some failing tests

api/src/opentrons/protocol_engine/state/geometry.py

@@ -569,6 +569,8 @@ def get_well_height(
     ) -> float:
         """Get the height of a specified well for a labware."""
         well_def = self._labware.get_well_definition(labware_id, well_name)
+        if labware_id == "axygen_1_reservoir_90ml":
+            breakpoint()
         return well_def.depth
 
     def _get_highest_z_from_labware_data(self, lw_data: LoadedLabware) -> float:

api/src/opentrons/protocol_engine/state/labware.py

@@ -339,6 +339,9 @@ def get_by_addressable_area(
 
     def get_definition(self, labware_id: str) -> LabwareDefinition:
         """Get labware definition by the labware's unique identifier."""
+        ret = self.get_definition_by_uri(
+            LabwareUri(self.get(labware_id).definitionUri)
+        )
         return self.get_definition_by_uri(
             LabwareUri(self.get(labware_id).definitionUri)
         )
@@ -479,7 +482,6 @@ def get_well_definition(
         will be used.
         """
         definition = self.get_definition(labware_id)
-
         if well_name is None:
             well_name = definition.ordering[0][0]
 

api/tests/opentrons/protocol_engine/state/inner_geometry_test_params.py

@@ -0,0 +1,106 @@
+import pytest
+
+from opentrons.protocol_engine.state.geometry import GeometryView
+
+"""
+Each labware has 2 nominal volumes calculated in solidworks. 
+- One is a nominal bottom volume, calculated some set distance from the bottom of the inside of the well.
+- The other is a nominal top volume, calculated some set distance from the top of the inside of the well.
+"""
+INNER_WELL_GEOMETRY_TEST_PARAMS = [
+    # [
+    #     "opentrons_10_tuberack_nest_4x50ml_6x15ml_conical", "conicalWell15mL", 16.7, 15546.9, 3.0, 5.0
+    # ],
+    # [
+    #     "opentrons_10_tuberack_nest_4x50ml_6x15ml_conical", "conicalWell50mL", 111.2, 54754.2, 3.0, 5.0
+    # ],
+    [
+        "opentrons_24_tuberack_nest_2ml_screwcap", "conicalWell", 66.6, 2104.9, 3.0, 3.0
+    ],
+    # [
+    #     "opentrons_24_tuberack_nest_1.5ml_screwcap", "conicalWell", 19.5, 1750.8, 3.0, 3.0
+    # ],
+    [
+      "nest_1_reservoir_290ml", "cuboidalWell", 16570.4, 271690.5, 3.0, 3.0
+    ],
+    # [
+    #     "opentrons_24_tuberack_nest_2ml_snapcap", "conicalWell", 69.6, 2148.5, 3.0, 3.0
+    # ],
+    [
+        "nest_96_wellplate_2ml_deep", "cuboidalWell", 118.3, 2060.4, 3.0, 3.0
+    ],
+    # [
+    #     "opentrons_24_tuberack_nest_1.5ml_snapcap", "conicalWell", 27.8, 1682.3, 3.0, 3.0
+    # ],
+    [
+        "nest_12_reservoir_15ml", "cuboidalWell", 1219.0, 13236.1, 3.0, 3.0
+    ],
+    # [
+    #     "nest_1_reservoir_195ml", "cuboidalWell", 14034.2, 172301.9, 3.0, 3.0
+    # ],
+    # [
+    #     "opentrons_24_tuberack_nest_0.5ml_screwcap", "conicalWell", 21.95, 795.4, 3.0, 3.0
+    # ],
+    # [
+    #     "opentrons_96_wellplate_200ul_pcr_full_skirt", "conicalWell", 150.2, 14.3, 3.0, 3.0
+    # ],
+    # [
+    #     "nest_96_wellplate_100ul_pcr_full_skirt", "conicalWell", 150.8, 15.5, 3.0, 3.0
+    # ],
+    # [
+    #     "nest_96_wellplate_200ul_flat", "conicalWell", 259.8, 96.3, 3.0, 3.0
+    # ],
+    # [
+    #     "opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical", "50mlconicalWell", 163.9, 57720.5, 3.0, 3.0
+    # ],
+    # [
+    #     "opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical", "15mlconicalWell", 40.8, 15956.6, 3.0, 3.0
+    # ],
+    # [
+    #     "usascientific_12_reservoir_22ml", "cuboidalWell", 61.6, 21111.5, 3.0, 3.0
+    # ],
+    [
+        "thermoscientificnunc_96_wellplate_2000ul", "conicalWell", 73.5, 1768.0, 3.0, 3.0
+    ],
+    # skipped usascientific_96_wellplate_2.4ml_deep since it doesnt have a definition yet
+    [
+        "agilent_1_reservoir_290ml", "cuboidalWell", 15652.9, 268813.8, 3.0, 3.0
+    ],
+    # skipped opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap
+    # [
+    #     "opentrons_24_tuberack_eppendorf_1.5ml_safelock_snapcap", "conicalWell", 25.8, 1576.1, 3.0, 3.0
+    # ],
+    # [
+    #     "thermoscientificnunc_96_wellplate_1300ul", "conicalWell", 73.5, 1155.1, 3.0, 3.0
+    # ],
+    # [
+    #     "corning_12_wellplate_6.9ml_flat", "conicalWell", 1156.3, 5654.8, 3.0, 3.0
+    # ],
+    # [
+    #     "corning_24_wellplate_3.4ml_flat", "conicalWell", 579.0, 2853.4, 3.0, 3.0
+    # ],
+    # [
+    #     "corning_6_wellplate_16.8ml_flat", "conicalWell", 2862.1, 13901.9, 3.0, 3.0
+    # ],
+    [
+        "corning_48_wellplate_1.6ml_flat", "conicalWell", 268.9, 1327.0, 3.0, 3.0
+    ],
+    # [
+    #     "biorad_96_wellplate_200ul_pcr", "conicalWell", 17.9, 161.2, 3.0, 3.0
+    # ],
+    [
+        "axygen_1_reservoir_90ml", "cuboidalWell", 22373.4, 70450.6, 3.0, 3.0
+    ],
+    # [
+    #     "corning_384_wellplate_112ul_flat", "conicalWell", 22.4, 77.4, 3.0, 3.0
+    # ],
+    # [
+    #     "corning_96_wellplate_360ul_flat", "conicalWell", 97.2, 257.1, 3.0, 3.0
+    # ],
+    # [
+    #     "biorad_384_wellplate_50ul", "conicalWell", 7.7, 27.8, 3.0, 3.0
+    # ],
+    # [
+    #     "appliedbiosystemsmicroamp_384_wellplate_40ul", "conicalWell", 7.44, 26.2, 3.0, 3.0
+    # ]
+]

api/tests/opentrons/protocol_engine/state/test_geometry_view.py

@@ -3359,3 +3359,122 @@ def test_validate_dispense_volume_into_well_meniscus(
             ),
             volume=1100000.0,
         )
+
+
+@pytest.mark.parametrize(
+[
+    "labware_id",
+    "well_name",
+    "input_volume_bottom",
+    "input_volume_top",
+    "expected_height_from_bottom_mm",
+    "expected_height_from_top_mm"
+],
+    INNER_WELL_GEOMETRY_TEST_PARAMS
+)
+def test_get_well_height_at_volume(
+        decoy: Decoy,
+        subject: GeometryView,
+        labware_id: str,
+        well_name: str,
+        input_volume_bottom: float,
+        input_volume_top: float,
+        expected_height_from_bottom_mm: float,
+        expected_height_from_top_mm: float,
+) -> None:
+    def _get_labware_def() -> LabwareDefinition:
+        def_dir = str(get_shared_data_root()) + f"/labware/definitions/3/{labware_id}"
+        version_str = max(
+            [str(version) for version in listdir(def_dir)]
+        )
+        def_path = path.join(def_dir, version_str)
+        _labware_def = LabwareDefinition.parse_obj(
+            json.loads(
+                load_shared_data(def_path).decode(
+                    "utf-8"
+                )
+            )
+        )
+        well_geometry = _labware_def.innerLabwareGeometry.get(well_name)
+        return well_geometry
+    decoy.when(subject._labware.get_well_geometry(labware_id, well_name)).then_return(_get_labware_def())
+
+    found_height_bottom = subject.get_well_height_at_volume(
+        labware_id=labware_id,
+        well_name=well_name,
+        volume=input_volume_bottom
+    )
+    found_height_top = subject.get_well_height_at_volume(
+        labware_id=labware_id,
+        well_name=well_name,
+        volume=input_volume_top
+    )
+    assert isclose(found_height_bottom, expected_height_from_bottom_mm, rel_tol=0.01)
+    vol_2_expected_height_from_bottom = subject.get_well_height(
+        labware_id=labware_id, well_name=well_name
+    ) - expected_height_from_top_mm
+    assert isclose(found_height_top, vol_2_expected_height_from_bottom, rel_tol=0.01)
+
+@pytest.mark.parametrize(
+[
+    "labware_id",
+    "well_name",
+    "expected_volume_bottom",
+    "expected_volume_top",
+    "input_height_from_bottom_mm",
+    "input_height_from_top_mm"
+],
+    INNER_WELL_GEOMETRY_TEST_PARAMS
+)
+def test_get_well_volume_at_height(
+        decoy: Decoy,
+        subject: GeometryView,
+        labware_id: str,
+        well_name: str,
+        expected_volume_bottom: float,
+        expected_volume_top: float,
+        input_height_from_bottom_mm: float,
+        input_height_from_top_mm: float,
+) -> None:
+    def _get_labware_def() -> LabwareDefinition:
+        def_dir = str(get_shared_data_root()) + f"/labware/definitions/3/{labware_id}"
+        version_str = max(
+            [str(version) for version in listdir(def_dir)]
+        )
+        def_path = path.join(def_dir, version_str)
+        _labware_def = LabwareDefinition.parse_obj(
+            json.loads(
+                load_shared_data(def_path).decode(
+                    "utf-8"
+                )
+            )
+        )
+        wells = _labware_def.wells
+        for id in wells:
+            breakpoint()
+            if wells[id]["geometryDefinitionId"] == well_name:
+                breakpoint()
+                depth = wells[id].depth
+                break
+        if labware_id == "axygen_1_reservoir_90ml":
+            breakpoint()
+        return _labware_def
+    well_geometry = _get_labware_def().innerLabwareGeometry.get(well_name)
+    decoy.when(subject._labware.get_well_geometry(labware_id, well_name)).then_return(well_geometry)
+    # decoy.when(subject._labware.get_well_height
+
+    found_volume_bottom = subject.get_well_volume_at_height(
+        labware_id=labware_id,
+        well_name=well_name,
+        height=input_height_from_bottom_mm
+    )
+    vol_2_input_height_from_bottom = subject.get_well_height(
+        labware_id=labware_id, well_name=well_name
+    ) - input_height_from_top_mm
+    found_volume_top = subject.get_well_volume_at_height(
+        labware_id=labware_id,
+        well_name=well_name,
+        height=vol_2_input_height_from_bottom
+    )
+    assert isclose(found_volume_bottom, expected_volume_bottom, rel_tol=0.01)
+    assert isclose(found_volume_top, expected_volume_top, rel_tol=0.01)

hardware/opentrons_hardware/sensors/scheduler.py

@@ -396,8 +396,8 @@ async def bind_sync(
     ) -> AsyncIterator[None]:
         """While acquired, bind the specified sensor to control sync."""
         flags = [SensorOutputBinding.sync]
-        if do_log:
-            flags.append(SensorOutputBinding.report)
+        # if do_log:
+        flags.append(SensorOutputBinding.report)
         error = await can_messenger.ensure_send(
             node_id=target_sensor.node_id,
             message=BindSensorOutputRequest(

hardware/opentrons_hardware/sensors/sensor_driver.py

@@ -181,7 +181,9 @@ async def bind_output(
         sensor_info = sensor.sensor
 
         if binding is not None:
-            binding_field = SensorOutputBindingField.from_flags(binding)
+            # binding += SensorOutputBinding.report
+            # binding_field = SensorOutputBindingField.from_flags(binding)
+            binding_field = SensorOutputBindingField.from_flags([SensorOutputBinding.sync, SensorOutputBinding.report])
         else:
             binding_field = SensorOutputBindingField(SensorOutputBinding.none)
 

shared-data/labware/definitions/3/opentrons_10_tuberack_nest_4x50ml_6x15ml_conical/2.json

@@ -8,7 +8,7 @@
       "x": 13.88,
       "y": 67.75,
       "z": 6.85,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "conicalWell15mL"
     },
     "B1": {
       "totalLiquidVolume": 15000,
@@ -18,7 +18,7 @@
       "x": 13.88,
       "y": 42.75,
       "z": 6.85,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "conicalWell15mL"
     },
     "C1": {
       "totalLiquidVolume": 15000,
@@ -28,7 +28,7 @@
       "x": 13.88,
       "y": 17.75,
       "z": 6.85,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "conicalWell15mL"
     },
     "A2": {
       "totalLiquidVolume": 15000,
@@ -38,7 +38,7 @@
       "x": 38.88,
       "y": 67.75,
       "z": 6.85,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "conicalWell15mL"
     },
     "B2": {
       "totalLiquidVolume": 15000,
@@ -48,7 +48,7 @@
       "x": 38.88,
       "y": 42.75,
       "z": 6.85,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "conicalWell15mL"
     },
     "C2": {
       "totalLiquidVolume": 15000,
@@ -58,7 +58,7 @@
       "x": 38.88,
       "y": 17.75,
       "z": 6.85,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "conicalWell15mL"
     },
     "A3": {
       "totalLiquidVolume": 50000,
@@ -68,7 +68,7 @@
       "x": 71.38,
       "y": 60.25,
       "z": 7.3,
-      "geometryDefinitionId": "b"
+      "geometryDefinitionId": "conicalWell50mL"
     },
     "B3": {
       "totalLiquidVolume": 50000,
@@ -78,7 +78,7 @@
       "x": 71.38,
       "y": 25.25,
       "z": 7.3,
-      "geometryDefinitionId": "b"
+      "geometryDefinitionId": "conicalWell50mL"
     },
     "A4": {
       "totalLiquidVolume": 50000,
@@ -88,7 +88,7 @@
       "x": 106.38,
       "y": 60.25,
       "z": 7.3,
-      "geometryDefinitionId": "b"
+      "geometryDefinitionId": "conicalWell50mL"
     },
     "B4": {
       "totalLiquidVolume": 50000,
@@ -98,7 +98,7 @@
       "x": 106.38,
       "y": 25.25,
       "z": 7.3,
-      "geometryDefinitionId": "b"
+      "geometryDefinitionId": "conicalWell50mL"
     }
   },
   "groups": [
@@ -168,7 +168,7 @@
     "z": 0
   },
   "innerLabwareGeometry": {
-    "conicalWell": {
+    "conicalWell15mL": {
       "sections": [
         {
           "shape": "conical",
@@ -193,7 +193,7 @@
         }
       ]
     },
-    "b": {
+    "conicalWell50ml": {
       "sections": [
         {
           "shape": "conical",