refactor(step-generation): emit mix() api command from mix compound c…

protocol-designer/src/timelineMiddleware/__tests__/generateRobotStateTimeline.test.ts

@@ -220,16 +220,14 @@ mockPythonName.drop_tip()
       // Step c:
       `
 mockPythonName.pick_up_tip(location=mockPythonName)
-mockPythonName.aspirate(...)
-mockPythonName.dispense(...)
-mockPythonName.aspirate(...)
-mockPythonName.dispense(...)
+mockPythonName.flow_rate.aspirate = 3.78
+mockPythonName.flow_rate.dispense = 3.78
+mockPythonName.mix(...)
 mockPythonName.drop_tip()
 mockPythonName.pick_up_tip(location=mockPythonName)
-mockPythonName.aspirate(...)
-mockPythonName.dispense(...)
-mockPythonName.aspirate(...)
-mockPythonName.dispense(...)
+mockPythonName.flow_rate.aspirate = 3.78
+mockPythonName.flow_rate.dispense = 3.78
+mockPythonName.mix(...)
 mockPythonName.drop_tip()
 `.trim(),
     ])

step-generation/src/__tests__/mix.test.ts

@@ -348,6 +348,7 @@ describe('mix: advanced options', () => {
         changeTip: 'always',
         wells: ['A1', 'B1', 'C1'],
         yOffset: 1,
+        finalPushOut: 2,
       } as MixArgs
       const mockWellLocationCustomXY: Partial<AspDispAirgapParams> = {
         wellLocation: {
@@ -371,7 +372,10 @@ describe('mix: advanced options', () => {
           delayCommand(12),
           aspirateHelper(well, volume, mockWellLocationCustomXY),
           delayCommand(10),
-          dispenseHelper(well, volume, mockWellLocationCustomXY),
+          dispenseHelper(well, volume, {
+            ...mockWellLocationCustomXY,
+            pushOut: 2,
+          }),
           delayCommand(12),
           blowoutHelper(blowoutLabwareId, {
             wellLocation: {
@@ -388,91 +392,46 @@ describe('mix: advanced options', () => {
         `
 mockPythonName.drop_tip()
 mockPythonName.pick_up_tip(location=mockPythonName)
-mockPythonName.aspirate(
-    volume=8,
-    location=mockPythonName["A1"].bottom(z=3.2).move(types.Point(y=1)),
-    rate=2.1 / mockPythonName.flow_rate.aspirate,
-)
-protocol.delay(seconds=10)
-mockPythonName.dispense(
-    volume=8,
-    location=mockPythonName["A1"].bottom(z=3.2).move(types.Point(y=1)),
-    rate=2.2 / mockPythonName.flow_rate.dispense,
-    push_out=0,
-)
-protocol.delay(seconds=12)
-mockPythonName.aspirate(
-    volume=8,
-    location=mockPythonName["A1"].bottom(z=3.2).move(types.Point(y=1)),
-    rate=2.1 / mockPythonName.flow_rate.aspirate,
-)
-protocol.delay(seconds=10)
-mockPythonName.dispense(
+mockPythonName.flow_rate.aspirate = 2.1
+mockPythonName.flow_rate.dispense = 2.2
+mockPythonName.mix(
+    repetitions=2,
     volume=8,
     location=mockPythonName["A1"].bottom(z=3.2).move(types.Point(y=1)),
-    rate=2.2 / mockPythonName.flow_rate.dispense,
+    aspirate_delay=10,
+    dispense_delay=12,
+    final_push_out=2,
 )
-protocol.delay(seconds=12)
 mockPythonName.flow_rate.blow_out = 2.3
 mockPythonName.blow_out(mockPythonName["A1"].top(z=3.3))
 mockPythonName.touch_tip(mockPythonName["A1"], v_offset=-3.4)
 mockPythonName.drop_tip()
 mockPythonName.pick_up_tip(location=mockPythonName)
-mockPythonName.aspirate(
-    volume=8,
-    location=mockPythonName["B1"].bottom(z=3.2).move(types.Point(y=1)),
-    rate=2.1 / mockPythonName.flow_rate.aspirate,
-)
-protocol.delay(seconds=10)
-mockPythonName.dispense(
-    volume=8,
-    location=mockPythonName["B1"].bottom(z=3.2).move(types.Point(y=1)),
-    rate=2.2 / mockPythonName.flow_rate.dispense,
-    push_out=0,
-)
-protocol.delay(seconds=12)
-mockPythonName.aspirate(
-    volume=8,
-    location=mockPythonName["B1"].bottom(z=3.2).move(types.Point(y=1)),
-    rate=2.1 / mockPythonName.flow_rate.aspirate,
-)
-protocol.delay(seconds=10)
-mockPythonName.dispense(
+mockPythonName.flow_rate.aspirate = 2.1
+mockPythonName.flow_rate.dispense = 2.2
+mockPythonName.mix(
+    repetitions=2,
     volume=8,
     location=mockPythonName["B1"].bottom(z=3.2).move(types.Point(y=1)),
-    rate=2.2 / mockPythonName.flow_rate.dispense,
+    aspirate_delay=10,
+    dispense_delay=12,
+    final_push_out=2,
 )
-protocol.delay(seconds=12)
 mockPythonName.flow_rate.blow_out = 2.3
 mockPythonName.blow_out(mockPythonName["A1"].top(z=3.3))
 mockPythonName.touch_tip(mockPythonName["B1"], v_offset=-3.4)
 mockPythonName.drop_tip()
 mockPythonName.pick_up_tip(location=mockPythonName)
-mockPythonName.aspirate(
-    volume=8,
-    location=mockPythonName["C1"].bottom(z=3.2).move(types.Point(y=1)),
-    rate=2.1 / mockPythonName.flow_rate.aspirate,
-)
-protocol.delay(seconds=10)
-mockPythonName.dispense(
-    volume=8,
-    location=mockPythonName["C1"].bottom(z=3.2).move(types.Point(y=1)),
-    rate=2.2 / mockPythonName.flow_rate.dispense,
-    push_out=0,
-)
-protocol.delay(seconds=12)
-mockPythonName.aspirate(
-    volume=8,
-    location=mockPythonName["C1"].bottom(z=3.2).move(types.Point(y=1)),
-    rate=2.1 / mockPythonName.flow_rate.aspirate,
-)
-protocol.delay(seconds=10)
-mockPythonName.dispense(
+mockPythonName.flow_rate.aspirate = 2.1
+mockPythonName.flow_rate.dispense = 2.2
+mockPythonName.mix(
+    repetitions=2,
     volume=8,
     location=mockPythonName["C1"].bottom(z=3.2).move(types.Point(y=1)),
-    rate=2.2 / mockPythonName.flow_rate.dispense,
+    aspirate_delay=10,
+    dispense_delay=12,
+    final_push_out=2,
 )
-protocol.delay(seconds=12)
 mockPythonName.flow_rate.blow_out = 2.3
 mockPythonName.blow_out(mockPythonName["A1"].top(z=3.3))
 mockPythonName.touch_tip(mockPythonName["C1"], v_offset=-3.4)`.trimStart()

step-generation/src/commandCreators/compound/mix.ts

@@ -74,21 +74,11 @@ export function mixUtil(args: {
     invariantContext,
     finalPushOut,
   } = args
-  //  If delay is specified to something other than 0,
-  //  emit individual py commands. Otherwise, emit mix()
-  const hasUnsupportedMixApiArg =
-    (aspirateDelaySeconds != null && aspirateDelaySeconds !== 0) ||
-    (dispenseDelaySeconds != null && dispenseDelaySeconds !== 0) ||
-    finalPushOut != null
-
-  const curryCreator = hasUnsupportedMixApiArg
-    ? curryCommandCreator
-    : curryWithoutPython
 
   const getDelayCommand = (seconds?: number | null): CurriedCommandCreator[] =>
     seconds
       ? [
-          curryCreator(delay, {
+          curryWithoutPython(delay, {
             seconds,
           }),
         ]
@@ -108,8 +98,13 @@ export function mixUtil(args: {
       `location=${labwarePythonName}[${formatPyStr(
         well
       )}]${formatPyWellLocation(pythonWellLocation)}`,
-      // TODO (nd, 04/09/2025): uncomment next line once PAPI supports new `final_push_out` arg
-      // `final_push_out=${finalPushOut}`
+      ...(aspirateDelaySeconds != null && aspirateDelaySeconds !== 0
+        ? [`aspirate_delay=${aspirateDelaySeconds}`]
+        : []),
+      ...(dispenseDelaySeconds != null && dispenseDelaySeconds !== 0
+        ? [`dispense_delay=${dispenseDelaySeconds}`]
+        : []),
+      ...(finalPushOut != null ? [`final_push_out=${finalPushOut}`] : []),
     ]
     return {
       commands: [],
@@ -128,7 +123,7 @@ export function mixUtil(args: {
   for (let i = 0; i < times; i++) {
     commandCreators.push(
       ...[
-        curryCreator(aspirate, {
+        curryWithoutPython(aspirate, {
           pipetteId: pipette,
           volume,
           labwareId: labware,
@@ -146,7 +141,7 @@ export function mixUtil(args: {
           nozzles: null,
         }),
         ...getDelayCommand(aspirateDelaySeconds),
-        curryCreator(dispense, {
+        curryWithoutPython(dispense, {
           pipetteId: pipette,
           volume,
           labwareId: labware,
@@ -172,10 +167,7 @@ export function mixUtil(args: {
       ]
     )
   }
-  return [
-    ...commandCreators,
-    ...(hasUnsupportedMixApiArg ? [] : [pythonCommandCreator]),
-  ]
+  return [...commandCreators, pythonCommandCreator]
 }
 export const mix: CommandCreator<MixArgs> = (
   data,