feat(hardware-testing): add the p200_96 to production qc test scripts (…

…#16779)

<!--
Thanks for taking the time to open a Pull Request (PR)! Please make sure
you've read the "Opening Pull Requests" section of our Contributing
Guide:


https://github.com/Opentrons/opentrons/blob/edge/CONTRIBUTING.md#opening-pull-requests

GitHub provides robust markdown to format your PR. Links, diagrams,
pictures, and videos along with text formatting make it possible to
create a rich and informative PR. For more information on GitHub
markdown, see:


https://docs.github.com/en/get-started/writing-on-github/getting-started-with-writing-and-formatting-on-github/basic-writing-and-formatting-syntax

To ensure your code is reviewed quickly and thoroughly, please fill out
the sections below to the best of your ability!
-->

# Overview
adds a new --pipette [200/1000] arg to the qc test script so we can test
both pipettes
<!--
Describe your PR at a high level. State acceptance criteria and how this
PR fits into other work. Link issues, PRs, and other relevant resources.
-->

## Test Plan and Hands on Testing

<!--
Describe your testing of the PR. Emphasize testing not reflected in the
code. Attach protocols, logs, screenshots and any other assets that
support your testing.
-->

## Changelog

<!--
List changes introduced by this PR considering future developers and the
end user. Give careful thought and clear documentation to breaking
changes.
-->

## Review requests

<!--
- What do you need from reviewers to feel confident this PR is ready to
merge?
- Ask questions.
-->

## Risk assessment

<!--
- Indicate the level of attention this PR needs.
- Provide context to guide reviewers.
- Discuss trade-offs, coupling, and side effects.
- Look for the possibility, even if you think it's small, that your
change may affect some other part of the system.
- For instance, changing return tip behavior may also change the
behavior of labware calibration.
- How do your unit tests and on hands on testing mitigate this PR's
risks and the risk of future regressions?
- Especially in high risk PRs, explain how you know your testing is
enough.
-->

hardware-testing/Makefile

@@ -138,6 +138,7 @@ test-production-qc:
 	$(python) -m hardware_testing.production_qc.robot_assembly_qc_ot3 --simulate
 	$(python) -m hardware_testing.production_qc.gripper_assembly_qc_ot3 --simulate
 	$(python) -m hardware_testing.production_qc.ninety_six_assembly_qc_ot3 --simulate
+	$(python) -m hardware_testing.production_qc.ninety_six_assembly_qc_ot3 --simulate --pipette 200
 	$(python) -m hardware_testing.production_qc.stress_test_qc_ot3 --simulate
 	$(python) -m hardware_testing.production_qc.firmware_check --simulate
 	$(python) -m hardware_testing.production_qc.belt_calibration_ot3 --simulate

hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/__main__.py

@@ -14,11 +14,11 @@ async def _main(cfg: TestConfig) -> None:
     # BUILD REPORT
     test_name = Path(__file__).parent.name
     ui.print_title(test_name.replace("_", " ").upper())
-
+    pipette_string = "p1000_96_v3.4" if cfg.pipette == 1000 else "p200_96_v3.0"
     # BUILD API
     api = await helpers_ot3.build_async_ot3_hardware_api(
         is_simulating=cfg.simulate,
-        pipette_left="p1000_96_v3.4",
+        pipette_left=pipette_string,
     )
 
     # CSV REPORT
@@ -49,7 +49,7 @@ async def _main(cfg: TestConfig) -> None:
     # RUN TESTS
     for section, test_run in cfg.tests.items():
         ui.print_title(section.value)
-        await test_run(api, report, section.value)
+        await test_run(api, report, section.value, cfg.pipette)
 
     # RELOAD PIPETTE
     ui.print_title("DONE")
@@ -71,6 +71,7 @@ async def _main(cfg: TestConfig) -> None:
         parser.add_argument(
             f"--only-{s.value.lower()}".replace("_", "-"), action="store_true"
         )
+    parser.add_argument("--pipette", type=int, choices=[200, 1000], default=1000)
     args = parser.parse_args()
     _t_sections = {
         s: f
@@ -87,5 +88,7 @@ async def _main(cfg: TestConfig) -> None:
             for s, f in TESTS
             if not getattr(args, f"skip_{s.value.lower().replace('-', '_')}")
         }
-    _config = TestConfig(simulate=args.simulate, tests=_t_sections)
+    _config = TestConfig(
+        simulate=args.simulate, tests=_t_sections, pipette=args.pipette
+    )
     asyncio.run(_main(_config))

hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/config.py

@@ -1,7 +1,7 @@
 """Config."""
 from dataclasses import dataclass
 import enum
-from typing import Dict, Callable
+from typing import Dict, Callable, Literal
 
 from hardware_testing.data.csv_report import CSVReport, CSVSection
 
@@ -34,6 +34,7 @@ class TestConfig:
 
     simulate: bool
     tests: Dict[TestSection, Callable]
+    pipette: Literal[200, 1000]
 
 
 TESTS = [

hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_capacitance.py

@@ -1,6 +1,6 @@
 """Test Capacitance."""
 from asyncio import sleep
-from typing import List, Union, Tuple, Optional, cast
+from typing import List, Union, Tuple, Optional, cast, Literal
 
 from opentrons_hardware.hardware_control.tool_sensors import capacitive_probe
 from opentrons_hardware.firmware_bindings.constants import NodeId, SensorId
@@ -104,7 +104,9 @@ def _get_hover_and_probe_pos(
     return hover_pos + probe_offset, probe_pos + probe_offset
 
 
-async def run(api: OT3API, report: CSVReport, section: str) -> None:
+async def run(
+    api: OT3API, report: CSVReport, section: str, pipette: Literal[200, 1000]
+) -> None:
     """Run."""
     z_ax = Axis.Z_L
     p_ax = Axis.P_L

hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_droplets.py

@@ -1,7 +1,7 @@
 """Test Droplets."""
 from asyncio import sleep
 from time import time
-from typing import List, Union, Tuple, Optional, Dict
+from typing import List, Union, Tuple, Optional, Dict, Literal
 
 from opentrons.hardware_control.ot3api import OT3API
 from opentrons.hardware_control.motion_utilities import target_position_from_relative
@@ -16,14 +16,11 @@
 from hardware_testing.opentrons_api import helpers_ot3
 from hardware_testing.opentrons_api.types import OT3Mount, Point, Axis
 
-TIP_VOLUME = 1000
-ASPIRATE_VOLUME = 1000
 NUM_SECONDS_TO_WAIT = 30
 HOVER_HEIGHT_MM = 50
 DEPTH_INTO_RESERVOIR_FOR_ASPIRATE = -24
 DEPTH_INTO_RESERVOIR_FOR_DISPENSE = DEPTH_INTO_RESERVOIR_FOR_ASPIRATE
 
-TIP_RACK_LABWARE = f"opentrons_flex_96_tiprack_{TIP_VOLUME}ul"
 RESERVOIR_LABWARE = "nest_1_reservoir_195ml"
 
 TIP_RACK_96_SLOT = 4
@@ -86,31 +83,31 @@ def get_reservoir_nominal() -> Point:
     return reservoir_a1_nominal
 
 
-def get_tiprack_96_nominal() -> Point:
+def get_tiprack_96_nominal(pipette: Literal[200, 1000]) -> Point:
     """Get nominal tiprack position for 96-tip pick-up."""
     tip_rack_a1_nominal = helpers_ot3.get_theoretical_a1_position(
-        TIP_RACK_96_SLOT, TIP_RACK_LABWARE
+        TIP_RACK_96_SLOT, f"opentrons_flex_96_tiprack_{pipette}ul"
     )
     return tip_rack_a1_nominal + Point(z=TIP_RACK_96_ADAPTER_HEIGHT)
 
 
-def get_tiprack_partial_nominal() -> Point:
+def get_tiprack_partial_nominal(pipette: Literal[200, 1000]) -> Point:
     """Get nominal tiprack position for partial-tip pick-up."""
     tip_rack_a1_nominal = helpers_ot3.get_theoretical_a1_position(
-        TIP_RACK_PARTIAL_SLOT, TIP_RACK_LABWARE
+        TIP_RACK_PARTIAL_SLOT, f"opentrons_flex_96_tiprack_{pipette}ul"
     )
     return tip_rack_a1_nominal
 
 
 async def aspirate_and_wait(
-    api: OT3API, reservoir: Point, seconds: int = 30
+    api: OT3API, reservoir: Point, pipette: Literal[200, 1000], seconds: int = 30
 ) -> Tuple[bool, float]:
     """Aspirate and wait."""
     await helpers_ot3.move_to_arched_ot3(api, OT3Mount.LEFT, reservoir)
     await api.move_to(
         OT3Mount.LEFT, reservoir + Point(z=DEPTH_INTO_RESERVOIR_FOR_ASPIRATE)
     )
-    await api.aspirate(OT3Mount.LEFT, ASPIRATE_VOLUME)
+    await api.aspirate(OT3Mount.LEFT, pipette)
     await api.move_to(OT3Mount.LEFT, reservoir + Point(z=HOVER_HEIGHT_MM))
 
     start_time = time()
@@ -136,15 +133,15 @@ async def aspirate_and_wait(
     return result, duration_seconds
 
 
-async def _drop_tip(api: OT3API, trash: Point) -> None:
+async def _drop_tip(api: OT3API, trash: Point, pipette: Literal[200, 1000]) -> None:
     print("drop in trash")
     await helpers_ot3.move_to_arched_ot3(api, OT3Mount.LEFT, trash + Point(z=20))
     await api.move_to(OT3Mount.LEFT, trash)
     await api.drop_tip(OT3Mount.LEFT)
     # NOTE: a FW bug (as of v14) will sometimes not fully drop tips.
     #       so here we ask if the operator needs to try again
     while not api.is_simulator and ui.get_user_answer("try dropping again"):
-        api.add_tip(OT3Mount.LEFT, helpers_ot3.get_default_tip_length(TIP_VOLUME))
+        api.add_tip(OT3Mount.LEFT, helpers_ot3.get_default_tip_length(pipette))
         await api.drop_tip(OT3Mount.LEFT)
     await api.home_z(OT3Mount.LEFT)
 
@@ -164,24 +161,28 @@ async def _partial_pick_up_z_motion(
     await api._update_position_estimation([Axis.Z_L])
 
 
-async def _partial_pick_up(api: OT3API, position: Point, current: float) -> None:
+async def _partial_pick_up(
+    api: OT3API, position: Point, current: float, pipette: Literal[200, 1000]
+) -> None:
     await helpers_ot3.move_to_arched_ot3(
         api,
         OT3Mount.LEFT,
         position,
         safe_height=position.z + 10,
     )
     await _partial_pick_up_z_motion(api, current=current, distance=13, speed=5)
-    api.add_tip(OT3Mount.LEFT, helpers_ot3.get_default_tip_length(TIP_VOLUME))
+    api.add_tip(OT3Mount.LEFT, helpers_ot3.get_default_tip_length(pipette))
     await api.prepare_for_aspirate(OT3Mount.LEFT)
     await api.home_z(OT3Mount.LEFT)
 
 
-async def run(api: OT3API, report: CSVReport, section: str) -> None:
+async def run(
+    api: OT3API, report: CSVReport, section: str, pipette: Literal[200, 1000]
+) -> None:
     """Run."""
     # GATHER NOMINAL POSITIONS
     trash_nominal = get_trash_nominal()
-    tip_rack_96_a1_nominal = get_tiprack_96_nominal()
+    tip_rack_96_a1_nominal = get_tiprack_96_nominal(pipette)
     # tip_rack_partial_a1_nominal = get_tiprack_partial_nominal()
     reservoir_a1_nominal = get_reservoir_nominal()
     reservoir_a1_actual: Optional[Point] = None
@@ -208,7 +209,7 @@ async def _find_reservoir_pos() -> None:
     )
     await helpers_ot3.jog_mount_ot3(api, OT3Mount.LEFT)
     print("picking up tips")
-    await api.pick_up_tip(OT3Mount.LEFT, helpers_ot3.get_default_tip_length(TIP_VOLUME))
+    await api.pick_up_tip(OT3Mount.LEFT, helpers_ot3.get_default_tip_length(pipette))
     await api.home_z(OT3Mount.LEFT)
     if not api.is_simulator:
         ui.get_user_ready("about to move to RESERVOIR")
@@ -218,10 +219,13 @@ async def _find_reservoir_pos() -> None:
     await _find_reservoir_pos()
     assert reservoir_a1_actual
     result, duration = await aspirate_and_wait(
-        api, reservoir_a1_actual, seconds=NUM_SECONDS_TO_WAIT
+        api,
+        reservoir_a1_actual,
+        pipette=pipette,
+        seconds=NUM_SECONDS_TO_WAIT,
     )
     report(section, "droplets-96-tips", [duration, CSVResult.from_bool(result)])
-    await _drop_tip(api, trash_nominal)
+    await _drop_tip(api, trash_nominal, pipette)
 
     # if not api.is_simulator:
     #     ui.get_user_ready(f"REMOVE 96 tip-rack from slot #{TIP_RACK_96_SLOT}")

hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_environmental_sensor.py

@@ -1,6 +1,6 @@
 """Test Environmental Sensor."""
 from asyncio import sleep
-from typing import List, Union
+from typing import List, Union, Literal
 
 from opentrons.hardware_control.ot3api import OT3API
 
@@ -33,7 +33,9 @@ def _remove_outliers_and_average(values: List[float]) -> float:
     return sum(no_outliers) / len(no_outliers)
 
 
-async def run(api: OT3API, report: CSVReport, section: str) -> None:
+async def run(
+    api: OT3API, report: CSVReport, section: str, pipette: Literal[200, 1000]
+) -> None:
     """Run."""
     await api.home_z(OT3Mount.LEFT)
     slot_5 = helpers_ot3.get_slot_calibration_square_position_ot3(5)

hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_jaws.py

@@ -1,5 +1,5 @@
 """Test Jaws."""
-from typing import List, Union, Tuple, Dict
+from typing import List, Union, Tuple, Dict, Literal
 
 from opentrons.hardware_control.ot3api import OT3API
 
@@ -98,7 +98,9 @@ async def jaw_precheck(api: OT3API, ax: Axis, speed: float) -> Tuple[bool, bool]
     return led_check, jaws_aligned
 
 
-async def run(api: OT3API, report: CSVReport, section: str) -> None:
+async def run(
+    api: OT3API, report: CSVReport, section: str, pipette: Literal[200, 1000]
+) -> None:
     """Run."""
     ax = Axis.Q
     settings = helpers_ot3.get_gantry_load_per_axis_motion_settings_ot3(api, ax)

hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_plunger.py

@@ -1,5 +1,5 @@
 """Test Plunger."""
-from typing import List, Union, Tuple, Dict
+from typing import List, Union, Tuple, Dict, Literal
 
 from opentrons.hardware_control.ot3api import OT3API
 
@@ -53,7 +53,9 @@ async def _is_plunger_still_aligned_with_encoder(
     return p_enc, p_est, is_aligned
 
 
-async def run(api: OT3API, report: CSVReport, section: str) -> None:
+async def run(
+    api: OT3API, report: CSVReport, section: str, pipette: Literal[200, 1000]
+) -> None:
     """Run."""
     ax = Axis.P_L
     mount = OT3Mount.LEFT

hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_pressure.py

@@ -1,6 +1,6 @@
 """Test Pressure."""
 from asyncio import sleep
-from typing import List, Union
+from typing import List, Union, Literal
 
 from opentrons_hardware.firmware_bindings.constants import SensorId
 
@@ -94,7 +94,9 @@ def check_value(test_value: float, test_name: str) -> CSVResult:
         return CSVResult.FAIL
 
 
-async def run(api: OT3API, report: CSVReport, section: str) -> None:
+async def run(
+    api: OT3API, report: CSVReport, section: str, pipette: Literal[200, 1000]
+) -> None:
     """Run."""
     await api.home_z(OT3Mount.LEFT)
     slot_5 = helpers_ot3.get_slot_calibration_square_position_ot3(5)

hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_tip_sensor.py

@@ -1,6 +1,6 @@
 """Test Tip Sensor."""
 import asyncio
-from typing import List, Union, cast
+from typing import List, Union, cast, Literal
 
 from opentrons_hardware.firmware_bindings import ArbitrationId
 from opentrons_hardware.firmware_bindings.constants import MessageId
@@ -75,7 +75,9 @@ def _listener(message: MessageDefinition, arbitration_id: ArbitrationId) -> None
     return result
 
 
-async def run(api: OT3API, report: CSVReport, section: str) -> None:
+async def run(
+    api: OT3API, report: CSVReport, section: str, pipette: Literal[200, 1000]
+) -> None:
     """Run."""
     ax = Axis.Q
     await api.home_z(OT3Mount.LEFT)