feat(protocol-designer,step-generation): eagerly computes enriched robot state at initial deck state

protocol-designer/src/file-data/selectors/commands.ts

@@ -105,7 +105,11 @@ export const getInitialRobotState: (
       pipetteLocations: pipettes,
     })
     robotState.liquidState.labware = labwareLiquidState
-    return robotState
+    return StepGeneration.enrichRobotStateForStackGraphTraversals(
+      robotState,
+      invariantContext.moduleEntities,
+      invariantContext.labwareEntities
+    )
   }
 )
 

protocol-designer/src/file-data/selectors/traversals.ts

@@ -2,7 +2,6 @@ import { createSelector } from 'reselect'
 
 import { getDeckDefFromRobotType } from '@opentrons/shared-data'
 import {
-  enrichRobotStateForStackGraphTraversals,
   getAllLargestStacks,
   getAllProvidedAddressableAreasFromDeckConfig as getAllProvidedAddressableAreasFromDeckConfigUtil,
   getProvidedAddressableAreasExposed,
@@ -19,26 +18,18 @@ import type {
 import type { RobotState } from '@opentrons/step-generation'
 import type { Selector } from '../../types'
 
-/** Initial-deck robot state with `stackedOnNode` (and sibling `contains` when applicable) for traversals. */
-export const getRobotStateEnrichedForStackGraphFromRobotState: Selector<RobotState> =
-  createSelector(
-    getInitialRobotState,
-    stepFormSelectors.getModuleEntities,
-    stepFormSelectors.getLabwareEntities,
-    (robotState, moduleEntities, labwareEntities) =>
-      enrichRobotStateForStackGraphTraversals(
-        robotState,
-        moduleEntities,
-        labwareEntities
-      )
-  )
+/**
+ * Alias of {@link getInitialRobotState}: stack-graph fields (`stackedOnNode`, sibling `contains`)
+ * are applied once when that selector builds robot state, not when reading timeline frames.
+ */
+export const getInitialEnrichedRobotState: Selector<RobotState> =
+  getInitialRobotState
 
 /** All largest `LoadedLabwareLocation` stacks on the initial deck. */
 export const getAllLargestStacksForInitialRobotState: Selector<
   LoadedLabwareLocation[][]
-> = createSelector(
-  getRobotStateEnrichedForStackGraphFromRobotState,
-  robotState => getAllLargestStacks(robotState)
+> = createSelector(getInitialEnrichedRobotState, robotState =>
+  getAllLargestStacks(robotState)
 )
 
 /** Addressable areas provided by the current deck fixture configuration. */
@@ -60,7 +51,7 @@ export const getAllProvidedAddressableAreasFromDeckConfig: Selector<
 export const getProvidedAddressableAreasExposedForRobotState: Selector<
   Set<AddressableAreaName>
 > = createSelector(
-  getRobotStateEnrichedForStackGraphFromRobotState,
+  getInitialEnrichedRobotState,
   getRobotType,
   stepFormSelectors.getDeckConfiguration,
   stepFormSelectors.getModuleEntities,

protocol-designer/src/top-selectors/labware-locations/index.ts

@@ -19,7 +19,6 @@ import {
 } from '@opentrons/shared-data'
 import {
   COLUMN_4_SLOTS,
-  enrichRobotStateForStackGraphTraversals,
   getAllLargestStacks,
   getProvidedAddressableAreasExposed,
   getSlotInLocationStack,
@@ -382,52 +381,34 @@ export const getDeckSetupForActiveItem: Selector<AllTemporalPropertiesForTimelin
     }
   )
 
-/** Memoized largest stacks at the active timeline item (`stack` → `stackedOnNode`; sibling `contains` when applicable). */
+/**
+ * Largest stacks at the active timeline item.
+ * Expects `robotState` from simulation to already carry `stackedOnNode` / `contains` (initial deck
+ * from {@link getInitialRobotState}, then per-command updaters such as `forMoveLabware`).
+ */
 export const getAllLargestStacksAtActiveItem: Selector<
   LoadedLabwareLocation[][]
-> = createSelector(
-  getRobotStateAtActiveItem,
-  getModuleEntities,
-  getLabwareEntities,
-  (robotState, moduleEntities, labwareEntities) => {
-    if (robotState == null) {
-      return []
-    }
-    return getAllLargestStacks(
-      enrichRobotStateForStackGraphTraversals(
-        robotState,
-        moduleEntities,
-        labwareEntities
-      )
-    )
+> = createSelector(getRobotStateAtActiveItem, robotState => {
+  if (robotState == null) {
+    return []
   }
-)
+  return getAllLargestStacks(robotState)
+})
 
-/** Memoized: provided addressable areas not covered by a labware stack at the timeline’s active item. */
+/** Provided addressable areas not covered by a labware stack at the timeline’s active item. */
 export const getProvidedAddressableAreasExposedAtActiveItem: Selector<
   Set<AddressableAreaName>
 > = createSelector(
   getRobotStateAtActiveItem,
   getRobotType,
   stepFormSelectors.getDeckConfiguration,
   getModuleEntities,
-  getLabwareEntities,
-  (
-    robotState,
-    robotType,
-    deckConfigurationState,
-    moduleEntities,
-    labwareEntities
-  ) => {
+  (robotState, robotType, deckConfigurationState, moduleEntities) => {
     if (robotState == null) {
       return new Set<AddressableAreaName>()
     }
     return getProvidedAddressableAreasExposed({
-      robotState: enrichRobotStateForStackGraphTraversals(
-        robotState,
-        moduleEntities,
-        labwareEntities
-      ),
+      robotState,
       deckConfiguration: deckConfigurationState.deckConfig,
       deckDefinition: getDeckDefFromRobotType(robotType),
       moduleEntities,

shared-data/js/fixtures.ts

@@ -988,7 +988,6 @@ export const replaceCutoutFixtureWithComboFixture = (
     cutoutId,
     getDeckDefFromRobotType('OT-3 Standard')
   )
-  console.log('addressableAreasById', addressableAreasById)
 
   return addedCutoutConfigs.map(aaCutoutItem => {
     // Handle waste chute combo fixtures

step-generation/src/utils/__tests__/traversals.test.ts

@@ -440,7 +440,8 @@ describe('traversals', () => {
     it('derives stackedOnNode from PD-style stack for labware on a deck slot', () => {
       const result = enrichRobotStateForStackGraphTraversals(
         pdStyleStackRobotState,
-        {} as ModuleEntities
+        {} as ModuleEntities,
+        {} as LabwareEntities
       )
       expect(result.labware.plate).toMatchObject({
         stack: ['plate', 'B2'],
@@ -454,7 +455,8 @@ describe('traversals', () => {
       }
       const result = enrichRobotStateForStackGraphTraversals(
         pdStyleStackRobotState,
-        {} as ModuleEntities
+        {} as ModuleEntities,
+        {} as LabwareEntities
       )
       expect(result.labware.plate.stackedOnNode).toEqual({ slotName: 'C3' })
     })

step-generation/src/utils/traversals.ts

@@ -589,11 +589,16 @@ export const assignContainsAmongSiblings = (
  *
  * When `labwareEntities` is passed, pairs of labware that share the same eligible parent
  * `stackedOnNode` may set `contains` on the larger footprint to the smaller labware id.
+ *
+ * **Protocol Designer:** call once when composing initial robot state (see PD
+ * {@link getInitialEnrichedRobotState}). After that, timeline `robotState` frames should keep this metadata
+ * current via command-specific updaters (`forMoveLabware`, stacker handlers, etc.), not by
+ * re-running this helper on every active step.
  */
 export const enrichRobotStateForStackGraphTraversals = (
   robotState: RobotState,
   moduleEntities: ModuleEntities,
-  labwareEntities?: LabwareEntities
+  labwareEntities: LabwareEntities
 ): RobotState => {
   const labwareIds = Object.keys(robotState.labware)
   const labwareEntityIds = new Set(labwareIds)
@@ -609,9 +614,9 @@ export const enrichRobotStateForStackGraphTraversals = (
       })
     return stackedOnNode != null ? { ...lw, stackedOnNode } : { ...lw }
   })
-  if (labwareEntities != null) {
-    labware = assignContainsAmongSiblings(labware, labwareEntities)
-  }
+  // assign contains among siblings
+  labware = assignContainsAmongSiblings(labware, labwareEntities)
+
   return {
     ...robotState,
     labware,