feat(sensors): enable capacitive sensor logging #768
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| void send_to_pressure_sensor_queue_rear( | ||
| can::messages::BindSensorOutputRequest& m) { | ||
| std::ignore = sensor_tasks::get_queues() | ||
| .pressure_sensor_queue_rear->try_write_isr(m); | ||
| SensorClientHelper<SensorClient>::send_to_pressure_sensor_queue_rear( |
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Instead of doing all of this templated stuff we should just use the same get queues() method, it makes the code much simpler
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Necessary because not every subsystem that requires MotorInterruptHandler has a SensorClient
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We don't need to since they're all behind compiler defines. I made a quick commit that rips it out
ryanthecoder
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Jun 4, 2024
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pmoegenburg
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…ethod (#14785) <!-- Thanks for taking the time to open a pull request! 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 To ensure your code is reviewed quickly and thoroughly, please fill out the sections below to the best of your ability! --> # Overview This PR, along with Opentrons/ot3-firmware#768, adds csv file logging capability to the capacitive_probe ot3api method. This work utilizes the work that adds the same capability to the liquid_probe process. The MoveGroupSingleAxisStep, AddSensorLinearMoveRequest, and SendAccumulatedSensorDataRequest classes were modified to include a sensor_type data field. The capacitive_probe_ot3_tunable script was added for testing. <!-- Use this section to describe your pull-request at a high level. If the PR addresses any open issues, please tag the issues here. --> # Test Plan <!-- Use this section to describe the steps that you took to test your Pull Request. If you did not perform any testing provide justification why. OT-3 Developers: You should default to testing on actual physical hardware. Once again, if you did not perform testing against hardware, justify why. Note: It can be helpful to write a test plan before doing development Example Test Plan (HTTP API Change) - Verified that new optional argument `dance-party` causes the robot to flash its lights, move the pipettes, then home. - Verified that when you omit the `dance-party` option the robot homes normally - Added protocol that uses `dance-party` argument to G-Code Testing Suite - Ran protocol that did not use `dance-party` argument and everything was successful - Added unit tests to validate that changes to pydantic model are correct --> - [x] Ran script without csv logging and detected saltwater liquid height - [x] Ran script with csv loffing and detected saltwater liquid height # Changelog <!-- List out the changes to the code in this PR. Please try your best to categorize your changes and describe what has changed and why. Example changelog: - Fixed app crash when trying to calibrate an illegal pipette - Added state to API to track pipette usage - Updated API docs to mention only two pipettes are supported IMPORTANT: MAKE SURE ANY BREAKING CHANGES ARE PROPERLY COMMUNICATED --> # Review requests <!-- Describe any requests for your reviewers here. --> # Risk assessment <!-- Carefully go over your pull request and look at the other parts of the codebase it may affect. 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 in protocol may also change the behavior of labware calibration. Identify the other parts of the system your codebase may affect, so that in addition to your own review and testing, other people who may not have the system internalized as much as you can focus their attention and testing there. -->
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* USE_SENSOR_MOVE * intermediate updates * finished implementing capacitive_probe firmware * format lint test * build fixes * formatted * updates to match pressure work * fixes RAM space build issue * empty last line * removed comment * build update * pr review fix and format * faux commit * faux commit * fixed build issues stemming from removal of motor driver error surfacing branch * simulator fix * formatted * removed comments * formatted * get rid of pesky error messages like with pressure driver * rip out the unneeded templating of sensor hardware since that stuff is behind ifdefs * fix simulators * build issue fix * merge issue fix --------- Co-authored-by: Ryan howard <[email protected]>
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This PR, along with ../opentrons/ #14785, adds csv file logging capability to the capacitive_probe process for the pipettes and the gripper. This work utilizes the work that adds the same capability to the liquid_probe process for the pipettes. The AddSensorLinearMoveRequest and SendAccumulatedSensorDataRequest messages were modified to include a sensor_type data field. The USE_PRESSURE_MOVE flag was modified to USE_SENSOR_MOVE.