refactor(app, api): add comparison states support for both mounts in cal check

api/src/opentrons/server/endpoints/calibration/check.py

@@ -2,7 +2,7 @@
 
 from opentrons import types
 from .session import CheckCalibrationSession, CalibrationCheckTrigger
-from .models import SpecificPipette, JogPosition
+from .models import JogPosition
 
 
 async def get_session(request: web.Request, session) -> web.Response:
@@ -64,66 +64,43 @@ async def load_labware(request: web.Request, session) -> web.Response:
     return web.json_response(status=200)
 
 
-# TODO: BC: make this function use SpecificPipette, as it
-#  shouldn't need locations
 async def prepare_pipette(request: web.Request, session) -> web.Response:
-    req = await request.json()
-    pipette = SpecificPipette(**req)
-    await session.trigger_transition(CalibrationCheckTrigger.prepare_pipette,
-                                     pipette_id=pipette.pipetteId)
+    await session.trigger_transition(CalibrationCheckTrigger.prepare_pipette)
+    return web.json_response(status=200)
+
+
+async def compare_point(request: web.Request, session) -> web.Response:
+    await session.trigger_transition(CalibrationCheckTrigger.compare_point)
     return web.json_response(status=200)
 
 
 async def confirm_step(request: web.Request, session) -> web.Response:
-    req = await request.json()
-    pipette = SpecificPipette(**req)
-    await session.trigger_transition(CalibrationCheckTrigger.confirm_step,
-                                     pipette_id=pipette.pipetteId)
+    await session.trigger_transition(CalibrationCheckTrigger.go_to_next_check)
     return web.json_response(status=200)
 
 
 async def jog(request: web.Request, session: 'CheckCalibrationSession'):
     req = await request.json()
     jog_position = JogPosition(**req)
     await session.trigger_transition(CalibrationCheckTrigger.jog,
-                                     jog_position.pipetteId,
                                      types.Point(*jog_position.vector))
     return web.json_response(status=200)
 
 
 async def pick_up_tip(
         request: web.Request, session: 'CheckCalibrationSession'):
-    req = await request.json()
-    pipette = SpecificPipette(**req)
-    await session.trigger_transition(CalibrationCheckTrigger.pick_up_tip,
-                                     pipette.pipetteId)
+    await session.trigger_transition(CalibrationCheckTrigger.pick_up_tip)
     return web.json_response(status=200)
 
 
 async def invalidate_tip(
         request: web.Request, session: 'CheckCalibrationSession'):
-    req = await request.json()
-    pipette = SpecificPipette(**req)
-    await session.trigger_transition(CalibrationCheckTrigger.invalidate_tip,
-                                     pipette.pipetteId)
+    await session.trigger_transition(CalibrationCheckTrigger.invalidate_tip)
     return web.json_response(status=200)
 
 
 async def confirm_tip(
         request: web.Request, session: 'CheckCalibrationSession'):
-    req = await request.json()
-    pipette = SpecificPipette(**req)
     await session.trigger_transition(
-        CalibrationCheckTrigger.confirm_tip_attached,
-        pipette.pipetteId)
+        CalibrationCheckTrigger.confirm_tip_attached)
     return web.json_response(status=200)
-
-
-# TODO: cover confirm last step for pipette which should
-#  result in return tip under the hood
-# async def confirm_step(request: web.Request,
-#                        session: 'CheckCalibrationSession'):
-#     req = await request.json()
-#     pipette = SpecificPipette(**req)
-#     await session.confirm_step(pipette.pipetteId)
-#     return web.json_response(status=200)

api/src/opentrons/server/endpoints/calibration/middlewares.py

@@ -1,4 +1,5 @@
 import typing
+import logging
 from aiohttp import web
 from aiohttp.web_urldispatcher import UrlDispatcher
 from .session import CheckCalibrationSession, CalibrationCheckTrigger, \
@@ -7,6 +8,7 @@
 from .constants import ALLOWED_SESSIONS
 from .util import StateMachineError
 
+MODULE_LOG = logging.getLogger(__name__)
 
 TRIGGER_TO_PATH = {
     CalibrationCheckTrigger.load_labware: "loadLabware",
@@ -15,7 +17,8 @@
     CalibrationCheckTrigger.pick_up_tip: "pickUpTip",
     CalibrationCheckTrigger.confirm_tip_attached: "confirmTip",
     CalibrationCheckTrigger.invalidate_tip: "invalidateTip",
-    CalibrationCheckTrigger.confirm_step: "confirmStep",
+    CalibrationCheckTrigger.compare_point: "comparePoint",
+    CalibrationCheckTrigger.go_to_next_check: "confirmStep",
     CalibrationCheckTrigger.exit: "sessionExit",
     # CalibrationCheckTrigger.reject_calibration: "reject_calibration",
     # CalibrationCheckTrigger.no_pipettes: "no_pipettes",
@@ -53,11 +56,13 @@ def status_response(
     links = _format_links(session, potential_triggers, request.app.router)
 
     lw_status = session.labware_status.values()
+    comparisons_by_step = session.get_comparisons_by_step()
 
     instruments = {
         str(k): AttachedPipette(model=v.model,
                                 name=v.name,
                                 tip_length=v.tip_length,
+                                mount=v.mount,
                                 has_tip=v.has_tip,
                                 tiprack_id=v.tiprack_id)
         for k, v in session.pipette_status().items()
@@ -66,6 +71,7 @@ def status_response(
     sess_status = CalibrationSessionStatus(
         instruments=instruments,
         currentStep=current_state,
+        comparisonsByStep=comparisons_by_step,
         nextSteps=links,
         labware=[LabwareStatus(alternatives=data.alternatives,
                                slot=data.slot,
@@ -95,6 +101,7 @@ async def misc_error_handling(
     try:
         response = await handler(request, session)
     except (CalibrationException, StateMachineError) as e:
+        MODULE_LOG.exception("Calibration Check Exception")
         router = request.app.router
         potential_triggers = session.get_potential_triggers()
         links = _format_links(session, potential_triggers, router)

api/src/opentrons/server/endpoints/calibration/models.py

@@ -3,7 +3,7 @@
 from typing import Dict, Optional, List, Any
 from functools import partial
 from pydantic import BaseModel, Field
-from opentrons.hardware_control.types import Axis
+from opentrons.types import Mount
 
 
 Point = List[float]
@@ -28,7 +28,7 @@ class SpecificPipette(BaseModel):
     pipetteId: Optional[UUID] = Field(None)
 
 
-class JogPosition(SpecificPipette):
+class JogPosition(BaseModel):
     vector: Point = PointField()
 
 
@@ -44,10 +44,8 @@ class AttachedPipette(BaseModel):
                                 "generation version")
     tip_length: Optional[float] =\
         Field(None, description="The default tip length for this pipette")
-    mount_axis: Optional[Axis] =\
-        Field(None, description="The axis that moves this pipette up and down")
-    plunger_axis: Optional[Axis] =\
-        Field(None, description="The axis that moves plunger of this pipette")
+    mount: Optional[Mount] =\
+        Field(None, description="The mount this pipette attached to")
     has_tip: Optional[bool] =\
         Field(None, description="Whether a tip is attached.")
     tiprack_id: Optional[UUID] =\
@@ -65,10 +63,20 @@ class LabwareStatus(BaseModel):
     version: str
 
 
+class ComparisonStatus(BaseModel):
+    """
+    A model describing the comparison of a checked point to calibrated value
+    """
+    differenceVector: Point = PointField()
+    thresholdVector:  Point = PointField()
+    exceedsThreshold: bool
+
+
 class CalibrationSessionStatus(BaseModel):
     """The current status of a given session."""
     instruments: Dict[str, AttachedPipette]
     currentStep: str = Field(..., description="Current step of session")
+    comparisonsByStep: Dict[str, ComparisonStatus]
     nextSteps: Optional[Dict[str, Dict[str, Dict[str, Any]]]] =\
         Field(None, description="Next Available Step in Session")
     labware: List[LabwareStatus]
@@ -82,20 +90,24 @@ class Config:
                             "model": "p300_single_v1.5",
                             "name": "p300_single",
                             "tip_length": 51.7,
-                            "mount_axis": "z",
-                            "plunger_axis": "b",
+                            "mount": "left",
                             "id": "P3HS12123041"
                         },
                         "fakeUUID2": {
                             "model": None,
                             "name": None,
                             "tip_length": None,
-                            "mount_axis": "a",
-                            "plunger_axis": "c",
+                            "mount": "right",
                             "id": None
                         }
                     },
-                    "currentStep": "sessionStart",
+                    "currentStep": "sessionStarted",
+                    "comparisonsByStep": {
+                        "comparingFirstPipetteHeight": {
+                            "differenceVector": [1, 0, 0],
+                            "exceedsThreshold": False
+                        }
+                    },
                     "nextSteps": {
                         "links": {
                             "loadLabware": {"url": "", "params": {}}