From 5c1c040064bb71beb35469f50eb64d424c8d1a1b Mon Sep 17 00:00:00 2001
From: caila-marashaj <caila.marashaj@opentrons.com>
Date: Fri, 15 Mar 2024 15:49:16 -0400
Subject: [PATCH] add can messges for lld testing

---
 .../firmware_bindings/constants.py            |  3 +++
 .../messages/message_definitions.py           | 26 +++++++++++++++++++
 .../firmware_bindings/messages/payloads.py    | 14 ++++++++++
 .../hardware_control/tool_sensors.py          |  2 --
 4 files changed, 43 insertions(+), 2 deletions(-)

diff --git a/hardware/opentrons_hardware/firmware_bindings/constants.py b/hardware/opentrons_hardware/firmware_bindings/constants.py
index 6d173e6effcf..cb623907dfbb 100644
--- a/hardware/opentrons_hardware/firmware_bindings/constants.py
+++ b/hardware/opentrons_hardware/firmware_bindings/constants.py
@@ -172,6 +172,7 @@ class MessageId(int, Enum):
     execute_move_group_request = 0x18
     clear_all_move_groups_request = 0x19
     home_request = 0x20
+    add_sensor_move_request = 0x23
     move_completed = 0x13
 
     motor_position_request = 0x12
@@ -249,6 +250,7 @@ class MessageId(int, Enum):
     peripheral_status_request = 0x8C
     peripheral_status_response = 0x8D
     baseline_sensor_response = 0x8E
+    send_accumulated_pressure_data = 0x8F
 
     set_hepa_fan_state_request = 0x90
     get_hepa_fan_state_request = 0x91
@@ -402,6 +404,7 @@ class MoveStopCondition(int, Enum):
     stall = 0x10
     ignore_stalls = 0x20
     limit_switch_backoff = 0x40
+    sensor_report = 0x80
 
 
 @unique
diff --git a/hardware/opentrons_hardware/firmware_bindings/messages/message_definitions.py b/hardware/opentrons_hardware/firmware_bindings/messages/message_definitions.py
index 49698329264b..3ad26b140ae5 100644
--- a/hardware/opentrons_hardware/firmware_bindings/messages/message_definitions.py
+++ b/hardware/opentrons_hardware/firmware_bindings/messages/message_definitions.py
@@ -193,6 +193,19 @@ class AddLinearMoveRequest(BaseMessage):  # noqa: D101
     message_id: Literal[MessageId.add_move_request] = MessageId.add_move_request
 
 
+@dataclass
+class AddSensorLinearMoveRequest(BaseMessage):  # noqa: D101
+    """Sensor Linear Move Request."""
+
+    payload: payloads.AddSensorLinearMoveBasePayload
+    payload_type: Type[
+        payloads.AddSensorLinearMoveBasePayload
+    ] = payloads.AddSensorLinearMoveBasePayload
+    message_id: Literal[
+        MessageId.add_sensor_move_request
+    ] = MessageId.add_sensor_move_request
+
+
 @dataclass
 class GetMoveGroupRequest(BaseMessage):  # noqa: D101
     payload: payloads.MoveGroupRequestPayload
@@ -977,3 +990,16 @@ class GetHepaUVStateResponse(BaseMessage):
     message_id: Literal[
         MessageId.get_hepa_uv_state_response
     ] = MessageId.get_hepa_uv_state_response
+
+
+@dataclass
+class SendAccumulatedPressureDataRequest(BaseMessage):
+    """Send all the saved sensor data."""
+
+    payload: payloads.SendAccumulatedPressureDataPayload
+    payload_type: Type[
+        payloads.SendAccumulatedPressureDataPayload
+    ] = payloads.SendAccumulatedPressureDataPayload
+    message_id: Literal[
+        MessageId.send_accumulated_pressure_data
+    ] = MessageId.send_accumulated_pressure_data
diff --git a/hardware/opentrons_hardware/firmware_bindings/messages/payloads.py b/hardware/opentrons_hardware/firmware_bindings/messages/payloads.py
index 508dad99de99..4dae6fe29a68 100644
--- a/hardware/opentrons_hardware/firmware_bindings/messages/payloads.py
+++ b/hardware/opentrons_hardware/firmware_bindings/messages/payloads.py
@@ -481,6 +481,13 @@ class BindSensorOutputResponsePayload(SensorPayload):
     binding: SensorOutputBindingField
 
 
+@dataclass(eq=False)
+class AddSensorLinearMoveBasePayload(AddLinearMoveRequestPayload):
+    """A request to add a linear move that also requires sensor reading for its duration."""
+
+    sensor_id: SensorIdField
+
+
 @dataclass(eq=False)
 class PipetteInfoResponsePayload(EmptyPayload):
     """A response carrying data about an attached pipette."""
@@ -668,3 +675,10 @@ class GetHepaUVStatePayloadResponse(EmptyPayload):
     uv_duration_s: utils.UInt32Field
     uv_light_on: utils.UInt8Field
     remaining_time_s: utils.UInt32Field
+
+
+@dataclass(eq=False)
+class SendAccumulatedPressureDataPayload(EmptyPayload):
+    """Send queued readings from a sensor."""
+
+    sensor_id: SensorIdField
diff --git a/hardware/opentrons_hardware/hardware_control/tool_sensors.py b/hardware/opentrons_hardware/hardware_control/tool_sensors.py
index 974378956976..43ccf7d37953 100644
--- a/hardware/opentrons_hardware/hardware_control/tool_sensors.py
+++ b/hardware/opentrons_hardware/hardware_control/tool_sensors.py
@@ -222,8 +222,6 @@ async def liquid_probe(
         ):
             return await sensor_runner.run(can_messenger=messenger)
 
-    return positions
-
 
 async def check_overpressure(
     messenger: CanMessenger,