Feat(hardware-testing): make gravimetric qc a protocol. (#18466)

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# Overview
Historically the Gravimetric and photometric fixtures in the factory
have been running on scripts.
This process is slow, hard to use, hard to update and not very flexible.

This PR is the last in a long series of steps that will finally get us
off the scripts and onto the protocol based version of this.
This has been enabled by the recent features of LLD, Liquid Tracking,
Liquid Classes, Run time parameters and error recovery.

This PR also adds a new set of methods on the ot3api level that enables
the hardware controller to easily pull sensor data from the instruments.
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## Test Plan and Hands on Testing
This does not touch any existing features, and only adds functions to a
non-public api level so there is no additional testing that needs to be
added for the release.
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Author: ryanthecoder

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

@@ -42,6 +42,7 @@
 from ..dev_types import OT3AttachedInstruments
 from .types import HWStopCondition
 
+
 Cls = TypeVar("Cls")
 
 
@@ -466,3 +467,27 @@ async def get_hepa_uv_state(self) -> Optional[HepaUVState]:
     async def increase_evo_disp_count(self, mount: OT3Mount) -> None:
         """Tell a pipette to increase it's evo-tip-dispense-count in eeprom."""
         ...
+
+    async def read_env_temp_sensor(
+        self, mount: OT3Mount, primary: bool
+    ) -> Optional[float]:
+        """Read and return the current sensor information."""
+        ...
+
+    async def read_env_hum_sensor(
+        self, mount: OT3Mount, primary: bool
+    ) -> Optional[float]:
+        """Read and return the current sensor information."""
+        ...
+
+    async def read_pressure_sensor(
+        self, mount: OT3Mount, primary: bool
+    ) -> Optional[float]:
+        """Read and return the current sensor information."""
+        ...
+
+    async def read_capacitive_sensor(
+        self, mount: OT3Mount, primary: bool
+    ) -> Optional[float]:
+        """Read and return the current sensor information."""
+        ...

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

@@ -215,7 +215,13 @@
 from .types import HWStopCondition
 from .flex_protocol import FlexBackend
 from .status_bar_state import StatusBarStateController
-from opentrons_hardware.sensors.types import SensorDataType
+from opentrons_hardware.sensors.sensor_types import (
+    EnvironmentSensor,
+    CapacitiveSensor,
+    PressureSensor,
+)
+from opentrons_hardware.sensors.types import SensorDataType, EnvironmentSensorDataType
+from opentrons_hardware.sensors.sensor_driver import SensorDriver
 from opentrons_hardware.sensors.utils import send_evo_dispense_count_increase
 
 log = logging.getLogger(__name__)
@@ -1835,3 +1841,72 @@ async def increase_evo_disp_count(self, mount: OT3Mount) -> None:
         await send_evo_dispense_count_increase(
             self._messenger, sensor_node_for_pipette(OT3Mount(mount.value))
         )
+
+    async def _read_env_sensor(
+        self, mount: OT3Mount, primary: bool
+    ) -> Optional[EnvironmentSensorDataType]:
+        """Read and return the current sensor information."""
+        sensor = EnvironmentSensor.build(
+            sensor_id=SensorId.S0 if primary else SensorId.S1,
+            node_id=sensor_node_for_mount(mount),
+        )
+        s_driver = SensorDriver()
+        sensor_data = await s_driver.read(
+            can_messenger=self._messenger,
+            sensor=sensor,
+            offset=False,
+        )
+        assert sensor_data is None or isinstance(sensor_data, EnvironmentSensorDataType)
+        return sensor_data
+
+    async def read_env_temp_sensor(
+        self, mount: OT3Mount, primary: bool
+    ) -> Optional[float]:
+        """Read and return the current sensor information."""
+        s_data = await self._read_env_sensor(mount, primary)
+        if s_data is None or s_data.temperature is None:
+            return None
+        return s_data.temperature.to_float()
+
+    async def read_env_hum_sensor(
+        self, mount: OT3Mount, primary: bool
+    ) -> Optional[float]:
+        """Read and return the current sensor information."""
+        s_data = await self._read_env_sensor(mount, primary)
+        if s_data is None or s_data.humidity is None:
+            return None
+        return s_data.humidity.to_float()
+
+    async def read_pressure_sensor(
+        self, mount: OT3Mount, primary: bool
+    ) -> Optional[float]:
+        """Read and return the current sensor information."""
+        sensor = PressureSensor.build(
+            sensor_id=SensorId.S0 if primary else SensorId.S1,
+            node_id=sensor_node_for_mount(mount),
+        )
+        s_driver = SensorDriver()
+        sensor_data = await s_driver.read(
+            can_messenger=self._messenger,
+            sensor=sensor,
+            offset=False,
+        )
+        assert sensor_data is None or isinstance(sensor_data, SensorDataType)
+        return sensor_data.to_float() if sensor_data else None
+
+    async def read_capacitive_sensor(
+        self, mount: OT3Mount, primary: bool
+    ) -> Optional[float]:
+        """Read and return the current sensor information."""
+        sensor = CapacitiveSensor.build(
+            sensor_id=SensorId.S0 if primary else SensorId.S1,
+            node_id=sensor_node_for_mount(mount),
+        )
+        s_driver = SensorDriver()
+        sensor_data = await s_driver.read(
+            can_messenger=self._messenger,
+            sensor=sensor,
+            offset=False,
+        )
+        assert sensor_data is None or isinstance(sensor_data, SensorDataType)
+        return sensor_data.to_float() if sensor_data else None

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

@@ -67,6 +67,7 @@
     FlexBackend,
 )
 
+
 log = logging.getLogger(__name__)
 
 AXIS_TO_SUBSYSTEM = {
@@ -874,3 +875,29 @@ def _update_tip_state(self, mount: OT3Mount, status: bool) -> None:
 
     async def increase_evo_disp_count(self, mount: OT3Mount) -> None:
         pass
+
+    async def read_env_temp_sensor(
+        self, mount: OT3Mount, primary: bool
+    ) -> Optional[float]:
+        """Read and return the current sensor information."""
+
+        return 0.0
+
+    async def read_env_hum_sensor(
+        self, mount: OT3Mount, primary: bool
+    ) -> Optional[float]:
+        """Read and return the current sensor information."""
+
+        return 0.0
+
+    async def read_pressure_sensor(
+        self, mount: OT3Mount, primary: bool
+    ) -> Optional[float]:
+        """Read and return the current sensor information."""
+        return 0.0
+
+    async def read_capacitive_sensor(
+        self, mount: OT3Mount, primary: bool
+    ) -> Optional[float]:
+        """Read and return the current sensor information."""
+        return 0.0

api/src/opentrons/hardware_control/ot3api.py

@@ -3140,3 +3140,35 @@ async def increase_evo_disp_count(
         """Tell a pipette to increase its evo-tip-dispense-count in eeprom."""
         realmount = OT3Mount.from_mount(mount)
         await self._backend.increase_evo_disp_count(realmount)
+
+    async def read_stem_temperature(
+        self, mount: Union[top_types.Mount, OT3Mount], primary: bool = True
+    ) -> float:
+        """Read and return the current stem temperature."""
+        realmount = OT3Mount.from_mount(mount)
+        s_data = await self._backend.read_env_temp_sensor(realmount, primary)
+        return s_data if s_data else 0.0
+
+    async def read_stem_humidity(
+        self, mount: Union[top_types.Mount, OT3Mount], primary: bool = True
+    ) -> float:
+        """Read and return the current primary stem humidity."""
+        realmount = OT3Mount.from_mount(mount)
+        s_data = await self._backend.read_env_hum_sensor(realmount, primary)
+        return s_data if s_data else 0.0
+
+    async def read_stem_pressure(
+        self, mount: Union[top_types.Mount, OT3Mount], primary: bool = True
+    ) -> float:
+        """Read and return the current primary stem pressure."""
+        realmount = OT3Mount.from_mount(mount)
+        s_data = await self._backend.read_pressure_sensor(realmount, primary)
+        return s_data if s_data else 0.0
+
+    async def read_stem_capacitance(
+        self, mount: Union[top_types.Mount, OT3Mount], primary: bool = True
+    ) -> float:
+        """Read and return the current primary stem capacitance."""
+        realmount = OT3Mount.from_mount(mount)
+        s_data = await self._backend.read_capacitive_sensor(realmount, primary)
+        return s_data if s_data else 0.0

hardware-testing/Makefile

@@ -85,23 +85,6 @@ test:
 test-cov:
 	$(pytest) $(tests) $(test_opts) $(cov_opts)
 
-.PHONY: test-photometric-single
-test-photometric-single:
-	$(python) -m hardware_testing.gravimetric --photometric --simulate --pipette 50 --channels 1 --tip 50
-	$(python) -m hardware_testing.gravimetric --photometric --simulate --pipette 50 --channels 1 --tip 50 --photoplate-col-offset 3
-	$(python) -m hardware_testing.gravimetric --photometric --simulate --pipette 50 --channels 1 --tip 50 --dye-well-col-offset 3
-
-.PHONY: test-photometric-multi
-test-photometric-multi:
-	$(python) -m hardware_testing.gravimetric --photometric --simulate --pipette 50 --channels 8 --tip 50
-
-.PHONY: test-photometric
-test-photometric:
-	$(python) -m hardware_testing.gravimetric --photometric --simulate --pipette 1000 --channels 96 --tip 50 --trials 1
-	$(python) -m hardware_testing.gravimetric --photometric --simulate --pipette 1000 --channels 96 --tip 200 --trials 1
-	$(python) -m hardware_testing.gravimetric --photometric --simulate --pipette 200 --channels 96 --tip 50 --trials 1
-	$(python) -m hardware_testing.gravimetric --photometric --simulate --pipette 200 --channels 96 --tip 20 --trials 1
-
 .PHONY: test-gravimetric-single
 test-gravimetric-single:
 	$(python) -m hardware_testing.gravimetric --simulate --pipette 1000 --channels 1
@@ -133,7 +116,6 @@ test-gravimetric:
 	$(MAKE) test-gravimetric-single
 	$(MAKE) test-gravimetric-multi
 	$(MAKE) test-gravimetric-96
-	$(MAKE) test-photometric
 
 .PHONY: test-production-qc
 test-production-qc: