Merge branch 'internal-release' into edge

api/release-notes-internal.md

@@ -6,19 +6,11 @@ For more details about this release, please see the full [technical change log][
 
 # Internal Release 0.12.0
 
-## New Stuff In This Release
+## Update Notes
 
 - If your Python protocol specifies a Flex-style slot name like `"C2"`, its `apiLevel` must now be `2.15`.
 
-# Internal Release 0.11.0
-
-This is internal release 0.11.0 for the Opentrons Flex robot software, involving both robot control and the on-device display.
-
-Some things are known not to work, and are listed below. Specific compatibility notes about peripheral hardware are also listed.
-
-## Update Notes
-
-- ⚠️ After upgrading your robot to 0.11.0, you'll need to factory-reset its run history before you can use it.
+- ⚠️ After upgrading your robot to 0.12.0 from 0.10.0 or previous, you'll need to factory-reset its run history before you can use it.
 
   1. From the robot's 3-dot menu (⋮), go to **Robot settings.**
   2. Under **Advanced > Factory reset**, select **Choose reset settings.**
@@ -30,7 +22,12 @@ Some things are known not to work, and are listed below. Specific compatibility
 
 ## New Stuff In This Release
 
-- The HTTP API will now accept both styles of deck slot name: coordinates like "C2", and integers like "5". Flexes will now return the "C2" style, and OT-2s will continue to return the "5" style.
+- Many (many) visual and workflow fixes and improvements from design QA for the ODD
+- Pipette plunger backlash compensation should improve pipetting performance on the 96 channel
+- More slot name fixes to make them D1 instead of 1
+- 96 channel attach flow fixes
+- Firmware updates now use an HTTP API; there's no frontend, so continue to follow the rules abotu restarting with an instrument attached after an update.
+- Several ODD white screen fixes
 
 ## Big Things That Don't Work Yet So Don't Report Bugs About Them
 

api/src/opentrons/config/defaults_ot3.py

@@ -77,19 +77,20 @@
 DEFAULT_GRIPPER_MOUNT_OFFSET: Final[Offset] = (84.55, -12.75, 93.85)
 DEFAULT_Z_RETRACT_DISTANCE: Final = 2
 DEFAULT_SAFE_HOME_DISTANCE: Final = 5
+DEFAULT_CALIBRATION_AXIS_MAX_SPEED: Final = 30
 
 DEFAULT_MAX_SPEEDS: Final[ByGantryLoad[Dict[OT3AxisKind, float]]] = ByGantryLoad(
     high_throughput={
-        OT3AxisKind.X: 375,
-        OT3AxisKind.Y: 375,
+        OT3AxisKind.X: 400,
+        OT3AxisKind.Y: 325,
         OT3AxisKind.Z: 35,
         OT3AxisKind.P: 5,
         OT3AxisKind.Z_G: 50,
         OT3AxisKind.Q: 5.5,
     },
     low_throughput={
-        OT3AxisKind.X: 375,
-        OT3AxisKind.Y: 375,
+        OT3AxisKind.X: 400,
+        OT3AxisKind.Y: 325,
         OT3AxisKind.Z: 100,
         OT3AxisKind.P: 45,
         OT3AxisKind.Z_G: 50,
@@ -98,17 +99,17 @@
 
 DEFAULT_ACCELERATIONS: Final[ByGantryLoad[Dict[OT3AxisKind, float]]] = ByGantryLoad(
     high_throughput={
-        OT3AxisKind.X: 600,
-        OT3AxisKind.Y: 600,
-        OT3AxisKind.Z: 120,
+        OT3AxisKind.X: 800,
+        OT3AxisKind.Y: 500,
+        OT3AxisKind.Z: 150,
         OT3AxisKind.P: 30,
         OT3AxisKind.Z_G: 150,
         OT3AxisKind.Q: 10,
     },
     low_throughput={
-        OT3AxisKind.X: 600,
+        OT3AxisKind.X: 800,
         OT3AxisKind.Y: 600,
-        OT3AxisKind.Z: 300,
+        OT3AxisKind.Z: 150,
         OT3AxisKind.P: 100,
         OT3AxisKind.Z_G: 150,
     },
@@ -174,17 +175,17 @@
 
 DEFAULT_RUN_CURRENT: Final[ByGantryLoad[Dict[OT3AxisKind, float]]] = ByGantryLoad(
     high_throughput={
-        OT3AxisKind.X: 1.4,
+        OT3AxisKind.X: 1.25,
         OT3AxisKind.Y: 1.4,
-        OT3AxisKind.Z: 1.4,
+        OT3AxisKind.Z: 1.5,
         OT3AxisKind.P: 2.2,
         OT3AxisKind.Z_G: 0.67,
         OT3AxisKind.Q: 1.5,
     },
     low_throughput={
-        OT3AxisKind.X: 1.4,
-        OT3AxisKind.Y: 1.4,
-        OT3AxisKind.Z: 1.4,
+        OT3AxisKind.X: 1.25,
+        OT3AxisKind.Y: 1.25,
+        OT3AxisKind.Z: 1.0,
         # TODO: verify this value
         OT3AxisKind.P: 1.0,
         OT3AxisKind.Z_G: 0.67,

api/src/opentrons/hardware_control/backends/ot3utils.py

@@ -1,6 +1,7 @@
 """Shared utilities for ot3 hardware control."""
 from typing import Dict, Iterable, List, Set, Tuple, TypeVar, Sequence
 from typing_extensions import Literal
+from opentrons.config.defaults_ot3 import DEFAULT_CALIBRATION_AXIS_MAX_SPEED
 from opentrons.config.types import OT3MotionSettings, OT3CurrentSettings, GantryLoad
 from opentrons.hardware_control.types import (
     OT3Axis,
@@ -238,6 +239,29 @@ def get_system_constraints(
     return constraints
 
 
+def get_system_constraints_for_calibration(
+    config: OT3MotionSettings,
+    gantry_load: GantryLoad,
+) -> "SystemConstraints[OT3Axis]":
+    conf_by_pip = config.by_gantry_load(gantry_load)
+    constraints = {}
+    for axis_kind in [
+        OT3AxisKind.P,
+        OT3AxisKind.X,
+        OT3AxisKind.Y,
+        OT3AxisKind.Z,
+        OT3AxisKind.Z_G,
+    ]:
+        for axis in OT3Axis.of_kind(axis_kind):
+            constraints[axis] = AxisConstraints.build(
+                conf_by_pip["acceleration"][axis_kind],
+                conf_by_pip["max_speed_discontinuity"][axis_kind],
+                conf_by_pip["direction_change_speed_discontinuity"][axis_kind],
+                DEFAULT_CALIBRATION_AXIS_MAX_SPEED,
+            )
+    return constraints
+
+
 def _convert_to_node_id_dict(
     axis_pos: Coordinates[OT3Axis, CoordinateValue],
 ) -> NodeIdMotionValues:

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

@@ -405,7 +405,7 @@ async def _tool_detection_task_protected(self) -> None:
                 right=self._tool_if_ok(update.right, NodeId.pipette_right),
                 gripper=self._tool_if_ok(update.gripper, NodeId.gripper),
             )
-            self._present_tools = await self._tool_detector.resolve(to_resolve)
+            self._present_tools = await self._tool_detector.resolve(to_resolve, 10.0)
             log.info(f"Present tools are now {self._present_tools}")
             async with self._tool_task_condition:
                 self._tool_task_state = True

api/src/opentrons/hardware_control/ot3_calibration.py

@@ -564,30 +564,32 @@ async def _calibrate_mount(
     from the current instrument offset to set a new instrument offset.
     """
     nominal_center = Point(*get_calibration_square_position_in_slot(slot))
-    try:
-        # find the center of the calibration sqaure
-        offset = await find_calibration_structure_position(
-            hcapi,
-            mount,
-            nominal_center,
-            method=method,
-            raise_verify_error=raise_verify_error,
-        )
-        # update center with values obtained during calibration
-        LOG.info(f"Found calibration value {offset} for mount {mount.name}")
-        return offset
-
-    except (
-        InaccurateNonContactSweepError,
-        EarlyCapacitiveSenseTrigger,
-        CalibrationStructureNotFoundError,
-    ):
-        LOG.info(
-            "Error occurred during calibration. Resetting to current saved calibration value."
-        )
-        await hcapi.reset_instrument_offset(mount, to_default=False)
-        # re-raise exception after resetting instrument offset
-        raise
+    async with hcapi.restore_system_constrants():
+        await hcapi.set_system_constraints_for_calibration()
+        try:
+            # find the center of the calibration sqaure
+            offset = await find_calibration_structure_position(
+                hcapi,
+                mount,
+                nominal_center,
+                method=method,
+                raise_verify_error=raise_verify_error,
+            )
+            # update center with values obtained during calibration
+            LOG.info(f"Found calibration value {offset} for mount {mount.name}")
+            return offset
+
+        except (
+            InaccurateNonContactSweepError,
+            EarlyCapacitiveSenseTrigger,
+            CalibrationStructureNotFoundError,
+        ):
+            LOG.info(
+                "Error occurred during calibration. Resetting to current saved calibration value."
+            )
+            await hcapi.reset_instrument_offset(mount, to_default=False)
+            # re-raise exception after resetting instrument offset
+            raise
 
 
 async def find_calibration_structure_position(

api/src/opentrons/hardware_control/ot3api.py

@@ -3,6 +3,7 @@
 from functools import partial, lru_cache
 from dataclasses import replace
 import logging
+from copy import deepcopy
 from collections import OrderedDict
 from typing import (
     AsyncIterator,
@@ -66,6 +67,7 @@
 from .backends.ot3simulator import OT3Simulator
 from .backends.ot3utils import (
     get_system_constraints,
+    get_system_constraints_for_calibration,
     axis_convert,
 )
 from .backends.errors import SubsystemUpdating
@@ -243,6 +245,27 @@ async def set_gantry_load(self, gantry_load: GantryLoad) -> None:
         )
         await self._backend.update_to_default_current_settings(gantry_load)
 
+    async def set_system_constraints_for_calibration(self) -> None:
+        self._move_manager.update_constraints(
+            get_system_constraints_for_calibration(
+                self._config.motion_settings, self._gantry_load
+            )
+        )
+        mod_log.debug(
+            f"Set system constraints for calibration: {self._move_manager.get_constraints()}"
+        )
+
+    @contextlib.asynccontextmanager
+    async def restore_system_constrants(self) -> AsyncIterator[None]:
+        old_system_constraints = deepcopy(self._move_manager.get_constraints())
+        try:
+            yield
+        finally:
+            self._move_manager.update_constraints(old_system_constraints)
+            mod_log.debug(
+                f"Restore previous system constraints: {old_system_constraints}"
+            )
+
     def _update_door_state(self, door_state: DoorState) -> None:
         mod_log.info(f"Updating the window switch status: {door_state}")
         self.door_state = door_state
@@ -1727,8 +1750,8 @@ async def drop_tip(
                         speed=move.speed,
                         home_flagged_axes=False,
                     )
-        if move.home_after:
-            await self._home([OT3Axis.from_axis(ax) for ax in move.home_axes])
+            if move.home_after:
+                await self._home([OT3Axis.from_axis(ax) for ax in move.home_axes])
 
         for shake in spec.shake_moves:
             await self.move_rel(mount, shake[0], speed=shake[1])
@@ -1743,6 +1766,11 @@ async def drop_tip(
         # TODO: implement tip-detection sequence during drop-tip for 96ch
         if self.gantry_load != GantryLoad.HIGH_THROUGHPUT:
             await self._backend.get_tip_present(realmount, TipStateType.ABSENT)
+
+        # home mount axis
+        if home_after:
+            await self._home([OT3Axis.by_mount(mount)])
+
         _remove()
 
     async def clean_up(self) -> None:

api/src/opentrons/system/log_control.py

@@ -21,12 +21,13 @@ async def get_records_dumb(selector: str, records: int, mode: str) -> bytes:
 
     :param selector: The syslog selector to limit responses to
     :param records: The maximum number of records to print
-    :param mode: A journalctl dump mode. Should be either "short" or "json".
+    :param mode: A journalctl dump mode. Should be either "short-precise" or "json".
     """
+    selector_flag = "-u" if selector == "opentrons-robot-server" else "-t"
     proc = await asyncio.create_subprocess_exec(
         "journalctl",
         "--no-pager",
-        "-t",
+        selector_flag,
         selector,
         "-n",
         str(records),

api/tests/opentrons/hardware_control/backends/test_ot3_subsystem_manager.py

@@ -268,7 +268,9 @@ async def add_resolution(
             else ToolType.nothing_attached,
         )
 
-        self._decoy.when(await self._tool_detector.resolve(arg)).then_return(summary)
+        self._decoy.when(await self._tool_detector.resolve(arg, 10.0)).then_return(
+            summary
+        )
         return summary
 
 

app-shell/build/release-notes-internal.md

@@ -3,15 +3,15 @@ For more details about this release, please see the full [technical changelog][]
 
 ---
 
-# Internal Release 0.11.0
+# Internal Release 0.12.0
 
-This is 0.11.0, an internal release for the app supporting the Opentrons Flex.
+This is 0.12.0, an internal release for the app supporting the Opentrons Flex.
 
 This is still pretty early in the process, so some things are known not to work, and are listed below. Some things that may surprise you do work, and are also listed below. There may also be some littler things of note, and those are at the bottom.
 
 ## Update Notes
 
-- ⚠️ After upgrading your robot to 0.11.0, you'll need to factory-reset its run history before you can use it.
+- ⚠️ After upgrading your robot to 0.12.0 from 0.10.0 or previous, you'll need to factory-reset its run history before you can use it.
 
   1. From the robot's 3-dot menu (⋮), go to **Robot settings.**
   2. Under **Advanced > Factory reset**, select **Choose reset settings.**
@@ -24,9 +24,10 @@ This is still pretty early in the process, so some things are known not to work,
 - After upgrading your app, the protocols that you already had imported to the app will display blank deck maps. To fix this, select **Reanalyze** from the protocol's 3-dot menu (⋮).
 
 ## New Stuff In This Release
+- You can disable the LED bar at the top now!
+- Attach flow updates and fixes for 96 channel
+- Many (many) visual and workflow fixes and improvements from design QA for the app
 
-- When interacting with an OT-3, the app will use the newer names for the deck slots, like "C2", instead of the names from the OT-2, like "5".
-- The `requirements` dict in Python protocols can now have `"robotType": "Flex"` instead of `"robotType": "OT-3"`. `"OT-3"` will still work, but it's discouraged because it's not the customer-facing name.
 
 ## Big Things That Don't Work Yet So Don't Report Bugs About Them
 - Attach, detach, and calibration flows for anything from the protocol setup page