removed extra code

Opentrons · Dec 7, 2023 · def1bd2 · def1bd2
1 parent badd9af
commit def1bd2
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Showing 3 changed files with 26 additions and 29 deletions.
diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py
@@ -1044,13 +1044,10 @@ async def encoder_current_position_ot3(
         mount: Union[top_types.Mount, OT3Mount],
         critical_point: Optional[CriticalPoint] = None,
         refresh: bool = False,
-        msg: Optional[str] = None,
     ) -> Dict[Axis, float]:
         """
         Return the encoder position in absolute deck coords specified mount.
         """
-        if msg:
-            print(msg)
         if refresh:
             await self.refresh_positions()
         elif not self._encoder_position:
@@ -1132,7 +1129,6 @@ async def move_to(
         max_speeds: Union[None, Dict[Axis, float], OT3AxisMap[float]] = None,
         _expect_stalls: bool = False,
     ) -> None:
-        print("in move to")
         """Move the critical point of the specified mount to a location
         relative to the deck, at the specified speed."""
         realmount = OT3Mount.from_mount(mount)
@@ -1697,7 +1693,6 @@ async def _hold_jaw_width(self, jaw_width_mm: float) -> None:
     async def grip(
         self, force_newtons: Optional[float] = None, stay_engaged: bool = True
     ) -> None:
-        print("in grip")
         self._gripper_handler.check_ready_for_jaw_move("grip")
         dc = self._gripper_handler.get_duty_cycle_by_grip_force(
             force_newtons or self._gripper_handler.get_gripper().default_grip_force

diff --git a/api/src/opentrons/protocol_engine/execution/labware_movement.py b/api/src/opentrons/protocol_engine/execution/labware_movement.py
@@ -165,7 +165,6 @@ async def check_labware_pickup() -> None:
                         # and prevents the axis from spuriously dropping when  e.g. the notch
                         # on the side of a falling tiprack catches the jaw.
                         await ot3api.disengage_axes([Axis.Z_G])
-
                     await ot3api.ungrip()
                     gripper_opened = True
                     if waypoint_data.dropping:
@@ -176,7 +175,6 @@ async def check_labware_pickup() -> None:
                     await ot3api.grip(force_newtons=labware_grip_force)
                     if gripper_opened:
                         await check_labware_pickup()
-
                 await ot3api.move_to(
                     mount=gripper_mount, abs_position=waypoint_data.position
                 )

diff --git a/api/tests/opentrons/protocol_engine/execution/test_labware_movement_handler.py b/api/tests/opentrons/protocol_engine/execution/test_labware_movement_handler.py
@@ -5,7 +5,7 @@
 
 import pytest
 from decoy import Decoy, matchers
-from typing import TYPE_CHECKING, Union, Optional, Any
+from typing import TYPE_CHECKING, Union, Optional, Any, Tuple
 from contextlib import nullcontext
 
 from opentrons.protocol_engine.execution import EquipmentHandler, MovementHandler
@@ -88,6 +88,22 @@ def heater_shaker_movement_flagger(decoy: Decoy) -> HeaterShakerMovementFlagger:
     return decoy.mock(cls=HeaterShakerMovementFlagger)
 
 
+@pytest.fixture
+def hardware_gripper_offset_data() -> Tuple[
+    LabwareMovementOffsetData, LabwareMovementOffsetData
+]:
+    """Get a set of mocked labware offset data."""
+    user_offset_data = LabwareMovementOffsetData(
+        pickUpOffset=LabwareOffsetVector(x=123, y=234, z=345),
+        dropOffset=LabwareOffsetVector(x=111, y=222, z=333),
+    )
+    final_offset_data = LabwareMovementOffsetData(
+        pickUpOffset=LabwareOffsetVector(x=-1, y=-2, z=-3),
+        dropOffset=LabwareOffsetVector(x=1, y=2, z=3),
+    )
+    return user_offset_data, final_offset_data
+
+
 def default_experimental_movement_data() -> LabwareMovementOffsetData:
     """Experimental movement data with default values."""
     return LabwareMovementOffsetData(
@@ -180,21 +196,17 @@ async def test_failed_gripper_pickup_error(
     subject: LabwareMovementHandler,
     jaw_width: float,
     error_context: Any,
+    hardware_gripper_offset_data: Tuple[
+        LabwareMovementOffsetData, LabwareMovementOffsetData
+    ],
 ) -> None:
     """Test that FailedGripperPickupError is raised correctly."""
     #  This should only be triggered when the difference between the
     #  gripper jaw labware widths is greater than the max allowed error.
     await set_up_decoy_hardware_gripper(decoy, ot3_hardware_api, state_store)
     assert ot3_hardware_api.hardware_gripper
 
-    user_offset_data = LabwareMovementOffsetData(
-        pickUpOffset=LabwareOffsetVector(x=123, y=234, z=345),
-        dropOffset=LabwareOffsetVector(x=111, y=222, z=333),
-    )
-    final_offset_data = LabwareMovementOffsetData(
-        pickUpOffset=LabwareOffsetVector(x=-1, y=-2, z=-3),
-        dropOffset=LabwareOffsetVector(x=1, y=2, z=3),
-    )
+    user_offset_data, final_offset_data = hardware_gripper_offset_data
 
     starting_location = DeckSlotLocation(slotName=DeckSlotName.SLOT_1)
     to_location = DeckSlotLocation(slotName=DeckSlotName.SLOT_2)
@@ -276,22 +288,17 @@ async def test_move_labware_with_gripper(
     from_location: Union[DeckSlotLocation, ModuleLocation, OnLabwareLocation],
     to_location: Union[DeckSlotLocation, ModuleLocation, OnLabwareLocation],
     slide_offset: Optional[Point],
+    hardware_gripper_offset_data: Tuple[
+        LabwareMovementOffsetData, LabwareMovementOffsetData
+    ],
 ) -> None:
     """It should perform a labware movement with gripper by delegating to OT3API."""
     # TODO (spp, 2023-07-26): this test does NOT stub out movement waypoints in order to
     #  keep this as the semi-smoke test that it previously was. We should add a proper
     #  smoke test for gripper labware movement with actual labware and make this a unit test.
     await set_up_decoy_hardware_gripper(decoy, ot3_hardware_api, state_store)
-    assert ot3_hardware_api.hardware_gripper
 
-    user_offset_data = LabwareMovementOffsetData(
-        pickUpOffset=LabwareOffsetVector(x=123, y=234, z=345),
-        dropOffset=LabwareOffsetVector(x=111, y=222, z=333),
-    )
-    final_offset_data = LabwareMovementOffsetData(
-        pickUpOffset=LabwareOffsetVector(x=-1, y=-2, z=-3),
-        dropOffset=LabwareOffsetVector(x=1, y=2, z=3),
-    )
+    user_offset_data, final_offset_data = hardware_gripper_offset_data
 
     decoy.when(
         state_store.geometry.get_final_labware_movement_offset_vectors(
@@ -306,21 +313,18 @@ async def test_move_labware_with_gripper(
             labware_id="my-teleporting-labware", location=from_location
         )
     ).then_return(Point(101, 102, 119.5))
-
     decoy.when(
         state_store.geometry.get_labware_grip_point(
             labware_id="my-teleporting-labware", location=to_location
         )
     ).then_return(Point(201, 202, 219.5))
-
-    decoy.when(ot3_hardware_api.hardware_gripper.jaw_width).then_return(89.0)
-
     mock_tc_context_manager = decoy.mock()
     decoy.when(
         thermocycler_plate_lifter.lift_plate_for_labware_movement(
             labware_location=from_location
         )
     ).then_return(mock_tc_context_manager)
+    decoy.when(ot3_hardware_api.hardware_gripper.jaw_width).then_return(89)
 
     expected_waypoints = [
         Point(100, 100, 999),  # move to above slot 1