feat(hardware-testing): enable multi sensor processing in liquid probe (

#14883)

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This allows the liquid level detection script to tell the pipette to
buffer the data from both pipettes and fetch them afterwards,
it will now spit out seprate CSVs for each sensor. post processing not
yet updated so the final report just grabs one from each trial, will
implement in EXEC-268

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- Verified that new optional argument `dance-party` causes the robot to
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- Added protocol that uses `dance-party` argument to G-Code Testing
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api/src/opentrons/config/types.py

@@ -138,11 +138,15 @@ class LiquidProbeSettings:
     aspirate_while_sensing: bool
     auto_zero_sensor: bool
     num_baseline_reads: int
+<<<<<<< HEAD
 <<<<<<< HEAD
     data_files: Optional[Dict[InstrumentProbeType, str]]
 =======
     data_file: Optional[str]
 >>>>>>> 7995d78c39 (refactor(hardware): give options for sensor data output during probe (#14673))
+=======
+    data_files: Optional[Dict[InstrumentProbeType, str]]
+>>>>>>> b3b65dfc27 (feat(hardware-testing): enable multi sensor processing in liquid probe (#14883))
 
 
 @dataclass(frozen=True)

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

@@ -147,11 +147,15 @@ async def liquid_probe(
         plunger_speed: float,
         threshold_pascals: float,
         output_format: OutputOptions = OutputOptions.can_bus_only,
+<<<<<<< HEAD
 <<<<<<< HEAD
         data_files: Optional[Dict[InstrumentProbeType, str]] = None,
 =======
         data_file: Optional[str] = None,
 >>>>>>> 7995d78c39 (refactor(hardware): give options for sensor data output during probe (#14673))
+=======
+        data_files: Optional[Dict[InstrumentProbeType, str]] = None,
+>>>>>>> b3b65dfc27 (feat(hardware-testing): enable multi sensor processing in liquid probe (#14883))
         auto_zero_sensor: bool = True,
         num_baseline_reads: int = 10,
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,

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

@@ -1357,11 +1357,15 @@ async def liquid_probe(
         plunger_speed: float,
         threshold_pascals: float,
         output_option: OutputOptions = OutputOptions.can_bus_only,
+<<<<<<< HEAD
 <<<<<<< HEAD
         data_files: Optional[Dict[InstrumentProbeType, str]] = None,
 =======
         data_file: Optional[str] = None,
 >>>>>>> 7995d78c39 (refactor(hardware): give options for sensor data output during probe (#14673))
+=======
+        data_files: Optional[Dict[InstrumentProbeType, str]] = None,
+>>>>>>> b3b65dfc27 (feat(hardware-testing): enable multi sensor processing in liquid probe (#14883))
         auto_zero_sensor: bool = True,
         num_baseline_reads: int = 10,
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,
@@ -1383,6 +1387,9 @@ async def liquid_probe(
             output_option.value & OutputOptions.can_bus_only.value
         )
 <<<<<<< HEAD
+<<<<<<< HEAD
+=======
+>>>>>>> b3b65dfc27 (feat(hardware-testing): enable multi sensor processing in liquid probe (#14883))
         data_files_transposed = (
             None
             if data_files is None
@@ -1391,8 +1398,11 @@ async def liquid_probe(
                 for probe in data_files.keys()
             }
         )
+<<<<<<< HEAD
 =======
 >>>>>>> 7995d78c39 (refactor(hardware): give options for sensor data output during probe (#14673))
+=======
+>>>>>>> b3b65dfc27 (feat(hardware-testing): enable multi sensor processing in liquid probe (#14883))
         positions = await liquid_probe(
             messenger=self._messenger,
             tool=tool,
@@ -1404,11 +1414,15 @@ async def liquid_probe(
             csv_output=csv_output,
             sync_buffer_output=sync_buffer_output,
             can_bus_only_output=can_bus_only_output,
+<<<<<<< HEAD
 <<<<<<< HEAD
             data_files=data_files_transposed,
 =======
             data_file=data_file,
 >>>>>>> 7995d78c39 (refactor(hardware): give options for sensor data output during probe (#14673))
+=======
+            data_files=data_files_transposed,
+>>>>>>> b3b65dfc27 (feat(hardware-testing): enable multi sensor processing in liquid probe (#14883))
             auto_zero_sensor=auto_zero_sensor,
             num_baseline_reads=num_baseline_reads,
             sensor_id=sensor_id_for_instrument(probe),

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

@@ -346,11 +346,15 @@ async def liquid_probe(
         plunger_speed: float,
         threshold_pascals: float,
         output_format: OutputOptions = OutputOptions.can_bus_only,
+<<<<<<< HEAD
 <<<<<<< HEAD
         data_files: Optional[Dict[InstrumentProbeType, str]] = None,
 =======
         data_file: Optional[str] = None,
 >>>>>>> 7995d78c39 (refactor(hardware): give options for sensor data output during probe (#14673))
+=======
+        data_files: Optional[Dict[InstrumentProbeType, str]] = None,
+>>>>>>> b3b65dfc27 (feat(hardware-testing): enable multi sensor processing in liquid probe (#14883))
         auto_zero_sensor: bool = True,
         num_baseline_reads: int = 10,
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,

api/src/opentrons/hardware_control/ot3api.py

@@ -2623,11 +2623,15 @@ async def liquid_probe(
             (probe_settings.plunger_speed * plunger_direction),
             probe_settings.sensor_threshold_pascals,
             probe_settings.output_option,
+<<<<<<< HEAD
 <<<<<<< HEAD
             probe_settings.data_files,
 =======
             probe_settings.data_file,
 >>>>>>> 7995d78c39 (refactor(hardware): give options for sensor data output during probe (#14673))
+=======
+            probe_settings.data_files,
+>>>>>>> b3b65dfc27 (feat(hardware-testing): enable multi sensor processing in liquid probe (#14883))
             probe_settings.auto_zero_sensor,
             probe_settings.num_baseline_reads,
             probe=probe if probe else InstrumentProbeType.PRIMARY,

api/tests/opentrons/hardware_control/test_ot3_api.py

@@ -820,11 +820,15 @@ async def test_liquid_probe(
             (fake_settings_aspirate.plunger_speed * -1),
             fake_settings_aspirate.sensor_threshold_pascals,
             fake_settings_aspirate.output_option,
+<<<<<<< HEAD
 <<<<<<< HEAD
             fake_settings_aspirate.data_files,
 =======
             fake_settings_aspirate.data_file,
 >>>>>>> 7995d78c39 (refactor(hardware): give options for sensor data output during probe (#14673))
+=======
+            fake_settings_aspirate.data_files,
+>>>>>>> b3b65dfc27 (feat(hardware-testing): enable multi sensor processing in liquid probe (#14883))
             fake_settings_aspirate.auto_zero_sensor,
             fake_settings_aspirate.num_baseline_reads,
             probe=InstrumentProbeType.PRIMARY,

hardware-testing/hardware_testing/liquid_sense/execute.py

@@ -176,7 +176,19 @@ def run(tip: int, run_args: RunArgs) -> None:
         lpc_offset = run_args.dial_indicator.read_stable()
         run_args.pipette._retract()
 
+<<<<<<< HEAD
     def _get_tip_offset() -> float:
+=======
+    def _get_baseline() -> float:
+        run_args.pipette.pick_up_tip(tips[0])
+        del tips[: run_args.pipette_channels]
+        liquid_height = _jog_to_find_liquid_height(
+            run_args.ctx, run_args.pipette, test_well
+        )
+        target_height = test_well.bottom(liquid_height).point.z
+
+        run_args.pipette._retract()
+>>>>>>> b3b65dfc27 (feat(hardware-testing): enable multi sensor processing in liquid probe (#14883))
         tip_offset = 0.0
         if run_args.dial_indicator is not None:
             run_args.pipette.move_to(dial_well.top())

hardware/opentrons_hardware/hardware_control/move_group_runner.py

@@ -25,9 +25,12 @@
     MoveAckId,
 <<<<<<< HEAD
     MotorDriverErrorCode,
+<<<<<<< HEAD
 =======
     SensorId,
 >>>>>>> 7995d78c39 (refactor(hardware): give options for sensor data output during probe (#14673))
+=======
+>>>>>>> b3b65dfc27 (feat(hardware-testing): enable multi sensor processing in liquid probe (#14883))
 )
 from opentrons_hardware.drivers.can_bus.can_messenger import CanMessenger
 from opentrons_hardware.firmware_bindings.messages import MessageDefinition
@@ -314,10 +317,14 @@ def _get_stepper_motor_message(
             return HomeRequest(payload=home_payload)
         elif step.move_type == MoveType.sensor:
             # stop_condition = step.stop_condition.value
+<<<<<<< HEAD
 <<<<<<< HEAD
             assert step.sensor_id is not None
 =======
 >>>>>>> 7995d78c39 (refactor(hardware): give options for sensor data output during probe (#14673))
+=======
+            assert step.sensor_id is not None
+>>>>>>> b3b65dfc27 (feat(hardware-testing): enable multi sensor processing in liquid probe (#14883))
             stop_condition = MoveStopCondition.sync_line
             sensor_move_payload = AddSensorLinearMoveBasePayload(
                 request_stop_condition=MoveStopConditionField(stop_condition),
@@ -338,11 +345,15 @@ def _get_stepper_motor_message(
                 velocity_mm=Int32Field(
                     int((step.velocity_mm_sec / interrupts_per_sec) * (2**31))
                 ),
+<<<<<<< HEAD
 <<<<<<< HEAD
                 sensor_id=SensorIdField(step.sensor_id),
 =======
                 sensor_id=SensorIdField(SensorId.S0),
 >>>>>>> 7995d78c39 (refactor(hardware): give options for sensor data output during probe (#14673))
+=======
+                sensor_id=SensorIdField(step.sensor_id),
+>>>>>>> b3b65dfc27 (feat(hardware-testing): enable multi sensor processing in liquid probe (#14883))
             )
             return AddSensorLinearMoveRequest(payload=sensor_move_payload)
         else: