feat(hardware): add csv file logging capability to capacitive_probe method

.gitignore

@@ -160,3 +160,6 @@ opentrons-robot-app.tar.gz
 # asdf versions file
 .tool-versions
 mock_dir
+hardware/.npm-cache/_update-notifier-last-checked
+hardware/.npm-cache/_cacache/content-v2/sha512/e0/f2/0b78b807658be0f5790f7dfcb48708e26a9ed3a9632250264215afa1e5a04fee513f603e12351fcbd1e18e9c6d553cac9858275e1b00cb6d3a049ab6a435
+hardware/.npm-cache/_cacache/index-v5/af/03/5c781820370e585dc2323edbbc80669bf714da5b47d56510c7d0bd7521ee

api/src/opentrons/config/defaults_ot3.py

@@ -44,6 +44,8 @@
             max_overrun_distance_mm=5.0,
             speed_mm_per_s=1.0,
             sensor_threshold_pf=3.0,
+            output_option=OutputOptions.stream_to_csv,
+            data_file="/var/capacitive_sensor_data.csv",
         ),
     ),
     edge_sense=EdgeSenseSettings(
@@ -54,6 +56,8 @@
             max_overrun_distance_mm=0.5,
             speed_mm_per_s=1,
             sensor_threshold_pf=3.0,
+            output_option=OutputOptions.stream_to_csv,
+            data_file="/var/capacitive_sensor_data.csv",
         ),
         search_initial_tolerance_mm=12.0,
         search_iteration_limit=8,
@@ -272,6 +276,8 @@ def _build_default_cap_pass(
         sensor_threshold_pf=from_conf.get(
             "sensor_threshold_pf", default.sensor_threshold_pf
         ),
+        output_option=from_conf.get("output_option", default.output_option),
+        data_file=from_conf.get("data_file", default.data_file),
     )
 
 

api/src/opentrons/config/types.py

@@ -103,29 +103,31 @@ def by_gantry_load(
         )
 
 
+# str enum so it can be json serializable
+class OutputOptions(int, Enum):
+    """Specifies where we should report sensor data to during a sensor pass."""
+
+    stream_to_csv = 0x1
+    sync_buffer_to_csv = 0x2
+    can_bus_only = 0x4
+    sync_only = 0x8
+
+
 @dataclass(frozen=True)
 class CapacitivePassSettings:
     prep_distance_mm: float
     max_overrun_distance_mm: float
     speed_mm_per_s: float
     sensor_threshold_pf: float
+    output_option: OutputOptions
+    data_file: Optional[str]
 
 
 @dataclass(frozen=True)
 class ZSenseSettings:
     pass_settings: CapacitivePassSettings
 
 
-# str enum so it can be json serializable
-class OutputOptions(int, Enum):
-    """Specifies where we should report sensor data to during a sensor pass."""
-
-    stream_to_csv = 0x1
-    sync_buffer_to_csv = 0x2
-    can_bus_only = 0x4
-    sync_only = 0x8
-
-
 @dataclass
 class LiquidProbeSettings:
     starting_mount_height: float

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

@@ -366,6 +366,8 @@ async def capacitive_probe(
         speed_mm_per_s: float,
         sensor_threshold_pf: float,
         probe: InstrumentProbeType,
+        output_format: OutputOptions = OutputOptions.can_bus_only,
+        data_file: Optional[str] = None,
     ) -> bool:
         ...
 

api/src/opentrons/hardware_control/backends/ot3controller.py

@@ -1401,14 +1401,34 @@ async def capacitive_probe(
         speed_mm_per_s: float,
         sensor_threshold_pf: float,
         probe: InstrumentProbeType,
+        output_option: OutputOptions = OutputOptions.can_bus_only,
+        data_file: Optional[str] = None,
     ) -> bool:
+        if output_option == OutputOptions.sync_buffer_to_csv:
+            assert (
+                self._subsystem_manager.device_info[
+                    SubSystem.of_mount(mount)
+                ].revision.tertiary
+                == "1"
+            )
+        csv_output = bool(output_option.value & OutputOptions.stream_to_csv.value)
+        sync_buffer_output = bool(
+            output_option.value & OutputOptions.sync_buffer_to_csv.value
+        )
+        can_bus_only_output = bool(
+            output_option.value & OutputOptions.can_bus_only.value
+        )
         status = await capacitive_probe(
-            self._messenger,
-            sensor_node_for_mount(mount),
-            axis_to_node(moving),
-            distance_mm,
-            speed_mm_per_s,
-            sensor_id_for_instrument(probe),
+            messenger=self._messenger,
+            tool=sensor_node_for_mount(mount),
+            mover=axis_to_node(moving),
+            distance=distance_mm,
+            speed=speed_mm_per_s,
+            csv_output=csv_output,
+            sync_buffer_output=sync_buffer_output,
+            can_bus_only_output=can_bus_only_output,
+            data_file=data_file,
+            sensor_id=sensor_id_for_instrument(probe),
             relative_threshold_pf=sensor_threshold_pf,
         )
 

api/src/opentrons/hardware_control/backends/ot3simulator.py

@@ -749,6 +749,8 @@ async def capacitive_probe(
         speed_mm_per_s: float,
         sensor_threshold_pf: float,
         probe: InstrumentProbeType,
+        output_format: OutputOptions = OutputOptions.can_bus_only,
+        data_file: Optional[str] = None,
     ) -> bool:
         self._position[moving] += distance_mm
         return True

api/src/opentrons/hardware_control/ot3api.py

@@ -2587,7 +2587,7 @@ async def liquid_probe(
         await self.move_to(mount, probe_start_pos)
         return end_pos.z
 
-    async def capacitive_probe(
+    async def capacitive_probe(  # careful with changes, this is what calibration uses
         self,
         mount: OT3Mount,
         moving_axis: Axis,
@@ -2639,7 +2639,9 @@ async def capacitive_probe(
             machine_pass_distance,
             pass_settings.speed_mm_per_s,
             pass_settings.sensor_threshold_pf,
-            probe=probe,
+            probe,
+            pass_settings.output_option,
+            pass_settings.data_file,
         )
         end_pos = await self.gantry_position(mount, refresh=True)
         if retract_after:

api/tests/opentrons/config/ot3_settings.py

@@ -138,6 +138,8 @@
                 "max_overrun_distance_mm": 2,
                 "speed_mm_per_s": 3,
                 "sensor_threshold_pf": 4,
+                "output_option": OutputOptions.stream_to_csv,
+                "data_file": "/var/capacitive_sensor_data.csv",
             },
         },
         "edge_sense": {
@@ -148,6 +150,8 @@
                 "max_overrun_distance_mm": 5,
                 "speed_mm_per_s": 6,
                 "sensor_threshold_pf": 7,
+                "output_option": OutputOptions.stream_to_csv,
+                "data_file": "/var/capacitive_sensor_data.csv",
             },
             "search_initial_tolerance_mm": 18,
             "search_iteration_limit": 3,

api/tests/opentrons/hardware_control/test_ot3_api.py

@@ -107,6 +107,8 @@ def fake_settings() -> CapacitivePassSettings:
         max_overrun_distance_mm=2,
         speed_mm_per_s=4,
         sensor_threshold_pf=1.0,
+        output_option=OutputOptions.can_bus_only,
+        data_file="fake_file_name",
     )
 
 
@@ -486,6 +488,8 @@ def _update_position(
             speed_mm_per_s: float,
             threshold_pf: float,
             probe: InstrumentProbeType,
+            output_option: OutputOptions = OutputOptions.can_bus_only,
+            data_file: Optional[str] = None,
         ) -> None:
             hardware_backend._position[moving] += distance_mm / 2
 
@@ -865,7 +869,14 @@ async def test_capacitive_probe(
     # This is a negative probe because the current position is the home position
     # which is very large.
     mock_backend_capacitive_probe.assert_called_once_with(
-        mount, moving, 3, 4, 1.0, InstrumentProbeType.PRIMARY
+        mount,
+        moving,
+        3,
+        4,
+        1.0,
+        InstrumentProbeType.PRIMARY,
+        fake_settings.output_option,
+        fake_settings.data_file,
     )
 
     original = moving.set_in_point(here, 0)

hardware-testing/hardware_testing/examples/capacitive_probe_ot3.py

@@ -2,7 +2,7 @@
 import argparse
 import asyncio
 
-from opentrons.config.types import CapacitivePassSettings
+from opentrons.config.types import CapacitivePassSettings, OutputOptions
 from opentrons.hardware_control.ot3api import OT3API
 
 from hardware_testing.opentrons_api import types
@@ -44,12 +44,16 @@
     max_overrun_distance_mm=3,
     speed_mm_per_s=1,
     sensor_threshold_pf=STABLE_CAP_PF,
+    output_option=OutputOptions.can_bus_only,
+    data_file="fake_file_name",
 )
 PROBE_SETTINGS_XY_AXIS = CapacitivePassSettings(
     prep_distance_mm=CUTOUT_SIZE / 2,
     max_overrun_distance_mm=3,
     speed_mm_per_s=1,
     sensor_threshold_pf=STABLE_CAP_PF,
+    output_option=OutputOptions.can_bus_only,
+    data_file="fake_file_name",
 )
 
 

hardware-testing/hardware_testing/production_qc/robot_assembly_qc_ot3/test_instruments.py

@@ -1,7 +1,7 @@
 """Test Instruments."""
 from typing import List, Tuple, Optional, Union
 
-from opentrons.config.types import CapacitivePassSettings
+from opentrons.config.types import CapacitivePassSettings, OutputOptions
 from opentrons.hardware_control.ot3api import OT3API
 
 from hardware_testing.data.csv_report import (
@@ -30,6 +30,8 @@
     max_overrun_distance_mm=0,
     speed_mm_per_s=Z_PROBE_DISTANCE_MM / Z_PROBE_TIME_SECONDS,
     sensor_threshold_pf=1.0,
+    output_option=OutputOptions.can_bus_only,
+    data_file="fake_file_name",
 )
 
 RELATIVE_MOVE_FROM_HOME_DELTA = Point(x=-500, y=-300)

hardware-testing/hardware_testing/scripts/gripper_ot3.py

@@ -4,7 +4,7 @@
 from dataclasses import dataclass
 from typing import Optional, List, Any, Dict
 
-from opentrons.config.defaults_ot3 import CapacitivePassSettings
+from opentrons.config.defaults_ot3 import CapacitivePassSettings, OutputOptions
 from opentrons.hardware_control.ot3api import OT3API
 
 from hardware_testing.opentrons_api import types
@@ -73,6 +73,8 @@
     max_overrun_distance_mm=1,
     speed_mm_per_s=1,
     sensor_threshold_pf=0.5,
+    output_option=OutputOptions.can_bus_only,
+    data_file="fake_file_name",
 )
 LABWARE_PROBE_CORNER_TOP_LEFT_XY = {
     "plate": Point(x=5, y=-5),

hardware/opentrons_hardware/firmware_bindings/constants.py

@@ -253,7 +253,7 @@ class MessageId(int, Enum):
     peripheral_status_request = 0x8C
     peripheral_status_response = 0x8D
     baseline_sensor_response = 0x8E
-    send_accumulated_pressure_data = 0x8F
+    send_accumulated_sensor_data = 0x8F
 
     set_hepa_fan_state_request = 0x90
     get_hepa_fan_state_request = 0x91
@@ -420,7 +420,8 @@ class MoveStopCondition(int, Enum):
     stall = 0x10
     ignore_stalls = 0x20
     limit_switch_backoff = 0x40
-    sensor_report = 0x80
+    pressure_sensor_report = 0x80
+    capacitive_sensor_report = 0x81  # make sure this format works with firmware!!!
 
 
 @unique

hardware/opentrons_hardware/firmware_bindings/messages/message_definitions.py

@@ -1024,13 +1024,13 @@ class GetHepaUVStateResponse(BaseMessage):
 
 
 @dataclass
-class SendAccumulatedPressureDataRequest(BaseMessage):
+class SendAccumulatedSensorDataRequest(BaseMessage):
     """Send all the saved sensor data."""
 
-    payload: payloads.SendAccumulatedPressureDataPayload
+    payload: payloads.SendAccumulatedSensorDataPayload
     payload_type: Type[
-        payloads.SendAccumulatedPressureDataPayload
-    ] = payloads.SendAccumulatedPressureDataPayload
+        payloads.SendAccumulatedSensorDataPayload
+    ] = payloads.SendAccumulatedSensorDataPayload
     message_id: Literal[
-        MessageId.send_accumulated_pressure_data
-    ] = MessageId.send_accumulated_pressure_data
+        MessageId.send_accumulated_sensor_data
+    ] = MessageId.send_accumulated_sensor_data

hardware/opentrons_hardware/firmware_bindings/messages/messages.py

@@ -109,9 +109,8 @@
     defs.SetHepaUVStateRequest,
     defs.GetHepaUVStateRequest,
     defs.GetHepaUVStateResponse,
-    defs.SendAccumulatedPressureDataRequest,
+    defs.SendAccumulatedSensorDataRequest,
     defs.AddSensorLinearMoveRequest,
-    defs.SendAccumulatedPressureDataRequest,
 ]
 
 

hardware/opentrons_hardware/firmware_bindings/messages/payloads.py

@@ -493,6 +493,7 @@ class AddSensorLinearMoveBasePayload(AddLinearMoveRequestPayload):
     """A request to add a linear move that also requires sensor reading for its duration."""
 
     sensor_id: SensorIdField
+    sensor_type: SensorTypeField
 
 
 @dataclass(eq=False)
@@ -687,7 +688,8 @@ class GetHepaUVStatePayloadResponse(EmptyPayload):
 
 
 @dataclass(eq=False)
-class SendAccumulatedPressureDataPayload(EmptyPayload):
+class SendAccumulatedSensorDataPayload(EmptyPayload):
     """Send queued readings from a sensor."""
 
     sensor_id: SensorIdField
+    sensor_type: SensorTypeField

hardware/opentrons_hardware/hardware_control/motion.py

@@ -24,7 +24,8 @@ class MoveType(int, Enum):
     home = 0x1
     calibration = 0x2
     grip = 0x3
-    sensor = 0x4
+    pressure_sensor = 0x4
+    capacitive_sensor = 0x5
 
     @classmethod
     def get_move_type(cls, condition: MoveStopCondition) -> "MoveType":
@@ -37,7 +38,8 @@ def get_move_type(cls, condition: MoveStopCondition) -> "MoveType":
             MoveStopCondition.gripper_force: cls.grip,
             MoveStopCondition.stall: cls.linear,
             MoveStopCondition.limit_switch_backoff: cls.linear,
-            MoveStopCondition.sensor_report: cls.sensor,
+            MoveStopCondition.pressure_sensor_report: cls.pressure_sensor,
+            MoveStopCondition.capacitive_sensor_report: cls.capacitive_sensor,
         }
         return mapping[condition]