add flex stacker timeline errors

Author: rclarke0

protocol-designer/src/assets/localization/en/alert.json

@@ -178,6 +178,22 @@
       "NEXT_TIPRACK_HAS_LID": {
         "title": "Unable to pick up tips",
         "body": "The next available tip rack has a lid. Remove the lid from the tip rack to pick up tips."
+      },
+      "SHUTTLE_FULL": {
+        "title": "Cannot retrieve labware when shuttle is occupied",
+        "body": "Shuttle must be empty in order to retrieve labware from the stacker."
+      },
+      "HOPPER_EMPTY": {
+        "title": "Cannot retrieve labware from empty stacker",
+        "body": "Refill the stacker."
+      },
+      "SHUTTLE_EMPTY": {
+        "title": "Cannot store labware when shuttle is empty",
+        "body": "There is no labware on the shuttle to store into the stacker."
+      },
+      "MISMATCHED_STACKER_LABWARE_TYPE": {
+        "title": "Cannot store or refill multiple labware types in the stacker",
+        "body": "The stacker can only store a single labware at a time."
       }
     },
     "warning": {

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

@@ -8,7 +8,11 @@ import {
 
 import { flexStackerRetrieve } from '../commandCreators/atomic/flexStackerRetrieve'
 import { HOPPER_STACKER_LOCATION } from '../constants'
-import { getInitialRobotStateStandard, makeContext } from '../fixtures'
+import {
+  getErrorResult,
+  getInitialRobotStateStandard,
+  makeContext,
+} from '../fixtures'
 
 import type { LabwareDefinition2 } from '@opentrons/shared-data'
 import type { InvariantContext, RobotState } from '../types'
@@ -102,4 +106,41 @@ describe('flexStackerRetrieve', () => {
       python: 'wellPlate_1 = mock_flex_stacker_1.retrieve()',
     })
   })
+  it('raises an error if the hopper is empty', () => {
+    robotState = {
+      ...robotState,
+      modules: {
+        [mockModuleId]: {
+          slot: 'D3',
+          moduleState: {} as any,
+        },
+      },
+      labware: {
+        [mockLabwareId]: {
+          stack: ['D2'],
+        },
+      },
+    }
+    invariantContext = {
+      ...invariantContext,
+      labwareEntities: {
+        [mockLabwareId]: {
+          labwareDefURI: 'mockURI',
+          def: fixture96Plate as LabwareDefinition2,
+          pythonName: 'wellPlate_1',
+          id: mockLabwareId,
+        },
+      },
+    }
+    const result = flexStackerRetrieve(
+      {
+        moduleId: mockModuleId,
+      },
+      invariantContext,
+      robotState
+    )
+    expect(getErrorResult(result).errors[0]).toMatchObject({
+      type: 'HOPPER_EMPTY',
+    })
+  })
 })

step-generation/src/commandCreators/atomic/flexStackerRetrieve.ts

@@ -1,3 +1,4 @@
+import * as errorCreators from '../../errorCreators'
 import { getLabwareIdOnHopper, uuid } from '../../utils'
 
 import type { FlexStackerRetrieveCreateCommand } from '@opentrons/shared-data'
@@ -13,7 +14,12 @@ export const flexStackerRetrieve: CommandCreator<
   const moduleLocation = modules[moduleId].slot
   const labwareIdOnModule = getLabwareIdOnHopper(labware, moduleLocation)
   const labwarePythonName = labwareEntities[labwareIdOnModule]?.pythonName
-  //  TODO: add error creator if there is no labware in the hopper
+  // TODO: add error for if there is labware on the shuttle
+  if (!labwareIdOnModule) {
+    return {
+      errors: [errorCreators.flexStackerHopperEmpty()],
+    }
+  }
 
   return {
     commands: [

step-generation/src/errorCreators.ts

@@ -192,6 +192,35 @@ export const flexStackerNoGripper = (): CommandCreatorError => {
   }
 }
 
+export const flexStackerHopperEmpty = (): CommandCreatorError => {
+  return {
+    type: 'HOPPER_EMPTY',
+    message: 'Cannot retrieve labware from empty stacker',
+  }
+}
+
+export const flexStackerShuttleFull = (): CommandCreatorError => {
+  return {
+    type: 'SHUTTLE_FULL',
+    message:
+      'Shuttle must be empty in order to retrieve labware from the stacker',
+  }
+}
+
+export const flexStackerShuttleEmpty = (): CommandCreatorError => {
+  return {
+    type: 'SHUTTLE_EMPTY',
+    message: 'Shuttle must have labware in order to store it in the stacker',
+  }
+}
+
+export const flexStackerLabwareTypeMismatch = (): CommandCreatorError => {
+  return {
+    type: 'MISMATCHED_STACKER_LABWARE_TYPE',
+    message: 'The stacker can only store a single type of labware at a time',
+  }
+}
+
 export const heaterShakerIsShaking = (): CommandCreatorError => {
   return {
     type: 'HEATER_SHAKER_IS_SHAKING',

step-generation/src/types.ts

@@ -751,13 +751,15 @@ export type ErrorType =
   | 'HEATER_SHAKER_LATCH_OPEN'
   | 'HEATER_SHAKER_NORTH_SOUTH__OF_NON_TIPRACK_WITH_MULTI_CHANNEL'
   | 'HEATER_SHAKER_NORTH_SOUTH_EAST_WEST_SHAKING'
+  | 'HOPPER_EMPTY'
   | 'INSUFFICIENT_TIPS'
   | 'INVALID_SLOT'
   | 'LABWARE_DISCARDED_IN_TRASH'
   | 'LABWARE_DOES_NOT_EXIST'
   | 'LABWARE_OFF_DECK'
   | 'LABWARE_ON_ANOTHER_ENTITY'
   | 'MISMATCHED_SOURCE_DEST_WELLS'
+  | 'MISMATCHED_STACKER_LABWARE_TYPE'
   | 'MISSING_96_CHANNEL_TIPRACK_ADAPTER'
   | 'MISSING_MODULE'
   | 'MISSING_TEMPERATURE_STEP'
@@ -776,6 +778,8 @@ export type ErrorType =
   | 'RETRACT_BELOW_ASPIRATE'
   | 'RETRACT_BELOW_DISPENSE'
   | 'RETURN_TIP_UNAVAILABLE'
+  | 'SHUTTLE_FULL'
+  | 'SHUTTLE_EMPTY'
   | 'STACK_TOO_HIGH'
   | 'SUBMERGE_BELOW_ASPIRATE'
   | 'SUBMERGE_BELOW_DISPENSE'