feat(step-generation): wire up vacuum step generation (#21319)

This PR builds command creators for all vacuum module actions except
profiles (not yet added to PE). It also adds all state updater functions
for the various emitted commands: open vent, close vent, set pump
pressure, set pump power, and stop pump.

The behavior should be as follows:
- Initially, the vacuum vent is open, and the pump is off
- Setting the pump state (power/pressure) _without_ a duration should
hold that pump state indefinitely until explicitly turned off in a new
step
- Setting the pump state _with_ a duration should turn the pump off at
the end of the duration. The vent may remain open or closed
independently of this

Closes EXEC-2563, Closes EXEC-2561

Author: ncdiehl11

protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepTools/VacuumTools/VacuumModuleState.tsx

@@ -25,10 +25,10 @@ export function VacuumModuleState(props: VacuumModuleStateProps): JSX.Element {
     pumpText =
       vacuumState.modeType === VACUUM_MODE_POWER
         ? t('vacuum.previous_state.pump.power', {
-            power: vacuumState.currentPower,
+            power: vacuumState.targetPower,
           })
         : t('vacuum.previous_state.pump.pressure', {
-            pressure: vacuumState.currentPressure,
+            pressure: vacuumState.targetPressure,
           })
   }
   return (

protocol-designer/src/steplist/formLevel/stepFormToArgs/vacuumFormToArgs.ts

@@ -87,17 +87,14 @@ const getPumpEndSettings = (args: {
   pumpDurationCheckbox: HydratedVacuumFormData['pumpDurationCheckbox']
   pumpDurationTime: HydratedVacuumFormData['pumpDurationTime']
   endingHoldVentCheckbox: HydratedVacuumFormData['endingHoldVentCheckbox']
-}): Partial<VacuumPumpAdvancedArgs> => {
+}): VacuumPumpAdvancedArgs | null => {
   const { pumpDurationCheckbox, pumpDurationTime, endingHoldVentCheckbox } =
     args
   if (!(pumpDurationCheckbox === true && pumpDurationTime != null)) {
-    return {}
+    return null
   }
   const duration = getTimeSecondsFromString(pumpDurationTime)
-  return {
-    duration,
-    ventAfter: endingHoldVentCheckbox === true,
-  }
+  return { duration, ventAfter: endingHoldVentCheckbox === true }
 }
 
 export const vacuumFormToArgs = (

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

@@ -35,5 +35,7 @@ export { setTemperature } from './setTemperature'
 export { touchTip } from './touchTip'
 export { vacuumOpenVent } from './vacuumOpenVent'
 export { vacuumCloseVent } from './vacuumCloseVent'
+export { vacuumSetPumpPressure } from './vacuumSetPumpPressure'
+export { vacuumSetPumpPower } from './vacuumSetPumpPower'
 export { vacuumStopPump } from './vacuumStopPump'
 export { waitForTemperature } from './waitForTemperature'

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

@@ -1,3 +1,6 @@
+import * as errorCreators from '../../errorCreators'
+import { uuid } from '../../utils'
+
 import type { CommandCreator, VacuumCloseVentArgs } from '../../types'
 
 // TODO: (nd, 2026-04-20) command creator implementation
@@ -6,8 +9,25 @@ export const vacuumCloseVent: CommandCreator<VacuumCloseVentArgs> = (
   invariantContext,
   prevRobotState
 ) => {
+  const { moduleId } = args
+  const module = invariantContext.moduleEntities[moduleId]
+
+  if (module == null) {
+    return {
+      errors: [errorCreators.missingModuleError()],
+    }
+  }
+
+  // TODO: (nd, 2026-04-20) implement Python emission
   return {
-    commands: [],
-    python: '',
+    commands: [
+      {
+        commandType: 'vacuumModule/closeVent',
+        key: uuid(),
+        params: {
+          moduleId,
+        },
+      },
+    ],
   }
 }

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

@@ -1,13 +1,32 @@
-import type { CommandCreator, VacuumOpenVentArgs } from '../../types'
+import * as errorCreators from '../../errorCreators'
+import { uuid } from '../../utils'
+
+import type { VacuumModuleOpenVentCreateCommand } from '@opentrons/shared-data'
+import type { CommandCreator } from '../../types'
 
 // TODO: (nd, 2026-04-20) command creator implementation
-export const vacuumOpenVent: CommandCreator<VacuumOpenVentArgs> = (
-  args,
-  invariantContext,
-  prevRobotState
-) => {
+export const vacuumOpenVent: CommandCreator<
+  VacuumModuleOpenVentCreateCommand['params']
+> = (args, invariantContext, prevRobotState) => {
+  const { moduleId } = args
+  const module = invariantContext.moduleEntities[moduleId]
+
+  if (module == null) {
+    return {
+      errors: [errorCreators.missingModuleError()],
+    }
+  }
+
+  // TODO: (nd, 2026-04-20) implement Python emission
   return {
-    commands: [],
-    python: '',
+    commands: [
+      {
+        commandType: 'vacuumModule/openVent',
+        key: uuid(),
+        params: {
+          moduleId,
+        },
+      },
+    ],
   }
 }

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

@@ -0,0 +1,44 @@
+import * as errorCreators from '../../errorCreators'
+import { uuid } from '../../utils'
+
+import type { CommandCreator, VacuumPumpPowerArgs } from '../../types'
+
+// TODO: (nd, 2026-04-20) command creator implementation
+export const vacuumSetPumpPower: CommandCreator<VacuumPumpPowerArgs> = (
+  args,
+  invariantContext,
+  prevRobotState
+) => {
+  const { moduleId, powerPercent, duration, ventAfter } = args
+  const module = invariantContext.moduleEntities[moduleId]
+
+  if (module == null) {
+    return {
+      errors: [errorCreators.missingModuleError()],
+    }
+  }
+
+  const holdArgs =
+    duration != null
+      ? {
+          duration,
+          // defaults to true per PE command
+          ventAfter: ventAfter ?? true,
+        }
+      : {}
+
+  // TODO: (nd, 2026-04-20) implement Python emission
+  return {
+    commands: [
+      {
+        commandType: 'vacuumModule/startSetVacuumPower',
+        key: uuid(),
+        params: {
+          moduleId,
+          percentPower: powerPercent,
+          ...holdArgs,
+        },
+      },
+    ],
+  }
+}

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

@@ -0,0 +1,45 @@
+import * as errorCreators from '../../errorCreators'
+import { uuid } from '../../utils'
+
+import type { CommandCreator, VacuumPumpPressureArgs } from '../../types'
+
+// TODO: (nd, 2026-04-20) command creator implementation
+export const vacuumSetPumpPressure: CommandCreator<VacuumPumpPressureArgs> = (
+  args,
+  invariantContext,
+  prevRobotState
+) => {
+  const { moduleId, gaugePressure, duration, ventAfter } = args
+  const module = invariantContext.moduleEntities[moduleId]
+
+  if (module == null) {
+    return {
+      errors: [errorCreators.missingModuleError()],
+    }
+  }
+
+  const holdArgs =
+    duration != null
+      ? {
+          duration,
+          // defaults to true per PE command
+          ventAfter: ventAfter ?? true,
+        }
+      : {}
+
+  // TODO: (nd, 2026-04-20) implement Python emission
+  return {
+    commands: [
+      {
+        commandType: 'vacuumModule/startSetVacuumPressure',
+        key: uuid(),
+        params: {
+          moduleId,
+          gaugePressure,
+          ...holdArgs,
+          // making this explicit for ease of use with statte upd
+        },
+      },
+    ],
+  }
+}

step-generation/src/commandCreators/compound/index.ts

@@ -17,7 +17,5 @@ export { replaceTip } from './replaceTip'
 export { thermocyclerProfileStep } from './thermocyclerProfileStep'
 export { thermocyclerStateStep } from './thermocyclerStateStep'
 export { transfer } from './transfer'
-export { vacuumSetPumpPower } from './vacuumSetPumpPower'
-export { vacuumSetPumpPressure } from './vacuumSetPumpPressure'
 export { vacuumSetPumpProfile } from './vacuumSetPumpProfile'
 export { waitForModuleTask } from './waitForModuleTask'