feat(hardware): refactor tool_sensors to simplify and remove csvs

api/src/opentrons/config/__init__.py

@@ -202,6 +202,15 @@ class ConfigElement(NamedTuple):
         " absolute path, it will be used directly. If it is a "
         "relative path it will be relative to log_dir",
     ),
+    ConfigElement(
+        "sensor_log_file",
+        "Sensor Log File",
+        Path("logs") / "sensor.log",
+        ConfigElementType.FILE,
+        "The location of the file to save sensor logs to. If this is an"
+        " absolute path, it will be used directly. If it is a "
+        "relative path it will be relative to log_dir",
+    ),
     ConfigElement(
         "serial_log_file",
         "Serial Log File",

api/src/opentrons/config/defaults_ot3.py

@@ -15,7 +15,6 @@
     LiquidProbeSettings,
     ZSenseSettings,
     EdgeSenseSettings,
-    OutputOptions,
 )
 
 
@@ -27,13 +26,11 @@
     plunger_speed=15,
     plunger_impulse_time=0.2,
     sensor_threshold_pascals=15,
-    output_option=OutputOptions.sync_buffer_to_csv,
     aspirate_while_sensing=False,
     z_overlap_between_passes_mm=0.1,
     plunger_reset_offset=2.0,
     samples_for_baselining=20,
     sample_time_sec=0.004,
-    data_files={InstrumentProbeType.PRIMARY: "/data/pressure_sensor_data.csv"},
 )
 
 DEFAULT_CALIBRATION_SETTINGS: Final[OT3CalibrationSettings] = OT3CalibrationSettings(
@@ -43,7 +40,6 @@
             max_overrun_distance_mm=5.0,
             speed_mm_per_s=1.0,
             sensor_threshold_pf=3.0,
-            output_option=OutputOptions.sync_only,
         ),
     ),
     edge_sense=EdgeSenseSettings(
@@ -54,7 +50,6 @@
             max_overrun_distance_mm=0.5,
             speed_mm_per_s=1,
             sensor_threshold_pf=3.0,
-            output_option=OutputOptions.sync_only,
         ),
         search_initial_tolerance_mm=12.0,
         search_iteration_limit=8,
@@ -195,23 +190,6 @@
 )
 
 
-def _build_output_option_with_default(
-    from_conf: Any, default: OutputOptions
-) -> OutputOptions:
-    if from_conf is None:
-        return default
-    else:
-        if isinstance(from_conf, OutputOptions):
-            return from_conf
-        else:
-            try:
-                enumval = OutputOptions[from_conf]
-            except KeyError:  # not an enum entry
-                return default
-            else:
-                return enumval
-
-
 def _build_log_files_with_default(
     from_conf: Any,
     default: Optional[Dict[InstrumentProbeType, str]],
@@ -316,24 +294,12 @@ def _build_default_cap_pass(
         sensor_threshold_pf=from_conf.get(
             "sensor_threshold_pf", default.sensor_threshold_pf
         ),
-        output_option=from_conf.get("output_option", default.output_option),
     )
 
 
 def _build_default_liquid_probe(
     from_conf: Any, default: LiquidProbeSettings
 ) -> LiquidProbeSettings:
-    output_option = _build_output_option_with_default(
-        from_conf.get("output_option", None), default.output_option
-    )
-    data_files: Optional[Dict[InstrumentProbeType, str]] = None
-    if (
-        output_option is OutputOptions.sync_buffer_to_csv
-        or output_option is OutputOptions.stream_to_csv
-    ):
-        data_files = _build_log_files_with_default(
-            from_conf.get("data_files", None), default.data_files
-        )
     return LiquidProbeSettings(
         mount_speed=from_conf.get("mount_speed", default.mount_speed),
         plunger_speed=from_conf.get("plunger_speed", default.plunger_speed),
@@ -343,7 +309,6 @@ def _build_default_liquid_probe(
         sensor_threshold_pascals=from_conf.get(
             "sensor_threshold_pascals", default.sensor_threshold_pascals
         ),
-        output_option=from_conf.get("output_option", default.output_option),
         aspirate_while_sensing=from_conf.get(
             "aspirate_while_sensing", default.aspirate_while_sensing
         ),
@@ -357,7 +322,6 @@ def _build_default_liquid_probe(
             "samples_for_baselining", default.samples_for_baselining
         ),
         sample_time_sec=from_conf.get("sample_time_sec", default.sample_time_sec),
-        data_files=data_files,
     )
 
 

api/src/opentrons/config/types.py

@@ -1,8 +1,8 @@
 from enum import Enum
 from dataclasses import dataclass, asdict, fields
-from typing import Dict, Tuple, TypeVar, Generic, List, cast, Optional
+from typing import Dict, Tuple, TypeVar, Generic, List, cast
 from typing_extensions import TypedDict, Literal
-from opentrons.hardware_control.types import OT3AxisKind, InstrumentProbeType
+from opentrons.hardware_control.types import OT3AxisKind
 
 
 class AxisDict(TypedDict):
@@ -103,25 +103,12 @@ def by_gantry_load(
         )
 
 
-class OutputOptions(int, Enum):
-    """Specifies where we should report sensor data to during a sensor pass."""
-
-    stream_to_csv = 0x1  # compile sensor data stream into a csv file, in addition to can_bus_only behavior
-    sync_buffer_to_csv = 0x2  # collect sensor data on pipette mcu, then stream to robot server and compile into a csv file, in addition to can_bus_only behavior
-    can_bus_only = (
-        0x4  # stream sensor data over CAN bus, in addition to sync_only behavior
-    )
-    sync_only = 0x8  # trigger pipette sync line upon sensor's detection of something
-
-
 @dataclass(frozen=True)
 class CapacitivePassSettings:
     prep_distance_mm: float
     max_overrun_distance_mm: float
     speed_mm_per_s: float
     sensor_threshold_pf: float
-    output_option: OutputOptions
-    data_files: Optional[Dict[InstrumentProbeType, str]] = None
 
 
 @dataclass(frozen=True)
@@ -135,13 +122,11 @@ class LiquidProbeSettings:
     plunger_speed: float
     plunger_impulse_time: float
     sensor_threshold_pascals: float
-    output_option: OutputOptions
     aspirate_while_sensing: bool
     z_overlap_between_passes_mm: float
     plunger_reset_offset: float
     samples_for_baselining: int
     sample_time_sec: float
-    data_files: Optional[Dict[InstrumentProbeType, str]]
 
 
 @dataclass(frozen=True)

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

@@ -15,7 +15,7 @@
 from opentrons_shared_data.pipette.types import (
     PipetteName,
 )
-from opentrons.config.types import GantryLoad, OutputOptions
+from opentrons.config.types import GantryLoad
 from opentrons.hardware_control.types import (
     BoardRevision,
     Axis,
@@ -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
 
@@ -152,10 +154,11 @@ async def liquid_probe(
         threshold_pascals: float,
         plunger_impulse_time: float,
         num_baseline_reads: int,
-        output_format: OutputOptions = OutputOptions.can_bus_only,
-        data_files: Optional[Dict[InstrumentProbeType, str]] = None,
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,
         force_both_sensors: bool = False,
+        response_queue: Optional[
+            asyncio.Queue[dict[SensorId, list[SensorDataType]]]
+        ] = None,
     ) -> float:
         ...
 
@@ -371,8 +374,6 @@ async def capacitive_probe(
         speed_mm_per_s: float,
         sensor_threshold_pf: float,
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,
-        output_format: OutputOptions = OutputOptions.sync_only,
-        data_files: Optional[Dict[InstrumentProbeType, str]] = None,
     ) -> bool:
         ...
 

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

@@ -25,7 +25,7 @@
     Union,
     Mapping,
 )
-from opentrons.config.types import OT3Config, GantryLoad, OutputOptions
+from opentrons.config.types import OT3Config, GantryLoad
 from opentrons.config import gripper_config
 from .ot3utils import (
     axis_convert,
@@ -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,
 )
@@ -1368,28 +1370,14 @@ async def liquid_probe(
         threshold_pascals: float,
         plunger_impulse_time: float,
         num_baseline_reads: int,
-        output_option: OutputOptions = OutputOptions.can_bus_only,
-        data_files: Optional[Dict[InstrumentProbeType, str]] = None,
         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))
-        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
-        )
-        data_files_transposed = (
-            None
-            if data_files is None
-            else {
-                sensor_id_for_instrument(probe): data_files[probe]
-                for probe in data_files.keys()
-            }
-        )
         positions = await liquid_probe(
             messenger=self._messenger,
             tool=tool,
@@ -1400,12 +1388,9 @@ async def liquid_probe(
             threshold_pascals=threshold_pascals,
             plunger_impulse_time=plunger_impulse_time,
             num_baseline_reads=num_baseline_reads,
-            csv_output=csv_output,
-            sync_buffer_output=sync_buffer_output,
-            can_bus_only_output=can_bus_only_output,
-            data_files=data_files_transposed,
             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})
@@ -1432,41 +1417,13 @@ async def capacitive_probe(
         speed_mm_per_s: float,
         sensor_threshold_pf: float,
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,
-        output_option: OutputOptions = OutputOptions.sync_only,
-        data_files: Optional[Dict[InstrumentProbeType, str]] = None,
     ) -> bool:
-        if output_option == OutputOptions.sync_buffer_to_csv:
-            assert (
-                self._subsystem_manager.device_info[
-                    SubSystem.of_mount(mount)
-                ].revision.tertiary
-                == "1"
-            )
-        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
-        )
-        data_files_transposed = (
-            None
-            if data_files is None
-            else {
-                sensor_id_for_instrument(probe): data_files[probe]
-                for probe in data_files.keys()
-            }
-        )
         status = await capacitive_probe(
             messenger=self._messenger,
             tool=sensor_node_for_mount(mount),
             mover=axis_to_node(moving),
             distance=distance_mm,
             mount_speed=speed_mm_per_s,
-            csv_output=csv_output,
-            sync_buffer_output=sync_buffer_output,
-            can_bus_only_output=can_bus_only_output,
-            data_files=data_files_transposed,
             sensor_id=sensor_id_for_instrument(probe),
             relative_threshold_pf=sensor_threshold_pf,
         )

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

@@ -17,7 +17,7 @@
     Mapping,
 )
 
-from opentrons.config.types import OT3Config, GantryLoad, OutputOptions
+from opentrons.config.types import OT3Config, GantryLoad
 from opentrons.config import gripper_config
 
 from opentrons.hardware_control.module_control import AttachedModulesControl
@@ -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__)
 
@@ -347,10 +348,11 @@ async def liquid_probe(
         threshold_pascals: float,
         plunger_impulse_time: float,
         num_baseline_reads: int,
-        output_format: OutputOptions = OutputOptions.can_bus_only,
-        data_files: Optional[Dict[InstrumentProbeType, str]] = None,
         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
@@ -750,8 +752,6 @@ async def capacitive_probe(
         speed_mm_per_s: float,
         sensor_threshold_pf: float,
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,
-        output_format: OutputOptions = OutputOptions.sync_only,
-        data_files: Optional[Dict[InstrumentProbeType, str]] = None,
     ) -> bool:
         self._position[moving] += distance_mm
         return True