feat(hardware-testing): update the post processing for multi sensor readings

hardware-testing/hardware_testing/liquid_sense/__main__.py

@@ -80,7 +80,6 @@ class RunArgs:
     pipette: InstrumentContext
     pipette_tag: str
     git_description: str
-    robot_serial: str
     recorder: GravimetricRecorder
     pipette_volume: int
     pipette_channels: int
@@ -140,7 +139,6 @@ def _get_protocol_context(cls, args: argparse.Namespace) -> ProtocolContext:
     def build_run_args(cls, args: argparse.Namespace) -> "RunArgs":
         """Build."""
         _ctx = RunArgs._get_protocol_context(args)
-        robot_serial = helpers._get_robot_serial(_ctx.is_simulating())
         run_id, start_time = create_run_id_and_start_time()
         environment_sensor = asair_sensor.BuildAsairSensor(
             _ctx.is_simulating() or args.ignore_env
@@ -161,7 +159,10 @@ def build_run_args(cls, args: argparse.Namespace) -> "RunArgs":
         pipette_tag = helpers._get_tag_from_pipette(pipette, False, False)
 
         if args.trials == 0:
-            trials = 10
+            if args.channels < 96:
+                trials = 10
+            else:
+                trials = 7
         else:
             trials = args.trials
 
@@ -195,7 +196,6 @@ def build_run_args(cls, args: argparse.Namespace) -> "RunArgs":
         # go ahead and store the meta data now
         store_serial_numbers(
             report,
-            robot_serial,
             pipette_tag,
             scale.read_serial_number(),
             environment_sensor.get_serial(),
@@ -220,7 +220,6 @@ def build_run_args(cls, args: argparse.Namespace) -> "RunArgs":
             pipette=pipette,
             pipette_tag=pipette_tag,
             git_description=git_description,
-            robot_serial=robot_serial,
             recorder=recorder,
             pipette_volume=args.pipette,
             pipette_channels=args.channels,

hardware-testing/hardware_testing/liquid_sense/execute.py

@@ -176,43 +176,53 @@ def run(tip: int, run_args: RunArgs) -> None:
         lpc_offset = run_args.dial_indicator.read_stable()
         run_args.pipette._retract()
 
-    def _get_baseline() -> float:
+    def _get_tip_offset() -> float:
+        tip_offset = 0.0
+        if run_args.dial_indicator is not None:
+            run_args.pipette.move_to(dial_well.top())
+            tip_offset = run_args.dial_indicator.read_stable()
+            run_args.pipette._retract()
+        return tip_offset
+
+    def _get_target_height() -> 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()
-        tip_offset = 0.0
-        if run_args.dial_indicator is not None:
-            run_args.pipette.move_to(dial_well.top())
-            tip_offset = run_args.dial_indicator.read_stable()
-            run_args.pipette._retract()
-        if run_args.return_tip:
-            run_args.pipette.return_tip()
-        else:
-            run_args.pipette.drop_tip()
+        return target_height
 
-        env_data = run_args.environment_sensor.get_reading()
+    target_height = _get_target_height()
+    tip_offset = _get_tip_offset()
 
-        store_baseline_trial(
-            run_args.test_report,
-            tip,
-            target_height,
-            env_data.relative_humidity,
-            env_data.temperature,
-            test_well.top().point.z - target_height,
-            tip_offset - lpc_offset,
-        )
-        return target_height
+    if run_args.return_tip:
+        run_args.pipette.return_tip()
+    else:
+        run_args.pipette.drop_tip()
+
+    env_data = run_args.environment_sensor.get_reading()
+
+    store_baseline_trial(
+        run_args.test_report,
+        tip,
+        target_height,
+        env_data.relative_humidity,
+        env_data.temperature,
+        test_well.top().point.z - target_height,
+        tip_offset - lpc_offset,
+    )
 
     trials_before_jog = run_args.trials_before_jog
-    tip_offset = 0.0
+
     for trial in range(run_args.trials):
-        if trial % trials_before_jog == 0:
-            tip_offset = _get_baseline()
+        if trial > 0 and trial % trials_before_jog == 0:
+            target_height = _get_target_height()
+            if run_args.return_tip:
+                run_args.pipette.return_tip()
+            else:
+                run_args.pipette.drop_tip()
 
         ui.print_info(f"Picking up {tip}ul tip")
         run_args.pipette.pick_up_tip(tips[0])
@@ -225,7 +235,6 @@ def _get_baseline() -> float:
         run_args.pipette.blow_out()
         tip_length_offset = 0.0
         if run_args.dial_indicator is not None:
-
             run_args.pipette._retract()
             run_args.pipette.move_to(dial_well.top())
             tip_length_offset = tip_offset - run_args.dial_indicator.read_stable()
@@ -257,6 +266,7 @@ def _get_baseline() -> float:
             start_pos[Axis.Z_L] - end_pos[Axis.Z_L],
             plunger_start - end_pos[Axis.P_L],
             tip_length_offset,
+            target_height,
         )
         ui.print_info(
             f"\n\n Z axis start pos {start_pos[Axis.Z_L]} end pos {end_pos[Axis.Z_L]}"

hardware-testing/hardware_testing/liquid_sense/post_process.py

@@ -21,6 +21,25 @@
 }
 
 
+def _get_pressure_results(result_file: str) -> Tuple[float, float, float, List[float]]:
+    z_velocity: float = 0.0
+    p_velocity: float = 0.0
+    threshold: float = 0.0
+    pressures: List[float] = []
+    with open(result_file, newline="") as trial_csv:
+        trial_reader = csv.reader(trial_csv)
+        i = 0
+        for row in trial_reader:
+            if i == 1:
+                z_velocity = float(row[2])
+                p_velocity = float(row[3])
+                threshold = float(row[4])
+            if i > 1:
+                pressures.append(float(row[1]))
+            i += 1
+    return z_velocity, p_velocity, threshold, pressures
+
+
 def process_csv_directory(  # noqa: C901
     data_directory: str, tips: List[int], trials: int, make_graph: bool = False
 ) -> None:
@@ -29,15 +48,22 @@ def process_csv_directory(  # noqa: C901
     summary: str = [f for f in csv_files if "CSVReport" in f][0]
     final_report_file: str = f"{data_directory}/final_report.csv"
     # initialize our data structs
-    pressure_csvs = [f for f in csv_files if "pressure_sensor_data" in f]
-    pressure_results_files: Dict[int, List[str]] = {}
-    pressure_results: Dict[int, Dict[int, List[float]]] = {}
+    primary_pressure_csvs = [f for f in csv_files if "PRIMARY" in f]
+    secondary_pressure_csvs = [f for f in csv_files if "SECONDARY" in f]
+    primary_pressure_results_files: Dict[int, List[str]] = {}
+    secondary_pressure_results_files: Dict[int, List[str]] = {}
+    pressure_results: Dict[int, Dict[int, List[Tuple[float, float]]]] = {}
     results_settings: Dict[int, Dict[int, Tuple[float, float, float]]] = {}
     tip_offsets: Dict[int, List[float]] = {}
     p_offsets: Dict[int, List[float]] = {}
     meniscus_travel: float = 0
     for tip in tips:
-        pressure_results_files[tip] = [f for f in pressure_csvs if f"tip{tip}" in f]
+        primary_pressure_results_files[tip] = [
+            f for f in primary_pressure_csvs if f"tip{tip}" in f
+        ]
+        secondary_pressure_results_files[tip] = [
+            f for f in secondary_pressure_csvs if f"tip{tip}" in f
+        ]
         pressure_results[tip] = {}
         results_settings[tip] = {}
         tip_offsets[tip] = []
@@ -50,22 +76,35 @@ def process_csv_directory(  # noqa: C901
     # read in all of the pressure csvs into one big struct so we can process them
     for tip in tips:
         for trial in range(trials):
-            with open(
-                f"{data_directory}/{pressure_results_files[tip][trial]}", newline=""
-            ) as trial_csv:
-                trial_reader = csv.reader(trial_csv)
-                i = 0
-                for row in trial_reader:
-                    if i == 1:
-                        results_settings[tip][trial] = (
-                            float(row[2]),
-                            float(row[3]),
-                            float(row[4]),
-                        )
-                    if i > 1:
-                        pressure_results[tip][trial].append(float(row[1]))
-                    i += 1
-                max_results_len = max([i - 2, max_results_len])
+            z_velocity: float = 0.0
+            p_velocity: float = 0.0
+            threshold: float = 0.0
+            primary_pressures: List[float] = []
+            secondary_pressures: List[float] = []
+            if trial < len(primary_pressure_results_files[tip]):
+                (
+                    z_velocity,
+                    p_velocity,
+                    threshold,
+                    primary_pressures,
+                ) = _get_pressure_results(
+                    f"{data_directory}/{primary_pressure_results_files[tip][trial]}"
+                )
+            if trial < len(secondary_pressure_results_files[tip]):
+                (
+                    z_velocity,
+                    p_velocity,
+                    threshold,
+                    secondary_pressures,
+                ) = _get_pressure_results(
+                    f"{data_directory}/{secondary_pressure_results_files[tip][trial]}"
+                )
+            results_settings[tip][trial] = (z_velocity, p_velocity, threshold)
+            for i in range(max(len(primary_pressures), len(secondary_pressures))):
+                p = primary_pressures[i] if i < len(primary_pressures) else 0.0
+                s = secondary_pressures[i] if i < len(secondary_pressures) else 0.0
+                pressure_results[tip][trial].append((p, s))
+            max_results_len = max([len(pressure_results[tip][trial]), max_results_len])
     # start writing the final report csv
     with open(f"{data_directory}/{summary}", newline="") as summary_csv:
         summary_reader = csv.reader(summary_csv)
@@ -76,11 +115,11 @@ def process_csv_directory(  # noqa: C901
             for row in summary_reader:
                 final_report_writer.writerow(row)
                 s += 1
-                if s == 45:
+                if s == 44:
                     meniscus_travel = float(row[6])
-                if s >= 46 and s < 46 + (trials * len(tips)):
+                if s >= 45 and s < 45 + (trials * len(tips)):
                     # while processing this grab the tip offsets from the summary
-                    tip_offsets[tips[int((s - 46) / trials)]].append(float(row[8]))
+                    tip_offsets[tips[int((s - 45) / trials)]].append(float(row[8]))
             # summary_reader.line_num is the last line in the summary that has text
             pressures_start_line = summary_reader.line_num + 3
             # calculate where the start and end of each block of data we want to graph
@@ -102,7 +141,12 @@ def process_csv_directory(  # noqa: C901
             pressure_header_row = ["time", ""]
             for i in range(trials):
                 pressure_header_row.extend(
-                    [f"pressure T{i+1}", f"z_travel T{i+1}", f"p_travel T{i+1}"]
+                    [
+                        f"primary pressure T{i+1}",
+                        f"secondary pressure T{i+1}",
+                        f"z_travel T{i+1}",
+                        f"p_travel T{i+1}",
+                    ]
                 )
 
             # we want to line up the z height's of each trial at time==0
@@ -153,9 +197,11 @@ def process_csv_directory(  # noqa: C901
                         pressure_row.append("")
                     for trial in range(trials):
                         if i < len(pressure_results[tip][trial]):
-                            pressure_row.append(f"{pressure_results[tip][trial][i]}")
+                            pressure_row.append(f"{pressure_results[tip][trial][i][0]}")
+                            pressure_row.append(f"{pressure_results[tip][trial][i][1]}")
                         else:
                             pressure_row.append("")
+                            pressure_row.append("")
                         pressure_row.append(
                             f"{results_settings[tip][trial][0] * time - tip_offsets[tip][trial]}"
                         )

hardware-testing/hardware_testing/liquid_sense/report.py

@@ -41,7 +41,6 @@ def build_serial_number_section() -> CSVSection:
     return CSVSection(
         title="SERIAL-NUMBERS",
         lines=[
-            CSVLine("robot", [str]),
             CSVLine("git_description", [str]),
             CSVLine("pipette", [str]),
             CSVLine("scale", [str]),
@@ -71,7 +70,7 @@ def build_config_section() -> CSVSection:
 def build_trials_section(trials: int, tips: List[int]) -> CSVSection:
     """Build section."""
     lines: List[Union[CSVLine, CSVLineRepeating]] = [
-        CSVLine("trial_number", [str, str, str, str, str, str, str, str])
+        CSVLine("trial_number", [str, str, str, str, str, str, str, str, str])
     ]
     lines.extend(
         [
@@ -86,7 +85,7 @@ def build_trials_section(trials: int, tips: List[int]) -> CSVSection:
         [
             CSVLine(
                 f"trial-{t + 1}-{tip}ul",
-                [float, float, float, float, float, float, float, float],
+                [float, float, float, float, float, float, float, float, float],
             )
             for tip in tips
             for t in range(trials)
@@ -116,14 +115,12 @@ def build_results_section(tips: List[int]) -> CSVSection:
 
 def store_serial_numbers(
     report: CSVReport,
-    robot: str,
     pipette: str,
     scale: str,
     environment: str,
     git_description: str,
 ) -> None:
     """Report serial numbers."""
-    report("SERIAL-NUMBERS", "robot", [robot])
     report("SERIAL-NUMBERS", "git_description", [git_description])
     report("SERIAL-NUMBERS", "pipette", [pipette])
     report("SERIAL-NUMBERS", "scale", [scale])
@@ -195,6 +192,7 @@ def store_trial(
     z_travel: float,
     plunger_travel: float,
     tip_length_offset: float,
+    target_height: float,
 ) -> None:
     """Report Trial."""
     report(
@@ -209,6 +207,7 @@ def store_trial(
             plunger_travel,
             tip_length_offset,
             height + tip_length_offset,
+            target_height,
         ],
     )
 
@@ -258,6 +257,7 @@ def build_ls_report(
             "plunger_travel",
             "tip_length_offset",
             "adjusted_height",
+            "target_height",
         ],
     )
     return report

hardware-testing/hardware_testing/protocols/liquid_sense_lpc/liquid_sense_ot3_p1000_96.py

@@ -8,9 +8,9 @@
 SLOT_DIAL = 5
 SLOTS_TIPRACK = {
     # TODO: add slot 12 when tipracks are disposable
-    50: [2, 3, 6, 7, 8, 9, 10, 11],
-    200: [2, 3, 6, 7, 8, 9, 10, 11],  # NOTE: ignored during calibration
-    1000: [2, 3, 6, 7, 8, 9, 10, 11],  # NOTE: ignored during calibration
+    50: [1, 2, 3, 6, 7, 8, 9, 10, 11],
+    200: [1, 2, 3, 6, 7, 8, 9, 10, 11],  # NOTE: ignored during calibration
+    1000: [1, 2, 3, 6, 7, 8, 9, 10, 11],  # NOTE: ignored during calibration
 }
 
 LABWARE_ON_SCALE = "nest_1_reservoir_195ml"

hardware/opentrons_hardware/hardware_control/tool_sensors.py

@@ -234,7 +234,7 @@ async def _setup_pressure_sensors(
 
     for sensor in sensors:
         pressure_sensor = PressureSensor.build(
-            sensor_id=sensor_id,
+            sensor_id=sensor,
             node_id=tool,
             stop_threshold=threshold_fixed_point,
         )