fix(api): Lld end z retract position bug (#15960)

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# Overview
The Z is supposed to retract out to the liquid before sending over the
buffered data, however a line from testing got merged in there and this
wasn't happening. Also had to fixup the api side since it was
calculating the liquid height based off where the machine position was
after hardware control took over, now it actually uses the return value
to that it returns, converts it to deck coordinates and applies the
corresponding offsets.

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api/src/opentrons/hardware_control/ot3api.py

@@ -2629,7 +2629,7 @@ async def _liquid_probe_pass(
         force_both_sensors: bool = False,
     ) -> float:
         plunger_direction = -1 if probe_settings.aspirate_while_sensing else 1
-        await self._backend.liquid_probe(
+        end_z = await self._backend.liquid_probe(
             mount,
             p_travel,
             probe_settings.mount_speed,
@@ -2641,8 +2641,17 @@ async def _liquid_probe_pass(
             probe=probe,
             force_both_sensors=force_both_sensors,
         )
-        end_pos = await self.gantry_position(mount, refresh=True)
-        return end_pos.z
+        machine_pos = await self._backend.update_position()
+        machine_pos[Axis.by_mount(mount)] = end_z
+        deck_end_z = self._deck_from_machine(machine_pos)[Axis.by_mount(mount)]
+        offset = offset_for_mount(
+            mount,
+            top_types.Point(*self._config.left_mount_offset),
+            top_types.Point(*self._config.right_mount_offset),
+            top_types.Point(*self._config.gripper_mount_offset),
+        )
+        cp = self.critical_point_for(mount, None)
+        return deck_end_z + offset.z + cp.z
 
     async def liquid_probe(
         self,

api/tests/opentrons/hardware_control/test_ot3_api.py

@@ -815,15 +815,9 @@ async def test_liquid_probe(
     with patch.object(
         hardware_backend, "liquid_probe", AsyncMock(spec=hardware_backend.liquid_probe)
     ) as mock_liquid_probe:
-        return_dict = {
-            head_node: 140,
-            NodeId.gantry_x: 0,
-            NodeId.gantry_y: 0,
-            pipette_node: 0,
-        }
 
         # make sure aspirate while sensing reverses direction
-        mock_liquid_probe.return_value = return_dict
+        mock_liquid_probe.return_value = 140
         fake_settings_aspirate = LiquidProbeSettings(
             mount_speed=5,
             plunger_speed=20,
@@ -849,8 +843,6 @@ async def test_liquid_probe(
             force_both_sensors=False,
         )
 
-        return_dict[head_node], return_dict[pipette_node] = 142, 142
-        mock_liquid_probe.return_value = return_dict
         await ot3_hardware.liquid_probe(
             mount, fake_max_z_dist, fake_liquid_settings
         )  # should raise no exceptions
@@ -903,7 +895,7 @@ async def test_liquid_probe_plunger_moves(
             PipetteLiquidNotFoundError,
             PipetteLiquidNotFoundError,
             PipetteLiquidNotFoundError,
-            None,
+            140,
         ]
 
         fake_max_z_dist = 75.0
@@ -1056,16 +1048,10 @@ async def test_multi_liquid_probe(
     with patch.object(
         hardware_backend, "liquid_probe", AsyncMock(spec=hardware_backend.liquid_probe)
     ) as mock_liquid_probe:
-        return_dict = {
-            NodeId.head_l: 140,
-            NodeId.gantry_x: 0,
-            NodeId.gantry_y: 0,
-            NodeId.pipette_left: 0,
-        }
         side_effects = [
             PipetteLiquidNotFoundError(),
             PipetteLiquidNotFoundError(),
-            return_dict,
+            140,
         ]
 
         # make sure aspirate while sensing reverses direction
@@ -1103,9 +1089,6 @@ async def test_multi_liquid_probe(
         )
         assert mock_liquid_probe.call_count == 3
 
-        return_dict[NodeId.head_l], return_dict[NodeId.pipette_left] = 142, 142
-        mock_liquid_probe.return_value = return_dict
-
 
 async def test_liquid_not_found(
     ot3_hardware: ThreadManager[OT3API],

hardware/opentrons_hardware/hardware_control/tool_sensors.py

@@ -201,7 +201,7 @@ async def run_sync_buffer_to_csv(
             ),
             expected_nodes=[tool],
         )
-    if raise_z is not None and False:
+    if raise_z is not None:
         #  if probing is finished, move the head node back up before requesting the data buffer
         if positions[head_node].move_ack == MoveCompleteAck.stopped_by_condition:
             await raise_z.run(can_messenger=messenger)