Merge remote-tracking branch 'origin/edge' into EXEC-1055-96-chan-tes…

…ting-mergeback

abr-testing/abr_testing/tools/make_push.py

@@ -1,7 +1,8 @@
 """Push one or more folders to one or more robots."""
 import subprocess
-import multiprocessing
 import json
+from typing import List
+from multiprocessing import Process, Queue
 
 global folders
 # Opentrons folders that can be pushed to robot
@@ -13,20 +14,22 @@
 ]
 
 
-def push_subroutine(cmd: str) -> None:
+def push_subroutine(cmd: str, queue: Queue) -> None:
     """Pushes specified folder to specified robot."""
     try:
         subprocess.run(cmd)
+        queue.put(f"{cmd}: SUCCESS!\n")
     except Exception:
-        print("failed to push folder")
-        raise
+        queue.put(f"{cmd}: FAILED\n")
 
 
 def main(folder_to_push: str, robot_to_push: str) -> int:
     """Main process!"""
     cmd = "make -C {folder} push-ot3 host={ip}"
     robot_ip_path = ""
     push_cmd = ""
+    processes: List[Process] = []
+    queue: Queue = Queue()
     folder_int = int(folder_to_push)
     if folders[folder_int].lower() == "abr-testing + hardware-testing":
         if robot_to_push.lower() == "all":
@@ -41,20 +44,16 @@ def main(folder_to_push: str, robot_to_push: str) -> int:
         for folder_name in folders[:-2]:
             # Push abr-testing and hardware-testing folders to all robots
             for robot in robot_ips:
-                print_proc = multiprocessing.Process(
-                    target=print, args=(f"Pushing {folder_name} to {robot}!\n\n",)
-                )
-                print_proc.start()
-                print_proc.join()
                 push_cmd = cmd.format(folder=folder_name, ip=robot)
-                process = multiprocessing.Process(
-                    target=push_subroutine, args=(push_cmd,)
+                process = Process(
+                    target=push_subroutine,
+                    args=(
+                        push_cmd,
+                        queue,
+                    ),
                 )
                 process.start()
-                process.join()
-                print_proc = multiprocessing.Process(target=print, args=("Done!\n\n",))
-                print_proc.start()
-                print_proc.join()
+                processes.append(process)
     else:
 
         if folder_int == (len(folders) - 1):
@@ -72,18 +71,15 @@ def main(folder_to_push: str, robot_to_push: str) -> int:
 
         # Push folder to robots
         for robot in robot_ips:
-            print_proc = multiprocessing.Process(
-                target=print, args=(f"Pushing {folder_name} to {robot}!\n\n",)
-            )
-            print_proc.start()
-            print_proc.join()
             push_cmd = cmd.format(folder=folder_name, ip=robot)
-            process = multiprocessing.Process(target=push_subroutine, args=(push_cmd,))
+            process = Process(target=push_subroutine, args=(push_cmd, queue))
             process.start()
-            process.join()
-            print_proc = multiprocessing.Process(target=print, args=("Done!\n\n",))
-            print_proc.start()
-            print_proc.join()
+            processes.append(process)
+
+    for process in processes:
+        process.join()
+        result = queue.get()
+        print(f"\n{result}")
     return 0
 
 

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

@@ -165,6 +165,7 @@ async def liquid_probe(
         threshold_pascals: float,
         plunger_impulse_time: float,
         num_baseline_reads: int,
+        z_offset_for_plunger_prep: float,
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,
         force_both_sensors: bool = False,
         response_queue: Optional[PipetteSensorResponseQueue] = None,

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

@@ -1493,6 +1493,7 @@ async def liquid_probe(
         threshold_pascals: float,
         plunger_impulse_time: float,
         num_baseline_reads: int,
+        z_offset_for_plunger_prep: float,
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,
         force_both_sensors: bool = False,
         response_queue: Optional[PipetteSensorResponseQueue] = None,
@@ -1535,6 +1536,7 @@ def response_capture(data: Dict[SensorId, List[SensorDataType]]) -> None:
             threshold_pascals=threshold_pascals,
             plunger_impulse_time=plunger_impulse_time,
             num_baseline_reads=num_baseline_reads,
+            z_offset_for_plunger_prep=z_offset_for_plunger_prep,
             sensor_id=sensor_id_for_instrument(probe),
             force_both_sensors=force_both_sensors,
             emplace_data=response_capture,

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

@@ -353,6 +353,7 @@ async def liquid_probe(
         threshold_pascals: float,
         plunger_impulse_time: float,
         num_baseline_reads: int,
+        z_offset_for_plunger_prep: float,
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,
         force_both_sensors: bool = False,
         response_queue: Optional[PipetteSensorResponseQueue] = None,

api/src/opentrons/hardware_control/ot3api.py

@@ -2677,6 +2677,7 @@ async def _liquid_probe_pass(
         probe_settings: LiquidProbeSettings,
         probe: InstrumentProbeType,
         p_travel: float,
+        z_offset_for_plunger_prep: float,
         force_both_sensors: bool = False,
         response_queue: Optional[PipetteSensorResponseQueue] = None,
     ) -> float:
@@ -2689,6 +2690,7 @@ async def _liquid_probe_pass(
             probe_settings.sensor_threshold_pascals,
             probe_settings.plunger_impulse_time,
             probe_settings.samples_for_baselining,
+            z_offset_for_plunger_prep,
             probe=probe,
             force_both_sensors=force_both_sensors,
             response_queue=response_queue,
@@ -2838,6 +2840,7 @@ async def prep_plunger_for_probe_move(
                     probe_settings,
                     checked_probe,
                     plunger_travel_mm + sensor_baseline_plunger_move_mm,
+                    z_offset_for_plunger_prep,
                     force_both_sensors,
                     response_queue,
                 )

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

@@ -745,6 +745,7 @@ async def test_liquid_probe(
             threshold_pascals=fake_liquid_settings.sensor_threshold_pascals,
             plunger_impulse_time=fake_liquid_settings.plunger_impulse_time,
             num_baseline_reads=fake_liquid_settings.samples_for_baselining,
+            z_offset_for_plunger_prep=2.0,
         )
     except PipetteLiquidNotFoundError:
         # the move raises a liquid not found now since we don't call the move group and it doesn't

api/tests/opentrons/hardware_control/test_ot3_api.py

@@ -858,6 +858,7 @@ async def test_liquid_probe(
             fake_settings_aspirate.sensor_threshold_pascals,
             fake_settings_aspirate.plunger_impulse_time,
             fake_settings_aspirate.samples_for_baselining,
+            probe_safe_reset_mm,
             probe=InstrumentProbeType.PRIMARY,
             force_both_sensors=False,
             response_queue=None,
@@ -1114,6 +1115,7 @@ async def test_multi_liquid_probe(
             fake_settings_aspirate.sensor_threshold_pascals,
             fake_settings_aspirate.plunger_impulse_time,
             fake_settings_aspirate.samples_for_baselining,
+            2.0,
             probe=InstrumentProbeType.PRIMARY,
             force_both_sensors=False,
             response_queue=None,
@@ -1149,6 +1151,7 @@ async def _fake_pos_update_and_raise(
         threshold_pascals: float,
         plunger_impulse_time: float,
         num_baseline_reads: int,
+        z_offset_for_plunger_prep: float,
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,
         force_both_sensors: bool = False,
         response_queue: Optional[

app/Makefile

@@ -47,7 +47,7 @@ clean:
 dist: export NODE_ENV := production
 dist:
 	echo "Building app JS bundle (browser layer)"
-	vite build
+	NODE_OPTIONS="--max-old-space-size=8192" vite build
 
 # development
 #####################################################################

app/src/organisms/Desktop/Devices/RobotSettings/AdvancedTab/UpdateRobotSoftware.tsx

@@ -23,6 +23,7 @@ import { ExternalLink } from '/app/atoms/Link/ExternalLink'
 import { TertiaryButton } from '/app/atoms/buttons'
 import { getRobotUpdateDisplayInfo } from '/app/redux/robot-update'
 import { useDispatchStartRobotUpdate } from '/app/redux/robot-update/hooks'
+import { remote } from '/app/redux/shell/remote'
 
 import type { ChangeEventHandler, MouseEventHandler } from 'react'
 import type { State } from '/app/redux/types'
@@ -55,14 +56,19 @@ export function UpdateRobotSoftware({
 
   const handleChange: ChangeEventHandler<HTMLInputElement> = event => {
     const { files } = event.target
-    if (files?.length === 1 && !updateDisabled) {
-      dispatchStartRobotUpdate(robotName, files[0].path)
-      onUpdateStart()
-    }
-    // this is to reset the state of the file picker so users can reselect the same
-    // system image if the upload fails
-    if (inputRef.current?.value != null) {
-      inputRef.current.value = ''
+
+    if (files != null) {
+      void remote.getFilePathFrom(files[0]).then(filePath => {
+        if (files.length === 1 && !updateDisabled) {
+          dispatchStartRobotUpdate(robotName, filePath)
+          onUpdateStart()
+        }
+        // this is to reset the state of the file picker so users can reselect the same
+        // system image if the upload fails
+        if (inputRef.current?.value != null) {
+          inputRef.current.value = ''
+        }
+      })
     }
   }
 

app/tsconfig.json

@@ -35,7 +35,7 @@
     "outDir": "lib",
     "paths": {
       "/app/*": ["./src/*"]
-    }
+    },
   },
   "include": ["typings", "src"],
   "exclude": ["**/*.stories.tsx"]

app/vite.config.mts

@@ -19,6 +19,7 @@ export default defineConfig(
       build: {
         // Relative to the root
         outDir: 'dist',
+        sourcemap: true
       },
       plugins: [
         react({

hardware/opentrons_hardware/hardware_control/tool_sensors.py

@@ -269,6 +269,7 @@ async def liquid_probe(
     threshold_pascals: float,
     plunger_impulse_time: float,
     num_baseline_reads: int,
+    z_offset_for_plunger_prep: float,
     sensor_id: SensorId = SensorId.S0,
     force_both_sensors: bool = False,
     emplace_data: Optional[
@@ -331,8 +332,9 @@ async def liquid_probe(
     )
     sensor_runner = MoveGroupRunner(move_groups=[[lower_plunger], [sensor_group]])
 
+    # Only raise the z a little so we don't do a huge slow travel
     raise_z = create_step(
-        distance={head_node: float64(max_z_distance)},
+        distance={head_node: float64(z_offset_for_plunger_prep)},
         velocity={head_node: float64(-1 * mount_speed)},
         acceleration={},
         duration=float64(max_z_distance / mount_speed),

hardware/tests/opentrons_hardware/hardware_control/test_tool_sensors.py

@@ -237,6 +237,7 @@ def move_responder(
         threshold_pascals=threshold_pascals,
         plunger_impulse_time=0.2,
         num_baseline_reads=20,
+        z_offset_for_plunger_prep=2.0,
         sensor_id=SensorId.S0,
     )
     assert position[motor_node].positions_only()[0] == 14

protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepTools/MoveLiquidTools/index.tsx

@@ -1,4 +1,3 @@
-import { useEffect } from 'react'
 import { useSelector } from 'react-redux'
 import { useTranslation } from 'react-i18next'
 import {
@@ -137,13 +136,6 @@ export function MoveLiquidTools(props: StepFormProps): JSX.Element {
 
   const mappedErrorsToField = getFormErrorsMappedToField(visibleFormErrors)
 
-  // auto-collapse blowout field if disposal volume is checked
-  useEffect(() => {
-    if (formData.disposalVolume_checkbox) {
-      propsForFields.blowout_checkbox.updateValue(false)
-    }
-  }, [formData.disposalVolume_checkbox])
-
   return toolboxStep === 0 ? (
     <Flex
       flexDirection={DIRECTION_COLUMN}

protocol-designer/src/steplist/formLevel/handleFormChange/dependentFieldsUpdateMoveLiquid.ts

@@ -428,6 +428,7 @@ const updatePatchDisposalVolumeFields = (
       ...patch,
       disposalVolume_checkbox: true,
       disposalVolume_volume: recommendedMinimumDisposalVol,
+      blowout_checkbox: false,
     }
   }
 

protocol-designer/src/steplist/formLevel/handleFormChange/test/moveLiquid.test.ts

@@ -313,6 +313,7 @@ describe('disposal volume should update...', () => {
         dispense_mix_checkbox: false,
         dispense_mix_times: null,
         dispense_mix_volume: null,
+        blowout_checkbox: false,
       })
     })