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

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merged 3 commits into from
Aug 12, 2024
Merged

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

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cc43f5b
fix lld bug
ryanthecoder Aug 9, 2024
f4b0c4f
fix the tests that were returning a dict instead of a float
ryanthecoder Aug 9, 2024
528f2fc
clarify offset
ryanthecoder Aug 12, 2024
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15 changes: 12 additions & 3 deletions api/src/opentrons/hardware_control/ot3api.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
Expand All @@ -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[2] + cp.z
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nitpick: I think offset.z is a little clearer


async def liquid_probe(
self,
Expand Down
23 changes: 3 additions & 20 deletions api/tests/opentrons/hardware_control/test_ot3_api.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
Expand All @@ -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
Expand Down Expand Up @@ -903,7 +895,7 @@ async def test_liquid_probe_plunger_moves(
PipetteLiquidNotFoundError,
PipetteLiquidNotFoundError,
PipetteLiquidNotFoundError,
None,
140,
]

fake_max_z_dist = 75.0
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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],
Expand Down
2 changes: 1 addition & 1 deletion hardware/opentrons_hardware/hardware_control/tool_sensors.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
Expand Down
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