refactor(hardware): give options for sensor data output during probe

api/src/opentrons/config/defaults_ot3.py

@@ -15,8 +15,10 @@
     LiquidProbeSettings,
     ZSenseSettings,
     EdgeSenseSettings,
+    OutputOptions,
 )
 
+
 DEFAULT_PIPETTE_OFFSET = [0.0, 0.0, 0.0]
 DEFAULT_MODULE_OFFSET = [0.0, 0.0, 0.0]
 
@@ -28,7 +30,7 @@
     plunger_speed=5,
     sensor_threshold_pascals=40,
     expected_liquid_height=110,
-    log_pressure=True,
+    output_option=OutputOptions.stream_to_csv,
     aspirate_while_sensing=False,
     auto_zero_sensor=True,
     num_baseline_reads=10,
@@ -290,7 +292,7 @@ def _build_default_liquid_probe(
         expected_liquid_height=from_conf.get(
             "expected_liquid_height", default.expected_liquid_height
         ),
-        log_pressure=from_conf.get("log_pressure", default.log_pressure),
+        output_option=from_conf.get("output_option", default.output_option),
         aspirate_while_sensing=from_conf.get(
             "aspirate_while_sensing", default.aspirate_while_sensing
         ),

api/src/opentrons/config/types.py

@@ -1,6 +1,6 @@
 from enum import Enum
 from dataclasses import dataclass, asdict, fields
-from typing import Dict, Tuple, TypeVar, Generic, List, cast
+from typing import Dict, Tuple, TypeVar, Generic, List, cast, Optional
 from typing_extensions import TypedDict, Literal
 from opentrons.hardware_control.types import OT3AxisKind
 
@@ -116,6 +116,16 @@ class ZSenseSettings:
     pass_settings: CapacitivePassSettings
 
 
+# str enum so it can be json serializable
+class OutputOptions(int, Enum):
+    """Specifies where we should report sensor data to during a sensor pass."""
+
+    stream_to_csv = 0x1
+    sync_buffer_to_csv = 0x2
+    can_bus_only = 0x4
+    sync_only = 0x8
+
+
 @dataclass
 class LiquidProbeSettings:
     starting_mount_height: float
@@ -125,11 +135,11 @@ class LiquidProbeSettings:
     plunger_speed: float
     sensor_threshold_pascals: float
     expected_liquid_height: float
-    log_pressure: bool
+    output_option: OutputOptions
     aspirate_while_sensing: bool
     auto_zero_sensor: bool
     num_baseline_reads: int
-    data_file: str
+    data_file: Optional[str]
 
 
 @dataclass(frozen=True)

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

@@ -15,7 +15,7 @@
 from opentrons_shared_data.pipette.dev_types import (
     PipetteName,
 )
-from opentrons.config.types import GantryLoad
+from opentrons.config.types import GantryLoad, OutputOptions
 from opentrons.hardware_control.types import (
     BoardRevision,
     Axis,
@@ -146,7 +146,8 @@ async def liquid_probe(
         mount_speed: float,
         plunger_speed: float,
         threshold_pascals: float,
-        log_pressure: bool = True,
+        output_format: OutputOptions = OutputOptions.can_bus_only,
+        data_file: Optional[str] = None,
         auto_zero_sensor: bool = True,
         num_baseline_reads: int = 10,
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,

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

@@ -25,7 +25,7 @@
     Union,
     Mapping,
 )
-from opentrons.config.types import OT3Config, GantryLoad
+from opentrons.config.types import OT3Config, GantryLoad, OutputOptions
 from opentrons.config import gripper_config
 from .ot3utils import (
     axis_convert,
@@ -1350,25 +1350,43 @@ async def liquid_probe(
         mount_speed: float,
         plunger_speed: float,
         threshold_pascals: float,
-        log_pressure: bool = True,
+        output_option: OutputOptions = OutputOptions.can_bus_only,
+        data_file: Optional[str] = None,
         auto_zero_sensor: bool = True,
         num_baseline_reads: int = 10,
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,
     ) -> float:
+        if output_option == OutputOptions.sync_buffer_to_csv:
+            assert (
+                self._subsystem_manager.device_info[
+                    SubSystem.of_mount(mount)
+                ].revision.tertiary
+                == "1"
+            )
         head_node = axis_to_node(Axis.by_mount(mount))
         tool = sensor_node_for_pipette(OT3Mount(mount.value))
+        csv_output = bool(output_option.value & OutputOptions.stream_to_csv.value)
+        sync_buffer_output = bool(
+            output_option.value & OutputOptions.sync_buffer_to_csv.value
+        )
+        can_bus_only_output = bool(
+            output_option.value & OutputOptions.can_bus_only.value
+        )
         positions = await liquid_probe(
-            self._messenger,
-            tool,
-            head_node,
-            max_z_distance,
-            plunger_speed,
-            mount_speed,
-            threshold_pascals,
-            log_pressure,
-            auto_zero_sensor,
-            num_baseline_reads,
-            sensor_id_for_instrument(probe),
+            messenger=self._messenger,
+            tool=tool,
+            head_node=head_node,
+            max_z_distance=max_z_distance,
+            plunger_speed=plunger_speed,
+            mount_speed=mount_speed,
+            threshold_pascals=threshold_pascals,
+            csv_output=csv_output,
+            sync_buffer_output=sync_buffer_output,
+            can_bus_only_output=can_bus_only_output,
+            data_file=data_file,
+            auto_zero_sensor=auto_zero_sensor,
+            num_baseline_reads=num_baseline_reads,
+            sensor_id=sensor_id_for_instrument(probe),
         )
         for node, point in positions.items():
             self._position.update({node: point.motor_position})

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

@@ -17,7 +17,7 @@
     Mapping,
 )
 
-from opentrons.config.types import OT3Config, GantryLoad
+from opentrons.config.types import OT3Config, GantryLoad, OutputOptions
 from opentrons.config import gripper_config
 
 from opentrons.hardware_control.module_control import AttachedModulesControl
@@ -64,6 +64,7 @@
 from .types import HWStopCondition
 from .flex_protocol import FlexBackend
 
+
 log = logging.getLogger(__name__)
 
 AXIS_TO_SUBSYSTEM = {
@@ -344,7 +345,8 @@ async def liquid_probe(
         mount_speed: float,
         plunger_speed: float,
         threshold_pascals: float,
-        log_pressure: bool = True,
+        output_format: OutputOptions = OutputOptions.can_bus_only,
+        data_file: Optional[str] = None,
         auto_zero_sensor: bool = True,
         num_baseline_reads: int = 10,
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,

api/src/opentrons/hardware_control/ot3api.py

@@ -2572,7 +2572,8 @@ async def liquid_probe(
             probe_settings.mount_speed,
             (probe_settings.plunger_speed * plunger_direction),
             probe_settings.sensor_threshold_pascals,
-            probe_settings.log_pressure,
+            probe_settings.output_option,
+            probe_settings.data_file,
             probe_settings.auto_zero_sensor,
             probe_settings.num_baseline_reads,
             probe=probe if probe else InstrumentProbeType.PRIMARY,

api/tests/opentrons/config/ot3_settings.py

@@ -1,3 +1,5 @@
+from opentrons.config.types import OutputOptions
+
 ot3_dummy_settings = {
     "name": "Marie Curie",
     "model": "OT-3 Standard",
@@ -123,7 +125,7 @@
         "plunger_speed": 10,
         "sensor_threshold_pascals": 17,
         "expected_liquid_height": 90,
-        "log_pressure": True,
+        "output_option": OutputOptions.stream_to_csv,
         "aspirate_while_sensing": False,
         "auto_zero_sensor": True,
         "num_baseline_reads": 10,

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

@@ -35,7 +35,12 @@
     MessageListenerCallbackFilter,
     CanMessenger,
 )
-from opentrons.config.types import OT3Config, GantryLoad, LiquidProbeSettings
+from opentrons.config.types import (
+    OT3Config,
+    GantryLoad,
+    LiquidProbeSettings,
+    OutputOptions,
+)
 from opentrons.config.robot_configs import build_config_ot3
 from opentrons_hardware.firmware_bindings.arbitration_id import ArbitrationId
 from opentrons_hardware.firmware_bindings.constants import (
@@ -176,7 +181,7 @@ def fake_liquid_settings() -> LiquidProbeSettings:
         plunger_speed=10,
         sensor_threshold_pascals=15,
         expected_liquid_height=109,
-        log_pressure=False,
+        output_option=OutputOptions.can_bus_only,
         aspirate_while_sensing=False,
         auto_zero_sensor=False,
         num_baseline_reads=8,
@@ -715,7 +720,7 @@ async def test_liquid_probe(
         mount_speed=fake_liquid_settings.mount_speed,
         plunger_speed=fake_liquid_settings.plunger_speed,
         threshold_pascals=fake_liquid_settings.sensor_threshold_pascals,
-        log_pressure=fake_liquid_settings.log_pressure,
+        output_option=fake_liquid_settings.output_option,
     )
     move_groups = (mock_move_group_run.call_args_list[0][0][0]._move_groups)[0][0]
     head_node = axis_to_node(Axis.by_mount(mount))

api/tests/opentrons/hardware_control/test_ot3_api.py

@@ -25,6 +25,7 @@
     GantryLoad,
     CapacitivePassSettings,
     LiquidProbeSettings,
+    OutputOptions,
 )
 from opentrons.hardware_control.dev_types import (
     AttachedGripper,
@@ -119,7 +120,7 @@ def fake_liquid_settings() -> LiquidProbeSettings:
         plunger_speed=10,
         sensor_threshold_pascals=15,
         expected_liquid_height=109,
-        log_pressure=False,
+        output_option=OutputOptions.can_bus_only,
         aspirate_while_sensing=False,
         auto_zero_sensor=False,
         num_baseline_reads=10,
@@ -804,7 +805,7 @@ async def test_liquid_probe(
             plunger_speed=10,
             sensor_threshold_pascals=15,
             expected_liquid_height=109,
-            log_pressure=False,
+            output_option=OutputOptions.can_bus_only,
             aspirate_while_sensing=True,
             auto_zero_sensor=False,
             num_baseline_reads=10,
@@ -818,7 +819,8 @@ async def test_liquid_probe(
             fake_settings_aspirate.mount_speed,
             (fake_settings_aspirate.plunger_speed * -1),
             fake_settings_aspirate.sensor_threshold_pascals,
-            fake_settings_aspirate.log_pressure,
+            fake_settings_aspirate.output_option,
+            fake_settings_aspirate.data_file,
             fake_settings_aspirate.auto_zero_sensor,
             fake_settings_aspirate.num_baseline_reads,
             probe=InstrumentProbeType.PRIMARY,

hardware-testing/hardware_testing/gravimetric/config.py

@@ -3,7 +3,7 @@
 from typing import List, Dict, Tuple
 from typing_extensions import Final
 from enum import Enum
-from opentrons.config.types import LiquidProbeSettings
+from opentrons.config.types import LiquidProbeSettings, OutputOptions
 from opentrons.protocol_api.labware import Well
 
 
@@ -194,7 +194,7 @@ def _get_liquid_probe_settings(
         plunger_speed=lqid_cfg["plunger_speed"],
         sensor_threshold_pascals=lqid_cfg["sensor_threshold_pascals"],
         expected_liquid_height=110,
-        log_pressure=True,
+        output_option=OutputOptions.stream_to_csv,
         aspirate_while_sensing=False,
         auto_zero_sensor=True,
         num_baseline_reads=10,

hardware-testing/hardware_testing/production_qc/pipette_assembly_qc_ot3/__main__.py

@@ -18,7 +18,7 @@
 from opentrons_hardware.firmware_bindings.messages.messages import MessageDefinition
 from opentrons_hardware.firmware_bindings.constants import SensorType, SensorId
 
-from opentrons.config.types import LiquidProbeSettings
+from opentrons.config.types import LiquidProbeSettings, OutputOptions
 from opentrons.hardware_control.types import (
     TipStateType,
     FailedTipStateCheck,
@@ -1382,7 +1382,7 @@ async def _test_liquid_probe(
                 plunger_speed=probe_cfg.plunger_speed,
                 sensor_threshold_pascals=probe_cfg.sensor_threshold_pascals,
                 expected_liquid_height=0,  # FIXME: remove
-                log_pressure=False,  # FIXME: remove
+                output_option=OutputOptions.can_bus_only,  # FIXME: remove
                 aspirate_while_sensing=False,  # FIXME: I heard this doesn't work
                 auto_zero_sensor=True,  # TODO: when would we want to adjust this?
                 num_baseline_reads=10,  # TODO: when would we want to adjust this?

hardware/opentrons_hardware/firmware_bindings/constants.py

@@ -173,6 +173,7 @@ 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
@@ -250,6 +251,7 @@ 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
@@ -405,6 +407,7 @@ class MoveStopCondition(int, Enum):
     stall = 0x10
     ignore_stalls = 0x20
     limit_switch_backoff = 0x40
+    sensor_report = 0x80
 
 
 @unique

hardware/opentrons_hardware/firmware_bindings/messages/message_definitions.py

@@ -204,6 +204,19 @@ class AddLinearMoveRequest(BaseMessage):  # noqa: D101
     message_id: Literal[MessageId.add_move_request] = MessageId.add_move_request
 
 
+@dataclass
+class AddSensorLinearMoveRequest(BaseMessage):
+    """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
@@ -988,3 +1001,16 @@ 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

hardware/opentrons_hardware/firmware_bindings/messages/messages.py

@@ -107,6 +107,8 @@
     defs.SetHepaUVStateRequest,
     defs.GetHepaUVStateRequest,
     defs.GetHepaUVStateResponse,
+    defs.SendAccumulatedPressureDataRequest,
+    defs.AddSensorLinearMoveRequest,
 ]