pass through response queue option

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

@@ -38,6 +38,8 @@
     StatusBarState,
 )
 from opentrons.hardware_control.module_control import AttachedModulesControl
+from opentrons_hardware.firmware_bindings.constants import SensorId
+from opentrons_hardware.sensors.types import SensorDataType
 from ..dev_types import OT3AttachedInstruments
 from .types import HWStopCondition
 
@@ -154,6 +156,9 @@ async def liquid_probe(
         num_baseline_reads: int,
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,
         force_both_sensors: bool = False,
+        response_queue: Optional[
+            asyncio.Queue[dict[SensorId, list[SensorDataType]]]
+        ] = None,
     ) -> float:
         ...
 

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

@@ -102,7 +102,9 @@
     NodeId,
     PipetteName as FirmwarePipetteName,
     ErrorCode,
+    SensorId,
 )
+from opentrons_hardware.sensors.types import SensorDataType
 from opentrons_hardware.firmware_bindings.messages.message_definitions import (
     StopRequest,
 )
@@ -1370,6 +1372,9 @@ async def liquid_probe(
         num_baseline_reads: int,
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,
         force_both_sensors: bool = False,
+        response_queue: Optional[
+            asyncio.Queue[dict[SensorId, list[SensorDataType]]]
+        ] = None,
     ) -> float:
         head_node = axis_to_node(Axis.by_mount(mount))
         tool = sensor_node_for_pipette(OT3Mount(mount.value))
@@ -1385,6 +1390,7 @@ async def liquid_probe(
             num_baseline_reads=num_baseline_reads,
             sensor_id=sensor_id_for_instrument(probe),
             force_both_sensors=force_both_sensors,
+            response_queue=response_queue,
         )
         for node, point in positions.items():
             self._position.update({node: point.motor_position})

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

@@ -63,7 +63,8 @@
 from opentrons.util.async_helpers import ensure_yield
 from .types import HWStopCondition
 from .flex_protocol import FlexBackend
-
+from opentrons_hardware.firmware_bindings.constants import SensorId
+from opentrons_hardware.sensors.types import SensorDataType
 
 log = logging.getLogger(__name__)
 
@@ -349,6 +350,9 @@ async def liquid_probe(
         num_baseline_reads: int,
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,
         force_both_sensors: bool = False,
+        response_queue: Optional[
+            asyncio.Queue[dict[SensorId, list[SensorDataType]]]
+        ] = None,
     ) -> float:
         z_axis = Axis.by_mount(mount)
         pos = self._position

api/src/opentrons/hardware_control/ot3api.py

@@ -143,7 +143,8 @@
 from .backends.flex_protocol import FlexBackend
 from .backends.ot3simulator import OT3Simulator
 from .backends.errors import SubsystemUpdating
-
+from opentrons_hardware.firmware_bindings.constants import SensorId
+from opentrons_hardware.sensors.types import SensorDataType
 
 mod_log = logging.getLogger(__name__)
 
@@ -2634,6 +2635,9 @@ async def _liquid_probe_pass(
         probe: InstrumentProbeType,
         p_travel: float,
         force_both_sensors: bool = False,
+        response_queue: Optional[
+            asyncio.Queue[dict[SensorId, list[SensorDataType]]]
+        ] = None,
     ) -> float:
         plunger_direction = -1 if probe_settings.aspirate_while_sensing else 1
         end_z = await self._backend.liquid_probe(
@@ -2646,6 +2650,7 @@ async def _liquid_probe_pass(
             probe_settings.samples_for_baselining,
             probe=probe,
             force_both_sensors=force_both_sensors,
+            response_queue=response_queue,
         )
         machine_pos = await self._backend.update_position()
         machine_pos[Axis.by_mount(mount)] = end_z
@@ -2666,6 +2671,9 @@ async def liquid_probe(  # noqa: C901
         probe_settings: Optional[LiquidProbeSettings] = None,
         probe: Optional[InstrumentProbeType] = None,
         force_both_sensors: bool = False,
+        response_queue: Optional[
+            asyncio.Queue[dict[SensorId, list[SensorDataType]]]
+        ] = None,
     ) -> float:
         """Search for and return liquid level height.
 
@@ -2791,6 +2799,8 @@ async def prep_plunger_for_probe_move(
                     probe_settings,
                     checked_probe,
                     plunger_travel_mm + sensor_baseline_plunger_move_mm,
+                    force_both_sensors,
+                    response_queue,
                 )
                 # if we made it here without an error we found the liquid
                 error = None

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

@@ -703,13 +703,17 @@ async def test_ready_for_movement(
     assert controller.check_motor_status(axes) == ready
 
 
-def probe_move_group_run_side_effect(head: NodeId, tool: NodeId) -> Iterator[Dict[NodeId, MotorPositionStatus]]:
+def probe_move_group_run_side_effect(
+    head: NodeId, tool: NodeId
+) -> Iterator[Dict[NodeId, MotorPositionStatus]]:
     """Return homed position for axis that is present and was commanded to home."""
     positions = {
         head: MotorPositionStatus(0.0, 0.0, True, True, MoveCompleteAck(1)),
-        tool: MotorPositionStatus(0.0, 0.0, True, True, MoveCompleteAck(1))}
+        tool: MotorPositionStatus(0.0, 0.0, True, True, MoveCompleteAck(1)),
+    }
     yield positions
 
+
 @pytest.mark.parametrize("mount", [OT3Mount.LEFT, OT3Mount.RIGHT])
 async def test_liquid_probe(
     mount: OT3Mount,
@@ -721,7 +725,9 @@ async def test_liquid_probe(
     fake_max_p_dist = 70
     head_node = axis_to_node(Axis.by_mount(mount))
     tool_node = sensor_node_for_mount(mount)
-    mock_move_group_run.side_effect = probe_move_group_run_side_effect(head_node, tool_node)
+    mock_move_group_run.side_effect = probe_move_group_run_side_effect(
+        head_node, tool_node
+    )
     try:
         await controller.liquid_probe(
             mount=mount,
@@ -740,7 +746,9 @@ async def test_liquid_probe(
     #  in tool_sensors, pipette moves down, then sensor move goes
     print(move_groups)
     assert move_groups[0][0][tool_node].stop_condition == MoveStopCondition.none
-    assert move_groups[1][0][tool_node].stop_condition == MoveStopCondition.sensor_report
+    assert (
+        move_groups[1][0][tool_node].stop_condition == MoveStopCondition.sensor_report
+    )
     assert len(move_groups) == 2
     assert move_groups[0][0][tool_node]
     assert move_groups[1][0][head_node], move_groups[2][0][tool_node]

hardware/tests/opentrons_hardware/hardware_control/test_tool_sensors.py

@@ -1,12 +1,10 @@
 """Test the tool-sensor coordination code."""
 import logging
 from mock import patch, AsyncMock, call
-import os
 import pytest
 from contextlib import asynccontextmanager
 from typing import Iterator, List, Tuple, AsyncIterator, Any, Dict, Callable
 from opentrons_hardware.firmware_bindings.messages.message_definitions import (
-    AddLinearMoveRequest,
     ExecuteMoveGroupRequest,
     MoveCompleted,
     ReadFromSensorResponse,
@@ -50,7 +48,6 @@
     SensorType,
     SensorThresholdMode,
     SensorOutputBinding,
-    MoveStopCondition,
 )
 from opentrons_hardware.sensors.scheduler import SensorScheduler
 from opentrons_hardware.sensors.sensor_driver import SensorDriver
@@ -250,7 +247,6 @@ def move_responder(
     )
 
 
-
 @pytest.mark.parametrize(
     "target_node,motor_node,distance,speed,",
     [