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refactor(step-generation): emit mix() api command from mix compound c… #18226

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Merged
jerader merged 2 commits into from
May 1, 2025
Merged

refactor(step-generation): emit mix() api command from mix compound c… #18226

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35a091e
refactor(step-generation): emit mix() api command from mix compound c…
jerader May 1, 2025
ccb203b
only show delay arg if its not null or 0
jerader May 1, 2025
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14 changes: 6 additions & 8 deletions protocol-designer/src/timelineMiddleware/__tests__/generateRobotStateTimeline.test.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -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(),
])
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93 changes: 26 additions & 67 deletions step-generation/src/__tests__/mix.test.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -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: {
Expand All @@ -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: {
Expand All @@ -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()
Expand Down
30 changes: 11 additions & 19 deletions step-generation/src/commandCreators/compound/mix.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
}),
]
Expand All @@ -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: [],
Expand All @@ -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,
Expand All @@ -146,7 +141,7 @@ export function mixUtil(args: {
nozzles: null,
}),
...getDelayCommand(aspirateDelaySeconds),
curryCreator(dispense, {
curryWithoutPython(dispense, {
pipetteId: pipette,
volume,
labwareId: labware,
Expand All @@ -172,10 +167,7 @@ export function mixUtil(args: {
]
)
}
return [
...commandCreators,
...(hasUnsupportedMixApiArg ? [] : [pythonCommandCreator]),
]
return [...commandCreators, pythonCommandCreator]
}
export const mix: CommandCreator<MixArgs> = (
data,
Expand Down
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