feat(hardware): refactor tool_sensors to simplify and remove csvs #16462
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ryanthecoder
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sfoster1
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Oct 11, 2024
| probe: InstrumentProbeType = InstrumentProbeType.PRIMARY, | ||
| force_both_sensors: bool = False, | ||
| response_queue: Optional[ | ||
| asyncio.Queue[dict[SensorId, list[SensorDataType]]] |
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if we're going to use the lower case versions here we should change the rest of the file imo
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I'm not sure what that means
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for the types - dict instead of typing.Dict
api/tests/opentrons/hardware_control/backends/test_ot3_controller.py
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| probe: InstrumentProbeType = InstrumentProbeType.PRIMARY, | ||
| force_both_sensors: bool = False, | ||
| response_queue: Optional[ | ||
| asyncio.Queue[dict[SensorId, list[SensorDataType]]] |
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for the types - dict instead of typing.Dict
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Overview
This PR removes much of the complexity in tool_sensors around the liquid probe routine.
Instead of having many different options of setting the bindings and building messages, this consolidates all of the previous options by only commanding the firmware one way, forwarding the sensor information to a new log file, and providing a way for the system to optionally grab the raw sensor data if they wish which is required for the hardware-testing scripts and possibly for future features.
We no longer write CSV files to the robot through this system and have removed all of the coded in paths for them. It also removes the "OutputOptions" data type that previously controlled the behavior variants.
Before each variant had it's own quirks to behavior so now machine actions will always be the same regardless of how the tool_sensors method is called.
This also adds a new can message that sends sensor data in batches instead of 1 by 1 so we don't choke up the can bus as much.
Test Plan and Hands on Testing
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