFixture ?? [0, 0, 0] + + const slotPosition: CoordinateTuple | null = + cutoutPosition != null + ? [ + cutoutPosition[0] + offsetFromCutoutFixture[0], + cutoutPosition[1] + offsetFromCutoutFixture[1], + cutoutPosition[2] + offsetFromCutoutFixture[2], + ] + : null + + return slotPosition +} + +export function getAddressableAreaFromSlotId( + slotId: string, + deckDef: DeckDefinition +): AddressableArea | null { + return ( + deckDef.locations.addressableAreas.find( + addressableArea => addressableArea.id === slotId + ) ?? null + ) +} export function getFixtureDisplayName(loadName: FixtureLoadName): string { if (loadName === STAGING_AREA_LOAD_NAME) { @@ -16,3 +104,41 @@ export function getFixtureDisplayName(loadName: FixtureLoadName): string { return 'Slot' } } + +const STANDARD_OT2_SLOTS = [ + '1', + '2', + '3', + '4', + '5', + '6', + '7', + '8', + '9', + '10', + '11', +] + +const STANDARD_FLEX_SLOTS = [ + 'A1', + 'A2', + 'A3', + 'B1', + 'B2', + 'B3', + 'C1', + 'C2', + 'C3', + 'D1', + 'D2', + 'D3', +] + +export const isAddressableAreaStandardSlot = ( + addressableAreaId: string, + deckDef: DeckDefinition +): boolean => + (deckDef.robot.model === FLEX_ROBOT_TYPE + ? STANDARD_FLEX_SLOTS + : STANDARD_OT2_SLOTS + ).includes(addressableAreaId) diff --git a/shared-data/js/helpers/__tests__/getDeckDefFromLoadedLabware.test.ts b/shared-data/js/helpers/__tests__/getDeckDefFromLoadedLabware.test.ts index 8a9609b4baf..840753899ce 100644 --- a/shared-data/js/helpers/__tests__/getDeckDefFromLoadedLabware.test.ts +++ b/shared-data/js/helpers/__tests__/getDeckDefFromLoadedLabware.test.ts @@ -1,5 +1,5 @@ -import ot2DeckDef from '../../../deck/definitions/3/ot2_standard.json' -import ot3DeckDef from '../../../deck/definitions/3/ot3_standard.json' +import ot2DeckDef from '../../../deck/definitions/4/ot2_standard.json' +import ot3DeckDef from '../../../deck/definitions/4/ot3_standard.json' import { getDeckDefFromRobotType } from '..' describe('getDeckDefFromRobotType', () => { diff --git a/shared-data/js/helpers/index.ts b/shared-data/js/helpers/index.ts index c686898f9bc..a0cb30f9eb9 100644 --- a/shared-data/js/helpers/index.ts +++ b/shared-data/js/helpers/index.ts @@ -2,8 +2,6 @@ import assert from 'assert' import uniq from 'lodash/uniq' import { OPENTRONS_LABWARE_NAMESPACE } from '../constants' -import standardOt2DeckDefv3 from '../../deck/definitions/3/ot2_standard.json' -import standardFlexDeckDefv3 from '../../deck/definitions/3/ot3_standard.json' import standardOt2DeckDef from '../../deck/definitions/4/ot2_standard.json' import standardFlexDeckDef from '../../deck/definitions/4/ot3_standard.json' import type { @@ -206,7 +204,7 @@ export const getSlotHasMatingSurfaceUnitVector = ( deckDef: DeckDefinition, slotNumber: string ): boolean => { - const matingSurfaceUnitVector = deckDef.locations.orderedSlots.find( + const matingSurfaceUnitVector = deckDef.locations.addressableAreas.find( orderedSlot => orderedSlot.id === slotNumber )?.matingSurfaceUnitVector @@ -226,7 +224,8 @@ export const getAreSlotsHorizontallyAdjacent = ( if (isNaN(slotBNumber) || isNaN(slotANumber)) { return false } - const orderedSlots = standardOt2DeckDefv3.locations.orderedSlots + // TODO(bh, 2023-11-03): is this OT-2 only? + const orderedSlots = standardOt2DeckDef.locations.cutouts // intentionally not substracting by 1 because trash (slot 12) should not count const numSlots = orderedSlots.length @@ -262,7 +261,8 @@ export const getAreSlotsVerticallyAdjacent = ( if (isNaN(slotBNumber) || isNaN(slotANumber)) { return false } - const orderedSlots = standardOt2DeckDefv3.locations.orderedSlots + // TODO(bh, 2023-11-03): is this OT-2 only? + const orderedSlots = standardOt2DeckDef.locations.cutouts // intentionally not substracting by 1 because trash (slot 12) should not count const numSlots = orderedSlots.length @@ -352,10 +352,11 @@ export const getDeckDefFromRobotType = ( ): DeckDefinition => { // @ts-expect-error imported JSON not playing nice with TS. see https://github.com/microsoft/TypeScript/issues/32063 return robotType === 'OT-3 Standard' - ? standardFlexDeckDefv3 - : standardOt2DeckDefv3 + ? standardFlexDeckDef + : standardOt2DeckDef } +// TODO(bh, 2023-11-09): delete this function export const getDeckDefFromRobotTypeV4 = ( robotType: RobotType ): DeckDefinition => { diff --git a/shared-data/js/types.ts b/shared-data/js/types.ts index 28b509a7f26..3d0ad89ff3e 100644 --- a/shared-data/js/types.ts +++ b/shared-data/js/types.ts @@ -291,14 +291,20 @@ export interface CutoutFixture { providesAddressableAreas: Record } +type AreaType = 'slot' | 'movableTrash' | 'wasteChute' | 'fixedTrash' + export interface AddressableArea { id: AddressableAreaName - areaType: 'slot' | 'movableTrash' | 'fixedTrash' | 'wasteChute' - matingSurfaceUnitVector: UnitVectorTuple - offsetFromCutoutFixture: UnitVectorTuple + areaType: AreaType + offsetFromCutoutFixture: CoordinateTuple boundingBox: Dimensions displayName: string compatibleModuleTypes: ModuleType[] + ableToDropLabware?: boolean + ableToDropTips?: boolean + dropLabwareOffset?: CoordinateTuple + dropTipsOffset?: CoordinateTuple + matingSurfaceUnitVector?: UnitVectorTuple } export interface DeckLocations { @@ -313,7 +319,7 @@ export interface DeckMetadata { tags: string[] } -export interface DeckDefinition { +export interface DeckDefinitionV3 { otId: string cornerOffsetFromOrigin: CoordinateTuple dimensions: CoordinateTuple @@ -324,6 +330,37 @@ export interface DeckDefinition { layers: INode[] } +export interface DeckCutout { + id: string + position: CoordinateTuple + displayName: string +} + +export interface LegacyFixture { + id: string + // TODO: is this cutout location? + slot: string + labware: string + displayName: string +} + +export interface DeckLocationsV4 { + addressableAreas: AddressableArea[] + calibrationPoints: DeckCalibrationPoint[] + cutouts: DeckCutout[] + legacyFixtures: LegacyFixture[] +} + +export interface DeckDefinition { + otId: string + cornerOffsetFromOrigin: CoordinateTuple + dimensions: CoordinateTuple + robot: DeckRobot + locations: DeckLocationsV4 + metadata: DeckMetadata + cutoutFixtures: CutoutFixture[] +} + export interface ModuleDimensions { bareOverallHeight: number overLabwareHeight: number @@ -550,8 +587,35 @@ export type StatusBarAnimation = export type StatusBarAnimations = StatusBarAnimation[] -// TODO(bh, 2023-09-28): refine types when settled export type Cutout = + | 'cutoutA1' + | 'cutoutB1' + | 'cutoutC1' + | 'cutoutD1' + | 'cutoutA2' + | 'cutoutB2' + | 'cutoutC2' + | 'cutoutD2' + | 'cutoutA3' + | 'cutoutB3' + | 'cutoutC3' + | 'cutoutD3' + +export type OT2Cutout = + | 'cutout1' + | 'cutout2' + | 'cutout3' + | 'cutout4' + | 'cutout5' + | 'cutout6' + | 'cutout7' + | 'cutout8' + | 'cutout9' + | 'cutout10' + | 'cutout11' + | 'cutout12' + +export type FlexSlot = | 'A1' | 'B1' | 'C1' @@ -564,6 +628,10 @@ export type Cutout = | 'B3' | 'C3' | 'D3' + | 'A4' + | 'B4' + | 'C4' + | 'D4' export interface Fixture { fixtureId: string diff --git a/step-generation/src/__tests__/moveLabware.test.ts b/step-generation/src/__tests__/moveLabware.test.ts index b57f3d7d200..f6d8ac69c1f 100644 --- a/step-generation/src/__tests__/moveLabware.test.ts +++ b/step-generation/src/__tests__/moveLabware.test.ts @@ -1,6 +1,6 @@ import { HEATERSHAKER_MODULE_TYPE, - WASTE_CHUTE_SLOT, + WASTE_CHUTE_CUTOUT, } from '@opentrons/shared-data' import { getInitialRobotStateStandard, @@ -249,7 +249,7 @@ describe('moveLabware', () => { mockWasteChuteId: { name: 'wasteChute', id: mockWasteChuteId, - location: WASTE_CHUTE_SLOT, + location: WASTE_CHUTE_CUTOUT, }, }, } as InvariantContext @@ -266,7 +266,7 @@ describe('moveLabware', () => { commandCreatorFnName: 'moveLabware', labware: TIPRACK_1, useGripper: true, - newLocation: { slotName: WASTE_CHUTE_SLOT }, + newLocation: { slotName: WASTE_CHUTE_CUTOUT }, } as MoveLabwareArgs const result = moveLabware( @@ -288,7 +288,7 @@ describe('moveLabware', () => { mockWasteChuteId: { name: 'wasteChute', id: mockWasteChuteId, - location: WASTE_CHUTE_SLOT, + location: WASTE_CHUTE_CUTOUT, }, }, } as InvariantContext @@ -304,7 +304,7 @@ describe('moveLabware', () => { commandCreatorFnName: 'moveLabware', labware: SOURCE_LABWARE, useGripper: true, - newLocation: { slotName: WASTE_CHUTE_SLOT }, + newLocation: { slotName: WASTE_CHUTE_CUTOUT }, } as MoveLabwareArgs const result = moveLabware( diff --git a/step-generation/src/__tests__/wasteChuteCommandsUtil.test.ts b/step-generation/src/__tests__/wasteChuteCommandsUtil.test.ts index b202fd2e33d..c54134c9288 100644 --- a/step-generation/src/__tests__/wasteChuteCommandsUtil.test.ts +++ b/step-generation/src/__tests__/wasteChuteCommandsUtil.test.ts @@ -1,4 +1,4 @@ -import { WASTE_CHUTE_SLOT } from '@opentrons/shared-data' +import { WASTE_CHUTE_CUTOUT } from '@opentrons/shared-data' import { getInitialRobotStateStandard, makeContext, @@ -44,7 +44,7 @@ describe('wasteChuteCommandsUtil', () => { additionalEquipmentEntities: { [mockWasteChuteId]: { name: 'wasteChute', - location: WASTE_CHUTE_SLOT, + location: WASTE_CHUTE_CUTOUT, id: 'mockId', }, }, diff --git a/step-generation/src/commandCreators/atomic/moveLabware.ts b/step-generation/src/commandCreators/atomic/moveLabware.ts index d14814fa3b0..3f3929ecf81 100644 --- a/step-generation/src/commandCreators/atomic/moveLabware.ts +++ b/step-generation/src/commandCreators/atomic/moveLabware.ts @@ -3,7 +3,7 @@ import { HEATERSHAKER_MODULE_TYPE, LabwareMovementStrategy, THERMOCYCLER_MODULE_TYPE, - WASTE_CHUTE_SLOT, + WASTE_CHUTE_CUTOUT, } from '@opentrons/shared-data' import * as errorCreators from '../../errorCreators' import * as warningCreators from '../../warningCreators' @@ -44,7 +44,7 @@ export const moveLabware: CommandCreator = ( const newLocationInWasteChute = newLocation !== 'offDeck' && 'slotName' in newLocation && - newLocation.slotName === WASTE_CHUTE_SLOT + newLocation.slotName === WASTE_CHUTE_CUTOUT if (!labware || !prevRobotState.labware[labware]) { errors.push( diff --git a/step-generation/src/constants.ts b/step-generation/src/constants.ts index 17e278eadc7..d8dfa2142c4 100644 --- a/step-generation/src/constants.ts +++ b/step-generation/src/constants.ts @@ -2,6 +2,8 @@ import { MAGNETIC_MODULE_V1, TEMPERATURE_MODULE_V1, } from '@opentrons/shared-data' +import type { ModuleModel } from '@opentrons/shared-data' + // Temperature statuses export const TEMPERATURE_DEACTIVATED: 'TEMPERATURE_DEACTIVATED' = 'TEMPERATURE_DEACTIVATED' @@ -10,7 +12,7 @@ export const TEMPERATURE_AT_TARGET: 'TEMPERATURE_AT_TARGET' = export const TEMPERATURE_APPROACHING_TARGET: 'TEMPERATURE_APPROACHING_TARGET' = 'TEMPERATURE_APPROACHING_TARGET' export const AIR_GAP_OFFSET_FROM_TOP = 1 -export const MODULES_WITH_COLLISION_ISSUES = [ +export const MODULES_WITH_COLLISION_ISSUES: ModuleModel[] = [ MAGNETIC_MODULE_V1, TEMPERATURE_MODULE_V1, ] diff --git a/step-generation/src/utils/misc.ts b/step-generation/src/utils/misc.ts index 8dd2df669ff..0946cea97ee 100644 --- a/step-generation/src/utils/misc.ts +++ b/step-generation/src/utils/misc.ts @@ -8,7 +8,7 @@ import { getLabwareDefURI, getWellsDepth, getWellNamePerMultiTip, - WASTE_CHUTE_SLOT, + WASTE_CHUTE_CUTOUT, } from '@opentrons/shared-data' import { blowout } from '../commandCreators/atomic/blowout' import { curryCommandCreator } from './curryCommandCreator' @@ -343,7 +343,7 @@ export const getHasWasteChute = ( ): boolean => { return Object.values(additionalEquipmentEntities).some( additionalEquipmentEntity => - additionalEquipmentEntity.location === WASTE_CHUTE_SLOT && + additionalEquipmentEntity.location === WASTE_CHUTE_CUTOUT && additionalEquipmentEntity.name === 'wasteChute' ) } diff --git a/step-generation/src/utils/modulePipetteCollision.ts b/step-generation/src/utils/modulePipetteCollision.ts index 745becfbe02..2ab09bbb109 100644 --- a/step-generation/src/utils/modulePipetteCollision.ts +++ b/step-generation/src/utils/modulePipetteCollision.ts @@ -36,7 +36,6 @@ export const modulePipetteCollision = (args: { const labwareInDangerZone = Object.keys(invariantContext.moduleEntities).some( moduleId => { const moduleModel = invariantContext.moduleEntities[moduleId].model - // @ts-expect-error(SA, 2021-05-03): need to type narrow if (MODULES_WITH_COLLISION_ISSUES.includes(moduleModel)) { const moduleSlot: DeckSlot | null | undefined = prevRobotState.modules[moduleId]?.slot From daf6ea9e53b29a6449585dad75c7aaa3a7c6bdd6 Mon Sep 17 00:00:00 2001 From: Nick Diehl <47604184+ncdiehl11@users.noreply.github.com> Date: Mon, 13 Nov 2023 10:20:12 -0500 Subject: [PATCH 55/65] feat(app): add inPlace and moveToAddressableArea command text (#13958) closes RAUT-851 Generate different commands from dropping tips in other locations if we select the waste chute as our drop tip location. For the waste chute, we generate moveToAddressableArea followed by dropTipInPlace commands. --- .../en/protocol_command_text.json | 4 + .../CommandText/PipettingCommandText.tsx | 42 +++++----- .../__tests__/CommandText.test.tsx | 82 +++++++++++++++++++ app/src/organisms/CommandText/index.tsx | 46 ++++++++++- 4 files changed, 151 insertions(+), 23 deletions(-) diff --git a/app/src/assets/localization/en/protocol_command_text.json b/app/src/assets/localization/en/protocol_command_text.json index 8d84b9e341f..167b64c08ed 100644 --- a/app/src/assets/localization/en/protocol_command_text.json +++ b/app/src/assets/localization/en/protocol_command_text.json @@ -3,6 +3,7 @@ "adapter_in_slot": "{{adapter}} in {{slot}}", "aspirate": "Aspirating {{volume}} µL from well {{well_name}} of {{labware}} in {{labware_location}} at {{flow_rate}} µL/sec", "blowout": "Blowing out at well {{well_name}} of {{labware}} in {{labware_location}} at {{flow_rate}} µL/sec", + "blowout_in_place": "Blowing out in place at {{flow_rate}} µL/sec", "closing_tc_lid": "Closing Thermocycler lid", "comment": "Comment", "configure_for_volume": "Configure {{pipette}} to aspirate {{volume}} µL", @@ -16,7 +17,9 @@ "disengaging_magnetic_module": "Disengaging Magnetic Module", "dispense_push_out": "Dispensing {{volume}} µL into well {{well_name}} of {{labware}} in {{labware_location}} at {{flow_rate}} µL/sec and pushing out {{push_out_volume}} µL", "dispense": "Dispensing {{volume}} µL into well {{well_name}} of {{labware}} in {{labware_location}} at {{flow_rate}} µL/sec", + "dispense_in_place": "Dispensing {{volume}} µL in place at {{flow_rate}} µL/sec", "drop_tip": "Dropping tip in {{well_name}} of {{labware}}", + "drop_tip_in_place": "Dropping tip in place", "engaging_magnetic_module": "Engaging Magnetic Module", "fixed_trash": "Fixed Trash", "home_gantry": "Homing all gantry, pipette, and plunger axes", @@ -31,6 +34,7 @@ "move_to_coordinates": "Moving to (X: {{x}}, Y: {{y}}, Z: {{z}})", "move_to_slot": "Moving to Slot {{slot_name}}", "move_to_well": "Moving to well {{well_name}} of {{labware}} in {{labware_location}}", + "move_to_addressable_area": "Moving to {{addressable_area}} at {{speed}} mm/s at {{height}} mm high", "notes": "notes", "off_deck": "off deck", "offdeck": "offdeck", diff --git a/app/src/organisms/CommandText/PipettingCommandText.tsx b/app/src/organisms/CommandText/PipettingCommandText.tsx index 8aff25b4da3..defd89fbab9 100644 --- a/app/src/organisms/CommandText/PipettingCommandText.tsx +++ b/app/src/organisms/CommandText/PipettingCommandText.tsx @@ -1,15 +1,11 @@ import { useTranslation } from 'react-i18next' + import { CompletedProtocolAnalysis, - AspirateRunTimeCommand, - DispenseRunTimeCommand, - BlowoutRunTimeCommand, - MoveToWellRunTimeCommand, - DropTipRunTimeCommand, - PickUpTipRunTimeCommand, getLabwareDefURI, RobotType, } from '@opentrons/shared-data' + import { getLabwareDefinitionsFromCommands } from '../LabwarePositionCheck/utils/labware' import { getLoadedLabware } from './utils/accessors' import { @@ -18,15 +14,10 @@ import { getFinalLabwareLocation, } from './utils' -type PipettingRunTimeCommmand = - | AspirateRunTimeCommand - | DispenseRunTimeCommand - | BlowoutRunTimeCommand - | MoveToWellRunTimeCommand - | DropTipRunTimeCommand - | PickUpTipRunTimeCommand +import type { PipettingRunTimeCommand } from '@opentrons/shared-data' + interface PipettingCommandTextProps { - command: PipettingRunTimeCommmand + command: PipettingRunTimeCommand robotSideAnalysis: CompletedProtocolAnalysis robotType: RobotType } @@ -38,7 +29,10 @@ export const PipettingCommandText = ({ }: PipettingCommandTextProps): JSX.Element | null => { const { t } = useTranslation('protocol_command_text') - const { labwareId, wellName } = command.params + const labwareId = + 'labwareId' in command.params ? command.params.labwareId : '' + const wellName = 'wellName' in command.params ? command.params.wellName : '' + const allPreviousCommands = robotSideAnalysis.commands.slice( 0, robotSideAnalysis.commands.findIndex(c => c.id === command.id) @@ -95,13 +89,6 @@ export const PipettingCommandText = ({ flow_rate: flowRate, }) } - case 'moveToWell': { - return t('move_to_well', { - well_name: wellName, - labware: getLabwareName(robotSideAnalysis, labwareId), - labware_location: displayLocation, - }) - } case 'dropTip': { const loadedLabware = getLoadedLabware(robotSideAnalysis, labwareId) const labwareDefinitions = getLabwareDefinitionsFromCommands( @@ -128,6 +115,17 @@ export const PipettingCommandText = ({ labware_location: displayLocation, }) } + case 'dropTipInPlace': { + return t('drop_tip_in_place') + } + case 'dispenseInPlace': { + const { volume, flowRate } = command.params + return t('dispense_in_place', { volume: volume, flow_rate: flowRate }) + } + case 'blowOutInPlace': { + const { flowRate } = command.params + return t('blowout_in_place', { flow_rate: flowRate }) + } default: { console.warn( 'PipettingCommandText encountered a command with an unrecognized commandType: ', diff --git a/app/src/organisms/CommandText/__tests__/CommandText.test.tsx b/app/src/organisms/CommandText/__tests__/CommandText.test.tsx index 28ef08f940f..242c6939eb4 100644 --- a/app/src/organisms/CommandText/__tests__/CommandText.test.tsx +++ b/app/src/organisms/CommandText/__tests__/CommandText.test.tsx @@ -1,7 +1,11 @@ import * as React from 'react' import { renderWithProviders } from '@opentrons/components' import { + BlowoutInPlaceRunTimeCommand, + DispenseInPlaceRunTimeCommand, + DropTipInPlaceRunTimeCommand, FLEX_ROBOT_TYPE, + MoveToAddressableAreaRunTimeCommand, PrepareToAspirateRunTimeCommand, } from '@opentrons/shared-data' import { i18n } from '../../../i18n' @@ -85,6 +89,26 @@ describe('CommandText', () => { ) } }) + it('renders correct text for dispenseInPlace', () => { + const { getByText } = renderWithProviders( + , + { i18nInstance: i18n } + )[0] + getByText('Dispensing 50 µL in place at 300 µL/sec') + }) it('renders correct text for blowout', () => { const dispenseCommand = mockRobotSideAnalysis.commands.find( c => c.commandType === 'dispense' @@ -108,6 +132,25 @@ describe('CommandText', () => { ) } }) + it('renders correct text for blowOutInPlace', () => { + const { getByText } = renderWithProviders( + , + { i18nInstance: i18n } + )[0] + getByText('Blowing out in place at 300 µL/sec') + }) it('renders correct text for moveToWell', () => { const dispenseCommand = mockRobotSideAnalysis.commands.find( c => c.commandType === 'aspirate' @@ -129,6 +172,27 @@ describe('CommandText', () => { getByText('Moving to well A1 of NEST 1 Well Reservoir 195 mL in Slot 5') } }) + it('renders correct text for moveToAddressableArea', () => { + const { getByText } = renderWithProviders( + , + { i18nInstance: i18n } + )[0] + getByText('Moving to D3 at 200 mm/s at 100 mm high') + }) it('renders correct text for configureForVolume', () => { const command = { commandType: 'configureForVolume', @@ -204,6 +268,24 @@ describe('CommandText', () => { )[0] getByText('Returning tip to A1 of Opentrons 96 Tip Rack 300 µL in Slot 9') }) + it('renders correct text for dropTipInPlace', () => { + const { getByText } = renderWithProviders( + , + { i18nInstance: i18n } + )[0] + getByText('Dropping tip in place') + }) it('renders correct text for pickUpTip', () => { const command = mockRobotSideAnalysis.commands.find( c => c.commandType === 'pickUpTip' diff --git a/app/src/organisms/CommandText/index.tsx b/app/src/organisms/CommandText/index.tsx index 67e76526ab1..00e9bca5808 100644 --- a/app/src/organisms/CommandText/index.tsx +++ b/app/src/organisms/CommandText/index.tsx @@ -3,6 +3,11 @@ import { useTranslation } from 'react-i18next' import { Flex, DIRECTION_COLUMN, SPACING } from '@opentrons/components' import { getPipetteNameSpecs, RunTimeCommand } from '@opentrons/shared-data' +import { + getLabwareName, + getLabwareDisplayLocation, + getFinalLabwareLocation, +} from './utils' import { StyledText } from '../../atoms/text' import { LoadCommandText } from './LoadCommandText' import { PipettingCommandText } from './PipettingCommandText' @@ -50,9 +55,11 @@ export function CommandText(props: Props): JSX.Element | null { switch (command.commandType) { case 'aspirate': case 'dispense': + case 'dispenseInPlace': case 'blowout': - case 'moveToWell': + case 'blowOutInPlace': case 'dropTip': + case 'dropTipInPlace': case 'pickUpTip': { return ( @@ -138,6 +145,31 @@ export function CommandText(props: Props): JSX.Element | null { ) } + case 'moveToWell': { + const { wellName, labwareId } = command.params + const allPreviousCommands = robotSideAnalysis.commands.slice( + 0, + robotSideAnalysis.commands.findIndex(c => c.id === command.id) + ) + const labwareLocation = getFinalLabwareLocation( + labwareId, + allPreviousCommands + ) + const displayLocation = + labwareLocation != null + ? getLabwareDisplayLocation( + robotSideAnalysis, + labwareLocation, + t, + robotType + ) + : '' + return t('move_to_well', { + well_name: wellName, + labware: getLabwareName(robotSideAnalysis, labwareId), + labware_location: displayLocation, + }) + } case 'moveLabware': { return ( @@ -182,6 +214,18 @@ export function CommandText(props: Props): JSX.Element | null { ) } + case 'moveToAddressableArea': { + const { addressableAreaName, speed, minimumZHeight } = command.params + return ( + + {t('move_to_addressable_area', { + addressable_area: addressableAreaName, + speed: speed, + height: minimumZHeight, + })} + + ) + } case 'touchTip': case 'home': case 'savePosition': From 8e24967977b2c67d46dfe91f849cb7fd79281838 Mon Sep 17 00:00:00 2001 From: Nick Diehl <47604184+ncdiehl11@users.noreply.github.com> Date: Mon, 13 Nov 2023 11:28:53 -0500 Subject: [PATCH 56/65] fix(app): robot settings and wizard required equipment styling (#13928) closes RQA-1635 closes RQA-1639 Add divider above first and below last wizard required equipment element. Add padding between calibration description and download cal logs button --- app/src/molecules/WizardRequiredEquipmentList/index.tsx | 5 ++--- .../RobotSettingsCalibration/CalibrationDataDownload.tsx | 6 +++++- 2 files changed, 7 insertions(+), 4 deletions(-) diff --git a/app/src/molecules/WizardRequiredEquipmentList/index.tsx b/app/src/molecules/WizardRequiredEquipmentList/index.tsx index 35b87750b4b..4d295203b5c 100644 --- a/app/src/molecules/WizardRequiredEquipmentList/index.tsx +++ b/app/src/molecules/WizardRequiredEquipmentList/index.tsx @@ -83,12 +83,11 @@ export function WizardRequiredEquipmentList( > {t('you_will_need')}     - {equipmentList.length > 1 ? : null} - {equipmentList.map((requiredEquipmentProps, index) => ( + + {equipmentList.map(requiredEquipmentProps => ( ))} {footer != null ? ( diff --git a/app/src/organisms/RobotSettingsCalibration/CalibrationDataDownload.tsx b/app/src/organisms/RobotSettingsCalibration/CalibrationDataDownload.tsx index 4755352fdee..4a261b331d9 100644 --- a/app/src/organisms/RobotSettingsCalibration/CalibrationDataDownload.tsx +++ b/app/src/organisms/RobotSettingsCalibration/CalibrationDataDownload.tsx @@ -91,7 +91,11 @@ export function CalibrationDataDownload({ } return ( - + {isFlex From 9562fab5768ca082a60a0aeda729a2870ec100f4 Mon Sep 17 00:00:00 2001 From: Shlok Amin Date: Mon, 13 Nov 2023 16:40:24 -0500 Subject: [PATCH 57/65] feat(shared-data): add 8 moveable trashes (#13959) closes RSS-397 --- .../deck/definitions/4/ot3_standard.json | 109 ++++++++++++++++-- 1 file changed, 100 insertions(+), 9 deletions(-) diff --git a/shared-data/deck/definitions/4/ot3_standard.json b/shared-data/deck/definitions/4/ot3_standard.json index 333fd6d59c3..87ba7e78e14 100644 --- a/shared-data/deck/definitions/4/ot3_standard.json +++ b/shared-data/deck/definitions/4/ot3_standard.json @@ -250,7 +250,98 @@ "compatibleModuleTypes": [] }, { - "id": "movableTrash", + "id": "movableTrashD1", + "areaType": "movableTrash", + "offsetFromCutoutFixture": [-17.0, -2.75, 0.0], + "boundingBox": { + "xDimension": 246.5, + "yDimension": 91.5, + "zDimension": 40 + }, + "displayName": "Trash Bin", + "ableToDropTips": true, + "dropTipsOffset": [123.25, 45.75, 40.0] + }, + { + "id": "movableTrashC1", + "areaType": "movableTrash", + "offsetFromCutoutFixture": [-17.0, -2.75, 0.0], + "boundingBox": { + "xDimension": 246.5, + "yDimension": 91.5, + "zDimension": 40 + }, + "displayName": "Trash Bin", + "ableToDropTips": true, + "dropTipsOffset": [123.25, 45.75, 40.0] + }, + { + "id": "movableTrashB1", + "areaType": "movableTrash", + "offsetFromCutoutFixture": [-17.0, -2.75, 0.0], + "boundingBox": { + "xDimension": 246.5, + "yDimension": 91.5, + "zDimension": 40 + }, + "displayName": "Trash Bin", + "ableToDropTips": true, + "dropTipsOffset": [123.25, 45.75, 40.0] + }, + { + "id": "movableTrashA1", + "areaType": "movableTrash", + "offsetFromCutoutFixture": [-17.0, -2.75, 0.0], + "boundingBox": { + "xDimension": 246.5, + "yDimension": 91.5, + "zDimension": 40 + }, + "displayName": "Trash Bin", + "ableToDropTips": true, + "dropTipsOffset": [123.25, 45.75, 40.0] + }, + { + "id": "movableTrashD3", + "areaType": "movableTrash", + "offsetFromCutoutFixture": [-17.0, -2.75, 0.0], + "boundingBox": { + "xDimension": 246.5, + "yDimension": 91.5, + "zDimension": 40 + }, + "displayName": "Trash Bin", + "ableToDropTips": true, + "dropTipsOffset": [123.25, 45.75, 40.0] + }, + { + "id": "movableTrashC3", + "areaType": "movableTrash", + "offsetFromCutoutFixture": [-17.0, -2.75, 0.0], + "boundingBox": { + "xDimension": 246.5, + "yDimension": 91.5, + "zDimension": 40 + }, + "displayName": "Trash Bin", + "ableToDropTips": true, + "dropTipsOffset": [123.25, 45.75, 40.0] + }, + { + "id": "movableTrashB3", + "areaType": "movableTrash", + "offsetFromCutoutFixture": [-17.0, -2.75, 0.0], + "boundingBox": { + "xDimension": 246.5, + "yDimension": 91.5, + "zDimension": 40 + }, + "displayName": "Trash Bin", + "ableToDropTips": true, + "dropTipsOffset": [123.25, 45.75, 40.0] + }, + { + "id": "movableTrashA3", "areaType": "movableTrash", "offsetFromCutoutFixture": [-17.0, -2.75, 0.0], "boundingBox": { @@ -433,14 +524,14 @@ ], "displayName": "Slot With Movable Trash", "providesAddressableAreas": { - "cutoutD1": ["movableTrash"], - "cutoutC1": ["movableTrash"], - "cutoutB1": ["movableTrash"], - "cutoutA1": ["movableTrash"], - "cutoutD3": ["movableTrash"], - "cutoutC3": ["movableTrash"], - "cutoutB3": ["movableTrash"], - "cutoutA3": ["movableTrash"] + "cutoutD1": ["movableTrashD1"], + "cutoutC1": ["movableTrashC1"], + "cutoutB1": ["movableTrashB1"], + "cutoutA1": ["movableTrashA1"], + "cutoutD3": ["movableTrashD3"], + "cutoutC3": ["movableTrashC3"], + "cutoutB3": ["movableTrashB3"], + "cutoutA3": ["movableTrashA3"] } }, { From 59eb6773c95d7575319564928b2f5737505fb4b7 Mon Sep 17 00:00:00 2001 From: Max Marrone Date: Mon, 13 Nov 2023 17:37:54 -0500 Subject: [PATCH 58/65] refactor(api): Delete unused opentrons.containers module #13973 --- .../opentrons/config/containers/__init__.py | 0 .../config/containers/default-containers.json | 27097 ---------------- 2 files changed, 27097 deletions(-) delete mode 100644 api/src/opentrons/config/containers/__init__.py delete mode 100644 api/src/opentrons/config/containers/default-containers.json diff --git a/api/src/opentrons/config/containers/__init__.py b/api/src/opentrons/config/containers/__init__.py deleted file mode 100644 index e69de29bb2d..00000000000 diff --git a/api/src/opentrons/config/containers/default-containers.json b/api/src/opentrons/config/containers/default-containers.json deleted file mode 100644 index 44824a024a4..00000000000 --- a/api/src/opentrons/config/containers/default-containers.json +++ /dev/null @@ -1,27097 +0,0 @@ -{ - "containers": { - "temperature-plate": { - "origin-offset": { - "x": 11.24, - "y": 14.34, - "z": 97 - }, - "locations":{} - }, - - "tube-rack-5ml-96": { - "locations": { - "A1": { - "y": 0, - "x": 0, - "z": 0, - "depth": 72, - "diameter": 15, - "total-liquid-volume": 5000 - }, - "B1": { - "y": 0, - "x": 18, - "z": 0, - "depth": 72, - "diameter": 15, - "total-liquid-volume": 5000 - }, - "C1": { - "y": 0, - "x": 36, - "z": 0, - "depth": 72, - "diameter": 15, - "total-liquid-volume": 5000 - }, - "D1": { - "y": 0, - "x": 54, - "z": 0, - "depth": 72, - "diameter": 15, - "total-liquid-volume": 5000 - }, - "E1": { - "y": 0, - "x": 72, - "z": 0, - "depth": 72, - "diameter": 15, - "total-liquid-volume": 5000 - }, - "F1": { - "y": 0, - "x": 90, - "z": 0, - "depth": 72, - "diameter": 15, - "total-liquid-volume": 5000 - }, - "G1": { - "y": 0, - "x": 108, - "z": 0, - "depth": 72, - "diameter": 15, - "total-liquid-volume": 5000 - }, - "H1": { - "y": 0, - "x": 126, - "z": 0, - "depth": 72, - "diameter": 15, - 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"total-liquid-volume": 300 - }, - "D3": { - "x": 27, - "y": 18, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "E3": { - "x": 36, - "y": 18, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "F3": { - "x": 45, - "y": 18, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "G3": { - "x": 54, - "y": 18, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "H3": { - "x": 63, - "y": 18, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "A4": { - "x": 0, - "y": 27, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "B4": { - "x": 9, - "y": 27, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "C4": { - "x": 18, - "y": 27, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "D4": { - "x": 27, - "y": 27, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "E4": { - "x": 36, - "y": 27, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "F4": { - "x": 45, - "y": 27, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "G4": { - "x": 54, - "y": 27, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "H4": { - "x": 63, - "y": 27, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "A5": { - "x": 0, - "y": 36, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "B5": { - "x": 9, - "y": 36, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "C5": { - "x": 18, - "y": 36, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "D5": { - "x": 27, - "y": 36, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "E5": { - "x": 36, - "y": 36, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "F5": { - "x": 45, - "y": 36, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "G5": { - "x": 54, - "y": 36, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "H5": { - "x": 63, - "y": 36, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "A6": { - "x": 0, - "y": 45, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "B6": { - "x": 9, - "y": 45, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "C6": { - "x": 18, - "y": 45, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "D6": { - "x": 27, - "y": 45, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "E6": { - "x": 36, - "y": 45, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "F6": { - "x": 45, - "y": 45, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "G6": { - "x": 54, - "y": 45, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "H6": { - "x": 63, - "y": 45, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "A7": { - "x": 0, - "y": 54, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "B7": { - "x": 9, - "y": 54, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "C7": { - "x": 18, - "y": 54, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "D7": { - "x": 27, - "y": 54, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "E7": { - "x": 36, - "y": 54, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "F7": { - "x": 45, - "y": 54, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "G7": { - "x": 54, - "y": 54, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "H7": { - "x": 63, - "y": 54, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "A8": { - "x": 0, - "y": 63, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "B8": { - "x": 9, - "y": 63, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "C8": { - "x": 18, - "y": 63, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "D8": { - "x": 27, - "y": 63, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "E8": { - "x": 36, - "y": 63, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "F8": { - "x": 45, - "y": 63, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "G8": { - "x": 54, - "y": 63, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "H8": { - "x": 63, - "y": 63, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "A9": { - "x": 0, - "y": 72, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "B9": { - "x": 9, - "y": 72, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "C9": { - "x": 18, - "y": 72, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "D9": { - "x": 27, - "y": 72, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "E9": { - "x": 36, - "y": 72, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "F9": { - "x": 45, - "y": 72, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "G9": { - "x": 54, - "y": 72, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "H9": { - "x": 63, - "y": 72, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "A10": { - "x": 0, - "y": 81, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "B10": { - "x": 9, - "y": 81, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "C10": { - "x": 18, - "y": 81, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "D10": { - "x": 27, - "y": 81, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "E10": { - "x": 36, - "y": 81, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "F10": { - "x": 45, - "y": 81, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "G10": { - "x": 54, - "y": 81, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "H10": { - "x": 63, - "y": 81, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "A11": { - "x": 0, - "y": 90, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "B11": { - "x": 9, - "y": 90, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "C11": { - "x": 18, - "y": 90, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "D11": { - "x": 27, - "y": 90, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "E11": { - "x": 36, - "y": 90, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "F11": { - "x": 45, - "y": 90, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "G11": { - "x": 54, - "y": 90, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "H11": { - "x": 63, - "y": 90, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "A12": { - "x": 0, - "y": 99, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "B12": { - "x": 9, - "y": 99, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "C12": { - "x": 18, - "y": 99, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "D12": { - "x": 27, - "y": 99, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "E12": { - "x": 36, - "y": 99, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "F12": { - "x": 45, - "y": 99, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "G12": { - "x": 54, - "y": 99, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - }, - "H12": { - "x": 63, - "y": 99, - "z": 4.19, - "depth": 20.30, - "diameter": 5.4, - "total-liquid-volume": 300 - } - } - } - } -} From abdf902c65eade8da8c7e864568aad442417704c Mon Sep 17 00:00:00 2001 From: Shlok Amin Date: Mon, 13 Nov 2023 17:40:44 -0500 Subject: [PATCH 59/65] refactor(shared-data): update movable trash offset from cutout fixture (#13976) --- shared-data/deck/definitions/4/ot3_standard.json | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/shared-data/deck/definitions/4/ot3_standard.json b/shared-data/deck/definitions/4/ot3_standard.json index 87ba7e78e14..728f9743299 100644 --- a/shared-data/deck/definitions/4/ot3_standard.json +++ b/shared-data/deck/definitions/4/ot3_standard.json @@ -252,7 +252,7 @@ { "id": "movableTrashD1", "areaType": "movableTrash", - "offsetFromCutoutFixture": [-17.0, -2.75, 0.0], + "offsetFromCutoutFixture": [-101.5, -2.75, 0.0], "boundingBox": { "xDimension": 246.5, "yDimension": 91.5, @@ -265,7 +265,7 @@ { "id": "movableTrashC1", "areaType": "movableTrash", - "offsetFromCutoutFixture": [-17.0, -2.75, 0.0], + "offsetFromCutoutFixture": [-101.5, -2.75, 0.0], "boundingBox": { "xDimension": 246.5, "yDimension": 91.5, @@ -278,7 +278,7 @@ { "id": "movableTrashB1", "areaType": "movableTrash", - "offsetFromCutoutFixture": [-17.0, -2.75, 0.0], + "offsetFromCutoutFixture": [-101.5, -2.75, 0.0], "boundingBox": { "xDimension": 246.5, "yDimension": 91.5, @@ -291,7 +291,7 @@ { "id": "movableTrashA1", "areaType": "movableTrash", - "offsetFromCutoutFixture": [-17.0, -2.75, 0.0], + "offsetFromCutoutFixture": [-101.5, -2.75, 0.0], "boundingBox": { "xDimension": 246.5, "yDimension": 91.5, From d8c8ffce11ab562f131284ef55c208aa7db6280f Mon Sep 17 00:00:00 2001 From: Jethary Rader <66035149+jerader@users.noreply.github.com> Date: Tue, 14 Nov 2023 08:23:04 -0500 Subject: [PATCH 60/65] feat(step-generation): wire up moveLabware into waste chute (#13950) closes RAUT-778 --- .../src/load-file/migration/8_0_0.ts | 2 +- .../src/localization/en/alert.json | 4 ++ .../src/steplist/fieldLevel/index.ts | 18 ++++++ .../ui/labware/__tests__/selectors.test.ts | 9 ++- protocol-designer/src/ui/labware/selectors.ts | 28 ++++++-- shared-data/js/types.ts | 2 +- .../src/__tests__/moveLabware.test.ts | 64 ++++++++++++++++++- .../src/commandCreators/atomic/moveLabware.ts | 25 +++++++- step-generation/src/errorCreators.ts | 7 ++ .../forMoveLabware.ts | 2 + step-generation/src/types.ts | 1 + 11 files changed, 148 insertions(+), 14 deletions(-) diff --git a/protocol-designer/src/load-file/migration/8_0_0.ts b/protocol-designer/src/load-file/migration/8_0_0.ts index c7afb0bbffe..734f2f9ea46 100644 --- a/protocol-designer/src/load-file/migration/8_0_0.ts +++ b/protocol-designer/src/load-file/migration/8_0_0.ts @@ -18,12 +18,12 @@ import type { CommandV8Mixin, LabwareV2Mixin, LiquidV1Mixin, + LoadLabwareCreateCommand, OT2RobotMixin, OT3RobotMixin, ProtocolBase, ProtocolFile, } from '@opentrons/shared-data/protocol/types/schemaV8' -import type { LoadLabwareCreateCommand } from '@opentrons/shared-data/protocol/types/schemaV7' import type { DesignerApplicationData } from './utils/getLoadLiquidCommands' // NOTE: this migration is to schema v8 and updates fixed trash by diff --git a/protocol-designer/src/localization/en/alert.json b/protocol-designer/src/localization/en/alert.json index bf391dfa358..d4412ea07a8 100644 --- a/protocol-designer/src/localization/en/alert.json +++ b/protocol-designer/src/localization/en/alert.json @@ -163,6 +163,10 @@ "ADDITIONAL_EQUIPMENT_DOES_NOT_EXIST": { "title": "{{additionalEquipment}} does not exist", "body": "Attempting to interact with an unknown entity." + }, + "GRIPPER_REQUIRED": { + "title": "A gripper is required to complete this action", + "body": "Attempting to move a labware without a gripper into the waste chute. Please add a gripper to this step." } }, "warning": { diff --git a/protocol-designer/src/steplist/fieldLevel/index.ts b/protocol-designer/src/steplist/fieldLevel/index.ts index 0eae673ff73..d9a86262b12 100644 --- a/protocol-designer/src/steplist/fieldLevel/index.ts +++ b/protocol-designer/src/steplist/fieldLevel/index.ts @@ -42,6 +42,7 @@ import { PipetteEntity, InvariantContext, LabwareEntities, + AdditionalEquipmentEntities, } from '@opentrons/step-generation' import { StepFieldName } from '../../form-types' import type { LabwareLocation } from '@opentrons/shared-data' @@ -64,6 +65,14 @@ const getIsAdapterLocation = ( labwareEntities[newLocation].def.allowedRoles?.includes('adapter') ?? false ) } +const getIsWasteChuteLocation = ( + newLocation: string, + additionalEquipmentEntities: AdditionalEquipmentEntities +): boolean => + Object.values(additionalEquipmentEntities).find( + aE => aE.location === newLocation && aE.name === 'wasteChute' + ) != null + const getLabwareLocation = ( state: InvariantContext, newLocationString: string @@ -77,6 +86,15 @@ const getLabwareLocation = ( getIsAdapterLocation(newLocationString, state.labwareEntities) ) { return { labwareId: newLocationString } + } else if ( + getIsWasteChuteLocation( + newLocationString, + state.additionalEquipmentEntities + ) + ) { + return { + addressableAreaName: 'gripperWasteChute', + } } else { return { slotName: newLocationString } } diff --git a/protocol-designer/src/ui/labware/__tests__/selectors.test.ts b/protocol-designer/src/ui/labware/__tests__/selectors.test.ts index c3388d91825..2e3ba647add 100644 --- a/protocol-designer/src/ui/labware/__tests__/selectors.test.ts +++ b/protocol-designer/src/ui/labware/__tests__/selectors.test.ts @@ -149,6 +149,7 @@ describe('labware selectors', () => { names, initialDeckSetup, {}, + {}, {} ) ).toEqual([ @@ -179,6 +180,7 @@ describe('labware selectors', () => { names, initialDeckSetup, presavedStepForm, + {}, {} ) ).toEqual([ @@ -261,6 +263,7 @@ describe('labware selectors', () => { nicknames, initialDeckSetup, {}, + {}, {} ) ).toEqual([ @@ -317,11 +320,13 @@ describe('labware selectors', () => { labwareEntities, nicknames, initialDeckSetup, - savedStep + {}, + savedStep, + {} ) ).toEqual([ { name: 'Trash', value: mockTrash }, - { name: 'Well Plate in Magnetic Module', value: 'wellPlateId' }, + { name: 'Well Plate', value: 'wellPlateId' }, ]) }) }) diff --git a/protocol-designer/src/ui/labware/selectors.ts b/protocol-designer/src/ui/labware/selectors.ts index 7ee927c1ff7..f14923369a0 100644 --- a/protocol-designer/src/ui/labware/selectors.ts +++ b/protocol-designer/src/ui/labware/selectors.ts @@ -48,14 +48,20 @@ export const getLabwareOptions: Selector = createSelector( stepFormSelectors.getInitialDeckSetup, stepFormSelectors.getPresavedStepForm, stepFormSelectors.getSavedStepForms, + stepFormSelectors.getAdditionalEquipmentEntities, ( labwareEntities, nicknamesById, initialDeckSetup, presavedStepForm, - savedStepForms + savedStepForms, + additionalEquipmentEntities ) => { const moveLabwarePresavedStep = presavedStepForm?.stepType === 'moveLabware' + const wasteChuteLocation = Object.values(additionalEquipmentEntities).find( + aE => aE.name === 'wasteChute' + )?.location + const options = reduce( labwareEntities, ( @@ -63,6 +69,13 @@ export const getLabwareOptions: Selector = createSelector( labwareEntity: LabwareEntity, labwareId: string ): Options => { + const isLabwareInWasteChute = Object.values(savedStepForms).find( + form => + form.stepType === 'moveLabware' && + form.labware === labwareId && + form.newLocation === wasteChuteLocation + ) + const isAdapter = labwareEntity.def.allowedRoles?.includes('adapter') const isOffDeck = getLabwareOffDeck( initialDeckSetup, @@ -94,7 +107,11 @@ export const getLabwareOptions: Selector = createSelector( } if (!moveLabwarePresavedStep) { - return getIsTiprack(labwareEntity.def) || isAdapter + // filter out tip racks, adapters, and labware in waste chute + // for aspirating/dispensing/mixing into + return getIsTiprack(labwareEntity.def) || + isAdapter || + isLabwareInWasteChute ? acc : [ ...acc, @@ -104,8 +121,11 @@ export const getLabwareOptions: Selector = createSelector( }, ] } else { - // filter out moving trash for now in MoveLabware step type - return nickName === TRASH || isAdapterOrAluminumBlock + // filter out moving trash, aluminum blocks, adapters and labware in + // waste chute for moveLabware + return nickName === TRASH || + isAdapterOrAluminumBlock || + isLabwareInWasteChute ? acc : [ ...acc, diff --git a/shared-data/js/types.ts b/shared-data/js/types.ts index 3d0ad89ff3e..79e84d2af33 100644 --- a/shared-data/js/types.ts +++ b/shared-data/js/types.ts @@ -31,8 +31,8 @@ import { } from './constants' import type { INode } from 'svgson' import type { RunTimeCommand, LabwareLocation } from '../command/types' -import type { PipetteName } from './pipettes' import type { AddressableAreaName, CutoutFixtureId, CutoutId } from '../deck' +import type { PipetteName } from './pipettes' export type RobotType = 'OT-2 Standard' | 'OT-3 Standard' diff --git a/step-generation/src/__tests__/moveLabware.test.ts b/step-generation/src/__tests__/moveLabware.test.ts index f6d8ac69c1f..12ecf2e46a8 100644 --- a/step-generation/src/__tests__/moveLabware.test.ts +++ b/step-generation/src/__tests__/moveLabware.test.ts @@ -17,6 +17,7 @@ import { moveLabware, MoveLabwareArgs } from '..' import type { InvariantContext, RobotState } from '../types' const mockWasteChuteId = 'mockWasteChuteId' +const mockGripperId = 'mockGripperId' describe('moveLabware', () => { let robotState: RobotState @@ -24,6 +25,16 @@ describe('moveLabware', () => { beforeEach(() => { invariantContext = makeContext() robotState = getInitialRobotStateStandard(invariantContext) + + invariantContext = { + ...invariantContext, + additionalEquipmentEntities: { + mockGripperId: { + name: 'gripper', + id: mockGripperId, + }, + }, + } }) afterEach(() => { jest.resetAllMocks() @@ -129,7 +140,7 @@ describe('moveLabware', () => { const params = { commandCreatorFnName: 'moveLabware', labware: SOURCE_LABWARE, - useGripper: true, + useGripper: false, newLocation: { moduleId: thermocyclerId }, } as MoveLabwareArgs @@ -246,6 +257,7 @@ describe('moveLabware', () => { const wasteChuteInvariantContext = { ...invariantContext, additionalEquipmentEntities: { + ...invariantContext.additionalEquipmentEntities, mockWasteChuteId: { name: 'wasteChute', id: mockWasteChuteId, @@ -266,7 +278,7 @@ describe('moveLabware', () => { commandCreatorFnName: 'moveLabware', labware: TIPRACK_1, useGripper: true, - newLocation: { slotName: WASTE_CHUTE_CUTOUT }, + newLocation: { addressableAreaName: 'gripperWasteChute' }, } as MoveLabwareArgs const result = moveLabware( @@ -285,6 +297,7 @@ describe('moveLabware', () => { const wasteChuteInvariantContext = { ...invariantContext, additionalEquipmentEntities: { + ...invariantContext.additionalEquipmentEntities, mockWasteChuteId: { name: 'wasteChute', id: mockWasteChuteId, @@ -304,7 +317,7 @@ describe('moveLabware', () => { commandCreatorFnName: 'moveLabware', labware: SOURCE_LABWARE, useGripper: true, - newLocation: { slotName: WASTE_CHUTE_CUTOUT }, + newLocation: { addressableAreaName: 'gripperWasteChute' }, } as MoveLabwareArgs const result = moveLabware( @@ -319,4 +332,49 @@ describe('moveLabware', () => { }, ]) }) + it('should return an error when trying to move with gripper when there is no gripper', () => { + invariantContext = { + ...invariantContext, + additionalEquipmentEntities: {}, + } as InvariantContext + + const params = { + commandCreatorFnName: 'moveLabware', + labware: SOURCE_LABWARE, + useGripper: true, + newLocation: { slotName: 'A1' }, + } as MoveLabwareArgs + + const result = moveLabware(params, invariantContext, robotState) + expect(getErrorResult(result).errors).toHaveLength(1) + expect(getErrorResult(result).errors[0]).toMatchObject({ + type: 'GRIPPER_REQUIRED', + }) + }) + it('should return an error when trying to move into the waste chute when useGripper is not selected', () => { + invariantContext = { + ...invariantContext, + additionalEquipmentEntities: { + ...invariantContext.additionalEquipmentEntities, + mockWasteChuteId: { + name: 'wasteChute', + id: mockWasteChuteId, + location: WASTE_CHUTE_CUTOUT, + }, + }, + } as InvariantContext + + const params = { + commandCreatorFnName: 'moveLabware', + labware: SOURCE_LABWARE, + useGripper: false, + newLocation: { addressableAreaName: 'gripperWasteChute' }, + } as MoveLabwareArgs + + const result = moveLabware(params, invariantContext, robotState) + expect(getErrorResult(result).errors).toHaveLength(1) + expect(getErrorResult(result).errors[0]).toMatchObject({ + type: 'GRIPPER_REQUIRED', + }) + }) }) diff --git a/step-generation/src/commandCreators/atomic/moveLabware.ts b/step-generation/src/commandCreators/atomic/moveLabware.ts index 3f3929ecf81..46962e1bb76 100644 --- a/step-generation/src/commandCreators/atomic/moveLabware.ts +++ b/step-generation/src/commandCreators/atomic/moveLabware.ts @@ -3,7 +3,6 @@ import { HEATERSHAKER_MODULE_TYPE, LabwareMovementStrategy, THERMOCYCLER_MODULE_TYPE, - WASTE_CHUTE_CUTOUT, } from '@opentrons/shared-data' import * as errorCreators from '../../errorCreators' import * as warningCreators from '../../warningCreators' @@ -28,6 +27,7 @@ export const moveLabware: CommandCreator = ( ) => { const { labware, useGripper, newLocation } = args const { additionalEquipmentEntities } = invariantContext + const hasWasteChute = getHasWasteChute(additionalEquipmentEntities) const tiprackHasTip = prevRobotState.tipState != null ? getTiprackHasTips(prevRobotState.tipState, labware) @@ -43,8 +43,12 @@ export const moveLabware: CommandCreator = ( const newLocationInWasteChute = newLocation !== 'offDeck' && - 'slotName' in newLocation && - newLocation.slotName === WASTE_CHUTE_CUTOUT + 'addressableAreaName' in newLocation && + newLocation.addressableAreaName === 'gripperWasteChute' + + const hasGripper = Object.values(additionalEquipmentEntities).find( + aE => aE.name === 'gripper' + ) if (!labware || !prevRobotState.labware[labware]) { errors.push( @@ -57,6 +61,13 @@ export const moveLabware: CommandCreator = ( errors.push(errorCreators.labwareOffDeck()) } + if ( + (newLocationInWasteChute && hasGripper && !useGripper) || + (!hasGripper && useGripper) + ) { + errors.push(errorCreators.gripperRequired()) + } + const initialLabwareSlot = prevRobotState.labware[labware]?.slot const initialAdapterSlot = prevRobotState.labware[initialLabwareSlot]?.slot const initialSlot = @@ -98,6 +109,13 @@ export const moveLabware: CommandCreator = ( if (newLocation === 'offDeck' && useGripper) { errors.push(errorCreators.labwareOffDeck()) } + + if (tiprackHasTip && newLocationInWasteChute && hasWasteChute) { + warnings.push(warningCreators.tiprackInWasteChuteHasTips()) + } else if (labwareHasLiquid && newLocationInWasteChute && hasWasteChute) { + warnings.push(warningCreators.labwareInWasteChuteHasLiquid()) + } + if ( destinationModuleIdOrSlot != null && prevRobotState.modules[destinationModuleIdOrSlot] != null @@ -139,6 +157,7 @@ export const moveLabware: CommandCreator = ( params, }, ] + return { commands, warnings: warnings.length > 0 ? warnings : undefined, diff --git a/step-generation/src/errorCreators.ts b/step-generation/src/errorCreators.ts index be1407c2b97..f3364dc8b8e 100644 --- a/step-generation/src/errorCreators.ts +++ b/step-generation/src/errorCreators.ts @@ -211,3 +211,10 @@ export const additionalEquipmentDoesNotExist = (args: { message: `The ${args.additionalEquipment} does not exist`, } } + +export const gripperRequired = (): CommandCreatorError => { + return { + type: 'GRIPPER_REQUIRED', + message: 'The gripper is required to fulfill this action', + } +} diff --git a/step-generation/src/getNextRobotStateAndWarnings/forMoveLabware.ts b/step-generation/src/getNextRobotStateAndWarnings/forMoveLabware.ts index 56ddf85115e..389860d302b 100644 --- a/step-generation/src/getNextRobotStateAndWarnings/forMoveLabware.ts +++ b/step-generation/src/getNextRobotStateAndWarnings/forMoveLabware.ts @@ -18,6 +18,8 @@ export function forMoveLabware( newLocationString = newLocation.slotName } else if ('labwareId' in newLocation) { newLocationString = newLocation.labwareId + } else if ('addressableAreaName' in newLocation) { + newLocationString = newLocation.addressableAreaName } robotState.labware[labwareId].slot = newLocationString diff --git a/step-generation/src/types.ts b/step-generation/src/types.ts index 4d5fdfe5340..dcc18666ad3 100644 --- a/step-generation/src/types.ts +++ b/step-generation/src/types.ts @@ -492,6 +492,7 @@ export interface RobotState { export type ErrorType = | 'ADDITIONAL_EQUIPMENT_DOES_NOT_EXIST' | 'DROP_TIP_LOCATION_DOES_NOT_EXIST' + | 'GRIPPER_REQUIRED' | 'HEATER_SHAKER_EAST_WEST_LATCH_OPEN' | 'HEATER_SHAKER_EAST_WEST_MULTI_CHANNEL' | 'HEATER_SHAKER_IS_SHAKING' From 0498609ee1047f0f178f562cfc9aa9f36829e4d8 Mon Sep 17 00:00:00 2001 From: Jethary Rader <66035149+jerader@users.noreply.github.com> Date: Tue, 14 Nov 2023 11:15:11 -0500 Subject: [PATCH 61/65] feat(protocol-designer): deck v4 touchups and staging area support (#13965) closes RAUT-787, RAUT-805, RAUT-806, RAUT-850 --- .../BaseDeck/StagingAreaFixture.tsx | 14 +- .../components/DeckSetup/FlexModuleTag.tsx | 2 +- .../LabwareOverlays/SlotControls.tsx | 4 +- .../__tests__/FlexModuleTag.test.tsx | 4 +- .../src/components/DeckSetup/index.tsx | 96 +++++++----- .../__tests__/FileSidebar.test.tsx | 6 +- .../__tests__/getUnusedStagingAreas.test.ts | 24 ++- .../utils/getUnusedStagingAreas.ts | 22 +-- .../CreateFileWizard/__tests__/utils.test.tsx | 10 +- .../modals/CreateFileWizard/types.ts | 8 +- .../modals/CreateFileWizard/utils.ts | 18 +-- .../src/components/modules/ModuleRow.tsx | 8 +- .../components/modules/StagingAreasModal.tsx | 9 +- .../src/components/modules/TrashModal.tsx | 2 +- .../modules/__tests__/ModuleRow.test.tsx | 2 +- protocol-designer/src/constants.ts | 2 + .../src/file-data/selectors/fileCreator.ts | 28 ---- .../src/step-forms/reducers/index.ts | 139 ++++++++++++------ .../src/step-forms/utils/index.ts | 17 ++- .../top-selectors/labware-locations/index.ts | 44 +++++- protocol-designer/src/ui/labware/selectors.ts | 22 +++ protocol-designer/src/utils/index.ts | 27 +++- shared-data/deck/types/schemaV4.ts | 10 +- shared-data/js/constants.ts | 5 +- shared-data/js/helpers/index.ts | 7 +- .../src/__tests__/aspirate.test.ts | 23 +++ .../src/__tests__/dispense.test.ts | 13 ++ .../src/__tests__/moveToWell.test.ts | 21 +++ .../src/commandCreators/atomic/aspirate.ts | 5 + .../src/commandCreators/atomic/blowout.ts | 15 +- .../src/commandCreators/atomic/dispense.ts | 5 + .../src/commandCreators/atomic/moveToWell.ts | 7 + .../src/commandCreators/atomic/replaceTip.ts | 6 + step-generation/src/constants.ts | 2 + step-generation/src/errorCreators.ts | 9 ++ step-generation/src/types.ts | 1 + 36 files changed, 451 insertions(+), 186 deletions(-) diff --git a/components/src/hardware-sim/BaseDeck/StagingAreaFixture.tsx b/components/src/hardware-sim/BaseDeck/StagingAreaFixture.tsx index 3e87517110a..107da94b8c2 100644 --- a/components/src/hardware-sim/BaseDeck/StagingAreaFixture.tsx +++ b/components/src/hardware-sim/BaseDeck/StagingAreaFixture.tsx @@ -5,7 +5,11 @@ import { SlotClip } from './SlotClip' import type { DeckDefinition, ModuleType } from '@opentrons/shared-data' -export type StagingAreaLocation = 'A3' | 'B3' | 'C3' | 'D3' +export type StagingAreaLocation = + | 'cutoutA3' + | 'cutoutB3' + | 'cutoutC3' + | 'cutoutD3' interface StagingAreaFixtureProps extends React.SVGProps { cutoutId: StagingAreaLocation @@ -40,7 +44,7 @@ export function StagingAreaFixture( const contentsByCutoutLocation: { [cutoutId in StagingAreaLocation]: JSX.Element } = { - A3: ( + cutoutA3: ( <> ), - B3: ( + cutoutB3: ( <> ), - C3: ( + cutoutC3: ( <> ), - D3: ( + cutoutD3: ( <> unknown diff --git a/protocol-designer/src/components/DeckSetup/__tests__/FlexModuleTag.test.tsx b/protocol-designer/src/components/DeckSetup/__tests__/FlexModuleTag.test.tsx index f1945aac1c9..6c8cb890003 100644 --- a/protocol-designer/src/components/DeckSetup/__tests__/FlexModuleTag.test.tsx +++ b/protocol-designer/src/components/DeckSetup/__tests__/FlexModuleTag.test.tsx @@ -28,7 +28,7 @@ describe('FlexModuleTag', () => { .calledWith( partialComponentPropsMatcher({ width: 5, - height: 16, + height: 20, }) ) .mockImplementation(({ children }) => ( @@ -48,7 +48,7 @@ describe('FlexModuleTag', () => { .calledWith( partialComponentPropsMatcher({ width: 5, - height: 16, + height: 20, }) ) .mockImplementation(({ children }) => ( diff --git a/protocol-designer/src/components/DeckSetup/index.tsx b/protocol-designer/src/components/DeckSetup/index.tsx index 3b351618d50..ed443435e00 100644 --- a/protocol-designer/src/components/DeckSetup/index.tsx +++ b/protocol-designer/src/components/DeckSetup/index.tsx @@ -3,18 +3,18 @@ import { useDispatch, useSelector } from 'react-redux' import compact from 'lodash/compact' import values from 'lodash/values' import { - useOnClickOutside, - RobotWorkSpaceRenderProps, - Module, COLORS, - TrashLocation, + DeckFromLayers, FlexTrash, + Module, RobotCoordinateSpaceWithDOMCoords, - WasteChuteFixture, + RobotWorkSpaceRenderProps, + SingleSlotFixture, StagingAreaFixture, StagingAreaLocation, - SingleSlotFixture, - DeckFromLayers, + TrashLocation, + useOnClickOutside, + WasteChuteFixture, } from '@opentrons/components' import { AdditionalEquipmentEntity, @@ -22,29 +22,28 @@ import { ModuleTemporalProperties, } from '@opentrons/step-generation' import { - getLabwareHasQuirk, - inferModuleOrientationFromSlot, + FLEX_ROBOT_TYPE, + getAddressableAreaFromSlotId, getDeckDefFromRobotType, - OT2_ROBOT_TYPE, + getLabwareHasQuirk, getModuleDef2, + getModuleDisplayName, + getPositionFromSlotId, + inferModuleOrientationFromSlot, inferModuleOrientationFromXCoordinate, + isAddressableAreaStandardSlot, + OT2_ROBOT_TYPE, + STAGING_AREA_LOAD_NAME, THERMOCYCLER_MODULE_TYPE, - getModuleDisplayName, - DeckDefinition, - RobotType, - FLEX_ROBOT_TYPE, TRASH_BIN_LOAD_NAME, - STAGING_AREA_LOAD_NAME, WASTE_CHUTE_CUTOUT, WASTE_CHUTE_LOAD_NAME, - AddressableAreaName, - CutoutFixture, - CutoutId, } from '@opentrons/shared-data' import { FLEX_TRASH_DEF_URI, OT_2_TRASH_DEF_URI } from '../../constants' import { selectors as labwareDefSelectors } from '../../labware-defs' import { selectors as featureFlagSelectors } from '../../feature-flags' +import { getStagingAreaAddressableAreas } from '../../utils' import { getSlotIdsBlockedBySpanning, getSlotIsEmpty, @@ -72,12 +71,15 @@ import { Ot2ModuleTag } from './Ot2ModuleTag' import { SlotLabels } from './SlotLabels' import { getHasGen1MultiChannelPipette, getSwapBlocked } from './utils' +import type { + AddressableAreaName, + CutoutFixture, + CutoutId, + DeckDefinition, + RobotType, +} from '@opentrons/shared-data' + import styles from './DeckSetup.css' -import { - getAddressableAreaFromSlotId, - getPositionFromSlotId, - isAddressableAreaStandardSlot, -} from '@opentrons/shared-data/js' export const DECK_LAYER_BLOCKLIST = [ 'calibrationMarkings', @@ -89,6 +91,16 @@ export const DECK_LAYER_BLOCKLIST = [ 'screwHoles', ] +const OT2_STANDARD_DECK_VIEW_LAYER_BLOCK_LIST: string[] = [ + 'calibrationMarkings', + 'fixedBase', + 'doorStops', + 'metalFrame', + 'removalHandle', + 'removableDeckOutline', + 'screwHoles', +] + interface ContentsProps { getRobotCoordsFromDOMCoords: RobotWorkSpaceRenderProps['getRobotCoordsFromDOMCoords'] activeDeckSetup: InitialDeckSetup @@ -96,6 +108,7 @@ interface ContentsProps { showGen1MultichannelCollisionWarnings: boolean deckDef: DeckDefinition robotType: RobotType + stagingAreaCutoutIds: CutoutId[] trashSlot: string | null } @@ -110,6 +123,7 @@ export const DeckSetupContents = (props: ContentsProps): JSX.Element => { deckDef, robotType, trashSlot, + stagingAreaCutoutIds, } = props // NOTE: handling module<>labware compat when moving labware to empty module // is handled by SlotControls. @@ -173,12 +187,6 @@ export const DeckSetupContents = (props: ContentsProps): JSX.Element => { ]) : [] - console.log( - 'AA', - deckDef.locations.addressableAreas.filter(addressableArea => - isAddressableAreaStandardSlot(addressableArea.id, deckDef) - ) - ) return ( <> {/* all modules */} @@ -300,6 +308,7 @@ export const DeckSetupContents = (props: ContentsProps): JSX.Element => { selectedTerminalItemId={props.selectedTerminalItemId} moduleType={moduleOnDeck.type} handleDragHover={handleHoverEmptySlot} + slotId={moduleOnDeck.id} /> ) : null} {robotType === FLEX_ROBOT_TYPE ? ( @@ -336,16 +345,22 @@ export const DeckSetupContents = (props: ContentsProps): JSX.Element => { ) : null })} - {/* SlotControls for all empty deck + module slots */} + {/* SlotControls for all empty deck */} {deckDef.locations.addressableAreas - // only render standard slot fixture components - .filter( - addressableArea => - isAddressableAreaStandardSlot(addressableArea.id, deckDef) && + .filter(addressableArea => { + const stagingAreaAddressableAreas = getStagingAreaAddressableAreas( + stagingAreaCutoutIds + ) + const addressableAreas = + isAddressableAreaStandardSlot(addressableArea.id, deckDef) || + stagingAreaAddressableAreas.includes(addressableArea.id) + return ( + addressableAreas && !slotIdsBlockedBySpanning.includes(addressableArea.id) && getSlotIsEmpty(activeDeckSetup, addressableArea.id) && addressableArea.id !== trashSlot - ) + ) + }) .map(addressableArea => { return ( // @ts-expect-error @@ -534,7 +549,6 @@ export const DeckSetup = (): JSX.Element => { const filteredAddressableAreas = deckDef.locations.addressableAreas.filter( aa => isAddressableAreaStandardSlot(aa.id, deckDef) ) - return (
    {drilledDown && } @@ -547,7 +561,10 @@ export const DeckSetup = (): JSX.Element => { {({ getRobotCoordsFromDOMCoords }) => ( <> {robotType === OT2_ROBOT_TYPE ? ( - + ) : ( <> {filteredAddressableAreas.map(addressableArea => { @@ -613,6 +630,11 @@ export const DeckSetup = (): JSX.Element => { robotType={robotType} activeDeckSetup={activeDeckSetup} selectedTerminalItemId={selectedTerminalItemId} + stagingAreaCutoutIds={stagingAreaFixtures.map( + // TODO(jr, 11/13/23): fix this type since AdditionalEquipment['location'] is type string + // instead of CutoutId + areas => areas.location as CutoutId + )} {...{ deckDef, getRobotCoordsFromDOMCoords, diff --git a/protocol-designer/src/components/FileSidebar/__tests__/FileSidebar.test.tsx b/protocol-designer/src/components/FileSidebar/__tests__/FileSidebar.test.tsx index 88b9ae98d9a..2a19aab1d42 100644 --- a/protocol-designer/src/components/FileSidebar/__tests__/FileSidebar.test.tsx +++ b/protocol-designer/src/components/FileSidebar/__tests__/FileSidebar.test.tsx @@ -165,7 +165,11 @@ describe('FileSidebar', () => { // @ts-expect-error(sa, 2021-6-22): props.fileData might be null props.fileData.commands = commands props.additionalEquipment = { - [stagingArea]: { name: 'stagingArea', id: stagingArea, location: 'A3' }, + [stagingArea]: { + name: 'stagingArea', + id: stagingArea, + location: 'cutoutA3', + }, } const wrapper = shallow() diff --git a/protocol-designer/src/components/FileSidebar/utils/__tests__/getUnusedStagingAreas.test.ts b/protocol-designer/src/components/FileSidebar/utils/__tests__/getUnusedStagingAreas.test.ts index 333a6aee456..e95f2c06d3f 100644 --- a/protocol-designer/src/components/FileSidebar/utils/__tests__/getUnusedStagingAreas.test.ts +++ b/protocol-designer/src/components/FileSidebar/utils/__tests__/getUnusedStagingAreas.test.ts @@ -6,7 +6,11 @@ describe('getUnusedStagingAreas', () => { it('returns true for unused staging area', () => { const stagingArea = 'stagingAreaId' const mockAdditionalEquipment = { - [stagingArea]: { name: 'stagingArea', id: stagingArea, location: 'A3' }, + [stagingArea]: { + name: 'stagingArea', + id: stagingArea, + location: 'cutoutA3', + }, } as AdditionalEquipment expect(getUnusedStagingAreas(mockAdditionalEquipment, [])).toEqual(['A4']) @@ -15,8 +19,16 @@ describe('getUnusedStagingAreas', () => { const stagingArea = 'stagingAreaId' const stagingArea2 = 'stagingAreaId2' const mockAdditionalEquipment = { - [stagingArea]: { name: 'stagingArea', id: stagingArea, location: 'A3' }, - [stagingArea2]: { name: 'stagingArea', id: stagingArea2, location: 'B3' }, + [stagingArea]: { + name: 'stagingArea', + id: stagingArea, + location: 'cutoutA3', + }, + [stagingArea2]: { + name: 'stagingArea', + id: stagingArea2, + location: 'cutoutB3', + }, } as AdditionalEquipment expect(getUnusedStagingAreas(mockAdditionalEquipment, [])).toEqual([ @@ -27,7 +39,11 @@ describe('getUnusedStagingAreas', () => { it('returns false for unused staging area', () => { const stagingArea = 'stagingAreaId' const mockAdditionalEquipment = { - [stagingArea]: { name: 'stagingArea', id: stagingArea, location: 'A3' }, + [stagingArea]: { + name: 'stagingArea', + id: stagingArea, + location: 'cutoutA3', + }, } as AdditionalEquipment const mockCommand = ([ { diff --git a/protocol-designer/src/components/FileSidebar/utils/getUnusedStagingAreas.ts b/protocol-designer/src/components/FileSidebar/utils/getUnusedStagingAreas.ts index a701858a9eb..ea68068390c 100644 --- a/protocol-designer/src/components/FileSidebar/utils/getUnusedStagingAreas.ts +++ b/protocol-designer/src/components/FileSidebar/utils/getUnusedStagingAreas.ts @@ -1,11 +1,12 @@ -import type { CreateCommand } from '@opentrons/shared-data' +import { getStagingAreaAddressableAreas } from '../../../utils' +import type { CreateCommand, CutoutId } from '@opentrons/shared-data' import type { AdditionalEquipment } from '../FileSidebar' export const getUnusedStagingAreas = ( additionalEquipment: AdditionalEquipment, commands?: CreateCommand[] ): string[] => { - const stagingAreaSlots = Object.values(additionalEquipment) + const stagingAreaCutoutIds = Object.values(additionalEquipment) .filter(equipment => equipment?.name === 'stagingArea') .map(equipment => { if (equipment.location == null) { @@ -16,19 +17,12 @@ export const getUnusedStagingAreas = ( return equipment.location ?? '' }) - const corresponding4thColumnSlots = stagingAreaSlots.map(slot => { - const letter = slot.charAt(0) - const correspondingLocation = stagingAreaSlots.find(slot => - slot.startsWith(letter) - ) - if (correspondingLocation) { - return letter + '4' - } - - return slot - }) + const stagingAreaAddressableAreaNames = getStagingAreaAddressableAreas( + // TODO(jr, 11/13/23): fix AdditionalEquipment['location'] from type string to CutoutId + stagingAreaCutoutIds as CutoutId[] + ) - const stagingAreaCommandSlots: string[] = corresponding4thColumnSlots.filter( + const stagingAreaCommandSlots: string[] = stagingAreaAddressableAreaNames.filter( location => commands?.filter( command => diff --git a/protocol-designer/src/components/modals/CreateFileWizard/__tests__/utils.test.tsx b/protocol-designer/src/components/modals/CreateFileWizard/__tests__/utils.test.tsx index fff9f9c446b..756142495e1 100644 --- a/protocol-designer/src/components/modals/CreateFileWizard/__tests__/utils.test.tsx +++ b/protocol-designer/src/components/modals/CreateFileWizard/__tests__/utils.test.tsx @@ -55,10 +55,10 @@ describe('getLastCheckedEquipment', () => { ...MOCK_FORM_STATE, additionalEquipment: [ 'trashBin', - 'stagingArea_A3', - 'stagingArea_B3', - 'stagingArea_C3', - 'stagingArea_D3', + 'stagingArea_cutoutA3', + 'stagingArea_cutoutB3', + 'stagingArea_cutoutC3', + 'stagingArea_cutoutD3', ], modulesByType: { ...MOCK_FORM_STATE.modulesByType, @@ -83,7 +83,7 @@ describe('getTrashSlot', () => { it('should return B3 when there is a staging area in slot A3', () => { MOCK_FORM_STATE = { ...MOCK_FORM_STATE, - additionalEquipment: ['stagingArea_A3'], + additionalEquipment: ['stagingArea_cutoutA3'], } const result = getTrashSlot(MOCK_FORM_STATE) expect(result).toBe('B3') diff --git a/protocol-designer/src/components/modals/CreateFileWizard/types.ts b/protocol-designer/src/components/modals/CreateFileWizard/types.ts index 8eb99fa5dba..1c15b081f9a 100644 --- a/protocol-designer/src/components/modals/CreateFileWizard/types.ts +++ b/protocol-designer/src/components/modals/CreateFileWizard/types.ts @@ -10,10 +10,10 @@ export type AdditionalEquipment = | 'gripper' | 'wasteChute' | 'trashBin' - | 'stagingArea_A3' - | 'stagingArea_B3' - | 'stagingArea_C3' - | 'stagingArea_D3' + | 'stagingArea_cutoutA3' + | 'stagingArea_cutoutB3' + | 'stagingArea_cutoutC3' + | 'stagingArea_cutoutD3' export interface FormState { fields: NewProtocolFields pipettesByMount: FormPipettesByMount diff --git a/protocol-designer/src/components/modals/CreateFileWizard/utils.ts b/protocol-designer/src/components/modals/CreateFileWizard/utils.ts index 84e5b585c99..ef367349783 100644 --- a/protocol-designer/src/components/modals/CreateFileWizard/utils.ts +++ b/protocol-designer/src/components/modals/CreateFileWizard/utils.ts @@ -4,6 +4,7 @@ import { TEMPERATURE_MODULE_TYPE, THERMOCYCLER_MODULE_TYPE, } from '@opentrons/shared-data' +import { COLUMN_3_SLOTS } from '../../../constants' import { OUTER_SLOTS_FLEX } from '../../../modules' import { isModuleWithCollisionIssue } from '../../modules' import { @@ -81,12 +82,14 @@ export const getTrashBinOptionDisabled = (values: FormState): boolean => { } export const getTrashSlot = (values: FormState): string => { - const stagingAreaLocations = values.additionalEquipment - .filter(equipment => equipment.includes('stagingArea')) - .map(stagingArea => stagingArea.split('_')[1]) + const stagingAddressableAreas = values.additionalEquipment.filter(equipment => + equipment.includes('stagingArea') + ) + const cutouts = stagingAddressableAreas.flatMap(aa => + COLUMN_3_SLOTS.filter(cutout => aa.includes(cutout)) + ) - // return default trash slot A3 if staging area is not on slot - if (!stagingAreaLocations.includes(FLEX_TRASH_DEFAULT_SLOT)) { + if (!cutouts.includes(FLEX_TRASH_DEFAULT_SLOT)) { return FLEX_TRASH_DEFAULT_SLOT } @@ -103,11 +106,8 @@ export const getTrashSlot = (values: FormState): string => { }, [] ) - const unoccupiedSlot = OUTER_SLOTS_FLEX.find( - slot => - !stagingAreaLocations.includes(slot.value) && - !moduleSlots.includes(slot.value) + slot => !cutouts.includes(slot.value) && !moduleSlots.includes(slot.value) ) if (unoccupiedSlot == null) { console.error( diff --git a/protocol-designer/src/components/modules/ModuleRow.tsx b/protocol-designer/src/components/modules/ModuleRow.tsx index 08c1c2ca9f3..073082878b3 100644 --- a/protocol-designer/src/components/modules/ModuleRow.tsx +++ b/protocol-designer/src/components/modules/ModuleRow.tsx @@ -23,11 +23,11 @@ import { DEFAULT_MODEL_FOR_MODULE_TYPE, } from '../../constants' import { ModuleDiagram } from './ModuleDiagram' +import { FlexSlotMap } from './FlexSlotMap' import { isModuleWithCollisionIssue } from './utils' import styles from './styles.css' import type { ModuleType, RobotType } from '@opentrons/shared-data' -import { FlexSlotMap } from './FlexSlotMap' interface Props { robotType?: RobotType @@ -68,17 +68,17 @@ export function ModuleRow(props: Props): JSX.Element { // If this module is in a deck slot + is not TC spanning Slot // add to occupiedSlots if (slot && slot !== SPAN7_8_10_11_SLOT) { - slotDisplayName = `Slot ${slot}` + slotDisplayName = slot occupiedSlotsForMap = [slot] } // If this Module is a TC deck slot and spanning // populate all 4 slots individually if (slot === SPAN7_8_10_11_SLOT) { - slotDisplayName = 'Slot 7,8,10,11' + slotDisplayName = '7,8,10,11' occupiedSlotsForMap = ['7', '8', '10', '11'] // TC on Flex } else if (isFlex && type === THERMOCYCLER_MODULE_TYPE && slot === 'B1') { - slotDisplayName = 'Slot A1+B1' + slotDisplayName = 'A1+B1' occupiedSlotsForMap = ['A1', 'B1'] } // If collisionSlots are populated, check which slot is occupied diff --git a/protocol-designer/src/components/modules/StagingAreasModal.tsx b/protocol-designer/src/components/modules/StagingAreasModal.tsx index 7bfc762bb29..79725aa5147 100644 --- a/protocol-designer/src/components/modules/StagingAreasModal.tsx +++ b/protocol-designer/src/components/modules/StagingAreasModal.tsx @@ -47,7 +47,14 @@ const StagingAreasModalComponent = ( const areSlotsEmpty = values.selectedSlots.map(slot => getSlotIsEmpty(initialDeckSetup, slot) ) - const hasConflictedSlot = areSlotsEmpty.includes(false) + const hasWasteChute = + Object.values(initialDeckSetup.additionalEquipmentOnDeck).find( + aE => aE.name === 'wasteChute' + ) != null + const hasConflictedSlot = + hasWasteChute && values.selectedSlots.find(slot => slot === 'cutoutD3') + ? false + : areSlotsEmpty.includes(false) const mappedStagingAreas = stagingAreas.flatMap(area => { return [ diff --git a/protocol-designer/src/components/modules/TrashModal.tsx b/protocol-designer/src/components/modules/TrashModal.tsx index fb3a1a4762b..f9e33cd75be 100644 --- a/protocol-designer/src/components/modules/TrashModal.tsx +++ b/protocol-designer/src/components/modules/TrashModal.tsx @@ -154,7 +154,7 @@ export const TrashModal = (props: TrashModalProps): JSX.Element => { diff --git a/protocol-designer/src/components/modules/__tests__/ModuleRow.test.tsx b/protocol-designer/src/components/modules/__tests__/ModuleRow.test.tsx index ebb5ab60f17..2b240aae6ef 100644 --- a/protocol-designer/src/components/modules/__tests__/ModuleRow.test.tsx +++ b/protocol-designer/src/components/modules/__tests__/ModuleRow.test.tsx @@ -151,7 +151,7 @@ describe('ModuleRow', () => { ).toBe('GEN1') expect( wrapper.find(LabeledValue).filter({ label: 'Position' }).prop('value') - ).toBe('Slot 1') + ).toBe('1') }) it('does not display module model and slot when module has not been added to protocol', () => { diff --git a/protocol-designer/src/constants.ts b/protocol-designer/src/constants.ts index 92b2ba2d5df..e5b5bb6fe4e 100644 --- a/protocol-designer/src/constants.ts +++ b/protocol-designer/src/constants.ts @@ -159,3 +159,5 @@ export const THERMOCYCLER_PROFILE: 'thermocyclerProfile' = 'thermocyclerProfile' export const OT_2_TRASH_DEF_URI = 'opentrons/opentrons_1_trash_1100ml_fixed/1' export const FLEX_TRASH_DEF_URI = 'opentrons/opentrons_1_trash_3200ml_fixed/1' + +export const COLUMN_3_SLOTS = ['A3', 'B3', 'C3', 'D3'] diff --git a/protocol-designer/src/file-data/selectors/fileCreator.ts b/protocol-designer/src/file-data/selectors/fileCreator.ts index ed5aaa56638..89eba6b230e 100644 --- a/protocol-designer/src/file-data/selectors/fileCreator.ts +++ b/protocol-designer/src/file-data/selectors/fileCreator.ts @@ -41,16 +41,13 @@ import type { LabwareEntities, PipetteEntities, RobotState, - AdditionalEquipmentEntity, } from '@opentrons/step-generation' import type { CommandAnnotationV1Mixin, CommandV8Mixin, CreateCommand, - Cutout, LabwareV2Mixin, LiquidV1Mixin, - LoadFixtureCreateCommand, LoadLabwareCreateCommand, LoadModuleCreateCommand, LoadPipetteCreateCommand, @@ -300,30 +297,6 @@ export const createFile: Selector = createSelector( [] ) - // TODO(jr, 10/31/23): update to loadAddressableArea - const loadFixtureCommands = reduce< - AdditionalEquipmentEntity, - LoadFixtureCreateCommand[] - >( - Object.values(additionalEquipmentEntities), - (acc, additionalEquipment): LoadFixtureCreateCommand[] => { - if (additionalEquipment.name === 'gripper') return acc - - const loadFixtureCommands = { - key: uuid(), - commandType: 'loadFixture' as const, - params: { - fixtureId: additionalEquipment.id, - location: { cutout: additionalEquipment.location as Cutout }, - loadName: additionalEquipment.name, - }, - } - - return [...acc, loadFixtureCommands] - }, - [] - ) - const loadLiquidCommands = getLoadLiquidCommands( ingredients, ingredLocations @@ -356,7 +329,6 @@ export const createFile: Selector = createSelector( labwareDefsByURI ) const loadCommands: CreateCommand[] = [ - ...loadFixtureCommands, ...loadPipetteCommands, ...loadModuleCommands, ...loadAdapterCommands, diff --git a/protocol-designer/src/step-forms/reducers/index.ts b/protocol-designer/src/step-forms/reducers/index.ts index 87153305e6a..4a49a7f340a 100644 --- a/protocol-designer/src/step-forms/reducers/index.ts +++ b/protocol-designer/src/step-forms/reducers/index.ts @@ -20,9 +20,10 @@ import { MAGNETIC_MODULE_V1, PipetteName, THERMOCYCLER_MODULE_TYPE, - LoadFixtureCreateCommand, - STANDARD_SLOT_LOAD_NAME, - TRASH_BIN_LOAD_NAME, + WASTE_CHUTE_ADDRESSABLE_AREAS, + getDeckDefFromRobotTypeV4, + AddressableAreaName, + CutoutId, } from '@opentrons/shared-data' import type { RootState as LabwareDefsRootState } from '../../labware-defs' import { rootReducer as labwareDefsRootReducer } from '../../labware-defs' @@ -43,6 +44,7 @@ import { getLabwareOnModule } from '../../ui/modules/utils' import { nestedCombineReducers } from './nestedCombineReducers' import { PROFILE_CYCLE, PROFILE_STEP } from '../../form-types' import { + COLUMN_4_SLOTS, NormalizedAdditionalEquipmentById, NormalizedPipetteById, } from '@opentrons/step-generation' @@ -1329,58 +1331,111 @@ export const additionalEquipmentInvariantProperties = handleActions { const { file } = action.payload - const gripperCommands = Object.values(file.commands).filter( + const isFlex = file.robot.model === FLEX_ROBOT_TYPE + const deckDef = getDeckDefFromRobotTypeV4(FLEX_ROBOT_TYPE) + const cutoutFixtures = deckDef.cutoutFixtures + const providesAddressableAreasForAddressableArea = cutoutFixtures.find( + cutoutFixture => cutoutFixture.id.includes('stagingAreaRightSlot') + )?.providesAddressableAreas + + const hasGripperCommands = Object.values(file.commands).some( (command): command is MoveLabwareCreateCommand => command.commandType === 'moveLabware' && command.params.strategy === 'usingGripper' ) - const fixtureCommands = Object.values(file.commands).filter( - (command): command is LoadFixtureCreateCommand => - command.commandType === 'loadFixture' + const hasWasteChuteCommands = Object.values(file.commands).some( + command => + (command.commandType === 'moveToAddressableArea' && + WASTE_CHUTE_ADDRESSABLE_AREAS.includes( + command.params.addressableAreaName + )) || + (command.commandType === 'moveLabware' && + command.params.newLocation !== 'offDeck' && + 'addressableAreaName' in command.params.newLocation && + WASTE_CHUTE_ADDRESSABLE_AREAS.includes( + command.params.addressableAreaName + )) ) - const fixtures = fixtureCommands.reduce( - ( - acc: NormalizedAdditionalEquipmentById, - command: LoadFixtureCreateCommand - ) => { - const { fixtureId, loadName, location } = command.params - const id = fixtureId ?? '' - if ( - loadName === STANDARD_SLOT_LOAD_NAME || - loadName === TRASH_BIN_LOAD_NAME - ) { - return acc - } - return { - ...acc, - [id]: { - id: id, - name: loadName, - location: location.cutout, + const wasteChuteId = `${uuid()}:wasteChute` + const wasteChute = hasWasteChuteCommands + ? { + [wasteChuteId]: { + name: 'wasteChute' as const, + id: wasteChuteId, + location: 'cutoutD3', }, } - }, - {} - ) - const hasGripper = gripperCommands.length > 0 - const isFlex = file.robot.model === FLEX_ROBOT_TYPE - const gripperId = `${uuid()}:gripper` - const gripper = { - [gripperId]: { - name: 'gripper' as const, - id: gripperId, - }, + : {} + + const getStagingAreaSlotNames = ( + commandType: 'moveLabware' | 'loadLabware', + locationKey: 'newLocation' | 'location' + ): AddressableAreaName[] => { + return Object.values(file.commands) + .filter( + command => + command.commandType === commandType && + command.params[locationKey] !== 'offDeck' && + 'slotName' in command.params[locationKey] && + COLUMN_4_SLOTS.includes(command.params[locationKey].slotName) + ) + .map(command => command.params[locationKey].slotName) } - if (isFlex) { - if (hasGripper) { - return { ...state, ...gripper, ...fixtures } - } else { - return { ...state, ...fixtures } + + const stagingAreaSlotNames = [ + ...new Set([ + ...getStagingAreaSlotNames('moveLabware', 'newLocation'), + ...getStagingAreaSlotNames('loadLabware', 'location'), + ]), + ] + + const findCutoutIdByAddressableArea = ( + addressableAreaName: AddressableAreaName + ): CutoutId | null => { + if (providesAddressableAreasForAddressableArea != null) { + for (const cutoutId in providesAddressableAreasForAddressableArea) { + if ( + providesAddressableAreasForAddressableArea[ + cutoutId as keyof typeof providesAddressableAreasForAddressableArea + ].includes(addressableAreaName) + ) { + return cutoutId as CutoutId + } + } + } + return null + } + + const stagingAreas = stagingAreaSlotNames.reduce((acc, slot) => { + const stagingAreaId = `${uuid()}:stagingArea` + const cutoutId = findCutoutIdByAddressableArea(slot) + return { + ...acc, + [stagingAreaId]: { + name: 'stagingArea' as const, + id: stagingAreaId, + location: cutoutId, + }, } + }, {}) + + const gripperId = `${uuid()}:gripper` + const gripper = hasGripperCommands + ? { + [gripperId]: { + name: 'gripper' as const, + id: gripperId, + }, + } + : {} + + if (isFlex) { + return { ...state, ...gripper, ...wasteChute, ...stagingAreas } } else { return { ...state } } }, + TOGGLE_IS_GRIPPER_REQUIRED: ( state: NormalizedAdditionalEquipmentById ): NormalizedAdditionalEquipmentById => { diff --git a/protocol-designer/src/step-forms/utils/index.ts b/protocol-designer/src/step-forms/utils/index.ts index b6b09bdeea7..139ff2f6e64 100644 --- a/protocol-designer/src/step-forms/utils/index.ts +++ b/protocol-designer/src/step-forms/utils/index.ts @@ -123,23 +123,24 @@ export const getSlotIsEmpty = ( } const filteredAdditionalEquipmentOnDeck = includeStagingAreas - ? values(initialDeckSetup.additionalEquipmentOnDeck).filter( - (additionalEquipment: AdditionalEquipmentOnDeck) => - additionalEquipment.location === slot + ? values( + initialDeckSetup.additionalEquipmentOnDeck + ).filter((additionalEquipment: AdditionalEquipmentOnDeck) => + additionalEquipment.location?.includes(slot) ) : values(initialDeckSetup.additionalEquipmentOnDeck).filter( (additionalEquipment: AdditionalEquipmentOnDeck) => - additionalEquipment.location === slot && + additionalEquipment.location?.includes(slot) && additionalEquipment.name !== 'stagingArea' ) return ( [ - ...values(initialDeckSetup.modules).filter( - (moduleOnDeck: ModuleOnDeck) => moduleOnDeck.slot === slot + ...values(initialDeckSetup.modules).filter((moduleOnDeck: ModuleOnDeck) => + slot.includes(moduleOnDeck.slot) ), - ...values(initialDeckSetup.labware).filter( - (labware: LabwareOnDeckType) => labware.slot === slot + ...values(initialDeckSetup.labware).filter((labware: LabwareOnDeckType) => + slot.includes(labware.slot) ), ...filteredAdditionalEquipmentOnDeck, ].length === 0 diff --git a/protocol-designer/src/top-selectors/labware-locations/index.ts b/protocol-designer/src/top-selectors/labware-locations/index.ts index 9fad438c2d4..94384f44c7f 100644 --- a/protocol-designer/src/top-selectors/labware-locations/index.ts +++ b/protocol-designer/src/top-selectors/labware-locations/index.ts @@ -7,7 +7,12 @@ import { FLEX_ROBOT_TYPE, WASTE_CHUTE_ADDRESSABLE_AREAS, WASTE_CHUTE_CUTOUT, + CutoutId, + STAGING_AREA_RIGHT_SLOT_FIXTURE, + isAddressableAreaStandardSlot, + MOVABLE_TRASH_ADDRESSABLE_AREAS, } from '@opentrons/shared-data' +import { COLUMN_4_SLOTS } from '@opentrons/step-generation' import { START_TERMINAL_ITEM_ID, END_TERMINAL_ITEM_ID, @@ -108,9 +113,13 @@ export const getUnocuppiedLabwareLocationOptions: Selector< additionalEquipmentEntities ) => { const deckDef = getDeckDefFromRobotType(robotType) - const trashSlot = robotType === FLEX_ROBOT_TYPE ? 'A3' : '12' + const cutoutFixtures = deckDef.cutoutFixtures const allSlotIds = deckDef.locations.addressableAreas.map(slot => slot.id) const hasWasteChute = getHasWasteChute(additionalEquipmentEntities) + const stagingAreaCutoutIds = Object.values(additionalEquipmentEntities) + .filter(aE => aE.name === 'stagingArea') + // TODO(jr, 11/13/23): fix AdditionalEquipment['location'] from type string to CutoutId + .map(aE => aE.location as CutoutId) if (robotState == null) return null @@ -189,16 +198,39 @@ export const getUnocuppiedLabwareLocationOptions: Selector< [] ) + const stagingAreaAddressableAreaNames = stagingAreaCutoutIds + .flatMap(cutoutId => { + const addressableAreasOnCutout = cutoutFixtures.find( + cutoutFixture => cutoutFixture.id === STAGING_AREA_RIGHT_SLOT_FIXTURE + )?.providesAddressableAreas[cutoutId] + return addressableAreasOnCutout ?? [] + }) + .filter(aa => !isAddressableAreaStandardSlot(aa, deckDef)) + + // TODO(jr, 11/13/23): update COLUMN_4_SLOTS usage to FLEX_STAGING_AREA_SLOT_ADDRESSABLE_AREAS + const notSelectedStagingAreaAddressableAreas = COLUMN_4_SLOTS.filter(slot => + stagingAreaAddressableAreaNames.every( + addressableArea => addressableArea !== slot + ) + ) + const unoccupiedSlotOptions = allSlotIds - .filter( - slotId => + .filter(slotId => { + const isTrashSlot = + robotType === FLEX_ROBOT_TYPE + ? MOVABLE_TRASH_ADDRESSABLE_AREAS.includes(slotId) + : slotId === 'fixedTrash' + + return ( !slotIdsOccupiedByModules.includes(slotId) && !Object.values(labware) .map(lw => lw.slot) .includes(slotId) && - slotId !== trashSlot && - (hasWasteChute ? !(slotId in WASTE_CHUTE_ADDRESSABLE_AREAS) : true) - ) + !isTrashSlot && + !WASTE_CHUTE_ADDRESSABLE_AREAS.includes(slotId) && + !notSelectedStagingAreaAddressableAreas.includes(slotId) + ) + }) .map(slotId => ({ name: slotId, value: slotId })) const offDeck = { name: 'Off-deck', value: 'offDeck' } const wasteChuteSlot = { diff --git a/protocol-designer/src/ui/labware/selectors.ts b/protocol-designer/src/ui/labware/selectors.ts index f14923369a0..128d5831580 100644 --- a/protocol-designer/src/ui/labware/selectors.ts +++ b/protocol-designer/src/ui/labware/selectors.ts @@ -6,6 +6,7 @@ import { getLabwareDisplayName, getLabwareHasQuirk, } from '@opentrons/shared-data' +import { COLUMN_4_SLOTS } from '@opentrons/step-generation' import { i18n } from '../../localization' import * as stepFormSelectors from '../../step-forms/selectors' import { selectors as labwareIngredSelectors } from '../../labware-ingred/selectors' @@ -82,9 +83,28 @@ export const getLabwareOptions: Selector = createSelector( savedStepForms ?? {}, labwareId ) + const isStartingInColumn4 = COLUMN_4_SLOTS.includes( + initialDeckSetup.labware[labwareId]?.slot + ) + + const isInColumn4 = + savedStepForms != null + ? Object.values(savedStepForms) + ?.reverse() + .some( + form => + form.stepType === 'moveLabware' && + form.labware === labwareId && + (COLUMN_4_SLOTS.includes(form.newLocation) || + (isStartingInColumn4 && + !COLUMN_4_SLOTS.includes(form.newLocation))) + ) + : false + const isAdapterOrAluminumBlock = isAdapter || labwareEntity.def.metadata.displayCategory === 'aluminumBlock' + const moduleOnDeck = getModuleUnderLabware( initialDeckSetup, savedStepForms ?? {}, @@ -104,6 +124,8 @@ export const getLabwareOptions: Selector = createSelector( nickName = `Off-deck - ${nicknamesById[labwareId]}` } else if (nickName === 'Opentrons Fixed Trash') { nickName = TRASH + } else if (isInColumn4) { + nickName = `${nicknamesById[labwareId]} in staging area slot` } if (!moveLabwarePresavedStep) { diff --git a/protocol-designer/src/utils/index.ts b/protocol-designer/src/utils/index.ts index 210016ffa45..eb6fd018728 100644 --- a/protocol-designer/src/utils/index.ts +++ b/protocol-designer/src/utils/index.ts @@ -1,5 +1,14 @@ import uuidv1 from 'uuid/v4' -import { WellSetHelpers, makeWellSetHelpers } from '@opentrons/shared-data' +import { + WellSetHelpers, + makeWellSetHelpers, + AddressableAreaName, + getDeckDefFromRobotTypeV4, + FLEX_ROBOT_TYPE, + CutoutId, + STAGING_AREA_RIGHT_SLOT_FIXTURE, + isAddressableAreaStandardSlot, +} from '@opentrons/shared-data' import { i18n } from '../localization' import { WellGroup } from '@opentrons/components' import { BoundingRect, GenericRect } from '../collision-types' @@ -132,3 +141,19 @@ export const getStagingAreaSlots = ( export const getHas96Channel = (pipettes: PipetteEntities): boolean => { return Object.values(pipettes).some(pip => pip.spec.channels === 96) } + +export const getStagingAreaAddressableAreas = ( + cutoutIds: CutoutId[] +): AddressableAreaName[] => { + const deckDef = getDeckDefFromRobotTypeV4(FLEX_ROBOT_TYPE) + const cutoutFixtures = deckDef.cutoutFixtures + + return cutoutIds + .flatMap(cutoutId => { + const addressableAreasOnCutout = cutoutFixtures.find( + cutoutFixture => cutoutFixture.id === STAGING_AREA_RIGHT_SLOT_FIXTURE + )?.providesAddressableAreas[cutoutId] + return addressableAreasOnCutout ?? [] + }) + .filter(aa => !isAddressableAreaStandardSlot(aa, deckDef)) +} diff --git a/shared-data/deck/types/schemaV4.ts b/shared-data/deck/types/schemaV4.ts index 04aeb85cb59..ecf6bb51d26 100644 --- a/shared-data/deck/types/schemaV4.ts +++ b/shared-data/deck/types/schemaV4.ts @@ -15,7 +15,14 @@ export type FlexAddressableAreaName = | 'B4' | 'C4' | 'D4' - | 'movableTrash' + | 'movableTrashA1' + | 'movableTrashA3' + | 'movableTrashB1' + | 'movableTrashB3' + | 'movableTrashC1' + | 'movableTrashC3' + | 'movableTrashD1' + | 'movableTrashD3' | '1and8ChannelWasteChute' | '96ChannelWasteChute' | 'gripperWasteChute' @@ -69,3 +76,4 @@ export type CutoutFixtureId = | SingleSlotCutoutFixtureId | TrashBinAdapterCutoutFixtureId | WasteChuteCutoutFixtureId + | 'stagingAreaRightSlot' diff --git a/shared-data/js/constants.ts b/shared-data/js/constants.ts index 9ac6327bbcb..b31a67b958d 100644 --- a/shared-data/js/constants.ts +++ b/shared-data/js/constants.ts @@ -1,3 +1,4 @@ +import { AddressableAreaName } from '.' import type { Cutout, ModuleType } from './types' // constants for dealing with robot coordinate system (eg in labwareTools) @@ -259,7 +260,7 @@ export const FLEX_STAGING_AREA_SLOT_ADDRESSABLE_AREAS = [ D4_ADDRESSABLE_AREA, ] -export const MOVABLE_TRASH_ADDRESSABLE_AREAS = [ +export const MOVABLE_TRASH_ADDRESSABLE_AREAS: AddressableAreaName[] = [ MOVABLE_TRASH_A1_ADDRESSABLE_AREA, MOVABLE_TRASH_A3_ADDRESSABLE_AREA, MOVABLE_TRASH_B1_ADDRESSABLE_AREA, @@ -270,7 +271,7 @@ export const MOVABLE_TRASH_ADDRESSABLE_AREAS = [ MOVABLE_TRASH_D3_ADDRESSABLE_AREA, ] -export const WASTE_CHUTE_ADDRESSABLE_AREAS = [ +export const WASTE_CHUTE_ADDRESSABLE_AREAS: AddressableAreaName[] = [ ONE_AND_EIGHT_CHANNEL_WASTE_CHUTE_ADDRESSABLE_AREA, NINETY_SIX_CHANNEL_WASTE_CHUTE_ADDRESSABLE_AREA, GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA, diff --git a/shared-data/js/helpers/index.ts b/shared-data/js/helpers/index.ts index a0cb30f9eb9..cdc79967cf7 100644 --- a/shared-data/js/helpers/index.ts +++ b/shared-data/js/helpers/index.ts @@ -220,15 +220,12 @@ export const getAreSlotsHorizontallyAdjacent = ( } const slotANumber = parseInt(slotNameA) const slotBNumber = parseInt(slotNameB) - if (isNaN(slotBNumber) || isNaN(slotANumber)) { return false } - // TODO(bh, 2023-11-03): is this OT-2 only? const orderedSlots = standardOt2DeckDef.locations.cutouts // intentionally not substracting by 1 because trash (slot 12) should not count const numSlots = orderedSlots.length - if (slotBNumber > numSlots || slotANumber > numSlots) { return false } @@ -261,7 +258,6 @@ export const getAreSlotsVerticallyAdjacent = ( if (isNaN(slotBNumber) || isNaN(slotANumber)) { return false } - // TODO(bh, 2023-11-03): is this OT-2 only? const orderedSlots = standardOt2DeckDef.locations.cutouts // intentionally not substracting by 1 because trash (slot 12) should not count const numSlots = orderedSlots.length @@ -286,6 +282,9 @@ export const getAreSlotsVerticallyAdjacent = ( return areSlotsVerticallyAdjacent } +// TODO(jr, 11/12/23): rename this utility to mention that it +// is only used in the OT-2, same with getAreSlotsHorizontallyAdjacent +// and getAreSlotsVerticallyAdjacent export const getAreSlotsAdjacent = ( slotNameA?: string | null, slotNameB?: string | null diff --git a/step-generation/src/__tests__/aspirate.test.ts b/step-generation/src/__tests__/aspirate.test.ts index 4c6b3ab8911..ab9b7869327 100644 --- a/step-generation/src/__tests__/aspirate.test.ts +++ b/step-generation/src/__tests__/aspirate.test.ts @@ -198,6 +198,29 @@ describe('aspirate', () => { type: 'LABWARE_DOES_NOT_EXIST', }) }) + it('should return an error when aspirating from the 4th column', () => { + robotStateWithTip = { + ...robotStateWithTip, + labware: { + [SOURCE_LABWARE]: { slot: 'A4' }, + }, + } + const result = aspirate( + { + ...flowRateAndOffsets, + pipette: DEFAULT_PIPETTE, + volume: 50, + labware: SOURCE_LABWARE, + well: 'A1', + } as AspDispAirgapParams, + invariantContext, + robotStateWithTip + ) + expect(getErrorResult(result).errors).toHaveLength(1) + expect(getErrorResult(result).errors[0]).toMatchObject({ + type: 'PIPETTING_INTO_COLUMN_4', + }) + }) it('should return an error when aspirating from labware off deck', () => { initialRobotState = getInitialRobotStateWithOffDeckLabwareStandard( invariantContext diff --git a/step-generation/src/__tests__/dispense.test.ts b/step-generation/src/__tests__/dispense.test.ts index b1399c54c4a..d66fae15b5e 100644 --- a/step-generation/src/__tests__/dispense.test.ts +++ b/step-generation/src/__tests__/dispense.test.ts @@ -141,6 +141,19 @@ describe('dispense', () => { type: 'LABWARE_DOES_NOT_EXIST', }) }) + it('should return an error when dispensing from the 4th column', () => { + robotStateWithTip = { + ...robotStateWithTip, + labware: { + [SOURCE_LABWARE]: { slot: 'A4' }, + }, + } + const result = dispense(params, invariantContext, robotStateWithTip) + expect(getErrorResult(result).errors).toHaveLength(1) + expect(getErrorResult(result).errors[0]).toMatchObject({ + type: 'PIPETTING_INTO_COLUMN_4', + }) + }) it('should return an error when dispensing into thermocycler with pipette collision', () => { mockThermocyclerPipetteCollision.mockImplementationOnce( ( diff --git a/step-generation/src/__tests__/moveToWell.test.ts b/step-generation/src/__tests__/moveToWell.test.ts index 0906d8f8629..4020cc52e08 100644 --- a/step-generation/src/__tests__/moveToWell.test.ts +++ b/step-generation/src/__tests__/moveToWell.test.ts @@ -160,6 +160,27 @@ describe('moveToWell', () => { type: 'LABWARE_OFF_DECK', }) }) + it('should return an error when dispensing from the 4th column', () => { + robotStateWithTip = { + ...robotStateWithTip, + labware: { + [SOURCE_LABWARE]: { slot: 'A4' }, + }, + } + const result = moveToWell( + { + pipette: DEFAULT_PIPETTE, + labware: SOURCE_LABWARE, + well: 'A1', + }, + invariantContext, + robotStateWithTip + ) + expect(getErrorResult(result).errors).toHaveLength(1) + expect(getErrorResult(result).errors[0]).toMatchObject({ + type: 'PIPETTING_INTO_COLUMN_4', + }) + }) it('should return an error when moving to well in a thermocycler with pipette collision', () => { mockThermocyclerPipetteCollision.mockImplementationOnce( ( diff --git a/step-generation/src/commandCreators/atomic/aspirate.ts b/step-generation/src/commandCreators/atomic/aspirate.ts index e32c017ef2a..efc734275f9 100644 --- a/step-generation/src/commandCreators/atomic/aspirate.ts +++ b/step-generation/src/commandCreators/atomic/aspirate.ts @@ -12,6 +12,7 @@ import { getIsHeaterShakerNorthSouthOfNonTiprackWithMultiChannelPipette, uuid, } from '../../utils' +import { COLUMN_4_SLOTS } from '../../constants' import type { CreateCommand } from '@opentrons/shared-data' import type { AspirateParams } from '@opentrons/shared-data/protocol/types/schemaV3' import type { CommandCreator, CommandCreatorError } from '../../types' @@ -64,6 +65,10 @@ export const aspirate: CommandCreator = ( errors.push(errorCreators.labwareOffDeck()) } + if (COLUMN_4_SLOTS.includes(slotName)) { + errors.push(errorCreators.pipettingIntoColumn4({ typeOfStep: actionName })) + } + if ( modulePipetteCollision({ pipette, diff --git a/step-generation/src/commandCreators/atomic/blowout.ts b/step-generation/src/commandCreators/atomic/blowout.ts index 7fbd13a56df..5c18b8d654c 100644 --- a/step-generation/src/commandCreators/atomic/blowout.ts +++ b/step-generation/src/commandCreators/atomic/blowout.ts @@ -1,8 +1,9 @@ -import { uuid } from '../../utils' +import { uuid, getLabwareSlot } from '../../utils' +import { COLUMN_4_SLOTS } from '../../constants' import * as errorCreators from '../../errorCreators' +import type { CreateCommand } from '@opentrons/shared-data' import type { BlowoutParams } from '@opentrons/shared-data/protocol/types/schemaV3' import type { CommandCreatorError, CommandCreator } from '../../types' -import { CreateCommand } from '@opentrons/shared-data' export const blowout: CommandCreator = ( args, @@ -14,7 +15,11 @@ export const blowout: CommandCreator = ( const actionName = 'blowout' const errors: CommandCreatorError[] = [] const pipetteData = prevRobotState.pipettes[pipette] - + const slotName = getLabwareSlot( + labware, + prevRobotState.labware, + prevRobotState.modules + ) // TODO Ian 2018-04-30 this logic using command creator args + robotstate to push errors // is duplicated across several command creators (eg aspirate & blowout overlap). // You can probably make higher-level error creator util fns to be more DRY @@ -49,6 +54,10 @@ export const blowout: CommandCreator = ( errors.push(errorCreators.labwareOffDeck()) } + if (COLUMN_4_SLOTS.includes(slotName)) { + errors.push(errorCreators.pipettingIntoColumn4({ typeOfStep: actionName })) + } + if (errors.length > 0) { return { errors, diff --git a/step-generation/src/commandCreators/atomic/dispense.ts b/step-generation/src/commandCreators/atomic/dispense.ts index c8ddfe1dc96..7d52d5c5eb3 100644 --- a/step-generation/src/commandCreators/atomic/dispense.ts +++ b/step-generation/src/commandCreators/atomic/dispense.ts @@ -11,6 +11,7 @@ import { getIsHeaterShakerNorthSouthOfNonTiprackWithMultiChannelPipette, uuid, } from '../../utils' +import { COLUMN_4_SLOTS } from '../../constants' import type { CreateCommand } from '@opentrons/shared-data' import type { DispenseParams } from '@opentrons/shared-data/protocol/types/schemaV3' import type { CommandCreator, CommandCreatorError } from '../../types' @@ -84,6 +85,10 @@ export const dispense: CommandCreator = ( errors.push(errorCreators.labwareOffDeck()) } + if (COLUMN_4_SLOTS.includes(slotName)) { + errors.push(errorCreators.pipettingIntoColumn4({ typeOfStep: actionName })) + } + if ( thermocyclerPipetteCollision( prevRobotState.modules, diff --git a/step-generation/src/commandCreators/atomic/moveToWell.ts b/step-generation/src/commandCreators/atomic/moveToWell.ts index bf2369509cc..e16f1cff417 100644 --- a/step-generation/src/commandCreators/atomic/moveToWell.ts +++ b/step-generation/src/commandCreators/atomic/moveToWell.ts @@ -11,6 +11,7 @@ import { getIsHeaterShakerNorthSouthOfNonTiprackWithMultiChannelPipette, uuid, } from '../../utils' +import { COLUMN_4_SLOTS } from '../../constants' import type { CreateCommand } from '@opentrons/shared-data' import type { MoveToWellParams as v5MoveToWellParams } from '@opentrons/shared-data/protocol/types/schemaV5' import type { MoveToWellParams as v6MoveToWellParams } from '@opentrons/shared-data/protocol/types/schemaV6/command/gantry' @@ -58,6 +59,12 @@ export const moveToWell: CommandCreator = ( errors.push(errorCreators.labwareOffDeck()) } + if (COLUMN_4_SLOTS.includes(slotName)) { + errors.push( + errorCreators.pipettingIntoColumn4({ typeOfStep: 'move to well' }) + ) + } + if ( modulePipetteCollision({ pipette, diff --git a/step-generation/src/commandCreators/atomic/replaceTip.ts b/step-generation/src/commandCreators/atomic/replaceTip.ts index d469efdfb18..55e3348b78d 100644 --- a/step-generation/src/commandCreators/atomic/replaceTip.ts +++ b/step-generation/src/commandCreators/atomic/replaceTip.ts @@ -1,5 +1,6 @@ import { getNextTiprack } from '../../robotStateSelectors' import * as errorCreators from '../../errorCreators' +import { COLUMN_4_SLOTS } from '../../constants' import { dropTip } from './dropTip' import { curryCommandCreator, @@ -38,6 +39,11 @@ const _pickUpTip: CommandCreator = ( if (adapterId == null && pipetteName === 'p1000_96') { errors.push(errorCreators.missingAdapter()) } + if (COLUMN_4_SLOTS.includes(tiprackSlot)) { + errors.push( + errorCreators.pipettingIntoColumn4({ typeOfStep: 'pick up tip' }) + ) + } if (errors.length > 0) { return { errors } diff --git a/step-generation/src/constants.ts b/step-generation/src/constants.ts index d8dfa2142c4..63e0f0d4018 100644 --- a/step-generation/src/constants.ts +++ b/step-generation/src/constants.ts @@ -20,3 +20,5 @@ export const FIXED_TRASH_ID: 'fixedTrash' = 'fixedTrash' export const OT_2_TRASH_DEF_URI = 'opentrons/opentrons_1_trash_1100ml_fixed/1' export const FLEX_TRASH_DEF_URI = 'opentrons/opentrons_1_trash_3200ml_fixed/1' + +export const COLUMN_4_SLOTS = ['A4', 'B4', 'C4', 'D4'] diff --git a/step-generation/src/errorCreators.ts b/step-generation/src/errorCreators.ts index f3364dc8b8e..3d6cadc5c57 100644 --- a/step-generation/src/errorCreators.ts +++ b/step-generation/src/errorCreators.ts @@ -218,3 +218,12 @@ export const gripperRequired = (): CommandCreatorError => { message: 'The gripper is required to fulfill this action', } } + +export const pipettingIntoColumn4 = (args: { + typeOfStep: string +}): CommandCreatorError => { + return { + type: 'PIPETTING_INTO_COLUMN_4', + message: `Cannot ${args.typeOfStep} into a column 4 slot.`, + } +} diff --git a/step-generation/src/types.ts b/step-generation/src/types.ts index dcc18666ad3..26dbf13368a 100644 --- a/step-generation/src/types.ts +++ b/step-generation/src/types.ts @@ -512,6 +512,7 @@ export type ErrorType = | 'NO_TIP_ON_PIPETTE' | 'PIPETTE_DOES_NOT_EXIST' | 'PIPETTE_VOLUME_EXCEEDED' + | 'PIPETTING_INTO_COLUMN_4' | 'TALL_LABWARE_EAST_WEST_OF_HEATER_SHAKER' | 'THERMOCYCLER_LID_CLOSED' | 'TIP_VOLUME_EXCEEDED' From 327f9b358bd5495548ea1568de0bb2aa0e4e22a2 Mon Sep 17 00:00:00 2001 From: Jamey H Date: Tue, 14 Nov 2023 11:21:20 -0500 Subject: [PATCH 62/65] fix(app): fix protocol slideout whitescreen (#13977) Closes RQA-1887, RQA-1888 * fix(app): fix all ProtocolSlideout deck thumbnails displaying the same deckmap * fix(app): fix white-screen when selecting failed analysis protocol in protocol slideout --- .../__tests__/DeckThumbnail.test.tsx | 15 +++++++++++++++ app/src/molecules/DeckThumbnail/index.tsx | 2 +- .../organisms/ChooseProtocolSlideout/index.tsx | 10 ++++------ 3 files changed, 20 insertions(+), 7 deletions(-) diff --git a/app/src/molecules/DeckThumbnail/__tests__/DeckThumbnail.test.tsx b/app/src/molecules/DeckThumbnail/__tests__/DeckThumbnail.test.tsx index d1d5fe35282..2c47a31532e 100644 --- a/app/src/molecules/DeckThumbnail/__tests__/DeckThumbnail.test.tsx +++ b/app/src/molecules/DeckThumbnail/__tests__/DeckThumbnail.test.tsx @@ -188,6 +188,21 @@ describe('DeckThumbnail', () => { getByText('mock BaseDeck') }) + it('returns null when there is no protocolAnalysis or the protocolAnalysis contains an error', () => { + const { queryByText } = render({ + protocolAnalysis: null, + }) + expect(queryByText('mock BaseDeck')).not.toBeInTheDocument() + + render({ + protocolAnalysis: { + ...protocolAnalysis, + errors: 'test error', + }, + }) + expect(queryByText('mock BaseDeck')).not.toBeInTheDocument() + }) + it('renders an OT-3 deck view when the protocol is an OT-3 protocol', () => { // ToDo (kk:11/06/2023) update this test later // const mockLabwareLocations = [ diff --git a/app/src/molecules/DeckThumbnail/index.tsx b/app/src/molecules/DeckThumbnail/index.tsx index 79df3017cad..f4295fa8dd9 100644 --- a/app/src/molecules/DeckThumbnail/index.tsx +++ b/app/src/molecules/DeckThumbnail/index.tsx @@ -35,7 +35,7 @@ export function DeckThumbnail(props: DeckThumbnailProps): JSX.Element | null { const { protocolAnalysis, showSlotLabels = false, ...styleProps } = props const attachedModules = useAttachedModules() - if (protocolAnalysis == null) return null + if (protocolAnalysis == null || protocolAnalysis.errors.length) return null const robotType = getRobotTypeFromLoadedLabware(protocolAnalysis.labware) const deckDef = getDeckDefFromRobotType(robotType) diff --git a/app/src/organisms/ChooseProtocolSlideout/index.tsx b/app/src/organisms/ChooseProtocolSlideout/index.tsx index 67a4148d54e..ab3b201318b 100644 --- a/app/src/organisms/ChooseProtocolSlideout/index.tsx +++ b/app/src/organisms/ChooseProtocolSlideout/index.tsx @@ -36,7 +36,6 @@ import { useCreateRunFromProtocol } from '../ChooseRobotToRunProtocolSlideout/us import { ApplyHistoricOffsets } from '../ApplyHistoricOffsets' import { useOffsetCandidatesForAnalysis } from '../ApplyHistoricOffsets/hooks/useOffsetCandidatesForAnalysis' -import { ProtocolAnalysisOutput } from '@opentrons/shared-data' import type { Robot } from '../../redux/discovery/types' import type { StoredProtocolData } from '../../redux/protocol-storage' import type { State } from '../../redux/types' @@ -163,7 +162,6 @@ export function ChooseProtocolSlideoutComponent( }} robotName={robot.name} {...{ selectedProtocol, runCreationError, runCreationErrorCode }} - protocolAnalysis={selectedProtocol?.mostRecentAnalysis} /> ) : null} @@ -182,7 +180,6 @@ interface StoredProtocolListProps { runCreationError: string | null runCreationErrorCode: number | null robotName: string - protocolAnalysis?: ProtocolAnalysisOutput | null } function StoredProtocolList(props: StoredProtocolListProps): JSX.Element { @@ -192,7 +189,6 @@ function StoredProtocolList(props: StoredProtocolListProps): JSX.Element { runCreationError, runCreationErrorCode, robotName, - protocolAnalysis, } = props const { t } = useTranslation(['device_details', 'shared']) const storedProtocols = useSelector((state: State) => @@ -227,8 +223,10 @@ function StoredProtocolList(props: StoredProtocolListProps): JSX.Element { height="4.25rem" width="4.75rem" > - {protocolAnalysis != null ? ( - + {storedProtocol.mostRecentAnalysis != null ? ( + ) : null} Date: Tue, 14 Nov 2023 11:32:58 -0500 Subject: [PATCH 63/65] ci(labware-library): add build timeout of 30 minutes (#13978) --- .github/workflows/ll-test-build-deploy.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/ll-test-build-deploy.yaml b/.github/workflows/ll-test-build-deploy.yaml index 75e907af97f..e2e33d54146 100644 --- a/.github/workflows/ll-test-build-deploy.yaml +++ b/.github/workflows/ll-test-build-deploy.yaml @@ -116,6 +116,7 @@ jobs: build-ll: name: 'build labware library artifact' needs: ['js-unit-test'] + timeout-minutes: 30 runs-on: 'ubuntu-20.04' if: github.event_name != 'pull_request' steps: From eeb81621666de7781f51f2832da774d9c62c2d52 Mon Sep 17 00:00:00 2001 From: ncdiehl11 Date: Thu, 9 Nov 2023 09:48:52 -0500 Subject: [PATCH 64/65] initial tests --- app/src/organisms/CommandText/PipettingCommandText.tsx | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/app/src/organisms/CommandText/PipettingCommandText.tsx b/app/src/organisms/CommandText/PipettingCommandText.tsx index defd89fbab9..2a1ec9347e2 100644 --- a/app/src/organisms/CommandText/PipettingCommandText.tsx +++ b/app/src/organisms/CommandText/PipettingCommandText.tsx @@ -55,7 +55,7 @@ export const PipettingCommandText = ({ const { volume, flowRate } = command.params return t('aspirate', { well_name: wellName, - labware: getLabwareName(robotSideAnalysis, labwareId), + labware: getLabwareName(robotSideAnalysis, labwareId ?? ''), labware_location: displayLocation, volume: volume, flow_rate: flowRate, From 538283a2ffaaf47b1e1c66b56649fbee98af57a2 Mon Sep 17 00:00:00 2001 From: ncdiehl11 Date: Tue, 14 Nov 2023 14:51:07 -0500 Subject: [PATCH 65/65] update wasteChute location in tests to be cutoutD3 to reflect deck def v4 --- step-generation/src/__tests__/replaceTip.test.ts | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/step-generation/src/__tests__/replaceTip.test.ts b/step-generation/src/__tests__/replaceTip.test.ts index 6dfc0978583..c1044d38432 100644 --- a/step-generation/src/__tests__/replaceTip.test.ts +++ b/step-generation/src/__tests__/replaceTip.test.ts @@ -145,7 +145,7 @@ describe('replaceTip', () => { wasteChuteId: { name: 'wasteChute', id: wasteChuteId, - location: 'D3', + location: 'cutoutD3', }, }, } @@ -257,7 +257,7 @@ describe('replaceTip', () => { wasteChuteId: { name: 'wasteChute', id: wasteChuteId, - location: 'D3', + location: 'cutoutD3', }, }, }

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zy3l@cG=|||Z-0{MDD{TE@8nRW_h|g&=7Kk7asX8LV_!U_BA7m;N+pPcT=fx$5Y{ZG z($t0+p3F{t>}!3X{aO!I`Lpqqp(JTl zTLd?uHjI=-%V6{^Prk;rXE&fBcxn=BbiU&SRCDC`5KhMyk zgY<7d#@O-n3HZ@waruMeQc$Z8{VXg3*ss4`hwLEaU_gqRgx59N%l??BA}32%QnvFbEf z#n!Y_|Un&a!FQfWqj)z&fp?GnmXMPa{xVu|Z4^*7`zdyw@<}tb3lk&ZZQFO!e zzlW<_!x;{ST(89cuOE6SN?-9ojx!*5Lq)%DUP^OGM^uDz_Ua`4|MErjW8Qc!4`}s^ zzYe;kxO+atoKxKSZLV}w3+(?kKni-_*AM6vvbTx_6!MC6*S*8Fo$m=4ob*2i|D?p^ LALc!H{QUm_Powo1 literal 0 HcmV?d00001 diff --git a/protocol-designer/src/localization/en/alert.json b/protocol-designer/src/localization/en/alert.json index 475e45012f2..bf391dfa358 100644 --- a/protocol-designer/src/localization/en/alert.json +++ b/protocol-designer/src/localization/en/alert.json @@ -49,10 +49,10 @@ "title": "Missing labware", "body": "Your module has no labware on it. We recommend you add labware before proceeding." }, - "export_v7_protocol_7_0": { + "export_v8_protocol_7_1": { "title": "Robot and app update may be required", "body1": "This protocol can only run on app and robot server version", - "body2": "7.0 or higher", + "body2": "7.1 or higher", "body3": ". Please ensure your robot is updated to the correct version." }, "change_magnet_module_model": { diff --git a/protocol-designer/src/tutorial/index.ts b/protocol-designer/src/tutorial/index.ts index e5a1a71d97a..a0eee9ffff3 100644 --- a/protocol-designer/src/tutorial/index.ts +++ b/protocol-designer/src/tutorial/index.ts @@ -10,7 +10,7 @@ type HintKey = // normal hints | 'waste_chute_warning' // blocking hints | 'custom_labware_with_modules' - | 'export_v7_protocol_7_0' + | 'export_v8_protocol_7_1' | 'change_magnet_module_model' // DEPRECATED HINTS (keep a record to avoid name collisions with old persisted dismissal states) // 'export_v4_protocol' @@ -18,5 +18,6 @@ type HintKey = // normal hints // | 'export_v5_protocol_3_20' // | 'export_v6_protocol_6_10' // | 'export_v6_protocol_6_20' +// | 'export_v7_protocol_7_0' export { actions, rootReducer, selectors } export type { RootState, HintKey } From 9c5843837db3f622d31e09e96f77a24506259a8a Mon Sep 17 00:00:00 2001 From: Caila Marashaj <98041399+caila-marashaj@users.noreply.github.com> Date: Wed, 8 Nov 2023 16:57:10 -0500 Subject: [PATCH 41/65] fix(shared-data): remove requirement for current entry to TipHandlingConfigurations (#13944) --- .../pipette/schemas/2/pipettePropertiesSchema.json | 3 +-- .../pipette/pipette_definition.py | 14 +++++++++++--- .../pipette/scripts/build_json_script.py | 5 ----- 3 files changed, 12 insertions(+), 10 deletions(-) diff --git a/shared-data/pipette/schemas/2/pipettePropertiesSchema.json b/shared-data/pipette/schemas/2/pipettePropertiesSchema.json index 94c6482f155..810ceade169 100644 --- a/shared-data/pipette/schemas/2/pipettePropertiesSchema.json +++ b/shared-data/pipette/schemas/2/pipettePropertiesSchema.json @@ -61,9 +61,8 @@ "tipConfigurations": { "type": "object", "description": "Object containing configurations specific to tip handling", - "required": ["current", "speed"], + "required": ["speed"], "properties": { - "current": { "$ref": "#/definitions/currentRange" }, "presses": {}, "speed": { "$ref": "#/definitions/editConfigurations" }, "increment": {}, diff --git a/shared-data/python/opentrons_shared_data/pipette/pipette_definition.py b/shared-data/python/opentrons_shared_data/pipette/pipette_definition.py index 2893d0c39fe..7a58e1b61b2 100644 --- a/shared-data/python/opentrons_shared_data/pipette/pipette_definition.py +++ b/shared-data/python/opentrons_shared_data/pipette/pipette_definition.py @@ -142,18 +142,26 @@ class PlungerPositions(BaseModel): class PlungerHomingConfigurations(BaseModel): current: float = Field( default=0.0, - description="Either the z motor current needed for picking up tip or the plunger motor current for dropping tip off the nozzle.", + description="The current to move the plunger axis for homing.", ) speed: float = Field( ..., - description="The speed to move the z or plunger axis for tip pickup or drop off.", + description="The speed to move the plunger axis for homing.", ) -class TipHandlingConfigurations(PlungerHomingConfigurations): +class TipHandlingConfigurations(BaseModel): presses: int = Field( default=0.0, description="The number of tries required to force pick up a tip." ) + current: float = Field( + default=0.0, + description="The current to use for tip drop-off.", + ) + speed: float = Field( + ..., + description="The speed to move the z or plunger axis for tip pickup or drop off.", + ) increment: float = Field( default=0.0, description="The increment to move the pipette down for force tip pickup retries.", diff --git a/shared-data/python/opentrons_shared_data/pipette/scripts/build_json_script.py b/shared-data/python/opentrons_shared_data/pipette/scripts/build_json_script.py index 90c7757b6a7..fa0c4956e30 100644 --- a/shared-data/python/opentrons_shared_data/pipette/scripts/build_json_script.py +++ b/shared-data/python/opentrons_shared_data/pipette/scripts/build_json_script.py @@ -40,14 +40,12 @@ def _build_tip_handling_configurations( increment = 0 distance = 0.0 if tip_handling_type == "pickup" and model_configurations: - current = model_configurations["pickUpCurrent"]["value"] speed = model_configurations["pickUpSpeed"]["value"] presses = model_configurations["pickUpPresses"]["value"] increment = int(model_configurations["pickUpIncrement"]["value"]) distance = model_configurations["pickUpDistance"]["value"] elif tip_handling_type == "pickup": print("Handling pick up tip configurations\n") - current = float(input("please provide the current\n")) speed = float(input("please provide the speed\n")) presses = int(input("please provide the number of presses for force pick up\n")) increment = int( @@ -59,14 +57,11 @@ def _build_tip_handling_configurations( input("please provide the starting distance for pick up tip\n") ) elif tip_handling_type == "drop" and model_configurations: - current = model_configurations["dropTipCurrent"]["value"] speed = model_configurations["dropTipSpeed"]["value"] elif tip_handling_type == "drop": print("Handling drop tip configurations\n") - current = float(input("please provide the current\n")) speed = float(input("please provide the speed\n")) return TipHandlingConfigurations( - current=current, speed=speed, presses=presses, increment=increment, From 3d8407c3fe1bd8a3cf4daddca2801d8eaa8762b0 Mon Sep 17 00:00:00 2001 From: Brian Arthur Cooper Date: Thu, 9 Nov 2023 10:52:43 -0500 Subject: [PATCH 42/65] chore(protocol-designer, labware-library): remove unused full story integration (#13892) --- labware-library/README.md | 1 - labware-library/src/analytics/fullstory.ts | 88 ------------------ labware-library/src/analytics/index.ts | 2 - .../src/analytics/initializeFullstory.ts | 64 ------------- labware-library/src/analytics/utils.ts | 6 -- labware-library/typings/fullstory.d.ts | 42 --------- protocol-designer/README.md | 4 - protocol-designer/src/analytics/actions.ts | 3 - protocol-designer/src/analytics/fullstory.ts | 91 ------------------- .../src/components/modals/GateModal/index.tsx | 2 +- protocol-designer/src/initialize.ts | 8 +- 11 files changed, 2 insertions(+), 309 deletions(-) delete mode 100644 labware-library/src/analytics/fullstory.ts delete mode 100644 labware-library/src/analytics/initializeFullstory.ts delete mode 100644 labware-library/typings/fullstory.d.ts delete mode 100644 protocol-designer/src/analytics/fullstory.ts diff --git a/labware-library/README.md b/labware-library/README.md index 21fa0e5c6f1..b0971e0eb93 100644 --- a/labware-library/README.md +++ b/labware-library/README.md @@ -80,7 +80,6 @@ Certain environment variables, when set, will affect the artifact output. | variable | value | description | | --------------------- | ------------------------------------ | --------------------------------------------------------- | | NODE_ENV | production, development, test | Optimizes output for a specific environment | -| OT_LL_FULLSTORY_ORG | some string ID | Fullstory organization ID. | | OT_LL_MIXPANEL_ID | some string ID | Mixpanel token for prod environment. | | OT_LL_MIXPANEL_DEV_ID | some string ID | Mixpanel token for dev environment. | | OT_LL_VERSION | semver string eg "1.2.3" | reported to analytics. Read from package.json by default. | diff --git a/labware-library/src/analytics/fullstory.ts b/labware-library/src/analytics/fullstory.ts deleted file mode 100644 index 5430065ae17..00000000000 --- a/labware-library/src/analytics/fullstory.ts +++ /dev/null @@ -1,88 +0,0 @@ -import uniq from 'lodash/uniq' - -const LL_VERSION = process.env.OT_LL_VERSION -const LL_BUILD_DATE = new Date(process.env.OT_LL_BUILD_DATE) - -const _getFullstory = (): FullStory.FullStory | null => { - const namespace = global._fs_namespace - const fs = namespace ? global[namespace] : null - return fs || null -} - -export const shutdownFullstory = (): void => { - console.debug('shutting down Fullstory') - const fs = _getFullstory() - if (fs && fs.shutdown) { - fs.shutdown() - } - if (global._fs_namespace && global[global._fs_namespace]) { - // eslint-disable-next-line @typescript-eslint/no-dynamic-delete - delete global[global._fs_namespace] - } -} - -export const inferFsKeyWithSuffix = ( - key: string, - value: unknown -): string | null => { - // semi-hacky way to provide FS with type suffix for keys in FS `properties` - if (typeof value === 'boolean') return 'bool' - if (Number.isInteger(value)) return 'int' - if (typeof value === 'number') return 'real' - if (value instanceof Date) return '' - if (typeof value === 'string') return 'str' - - // flat array - if (Array.isArray(value) && value.every(x => !Array.isArray(x))) { - const recursiveContents = value.map(x => inferFsKeyWithSuffix(key, x)) - // homogenously-typed array - if (uniq(recursiveContents).length === 1 && recursiveContents[0] != null) { - // add 's' to suffix to denote array of type (eg 'bools') - return `${recursiveContents[0]}s` - } - } - - // NOTE: nested objects are valid in FS properties, - // but not yet supported by this fn - console.info(`could not determine Fullstory key suffix for key "${key}"`) - - return null -} - -export const fullstoryEvent = ( - name: string, - parameters: Record = {} -): void => { - // NOTE: make sure user has opted in before calling this fn - const fs = _getFullstory() - if (fs && fs.event) { - // NOTE: fullstory requires property names to have type suffix - // https://help.fullstory.com/hc/en-us/articles/360020623234#Custom%20Property%20Name%20Requirements - const _parameters = Object.keys(parameters).reduce((acc, key) => { - const value = parameters[key] - const suffix = inferFsKeyWithSuffix(key, value) - const name: string = suffix === null ? key : `${key}_${suffix}` - return { ...acc, [name]: value } - }, {}) - fs.event(name, _parameters) - } -} - -export const _setAnalyticsTags = (): void => { - const fs = _getFullstory() - // NOTE: fullstory expects the keys 'displayName' and 'email' verbatim - // though all other key names must be fit the schema described here - // https://help.fullstory.com/hc/en-us/articles/360020623294 - if (fs && fs.setUserVars) { - // eslint-disable-next-line @typescript-eslint/naming-convention - const version_str = LL_VERSION - // eslint-disable-next-line @typescript-eslint/naming-convention - const buildDate_date = LL_BUILD_DATE - - fs.setUserVars({ - ot_application_name_str: 'labware-library', // NOTE: to distinguish from other apps using the FULLSTORY_ORG - version_str, - buildDate_date, - }) - } -} diff --git a/labware-library/src/analytics/index.ts b/labware-library/src/analytics/index.ts index 58321499aa6..78a0760ea83 100644 --- a/labware-library/src/analytics/index.ts +++ b/labware-library/src/analytics/index.ts @@ -1,6 +1,5 @@ import { getAnalyticsState } from './utils' import { trackWithMixpanel } from './mixpanel' -import { fullstoryEvent } from './fullstory' import type { AnalyticsEvent } from './types' // NOTE: right now we report with only mixpanel, this fn is meant @@ -13,6 +12,5 @@ export const reportEvent = (event: AnalyticsEvent): void => { console.debug('Trackable event', { event, optedIn }) if (optedIn) { trackWithMixpanel(event.name, event.properties) - fullstoryEvent(event.name, event.properties) } } diff --git a/labware-library/src/analytics/initializeFullstory.ts b/labware-library/src/analytics/initializeFullstory.ts deleted file mode 100644 index 28991f6feab..00000000000 --- a/labware-library/src/analytics/initializeFullstory.ts +++ /dev/null @@ -1,64 +0,0 @@ -// @ts-nocheck -'use strict' -import { _setAnalyticsTags } from './fullstory' -const FULLSTORY_NAMESPACE = 'FS' -const FULLSTORY_ORG = process.env.OT_LL_FULLSTORY_ORG -export const initializeFullstory = (): void => { - console.debug('initializing Fullstory') - // NOTE: this code snippet is distributed by Fullstory, last updated 2019-10-04 - global._fs_debug = false - global._fs_host = 'fullstory.com' - global._fs_org = FULLSTORY_ORG - global._fs_namespace = FULLSTORY_NAMESPACE - ;(function (m, n, e, t, l, o, g, y) { - if (e in m) { - if (m.console && m.console.log) { - m.console.log( - 'FullStory namespace conflict. Please set window["_fs_namespace"].' - ) - } - return - } - g = m[e] = function (a, b, s) { - g.q ? g.q.push([a, b, s]) : g._api(a, b, s) - } - g.q = [] - o = n.createElement(t) - o.async = 1 - o.crossOrigin = 'anonymous' - o.src = 'https://' + global._fs_host + '/s/fs.js' - y = n.getElementsByTagName(t)[0] - y.parentNode.insertBefore(o, y) - g.identify = function (i, v, s) { - g(l, { uid: i }, s) - if (v) g(l, v, s) - } - g.setUserVars = function (v, s) { - g(l, v, s) - } - g.event = function (i, v, s) { - g('event', { n: i, p: v }, s) - } - g.shutdown = function () { - g('rec', !1) - } - g.restart = function () { - g('rec', !0) - } - g.log = function (a, b) { - g('log', [a, b]) - } - g.consent = function (a) { - g('consent', !arguments.length || a) - } - g.identifyAccount = function (i, v) { - o = 'account' - v = v || {} - v.acctId = i - g(o, v) - } - g.clearUserCookie = function () {} - })(global, global.document, global._fs_namespace, 'script', 'user') - - _setAnalyticsTags() -} diff --git a/labware-library/src/analytics/utils.ts b/labware-library/src/analytics/utils.ts index bf6ba2b5ee9..6b7e11e31aa 100644 --- a/labware-library/src/analytics/utils.ts +++ b/labware-library/src/analytics/utils.ts @@ -1,8 +1,6 @@ import cookie from 'cookie' import { initializeMixpanel, mixpanelOptIn, mixpanelOptOut } from './mixpanel' -import { initializeFullstory } from './initializeFullstory' -import { shutdownFullstory } from './fullstory' import type { AnalyticsState } from './types' const COOKIE_KEY_NAME = 'ot_ll_analytics' // NOTE: cookie is named "LL" but only LC uses it now @@ -62,16 +60,12 @@ export const getAnalyticsState = (): AnalyticsState => { return state } -// NOTE: Fullstory has no opt-in/out, control by adding/removing it completely - export const persistAnalyticsState = (state: AnalyticsState): void => { persistAnalyticsCookie(state) if (state.optedIn) { mixpanelOptIn() - initializeFullstory() } else { mixpanelOptOut() - shutdownFullstory() } } diff --git a/labware-library/typings/fullstory.d.ts b/labware-library/typings/fullstory.d.ts deleted file mode 100644 index 1fbc7c9b6ed..00000000000 --- a/labware-library/typings/fullstory.d.ts +++ /dev/null @@ -1,42 +0,0 @@ -// TODO(mc, 2021-03-31): migrate to @fullstory/browser npm package -// adapted from https://github.com/fullstorydev/fullstory-browser-sdk/blob/master/src/index.d.ts - -declare namespace FullStory { - interface SnippetOptions { - orgId: string - namespace?: string - debug?: boolean - host?: string - script?: string - recordCrossDomainIFrames?: boolean - recordOnlyThisIFrame?: boolean // see README for details - devMode?: boolean - } - - interface UserVars { - displayName?: string - email?: string - [key: string]: any - } - - type LogLevel = 'log' | 'info' | 'warn' | 'error' | 'debug' - - interface FullStory { - anonymize: () => void - consent: (userConsents?: boolean) => void - event: (eventName: string, eventProperties: { [key: string]: any }) => void - identify: (uid: string, customVars?: UserVars) => void - init: (options: SnippetOptions) => void - log: ((level: LogLevel, msg: string) => void) & ((msg: string) => void) - restart: () => void - setUserVars: (customVars: UserVars) => void - shutdown: () => void - } -} - -declare module NodeJS { - interface Global { - _fs_namespace: 'FS' | undefined - FS: FullStory.FullStory | undefined - } -} diff --git a/protocol-designer/README.md b/protocol-designer/README.md index efc3c811b3b..c7bf1b3983a 100644 --- a/protocol-designer/README.md +++ b/protocol-designer/README.md @@ -53,10 +53,6 @@ Used for analytics segmentation. Also saved in protocol file at `designer-applic Used for analytics segmentation. In Travis CI, this is fed by `$TRAVIS_COMMIT`. -### `OT_PD_FULLSTORY_ORG` - -Used for FullStory. Should be provided in the Travis build. - ### `OT_PD_MIXPANEL_ID` Used for Mixpanel in prod. Should be provided in the CI build. diff --git a/protocol-designer/src/analytics/actions.ts b/protocol-designer/src/analytics/actions.ts index 05a6466be06..eee86cd900a 100644 --- a/protocol-designer/src/analytics/actions.ts +++ b/protocol-designer/src/analytics/actions.ts @@ -1,4 +1,3 @@ -import { initializeFullstory, shutdownFullstory } from './fullstory' import { setMixpanelTracking, AnalyticsEvent } from './mixpanel' export interface SetOptIn { @@ -9,10 +8,8 @@ export interface SetOptIn { const _setOptIn = (payload: SetOptIn['payload']): SetOptIn => { // side effects if (payload) { - initializeFullstory() setMixpanelTracking(true) } else { - shutdownFullstory() setMixpanelTracking(false) } diff --git a/protocol-designer/src/analytics/fullstory.ts b/protocol-designer/src/analytics/fullstory.ts deleted file mode 100644 index 023bccec7a1..00000000000 --- a/protocol-designer/src/analytics/fullstory.ts +++ /dev/null @@ -1,91 +0,0 @@ -// @ts-nocheck -import cookie from 'cookie' - -export const shutdownFullstory = (): void => { - if (window[window._fs_namespace]) { - window[window._fs_namespace].shutdown() - } - // eslint-disable-next-line @typescript-eslint/no-dynamic-delete - delete window[window._fs_namespace] -} - -const _setAnalyticsTags = (): void => { - const cookies = cookie.parse(global.document.cookie) - const { ot_email: email, ot_name: displayName } = cookies - const commit_str = process.env.OT_PD_COMMIT_HASH - const version_str = process.env.OT_PD_VERSION - const buildDate_date = new Date(process.env.OT_PD_BUILD_DATE as any) - - // NOTE: fullstory expects the keys 'displayName' and 'email' verbatim - // though all other key names must be fit the schema described here - // https://help.fullstory.com/develop-js/137380 - if (window[window._fs_namespace]) { - window[window._fs_namespace].setUserVars({ - displayName, - email, - commit_str, - version_str, - buildDate_date, - ot_application_name_str: 'protocol-designer', // NOTE: to distinguish from other apps using the org - }) - } -} - -// NOTE: this code snippet is distributed by Fullstory and formatting has been maintained -window._fs_debug = false -window._fs_host = 'fullstory.com' -window._fs_org = process.env.OT_PD_FULLSTORY_ORG -window._fs_namespace = 'FS' - -export const initializeFullstory = (): void => { - ;(function (m, n, e, t, l, o, g: any, y: any) { - if (e in m) { - if (m.console && m.console.log) { - m.console.log( - 'Fullstory namespace conflict. Please set window["_fs_namespace"].' - ) - } - return - } - g = m[e] = function (a, b, s) { - g.q ? g.q.push([a, b, s]) : g._api(a, b, s) - } - g.q = [] - o = n.createElement(t) - o.async = 1 - o.crossOrigin = 'anonymous' - o.src = 'https://' + global._fs_host + '/s/fs.js' - y = n.getElementsByTagName(t)[0] - y.parentNode.insertBefore(o, y) - g.identify = function (i, v, s) { - g(l, { uid: i }, s) - if (v) g(l, v, s) - } - g.setUserVars = function (v, s) { - g(l, v, s) - } - g.event = function (i, v, s) { - g('event', { n: i, p: v }, s) - } - g.shutdown = function () { - g('rec', !1) - } - g.restart = function () { - g('rec', !0) - } - g.log = function (a, b) { - g('log', [a, b]) - } - g.consent = function (a) { - g('consent', !arguments.length || a) - } - g.identifyAccount = function (i, v) { - o = 'account' - v = v || {} - v.acctId = i - g(o, v) - } - g.clearUserCookie = function () {} - })(global, global.document, global._fs_namespace, 'script', 'user') - _setAnalyticsTags() -} diff --git a/protocol-designer/src/components/modals/GateModal/index.tsx b/protocol-designer/src/components/modals/GateModal/index.tsx index df0fec43c71..eb70c0ed0f6 100644 --- a/protocol-designer/src/components/modals/GateModal/index.tsx +++ b/protocol-designer/src/components/modals/GateModal/index.tsx @@ -46,7 +46,7 @@ class GateModalComponent extends React.Component {