home gripper axis if stall detected

Opentrons · Oct 23, 2024 · 3473e13 · 3473e13
1 parent 18598cf
commit 3473e13
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Showing 6 changed files with 46 additions and 33 deletions.
diff --git a/...sms/Desktop/Devices/ProtocolRun/ProtocolRunHeader/RunHeaderContent/ActionButton/index.tsx b/...sms/Desktop/Devices/ProtocolRun/ProtocolRunHeader/RunHeaderContent/ActionButton/index.tsx
@@ -75,16 +75,19 @@ export function ActionButton(props: ActionButtonProps): JSX.Element {
   const isValidRunAgain = isRunAgainStatus(runStatus)
   const { isClosingCurrentRun } = useCloseCurrentRun()
 
-  const { isDisabled, disabledReason } = useActionBtnDisabledUtils({
-    isCurrentRun,
-    isSetupComplete,
-    isOtherRunCurrent,
-    isProtocolNotReady,
-    isRobotOnWrongVersionOfSoftware,
-    isValidRunAgain,
-    isClosingCurrentRun,
-    ...props,
-  })
+  // const { isDisabled, disabledReason } = useActionBtnDisabledUtils({
+  //   isCurrentRun,
+  //   isSetupComplete,
+  //   isOtherRunCurrent,
+  //   isProtocolNotReady,
+  //   isRobotOnWrongVersionOfSoftware,
+  //   isValidRunAgain,
+  //   isClosingCurrentRun,
+  //   ...props,
+  // })
+
+  const isDisabled = false
+  const disabledReason = ''
 
   const robot = useRobot(robotName)
   const robotSerialNumber = getFallbackRobotSerialNumber(robot)

diff --git a/app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useHomeGripperZAxis.test.ts b/app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useHomeGripperZAxis.test.ts
@@ -1,12 +1,12 @@
 import { renderHook, act } from '@testing-library/react'
 import { describe, it, expect, vi, beforeEach } from 'vitest'
 
-import { useHomeGripperZAxis } from '../useHomeGripperZAxis'
+import { useHomeGripper } from '../useHomeGripperZAxis'
 import { RECOVERY_MAP } from '/app/organisms/ErrorRecoveryFlows/constants'
 
-describe('useHomeGripperZAxis', () => {
+describe('useHomeGripper', () => {
   const mockRecoveryCommands = {
-    homeGripperZAxis: vi.fn().mockResolvedValue(undefined),
+    homeGripper: vi.fn().mockResolvedValue(undefined),
   }
 
   const mockRouteUpdateActions = {
@@ -28,7 +28,7 @@ describe('useHomeGripperZAxis', () => {
 
   it('should home gripper Z axis when in manual gripper step and door is closed', async () => {
     renderHook(() => {
-      useHomeGripperZAxis({
+      useHomeGripper({
         recoveryCommands: mockRecoveryCommands,
         routeUpdateActions: mockRouteUpdateActions,
         recoveryMap: mockRecoveryMap,
@@ -43,15 +43,15 @@ describe('useHomeGripperZAxis', () => {
     expect(mockRouteUpdateActions.handleMotionRouting).toHaveBeenCalledWith(
       true
     )
-    expect(mockRecoveryCommands.homeGripperZAxis).toHaveBeenCalled()
+    expect(mockRecoveryCommands.homeGripper).toHaveBeenCalled()
     expect(mockRouteUpdateActions.handleMotionRouting).toHaveBeenCalledWith(
       false
     )
   })
 
   it('should go back to previous step when door is open', () => {
     renderHook(() => {
-      useHomeGripperZAxis({
+      useHomeGripper({
         recoveryCommands: mockRecoveryCommands,
         routeUpdateActions: mockRouteUpdateActions,
         recoveryMap: mockRecoveryMap,
@@ -60,12 +60,12 @@ describe('useHomeGripperZAxis', () => {
     })
 
     expect(mockRouteUpdateActions.goBackPrevStep).toHaveBeenCalled()
-    expect(mockRecoveryCommands.homeGripperZAxis).not.toHaveBeenCalled()
+    expect(mockRecoveryCommands.homeGripper).not.toHaveBeenCalled()
   })
 
   it('should not home again if already homed once', async () => {
     const { rerender } = renderHook(() => {
-      useHomeGripperZAxis({
+      useHomeGripper({
         recoveryCommands: mockRecoveryCommands,
         routeUpdateActions: mockRouteUpdateActions,
         recoveryMap: mockRecoveryMap,
@@ -77,17 +77,17 @@ describe('useHomeGripperZAxis', () => {
       await new Promise(resolve => setTimeout(resolve, 0))
     })
 
-    expect(mockRecoveryCommands.homeGripperZAxis).toHaveBeenCalledTimes(1)
+    expect(mockRecoveryCommands.homeGripper).toHaveBeenCalledTimes(1)
 
     rerender()
 
-    expect(mockRecoveryCommands.homeGripperZAxis).toHaveBeenCalledTimes(1)
+    expect(mockRecoveryCommands.homeGripper).toHaveBeenCalledTimes(1)
   })
 
   it('should reset hasHomedOnce when step changes to non-manual gripper step and back', async () => {
     const { rerender } = renderHook(
       ({ recoveryMap }) => {
-        useHomeGripperZAxis({
+        useHomeGripper({
           recoveryCommands: mockRecoveryCommands,
           routeUpdateActions: mockRouteUpdateActions,
           recoveryMap,
@@ -103,7 +103,7 @@ describe('useHomeGripperZAxis', () => {
       await new Promise(resolve => setTimeout(resolve, 0))
     })
 
-    expect(mockRecoveryCommands.homeGripperZAxis).toHaveBeenCalledTimes(1)
+    expect(mockRecoveryCommands.homeGripper).toHaveBeenCalledTimes(1)
 
     rerender({ recoveryMap: { step: 'SOME_OTHER_STEP' } as any })
 
@@ -117,6 +117,6 @@ describe('useHomeGripperZAxis', () => {
       await new Promise(resolve => setTimeout(resolve, 0))
     })
 
-    expect(mockRecoveryCommands.homeGripperZAxis).toHaveBeenCalledTimes(2)
+    expect(mockRecoveryCommands.homeGripper).toHaveBeenCalledTimes(2)
   })
 })
diff --git a/app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useRecoveryCommands.test.ts b/app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useRecoveryCommands.test.ts
@@ -264,11 +264,11 @@ describe('useRecoveryCommands', () => {
     )
   })
 
-  it('should call homeGripperZAxis and resolve the promise', async () => {
+  it('should call useHomeGripper and resolve the promise', async () => {
     const { result } = renderHook(() => useRecoveryCommands(props))
 
     await act(async () => {
-      await result.current.homeGripperZAxis()
+      await result.current.homeGripper()
     })
 
     expect(mockChainRunCommands).toHaveBeenCalledWith(

diff --git a/app/src/organisms/ErrorRecoveryFlows/hooks/index.ts b/app/src/organisms/ErrorRecoveryFlows/hooks/index.ts
@@ -5,7 +5,7 @@ export { useRouteUpdateActions } from './useRouteUpdateActions'
 export { useERUtils } from './useERUtils'
 export { useRecoveryTakeover } from './useRecoveryTakeover'
 export { useRetainedFailedCommandBySource } from './useRetainedFailedCommandBySource'
-export { useHomeGripperZAxis } from './useHomeGripperZAxis'
+export { useHomeGripper } from './useHomeGripperZAxis'
 
 export type { ERUtilsProps } from './useERUtils'
 export type { UseRouteUpdateActionsResult } from './useRouteUpdateActions'

diff --git a/app/src/organisms/ErrorRecoveryFlows/hooks/useHomeGripperZAxis.ts b/app/src/organisms/ErrorRecoveryFlows/hooks/useHomeGripperZAxis.ts
@@ -4,7 +4,7 @@ import { RECOVERY_MAP } from '/app/organisms/ErrorRecoveryFlows/constants'
 import type { ErrorRecoveryWizardProps } from '/app/organisms/ErrorRecoveryFlows/ErrorRecoveryWizard'
 
 // Home the gripper z-axis implicitly. Because the z-home is not tied to a CTA, it must be handled here.
-export function useHomeGripperZAxis({
+export function useHomeGripper({
   recoveryCommands,
   routeUpdateActions,
   recoveryMap,
@@ -20,15 +20,15 @@ export function useHomeGripperZAxis({
 
   useLayoutEffect(() => {
     const { handleMotionRouting, goBackPrevStep } = routeUpdateActions
-    const { homeGripperZAxis } = recoveryCommands
+    const { homeGripper } = recoveryCommands
 
     if (!hasHomedOnce) {
       if (isManualGripperStep) {
         if (isDoorOpen) {
           void goBackPrevStep()
         } else {
           void handleMotionRouting(true)
-            .then(() => homeGripperZAxis())
+            .then(() => homeGripper())
             .then(() => {
               setHasHomedOnce(true)
             })

diff --git a/app/src/organisms/ErrorRecoveryFlows/hooks/useRecoveryCommands.ts b/app/src/organisms/ErrorRecoveryFlows/hooks/useRecoveryCommands.ts
@@ -63,7 +63,7 @@ export interface UseRecoveryCommandsResult {
   /* A non-terminal recovery command */
   releaseGripperJaws: () => Promise<CommandData[]>
   /* A non-terminal recovery command */
-  homeGripperZAxis: () => Promise<CommandData[]>
+  homeGripper: () => Promise<CommandData[]>
   /* A non-terminal recovery command */
   moveLabwareWithoutPause: () => Promise<CommandData[]>
 }
@@ -269,8 +269,12 @@ export function useRecoveryCommands({
     return chainRunRecoveryCommands([RELEASE_GRIPPER_JAW])
   }, [chainRunRecoveryCommands])
 
-  const homeGripperZAxis = useCallback((): Promise<CommandData[]> => {
-    return chainRunRecoveryCommands([HOME_GRIPPER_Z_AXIS])
+  const homeGripper = useCallback((): Promise<CommandData[]> => {
+    const gripperAxis =
+      failedCommandByRunRecord?.error?.errorCode === '2003'
+        ? HOME_GRIPPER
+        : HOME_GRIPPER_Z_AXIS
+    return chainRunRecoveryCommands([gripperAxis])
   }, [chainRunRecoveryCommands])
 
   const moveLabwareWithoutPause = useCallback((): Promise<CommandData[]> => {
@@ -291,7 +295,7 @@ export function useRecoveryCommands({
     homePipetteZAxes,
     pickUpTips,
     releaseGripperJaws,
-    homeGripperZAxis,
+    homeGripper,
     moveLabwareWithoutPause,
     skipFailedCommand,
     ignoreErrorKindThisRun,
@@ -316,6 +320,12 @@ export const HOME_GRIPPER_Z_AXIS: CreateCommand = {
   intent: 'fixit',
 }
 
+export const HOME_GRIPPER: CreateCommand = {
+  commandType: 'home',
+  params: { axes: ['extensionZ', 'extensionJaw'] },
+  intent: 'fixit',
+}
+
 const buildMoveLabwareWithoutPause = (
   failedCommand: FailedCommand | null
 ): CreateCommand | null => {