PR review and lint fixes

Opentrons · Jun 18, 2024 · d961cf5 · d961cf5
1 parent 940e550
commit d961cf5
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Showing 7 changed files with 9 additions and 10 deletions.
diff --git a/api/src/opentrons/hardware_control/protocols/liquid_handler.py b/api/src/opentrons/hardware_control/protocols/liquid_handler.py
@@ -181,5 +181,6 @@ async def liquid_probe(
         at the current location.
 
         mount : Mount.LEFT or Mount.RIGHT
+        max_z_dist : maximum depth to probe for liquid
         """
         ...
diff --git a/api/src/opentrons/protocol_engine/commands/liquid_probe.py b/api/src/opentrons/protocol_engine/commands/liquid_probe.py
@@ -40,7 +40,7 @@ class LiquidProbeParams(PipetteIdMixin, WellLocationMixin):
 class LiquidProbeResult(DestinationPositionResult):
     """Result data from the execution of a liquid-probe command."""
 
-    z_position: float = Field(..., description="Z position of the found liquid.")
+    z_position: float = Field(..., description="The Z coordinate, in mm, of the found liquid in deck space.")
 
 
 _ExecuteReturn = Union[

diff --git a/api/src/opentrons/protocol_engine/execution/pipetting.py b/api/src/opentrons/protocol_engine/execution/pipetting.py
@@ -278,7 +278,8 @@ async def liquid_probe_in_place(
         well_name: str,
     ) -> float:
         """Detect liquid level."""
-        return 0.0  # fix
+        # TODO (pm, 6-18-24): return a value of worth if needed
+        return 0.0
 
     def _validate_tip_attached(self, pipette_id: str, command_name: str) -> None:
         """Validate if there is a tip attached."""

diff --git a/hardware-testing/hardware_testing/gravimetric/config.py b/hardware-testing/hardware_testing/gravimetric/config.py
@@ -177,7 +177,6 @@ def _get_liquid_probe_settings(
     ][cfg.tip_volume]
     return LiquidProbeSettings(
         starting_mount_height=well.top().point.z,
-        max_z_distance=min(well.depth, lqid_cfg["max_z_distance"]),
         mount_speed=lqid_cfg["mount_speed"],
         plunger_speed=lqid_cfg["plunger_speed"],
         sensor_threshold_pascals=lqid_cfg["sensor_threshold_pascals"],

diff --git a/hardware-testing/hardware_testing/gravimetric/helpers.py b/hardware-testing/hardware_testing/gravimetric/helpers.py
@@ -200,11 +200,11 @@ def _sense_liquid_height(
     lps = config._get_liquid_probe_settings(cfg, well)
     # NOTE: very important that probing is done only 1x time,
     #       with a DRY tip, for reliability
-    probed_z = hwapi.liquid_probe(OT3Mount.LEFT, lps.max_z_distance, lps)
+    probed_z = hwapi.liquid_probe(OT3Mount.LEFT, well.depth, lps)
     if ctx.is_simulating():
         probed_z = well.top().point.z - 1
     liq_height = probed_z - well.bottom().point.z
-    if abs(liq_height - lps.max_z_distance) < 0.01:
+    if abs(liq_height - well.depth) < 0.01:
         raise RuntimeError("unable to probe liquid, reach max travel distance")
     return liq_height
 

diff --git a/hardware-testing/hardware_testing/liquid_sense/execute.py b/hardware-testing/hardware_testing/liquid_sense/execute.py
@@ -406,7 +406,6 @@ def _run_trial(
     for z_dist in z_distances:
         lps = LiquidProbeSettings(
             starting_mount_height=start_height,
-            max_z_distance=z_dist,
             mount_speed=run_args.z_speed,
             plunger_speed=plunger_speed,
             sensor_threshold_pascals=lqid_cfg["sensor_threshold_pascals"],
@@ -419,7 +418,7 @@ def _run_trial(
         run_args.recorder.set_sample_tag(f"trial-{trial}-{tip}ul")
         # TODO add in stuff for secondary probe
         try:
-            height = hw_api.liquid_probe(hw_mount, lps, probe_target)
+            height = hw_api.liquid_probe(hw_mount, z_dist, lps, probe_target)
         except PipetteLiquidNotFoundError as lnf:
             ui.print_info(f"Liquid not found current position {lnf.detail}")
             start_height -= z_dist

diff --git a/hardware-testing/hardware_testing/production_qc/pipette_assembly_qc_ot3/__main__.py b/hardware-testing/hardware_testing/production_qc/pipette_assembly_qc_ot3/__main__.py
@@ -1363,7 +1363,7 @@ async def _test_liquid_probe(
     }
     hover_mm = 3
     max_submerge_mm = -3
-    max_z_distance_machine_coords = hover_mm - max_submerge_mm
+    max_z_distance_machine_coords = hover_mm - max_submerge_mm  # FIXME: deck coords
     assert CALIBRATED_LABWARE_LOCATIONS.plate_primary is not None
     if InstrumentProbeType.SECONDARY in probes:
         assert CALIBRATED_LABWARE_LOCATIONS.plate_secondary is not None
@@ -1376,7 +1376,6 @@ async def _test_liquid_probe(
             probe_cfg = PROBE_SETTINGS[pip_vol][tip_volume]
             probe_settings = LiquidProbeSettings(
                 starting_mount_height=start_pos.z,
-                max_z_distance=max_z_distance_machine_coords,  # FIXME: deck coords
                 mount_speed=probe_cfg.mount_speed,
                 plunger_speed=probe_cfg.plunger_speed,
                 sensor_threshold_pascals=probe_cfg.sensor_threshold_pascals,
@@ -1385,7 +1384,7 @@ async def _test_liquid_probe(
                 data_files=None,
             )
             end_z = await api.liquid_probe(
-                mount, probe_settings.max_z_distance, probe_settings, probe=probe
+                mount, max_z_distance_machine_coords, probe_settings, probe=probe
             )
             if probe == InstrumentProbeType.PRIMARY:
                 pz = CALIBRATED_LABWARE_LOCATIONS.plate_primary.z