From fc6944921c42843cf720ed80ede48f3fa65b0e18 Mon Sep 17 00:00:00 2001
From: Jamey Huffnagle <jamey.huffnagle@opentrons.com>
Date: Tue, 7 Jan 2025 12:41:33 -0500
Subject: [PATCH] fix(app): fix gantry not homing when no labware in gripper
 jaws during Error Recovery

---
 .../shared/GripperIsHoldingLabware.tsx        | 44 +++++++++++--------
 .../GripperIsHoldingLabware.test.tsx          | 18 ++++++++
 2 files changed, 44 insertions(+), 18 deletions(-)

diff --git a/app/src/organisms/ErrorRecoveryFlows/shared/GripperIsHoldingLabware.tsx b/app/src/organisms/ErrorRecoveryFlows/shared/GripperIsHoldingLabware.tsx
index 036f1aff3d0..6f4157bc909 100644
--- a/app/src/organisms/ErrorRecoveryFlows/shared/GripperIsHoldingLabware.tsx
+++ b/app/src/organisms/ErrorRecoveryFlows/shared/GripperIsHoldingLabware.tsx
@@ -29,12 +29,15 @@ export const HOLDING_LABWARE_OPTIONS: HoldingLabwareOption[] = [
 export function GripperIsHoldingLabware({
   routeUpdateActions,
   currentRecoveryOptionUtils,
+  recoveryCommands,
 }: RecoveryContentProps): JSX.Element {
   const {
     proceedNextStep,
     proceedToRouteAndStep,
     goBackPrevStep,
+    handleMotionRouting,
   } = routeUpdateActions
+  const { homeExceptPlungers } = recoveryCommands
   const { selectedRecoveryOption } = currentRecoveryOptionUtils
   const {
     MANUAL_MOVE_AND_SKIP,
@@ -48,24 +51,29 @@ export function GripperIsHoldingLabware({
   const { t } = useTranslation(['error_recovery', 'shared'])
 
   const handleNoOption = (): void => {
-    switch (selectedRecoveryOption) {
-      case MANUAL_MOVE_AND_SKIP.ROUTE:
-        void proceedToRouteAndStep(
-          MANUAL_MOVE_AND_SKIP.ROUTE,
-          MANUAL_MOVE_AND_SKIP.STEPS.MANUAL_MOVE
-        )
-        break
-      case MANUAL_REPLACE_AND_RETRY.ROUTE:
-        void proceedToRouteAndStep(
-          MANUAL_REPLACE_AND_RETRY.ROUTE,
-          MANUAL_REPLACE_AND_RETRY.STEPS.MANUAL_REPLACE
-        )
-        break
-      default: {
-        console.error('Unexpected recovery option for gripper routing.')
-        void proceedToRouteAndStep(OPTION_SELECTION.ROUTE)
-      }
-    }
+    // The "yes" option also contains a home, but it occurs later in the control flow,
+    // after the user has extricated the labware from the gripper jaws.
+    void handleMotionRouting(true)
+      .then(() => homeExceptPlungers())
+      .then(() => {
+        switch (selectedRecoveryOption) {
+          case MANUAL_MOVE_AND_SKIP.ROUTE:
+            return proceedToRouteAndStep(
+              MANUAL_MOVE_AND_SKIP.ROUTE,
+              MANUAL_MOVE_AND_SKIP.STEPS.MANUAL_MOVE
+            )
+          case MANUAL_REPLACE_AND_RETRY.ROUTE:
+            return proceedToRouteAndStep(
+              MANUAL_REPLACE_AND_RETRY.ROUTE,
+              MANUAL_REPLACE_AND_RETRY.STEPS.MANUAL_REPLACE
+            )
+          default: {
+            console.error('Unexpected recovery option for gripper routing.')
+            return proceedToRouteAndStep(OPTION_SELECTION.ROUTE)
+          }
+        }
+      })
+      .finally(() => handleMotionRouting(false))
   }
 
   const primaryOnClick = (): void => {
diff --git a/app/src/organisms/ErrorRecoveryFlows/shared/__tests__/GripperIsHoldingLabware.test.tsx b/app/src/organisms/ErrorRecoveryFlows/shared/__tests__/GripperIsHoldingLabware.test.tsx
index adedca04009..3279bdfea7c 100644
--- a/app/src/organisms/ErrorRecoveryFlows/shared/__tests__/GripperIsHoldingLabware.test.tsx
+++ b/app/src/organisms/ErrorRecoveryFlows/shared/__tests__/GripperIsHoldingLabware.test.tsx
@@ -23,19 +23,25 @@ const render = (props: ComponentProps<typeof GripperIsHoldingLabware>) => {
 
 let mockProceedToRouteAndStep: Mock
 let mockProceedNextStep: Mock
+let mockHandleMotionRouting: Mock
+let mockHomeExceptPlungers: Mock
 
 describe('GripperIsHoldingLabware', () => {
   let props: ComponentProps<typeof GripperIsHoldingLabware>
   beforeEach(() => {
     mockProceedToRouteAndStep = vi.fn(() => Promise.resolve())
     mockProceedNextStep = vi.fn(() => Promise.resolve())
+    mockHandleMotionRouting = vi.fn(() => Promise.resolve())
+    mockHomeExceptPlungers = vi.fn(() => Promise.resolve())
 
     props = {
       ...mockRecoveryContentProps,
       routeUpdateActions: {
         proceedToRouteAndStep: mockProceedToRouteAndStep,
         proceedNextStep: mockProceedNextStep,
+        handleMotionRouting: mockHandleMotionRouting,
       } as any,
+      recoveryCommands: { homeExceptPlungers: mockHomeExceptPlungers } as any,
     }
   })
 
@@ -82,12 +88,24 @@ describe('GripperIsHoldingLabware', () => {
     fireEvent.click(screen.getAllByLabelText('No')[0])
     clickButtonLabeled('Continue')
 
+    await waitFor(() => {
+      expect(mockHandleMotionRouting).toHaveBeenCalledWith(true)
+    })
+
+    await waitFor(() => {
+      expect(mockHomeExceptPlungers).toHaveBeenCalled()
+    })
+
     await waitFor(() => {
       expect(mockProceedToRouteAndStep).toHaveBeenCalledWith(
         RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.ROUTE,
         RECOVERY_MAP.MANUAL_MOVE_AND_SKIP.STEPS.MANUAL_MOVE
       )
     })
+
+    await waitFor(() => {
+      expect(mockHandleMotionRouting).toHaveBeenCalledWith(false)
+    })
   })
 
   it(`proceeds to the correct step when the no option is clicked for ${RECOVERY_MAP.MANUAL_REPLACE_AND_RETRY.ROUTE}`, async () => {