removed requirement to start test without labware platform, modifed platform check in x basic test, changed TOF functional test to use module labware detection method

Author: djgomez-opentrons

hardware-testing/hardware_testing/modules/flex_stacker_qc/__main__.py

@@ -18,7 +18,6 @@
 from .utils import find_stacker_port, get_estop
 from opentrons.drivers.rpi_drivers.types import USBPort
 from opentrons.hardware_control.modules.flex_stacker import FlexStacker
-from opentrons.hardware_control.modules.types import PlatformState
 
 
 async def build_stacker_report(
@@ -60,16 +59,8 @@ async def _main(cfg: TestConfig) -> None:
                 ui.print_error("ESTOP is still pressed, cannot start tests")
                 return
 
-        # TODO: This check should be in the basic axes tests
         await stacker.home_all()
         await stacker._reader.read()
-        if stacker.platform_state is not PlatformState.UNKNOWN:
-            ui.print_error("Platform must be removed from the carrier before starting")
-            ui.get_user_ready(f"Remove platform from {stacker.platform_state.value}")
-            await stacker._reader.get_platform_sensor_state()
-            if stacker.platform_state is not PlatformState.UNKNOWN:
-                ui.print_error("Platform is still detected, cannot start tests")
-                return
 
     device_info = await stacker._driver.get_device_info()
     report.set_tag(device_info.sn if device_info.sn else "UNKNOWN")

hardware-testing/hardware_testing/modules/flex_stacker_qc/test_tof_functional.py

@@ -9,10 +9,8 @@
     CSVLineRepeating,
     CSVResult,
 )
-from hardware_testing.modules.flex_stacker_dvt_qc.utils import labware_detected
 
 from opentrons.hardware_control.modules.flex_stacker import FlexStacker
-from .utils import NUMBER_OF_BINS, NUMBER_OF_ZONES
 from opentrons.drivers.flex_stacker.types import (
     Direction,
     StackerAxis,
@@ -56,6 +54,8 @@ async def test_tof_sensors_labware_detection(
     section: str,
     sensor: TOFSensor,
     labware: str,
+    axis: StackerAxis,
+    direction: Direction = Direction.EXTEND,
 ) -> None:
     """Test that we can detect labware with the TOF sensor."""
     open = not await stacker._driver.get_hopper_door_closed()
@@ -74,12 +74,13 @@ async def test_tof_sensors_labware_detection(
         return
 
     print(f"Getting histogram for {sensor}.")
-    bins = list(range(NUMBER_OF_BINS))
-    zones = list(range(NUMBER_OF_ZONES))
     histogram = await stacker._driver.get_tof_histogram(sensor)
-    diff = labware_detected(histogram.bins, sensor, bins, zones)
+
+    print(f"Verifying Labware Presence for {sensor}.")
     labware_expected = labware != "empty"
-    result = labware_expected == bool(diff)
+    lbw_detected = await stacker.labware_detected(axis, direction)
+    result = labware_expected == bool(lbw_detected)
+
     report(
         section,
         f"tof-{sensor.name}-histogram-{labware}",
@@ -105,15 +106,21 @@ async def run(stacker: FlexStacker, report: CSVReport, section: str) -> None:
     ui.get_user_ready("Make sure there is no labware on the stacker gripper position")
     await stacker.home_axis(StackerAxis.X, Direction.RETRACT)
     await test_tof_sensors_labware_detection(
-        stacker, report, section, TOFSensor.X, "empty"
+        stacker, report, section, TOFSensor.X, "empty", StackerAxis.X, Direction.RETRACT
     )
 
     print("Test that we detect tiprack on the X home position")
     await stacker.home_axis(StackerAxis.X, Direction.EXTEND)
     ui.get_user_ready("Add 1 tiprack to the stacker X")
     await stacker.home_axis(StackerAxis.X, Direction.RETRACT)
     await test_tof_sensors_labware_detection(
-        stacker, report, section, TOFSensor.X, "tiprack"
+        stacker,
+        report,
+        section,
+        TOFSensor.X,
+        "tiprack",
+        StackerAxis.X,
+        Direction.RETRACT,
     )
     await stacker.home_axis(StackerAxis.X, Direction.EXTEND)
 
@@ -123,12 +130,12 @@ async def run(stacker: FlexStacker, report: CSVReport, section: str) -> None:
     )
     await stacker.close_latch()
     await test_tof_sensors_labware_detection(
-        stacker, report, section, TOFSensor.Z, "empty"
+        stacker, report, section, TOFSensor.Z, "empty", StackerAxis.Z
     )
 
     print("Test that we detect tiprack on the Z")
     ui.get_user_ready("Add 1 tiprack to the stacker Z and close the hopper door")
     await test_tof_sensors_labware_detection(
-        stacker, report, section, TOFSensor.Z, "tiprack"
+        stacker, report, section, TOFSensor.Z, "tiprack", StackerAxis.Z
     )
     ui.get_user_ready("Please remove all labware from the stacker.")

hardware-testing/hardware_testing/modules/flex_stacker_qc/test_x_axis_basic.py

@@ -11,6 +11,7 @@
 from .utils import test_limit_switches_per_direction
 from opentrons.hardware_control.modules.flex_stacker import FlexStacker
 from opentrons.drivers.flex_stacker.types import StackerAxis, Direction
+from opentrons.hardware_control.modules.types import PlatformState
 
 
 def build_csv_lines() -> List[Union[CSVLine, CSVLineRepeating]]:
@@ -55,25 +56,18 @@ async def test_platform_sensors_for_direction(
     )
 
 
-async def platform_is_removed(stacker: FlexStacker) -> bool:
-    """Check if the platform is removed from the carrier."""
-    plus_side = await stacker._driver.get_platform_sensor(Direction.EXTEND)
-    minus_side = await stacker._driver.get_platform_sensor(Direction.RETRACT)
-    return not plus_side and not minus_side
-
-
 async def run(stacker: FlexStacker, report: CSVReport, section: str) -> None:
     """Run."""
-    if not stacker.is_simulated and not await platform_is_removed(stacker):
-        print("FAILURE - Cannot start tests with platform on the carrier")
-        return
-
     await test_limit_switches_per_direction(
         stacker, StackerAxis.X, Direction.EXTEND, report, section
     )
 
-    if not stacker.is_simulated:
-        ui.get_user_ready("Place the platform on the X carrier")
+    await stacker._reader.read()
+    if not stacker.is_simulated and (
+        stacker.platform_state is PlatformState.UNKNOWN
+        or stacker.platform_state is PlatformState.MISSING
+    ):
+        ui.get_user_ready("Place Platform on X axis carrier")
 
     await test_platform_sensors_for_direction(
         stacker, Direction.EXTEND, report, section