Merge branch '8.8.0-into-edge-incremental-mergeback' into edge

Author: mjhuff

api/src/opentrons/hardware_control/backends/ot3controller.py

@@ -662,7 +662,12 @@ def _build_move_node_axis_runner(
     ) -> Tuple[Optional[MoveGroupRunner], bool]:
         if not target:
             return None, False
-        move_target = MoveTarget.build(position=target, max_speed=speed)
+        # Create a target that doesn't incorporate the plunger into a joint axis with the gantry
+        plunger_axes = [Axis.P_L, Axis.P_R]
+        move_target = self._move_manager.devectorize_axes(
+            origin, target, speed, plunger_axes
+        )
+
         try:
             _, movelist = self._move_manager.plan_motion(
                 origin=origin, target_list=[move_target]
@@ -693,6 +698,20 @@ def _build_move_node_axis_runner(
                 move_group, ordered_nodes, (delay_nodes, delay_time)
             )
 
+        (
+            plunger_slowed,
+            error_str,
+        ) = self._move_manager.ensure_pipette_flow_rate_unchanged(
+            [node_to_axis(node) for node in ordered_nodes],
+            origin,
+            target,
+            speed,
+            move_group,
+            [(ax, axis_to_node(ax)) for ax in plunger_axes],
+        )
+        if plunger_slowed:
+            log.error(error_str)
+
         return (
             MoveGroupRunner(
                 move_groups=[move_group],

api/src/opentrons/protocol_engine/commands/capture_image.py

@@ -222,7 +222,7 @@ async def execute(
                 data=camera_data,
                 mime_type=MimeType.IMAGE_JPEG,
                 command_metadata=ImageCaptureCmdFileNameMetadata(
-                    step_number=len(self._state_view.commands.get_all()) + 1,
+                    step_number=len(self._state_view.commands.get_all()),
                     command_timestamp=datetime.now(),
                     base_filename=params.fileName,
                     command_id=this_cmd_id or "",

api/src/opentrons/system/camera.py

@@ -245,6 +245,10 @@ def parse_stream_configuration_file_data(data: bytes) -> Dict[str, str] | None:
         )
         # We don't want to write bad or incomplete data to the file
         return None
+
+    # Migrate old camera default file data to new uniform default
+    if contents[StreamConfigurationKeys.SOURCE] == "NONE":
+        contents[StreamConfigurationKeys.SOURCE] = DEFAULT_SYSTEM_CAMERA
     return contents
 
 

api/tests/opentrons/hardware_control/backends/test_ot3_controller.py

@@ -1483,6 +1483,148 @@ async def test_controller_move(
         assert gear_position == gear_position
 
 
+@pytest.mark.parametrize(
+    argnames=["origin_pos", "target_pos", "expected_pos", "gear_position"],
+    argvalues=[
+        [
+            {
+                Axis.X: 0,
+                Axis.Y: 0,
+                Axis.Z_L: 0,
+                Axis.Z_R: 0,
+                Axis.P_L: 0,
+                Axis.P_R: 0,
+                Axis.Z_G: 0,
+                Axis.G: 0,
+            },
+            {
+                Axis.X: 10,
+                Axis.Y: 10,
+                Axis.Z_L: 50,
+                Axis.P_L: 70,
+            },
+            {
+                Axis.X: 10,
+                Axis.Y: 10,
+                Axis.Z_L: 50,
+                Axis.Z_R: 0,
+                Axis.P_L: 70,
+                Axis.P_R: 0,
+                Axis.Z_G: 0,
+                Axis.G: 0,
+            },
+            None,
+        ],
+        [
+            {
+                Axis.X: 0,
+                Axis.Y: 0,
+                Axis.Z_L: 0,
+                Axis.Z_R: 0,
+                Axis.P_L: 0,
+                Axis.P_R: 0,
+                Axis.Z_G: 0,
+                Axis.G: 0,
+            },
+            {
+                Axis.X: 20,
+                Axis.Y: 20,
+                Axis.Z_L: 10,
+                Axis.P_L: 48,
+            },
+            {
+                Axis.X: 20,
+                Axis.Y: 20,
+                Axis.Z_L: 10,
+                Axis.Z_R: 0,
+                Axis.P_L: 48,
+                Axis.P_R: 0,
+                Axis.Z_G: 0,
+                Axis.G: 0,
+            },
+            None,
+        ],
+        [
+            {
+                Axis.X: 0,
+                Axis.Y: 0,
+                Axis.Z_L: 0,
+                Axis.Z_R: 0,
+                Axis.P_L: 0,
+                Axis.P_R: 0,
+                Axis.Z_G: 0,
+                Axis.G: 0,
+            },
+            {
+                Axis.P_L: 70,
+            },
+            {
+                Axis.X: 0,
+                Axis.Y: 0,
+                Axis.Z_L: 0,
+                Axis.Z_R: 0,
+                Axis.P_L: 70,
+                Axis.P_R: 0,
+                Axis.Z_G: 0,
+                Axis.G: 0,
+            },
+            None,
+        ],
+        [
+            {
+                Axis.X: 0,
+                Axis.Y: 0,
+                Axis.Z_L: 0,
+                Axis.Z_R: 0,
+                Axis.P_L: 0,
+                Axis.P_R: 0,
+                Axis.Z_G: 0,
+                Axis.G: 0,
+            },
+            {
+                Axis.P_L: 30,  # Too short to hit top speed
+            },
+            {
+                Axis.X: 0,
+                Axis.Y: 0,
+                Axis.Z_L: 0,
+                Axis.Z_R: 0,
+                Axis.P_L: 30,
+                Axis.P_R: 0,
+                Axis.Z_G: 0,
+                Axis.G: 0,
+            },
+            None,
+        ],
+    ],
+)
+async def test_controller_move_dynamic(
+    controller: OT3Controller,
+    mock_present_devices: mock.AsyncMock,
+    origin_pos: Dict[Axis, float],
+    target_pos: Dict[Axis, float],
+    expected_pos: Dict[Axis, float],
+    gear_position: Optional[float],
+) -> None:
+    from copy import deepcopy
+
+    controller.update_constraints_for_gantry_load(GantryLoad.LOW_THROUGHPUT)
+
+    run_target_pos = deepcopy(target_pos)
+    config = {"run.side_effect": move_group_run_side_effect(controller, run_target_pos)}
+    with mock.patch(  # type: ignore [call-overload]
+        "opentrons.hardware_control.backends.ot3controller.MoveGroupRunner",
+        spec=MoveGroupRunner,
+        **config
+    ):
+        await controller.move(origin_pos, target_pos, 70)
+        position = await controller.update_position()
+        gear_position = controller.gear_motor_position
+
+        assert position == expected_pos
+        assert gear_position == gear_position
+
+
 @pytest.mark.parametrize(
     argnames=["axes", "pipette_has_sensor"],
     argvalues=[[[Axis.P_L, Axis.P_R], True], [[Axis.P_L, Axis.P_R], False]],

app-shell/src/secondary-windows/camera-stream/index.ts

@@ -14,7 +14,6 @@ interface CameraStreamDetails extends SecondaryWindowDetails {
 }
 
 interface OpenCameraStreamParams {
-  runId: string
   windowTitle: string
   robotIp: string
   robotName: string
@@ -34,19 +33,18 @@ function getWindowIdCameraStream(robotIp: string): string {
   return `camera-stream-${robotIp}`
 }
 
-const STREAM_URL = (robotName: string, runId: string): string =>
+const STREAM_URL = (robotName: string): string =>
   `${
     SECONDARY_WINDOW_CONFIG.url.protocol
   }//${SECONDARY_WINDOW_URL_PATH}#/devices/${encodeURIComponent(
     robotName
-  )}/camera-stream?runId=${encodeURIComponent(runId)}`
+  )}/camera-stream`
 
 function createCameraStreamUi({
   log,
   robotName,
   windowTitle,
   robotIp,
-  runId,
 }: OpenCameraStreamParams): BrowserWindow {
   log.debug('Creating camera stream window', {
     robotIp,
@@ -63,9 +61,9 @@ function createCameraStreamUi({
     }
   )
 
-  log.info(`Loading camera stream from ${STREAM_URL(robotName, runId)}`)
+  log.info(`Loading camera stream from ${STREAM_URL(robotName)}`)
   // eslint-disable-next-line @typescript-eslint/no-floating-promises
-  cameraStreamWindow.loadURL(STREAM_URL(robotName, runId), {
+  cameraStreamWindow.loadURL(STREAM_URL(robotName), {
     extraHeaders: 'pragma: no-cache\n',
   })
 

app-shell/src/secondary-windows/index.ts

@@ -62,7 +62,6 @@ function detailsByActionType(action: Action): SecondaryWindowDetails | null {
   switch (action.type) {
     case CAMERA_STREAM_OPEN:
       return openCameraStream({
-        runId: action.payload.runId,
         windowTitle: action.payload.windowTitle,
         robotIp: action.payload.hostname,
         robotName: action.payload.robotName,

app/src/assets/localization/en/anonymous.json

@@ -47,6 +47,7 @@
   "language_preference_description": "The app matches your system language unless you select another language below. You can change the language later in the app settings.",
   "learn_uninstalling": "Learn more about uninstalling the app",
   "livestream_window_title": "Robot Live Camera",
+  "live_video_description_odd": "View real-time video of the deck in the App while running a protocol.",
   "loosen_screws_and_detach": "Loosen screws and detach gripper",
   "modal_instructions": "For step-by-step instructions on setting up your module, consult the Quickstart Guide that came in its box.",
   "module_calibration_failed": "<block>Module calibration was unsuccessful. Make sure the calibration adapter is fully seated on the module and try again. If you still have trouble, contact support.</block><block>{{error}}</block>",

app/src/assets/localization/en/branded.json

@@ -47,6 +47,7 @@
   "language_preference_description": "The Opentrons App matches your system language unless you select another language below. You can change the language later in the app settings.",
   "learn_uninstalling": "Learn more about uninstalling the Opentrons App",
   "livestream_window_title": "Opentrons Live Camera",
+  "live_video_description_odd": "View real-time video of the deck in the Opentrons App while running a protocol.",
   "loosen_screws_and_detach": "Loosen screws and detach Flex Gripper",
   "modal_instructions": "For step-by-step instructions on setting up your module, consult the Quickstart Guide that came in its box. You can also click the link below or scan the QR code to visit the modules section of the Opentrons Help Center.",
   "module_calibration_failed": "<block>Module calibration was unsuccessful. Make sure the calibration adapter is fully seated on the module and try again. If you still have trouble, contact Opentrons Support.</block><block>{{error}}</block>",

app/src/assets/localization/en/device_details.json

@@ -168,7 +168,7 @@
   "reset_estop": "Reset E-stop",
   "resume_operation": "Resume operation",
   "right": "right",
-  "robot_control_not_available": "Some robot controls are not available when run is in progress",
+  "robot_control_not_available": "Some robot controls are not available when run is in progress or robot is busy",
   "robot_initializing": "Initializing...",
   "run": "Run",
   "run_a_protocol": "Run a protocol",

app/src/assets/localization/en/device_settings.json

@@ -19,7 +19,7 @@
   "are_you_sure_you_want_to_disconnect": "Are you sure you want to disconnect from {{ssid}}?",
   "attach_a_pipette_before_calibrating": "Attach a pipette in order to perform calibration",
   "authentication": "Authentication",
-  "automatically_capture_image": "Automatically capture an image of the deck if an error occurs.",
+  "automatically_capture_image": "Automatically capture an image of the deck in the event of an error.",
   "boot_scripts": "Boot scripts",
   "both": "Both",
   "brightness": "Brightness",
@@ -43,7 +43,7 @@
   "camera_preferences_description_long": "The deck camera offers live video monitoring during protocol runs and supports image capture.",
   "camera_required": "Camera is required",
   "camera_status": "Camera Status",
-  "camera_status_description": "The deck camera provides live video during protocol runs, allows manual or automated image capture of the deck, and records images automatically when errors occur for easier troubleshooting.",
+  "camera_status_description": "The deck camera offers live video monitoring during protocol runs and supports image capture—either manually, automatically, or in response to runtime errors for easier troubleshooting.",
   "cancel_software_update": "Cancel software update",
   "change_network": "Change network",
   "characters_max": "17 characters max",
@@ -140,7 +140,7 @@
   "e_stop_connected": "E-stop successfully connected",
   "e_stop_not_connected": "Connect the E-stop to an auxiliary port on the back of the robot.",
   "edit_settings": "Edit settings",
-  "enable_camera_to_run": "Enable the camera to run this protocol",
+  "enable_camera_to_run": "Enable the camera to start the run",
   "enable_status_light": "Enable status light",
   "enable_status_light_description": "Turn on or off the strip of color LEDs on the front of the robot.",
   "enabled": "Enabled",
@@ -205,7 +205,7 @@
   "legacy_settings": "Legacy Settings",
   "likely_incorrect_password": "Likely incorrect network password.",
   "live_video": "Live Video",
-  "live_video_description": "View real-time video of the deck during protocol runs.",
+  "live_video_description": "View real-time video of the deck while a running a protocol",
   "live_video_lc": "Live video",
   "mac_address": "MAC Address",
   "manage_oem_settings": "Manage OEM settings",
@@ -347,7 +347,7 @@
   "slider_value": "{{value}}%",
   "software_is_up_to_date": "Your software is already up to date!",
   "software_update_error": "Software update error",
-  "some_robot_controls_are_not_available": "Some robot controls are not available when run is in progress",
+  "some_robot_controls_are_not_available": "Some robot controls are not available when run is in progress or robot is busy",
   "ssh_public_keys": "SSH public keys",
   "subnet_mask": "Subnet Mask",
   "successfully_connected": "Successfully connected!",