refactor(api,robot-server,app): use labwareURI instead of labwareID for placeLabwareState and unsafe/placeLabware command.

[vegano1]

Overview

The placeLabwareState and unsafe/placeLabware commands rely on the labwareID to place labware held by the gripper back down to a deck slot. However, as correctly pointed out, this is wrong because the labwareID changes across runs. This was working for the plate reader lid because the lid is loaded with a fixed labwareID, however that would not be the case for other labware across different runs. This pull request replaces the labwareID with labwareURI used by the placeLabwareState and unsafe/placeLabware commands so the behavior is consistent across runs.

Closes: PLAT-580

Test Plan and Hands on Testing

• Make sure we can run a plate reader protocol without issues
• Make sure that the plate reader open/close_lid commands still work
• Make sure the plate reader lid is returned to its dock (staging area) after the stop is physically and logically disengaged.
• Make sure the run is canceled when the estop is pressed
• Make sure the estop modal is shown while placing the plate reader lid back in its dock
• Make sure that we only call placeLabware when the estop is pressed
• Make sure all the above works on the ODD and Desktop app.
• Make sure the plate reader does not get disconnected when the e-stop is pressed
• Make sure the plate reader lid can still be moved when loading the module from the protocol setup.

from typing import cast
from opentrons import protocol_api
from opentrons.protocol_api.module_contexts import AbsorbanceReaderContext

# metadata
metadata = {
    'protocolName': 'Absorbance Reader Multi read test',
    'author': 'Platform Expansion',
}

requirements = {
    "robotType": "Flex",
    "apiLevel": "2.21",
}

# protocol run function
def run(protocol: protocol_api.ProtocolContext):
    mod = cast(AbsorbanceReaderContext, protocol.load_module("absorbanceReaderV1", "C3"))
    plate = protocol.load_labware("nest_96_wellplate_200ul_flat", "C2")
    tiprack_1000 = protocol.load_labware(load_name='opentrons_flex_96_tiprack_1000ul', location="B2")
    trash_labware = protocol.load_trash_bin("B3")
    instrument = protocol.load_instrument("flex_8channel_1000", "right", tip_racks=[tiprack_1000])
    instrument.trash_container = trash_labware

    # pick up tip and perform action
    instrument.pick_up_tip(tiprack_1000.wells_by_name()['A1'])
    instrument.aspirate(100, plate.wells_by_name()['A1'])
    instrument.dispense(100, plate.wells_by_name()['B1'])
    instrument.return_tip()
   
    # Initialize to a single wavelength with reference wavelength
    # Issue: Make sure there is no labware here or youll get an error
    mod.close_lid()
    mod.initialize('single', [600], 450)

    # NOTE: CANNOT INITIALIZE WITH THE LID OPEN

    # Remove the Plate Reader lid using the Gripper.
    mod.open_lid()
    protocol.move_labware(plate, mod, use_gripper=True)
    mod.close_lid()

    # Take a reading and show the resulting absorbance values.
    # Issue: cant read before you initialize or you an get an error
    result = mod.read()
    msg = f"single: {result}"
    protocol.comment(msg=msg)
    protocol.pause(msg=msg)

    # Initialize to multiple wavelengths
    protocol.pause(msg="Perform Multi Read")
    mod.open_lid()
    protocol.move_labware(plate, "C2", use_gripper=True)
    mod.close_lid()
    mod.initialize('multi', [450, 570, 600])

    # Open the lid and move the labware into the reader
    mod.open_lid()
    protocol.move_labware(plate, mod, use_gripper=True)

    # pick up tip and perform action on labware inside plate reader
    instrument.pick_up_tip(tiprack_1000.wells_by_name()['A1'])
    instrument.aspirate(100, plate.wells_by_name()['A1'])
    instrument.dispense(100, plate.wells_by_name()['B1'])
    instrument.return_tip()

    mod.close_lid()

    # Take reading
    result = mod.read()
    msg = f"multi: {result}"
    protocol.comment(msg=msg)
    protocol.pause(msg=msg)

    # Place the Plate Reader lid back on using the Gripper.
    mod.open_lid()
    protocol.move_labware(plate, "C2", use_gripper=True)
    mod.close_lid() 

Changelog

• use labwareURI instead of labwareID in the placeLabwareState object sent in the /runs/{runID}/currentState endpoint
• use labwareURI instead of labwareID in the unsafe/placeLabware command
• using the labwareURI in the unsafe/placeLabware command, load the labware directly
• use labwareURI instead of labwareID in the usePlacePlateReaderLid.ts react hook

Review requests

• manually loading in the labware is nasty work, any suggestions or advice are welcome
• anything I might be overlooking?

Risk assessment

low, unreleased

[SyntaxColoring]

Awesome, thank you!

[SyntaxColoring]

loadLabware splits this out into separate loadName/namespace/version fields, so I might have matched that here for consistency.

Don't feel obligated to do that in this PR, though. If we care, we should be able to change this later because we only use this command in maintenance runs, so there are fewer persistence layer compatibility concerns.

[SyntaxColoring]

For the benefit of other reviewers, and to answer your review question:

Modifying self._state_view.labware._state directly from a command implementation like this is, in most cases, not acceptable, as you called out. But we're going to replace this code imminently as part of RQA-3471, so this code makes sense to bridge the gap until then. I wouldn't sweat it, if it works.

[CaseyBatten]

Agree with that point, this is a temporary patch for the existing architecture which will be replaced with the changes Max mentioned.

[codecov]

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[CaseyBatten]

Implementation looks solid overall, thanks for jumping on this one Brayan. A note below regarding some of the hard-coded approach being used down on the router end of things.

[CaseyBatten]

Agree with that point, this is a temporary patch for the existing architecture which will be replaced with the changes Max mentioned.