feat(hardware-testing): liquid sense testing script (#14807)

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# Overview

This PR adds a new testing script that allows us to test all kinds of
variations of the liquid-sense routine
it adds some additional features in the hardware control layer to change
up output options to during the probe so we can gate using the
buffer-on-pipette feature to a firmware version flag, since that feature
has to be compiled in separately

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# Test Plan

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Example Test Plan (HTTP API Change)

- Verified that new optional argument `dance-party` causes the robot to
flash its lights, move the pipettes,
then home.
- Verified that when you omit the `dance-party` option the robot homes
normally
- Added protocol that uses `dance-party` argument to G-Code Testing
Suite
- Ran protocol that did not use `dance-party` argument and everything
was successful
- Added unit tests to validate that changes to pydantic model are
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# Changelog

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- Fixed app crash when trying to calibrate an illegal pipette
- Added state to API to track pipette usage
- Updated API docs to mention only two pipettes are supported

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---------

Co-authored-by: caila-marashaj <[email protected]>

hardware-testing/Makefile

@@ -155,6 +155,14 @@ test-examples:
 test-scripts:
 	$(python) -m hardware_testing.scripts.bowtie_ot3 --simulate
 
+.PHONY: test-liquid-sense
+test-liquid-sense:
+	$(python) -m hardware_testing.liquid_sense --simulate --pipette 1000 --channels 1
+	$(python) -m hardware_testing.liquid_sense --simulate --pipette 50 --channels 1
+	$(python) -m hardware_testing.liquid_sense --simulate --pipette 1000 --channels 8
+	$(python) -m hardware_testing.liquid_sense --simulate --pipette 50 --channels 8
+	$(python) -m hardware_testing.liquid_sense --simulate --pipette 1000 --channels 96
+
 .PHONY: test-integration
 test-integration: test-production-qc test-examples test-scripts test-gravimetric
 

hardware-testing/hardware_testing/gravimetric/measurement/record.py

@@ -280,7 +280,11 @@ class GravimetricRecorder:
     """Gravimetric Recorder."""
 
     def __init__(
-        self, cfg: GravimetricRecorderConfig, scale: Scale, simulate: bool = False
+        self,
+        cfg: GravimetricRecorderConfig,
+        scale: Scale,
+        simulate: bool = False,
+        start_graph: bool = True,
     ) -> None:
         """Gravimetric Recorder."""
         self._cfg = cfg
@@ -294,7 +298,7 @@ def __init__(
         self._scale_serial: str = ""
         self._scale_max_capacity: float = 0.0
         super().__init__()
-        self.activate()
+        self.activate(start_graph)
 
     def _start_graph_server_process(self) -> None:
         if self.is_simulator:
@@ -350,9 +354,10 @@ def add_simulation_mass(self, mass: float) -> None:
         """Add simulation mass."""
         self._scale.add_simulation_mass(mass)
 
-    def activate(self) -> None:
+    def activate(self, graph: bool = True) -> None:
         """Activate."""
-        self._start_graph_server_process()
+        if graph:
+            self._start_graph_server_process()
         # Some Radwag settings cannot be controlled remotely.
         # Listed below are the things the must be done using the touchscreen:
         #   1) Set profile to USER

hardware-testing/hardware_testing/labware/dial_indicator/1.json

@@ -0,0 +1,57 @@
+{
+  "schemaVersion": 2,
+  "version": 1,
+  "namespace": "custom_beta",
+  "ordering": [["A1"]],
+  "metadata": {
+    "displayName": "Mitutoyo Digimatic Indicator",
+    "displayCategory": "tubeRack",
+    "displayVolumeUnits": "µL",
+    "tags": []
+  },
+  "dimensions": {
+    "xDimension": 128,
+    "yDimension": 86,
+    "zDimension": 136
+  },
+  "parameters": {
+    "format": "irregular",
+    "quirks": [],
+    "isTiprack": false,
+    "isMagneticModuleCompatible": false,
+    "loadName": "dial_indicator"
+  },
+  "wells": {
+    "A1": {
+      "depth": 14,
+      "totalLiquidVolume": 10,
+      "shape": "circular",
+      "diameter": 4,
+      "x": 60.8,
+      "y": 41.5,
+      "z": 135
+    }
+  },
+  "brand": {
+    "brand": "Mitutoyo",
+    "brandId": ["ID-S"]
+  },
+  "groups": [
+    {
+      "brand": {
+        "brand": "Mitutoyo",
+        "brandId": ["ID-S"]
+      },
+      "metadata": {
+        "wellBottomShape": "flat",
+        "displayCategory": "tubeRack"
+      },
+      "wells": ["A1"]
+    }
+  ],
+  "cornerOffsetFromSlot": {
+    "x": 0,
+    "y": 0,
+    "z": 0
+  }
+}

hardware-testing/hardware_testing/liquid_sense/__init__.py

@@ -0,0 +1 @@
+"""Liquid Sense."""