build updates

Opentrons · May 22, 2024 · ba4941f · ba4941f
1 parent 93e5b6d
commit ba4941f
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Showing 3 changed files with 23 additions and 21 deletions.
diff --git a/hardware/opentrons_hardware/hardware_control/motion.py b/hardware/opentrons_hardware/hardware_control/motion.py
@@ -135,8 +135,8 @@ def create_step(
     duration: np.float64,
     present_nodes: Iterable[NodeId],
     stop_condition: MoveStopCondition = MoveStopCondition.none,
-    sensor_type: Optional[SensorType] = None,
-    sensor_id: Optional[SensorId] = None,
+    sensor_type_pass: Optional[SensorType] = None,
+    sensor_id_pass: Optional[SensorId] = None,
 ) -> MoveGroupStep:
     """Create a move from a block.
 
@@ -163,8 +163,8 @@ def create_step(
             duration_sec=duration,
             stop_condition=stop_condition,
             move_type=MoveType.get_move_type(stop_condition),
-            sensor_type=sensor_type,
-            sensor_id=sensor_id,
+            sensor_type=sensor_type_pass,
+            sensor_id=sensor_id_pass,
         )
     return step
 

diff --git a/hardware/opentrons_hardware/hardware_control/move_group_runner.py b/hardware/opentrons_hardware/hardware_control/move_group_runner.py
@@ -24,8 +24,6 @@
     GearMotorId,
     MoveAckId,
     MotorDriverErrorCode,
-    SensorId,
-    SensorType,
 )
 from opentrons_hardware.drivers.can_bus.can_messenger import CanMessenger
 from opentrons_hardware.firmware_bindings.messages import MessageDefinition
@@ -310,6 +308,7 @@ def _get_stepper_motor_message(
             return HomeRequest(payload=home_payload)
         elif step.move_type == MoveType.sensor:
             # stop_condition = step.stop_condition.value
+            assert step.sensor_type is not None
             assert step.sensor_id is not None
             stop_condition = MoveStopCondition.sync_line
             sensor_move_payload = AddSensorLinearMoveBasePayload(

diff --git a/hardware/opentrons_hardware/hardware_control/tool_sensors.py b/hardware/opentrons_hardware/hardware_control/tool_sensors.py
@@ -45,7 +45,6 @@
     SensorInformation,
     PressureSensor,
     CapacitiveSensor,
-    BaseSensorType,
 )
 from opentrons_hardware.sensors.scheduler import SensorScheduler
 from opentrons_hardware.drivers.can_bus.can_messenger import CanMessenger
@@ -60,6 +59,9 @@
 LOG = getLogger(__name__)
 PipetteProbeTarget = Literal[NodeId.pipette_left, NodeId.pipette_right]
 InstrumentProbeTarget = Union[PipetteProbeTarget, Literal[NodeId.gripper]]
+ProbeSensorDict = Union[
+    Dict[SensorId, PressureSensor], Dict[SensorId, CapacitiveSensor]
+]
 
 pressure_output_file_heading = [
     "time(s)",
@@ -86,7 +88,7 @@ def _build_pass_step_pressure(
     distance: Dict[NodeId, float],
     speed: Dict[NodeId, float],
     stop_condition: MoveStopCondition = MoveStopCondition.sync_line,
-    sensor_to_use: Optional[SensorId] = None,
+    sensor_id: Optional[SensorId] = None,
 ) -> MoveGroupStep:
     pipette_nodes = [
         i for i in movers if i in [NodeId.pipette_left, NodeId.pipette_right]
@@ -103,8 +105,8 @@ def _build_pass_step_pressure(
         duration=float64(abs(distance[movers[0]] / speed[movers[0]])),
         present_nodes=movers,
         stop_condition=stop_condition,
-        sensor_type=SensorType.pressure,
-        sensor_id=SensorId.S0,
+        sensor_type_pass=SensorType.pressure,
+        sensor_id_pass=sensor_id,
     )
     pipette_move = create_step(
         distance={ax: float64(abs(distance[ax])) for ax in movers},
@@ -117,8 +119,8 @@ def _build_pass_step_pressure(
         duration=float64(abs(distance[movers[0]] / speed[movers[0]])),
         present_nodes=pipette_nodes,
         stop_condition=MoveStopCondition.sensor_report,
-        sensor_type=SensorType.pressure,
-        sensor_id=SensorId.S0,
+        sensor_type_pass=SensorType.pressure,
+        sensor_id_pass=sensor_id,
     )
     for node in pipette_nodes:
         move_group[node] = pipette_move[node]
@@ -130,6 +132,7 @@ def _build_pass_step_capacitive(
     distance: Dict[NodeId, float],
     speed: Dict[NodeId, float],
     stop_condition: MoveStopCondition = MoveStopCondition.sync_line,
+    sensor_id: Optional[SensorId] = None,
 ) -> MoveGroupStep:
     tool_nodes = [
         i
@@ -148,8 +151,8 @@ def _build_pass_step_capacitive(
         duration=float64(abs(distance[movers[0]] / speed[movers[0]])),
         present_nodes=movers,
         stop_condition=stop_condition,
-        sensor_type=SensorType.capacitive,
-        sensor_id=SensorId.S0,
+        sensor_type_pass=SensorType.capacitive,
+        sensor_id_pass=sensor_id,
     )
     tool_move = create_step(
         distance={},
@@ -160,8 +163,8 @@ def _build_pass_step_capacitive(
         duration=float64(abs(distance[movers[0]] / speed[movers[0]])),
         present_nodes=tool_nodes,
         stop_condition=MoveStopCondition.sensor_report,
-        sensor_type=SensorType.capacitive,
-        sensor_id=SensorId.S0,
+        sensor_type_pass=SensorType.capacitive,
+        sensor_id_pass=sensor_id,
     )
     for node in tool_nodes:
         move_group[node] = tool_move[node]
@@ -218,7 +221,7 @@ async def run_sync_buffer_to_csv(
 
 async def run_stream_output_to_csv(
     messenger: CanMessenger,
-    sensors: Dict[SensorId, BaseSensorType],
+    sensors: ProbeSensorDict,
     mount_speed: float,
     plunger_speed: float,
     threshold: float,
@@ -311,7 +314,7 @@ async def _setup_capacitive_sensors(
     messenger: CanMessenger,
     sensor_id: SensorId,
     tool: InstrumentProbeTarget,
-    threshold: float,
+    relative_threshold_pf: float,
     sensor_driver: SensorDriver,
 ) -> Dict[SensorId, CapacitiveSensor]:
     sensors: List[SensorId] = []
@@ -326,7 +329,7 @@ async def _setup_capacitive_sensors(
         capacitive_sensor = CapacitiveSensor.build(
             sensor_id=sensor,
             node_id=tool,
-            stop_threshold=threshold,
+            stop_threshold=relative_threshold_pf,
         )
         threshold = await sensor_driver.send_stop_threshold(
             messenger, capacitive_sensor, SensorThresholdMode.auto_baseline
@@ -340,7 +343,7 @@ async def _setup_capacitive_sensors(
 
 async def _run_with_binding(
     messenger: CanMessenger,
-    sensors: Dict[SensorId, BaseSensorType],
+    sensors: ProbeSensorDict,
     sensor_runner: MoveGroupRunner,
     binding: List[SensorOutputBinding],
 ) -> Dict[NodeId, MotorPositionStatus]:
@@ -505,6 +508,7 @@ async def capacitive_probe(
         {mover: distance, tool: distance},
         {mover: speed, tool: speed},
         MoveStopCondition.sync_line,
+        sensor_id=sensor_id,
     )
 
     runner = MoveGroupRunner(move_groups=[[pass_group]])
@@ -530,7 +534,6 @@ async def capacitive_probe(
             runner,
             log_files,
             tool=tool,
-            sensor_id=sensor_id,
             sensor_type=SensorType.capacitive,
             output_file_heading=capacitive_output_file_heading,
         )