Merge branch 'hardware-testing-96ch-lowvol-lld' into EXEC-1055-96-cha…

…n-testing-mergeback

hardware-testing/hardware_testing/liquid_sense/__main__.py

@@ -38,6 +38,7 @@
 from hardware_testing.protocols.liquid_sense_lpc import (
     liquid_sense_ot3_p50_single_vial,
     liquid_sense_ot3_p50_multi_vial,
+    liquid_sense_ot3_p200_96_vial,
     liquid_sense_ot3_p1000_96_vial,
     liquid_sense_ot3_p1000_single_vial,
     liquid_sense_ot3_p1000_multi_vial,
@@ -53,7 +54,7 @@
 
 CREDENTIALS_PATH = "/var/lib/jupyter/notebooks/abr.json"
 
-API_LEVEL = "2.18"
+API_LEVEL = "2.21"
 
 LABWARE_OFFSETS: List[LabwareOffset] = []
 
@@ -75,6 +76,9 @@
         1: liquid_sense_ot3_p50_single_vial,
         8: liquid_sense_ot3_p50_multi_vial,
     },
+    200: {
+        96: liquid_sense_ot3_p200_96_vial,
+    },
     1000: {
         1: liquid_sense_ot3_p1000_single_vial,
         8: liquid_sense_ot3_p1000_multi_vial,
@@ -92,6 +96,7 @@
         8: "p1000_multi_flex",
         96: "p1000_96_flex",
     },
+    200: {96: "p200_96_flex"},
 }
 
 
@@ -188,8 +193,10 @@ def build_run_args(cls, args: argparse.Namespace) -> "RunArgs":
         if args.tip == 0:
             if args.pipette == 1000:
                 tip_volumes: List[int] = [50, 200, 1000]
-            else:
+            elif args.pipette == 50:
                 tip_volumes = [50]
+            else:
+                tip_volumes = [50, 200]
         else:
             tip_volumes = [args.tip]
 
@@ -265,22 +272,24 @@ def build_run_args(cls, args: argparse.Namespace) -> "RunArgs":
 
     parser = argparse.ArgumentParser("Pipette Testing")
     parser.add_argument("--simulate", action="store_true")
-    parser.add_argument("--pipette", type=int, choices=[50, 1000], required=True)
+    parser.add_argument("--pipette", type=int, choices=[50, 200, 1000], required=True)
     parser.add_argument("--mount", type=str, choices=["left", "right"], default="left")
     parser.add_argument("--channels", type=int, choices=[1, 8, 96], default=1)
-    parser.add_argument("--tip", type=int, choices=[0, 50, 200, 1000], default=0)
+    parser.add_argument("--tip", type=int, choices=[0, 20, 50, 200, 1000], default=0)
     parser.add_argument("--return-tip", action="store_true")
-    parser.add_argument("--trials", type=int, default=7)
-    parser.add_argument("--trials-before-jog", type=int, default=7)
+    parser.add_argument("--trials", type=int, default=10)
+    parser.add_argument("--trials-before-jog", type=int, default=10)
     parser.add_argument("--z-speed", type=float, default=5)
     parser.add_argument("--aspirate", action="store_true")
-    parser.add_argument("--plunger-speed", type=float, default=15)
+    parser.add_argument("--plunger-speed", type=float, default=5)
     parser.add_argument("--no-multi-pass", action="store_true")
     parser.add_argument("--wet", action="store_true")
     parser.add_argument("--starting-tip", type=str, default="A1")
     parser.add_argument("--test-well", type=str, default="A1")
     parser.add_argument("--p-solo-time", type=float, default=0)
-    parser.add_argument("--google-sheet-name", type=str, default="LLD-Shared-Data")
+    parser.add_argument(
+        "--google-sheet-name", type=str, default="LLD-Shared-Data-96ch-200ul"
+    )
     parser.add_argument(
         "--gd-parent-folder", type=str, default="1b2V85fDPA0tNqjEhyHOGCWRZYgn8KsGf"
     )

hardware-testing/hardware_testing/liquid_sense/execute.py

@@ -15,9 +15,11 @@
 from hardware_testing.data import ui, get_testing_data_directory
 from opentrons.hardware_control.types import (
     InstrumentProbeType,
+    PipetteSensorId,
     OT3Mount,
     Axis,
     top_types,
+    PipetteSensorResponseQueue,
 )
 from opentrons.hardware_control.dev_types import PipetteDict
 
@@ -420,6 +422,7 @@ def _run_trial(
         probes.append(InstrumentProbeType.SECONDARY)
         probe_target = InstrumentProbeType.BOTH
     data_files: Dict[InstrumentProbeType, str] = {}
+    data_capture: PipetteSensorResponseQueue = PipetteSensorResponseQueue()
     for probe in probes:
         data_filename = f"pressure_sensor_data-trial{trial}-tip{tip}-{probe.name}.csv"
         data_file = f"{data_dir}/{run_args.name}/{run_args.run_id}/{data_filename}"
@@ -456,8 +459,42 @@ def _run_trial(
     run_args.recorder.set_sample_tag(f"trial-{trial}-{tip}ul")
     # TODO add in stuff for secondary probe
     try:
-        height = hw_api.liquid_probe(hw_mount, z_distance, lps, probe_target)
+        height = hw_api.liquid_probe(
+            hw_mount, z_distance, lps, probe_target, response_queue=data_capture
+        )
         result: LLDResult = LLDResult.success
+        # write the data files that used to be made automatically
+        if not run_args.ctx.is_simulating():
+            for probe in probes:
+                sensor_id = (
+                    PipetteSensorId.S0
+                    if probe == InstrumentProbeType.PRIMARY
+                    else PipetteSensorId.S1
+                )
+                as_dict = data_capture.get_nowait()
+                data = [d.to_float() for d in as_dict[sensor_id]]
+                with open(data_files[probe], "w") as d_file:
+                    writer = csv.writer(d_file)
+                    writer.writerow(
+                        [
+                            "time(s)",
+                            "Pressure(pascals)",
+                            "z_velocity(mm/s)",
+                            "plunger_velocity(mm/s)",
+                            "threshold(pascals)",
+                        ]
+                    )
+                    writer.writerow(
+                        [
+                            "0",
+                            "0",
+                            f"{run_args.z_speed}",
+                            f"{plunger_speed}",
+                            f"{lqid_cfg['sensor_threshold_pascals']}",
+                        ]
+                    )
+                    for i in range(len(data)):
+                        writer.writerow([f"{i*0.004}", f"{data[i]}"])
         if not run_args.ctx.is_simulating():
             for probe in data_files:
                 if _test_for_blockage(data_files[probe], lps.sensor_threshold_pascals):

hardware-testing/hardware_testing/protocols/liquid_sense_lpc/liquid_sense_ot3_p200_96_vial.py

@@ -0,0 +1,40 @@
+"""lld OT3 P200."""
+from opentrons.protocol_api import ProtocolContext, OFF_DECK
+
+metadata = {"protocolName": "liquid-sense-ot3-p200-96-vial"}
+requirements = {"robotType": "Flex", "apiLevel": "2.21"}
+
+SLOT_SCALE = 1
+SLOT_DIAL = 9
+
+SLOTS_TIPRACK = {
+    50: [3],
+    200: [3],
+}
+
+LABWARE_ON_SCALE = "radwag_pipette_calibration_vial"
+
+
+def run(ctx: ProtocolContext) -> None:
+    """Run."""
+    trash = ctx.load_trash_bin("A3")
+    vial = ctx.load_labware(LABWARE_ON_SCALE, SLOT_SCALE)
+    dial = ctx.load_labware("dial_indicator", SLOT_DIAL)
+    pipette = ctx.load_instrument("flex_96channel_200", "left")
+    adapters = [
+        ctx.load_adapter("opentrons_flex_96_tiprack_adapter", slot)
+        for slot in SLOTS_TIPRACK[50]
+    ]
+    for size, slots in SLOTS_TIPRACK.items():
+        tipracks = [
+            adapter.load_labware(f"opentrons_flex_96_tiprack_{size}uL")
+            for adapter in adapters
+        ]
+        for rack in tipracks:
+            pipette.pick_up_tip(rack["A1"])
+            pipette.aspirate(10, vial["A1"].top())
+            pipette.dispense(10, vial["A1"].top())
+            pipette.aspirate(10, dial["A1"].top())
+            pipette.dispense(10, dial["A1"].top())
+            pipette.drop_tip(trash)
+            ctx.move_labware(rack, OFF_DECK)