Merge branch 'edge' into flex_deck_slot_names

.github/workflows/pd-test-build-deploy.yaml

@@ -194,13 +194,18 @@ jobs:
         with:
           name: pd-artifact
           path: ./dist
-      - name: 'deploy builds to s3'
+      - name: 'configure ot3 s3 deploy creds and deploy'
         env:
-          AWS_ACCESS_KEY_ID: ${{ secrets.S3_SANDBOX_KEY_ID }}
-          AWS_SECRET_ACCESS_KEY: ${{ secrets.S3_SANDBOX_SECRET }}
-          AWS_DEFAULT_REGION: us-east-2
-        uses: './.github/actions/webstack/deploy-to-sandbox'
-        with:
-          domain: 'designer.opentrons.com'
-          distPath: './dist'
-          destPrefix: ${{ env.OT_BRANCH }}
+          AWS_ACCESS_KEY_ID: ${{ secrets.PD_S3_SANDBOX_KEY_ID }}
+          AWS_SECRET_ACCESS_KEY: ${{ secrets.PD_S3_SANDBOX_SECRET }}
+          AWS_DEFAULT_REGION: us-east-1
+        run: |
+          aws configure set aws_access_key_id ${{ secrets.PD_S3_SANDBOX_KEY_ID }} --profile identity
+          aws configure set aws_secret_access_key ${{ secrets.PD_S3_SANDBOX_SECRET }} --profile identity
+          aws configure set region us-east-2 --profile identity
+          aws configure set output json --profile identity
+          aws configure set region us-east-2 --profile deploy
+          aws configure set role_arn ${{ secrets.OT_PD_DEPLOY_ROLE }} --profile deploy
+          aws configure set source_profile identity --profile deploy
+          aws s3 sync ./dist s3://sandbox.designer.opentrons.com/${{ env.OT_BRANCH }} --acl=public-read --profile=deploy
+        shell: bash

Makefile

@@ -17,6 +17,7 @@ SHARED_DATA_DIR := shared-data
 UPDATE_SERVER_DIR := update-server
 ROBOT_SERVER_DIR := robot-server
 SERVER_UTILS_DIR := server-utils
+SYSTEM_SERVER_DIR := system-server
 HARDWARE_DIR := hardware
 USB_BRIDGE_DIR := usb-bridge
 
@@ -142,6 +143,8 @@ push:
 	$(MAKE) -C $(ROBOT_SERVER_DIR) push
 	sleep 1
 	$(MAKE) -C $(SERVER_UTILS_DIR) push
+	sleep 1
+	$(MAKE) -C $(SYSTEM_SERVER_DIR) push
 
 
 .PHONY: push-ot3
@@ -153,6 +156,7 @@ push-ot3:
 	$(MAKE) -C $(NOTIFY_SERVER_DIR) push-no-restart-ot3
 	$(MAKE) -C $(ROBOT_SERVER_DIR) push-ot3
 	$(MAKE) -C $(SERVER_UTILS_DIR) push-ot3
+	$(MAKE) -C $(SYSTEM_SERVER_DIR) push-ot3
 	$(MAKE) -C $(UPDATE_SERVER_DIR) push-ot3
 	$(MAKE) -C $(USB_BRIDGE_DIR) push-ot3
 

api-client/src/instruments/types.ts

@@ -4,8 +4,9 @@ export interface GripperData {
   data: {
     jawState: string
     calibratedOffset: {
-      offset: [number, number, number]
+      offset: { x: number; y: number; z: number }
       source: string
+      last_modified: string
     }
   }
   instrumentModel: string
@@ -19,8 +20,9 @@ export interface PipetteData {
     min_volume: number
     max_volume: number
     calibratedOffset: {
-      offset: [number, number, number]
+      offset: { x: number; y: number; z: number }
       source: string
+      last_modified: string
     }
   }
   instrumentName: string

api-client/src/maintenance_runs/createMaintenanceRun.ts

@@ -2,10 +2,16 @@ import { POST, request } from '../request'
 
 import type { ResponsePromise } from '../request'
 import type { HostConfig } from '../types'
-import type { MaintenanceRun } from './types'
+import type { CreateMaintenanceRunData, MaintenanceRun } from './types'
 
 export function createMaintenanceRun(
-  config: HostConfig
+  config: HostConfig,
+  data: CreateMaintenanceRunData = {}
 ): ResponsePromise<MaintenanceRun> {
-  return request<MaintenanceRun>(POST, '/maintenance_runs', null, config)
+  return request<MaintenanceRun, { data: CreateMaintenanceRunData }>(
+    POST,
+    '/maintenance_runs',
+    { data },
+    config
+  )
 }

api-client/src/maintenance_runs/types.ts

@@ -4,7 +4,7 @@ import type {
   LoadedModule,
   LoadedPipette,
 } from '@opentrons/shared-data'
-import type { RunCommandSummary } from '../runs'
+import type { RunCommandSummary, LabwareOffsetCreateData } from '../runs'
 
 export const ENGINE_STATUS_IDLE = 'idle' as const
 export const ENGINE_STATUS_RUNNING = 'running' as const
@@ -77,3 +77,7 @@ export interface MaintenanceRunError {
   createdAt: string
   detail: string
 }
+
+export interface CreateMaintenanceRunData {
+  labwareOffsets?: LabwareOffsetCreateData[]
+}

api/pytest.ini

@@ -3,5 +3,5 @@ markers =
         apiv2_non_pe_only: This test invocation requires a legacy PAPI context, not backed by Protocol Engine
         ot2_only: Test only functions using the OT2 hardware
         ot3_only: Test only functions using the OT3 hardware
-addopts = --color=yes
+addopts = --color=yes --strict-markers
 asyncio_mode = auto

api/release-notes-internal.md

@@ -4,9 +4,9 @@ For more details about this release, please see the full [technical change log][
 
 ---
 
-# Internal Release 0.4.0
+# Internal Release 0.5.0
 
-This is internal release 0.4.0 for the Opentrons Flex robot software, involving both robot control and the on-device display.
+This is internal release 0.5.0 for the Opentrons Flex robot software, involving both robot control and the on-device display.
 
 Some things are known not to work, and are listed below. Specific compatibility notes about peripheral hardware are also listed.
 
@@ -21,7 +21,10 @@ Some things are known not to work, and are listed below. Specific compatibility
 ## Big Things That Don't Work Yet So Don't Report Bugs About Them
 
 ### ODD
-- Changing the text size on the ODD through the settings
+- While many individual flows work, going in between them often does not, you have to use the secret menu
+- The ODD generally won't synch up to what the robot is doing if the app is controlling it - for instance, if you start a protocol from the app the ODD won't follow along on its own
+- The ODD doesn't really tell you if the robot server hasn't started yet; if a robot looks on but has the name "opentrons", or says it's not network-connected when you know it is, probably the server isn't up yet, give it another little bit
+- It can take a while for the robot to start after installing an update (it's the firmware updates happening on boot). Allow 10 minutes after an update that has a firmware change.
 
 ### Robot Control
 - USB connectivity
@@ -31,15 +34,26 @@ Some things are known not to work, and are listed below. Specific compatibility
 
 ## Reasonably Sized New Things
 ### ODD
-- No more unsightly menu bar at the top
-- You can delete runs  and protocols from the ODD
-- The ODD now displays the firmware version of attached devices. If devices are on different firmwares, it will display them in a list. If this is happening, it means something wasn't updated, and you should restart the robot with that thing connected.
-- More in-depth liquid setup screens
+- More focus on visuals around alignment, sizing, and spacing, especially between screens - this is mostly catchup from removing the menu bar
+- Recently-run protocols is now populated!
+- In general, it's pretty doable to run protocols and pre-protocol from the ODD; give it a try by sending a protocol to the flex with the "send to OT3" button in the desktop app
+- LPC shouldn't drag tipracks around anymore
 
 ### Robot Control
-- Updates to accelerations and speeds from hardware testing
-- Module calibration offsets will now be loaded in protocols once you run it with the script
-- When running the repl, you can disable automatic firmware update by setting the `OT3_DISABLE_FW_UPDATES` environment variable. Please do this rarely, since often you will see weird failures if you have out-of-date firmware.
+- Even more acceleration changes from hardware testing
+- Improved trash bin positioning should mean dropped tips don't go quite as "everywhere"
+- DVT multis return tips a little better now
+- Fixed a bunch of behavior stuff around the 96 with plunger stalls, breaking instruments endpoints, etc. Should be usable now.
+- You should be able to cancel a protocol now without breaking the robot
+- Calibration should raise an error if it got a really bizarre output now
+- Logging overhaul:
+  - CANbus messages (and USB rear panel messages) are logged now; you can see them by downloading serial logs or running `journalctl -t opentrons-api-serial`
+  - We limited what goes in the api logs, removing HTTP access logs and SQL logs and move command spam; they should be more useful now. You can see them by downloading API logs or running `journalctl -t opentrons-api`.
+  - All the above is now in the robot-server unit logs, which can be accessed via `journalctl -u opentrons-robot-server`
+- Protocol analysis should be a _lot_ faster
+- Fixed an issue where pinging `GET /instruments` during automated calibration would cause calibration to fail
+- Increased reliability of automated calibration
+- Increased reliability of gripper pickups from modules
 
 ## Big Things That Do Work Please Do Report Bugs About Them
 ### Robot Control
@@ -49,7 +63,7 @@ Some things are known not to work, and are listed below. Specific compatibility
 - Pipette and gripper automated offset calibration
 - Network connectivity and discoverability
 - Firmware update for all devices attached when the robot turns on
-- Cancelling a protocol run. We're pretty sure we fixed this so definitely tell us if it's not.
+- Cancelling a protocol run. We're even more sure we fixed this so definitely tell us if it's not.
 
 ### ODD
 - Protocol execution
@@ -65,4 +79,4 @@ Some things are known not to work, and are listed below. Specific compatibility
 ## Smaller fun features
 - Turn on display idle in the display settings for a fun surprise
 - The lights work (don't do anything yet though)
-- Lots of visual updates and improvements in the ODD
+

api/src/opentrons/config/defaults_ot3.py

@@ -45,16 +45,16 @@
         ),
     ),
     edge_sense=EdgeSenseSettings(
-        overrun_tolerance_mm=0.5,
+        overrun_tolerance_mm=0.4,
         early_sense_tolerance_mm=0.5,
         pass_settings=CapacitivePassSettings(
             prep_distance_mm=1,
-            max_overrun_distance_mm=1,
-            speed_mm_per_s=0.5,
+            max_overrun_distance_mm=0.5,
+            speed_mm_per_s=1,
             sensor_threshold_pf=3.0,
         ),
-        search_initial_tolerance_mm=8.0,
-        search_iteration_limit=9,
+        search_initial_tolerance_mm=12.0,
+        search_iteration_limit=8,
     ),
     probe_length=44.5,
 )

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

@@ -295,7 +295,7 @@ def create_gripper_jaw_grip_group(
 ) -> MoveGroup:
     step = create_gripper_jaw_step(
         duration=np.float64(GRIPPER_JAW_GRIP_TIME),
-        duty_cycle=np.float32(duty_cycle),
+        duty_cycle=np.float32(round(duty_cycle)),
         stop_condition=stop_condition,
         move_type=MoveType.grip,
     )