Merge branch 'edge' into fix_vitest-unit-test

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

@@ -17,23 +17,35 @@
   "continue": "Continue",
   "continue_run_now": "Continue run now",
   "continue_to_drop_tip": "Continue to drop tip",
+  "ensure_lw_is_accurately_placed": "Ensure labware is accurately placed in the slot to prevent further errors",
   "error": "Error",
   "error_details": "Error details",
   "error_on_robot": "Error on {{robot}}",
   "failed_dispense_step_not_completed": "<block>The failed dispense step will not be completed. The run will continue from the next step with the attached tips.</block><block>Close the robot door before proceeding.</block>",
   "failed_step": "Failed step",
+  "first_is_gripper_holding_labware": "First, is the gripper holding labware?",
   "go_back": "Go back",
+  "gripper_error": "Gripper error",
+  "gripper_errors_occur_when": "Gripper errors occur when the gripper stalls or collides with another object on the deck and are usually caused by improperly placed labware or inaccurate labware offsets",
+  "gripper_releasing_labware": "Gripper releasing labware",
+  "gripper_will_release_in_s": "Gripper will release labware in {{seconds}} seconds",
   "homing_pipette_dangerous": "Homing the <bold>{{mount}} pipette</bold> with liquid in the tips may damage it. You must remove all tips before using the pipette again.",
+  "if_issue_persists_gripper_error": " If the issue persists, cancel the run and rerun gripper calibration",
   "if_issue_persists_overpressure": " If the issue persists, cancel the run and make the necessary changes to the protocol",
   "if_issue_persists_tip_not_detected": " If the issue persists, cancel the run and initiate Labware Position Check",
   "if_tips_are_attached": "If tips are attached, you can choose to blow out any aspirated liquid and drop tips before the run is terminated.",
   "ignore_all_errors_of_this_type": "Ignore all errors of this type",
   "ignore_error_and_skip": "Ignore error and skip to next step",
   "ignore_only_this_error": "Ignore only this error",
   "ignore_similar_errors_later_in_run": "Ignore similar errors later in the run?",
+  "labware_released_from_current_height": "The labware will be released from its current height",
   "launch_recovery_mode": "Launch Recovery Mode",
   "manually_fill_liquid_in_well": "Manually fill liquid in well {{well}}",
   "manually_fill_well_and_skip": "Manually fill well and skip to next step",
+  "manually_move_lw_and_skip": "Manually move labware and skip to next step",
+  "manually_move_lw_on_deck": "Manually move labware on deck",
+  "manually_replace_lw_and_retry": "Manually replace labware on deck and retry step",
+  "manually_replace_lw_on_deck": "Manually replace labware on deck",
   "next_step": "Next step",
   "next_try_another_action": "Next, you can try another recovery action or cancel the run.",
   "no_liquid_detected": "No liquid detected",
@@ -46,6 +58,8 @@
   "recovery_action_failed": "{{action}} failed",
   "recovery_mode": "Recovery Mode",
   "recovery_mode_explanation": "<block>Recovery Mode provides you with guided and manual controls for handling errors at runtime.</block><br/><block>You can make changes to ensure the step in progress when the error occurred can be completed or choose to cancel the protocol. When changes are made and no subsequent errors are detected, the method completes. Depending on the conditions that caused the error, you will only be provided with appropriate options.</block>",
+  "release": "Release",
+  "release_labware_from_gripper": "Release labware from gripper",
   "remove_any_attached_tips": "Remove any attached tips",
   "replace_tips_and_select_location": "It's best to replace tips and select the last location used for tip pickup.",
   "replace_used_tips_in_rack_location": "Replace used tips in rack location {{location}} in slot {{slot}}",
@@ -60,6 +74,8 @@
   "robot_door_is_open": "Robot door is open",
   "robot_is_canceling_run": "Robot is canceling the run",
   "robot_is_in_recovery_mode": "Robot is in recovery mode",
+  "robot_not_attempt_to_move_lw": "<block>The robot will not attempt to move the labware again. The run will continue from the next step.</block><block>Close the robot door before proceeding.</block>",
+  "robot_retry_failed_lw_movement": "<block>The robot will retry the failed labware movement step from where the labware was replaced on the deck.</block><block>Close the robot door before proceeding.</block>",
   "robot_will_not_check_for_liquid": "<block>The robot will not check for liquid again. The run will continue from the next step.</block><block>Close the robot door before proceeding.</block>",
   "robot_will_retry_with_new_tips": "<block>The robot will retry the failed step with the new tips.</block><block>Close the robot door before proceeding.</block>",
   "robot_will_retry_with_same_tips": "<block>The robot will retry the failed step with the same tips.</block><block>Close the robot door before proceeding.</block>",
@@ -76,6 +92,7 @@
   "stand_back_resuming": "Stand back, resuming current step",
   "stand_back_retrying": "Stand back, retrying failed step",
   "stand_back_skipping_to_next_step": "Stand back, skipping to next step",
+  "take_any_necessary_precautions": "Take any necessary precautions before positioning yourself to stabilize or catch the labware. Once confirmed, a countdown will begin before the gripper releases.",
   "take_necessary_actions": "<block>First, take any necessary actions to prepare the robot to retry the failed step.</block><block>Then, close the robot door before proceeding.</block>",
   "take_necessary_actions_failed_pickup": "<block>First, take any necessary actions to prepare the robot to retry the failed tip pickup.</block><block>Then, close the robot door before proceeding.</block>",
   "terminate_remote_activity": "Terminate remote activity",

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

@@ -18,7 +18,8 @@
   "clear_protocol": "Clear protocol",
   "clear_protocol_to_make_available": "Clear protocol from robot to make it available.",
   "close_door": "Close robot door",
-  "close_door_to_resume": "Close robot door to resume run",
+  "close_door_to_resume": "Close robot door to resume",
+  "close_door_to_resume_run": "Close robot door to resume run",
   "closing_protocol": "Closing Protocol",
   "comment": "Comment",
   "comment_step": "Comment",

app/src/organisms/Desktop/Devices/ProtocolRun/ProtocolRunHeader/RunHeaderBannerContainer/index.tsx

@@ -64,7 +64,7 @@ export function RunHeaderBannerContainer(
       ) : null}
       {showDoorOpenDuringRunBanner ? (
         <Banner type="warning" iconMarginLeft={SPACING.spacing4}>
-          {t('close_door_to_resume')}
+          {t('close_door_to_resume_run')}
         </Banner>
       ) : null}
       {terminalBannerType != null ? (

app/src/organisms/Desktop/RunProgressMeter/index.tsx

@@ -27,6 +27,7 @@ import {
   RUN_STATUS_IDLE,
   RUN_STATUS_FINISHING,
   RUN_STATUS_RUNNING,
+  RUN_STATUS_BLOCKED_BY_OPEN_DOOR,
 } from '@opentrons/api-client'
 
 import { getModalPortalEl } from '/app/App/portal'
@@ -98,7 +99,6 @@ export function RunProgressMeter(props: RunProgressMeterProps): JSX.Element {
     e.stopPropagation()
     downloadRunLog()
   }
-
   const {
     showModal: showIntervention,
     modalProps: interventionProps,
@@ -108,6 +108,7 @@ export function RunProgressMeter(props: RunProgressMeterProps): JSX.Element {
     runData,
     analysis,
     lastRunCommand,
+    doorIsOpen: runStatus === RUN_STATUS_BLOCKED_BY_OPEN_DOOR,
   })
 
   const {

app/src/organisms/ErrorRecoveryFlows/ErrorRecoveryWizard.tsx

@@ -17,6 +17,8 @@ import {
   SkipStepSameTips,
   SkipStepNewTips,
   IgnoreErrorSkipStep,
+  ManualMoveLwAndSkip,
+  ManualReplaceLwAndRetry,
 } from './RecoveryOptions'
 import {
   useErrorDetailsModal,
@@ -218,6 +220,14 @@ export function ErrorRecoveryContent(props: RecoveryContentProps): JSX.Element {
     return <IgnoreErrorSkipStep {...props} />
   }
 
+  const buildManualMoveLwAndSkip = (): JSX.Element => {
+    return <ManualMoveLwAndSkip {...props} />
+  }
+
+  const buildManualReplaceLwAndRetry = (): JSX.Element => {
+    return <ManualReplaceLwAndRetry {...props} />
+  }
+
   const buildManuallyRouteToDoorOpen = (): JSX.Element => {
     return <RecoveryDoorOpen {...props} />
   }
@@ -237,20 +247,25 @@ export function ErrorRecoveryContent(props: RecoveryContentProps): JSX.Element {
       return buildRetryNewTips()
     case RECOVERY_MAP.RETRY_SAME_TIPS.ROUTE:
       return buildRetrySameTips()
-    case RECOVERY_MAP.FILL_MANUALLY_AND_SKIP.ROUTE:
+    case RECOVERY_MAP.MANUAL_FILL_AND_SKIP.ROUTE:
       return buildFillWellAndSkip()
     case RECOVERY_MAP.SKIP_STEP_WITH_SAME_TIPS.ROUTE:
       return buildSkipStepSameTips()
     case RECOVERY_MAP.SKIP_STEP_WITH_NEW_TIPS.ROUTE:
       return buildSkipStepNewTips()
     case RECOVERY_MAP.IGNORE_AND_SKIP.ROUTE:
       return buildIgnoreErrorSkipStep()
+    case RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.ROUTE:
+      return buildManualMoveLwAndSkip()
+    case RECOVERY_MAP.MANUAL_REPLACE_AND_RETRY.ROUTE:
+      return buildManualReplaceLwAndRetry()
     case RECOVERY_MAP.ROBOT_IN_MOTION.ROUTE:
     case RECOVERY_MAP.ROBOT_RESUMING.ROUTE:
     case RECOVERY_MAP.ROBOT_RETRYING_STEP.ROUTE:
     case RECOVERY_MAP.ROBOT_CANCELING.ROUTE:
     case RECOVERY_MAP.ROBOT_PICKING_UP_TIPS.ROUTE:
     case RECOVERY_MAP.ROBOT_SKIPPING_STEP.ROUTE:
+    case RECOVERY_MAP.ROBOT_RELEASING_LABWARE.ROUTE:
       return buildRecoveryInProgress()
     case RECOVERY_MAP.ROBOT_DOOR_OPEN.ROUTE:
       return buildManuallyRouteToDoorOpen()

app/src/organisms/ErrorRecoveryFlows/RecoveryInProgress.tsx

@@ -1,3 +1,4 @@
+import { useState, useEffect } from 'react'
 import { useTranslation } from 'react-i18next'
 import { css } from 'styled-components'
 
@@ -17,6 +18,8 @@ import type { RobotMovingRoute, RecoveryContentProps } from './types'
 
 export function RecoveryInProgress({
   recoveryMap,
+  recoveryCommands,
+  routeUpdateActions,
 }: RecoveryContentProps): JSX.Element {
   const {
     ROBOT_CANCELING,
@@ -25,10 +28,17 @@ export function RecoveryInProgress({
     ROBOT_RETRYING_STEP,
     ROBOT_PICKING_UP_TIPS,
     ROBOT_SKIPPING_STEP,
+    ROBOT_RELEASING_LABWARE,
   } = RECOVERY_MAP
   const { t } = useTranslation('error_recovery')
   const { route } = recoveryMap
 
+  const gripperReleaseCountdown = useGripperRelease({
+    recoveryMap,
+    recoveryCommands,
+    routeUpdateActions,
+  })
+
   const buildDescription = (): RobotMovingRoute => {
     switch (route) {
       case ROBOT_CANCELING.ROUTE:
@@ -43,6 +53,15 @@ export function RecoveryInProgress({
         return t('stand_back_picking_up_tips')
       case ROBOT_SKIPPING_STEP.ROUTE:
         return t('stand_back_skipping_to_next_step')
+      case ROBOT_RELEASING_LABWARE.ROUTE: {
+        if (gripperReleaseCountdown > 0) {
+          return t('gripper_will_release_in_s', {
+            seconds: gripperReleaseCountdown,
+          })
+        } else {
+          return t('gripper_releasing_labware')
+        }
+      }
       default:
         return t('stand_back')
     }
@@ -57,6 +76,83 @@ export function RecoveryInProgress({
   )
 }
 
+const GRIPPER_RELEASE_COUNTDOWN_S = 5
+
+type UseGripperReleaseProps = Pick<
+  RecoveryContentProps,
+  'recoveryMap' | 'recoveryCommands' | 'routeUpdateActions'
+>
+
+// Handles the gripper release copy and action, which operates on an interval. At T=0, release the labware then proceed
+// to the next step in the active route.
+export function useGripperRelease({
+  recoveryMap,
+  recoveryCommands,
+  routeUpdateActions,
+}: UseGripperReleaseProps): number {
+  const { releaseGripperJaws } = recoveryCommands
+  const {
+    proceedToRouteAndStep,
+    proceedNextStep,
+    handleMotionRouting,
+    stashedMap,
+  } = routeUpdateActions
+  const { MANUAL_MOVE_AND_SKIP, MANUAL_REPLACE_AND_RETRY } = RECOVERY_MAP
+  const [countdown, setCountdown] = useState(GRIPPER_RELEASE_COUNTDOWN_S)
+
+  const proceedToValidNextStep = (): void => {
+    switch (stashedMap?.route) {
+      case MANUAL_MOVE_AND_SKIP.ROUTE:
+        void proceedToRouteAndStep(
+          MANUAL_MOVE_AND_SKIP.ROUTE,
+          MANUAL_MOVE_AND_SKIP.STEPS.MANUAL_MOVE
+        )
+        break
+      case MANUAL_REPLACE_AND_RETRY.ROUTE:
+        void proceedToRouteAndStep(
+          MANUAL_REPLACE_AND_RETRY.ROUTE,
+          MANUAL_REPLACE_AND_RETRY.STEPS.MANUAL_REPLACE
+        )
+        break
+      default:
+        console.error('Unhandled post grip-release routing.')
+        void proceedNextStep()
+    }
+  }
+
+  useEffect(() => {
+    let intervalId: NodeJS.Timeout | null = null
+
+    if (recoveryMap.route === RECOVERY_MAP.ROBOT_RELEASING_LABWARE.ROUTE) {
+      intervalId = setInterval(() => {
+        setCountdown(prevCountdown => {
+          const updatedCountdown = prevCountdown - 1
+
+          if (updatedCountdown === 0) {
+            if (intervalId != null) {
+              clearInterval(intervalId)
+            }
+            void releaseGripperJaws()
+              .finally(() => handleMotionRouting(false))
+              .then(() => {
+                proceedToValidNextStep()
+              })
+          }
+
+          return updatedCountdown
+        })
+      }, 1000)
+    }
+
+    return () => {
+      if (intervalId != null) {
+        clearInterval(intervalId)
+      }
+    }
+  }, [recoveryMap.route])
+
+  return countdown
+}
 const CONTAINER_STYLE = css`
   align-items: ${ALIGN_CENTER};
   justify-content: ${JUSTIFY_CENTER};

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

@@ -23,13 +23,13 @@ import type { RecoveryContentProps } from '../types'
 export function FillWellAndSkip(props: RecoveryContentProps): JSX.Element {
   const { recoveryMap } = props
   const { step, route } = recoveryMap
-  const { FILL_MANUALLY_AND_SKIP, CANCEL_RUN } = RECOVERY_MAP
+  const { MANUAL_FILL_AND_SKIP, CANCEL_RUN } = RECOVERY_MAP
 
   const buildContent = (): JSX.Element => {
     switch (step) {
-      case FILL_MANUALLY_AND_SKIP.STEPS.MANUALLY_FILL:
+      case MANUAL_FILL_AND_SKIP.STEPS.MANUAL_FILL:
         return <FillWell {...props} />
-      case FILL_MANUALLY_AND_SKIP.STEPS.SKIP:
+      case MANUAL_FILL_AND_SKIP.STEPS.SKIP:
         return <SkipToNextStep {...props} />
       case CANCEL_RUN.STEPS.CONFIRM_CANCEL:
         return <CancelRun {...props} />

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

@@ -50,7 +50,7 @@ export function IgnoreErrorStepHome({
   routeUpdateActions,
 }: RecoveryContentProps): JSX.Element | null {
   const { t } = useTranslation('error_recovery')
-  const { FILL_MANUALLY_AND_SKIP } = RECOVERY_MAP
+  const { MANUAL_FILL_AND_SKIP } = RECOVERY_MAP
   const { ignoreErrorKindThisRun } = recoveryCommands
   const { proceedToRouteAndStep, goBackPrevStep } = routeUpdateActions
 
@@ -63,17 +63,17 @@ export function IgnoreErrorStepHome({
   // and route appropriately.
   const ignoreOnce = (): void => {
     void proceedToRouteAndStep(
-      FILL_MANUALLY_AND_SKIP.ROUTE,
-      FILL_MANUALLY_AND_SKIP.STEPS.SKIP
+      MANUAL_FILL_AND_SKIP.ROUTE,
+      MANUAL_FILL_AND_SKIP.STEPS.SKIP
     )
   }
 
   // See ignoreOnce comment.
   const ignoreAlways = (): void => {
     void ignoreErrorKindThisRun().then(() =>
       proceedToRouteAndStep(
-        FILL_MANUALLY_AND_SKIP.ROUTE,
-        FILL_MANUALLY_AND_SKIP.STEPS.SKIP
+        MANUAL_FILL_AND_SKIP.ROUTE,
+        MANUAL_FILL_AND_SKIP.STEPS.SKIP
       )
     )
   }

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

@@ -0,0 +1,34 @@
+import { RECOVERY_MAP } from '../constants'
+import {
+  GripperIsHoldingLabware,
+  GripperReleaseLabware,
+  SkipStepInfo,
+  TwoColLwInfoAndDeck,
+} from '../shared'
+import { SelectRecoveryOption } from './SelectRecoveryOption'
+
+import type { RecoveryContentProps } from '../types'
+
+export function ManualMoveLwAndSkip(props: RecoveryContentProps): JSX.Element {
+  const { recoveryMap } = props
+  const { step, route } = recoveryMap
+  const { MANUAL_MOVE_AND_SKIP } = RECOVERY_MAP
+
+  const buildContent = (): JSX.Element => {
+    switch (step) {
+      case MANUAL_MOVE_AND_SKIP.STEPS.GRIPPER_HOLDING_LABWARE:
+        return <GripperIsHoldingLabware {...props} />
+      case MANUAL_MOVE_AND_SKIP.STEPS.GRIPPER_RELEASE_LABWARE:
+        return <GripperReleaseLabware {...props} />
+      case MANUAL_MOVE_AND_SKIP.STEPS.MANUAL_MOVE:
+        return <TwoColLwInfoAndDeck {...props} />
+      case MANUAL_MOVE_AND_SKIP.STEPS.SKIP:
+        return <SkipStepInfo {...props} />
+      default:
+        console.warn(`${step} in ${route} not explicitly handled. Rerouting.`)
+        return <SelectRecoveryOption {...props} />
+    }
+  }
+
+  return buildContent()
+}