feat(api): add mechanisms to save and load deck calibration transform…

… matrix (#12381)

* utilize legacy deck transform save/load mechanisms

* refactored for ot3 deck_attitude methods

* fixed test and refactored

* refactored and added RobotCalibrationProvider

* fixed test

* refactor. Still need to fix broken tests

* fixed tests

* verified apply_machine_transform

* fixes for failing tests

* cleaned up API integration

* removed unnecessary code and attempted OT3RobotCalibrationProvider superclass

* refactored and fixed tests that broke

* reverted pytest fixture to work with updated decoy library

* fixed one naming

* partway through user flow fix

* update to deck calibration user flow and fixed tests

* fixed tests

* changes based off Seth's recent PR review

* fixed test

* fixed linting error

* fixed resetting and loading of deck transform data duringcalibration

* fix

* undo fix

* redo fix

* moved cache clearing

* updated resetting/loading procedure

* attempted fix

* additional part of fix

* fixed lint error

* Fix to OT3RobotCalibrationProvider initialization

* fix for testing

* added addtional info for debugging

* fix to calculate attitude matrix correctly

* get rid of debug data and utilize saved deck calibration data now

* added belt calibration data deletion mechanism

* fix to repl

* fix to repl

* repl fix

* test fix

* test fix

* fixed pipette config test

* fixed linting error

* similar lint fix

* fixed test

* fixed delete_belt_calibration_data

api/src/opentrons/calibration_storage/__init__.py

@@ -12,13 +12,18 @@
  _save_custom_tiprack_definition,
 )
 from .ot2.pipette_offset import get_all_pipette_offset_calibrations
+from .ot3.deck_attitude import (
+ save_robot_belt_attitude,
+ get_robot_belt_attitude,
+ delete_robot_belt_attitude,
+)
+from .ot2.deck_attitude import (
+ save_robot_deck_attitude,
+ get_robot_deck_attitude,
+ delete_robot_deck_attitude,
+)
 
 if config.feature_flags.enable_ot3_hardware_controller():
- from .ot3.deck_attitude import (
- save_robot_deck_attitude,
- get_robot_deck_attitude,
- delete_robot_deck_attitude,
- )
  from .ot3.pipette_offset import (
  save_pipette_calibration,
  clear_pipette_offset_calibrations,
@@ -41,11 +46,6 @@
  delete_module_offset_file,
  )
 else:
- from .ot2.deck_attitude import (
- save_robot_deck_attitude,
- get_robot_deck_attitude,
- delete_robot_deck_attitude,
- )
  from .ot2.pipette_offset import (
  save_pipette_calibration,
  clear_pipette_offset_calibrations,
@@ -67,6 +67,9 @@
  "save_robot_deck_attitude",
  "get_robot_deck_attitude",
  "delete_robot_deck_attitude",
+ "save_robot_belt_attitude",
+ "get_robot_belt_attitude",
+ "delete_robot_belt_attitude",
  # pipette calibration functions
  "save_pipette_calibration",
  "get_pipette_offset",

api/src/opentrons/calibration_storage/ot2/models/v1.py

@@ -49,7 +49,7 @@ class Config:
 
 class DeckCalibrationModel(BaseModel):
  attitude: types.AttitudeMatrix = Field(
- ..., description="Attitude matrix found from calibration."
+ ..., description="Attitude matrix for deck found from calibration."
  )
  last_modified: datetime = Field(
  default=None, description="The last time this deck was calibrated."

api/src/opentrons/calibration_storage/ot3/deck_attitude.py

@@ -15,26 +15,26 @@
 log = logging.getLogger(__name__)
 
 
-# Delete Deck Calibration
+# Delete Belt Calibration
 
 
 @no_type_check
-def delete_robot_deck_attitude() -> None:
+def delete_robot_belt_attitude() -> None:
  """
- Delete the robot deck attitude calibration.
+ Delete the robot belt attitude calibration.
  """
  gantry_path = (
- config.get_opentrons_path("robot_calibration_dir") / "deck_calibration.json"
+ config.get_opentrons_path("robot_calibration_dir") / "belt_calibration.json"
  )
 
  io.delete_file(gantry_path)
 
 
-# Save Deck Calibration
+# Save Belt Calibration
 
 
 @no_type_check
-def save_robot_deck_attitude(
+def save_robot_belt_attitude(
  transform: local_types.AttitudeMatrix,
  pip_id: Optional[str],
  source: Optional[local_types.SourceType] = None,
@@ -51,33 +51,33 @@ def save_robot_deck_attitude(
  else:
  cal_status_model = v1.CalibrationStatus()
 
- gantry_calibration = v1.DeckCalibrationModel(
+ gantry_calibration = v1.BeltCalibrationModel(
  attitude=transform,
  pipetteCalibratedWith=pip_id,
  lastModified=utc_now(),
  source=source or local_types.SourceType.user,
  status=cal_status_model,
  )
  # convert to schema + validate json conversion
- io.save_to_file(robot_dir, "deck_calibration", gantry_calibration)
+ io.save_to_file(robot_dir, "belt_calibration", gantry_calibration)
 
 
-# Get Deck Calibration
+# Get Belt Calibration
 
 
 @no_type_check
-def get_robot_deck_attitude() -> Optional[v1.DeckCalibrationModel]:
- deck_calibration_path = (
- config.get_opentrons_path("robot_calibration_dir") / "deck_calibration.json"
+def get_robot_belt_attitude() -> Optional[v1.BeltCalibrationModel]:
+ belt_calibration_path = (
+ config.get_opentrons_path("robot_calibration_dir") / "belt_calibration.json"
  )
  try:
- return v1.DeckCalibrationModel(**io.read_cal_file(deck_calibration_path))
+ return v1.BeltCalibrationModel(**io.read_cal_file(belt_calibration_path))
  except FileNotFoundError:
- log.warning("Deck calibration not found.")
+ log.warning("Belt calibration not found.")
  pass
  except (json.JSONDecodeError, ValidationError):
  log.warning(
- "Deck calibration is malformed. Please factory reset your calibrations."
+ "Belt calibration is malformed. Please factory reset your calibrations."
  )
  pass
  return None

api/src/opentrons/calibration_storage/ot3/models/v1.py

@@ -45,9 +45,9 @@ class Config:
  json_decoders = {datetime: lambda obj: datetime.fromisoformat(obj)}
 
 
-class DeckCalibrationModel(BaseModel):
+class BeltCalibrationModel(BaseModel):
  attitude: types.AttitudeMatrix = Field(
- ..., description="Attitude matrix found from calibration."
+ ..., description="Attitude matrix for belts found from calibration."
  )
  lastModified: datetime = Field(
  ..., description="The last time this deck was calibrated."

api/src/opentrons/config/defaults_ot3.py

@@ -61,11 +61,16 @@
 
 ROBOT_CONFIG_VERSION: Final = 1
 DEFAULT_LOG_LEVEL: Final = "INFO"
-DEFAULT_DECK_TRANSFORM: Final[OT3Transform] = [
+DEFAULT_MACHINE_TRANSFORM: Final[OT3Transform] = [
  [-1.0, 0.0, 0.0],
  [0.0, -1.0, 0.0],
  [0.0, 0.0, -1.0],
 ]
+DEFAULT_BELT_ATTITUDE: Final[OT3Transform] = [
+ [1.0, 0.0, 0.0],
+ [0.0, 1.0, 0.0],
+ [0.0, 0.0, 1.0],
+]
 DEFAULT_CARRIAGE_OFFSET: Final[Offset] = (477.20, 493.8, 253.475)
 DEFAULT_LEFT_MOUNT_OFFSET: Final[Offset] = (-13.5, -60.5, 255.675)
 DEFAULT_RIGHT_MOUNT_OFFSET: Final[Offset] = (40.5, -60.5, 255.675)
@@ -382,7 +387,7 @@ def build_with_defaults(robot_settings: Dict[str, Any]) -> OT3Config:
  "safe_home_distance", DEFAULT_SAFE_HOME_DISTANCE
  ),
  deck_transform=_build_default_transform(
- robot_settings.get("deck_transform", []), DEFAULT_DECK_TRANSFORM
+ robot_settings.get("deck_transform", []), DEFAULT_MACHINE_TRANSFORM
  ),
  carriage_offset=_build_default_offset(
  robot_settings.get("carriage_offset", []), DEFAULT_CARRIAGE_OFFSET

api/src/opentrons/config/robot_configs.py

@@ -164,11 +164,12 @@ def _save_config_data(data: str, filename: Union[str, Path]) -> None:
  log.exception("Write failed with exception:")
 
 
-def default_deck_calibration() -> List[List[float]]:
- if ff.enable_ot3_hardware_controller():
- return defaults_ot3.DEFAULT_DECK_TRANSFORM
- else:
- return defaults_ot2.DEFAULT_DECK_CALIBRATION_V2
+def default_ot2_deck_calibration() -> List[List[float]]:
+ return defaults_ot2.DEFAULT_DECK_CALIBRATION_V2
+
+
+def default_ot3_deck_calibration() -> List[List[float]]:
+ return defaults_ot3.DEFAULT_BELT_ATTITUDE
 
 
 def default_pipette_offset() -> List[float]:

api/src/opentrons/hardware_control/__init__.py

@@ -22,14 +22,20 @@
 from .thread_manager import ThreadManager
 from .execution_manager import ExecutionManager
 from .threaded_async_lock import ThreadedAsyncLock, ThreadedAsyncForbidden
-from .protocols import HardwareControlAPI
+from .protocols import HardwareControlInterface
 from .instruments import AbstractInstrument, Gripper
+from typing import Union
+from .ot3_calibration import OT3Transforms
+from .robot_calibration import RobotCalibration
 
 # TODO (lc 12-05-2022) We should 1. figure out if we need
 # to globally export a class that is strictly used in the hardware controller
 # and 2. how to properly export an ot2 and ot3 pipette.
 from .instruments.ot2.pipette import Pipette
 
+OT2HardwareControlAPI = HardwareControlInterface[RobotCalibration]
+OT3HardwareControlAPI = HardwareControlInterface[OT3Transforms]
+HardwareControlAPI = Union[OT2HardwareControlAPI, OT3HardwareControlAPI]
 
 ThreadManagedHardware = ThreadManager[HardwareControlAPI]
 SyncHardwareAPI = SynchronousAdapter[HardwareControlAPI]

api/src/opentrons/hardware_control/api.py

@@ -55,7 +55,7 @@
  RobotCalibrationProvider,
  RobotCalibration,
 )
-from .protocols import HardwareControlAPI
+from .protocols import HardwareControlInterface
 from .instruments.ot2.pipette_handler import PipetteHandlerProvider
 from .instruments.ot2.instrument_calibration import load_pipette_offset
 from .motion_utilities import (
@@ -79,7 +79,7 @@ class API(
  # of methods that are present in the protocol will call the (empty,
  # do-nothing) methods in the protocol. This will happily make all the
  # tests fail.
- HardwareControlAPI,
+ HardwareControlInterface[RobotCalibration],
 ):
  """This API is the primary interface to the hardware controller.