fix(app): handle dtwiz after estop

api/src/opentrons/hardware_control/protocols/motion_controller.py

@@ -204,6 +204,10 @@ async def disengage_axes(self, which: List[Axis]) -> None:
         """Disengage some axes."""
         ...
 
+    async def engage_axes(self, which: List[Axis]) -> None:
+        """Engage some axes."""
+        ...
+
     async def retract(self, mount: MountArgType, margin: float = 10) -> None:
         """Pull the specified mount up to its home position.
 

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

@@ -391,6 +391,7 @@
         unsafe.UnsafeBlowOutInPlace,
         unsafe.UnsafeDropTipInPlace,
         unsafe.UpdatePositionEstimators,
+        unsafe.UnsafeEngageAxes,
     ],
     Field(discriminator="commandType"),
 ]
@@ -463,6 +464,7 @@
     unsafe.UnsafeBlowOutInPlaceParams,
     unsafe.UnsafeDropTipInPlaceParams,
     unsafe.UpdatePositionEstimatorsParams,
+    unsafe.UnsafeEngageAxesParams,
 ]
 
 CommandType = Union[
@@ -533,6 +535,7 @@
     unsafe.UnsafeBlowOutInPlaceCommandType,
     unsafe.UnsafeDropTipInPlaceCommandType,
     unsafe.UpdatePositionEstimatorsCommandType,
+    unsafe.UnsafeEngageAxesCommandType,
 ]
 
 CommandCreate = Annotated[
@@ -604,6 +607,7 @@
         unsafe.UnsafeBlowOutInPlaceCreate,
         unsafe.UnsafeDropTipInPlaceCreate,
         unsafe.UpdatePositionEstimatorsCreate,
+        unsafe.UnsafeEngageAxesCreate,
     ],
     Field(discriminator="commandType"),
 ]
@@ -676,6 +680,7 @@
     unsafe.UnsafeBlowOutInPlaceResult,
     unsafe.UnsafeDropTipInPlaceResult,
     unsafe.UpdatePositionEstimatorsResult,
+    unsafe.UnsafeEngageAxesResult,
 ]
 
 # todo(mm, 2024-06-12): Ideally, command return types would have specific

api/src/opentrons/protocol_engine/commands/unsafe/__init__.py

@@ -23,6 +23,14 @@
     UpdatePositionEstimatorsCreate,
 )
 
+from .unsafe_engage_axes import (
+    UnsafeEngageAxesCommandType,
+    UnsafeEngageAxesParams,
+    UnsafeEngageAxesResult,
+    UnsafeEngageAxes,
+    UnsafeEngageAxesCreate,
+)
+
 __all__ = [
     # Unsafe blow-out-in-place command models
     "UnsafeBlowOutInPlaceCommandType",
@@ -42,4 +50,10 @@
     "UpdatePositionEstimatorsResult",
     "UpdatePositionEstimators",
     "UpdatePositionEstimatorsCreate",
+    # Unsafe engage axes
+    "UnsafeEngageAxesCommandType",
+    "UnsafeEngageAxesParams",
+    "UnsafeEngageAxesResult",
+    "UnsafeEngageAxes",
+    "UnsafeEngageAxesCreate",
 ]

api/src/opentrons/protocol_engine/commands/unsafe/unsafe_engage_axes.py

@@ -0,0 +1,83 @@
+"""Update position estimators payload, result, and implementaiton."""
+
+from __future__ import annotations
+from pydantic import BaseModel, Field
+from typing import TYPE_CHECKING, Optional, List, Type
+from typing_extensions import Literal
+
+from ...types import MotorAxis
+from ..command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
+from ...errors.error_occurrence import ErrorOccurrence
+from ...resources import ensure_ot3_hardware
+
+from opentrons.hardware_control import HardwareControlAPI
+
+if TYPE_CHECKING:
+    from ...execution import GantryMover
+
+
+UnsafeEngageAxesCommandType = Literal["unsafe/engageAxes"]
+
+
+class UnsafeEngageAxesParams(BaseModel):
+    """Payload required for an UnsafeEngageAxes command."""
+
+    axes: List[MotorAxis] = Field(..., description="The axes for which to enable.")
+
+
+class UnsafeEngageAxesResult(BaseModel):
+    """Result data from the execution of an UnsafeEngageAxes command."""
+
+
+class UnsafeEngageAxesImplementation(
+    AbstractCommandImpl[
+        UnsafeEngageAxesParams,
+        SuccessData[UnsafeEngageAxesResult, None],
+    ]
+):
+    """Enable axes command implementation."""
+
+    def __init__(
+        self,
+        hardware_api: HardwareControlAPI,
+        gantry_mover: GantryMover,
+        **kwargs: object,
+    ) -> None:
+        self._hardware_api = hardware_api
+        self._gantry_mover = gantry_mover
+
+    async def execute(
+        self, params: UnsafeEngageAxesParams
+    ) -> SuccessData[UnsafeEngageAxesResult, None]:
+        """Enable exes."""
+        ot3_hardware_api = ensure_ot3_hardware(self._hardware_api)
+        await ot3_hardware_api.engage_axes(
+            [
+                self._gantry_mover.motor_axis_to_hardware_axis(axis)
+                for axis in params.axes
+            ]
+        )
+        return SuccessData(public=UnsafeEngageAxesResult(), private=None)
+
+
+class UnsafeEngageAxes(
+    BaseCommand[UnsafeEngageAxesParams, UnsafeEngageAxesResult, ErrorOccurrence]
+):
+    """UnsafeEngageAxes command model."""
+
+    commandType: UnsafeEngageAxesCommandType = "unsafe/engageAxes"
+    params: UnsafeEngageAxesParams
+    result: Optional[UnsafeEngageAxesResult]
+
+    _ImplementationCls: Type[
+        UnsafeEngageAxesImplementation
+    ] = UnsafeEngageAxesImplementation
+
+
+class UnsafeEngageAxesCreate(BaseCommandCreate[UnsafeEngageAxesParams]):
+    """UnsafeEngageAxes command request model."""
+
+    commandType: UnsafeEngageAxesCommandType = "unsafe/engageAxes"
+    params: UnsafeEngageAxesParams
+
+    _CommandCls: Type[UnsafeEngageAxes] = UnsafeEngageAxes

api/tests/opentrons/protocol_engine/commands/unsafe/test_engage_axes.py

@@ -0,0 +1,52 @@
+"""Test update-position-estimator commands."""
+from decoy import Decoy
+
+from opentrons.protocol_engine.commands.unsafe.unsafe_engage_axes import (
+    UnsafeEngageAxesParams,
+    UnsafeEngageAxesResult,
+    UnsafeEngageAxesImplementation,
+)
+from opentrons.protocol_engine.commands.command import SuccessData
+from opentrons.protocol_engine.execution import GantryMover
+from opentrons.protocol_engine.types import MotorAxis
+from opentrons.hardware_control import OT3HardwareControlAPI
+from opentrons.hardware_control.types import Axis
+
+
+async def test_engage_axes_implementation(
+    decoy: Decoy, ot3_hardware_api: OT3HardwareControlAPI, gantry_mover: GantryMover
+) -> None:
+    """Test EngageAxes command execution."""
+    subject = UnsafeEngageAxesImplementation(
+        hardware_api=ot3_hardware_api, gantry_mover=gantry_mover
+    )
+
+    data = UnsafeEngageAxesParams(
+        axes=[MotorAxis.LEFT_Z, MotorAxis.LEFT_PLUNGER, MotorAxis.X, MotorAxis.Y]
+    )
+
+    decoy.when(gantry_mover.motor_axis_to_hardware_axis(MotorAxis.LEFT_Z)).then_return(
+        Axis.Z_L
+    )
+    decoy.when(
+        gantry_mover.motor_axis_to_hardware_axis(MotorAxis.LEFT_PLUNGER)
+    ).then_return(Axis.P_L)
+    decoy.when(gantry_mover.motor_axis_to_hardware_axis(MotorAxis.X)).then_return(
+        Axis.X
+    )
+    decoy.when(gantry_mover.motor_axis_to_hardware_axis(MotorAxis.Y)).then_return(
+        Axis.Y
+    )
+    decoy.when(
+        await ot3_hardware_api.update_axis_position_estimations(
+            [Axis.Z_L, Axis.P_L, Axis.X, Axis.Y]
+        )
+    ).then_return(None)
+
+    result = await subject.execute(data)
+
+    assert result == SuccessData(public=UnsafeEngageAxesResult(), private=None)
+
+    decoy.verify(
+        await ot3_hardware_api.engage_axes([Axis.Z_L, Axis.P_L, Axis.X, Axis.Y]),
+    )

app/src/App/DesktopApp.tsx

@@ -36,7 +36,7 @@ import { ProtocolTimeline } from '../pages/Protocols/ProtocolDetails/ProtocolTim
 import { PortalRoot as ModalPortalRoot } from './portal'
 import { DesktopAppFallback } from './DesktopAppFallback'
 
-import type { RouteProps, DesktopRouteParams } from './types'
+import type { RouteProps } from './types'
 
 export const DesktopApp = (): JSX.Element => {
   useSoftwareUpdatePoll()
@@ -158,11 +158,10 @@ export const DesktopApp = (): JSX.Element => {
 }
 
 function RobotControlTakeover(): JSX.Element | null {
-  const deviceRouteMatch = useMatch('/devices/:robotName')
-  const params = deviceRouteMatch?.params as DesktopRouteParams
-  const robotName = params?.robotName
+  const deviceRouteMatch = useMatch('/devices/:robotName/*')
+  const params = deviceRouteMatch?.params
+  const robotName = params?.robotName ?? null
   const robot = useRobot(robotName)
-
   if (deviceRouteMatch == null || robot == null || robotName == null)
     return null
 

app/src/organisms/DropTipWizardFlows/hooks/useDropTipCommands.ts

@@ -117,7 +117,7 @@ export function useDropTipCommands({
         )
         return chainRunCommands(
           isFlex
-            ? [UPDATE_ESTIMATORS_EXCEPT_PLUNGERS, moveToAACommand]
+            ? [ENGAGE_AXES, UPDATE_ESTIMATORS_EXCEPT_PLUNGERS, moveToAACommand]
             : [moveToAACommand],
           true
         )
@@ -288,6 +288,13 @@ const HOME: CreateCommand = {
   params: {},
 }
 
+const ENGAGE_AXES: CreateCommand = {
+  commandType: 'unsafe/engageAxes' as const,
+  params: {
+    axes: ['leftZ', 'rightZ', 'x', 'y', 'leftPlunger', 'rightPlunger'],
+  },
+}
+
 const HOME_EXCEPT_PLUNGERS: CreateCommand = {
   commandType: 'home' as const,
   params: { axes: ['leftZ', 'rightZ', 'x', 'y'] },
@@ -298,6 +305,11 @@ const UPDATE_ESTIMATORS_EXCEPT_PLUNGERS: CreateCommand = {
   params: { axes: ['leftZ', 'rightZ', 'x', 'y'] },
 }
 
+const UPDATE_PLUNGER_ESTIMATORS: CreateCommand = {
+  commandType: 'unsafe/updatePositionEstimators' as const,
+  params: { axes: ['leftPlunger', 'rightPlunger'] },
+}
+
 const buildDropTipInPlaceCommand = (
   isFlex: boolean,
   pipetteId: string | null
@@ -323,6 +335,8 @@ const buildBlowoutCommands = (
 ): CreateCommand[] =>
   isFlex
     ? [
+        ENGAGE_AXES,
+        UPDATE_PLUNGER_ESTIMATORS,
         {
           commandType: 'unsafe/blowOutInPlace',
           params: {
@@ -342,6 +356,8 @@ const buildBlowoutCommands = (
         },
       ]
     : [
+        ENGAGE_AXES,
+        UPDATE_PLUNGER_ESTIMATORS,
         {
           commandType: 'blowOutInPlace',
           params: {