feat(hardware-testing): add patches for ot3 fixtures (#13331)

* add support for patches

* Fix the name of the fixture patch command
- Add patch for the fixture changes

hardware-testing/Makefile

@@ -246,6 +246,22 @@ endef
 sync-sw-ot3: push-ot3
  cd .. && $(MAKE) push-ot3 host=$(host)
 
+.PHONY: push-ot3-fixture
+push-ot3-fixture:
+ $(MAKE) apply-patches-fixture
+ -$(MAKE) sync-sw-ot3
+ $(MAKE) remove-patches-fixture
+
+
+.PHONY: apply-patches-fixture
+apply-patches-fixture:
+ cd ../ && git apply ./hardware-testing/fixture_overrides/*.patch --allow-empty
+
+.PHONY: remove-patches-fixture
+remove-patches-fixture:
+ cd ../ && git apply ./hardware-testing/fixture_overrides/*.patch --reverse --allow-empty
+
+
 .PHONY: sync-fw-ot3
 sync-fw-ot3:
  $(call push-and-update-fw,$(host),$(zip))

hardware-testing/fixture_overrides/hardware_fixtures.patch

@@ -0,0 +1,25 @@
+diff --git a/api/src/opentrons/config/feature_flags.py b/api/src/opentrons/config/feature_flags.py
+index f46674fb56..f59f3826de 100644
+--- a/api/src/opentrons/config/feature_flags.py
++++ b/api/src/opentrons/config/feature_flags.py
+@@ -76,6 +76,4 @@ def tip_presence_detection_enabled() -> bool:
+
+ def require_estop() -> bool:
+ """Whether the OT3 should allow gantry movements with no Estop plugged in."""
+- return not advs.get_setting_with_env_overload(
+- "estopNotRequired", RobotTypeEnum.FLEX
+- )
++ return False
+diff --git a/hardware/opentrons_hardware/hardware_control/motion_planning/move_utils.py b/hardware/opentrons_hardware/hardware_control/motion_planning/move_utils.py
+index 318deea522..8d351e4a77 100644
+--- a/hardware/opentrons_hardware/hardware_control/motion_planning/move_utils.py
++++ b/hardware/opentrons_hardware/hardware_control/motion_planning/move_utils.py
+@@ -24,7 +24,7 @@ log = logging.getLogger(__name__)
+
+ FLOAT_THRESHOLD = 0.001 # TODO: re-evaluate this value based on system limitations
+
+-MINIMUM_DISPLACEMENT = 0.05
++MINIMUM_DISPLACEMENT = 0.01
+
+
+ def apply_constraint(constraint: np.float64, input: np.float64) -> np.float64: