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ryanthecoderAndiiiiiiyy
authored and
caila-marashaj
committed
feat(shared-data, api, hardware-testing): add the p200_96 (#17105)
<!-- Thanks for taking the time to open a Pull Request (PR)! Please make sure you've read the "Opening Pull Requests" section of our Contributing Guide: https://github.com/Opentrons/opentrons/blob/edge/CONTRIBUTING.md#opening-pull-requests GitHub provides robust markdown to format your PR. Links, diagrams, pictures, and videos along with text formatting make it possible to create a rich and informative PR. For more information on GitHub markdown, see: https://docs.github.com/en/get-started/writing-on-github/getting-started-with-writing-and-formatting-on-github/basic-writing-and-formatting-syntax To ensure your code is reviewed quickly and thoroughly, please fill out the sections below to the best of your ability! --> This pulls in the changes from several different hardware-testing branches/tags that have diverged in the factory and includes all the work for the p200_96 that has happened on those branches. <!-- Describe your PR at a high level. State acceptance criteria and how this PR fits into other work. Link issues, PRs, and other relevant resources. --> <!-- Describe your testing of the PR. Emphasize testing not reflected in the code. Attach protocols, logs, screenshots and any other assets that support your testing. --> <!-- List changes introduced by this PR considering future developers and the end user. Give careful thought and clear documentation to breaking changes. --> <!-- - What do you need from reviewers to feel confident this PR is ready to merge? - Ask questions. --> <!-- - Indicate the level of attention this PR needs. - Provide context to guide reviewers. - Discuss trade-offs, coupling, and side effects. - Look for the possibility, even if you think it's small, that your change may affect some other part of the system. - For instance, changing return tip behavior may also change the behavior of labware calibration. - How do your unit tests and on hands on testing mitigate this PR's risks and the risk of future regressions? - Especially in high risk PRs, explain how you know your testing is enough. --> --------- Co-authored-by: Andiiiiiiyy <[email protected]>
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‎app/src/organisms/ODD/InstrumentMountItem/ProtocolInstrumentMountItem.tsx

+6-3
Original file line numberDiff line numberDiff line change
@@ -76,8 +76,11 @@ export function ProtocolInstrumentMountItem(
7676
[]
7777
)
7878
const [flowType, setFlowType] = useState<string>(FLOWS.ATTACH)
79-
const selectedPipette =
80-
speccedName === 'p1000_96' ? NINETY_SIX_CHANNEL : SINGLE_MOUNT_PIPETTES
79+
const is96ChannelPipette =
80+
speccedName === 'p1000_96' || speccedName === 'p200_96'
81+
const selectedPipette = is96ChannelPipette
82+
? NINETY_SIX_CHANNEL
83+
: SINGLE_MOUNT_PIPETTES
8184

8285
const handleCalibrate: MouseEventHandler = () => {
8386
setFlowType(FLOWS.CALIBRATE)
@@ -95,7 +98,7 @@ export function ProtocolInstrumentMountItem(
9598
setShowPipetteWizardFlow(true)
9699
}
97100
}
98-
const is96ChannelPipette = speccedName === 'p1000_96'
101+
99102
const isAttachedWithCal =
100103
attachedInstrument != null &&
101104
attachedInstrument.ok &&

‎app/src/organisms/PipetteWizardFlows/BeforeBeginning.tsx

+4-1
Original file line numberDiff line numberDiff line change
@@ -148,7 +148,10 @@ export const BeforeBeginning = (
148148
const displayName = pipetteDisplayName ?? requiredPipette.pipetteName
149149
bodyTranslationKey = 'remove_labware'
150150

151-
if (requiredPipette.pipetteName === 'p1000_96') {
151+
if (
152+
requiredPipette.pipetteName === 'p1000_96' ||
153+
requiredPipette.pipetteName === 'p200_96'
154+
) {
152155
equipmentList = [
153156
{ ...NINETY_SIX_CHANNEL_PIPETTE, displayName },
154157
CALIBRATION_PROBE,

‎app/src/organisms/PipetteWizardFlows/DetachPipette.tsx

+2-1
Original file line numberDiff line numberDiff line change
@@ -86,7 +86,8 @@ export const DetachPipette = (props: DetachPipetteProps): JSX.Element => {
8686
}
8787
const memoizedAttachedPipettes = useMemo(() => attachedPipettes, [])
8888
const is96ChannelPipette =
89-
memoizedAttachedPipettes[mount]?.instrumentName === 'p1000_96'
89+
memoizedAttachedPipettes[mount]?.instrumentName === 'p1000_96' ||
90+
memoizedAttachedPipettes[mount]?.instrumentName === 'p200_96'
9091
const pipetteName =
9192
attachedPipettes[mount] != null
9293
? attachedPipettes[mount]?.displayName

‎app/src/organisms/PipetteWizardFlows/getPipetteWizardStepsForProtocol.ts

+5-2
Original file line numberDiff line numberDiff line change
@@ -413,8 +413,11 @@ export const getPipetteWizardStepsForProtocol = (
413413
): PipetteWizardStep[] | null => {
414414
const requiredPipette = pipetteInfo.find(pipette => pipette.mount === mount)
415415
const ninetySixChannelAttached =
416-
attachedPipettes[LEFT]?.instrumentName === 'p1000_96'
417-
const ninetySixChannelRequested = requiredPipette?.pipetteName === 'p1000_96'
416+
attachedPipettes[LEFT]?.instrumentName === 'p1000_96' ||
417+
attachedPipettes[LEFT]?.instrumentName === 'p200_96'
418+
const ninetySixChannelRequested =
419+
requiredPipette?.pipetteName === 'p1000_96' ||
420+
requiredPipette?.pipetteName === 'p200_96'
418421

419422
if (requiredPipette == null) {
420423
// return empty array if no pipette is required in the protocol

‎app/src/organisms/PipetteWizardFlows/hooks.tsx

+6-2
Original file line numberDiff line numberDiff line change
@@ -90,10 +90,14 @@ export function usePipetteFlowWizardHeaderText(
9090
)
9191
} else if (
9292
attachedPipettes[LEFT]?.data.channels === 96 &&
93-
mountPipette?.pipetteName !== 'p1000_96'
93+
mountPipette?.pipetteName !== 'p1000_96' &&
94+
mountPipette?.pipetteName !== 'p200_96'
9495
) {
9596
return t('detach_96_attach_mount', { mount: capitalizedMount })
96-
} else if (leftPipette?.pipetteName === 'p1000_96') {
97+
} else if (
98+
leftPipette?.pipetteName === 'p1000_96' ||
99+
leftPipette?.pipetteName === 'p200_96'
100+
) {
97101
if (isGantryEmpty) {
98102
return t('attach_96_channel')
99103
} else if (

‎hardware-testing/Makefile

+7
Original file line numberDiff line numberDiff line change
@@ -100,6 +100,7 @@ test-photometric:
100100
$(python) -m hardware_testing.gravimetric --photometric --simulate --pipette 1000 --channels 96 --tip 50 --trials 1
101101
$(python) -m hardware_testing.gravimetric --photometric --simulate --pipette 1000 --channels 96 --tip 200 --trials 1
102102
$(python) -m hardware_testing.gravimetric --photometric --simulate --pipette 200 --channels 96 --tip 50 --trials 1
103+
$(python) -m hardware_testing.gravimetric --photometric --simulate --pipette 200 --channels 96 --tip 20 --trials 1
103104

104105
.PHONY: test-gravimetric-single
105106
test-gravimetric-single:
@@ -123,6 +124,7 @@ test-gravimetric-multi:
123124
test-gravimetric-96:
124125
$(python) -m hardware_testing.gravimetric --simulate --pipette 1000 --channels 96 --trials 2 --no-blank
125126
$(python) -m hardware_testing.gravimetric --simulate --pipette 200 --channels 96 --trials 2 --no-blank
127+
$(python) -m hardware_testing.gravimetric --simulate --pipette 200 --channels 96 --trials 1 --no-blank --increment --tip 20
126128

127129
.PHONY: test-gravimetric
128130
test-gravimetric:
@@ -229,6 +231,11 @@ push-no-restart-ot3: sdist Pipfile.lock
229231
.PHONY: push-ot3
230232
push-ot3: push-no-restart-ot3 push-plot-webpage-ot3 push-description-ot3 push-labware-ot3
231233

234+
.PHONE: open-dev-app
235+
open-dev-app:
236+
cd .. && $(MAKE) -C app dev
237+
238+
232239
.PHONY: push-all
233240
push-all: clean wheel push-no-restart push-plot-webpage-ot3
234241

‎hardware-testing/hardware_testing/gravimetric/__main__.py

+19-9
Original file line numberDiff line numberDiff line change
@@ -70,11 +70,12 @@
7070

7171
GRAVIMETRIC_CFG_INCREMENT = {
7272
50: {
73-
1: {50: gravimetric_ot3_p50_single},
73+
1: {20: gravimetric_ot3_p50_single, 50: gravimetric_ot3_p50_single},
7474
8: {50: gravimetric_ot3_p50_multi_50ul_tip_increment},
7575
},
7676
200: {
7777
96: {
78+
20: gravimetric_ot3_p200_96,
7879
50: gravimetric_ot3_p200_96,
7980
200: gravimetric_ot3_p200_96,
8081
},
@@ -117,14 +118,19 @@
117118
PHOTOMETRIC_CFG = {
118119
50: {
119120
1: {
121+
20: photometric_ot3_p50_single,
120122
50: photometric_ot3_p50_single,
121123
},
122124
8: {
123125
50: photometric_ot3_p50_multi,
124126
},
125127
},
126128
200: {
127-
96: {50: photometric_ot3_p200_96, 200: photometric_ot3_p200_96},
129+
96: {
130+
20: photometric_ot3_p200_96,
131+
50: photometric_ot3_p200_96,
132+
200: photometric_ot3_p200_96,
133+
},
128134
},
129135
1000: {
130136
1: {
@@ -137,7 +143,11 @@
137143
200: photometric_ot3_p1000_multi,
138144
1000: photometric_ot3_p1000_multi,
139145
},
140-
96: {50: photometric_ot3_p1000_96, 200: photometric_ot3_p1000_96},
146+
96: {
147+
20: photometric_ot3_p1000_96,
148+
50: photometric_ot3_p1000_96,
149+
200: photometric_ot3_p1000_96,
150+
},
141151
},
142152
}
143153

@@ -177,11 +187,11 @@ def _get_protocol_context(cls, args: argparse.Namespace) -> ProtocolContext:
177187
"Starting opentrons-robot-server, so we can http GET labware offsets"
178188
)
179189
LABWARE_OFFSETS.extend(workarounds.http_get_all_labware_offsets())
180-
ui.print_info(f"found {len(LABWARE_OFFSETS)} offsets:")
181-
for offset in LABWARE_OFFSETS:
182-
ui.print_info(f"\t{offset.createdAt}:")
183-
ui.print_info(f"\t\t{offset.definitionUri}")
184-
ui.print_info(f"\t\t{offset.vector}")
190+
# ui.print_info(f"found {len(LABWARE_OFFSETS)} offsets:")
191+
# for offset in LABWARE_OFFSETS:
192+
# ui.print_info(f"\t{offset.createdAt}:")
193+
# ui.print_info(f"\t\t{offset.definitionUri}")
194+
# ui.print_info(f"\t\t{offset.vector}")
185195
# gather the custom labware (for simulation)
186196
custom_defs = {}
187197
if args.simulate:
@@ -572,7 +582,7 @@ def _main(
572582
parser.add_argument("--simulate", action="store_true")
573583
parser.add_argument("--pipette", type=int, choices=[50, 200, 1000], required=True)
574584
parser.add_argument("--channels", type=int, choices=[1, 8, 96], default=1)
575-
parser.add_argument("--tip", type=int, choices=[0, 50, 200, 1000], default=0)
585+
parser.add_argument("--tip", type=int, choices=[0, 20, 50, 200, 1000], default=0)
576586
parser.add_argument("--trials", type=int, default=0)
577587
parser.add_argument("--increment", action="store_true")
578588
parser.add_argument("--return-tip", action="store_true")

‎hardware-testing/hardware_testing/gravimetric/config.py

+51-15
Original file line numberDiff line numberDiff line change
@@ -88,30 +88,40 @@ class PhotometricConfig(VolumetricConfig):
8888
LIQUID_PROBE_SETTINGS: Dict[int, Dict[int, Dict[int, Dict[str, int]]]] = {
8989
50: {
9090
1: {
91+
20: {
92+
"mount_speed": 5,
93+
"plunger_speed": 15,
94+
"sensor_threshold_pascals": 15,
95+
},
9196
50: {
9297
"mount_speed": 5,
93-
"plunger_speed": 20,
98+
"plunger_speed": 15,
9499
"sensor_threshold_pascals": 15,
95100
},
96101
},
97102
8: {
98103
50: {
99104
"mount_speed": 5,
100-
"plunger_speed": 20,
105+
"plunger_speed": 15,
101106
"sensor_threshold_pascals": 15,
102107
},
103108
},
104109
},
105110
200: {
106111
96: {
112+
20: {
113+
"mount_speed": 5,
114+
"plunger_speed": 5,
115+
"sensor_threshold_pascals": 15,
116+
},
107117
50: {
108118
"mount_speed": 5,
109-
"plunger_speed": 20,
119+
"plunger_speed": 5,
110120
"sensor_threshold_pascals": 15,
111121
},
112122
200: {
113123
"mount_speed": 5,
114-
"plunger_speed": 20,
124+
"plunger_speed": 5,
115125
"sensor_threshold_pascals": 15,
116126
},
117127
}
@@ -120,51 +130,56 @@ class PhotometricConfig(VolumetricConfig):
120130
1: {
121131
50: {
122132
"mount_speed": 5,
123-
"plunger_speed": 20,
133+
"plunger_speed": 15,
124134
"sensor_threshold_pascals": 15,
125135
},
126136
200: {
127137
"mount_speed": 5,
128-
"plunger_speed": 20,
138+
"plunger_speed": 15,
129139
"sensor_threshold_pascals": 15,
130140
},
131141
1000: {
132142
"mount_speed": 5,
133-
"plunger_speed": 20,
143+
"plunger_speed": 15,
134144
"sensor_threshold_pascals": 15,
135145
},
136146
},
137147
8: {
138148
50: {
139149
"mount_speed": 5,
140-
"plunger_speed": 20,
150+
"plunger_speed": 15,
141151
"sensor_threshold_pascals": 15,
142152
},
143153
200: {
144154
"mount_speed": 5,
145-
"plunger_speed": 20,
155+
"plunger_speed": 15,
146156
"sensor_threshold_pascals": 15,
147157
},
148158
1000: {
149159
"mount_speed": 5,
150-
"plunger_speed": 20,
160+
"plunger_speed": 15,
151161
"sensor_threshold_pascals": 15,
152162
},
153163
},
154164
96: {
165+
20: {
166+
"mount_speed": 5,
167+
"plunger_speed": 5,
168+
"sensor_threshold_pascals": 15,
169+
},
155170
50: {
156171
"mount_speed": 5,
157-
"plunger_speed": 20,
172+
"plunger_speed": 5,
158173
"sensor_threshold_pascals": 15,
159174
},
160175
200: {
161176
"mount_speed": 5,
162-
"plunger_speed": 20,
177+
"plunger_speed": 5,
163178
"sensor_threshold_pascals": 15,
164179
},
165180
1000: {
166181
"mount_speed": 5,
167-
"plunger_speed": 20,
182+
"plunger_speed": 5,
168183
"sensor_threshold_pascals": 15,
169184
},
170185
},
@@ -194,6 +209,7 @@ def _get_liquid_probe_settings(
194209
QC_VOLUMES_G: Dict[int, Dict[int, List[Tuple[int, List[float]]]]] = {
195210
1: {
196211
50: [ # P50
212+
(20, [1.0, 20.0]),
197213
(50, [1.0, 50.0]), # T50
198214
],
199215
1000: [ # P1000
@@ -214,10 +230,12 @@ def _get_liquid_probe_settings(
214230
},
215231
96: {
216232
200: [
233+
(20, [0.5, 1.0]), # T20
217234
(50, [1.0, 50.0]), # T50
218235
(200, [200.0]), # T200
219236
],
220237
1000: [ # P1000
238+
(20, [5.0]),
221239
(50, [5.0]), # T50
222240
(200, [200.0]), # T200
223241
(1000, [1000.0]), # T1000
@@ -279,7 +297,8 @@ def _get_liquid_probe_settings(
279297
},
280298
96: {
281299
200: [
282-
(50, [1.0, 5.0]), # T50
300+
(20, [1.0, 0.5]), # T50
301+
(50, [50.0]), # T50
283302
(200, [200.0]), # T200
284303
],
285304
1000: [ # P1000
@@ -311,6 +330,11 @@ def _get_liquid_probe_settings(
311330
# channels: [Pipette: [tip: [Volume: (%d, Cv)]]]
312331
1: {
313332
50: { # P50
333+
20: {
334+
1.0: (5.0, 4.0),
335+
10.0: (1.0, 0.5),
336+
20.0: (1, 0.4),
337+
},
314338
50: {
315339
1.0: (5.0, 4.0),
316340
10.0: (1.0, 0.5),
@@ -363,12 +387,16 @@ def _get_liquid_probe_settings(
363387
},
364388
96: {
365389
200: {
366-
50: { # T50
390+
20: { # T20
391+
0.5: (2.5, 2.0),
367392
1.0: (2.5, 2.0),
368393
2.0: (2.5, 2.0),
369394
3.0: (2.5, 2.0),
370395
5.0: (2.5, 2.0),
371396
10.0: (3.1, 1.7),
397+
},
398+
50: { # T50
399+
1.0: (2.5, 2.0),
372400
50.0: (1.5, 0.75),
373401
},
374402
200: { # T200
@@ -378,6 +406,14 @@ def _get_liquid_probe_settings(
378406
},
379407
},
380408
1000: { # P1000
409+
20: { # T20
410+
1.0: (2.5, 2.0),
411+
2.0: (2.5, 2.0),
412+
3.0: (2.5, 2.0),
413+
5.0: (2.5, 2.0),
414+
10.0: (3.1, 1.7),
415+
20.0: (3.1, 1.7),
416+
},
381417
50: { # T50
382418
1.0: (2.5, 2.0),
383419
2.0: (2.5, 2.0),

‎hardware-testing/hardware_testing/gravimetric/execute.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -591,7 +591,7 @@ def run(cfg: config.GravimetricConfig, resources: TestResources) -> None: # noq
591591
assert resources.recorder is not None
592592
recorder = resources.recorder
593593
if resources.ctx.is_simulating():
594-
start_sim_mass = {50: 15, 200: 200, 1000: 200}
594+
start_sim_mass = {20: 5, 50: 15, 200: 200, 1000: 200}
595595
resources.recorder.set_simulation_mass(start_sim_mass[cfg.tip_volume])
596596
os.makedirs(
597597
f"{resources.test_report.parent}/{resources.test_report._run_id}", exist_ok=True

‎hardware-testing/hardware_testing/gravimetric/execute_photometric.py

+5
Original file line numberDiff line numberDiff line change
@@ -46,6 +46,7 @@
4646
"B": {"min": 10, "max": 49.99},
4747
"C": {"min": 2, "max": 9.999},
4848
"D": {"min": 1, "max": 1.999},
49+
"E": {"min": 0, "max": 0.9999},
4950
}
5051
_MIN_START_VOLUME_UL = {1: 500, 8: 3000, 96: 30000}
5152
_MIN_END_VOLUME_UL = {1: 400, 8: 3000, 96: 10000}
@@ -191,6 +192,8 @@ def _record_measurement_and_store(m_type: MeasurementType) -> EnvironmentData:
191192
)
192193

193194
_record_measurement_and_store(MeasurementType.ASPIRATE)
195+
if not trial.ctx.is_simulating():
196+
input("请记录吸液状态，并尝试拍摄清晰的吸液后的针管照片..........")
194197
for i in range(num_dispenses):
195198
dest_name = _get_photo_plate_dest(trial.cfg, trial.trial)
196199
dest_well = trial.dest[dest_name]
@@ -215,6 +218,8 @@ def _record_measurement_and_store(m_type: MeasurementType) -> EnvironmentData:
215218
touch_tip=trial.cfg.touch_tip,
216219
)
217220
_record_measurement_and_store(MeasurementType.DISPENSE)
221+
if not trial.ctx.is_simulating():
222+
input("请记录排液状态，并尝试拍摄清晰的排液后的针管照片..........")
218223
trial.pipette._retract() # retract to top of gantry
219224
if (i + 1) == num_dispenses:
220225
if not trial.cfg.same_tip:

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