feat(shared-data, api, hardware-testing): add the p200_96 (#17105)

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# Overview

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.

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## Test Plan and Hands on Testing

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- For instance, changing return tip behavior may also change the
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---------

Co-authored-by: Andiiiiiiyy <[email protected]>

app/src/organisms/ODD/InstrumentMountItem/ProtocolInstrumentMountItem.tsx

@@ -76,8 +76,11 @@ export function ProtocolInstrumentMountItem(
     []
   )
   const [flowType, setFlowType] = useState<string>(FLOWS.ATTACH)
-  const selectedPipette =
-    speccedName === 'p1000_96' ? NINETY_SIX_CHANNEL : SINGLE_MOUNT_PIPETTES
+  const is96ChannelPipette =
+    speccedName === 'p1000_96' || speccedName === 'p200_96'
+  const selectedPipette = is96ChannelPipette
+    ? NINETY_SIX_CHANNEL
+    : SINGLE_MOUNT_PIPETTES
 
   const handleCalibrate: MouseEventHandler = () => {
     setFlowType(FLOWS.CALIBRATE)
@@ -95,7 +98,7 @@ export function ProtocolInstrumentMountItem(
       setShowPipetteWizardFlow(true)
     }
   }
-  const is96ChannelPipette = speccedName === 'p1000_96'
+
   const isAttachedWithCal =
     attachedInstrument != null &&
     attachedInstrument.ok &&

app/src/organisms/PipetteWizardFlows/BeforeBeginning.tsx

@@ -148,7 +148,10 @@ export const BeforeBeginning = (
         const displayName = pipetteDisplayName ?? requiredPipette.pipetteName
         bodyTranslationKey = 'remove_labware'
 
-        if (requiredPipette.pipetteName === 'p1000_96') {
+        if (
+          requiredPipette.pipetteName === 'p1000_96' ||
+          requiredPipette.pipetteName === 'p200_96'
+        ) {
           equipmentList = [
             { ...NINETY_SIX_CHANNEL_PIPETTE, displayName },
             CALIBRATION_PROBE,

app/src/organisms/PipetteWizardFlows/DetachPipette.tsx

@@ -86,7 +86,8 @@ export const DetachPipette = (props: DetachPipetteProps): JSX.Element => {
   }
   const memoizedAttachedPipettes = useMemo(() => attachedPipettes, [])
   const is96ChannelPipette =
-    memoizedAttachedPipettes[mount]?.instrumentName === 'p1000_96'
+    memoizedAttachedPipettes[mount]?.instrumentName === 'p1000_96' ||
+    memoizedAttachedPipettes[mount]?.instrumentName === 'p200_96'
   const pipetteName =
     attachedPipettes[mount] != null
       ? attachedPipettes[mount]?.displayName

app/src/organisms/PipetteWizardFlows/getPipetteWizardStepsForProtocol.ts

@@ -413,8 +413,11 @@ export const getPipetteWizardStepsForProtocol = (
 ): PipetteWizardStep[] | null => {
   const requiredPipette = pipetteInfo.find(pipette => pipette.mount === mount)
   const ninetySixChannelAttached =
-    attachedPipettes[LEFT]?.instrumentName === 'p1000_96'
-  const ninetySixChannelRequested = requiredPipette?.pipetteName === 'p1000_96'
+    attachedPipettes[LEFT]?.instrumentName === 'p1000_96' ||
+    attachedPipettes[LEFT]?.instrumentName === 'p200_96'
+  const ninetySixChannelRequested =
+    requiredPipette?.pipetteName === 'p1000_96' ||
+    requiredPipette?.pipetteName === 'p200_96'
 
   if (requiredPipette == null) {
     //  return empty array if no pipette is required in the protocol

app/src/organisms/PipetteWizardFlows/hooks.tsx

@@ -90,10 +90,14 @@ export function usePipetteFlowWizardHeaderText(
       )
     } else if (
       attachedPipettes[LEFT]?.data.channels === 96 &&
-      mountPipette?.pipetteName !== 'p1000_96'
+      mountPipette?.pipetteName !== 'p1000_96' &&
+      mountPipette?.pipetteName !== 'p200_96'
     ) {
       return t('detach_96_attach_mount', { mount: capitalizedMount })
-    } else if (leftPipette?.pipetteName === 'p1000_96') {
+    } else if (
+      leftPipette?.pipetteName === 'p1000_96' ||
+      leftPipette?.pipetteName === 'p200_96'
+    ) {
       if (isGantryEmpty) {
         return t('attach_96_channel')
       } else if (

hardware-testing/Makefile

@@ -100,6 +100,7 @@ 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:
@@ -123,6 +124,7 @@ test-gravimetric-multi:
 test-gravimetric-96:
 	$(python) -m hardware_testing.gravimetric --simulate --pipette 1000 --channels 96 --trials 2 --no-blank
 	$(python) -m hardware_testing.gravimetric --simulate --pipette 200 --channels 96 --trials 2 --no-blank
+	$(python) -m hardware_testing.gravimetric --simulate --pipette 200 --channels 96 --trials 1 --no-blank --increment --tip 20
 
 .PHONY: test-gravimetric
 test-gravimetric:
@@ -229,6 +231,11 @@ push-no-restart-ot3: sdist Pipfile.lock
 .PHONY: push-ot3
 push-ot3: push-no-restart-ot3 push-plot-webpage-ot3 push-description-ot3 push-labware-ot3
 
+.PHONE: open-dev-app
+open-dev-app:
+	cd .. && $(MAKE) -C app dev
+
+
 .PHONY: push-all
 push-all: clean wheel push-no-restart push-plot-webpage-ot3
 

hardware-testing/hardware_testing/gravimetric/__main__.py

@@ -70,11 +70,12 @@
 
 GRAVIMETRIC_CFG_INCREMENT = {
     50: {
-        1: {50: gravimetric_ot3_p50_single},
+        1: {20: gravimetric_ot3_p50_single, 50: gravimetric_ot3_p50_single},
         8: {50: gravimetric_ot3_p50_multi_50ul_tip_increment},
     },
     200: {
         96: {
+            20: gravimetric_ot3_p200_96,
             50: gravimetric_ot3_p200_96,
             200: gravimetric_ot3_p200_96,
         },
@@ -117,14 +118,19 @@
 PHOTOMETRIC_CFG = {
     50: {
         1: {
+            20: photometric_ot3_p50_single,
             50: photometric_ot3_p50_single,
         },
         8: {
             50: photometric_ot3_p50_multi,
         },
     },
     200: {
-        96: {50: photometric_ot3_p200_96, 200: photometric_ot3_p200_96},
+        96: {
+            20: photometric_ot3_p200_96,
+            50: photometric_ot3_p200_96,
+            200: photometric_ot3_p200_96,
+        },
     },
     1000: {
         1: {
@@ -137,7 +143,11 @@
             200: photometric_ot3_p1000_multi,
             1000: photometric_ot3_p1000_multi,
         },
-        96: {50: photometric_ot3_p1000_96, 200: photometric_ot3_p1000_96},
+        96: {
+            20: photometric_ot3_p1000_96,
+            50: photometric_ot3_p1000_96,
+            200: photometric_ot3_p1000_96,
+        },
     },
 }
 
@@ -177,11 +187,11 @@ def _get_protocol_context(cls, args: argparse.Namespace) -> ProtocolContext:
                 "Starting opentrons-robot-server, so we can http GET labware offsets"
             )
             LABWARE_OFFSETS.extend(workarounds.http_get_all_labware_offsets())
-            ui.print_info(f"found {len(LABWARE_OFFSETS)} offsets:")
-            for offset in LABWARE_OFFSETS:
-                ui.print_info(f"\t{offset.createdAt}:")
-                ui.print_info(f"\t\t{offset.definitionUri}")
-                ui.print_info(f"\t\t{offset.vector}")
+            # ui.print_info(f"found {len(LABWARE_OFFSETS)} offsets:")
+            # for offset in LABWARE_OFFSETS:
+            #    ui.print_info(f"\t{offset.createdAt}:")
+            #    ui.print_info(f"\t\t{offset.definitionUri}")
+            #    ui.print_info(f"\t\t{offset.vector}")
         # gather the custom labware (for simulation)
         custom_defs = {}
         if args.simulate:
@@ -572,7 +582,7 @@ def _main(
     parser.add_argument("--simulate", action="store_true")
     parser.add_argument("--pipette", type=int, choices=[50, 200, 1000], required=True)
     parser.add_argument("--channels", type=int, choices=[1, 8, 96], default=1)
-    parser.add_argument("--tip", type=int, choices=[0, 50, 200, 1000], default=0)
+    parser.add_argument("--tip", type=int, choices=[0, 20, 50, 200, 1000], default=0)
     parser.add_argument("--trials", type=int, default=0)
     parser.add_argument("--increment", action="store_true")
     parser.add_argument("--return-tip", action="store_true")

hardware-testing/hardware_testing/gravimetric/config.py

@@ -88,30 +88,40 @@ class PhotometricConfig(VolumetricConfig):
 LIQUID_PROBE_SETTINGS: Dict[int, Dict[int, Dict[int, Dict[str, int]]]] = {
     50: {
         1: {
+            20: {
+                "mount_speed": 5,
+                "plunger_speed": 15,
+                "sensor_threshold_pascals": 15,
+            },
             50: {
                 "mount_speed": 5,
-                "plunger_speed": 20,
+                "plunger_speed": 15,
                 "sensor_threshold_pascals": 15,
             },
         },
         8: {
             50: {
                 "mount_speed": 5,
-                "plunger_speed": 20,
+                "plunger_speed": 15,
                 "sensor_threshold_pascals": 15,
             },
         },
     },
     200: {
         96: {
+            20: {
+                "mount_speed": 5,
+                "plunger_speed": 5,
+                "sensor_threshold_pascals": 15,
+            },
             50: {
                 "mount_speed": 5,
-                "plunger_speed": 20,
+                "plunger_speed": 5,
                 "sensor_threshold_pascals": 15,
             },
             200: {
                 "mount_speed": 5,
-                "plunger_speed": 20,
+                "plunger_speed": 5,
                 "sensor_threshold_pascals": 15,
             },
         }
@@ -120,51 +130,56 @@ class PhotometricConfig(VolumetricConfig):
         1: {
             50: {
                 "mount_speed": 5,
-                "plunger_speed": 20,
+                "plunger_speed": 15,
                 "sensor_threshold_pascals": 15,
             },
             200: {
                 "mount_speed": 5,
-                "plunger_speed": 20,
+                "plunger_speed": 15,
                 "sensor_threshold_pascals": 15,
             },
             1000: {
                 "mount_speed": 5,
-                "plunger_speed": 20,
+                "plunger_speed": 15,
                 "sensor_threshold_pascals": 15,
             },
         },
         8: {
             50: {
                 "mount_speed": 5,
-                "plunger_speed": 20,
+                "plunger_speed": 15,
                 "sensor_threshold_pascals": 15,
             },
             200: {
                 "mount_speed": 5,
-                "plunger_speed": 20,
+                "plunger_speed": 15,
                 "sensor_threshold_pascals": 15,
             },
             1000: {
                 "mount_speed": 5,
-                "plunger_speed": 20,
+                "plunger_speed": 15,
                 "sensor_threshold_pascals": 15,
             },
         },
         96: {
+            20: {
+                "mount_speed": 5,
+                "plunger_speed": 5,
+                "sensor_threshold_pascals": 15,
+            },
             50: {
                 "mount_speed": 5,
-                "plunger_speed": 20,
+                "plunger_speed": 5,
                 "sensor_threshold_pascals": 15,
             },
             200: {
                 "mount_speed": 5,
-                "plunger_speed": 20,
+                "plunger_speed": 5,
                 "sensor_threshold_pascals": 15,
             },
             1000: {
                 "mount_speed": 5,
-                "plunger_speed": 20,
+                "plunger_speed": 5,
                 "sensor_threshold_pascals": 15,
             },
         },
@@ -194,6 +209,7 @@ def _get_liquid_probe_settings(
 QC_VOLUMES_G: Dict[int, Dict[int, List[Tuple[int, List[float]]]]] = {
     1: {
         50: [  # P50
+            (20, [1.0, 20.0]),
             (50, [1.0, 50.0]),  # T50
         ],
         1000: [  # P1000
@@ -214,10 +230,12 @@ def _get_liquid_probe_settings(
     },
     96: {
         200: [
+            (20, [0.5, 1.0]),  # T20
             (50, [1.0, 50.0]),  # T50
             (200, [200.0]),  # T200
         ],
         1000: [  # P1000
+            (20, [5.0]),
             (50, [5.0]),  # T50
             (200, [200.0]),  # T200
             (1000, [1000.0]),  # T1000
@@ -279,7 +297,8 @@ def _get_liquid_probe_settings(
     },
     96: {
         200: [
-            (50, [1.0, 5.0]),  # T50
+            (20, [1.0, 0.5]),  # T50
+            (50, [50.0]),  # T50
             (200, [200.0]),  # T200
         ],
         1000: [  # P1000
@@ -311,6 +330,11 @@ def _get_liquid_probe_settings(
     # channels: [Pipette: [tip: [Volume: (%d, Cv)]]]
     1: {
         50: {  # P50
+            20: {
+                1.0: (5.0, 4.0),
+                10.0: (1.0, 0.5),
+                20.0: (1, 0.4),
+            },
             50: {
                 1.0: (5.0, 4.0),
                 10.0: (1.0, 0.5),
@@ -363,12 +387,16 @@ def _get_liquid_probe_settings(
     },
     96: {
         200: {
-            50: {  # T50
+            20: {  # T20
+                0.5: (2.5, 2.0),
                 1.0: (2.5, 2.0),
                 2.0: (2.5, 2.0),
                 3.0: (2.5, 2.0),
                 5.0: (2.5, 2.0),
                 10.0: (3.1, 1.7),
+            },
+            50: {  # T50
+                1.0: (2.5, 2.0),
                 50.0: (1.5, 0.75),
             },
             200: {  # T200
@@ -378,6 +406,14 @@ def _get_liquid_probe_settings(
             },
         },
         1000: {  # P1000
+            20: {  # T20
+                1.0: (2.5, 2.0),
+                2.0: (2.5, 2.0),
+                3.0: (2.5, 2.0),
+                5.0: (2.5, 2.0),
+                10.0: (3.1, 1.7),
+                20.0: (3.1, 1.7),
+            },
             50: {  # T50
                 1.0: (2.5, 2.0),
                 2.0: (2.5, 2.0),

hardware-testing/hardware_testing/gravimetric/execute.py

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

hardware-testing/hardware_testing/gravimetric/execute_photometric.py

@@ -46,6 +46,7 @@
     "B": {"min": 10, "max": 49.99},
     "C": {"min": 2, "max": 9.999},
     "D": {"min": 1, "max": 1.999},
+    "E": {"min": 0, "max": 0.9999},
 }
 _MIN_START_VOLUME_UL = {1: 500, 8: 3000, 96: 30000}
 _MIN_END_VOLUME_UL = {1: 400, 8: 3000, 96: 10000}
@@ -191,6 +192,8 @@ def _record_measurement_and_store(m_type: MeasurementType) -> EnvironmentData:
     )
 
     _record_measurement_and_store(MeasurementType.ASPIRATE)
+    if not trial.ctx.is_simulating():
+        input("请记录吸液状态，并尝试拍摄清晰的吸液后的针管照片..........")
     for i in range(num_dispenses):
         dest_name = _get_photo_plate_dest(trial.cfg, trial.trial)
         dest_well = trial.dest[dest_name]
@@ -215,6 +218,8 @@ def _record_measurement_and_store(m_type: MeasurementType) -> EnvironmentData:
             touch_tip=trial.cfg.touch_tip,
         )
         _record_measurement_and_store(MeasurementType.DISPENSE)
+        if not trial.ctx.is_simulating():
+            input("请记录排液状态，并尝试拍摄清晰的排液后的针管照片..........")
         trial.pipette._retract()  # retract to top of gantry
         if (i + 1) == num_dispenses:
             if not trial.cfg.same_tip: