Merge branch 'RLIQ-69-hardware-control-liquid-sense' of https://githu…

…b.com/Opentrons/opentrons into RLIQ-69-hardware-control-liquid-sense

api/src/opentrons/config/defaults_ot3.py

@@ -29,9 +29,7 @@
  sensor_threshold_pascals=100,
  expected_liquid_height=110,
  log_pressure=True,
- home_plunger_at_start=False,
  aspirate_while_sensing=False,
- read_only=False,
 )
 
 DEFAULT_CALIBRATION_SETTINGS: Final[OT3CalibrationSettings] = OT3CalibrationSettings(
@@ -373,13 +371,9 @@ def _build_default_liquid_probe(
  "expected_liquid_height", default.expected_liquid_height
  ),
  log_pressure=from_conf.get("log_pressure", default.log_pressure),
- home_plunger_at_start=from_conf.get(
- "home_plunger_at_start", default.home_plunger_at_start
- ),
  aspirate_while_sensing=from_conf.get(
  "aspirate_while_sensing", default.aspirate_while_sensing
  ),
- read_only=from_conf.get("read_only", default.read_only),
  )
 
 

api/src/opentrons/config/types.py

@@ -145,9 +145,7 @@ class LiquidProbeSettings:
  sensor_threshold_pascals: float
  expected_liquid_height: float
  log_pressure: bool
- home_plunger_at_start: bool
  aspirate_while_sensing: bool
- read_only: bool
 
 
 @dataclass(frozen=True)

api/src/opentrons/hardware_control/backends/ot3controller.py

@@ -35,7 +35,6 @@
  node_to_axis,
  sub_system_to_node_id,
  sensor_node_for_mount,
- head_node_for_mount,
  sensor_id_for_instrument,
  create_gripper_jaw_grip_group,
  create_gripper_jaw_home_group,
@@ -356,7 +355,7 @@ def _build_home_pipettes_runner(
  )
 
  distances_pipette = {
- ax: -1 * self.phony_bounds[ax][1] - self.phony_bounds[ax][0]
+ ax: -1 * self.axis_bounds[ax][1] - self.axis_bounds[ax][0]
  for ax in axes
  if ax in OT3Axis.pipette_axes()
  }
@@ -385,7 +384,7 @@ def _build_home_gantry_z_runner(
  )
 
  distances_gantry = {
- ax: -1 * self.phony_bounds[ax][1] - self.phony_bounds[ax][0]
+ ax: -1 * self.axis_bounds[ax][1] - self.axis_bounds[ax][0]
  for ax in axes
  if ax in OT3Axis.gantry_axes() and ax not in OT3Axis.mount_axes()
  }
@@ -395,7 +394,7 @@ def _build_home_gantry_z_runner(
  if ax in OT3Axis.gantry_axes() and ax not in OT3Axis.mount_axes()
  }
  distances_z = {
- ax: -1 * self.phony_bounds[ax][1] - self.phony_bounds[ax][0]
+ ax: -1 * self.axis_bounds[ax][1] - self.axis_bounds[ax][0]
  for ax in axes
  if ax in OT3Axis.mount_axes()
  }
@@ -739,32 +738,8 @@ async def watch(self, loop: asyncio.AbstractEventLoop) -> None:
  while can_watch and (not self._event_watcher.closed):
  await self._handle_watch_event()
 
- def get_slot_center_pos(self, slot_num: int) -> OT3AxisMap[float]:
- """Return the slot center."""
- slot_width = self.axis_bounds[OT3Axis.X][1] / 3
- slot_depth = self.axis_bounds[OT3Axis.Y][1] / 4
-
- centers_x = [slot_width * 2.5, slot_width * 0.5, slot_width * 1.5]
- center_y = (math.ceil(slot_num / 3) - 0.5) * slot_depth
-
- return {OT3Axis.X: centers_x[slot_num % 3], OT3Axis.Y: center_y}
-
  @property
  def axis_bounds(self) -> OT3AxisMap[Tuple[float, float]]:
- """Get the axis bounds."""
- # TODO (CM): gripper axis bounds need to be defined
- return {
- OT3Axis.Z_L: (0, 160),
- OT3Axis.Z_R: (0, 160),
- OT3Axis.P_L: (0, 110),
- OT3Axis.P_R: (0, 110),
- OT3Axis.X: (0, 455),
- OT3Axis.Y: (0, 412),
- OT3Axis.Z_G: (0, 1000),
- }
-
- @property
- def phony_bounds(self) -> OT3AxisMap[Tuple[float, float]]:
  """Get the axis bounds."""
  # TODO (AL, 2021-11-18): The bounds need to be defined
  phony_bounds = (0, 10000)
@@ -779,9 +754,6 @@ def phony_bounds(self) -> OT3AxisMap[Tuple[float, float]]:
  OT3Axis.Q: phony_bounds,
  }
 
- def single_boundary(self, boundary: int) -> OT3AxisMap[float]:
- return {ax: bound[boundary] for ax, bound in self.phony_bounds.items()}
-
  def engaged_axes(self) -> OT3AxisMap[bool]:
  """Get engaged axes."""
  return {}
@@ -968,7 +940,7 @@ async def liquid_probe(
  read_only: bool = False,
  sensor_id: SensorId = SensorId.S0,
  ) -> None:
- head_node = head_node_for_mount(OT3Mount(mount.value))
+ head_node = axis_to_node(OT3Axis.by_mount(mount))
  tool = sensor_node_for_mount(OT3Mount(mount.value))
  positions = await liquid_probe(
  self._messenger,
@@ -984,11 +956,9 @@ async def liquid_probe(
  read_only,
  sensor_id,
  )
- pos_axes = dict()
  for node, point in positions.items():
  self._position.update({node: point[0]})
  self._encoder_position.update({node: point[1]})
- pos_axes[node_to_axis(node)] = point
 
  async def capacitive_probe(
  self,

api/src/opentrons/hardware_control/backends/ot3simulator.py

@@ -454,48 +454,21 @@ async def watch(self, loop: asyncio.AbstractEventLoop) -> None:
  ]
  await self.module_controls.register_modules(new_mods_at_ports=new_mods_at_ports)
 
- def get_slot_center_pos(self, slot_num: int) -> OT3AxisMap[float]:
- """Return the slot center."""
- slot_width = self.axis_bounds[OT3Axis.X][1] / 3
- slot_depth = self.axis_bounds[OT3Axis.Y][1] / 4
-
- centers_x = [slot_width * 2.5, slot_width * 0.5, slot_width * 1.5]
- center_y = (math.ceil(slot_num / 3) - 0.5) * slot_depth
-
- return {OT3Axis.X: centers_x[slot_num % 3], OT3Axis.Y: center_y}
-
  @property
  def axis_bounds(self) -> OT3AxisMap[Tuple[float, float]]:
- """Get the axis bounds."""
- # TODO (CM): gripper axis bounds need to be defined
- return {
- OT3Axis.Z_L: (0, 160),
- OT3Axis.Z_R: (0, 160),
- OT3Axis.P_L: (0, 110),
- OT3Axis.P_R: (0, 110),
- OT3Axis.X: (0, 455),
- OT3Axis.Y: (0, 412),
- OT3Axis.Z_G: (0, 1000),
- }
-
- @property
- def phony_bounds(self) -> OT3AxisMap[Tuple[float, float]]:
  """Get the axis bounds."""
  # TODO (AL, 2021-11-18): The bounds need to be defined
  phony_bounds = (0, 10000)
  return {
- OT3Axis.Z_L: phony_bounds,
  OT3Axis.Z_R: phony_bounds,
+ OT3Axis.Z_L: phony_bounds,
  OT3Axis.P_L: phony_bounds,
  OT3Axis.P_R: phony_bounds,
- OT3Axis.X: phony_bounds,
  OT3Axis.Y: phony_bounds,
+ OT3Axis.X: phony_bounds,
  OT3Axis.Z_G: phony_bounds,
  }
 
- def single_boundary(self, boundary: int) -> OT3AxisMap[float]:
- return {ax: bound[boundary] for ax, bound in self.phony_bounds.items()}
-
  @property
  def fw_version(self) -> Optional[str]:
  """Get the firmware version."""

api/src/opentrons/hardware_control/backends/ot3utils.py

@@ -11,7 +11,6 @@
  OT3Mount,
  InstrumentProbeType,
 )
-from opentrons.types import Mount
 import numpy as np
 
 from opentrons_hardware.firmware_bindings.constants import (
@@ -318,12 +317,6 @@ def axis_convert(
 }
 
 
-def head_node_for_mount(mount: Union[OT3Mount, Mount]) -> NodeId:
- if isinstance(mount, Mount):
- mount = OT3Mount.from_mount(mount)
- return _head_node_lookup[mount]
-
-
 def sensor_node_for_mount(mount: OT3Mount) -> ProbeTarget:
  return _sensor_node_lookup[mount]
 

api/src/opentrons/hardware_control/motion_utilities.py

@@ -359,6 +359,7 @@ def deck_from_machine(
  axis_enum = type(next(iter(machine_pos.keys())))
  plunger_axes = {k: v for k, v in machine_pos.items() if k not in k.gantry_axes()}
  mount_axes = {k: v for k, v in machine_pos.items() if k in k.mount_axes()}
+ # print(f"mount axes = {mount_axes}")
  deck_positions_by_mount = {
  axis_enum.to_mount(axis): deck_point_from_machine_point(
  Point(machine_pos[axis_enum.X], machine_pos[axis_enum.Y], value),

api/src/opentrons/hardware_control/ot3api.py

@@ -119,7 +119,7 @@
 )
 from opentrons_hardware.hardware_control.motion_planning.move_utils import (
  MoveConditionNotMet,
- ThresholdReachedTooEarly,
+ EarlyLiquidSenseTrigger,
 )
 
 mod_log = logging.getLogger(__name__)
@@ -633,6 +633,7 @@ async def home_plunger(self, mount: Union[top_types.Mount, OT3Mount]) -> None:
 
  checked_mount = OT3Mount.from_mount(mount)
  await self.home([OT3Axis.of_main_tool_actuator(checked_mount)])
+ print(f"pipette = self._pipette_handler.hardware_instruments")
  instr = self._pipette_handler.hardware_instruments[checked_mount]
  if instr:
  target_pos = target_position_from_plunger(
@@ -944,7 +945,7 @@ async def _move(
  self._transforms.deck_calibration.attitude,
  self._transforms.carriage_offset,
  )
- bounds = self._backend.phony_bounds
+ bounds = self._backend.axis_bounds
  to_check = {
  ax: machine_pos[ax]
  for ax in target_position.keys()
@@ -1687,7 +1688,7 @@ async def liquid_probe(
  If the move is completed without the specified threshold being triggered, a
  MoveConditionNotMet error will be thrown.
  If the threshold is triggered before the minimum z distance has been traveled,
- a ThresholdReachedTooEarly error will be thrown.
+ a EarlyLiquidSenseTrigger error will be thrown.
 
  Otherwise, the function will stop moving once the threshold is triggered,
  home the plunger to prepare to aspirate, and return the position of the
@@ -1707,10 +1708,7 @@ async def liquid_probe(
 
  if not self._current_position:
  await self.home()
- if (
- probe_settings.home_plunger_at_start
- or probe_settings.aspirate_while_sensing
- ):
+ if probe_settings.aspirate_while_sensing:
  await self.home_plunger(mount)
 
  direction = -1 if probe_settings.aspirate_while_sensing else 1
@@ -1725,13 +1723,13 @@ async def liquid_probe(
  probe_settings.starting_mount_height,
  probe_settings.prep_move_speed,
  probe_settings.log_pressure,
- probe_settings.read_only,
  )
  except MoveConditionNotMet:
  self._log.exception("Liquid Sensing failed- threshold never reached.")
  raise
  else:
  machine_pos = await self._backend.update_position()
+ print(f"machine pos = {machine_pos}")
  position = deck_from_machine(
  machine_pos,
  self._transforms.deck_calibration.attitude,
@@ -1751,11 +1749,17 @@ async def liquid_probe(
  position[mount_axis] - probe_settings.starting_mount_height
  )
 
+ print(f"z distance = {z_distance_traveled}")
  if z_distance_traveled < probe_settings.min_z_distance:
- self._log.exception(
- "Liquid Sensing failed- threshold reached too early."
+ print("should raise")
+ raise EarlyLiquidSenseTrigger(
+ triggered_at=z_distance_traveled,
+ min_z=probe_settings.min_z_distance,
+ )
+ else:
+ print(
+ f"distance {z_distance_traveled} larger than min {probe_settings.min_z_distance}"
  )
- raise ThresholdReachedTooEarly
 
  return position[mount_axis], encoder_position[mount_axis]
 

api/tests/opentrons/config/ot3_settings.py

@@ -190,7 +190,6 @@
  "sensor_threshold_pascals": 17,
  "expected_liquid_height": 90,
  "log_pressure": True,
- "home_plunger_at_start": False,
  "aspirate_while_sensing": False,
  "read_only": False,
  },

api/tests/opentrons/hardware_control/backends/test_ot3_controller.py

@@ -115,9 +115,7 @@ def fake_liquid_settings() -> LiquidProbeSettings:
  sensor_threshold_pascals=15,
  expected_liquid_height=109,
  log_pressure=True,
- home_plunger_at_start=False,
  aspirate_while_sensing=False,
- read_only=False,
  )
 
 
@@ -628,13 +626,11 @@ async def test_liquid_probe(
  starting_mount_height=fake_liquid_settings.starting_mount_height,
  prep_move_speed=fake_liquid_settings.prep_move_speed,
  )
- breakpoint()
  for call in mock_move_group_run.call_args_list:
  move_group_runner = call[0][0]
  for move_group in move_group_runner._move_groups:
  assert move_group # don't pass in empty groups
  assert len(move_group) == 2
- breakpoint()
  step = move_group[0][NodeId.pipette_left]
  assert step.stop_condition == MoveStopCondition.none