activate PromptButton

api-client/src/robot/index.ts

@@ -4,6 +4,7 @@ export { acknowledgeEstopDisengage } from './acknowledgeEstopDisengage'
 export { getLights } from './getLights'
 export { setLights } from './setLights'
 export { getRobotSettings } from './getRobotSettings'
+export { updateRobotSetting } from './updateRobotSetting'
 
 export type {
   DoorStatus,
@@ -15,4 +16,5 @@ export type {
   RobotSettingsField,
   RobotSettingsResponse,
   SetLightsData,
+  UpdateRobotSettingRequest,
 } from './types'

api-client/src/robot/types.ts

@@ -38,6 +38,11 @@ export interface RobotSettingsField {
 
 export type RobotSettings = RobotSettingsField[]
 
+export interface UpdateRobotSettingRequest {
+  id: string
+  value: boolean | null
+}
+
 export interface RobotSettingsResponse {
   settings: RobotSettings
   links?: { restart?: string }

api-client/src/robot/updateRobotSetting.ts

@@ -0,0 +1,18 @@
+import { POST, request } from '../request'
+
+import type { ResponsePromise } from '../request'
+import type { HostConfig } from '../types'
+import type { RobotSettingsResponse, UpdateRobotSettingRequest } from './types'
+
+export function updateRobotSetting(
+  config: HostConfig,
+  id: string,
+  value: boolean
+): ResponsePromise<RobotSettingsResponse> {
+  return request<RobotSettingsResponse, UpdateRobotSettingRequest>(
+    POST,
+    '/settings',
+    { id, value },
+    config
+  )
+}

api-client/src/system/createSplash.ts

@@ -0,0 +1,24 @@
+import { POST, request } from '../request'
+import type { ResponsePromise } from '../request'
+import type { HostConfig } from '../types'
+
+export function createSplash(
+  config: HostConfig,
+  file: File
+): ResponsePromise<void> {
+  // sanitize file name to ensure no spaces
+  const renamedFile = new File([file], file.name.replace(' ', '_'), {
+    type: 'image/png',
+  })
+
+  const formData = new FormData()
+  formData.append('file', renamedFile)
+
+  // eslint-disable-next-line @typescript-eslint/no-invalid-void-type
+  return request<void, FormData>(
+    POST,
+    '/system/oem_mode/upload_splash',
+    formData,
+    config
+  )
+}

api-client/src/system/index.ts

@@ -1,4 +1,5 @@
 export { createAuthorization } from './createAuthorization'
 export { createRegistration } from './createRegistration'
+export { createSplash } from './createSplash'
 export { getConnections } from './getConnections'
 export * from './types'

api/src/opentrons/config/defaults_ot3.py

@@ -1,8 +1,8 @@
-from typing import Any, Dict, cast, List, Iterable, Tuple
+from typing import Any, Dict, cast, List, Iterable, Tuple, Optional
 from typing_extensions import Final
 from dataclasses import asdict
 
-from opentrons.hardware_control.types import OT3AxisKind
+from opentrons.hardware_control.types import OT3AxisKind, InstrumentProbeType
 from .types import (
     OT3Config,
     ByGantryLoad,
@@ -34,7 +34,7 @@
     aspirate_while_sensing=False,
     auto_zero_sensor=True,
     num_baseline_reads=10,
-    data_file="/var/pressure_sensor_data.csv",
+    data_files={InstrumentProbeType.PRIMARY: "/data/pressure_sensor_data.csv"},
 )
 
 DEFAULT_CALIBRATION_SETTINGS: Final[OT3CalibrationSettings] = OT3CalibrationSettings(
@@ -194,6 +194,49 @@
 )
 
 
+def _build_output_option_with_default(
+    from_conf: Any, default: OutputOptions
+) -> OutputOptions:
+    if from_conf is None:
+        return default
+    else:
+        if isinstance(from_conf, OutputOptions):
+            return from_conf
+        else:
+            try:
+                enumval = OutputOptions[from_conf]
+            except KeyError:  # not an enum entry
+                return default
+            else:
+                return enumval
+
+
+def _build_log_files_with_default(
+    from_conf: Any,
+    default: Optional[Dict[InstrumentProbeType, str]],
+) -> Optional[Dict[InstrumentProbeType, str]]:
+    print(f"from_conf {from_conf} default {default}")
+    if not isinstance(from_conf, dict):
+        if default is None:
+            return None
+        else:
+            return {k: v for k, v in default.items()}
+    else:
+        validated: Dict[InstrumentProbeType, str] = {}
+        for k, v in from_conf.items():
+            if isinstance(k, InstrumentProbeType):
+                validated[k] = v
+            else:
+                try:
+                    enumval = InstrumentProbeType[k]
+                except KeyError:  # not an enum entry
+                    pass
+                else:
+                    validated[enumval] = v
+        print(f"result {validated}")
+        return validated
+
+
 def _build_dict_with_default(
     from_conf: Any,
     default: Dict[OT3AxisKind, float],
@@ -278,6 +321,17 @@ def _build_default_cap_pass(
 def _build_default_liquid_probe(
     from_conf: Any, default: LiquidProbeSettings
 ) -> LiquidProbeSettings:
+    output_option = _build_output_option_with_default(
+        from_conf.get("output_option", None), default.output_option
+    )
+    data_files: Optional[Dict[InstrumentProbeType, str]] = None
+    if (
+        output_option is OutputOptions.sync_buffer_to_csv
+        or output_option is OutputOptions.stream_to_csv
+    ):
+        data_files = _build_log_files_with_default(
+            from_conf.get("data_files", {}), default.data_files
+        )
     return LiquidProbeSettings(
         starting_mount_height=from_conf.get(
             "starting_mount_height", default.starting_mount_height
@@ -302,7 +356,7 @@ def _build_default_liquid_probe(
         num_baseline_reads=from_conf.get(
             "num_baseline_reads", default.num_baseline_reads
         ),
-        data_file=from_conf.get("data_file", default.data_file),
+        data_files=data_files,
     )
 
 
@@ -412,7 +466,7 @@ def build_with_defaults(robot_settings: Dict[str, Any]) -> OT3Config:
 def serialize(config: OT3Config) -> Dict[str, Any]:
     def _build_dict(pairs: Iterable[Tuple[Any, Any]]) -> Dict[str, Any]:
         def _normalize_key(key: Any) -> Any:
-            if isinstance(key, OT3AxisKind):
+            if isinstance(key, OT3AxisKind) or isinstance(key, InstrumentProbeType):
                 return key.name
             return key
 

api/src/opentrons/config/types.py

@@ -2,7 +2,7 @@
 from dataclasses import dataclass, asdict, fields
 from typing import Dict, Tuple, TypeVar, Generic, List, cast, Optional
 from typing_extensions import TypedDict, Literal
-from opentrons.hardware_control.types import OT3AxisKind
+from opentrons.hardware_control.types import OT3AxisKind, InstrumentProbeType
 
 
 class AxisDict(TypedDict):
@@ -139,7 +139,7 @@ class LiquidProbeSettings:
     aspirate_while_sensing: bool
     auto_zero_sensor: bool
     num_baseline_reads: int
-    data_file: Optional[str]
+    data_files: Optional[Dict[InstrumentProbeType, str]]
 
 
 @dataclass(frozen=True)

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

@@ -147,7 +147,7 @@ async def liquid_probe(
         plunger_speed: float,
         threshold_pascals: float,
         output_format: OutputOptions = OutputOptions.can_bus_only,
-        data_file: Optional[str] = None,
+        data_files: Optional[Dict[InstrumentProbeType, str]] = None,
         auto_zero_sensor: bool = True,
         num_baseline_reads: int = 10,
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,

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

@@ -1351,7 +1351,7 @@ async def liquid_probe(
         plunger_speed: float,
         threshold_pascals: float,
         output_option: OutputOptions = OutputOptions.can_bus_only,
-        data_file: Optional[str] = None,
+        data_files: Optional[Dict[InstrumentProbeType, str]] = None,
         auto_zero_sensor: bool = True,
         num_baseline_reads: int = 10,
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,
@@ -1372,6 +1372,14 @@ async def liquid_probe(
         can_bus_only_output = bool(
             output_option.value & OutputOptions.can_bus_only.value
         )
+        data_files_transposed = (
+            None
+            if data_files is None
+            else {
+                sensor_id_for_instrument(probe): data_files[probe]
+                for probe in data_files.keys()
+            }
+        )
         positions = await liquid_probe(
             messenger=self._messenger,
             tool=tool,
@@ -1383,7 +1391,7 @@ async def liquid_probe(
             csv_output=csv_output,
             sync_buffer_output=sync_buffer_output,
             can_bus_only_output=can_bus_only_output,
-            data_file=data_file,
+            data_files=data_files_transposed,
             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

@@ -346,7 +346,7 @@ async def liquid_probe(
         plunger_speed: float,
         threshold_pascals: float,
         output_format: OutputOptions = OutputOptions.can_bus_only,
-        data_file: Optional[str] = None,
+        data_files: Optional[Dict[InstrumentProbeType, str]] = None,
         auto_zero_sensor: bool = True,
         num_baseline_reads: int = 10,
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,

api/src/opentrons/hardware_control/backends/ot3utils.py

@@ -544,6 +544,7 @@ def sensor_node_for_pipette(mount: OT3Mount) -> PipetteProbeTarget:
 _instr_sensor_id_lookup: Dict[InstrumentProbeType, SensorId] = {
     InstrumentProbeType.PRIMARY: SensorId.S0,
     InstrumentProbeType.SECONDARY: SensorId.S1,
+    InstrumentProbeType.BOTH: SensorId.BOTH,
 }
 
 

api/src/opentrons/hardware_control/ot3api.py

@@ -1521,14 +1521,8 @@ async def _home_axis(self, axis: Axis) -> None:
         # G, Q should be handled in the backend through `self._home()`
         assert axis not in [Axis.G, Axis.Q]
 
-        # TODO(CM): This is a temporary fix in response to the right mount causing
-        # errors while trying to home on startup or attachment. We should remove this
-        # when we fix this issue in the firmware.
-        enable_right_mount_on_startup = (
-            self._gantry_load == GantryLoad.HIGH_THROUGHPUT and axis == Axis.Z_R
-        )
         encoder_ok = self._backend.check_encoder_status([axis])
-        if encoder_ok or enable_right_mount_on_startup:
+        if encoder_ok:
             # enable motor (if needed) and update estimation
             await self._enable_before_update_estimation(axis)
 
@@ -2601,7 +2595,7 @@ async def liquid_probe(
             (probe_settings.plunger_speed * plunger_direction),
             probe_settings.sensor_threshold_pascals,
             probe_settings.output_option,
-            probe_settings.data_file,
+            probe_settings.data_files,
             probe_settings.auto_zero_sensor,
             probe_settings.num_baseline_reads,
             probe=probe if probe else InstrumentProbeType.PRIMARY,

api/src/opentrons/hardware_control/types.py

@@ -624,6 +624,7 @@ class GripperJawState(enum.Enum):
 class InstrumentProbeType(enum.Enum):
     PRIMARY = enum.auto()
     SECONDARY = enum.auto()
+    BOTH = enum.auto()
 
 
 class GripperProbe(enum.Enum):

api/src/opentrons/protocol_engine/actions/actions.py

@@ -116,6 +116,7 @@ class QueueCommandAction:
     created_at: datetime
     request: CommandCreate
     request_hash: Optional[str]
+    failed_command_id: Optional[str] = None
 
 
 @dataclass(frozen=True)

api/src/opentrons/protocol_engine/commands/__init__.py

@@ -19,7 +19,7 @@
 from . import thermocycler
 from . import calibration
 
-from .hash_command_params import hash_command_params
+from .hash_command_params import hash_protocol_command_params
 from .generate_command_schema import generate_command_schema
 
 from .command import (
@@ -333,7 +333,7 @@
     "CommandStatus",
     "CommandIntent",
     # command parameter hashing
-    "hash_command_params",
+    "hash_protocol_command_params",
     # command schema generation
     "generate_command_schema",
     # aspirate command models

api/src/opentrons/protocol_engine/commands/command.py

@@ -55,6 +55,7 @@ class CommandIntent(str, Enum):
 
     PROTOCOL = "protocol"
     SETUP = "setup"
+    FIXIT = "fixit"
 
 
 class BaseCommandCreate(GenericModel, Generic[CommandParamsT]):
@@ -159,6 +160,12 @@ class BaseCommand(GenericModel, Generic[CommandParamsT, CommandResultT]):
             " the command's execution or the command's generation."
         ),
     )
+    failedCommandId: Optional[str] = Field(
+        None,
+        description=(
+            "FIXIT command use only. Reference of the failed command id we are trying to fix."
+        ),
+    )
 
 
 class AbstractCommandImpl(

api/src/opentrons/protocol_engine/commands/hash_command_params.py

@@ -9,7 +9,7 @@
 # TODO(mm, 2023-04-28):
 # This implementation will not notice that commands are different if they have different params
 # but share the same commandType. We should also hash command params. (Jira RCORE-326.)
-def hash_command_params(
+def hash_protocol_command_params(
     create: CommandCreate, last_hash: Optional[str]
 ) -> Optional[str]:
     """Given a command create object, return a hash.
@@ -28,12 +28,11 @@ def hash_command_params(
         The command hash, if the command is a protocol command.
         `None` if the command is a setup command.
     """
-    if create.intent == CommandIntent.SETUP:
+    if create.intent != CommandIntent.PROTOCOL:
         return None
-    else:
-        # We avoid Python's built-in hash() function because it's not stable across
-        # runs of the Python interpreter. (Jira RSS-215.)
-        last_contribution = b"" if last_hash is None else last_hash.encode("ascii")
-        this_contribution = md5(create.commandType.encode("ascii")).digest()
-        to_hash = last_contribution + this_contribution
-        return md5(to_hash).hexdigest()
+    # We avoid Python's built-in hash() function because it's not stable across
+    # runs of the Python interpreter. (Jira RSS-215.)
+    last_contribution = b"" if last_hash is None else last_hash.encode("ascii")
+    this_contribution = md5(create.commandType.encode("ascii")).digest()
+    to_hash = last_contribution + this_contribution
+    return md5(to_hash).hexdigest()