Merge branch 'edge' into feat_add-info-to-chip

.eslintrc.js

@@ -15,7 +15,7 @@ module.exports = {
     'plugin:storybook/recommended',
   ],
 
-  plugins: ['react', 'react-hooks', 'json', 'jest', 'testing-library'],
+  plugins: ['react', 'react-hooks', 'json', 'testing-library'],
 
   rules: {
     camelcase: 'off',
@@ -107,31 +107,16 @@ module.exports = {
         '**/fixtures/**.@(js|ts|tsx)',
         'scripts/*.@(js|ts|tsx)',
       ],
-      env: {
-        jest: true,
-      },
-      extends: ['plugin:jest/recommended'],
       rules: {
-        'jest/expect-expect': 'off',
-        'jest/no-standalone-expect': 'off',
-        'jest/no-disabled-tests': 'error',
-        'jest/consistent-test-it': ['error', { fn: 'it' }],
         '@typescript-eslint/consistent-type-assertions': 'off',
         '@typescript-eslint/no-var-requires': 'off',
         '@typescript-eslint/explicit-function-return-type': 'off',
         '@typescript-eslint/no-confusing-void-expression': 'warn',
         'node/handle-callback-err': 'off',
-        // TODO(mc, 2021-01-29): fix these and remove warning overrides
-        'jest/no-deprecated-functions': 'warn',
-        'jest/valid-title': 'warn',
-        'jest/no-conditional-expect': 'warn',
-        'jest/no-alias-methods': 'warn',
-        'jest/valid-describe-callback': 'warn',
       },
     },
     {
       files: ['**/__tests__/**test.tsx'],
-      env: { jest: true },
       extends: ['plugin:testing-library/react'],
       rules: {
         'testing-library/no-manual-cleanup': 'off',

CONTRIBUTING.md

@@ -291,7 +291,7 @@ JavaScript dependencies are installed by [yarn][]. When calling yarn, you should
 A development dependency is any dependency that is used only to help manage the project. Examples of development dependencies would be:
 
 - Build tools (webpack, babel)
-- Testing/linting/checking tools (jest, typescript, eslint)
+- Testing/linting/checking tools (vitest, typescript, eslint)
 - Libraries used only in support scripts (aws, express)
 
 To add a development dependency:

DEV_SETUP.md

@@ -82,7 +82,7 @@ Close and re-open your terminal to confirm `nvs` is installed.
 nvs --version
 ```
 
-Now we can use nvs to install Node.js v18 and switch on `auto` mode, which will make sure Node.js v18 is used any time we're in the `opentrons` project directory.
+Now we can use `nvs` to install the currently required Node.js version set in `.nvmrc`. The `auto` command selects the correct version of Node.js any time we're in the `opentrons` project directory. Without `auto`, we would have to manually run `use` or `install` each time we work on the project.
 
 ```shell
 nvs add 18

api-client/src/maintenance_runs/index.ts

@@ -2,7 +2,6 @@ export { getMaintenanceRun } from './getMaintenanceRun'
 export { deleteMaintenanceRun } from './deleteMaintenanceRun'
 export { createMaintenanceRun } from './createMaintenanceRun'
 export { createMaintenanceCommand } from './createMaintenanceCommand'
-export { createMaintenanceRunAction } from './createMaintenanceRunAction'
 export { createMaintenanceRunLabwareDefinition } from './createMaintenanceRunLabwareDefinition'
 export { getCurrentMaintenanceRun } from './getCurrentMaintenanceRun'
 

api-client/src/maintenance_runs/types.ts

@@ -4,37 +4,19 @@ import type {
   LoadedModule,
   LoadedPipette,
 } from '@opentrons/shared-data'
-import type { RunCommandSummary, LabwareOffsetCreateData } from '../runs'
-
-export const ENGINE_STATUS_IDLE = 'idle' as const
-export const ENGINE_STATUS_RUNNING = 'running' as const
-export const ENGINE_STATUS_PAUSE_REQUESTED = 'pause-requested' as const
-export const ENGINE_STATUS_PAUSED = 'paused'
-export const ENGINE_STATUS_STOP_REQUESTED = 'stop-requested' as const
-export const ENGINE_STATUS_STOPPED = 'stopped' as const
-export const ENGINE_STATUS_FAILED = 'failed' as const
-export const ENGINE_STATUS_FINISHING = 'finishing' as const
-export const ENGINE_STATUS_SUCCEEDED = 'succeeded' as const
-export const ENGINE_STATUS_BLOCKED_BY_OPEN_DOOR = 'blocked-by-open-door' as const
-
-export type EngineStatus =
-  | typeof ENGINE_STATUS_IDLE
-  | typeof ENGINE_STATUS_RUNNING
-  | typeof ENGINE_STATUS_PAUSE_REQUESTED
-  | typeof ENGINE_STATUS_PAUSED
-  | typeof ENGINE_STATUS_STOP_REQUESTED
-  | typeof ENGINE_STATUS_STOPPED
-  | typeof ENGINE_STATUS_FAILED
-  | typeof ENGINE_STATUS_FINISHING
-  | typeof ENGINE_STATUS_SUCCEEDED
-  | typeof ENGINE_STATUS_BLOCKED_BY_OPEN_DOOR
+import type {
+  RunCommandSummary,
+  LabwareOffsetCreateData,
+  RunStatus,
+  RunAction,
+} from '../runs'
 
 export interface MaintenanceRunData {
   id: string
   createdAt: string
-  status: EngineStatus
+  status: RunStatus
   current: boolean
-  actions: MaintenanceRunAction[]
+  actions: RunAction[]
   errors: MaintenanceRunError[]
   pipettes: LoadedPipette[]
   modules: LoadedModule[]
@@ -48,25 +30,6 @@ export interface MaintenanceRun {
   data: MaintenanceRunData
 }
 
-export const MAINTENANCE_RUN_ACTION_TYPE_PLAY: 'play' = 'play'
-export const MAINTENANCE_RUN_ACTION_TYPE_PAUSE: 'pause' = 'pause'
-export const MAINTENANCE_RUN_ACTION_TYPE_STOP: 'stop' = 'stop'
-
-export type MaintenanceRunActionType =
-  | typeof MAINTENANCE_RUN_ACTION_TYPE_PLAY
-  | typeof MAINTENANCE_RUN_ACTION_TYPE_PAUSE
-  | typeof MAINTENANCE_RUN_ACTION_TYPE_STOP
-
-export interface MaintenanceRunAction {
-  id: string
-  createdAt: string
-  actionType: MaintenanceRunActionType
-}
-
-export interface MaintenanceCreateRunActionData {
-  actionType: MaintenanceRunActionType
-}
-
 export interface MaintenanceCommandData {
   data: RunCommandSummary
 }

api-client/src/runs/types.ts

@@ -18,6 +18,7 @@ export const RUN_STATUS_FAILED = 'failed' as const
 export const RUN_STATUS_FINISHING = 'finishing' as const
 export const RUN_STATUS_SUCCEEDED = 'succeeded' as const
 export const RUN_STATUS_BLOCKED_BY_OPEN_DOOR = 'blocked-by-open-door' as const
+export const RUN_STATUS_AWAITING_RECOVERY = 'awaiting-recovery' as const
 
 export type RunStatus =
   | typeof RUN_STATUS_IDLE
@@ -30,6 +31,7 @@ export type RunStatus =
   | typeof RUN_STATUS_FINISHING
   | typeof RUN_STATUS_SUCCEEDED
   | typeof RUN_STATUS_BLOCKED_BY_OPEN_DOOR
+  | typeof RUN_STATUS_AWAITING_RECOVERY
 
 export interface RunData {
   id: string

api/docs/v2/robot_position.rst

@@ -219,6 +219,9 @@ Movement Speeds
 
 In addition to instructing the robot where to move a pipette, you can also control the speed at which it moves. Speed controls can be applied either to all pipette motions or to movement along a particular axis.
 
+.. note::
+    Like all mechanical systems, Opentrons robots have resonant frequencies that depend on their construction and current configuration. It's possible to set a speed that causes your robot to resonate, producing louder sounds than typical operation. This is safe, but if you find it annoying, increase or decrease the speed slightly.
+
 .. _gantry_speed: 
 
 Gantry Speed

api/src/opentrons/cli/analyze.py

@@ -8,6 +8,7 @@
 from typing import Any, Dict, List, Optional, Sequence, Union
 from typing_extensions import Literal
 
+from opentrons.protocol_engine.types import RunTimeParameter
 from opentrons.protocols.api_support.types import APIVersion
 from opentrons.protocol_reader import (
     ProtocolReader,
@@ -99,6 +100,9 @@ async def _analyze(
             ),
             metadata=protocol_source.metadata,
             robotType=protocol_source.robot_type,
+            # TODO(spp, 2024-03-12): update this once protocol reader/ runner can parse
+            #  and report the runTimeParameters
+            runTimeParameters=[],
             commands=analysis.commands,
             errors=analysis.state_summary.errors,
             labware=analysis.state_summary.labware,
@@ -156,6 +160,7 @@ class AnalyzeResults(BaseModel):
 
     # Fields that should match robot-server:
     robotType: RobotType
+    runTimeParameters: List[RunTimeParameter]
     commands: List[Command]
     labware: List[LoadedLabware]
     pipettes: List[LoadedPipette]

api/src/opentrons/config/advanced_settings.py

@@ -219,6 +219,20 @@ class Setting(NamedTuple):
         description="When this setting is on, Flex will continue its activities regardless of pressure changes inside the pipette. Do not turn this setting on unless you are intentionally causing pressures over 8 kPa inside the pipette air channel.",
         robot_type=[RobotTypeEnum.FLEX],
     ),
+    SettingDefinition(
+        _id="enableErrorRecoveryExperiments",
+        title="Enable error recovery experiments",
+        description=(
+            "Do not enable."
+            " This is an Opentrons internal setting to experiment with"
+            " in-development error recovery features."
+            " This will interfere with your protocol runs,"
+            " corrupt your robot's storage,"
+            " bring misfortune and pestilence upon you and your livestock, etc."
+        ),
+        robot_type=[RobotTypeEnum.FLEX],
+        internal_only=True,
+    ),
 ]
 
 if (
@@ -668,6 +682,16 @@ def _migrate29to30(previous: SettingsMap) -> SettingsMap:
     return {k: v for k, v in previous.items() if "disableTipPresenceDetection" != k}
 
 
+def _migrate30to31(previous: SettingsMap) -> SettingsMap:
+    """Migrate to version 31 of the feature flags file.
+
+    - Adds the enableErrorRecoveryExperiments config element.
+    """
+    newmap = {k: v for k, v in previous.items()}
+    newmap["enableErrorRecoveryExperiments"] = None
+    return newmap
+
+
 _MIGRATIONS = [
     _migrate0to1,
     _migrate1to2,
@@ -699,6 +723,7 @@ def _migrate29to30(previous: SettingsMap) -> SettingsMap:
     _migrate27to28,
     _migrate28to29,
     _migrate29to30,
+    _migrate30to31,
 ]
 """
 List of all migrations to apply, indexed by (version - 1). See _migrate below

api/src/opentrons/config/feature_flags.py

@@ -70,3 +70,9 @@ def require_estop() -> bool:
     return not advs.get_setting_with_env_overload(
         "estopNotRequired", RobotTypeEnum.FLEX
     )
+
+
+def enable_error_recovery_experiments() -> bool:
+    return advs.get_setting_with_env_overload(
+        "enableErrorRecoveryExperiments", RobotTypeEnum.FLEX
+    )

api/src/opentrons/protocol_api/core/engine/instrument.py

@@ -33,6 +33,7 @@
 from opentrons_shared_data.pipette.dev_types import PipetteNameType
 from opentrons.protocol_api._nozzle_layout import NozzleLayout
 from opentrons.hardware_control.nozzle_manager import NozzleConfigurationType
+from opentrons.hardware_control.nozzle_manager import NozzleMap
 from . import deck_conflict
 
 from ..instrument import AbstractInstrument
@@ -675,6 +676,9 @@ def get_active_channels(self) -> int:
             self._pipette_id
         )
 
+    def get_nozzle_map(self) -> NozzleMap:
+        return self._engine_client.state.tips.get_pipette_nozzle_map(self._pipette_id)
+
     def has_tip(self) -> bool:
         return (
             self._engine_client.state.pipettes.get_attached_tip(self._pipette_id)
@@ -709,14 +713,9 @@ def is_tip_tracking_available(self) -> bool:
             return True
         else:
             if self.get_channels() == 96:
-                # SINGLE configuration with H12 nozzle is technically supported by the
-                # current tip tracking implementation but we don't do any deck conflict
-                # checks for it, so we won't provide full support for it yet.
-                return (
-                    self.get_nozzle_configuration() == NozzleConfigurationType.COLUMN
-                    and primary_nozzle == "A12"
-                )
+                return True
             if self.get_channels() == 8:
+                # TODO: (cb, 03/06/24): Enable automatic tip tracking on the 8 channel pipettes once PAPI support exists
                 return (
                     self.get_nozzle_configuration() == NozzleConfigurationType.SINGLE
                     and primary_nozzle == "H1"

api/src/opentrons/protocol_api/core/engine/labware.py

@@ -11,6 +11,7 @@
 from opentrons.protocol_engine.errors import LabwareNotOnDeckError, ModuleNotOnDeckError
 from opentrons.protocol_engine.clients import SyncClient as ProtocolEngineClient
 from opentrons.types import DeckSlotName, Point
+from opentrons.hardware_control.nozzle_manager import NozzleMap
 
 from ..labware import AbstractLabware, LabwareLoadParams
 from .well import WellCore
@@ -122,7 +123,10 @@ def reset_tips(self) -> None:
             raise TypeError(f"{self.get_display_name()} is not a tip rack.")
 
     def get_next_tip(
-        self, num_tips: int, starting_tip: Optional[WellCore]
+        self,
+        num_tips: int,
+        starting_tip: Optional[WellCore],
+        nozzle_map: Optional[NozzleMap],
     ) -> Optional[str]:
         return self._engine_client.state.tips.get_next_tip(
             labware_id=self._labware_id,
@@ -132,6 +136,7 @@ def get_next_tip(
                 if starting_tip and starting_tip.labware_id == self._labware_id
                 else None
             ),
+            nozzle_map=nozzle_map,
         )
 
     def get_well_columns(self) -> List[List[str]]:

api/src/opentrons/protocol_api/core/instrument.py

@@ -9,6 +9,7 @@
 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 opentrons.hardware_control.nozzle_manager import NozzleMap
 
 from ..disposal_locations import TrashBin, WasteChute
 from .well import WellCoreType
@@ -218,6 +219,10 @@ def get_channels(self) -> int:
     def get_active_channels(self) -> int:
         ...
 
+    @abstractmethod
+    def get_nozzle_map(self) -> NozzleMap:
+        ...
+
     @abstractmethod
     def has_tip(self) -> bool:
         ...

api/src/opentrons/protocol_api/core/labware.py

@@ -11,6 +11,7 @@
 )
 
 from opentrons.types import DeckSlotName, Point
+from opentrons.hardware_control.nozzle_manager import NozzleMap
 
 from .well import WellCoreType
 
@@ -110,7 +111,10 @@ def reset_tips(self) -> None:
 
     @abstractmethod
     def get_next_tip(
-        self, num_tips: int, starting_tip: Optional[WellCoreType]
+        self,
+        num_tips: int,
+        starting_tip: Optional[WellCoreType],
+        nozzle_map: Optional[NozzleMap],
     ) -> Optional[str]:
         """Get the name of the next available tip(s) in the rack, if available."""
 

api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py

@@ -18,6 +18,7 @@
 )
 from opentrons.protocols.geometry import planning
 from opentrons.protocol_api._nozzle_layout import NozzleLayout
+from opentrons.hardware_control.nozzle_manager import NozzleMap
 
 from ...disposal_locations import TrashBin, WasteChute
 from ..instrument import AbstractInstrument
@@ -550,6 +551,10 @@ def get_active_channels(self) -> int:
         """This will never be called because it was added in API 2.16."""
         assert False, "get_active_channels only supported in API 2.16 & later"
 
+    def get_nozzle_map(self) -> NozzleMap:
+        """This will never be called because it was added in API 2.18."""
+        assert False, "get_nozzle_map only supported in API 2.18 & later"
+
     def is_tip_tracking_available(self) -> bool:
         # Tip tracking is always available in legacy context
         return True