convert liquid not found error to EnumeratedError

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

@@ -140,7 +140,6 @@
     EstopState,
     HardwareEventHandler,
     HardwareEventUnsubscriber,
-    LiquidNotFound,
 )
 from opentrons.hardware_control.errors import (
     InvalidPipetteName,
@@ -192,6 +191,7 @@
     PipetteOverpressureError,
     FirmwareUpdateRequiredError,
     FailedGripperPickupError,
+    LiquidNotFoundError,
 )
 
 from .subsystem_manager import SubsystemManager
@@ -1406,11 +1406,12 @@ async def liquid_probe(
             or positions[head_node].move_ack
             == MoveCompleteAck.complete_without_condition
         ):
-            raise LiquidNotFound(
+            raise LiquidNotFoundError(
+                "Liquid not found during probe.",
                 {
-                    node_to_axis(node): point.motor_position
+                    str(node_to_axis(node)): str(point.motor_position)
                     for node, point in positions.items()
-                }
+                },
             )
         return self._position[axis_to_node(Axis.by_mount(mount))]
 

api/src/opentrons/hardware_control/ot3api.py

@@ -2556,9 +2556,7 @@ async def liquid_probe(
         reading from the pressure sensor.
 
         If the move is completed without the specified threshold being triggered, a
-        LiquidNotFound error will be thrown.
-        If the threshold is triggered before the minimum z distance has been traveled,
-        a EarlyLiquidSenseTrigger error will be thrown.
+        LiquidNotFoundError error will be thrown.
 
         Otherwise, the function will stop moving once the threshold is triggered,
         and return the position of the

api/src/opentrons/hardware_control/types.py

@@ -694,15 +694,6 @@ def __init__(
         )
 
 
-class LiquidNotFound(RuntimeError):
-    """Error raised if liquid sensing move completes without detecting liquid."""
-
-    def __init__(self, position: Dict[Axis, float]) -> None:
-        """Initialize LiquidNotFound error."""
-        super().__init__(f"Liquid threshold not found, current_position = {position}")
-        self.position = position
-
-
 class FailedTipStateCheck(RuntimeError):
     """Error raised if the tip ejector state does not match the expected value."""
 

api/tests/opentrons/hardware_control/backends/test_ot3_controller.py

@@ -62,7 +62,6 @@
     EstopState,
     CurrentConfig,
     InstrumentProbeType,
-    LiquidNotFound,
 )
 from opentrons.hardware_control.errors import (
     InvalidPipetteName,
@@ -96,6 +95,7 @@
     EStopNotPresentError,
     FirmwareUpdateRequiredError,
     FailedGripperPickupError,
+    LiquidNotFoundError,
 )
 
 from opentrons_hardware.hardware_control.move_group_runner import MoveGroupRunner
@@ -725,7 +725,7 @@ async def test_liquid_probe(
             threshold_pascals=fake_liquid_settings.sensor_threshold_pascals,
             output_option=fake_liquid_settings.output_option,
         )
-    except LiquidNotFound:
+    except LiquidNotFoundError:
         # the move raises a liquid not found now since we don't call the move group and it doesn't
         # get any positions back
         pass

hardware-testing/hardware_testing/liquid_sense/execute.py

@@ -15,7 +15,6 @@
     OT3Mount,
     Axis,
     top_types,
-    LiquidNotFound,
 )
 
 from hardware_testing.gravimetric.measurement.scale import Scale
@@ -27,6 +26,9 @@
 
 from opentrons.protocol_api import ProtocolContext, Well, Labware
 
+from opentrons_shared_data.errors.exceptions import LiquidNotFoundError
+
+
 PROBE_MAX_TIME: Dict[int, float] = {
     1: 2.75,
     8: 1.75,
@@ -370,8 +372,8 @@ def _run_trial(run_args: RunArgs, tip: int, well: Well, trial: int) -> float:
         # TODO add in stuff for secondary probe
         try:
             height = hw_api.liquid_probe(hw_mount, lps, probe_target)
-        except LiquidNotFound as lnf:
-            ui.print_info(f"Liquid not found current position {lnf.position}")
+        except LiquidNotFoundError as lnf:
+            ui.print_info(f"Liquid not found current position {lnf.detail}")
             start_height -= z_dist
         else:
             break

shared-data/errors/definitions/1/errors.json

@@ -122,6 +122,10 @@
       "detail": "Motor Driver Error",
       "category": "roboticsControlError"
     },
+    "2017": {
+        "detail": "Liquid Not Found",
+        "category": "roboticsControlError"
+    },
     "3000": {
       "detail": "A robotics interaction error occurred.",
       "category": "roboticsInteractionError"

shared-data/python/opentrons_shared_data/errors/codes.py

@@ -60,6 +60,7 @@ class ErrorCodes(Enum):
     EXECUTION_CANCELLED = _code_from_dict_entry("2014")
     FAILED_GRIPPER_PICKUP_ERROR = _code_from_dict_entry("2015")
     MOTOR_DRIVER_ERROR = _code_from_dict_entry("2016")
+    LIQUID_NOT_FOUND = _code_from_dict_entry("2017")
     ROBOTICS_INTERACTION_ERROR = _code_from_dict_entry("3000")
     LABWARE_DROPPED = _code_from_dict_entry("3001")
     LABWARE_NOT_PICKED_UP = _code_from_dict_entry("3002")

shared-data/python/opentrons_shared_data/errors/exceptions.py

@@ -611,6 +611,24 @@ def __init__(
         super().__init__(ErrorCodes.MOTOR_DRIVER_ERROR, message, detail, wrapping)
 
 
+class LiquidNotFoundError(RoboticsControlError):
+    """Error raised if liquid sensing move completes without detecting liquid."""
+
+    def __init__(
+        self,
+        message: Optional[str] = None,
+        detail: Optional[Dict[str, str]] = None,
+        wrapping: Optional[Sequence[EnumeratedError]] = None,
+    ) -> None:
+        """Initialize LiquidNotFoundError."""
+        super().__init__(
+            ErrorCodes.LIQUID_NOT_FOUND,
+            message,
+            detail,
+            wrapping,
+        )
+
+
 class LabwareDroppedError(RoboticsInteractionError):
     """An error indicating that the gripper dropped labware it was holding."""