feat(hardware-testing): grav script on ot3

[andySigler]

Overview

Test Plan

Changelog

Review requests

Risk assessment

[codecov]

Codecov Report

Merging #12302 (3fd06ff) into edge (b227887) will decrease coverage by 0.30%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##             edge   #12302      +/-   ##
==========================================
- Coverage   73.69%   73.39%   -0.30%     
==========================================
  Files        2210     1480     -730     
  Lines       60971    48773   -12198     
  Branches     6280     2982    -3298     
==========================================
- Hits        44933    35798    -9135     
+ Misses      14588    12521    -2067     
+ Partials     1450      454     -996     

Flag	Coverage Δ
hardware-testing	∅ <ø> (∅)
notify-server	89.13% <ø> (ø)

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
...pentrons/hardware_control/backends/ot3simulator.py	88.05% <ø> (ø)

... and 731 files with indirect coverage changes

[sfoster1]

We need to split this PR up into multiple and figure something out for the merges that are baked in and inflate the diff.

I think some of these changes are because it merged in edge a couple times and got some other PRs or something?

Let's have separate PRs for

• Changing blowout to take a volume
  • We need to rework this one to store shaft diameter in configuration rather than code
• Changing the default motion parameters
• Adding the temperature and humidity function
• Changing the way homing works
• Whatever happened with the change to cache instruments
• Whatever's going on with fast home
• The pipette configuration changes

We also need to somehow separate out

• the tip overlap fix that was in a separate pr I think

[Laura-Danielle]

@sfoster1 tip overlap fix is in the release branch right now.

[Laura-Danielle]

@andySigler As discussed in our meeting earlier this week, I think I would prefer that any new functionality we want to support in the gravi test should live in a function inside the script. I would consider the blow out by volume to also be new functionality and we shouldn't be making any changes to the hardware controller for this.

We can try to keep parity by making sure those functions 1. use most of the underlying mechanisms in the hardware controller and 2. by talking with each other.

As we bring up that functionality in software, we can slowly switch the gravi script to use the hardware controller/protocol api again.

[andySigler]

Yes sry wasn't expecting to get eyes on this right away, should have labelled as draft, am going to remove all non hardware-testing changes for all the reasons you guys said and will ping you, thanks for taking a look!

[sfoster1]

Okay this all makes a lot of sense to me now! Thanks for doing the changes.

[Laura-Danielle]

This all looks fine to me.