From 28069f8a58650c8c53feb7827bb17406d9d7996d Mon Sep 17 00:00:00 2001
From: Ryan Howard <ryan.howard@opentrons.com>
Date: Tue, 28 May 2024 11:37:50 -0400
Subject: [PATCH] fix(api): monitor the pressure sensor more (#15246)

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# Overview
This will allow us to monitor the pressure sensor more, specifically it
should help us catch and differentiate cases where the tip collides with
the labware by monitoring it during the z movement in addition to the
plunger movement.
Should help diagnose:
RABR-319
RABR-305
RABR-304
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# Test Plan

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- Verified that new optional argument `dance-party` causes the robot to
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- Verified that when you omit the `dance-party` option the robot homes
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- Added protocol that uses `dance-party` argument to G-Code Testing
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- Ran protocol that did not use `dance-party` argument and everything
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- Added unit tests to validate that changes to pydantic model are
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# Changelog

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---
 .../backends/ot3controller.py                 | 11 ++---
 .../hardware_control/backends/ot3utils.py     | 14 ++++++
 .../backends/test_ot3_utils.py                | 47 +++++++++++++++++++
 3 files changed, 65 insertions(+), 7 deletions(-)

diff --git a/api/src/opentrons/hardware_control/backends/ot3controller.py b/api/src/opentrons/hardware_control/backends/ot3controller.py
index 62d44ae7aea..1e07ef3b191 100644
--- a/api/src/opentrons/hardware_control/backends/ot3controller.py
+++ b/api/src/opentrons/hardware_control/backends/ot3controller.py
@@ -45,7 +45,7 @@
     motor_nodes,
     LIMIT_SWITCH_OVERTRAVEL_DISTANCE,
     map_pipette_type_to_sensor_id,
-    moving_axes_in_move_group,
+    moving_pipettes_in_move_group,
     gripper_jaw_state_from_fw,
     get_system_constraints,
     get_system_constraints_for_calibration,
@@ -667,12 +667,9 @@ async def move(
             else False,
         )
 
-        mounts_moving = [
-            k
-            for k in moving_axes_in_move_group(move_group)
-            if k in [NodeId.pipette_left, NodeId.pipette_right]
-        ]
-        async with self._monitor_overpressure(mounts_moving):
+        pipettes_moving = moving_pipettes_in_move_group(move_group)
+
+        async with self._monitor_overpressure(pipettes_moving):
             positions = await runner.run(can_messenger=self._messenger)
         self._handle_motor_status_response(positions)
 
diff --git a/api/src/opentrons/hardware_control/backends/ot3utils.py b/api/src/opentrons/hardware_control/backends/ot3utils.py
index a9108c2365e..6d62ffc4581 100644
--- a/api/src/opentrons/hardware_control/backends/ot3utils.py
+++ b/api/src/opentrons/hardware_control/backends/ot3utils.py
@@ -498,6 +498,20 @@ def create_gripper_jaw_hold_group(encoder_position_um: int) -> MoveGroup:
     return move_group
 
 
+def moving_pipettes_in_move_group(group: MoveGroup) -> List[NodeId]:
+    """Utility function to get which pipette nodes are moving either in z or their plunger."""
+    all_nodes = [node for step in group for node, _ in step.items()]
+    moving_nodes = moving_axes_in_move_group(group)
+    pipettes_moving: List[NodeId] = [
+        k for k in moving_nodes if k in [NodeId.pipette_left, NodeId.pipette_right]
+    ]
+    if NodeId.head_l in moving_nodes and NodeId.pipette_left in all_nodes:
+        pipettes_moving.append(NodeId.pipette_left)
+    if NodeId.head_r in moving_nodes and NodeId.pipette_right in all_nodes:
+        pipettes_moving.append(NodeId.pipette_right)
+    return pipettes_moving
+
+
 def moving_axes_in_move_group(group: MoveGroup) -> Set[NodeId]:
     """Utility function to get only the moving nodes in a move group."""
     ret: Set[NodeId] = set()
diff --git a/api/tests/opentrons/hardware_control/backends/test_ot3_utils.py b/api/tests/opentrons/hardware_control/backends/test_ot3_utils.py
index efdd64392d1..0d081878dd1 100644
--- a/api/tests/opentrons/hardware_control/backends/test_ot3_utils.py
+++ b/api/tests/opentrons/hardware_control/backends/test_ot3_utils.py
@@ -1,3 +1,5 @@
+import pytest
+from typing import List
 from opentrons_hardware.hardware_control.motion_planning import Move
 from opentrons_hardware.hardware_control.motion import (
     create_step,
@@ -119,3 +121,48 @@ def test_get_system_contraints_for_plunger() -> None:
     )
 
     assert updated_contraints[axis].max_acceleration == set_acceleration
+
+
+@pytest.mark.parametrize(
+    ["moving", "expected"],
+    [
+        [
+            [NodeId.gantry_x, NodeId.gantry_y, NodeId.gripper_g, NodeId.gripper_z],
+            [],
+        ],
+        [
+            [NodeId.head_l],
+            [NodeId.pipette_left],
+        ],
+        [
+            [NodeId.head_r],
+            [NodeId.pipette_right],
+        ],
+    ],
+)
+def test_moving_pipettes_in_move_group(
+    moving: List[NodeId], expected: List[NodeId]
+) -> None:
+    """Test that we can filter out the nonmoving nodes."""
+    present_nodes = [
+        NodeId.gantry_x,
+        NodeId.gantry_y,
+        NodeId.head_l,
+        NodeId.head_r,
+        NodeId.pipette_left,
+        NodeId.pipette_right,
+        NodeId.gripper_g,
+        NodeId.gripper_z,
+    ]
+    move_group = [
+        create_step(
+            distance={node: f64(100) for node in moving},
+            velocity={node: f64(100) for node in moving},
+            acceleration={node: f64(0) for node in moving},
+            duration=f64(1),
+            present_nodes=present_nodes,
+        )
+    ]
+
+    moving_pipettes = ot3utils.moving_pipettes_in_move_group(move_group)
+    assert set(moving_pipettes) == set(expected)