fix(hardware,api): remove hardware import from simulate (#17043)

opentrons_simulate was importing from opentrons_hardware via the
hardware controller protocol interface, which was doing it to support
sensor data queue spying.

Fixing this required a pretty big refactor to make the link between the
controller and opentrons_hardware be a callback that could reformat
data, so we can make versions of the relevant firmware binding types
that are safe for reexport.

This work should be extended to the capacitive sensor queue at some
point.

Closes RQA-3766

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

@@ -36,10 +36,9 @@
     HepaFanState,
     HepaUVState,
     StatusBarState,
+    PipetteSensorResponseQueue,
 )
 from opentrons.hardware_control.module_control import AttachedModulesControl
-from opentrons_hardware.firmware_bindings.constants import SensorId
-from opentrons_hardware.sensors.types import SensorDataType
 from ..dev_types import OT3AttachedInstruments
 from .types import HWStopCondition
 
@@ -168,9 +167,7 @@ async def liquid_probe(
         num_baseline_reads: int,
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,
         force_both_sensors: bool = False,
-        response_queue: Optional[
-            asyncio.Queue[Dict[SensorId, List[SensorDataType]]]
-        ] = None,
+        response_queue: Optional[PipetteSensorResponseQueue] = None,
     ) -> float:
         ...
 

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

@@ -104,7 +104,6 @@
     ErrorCode,
     SensorId,
 )
-from opentrons_hardware.sensors.types import SensorDataType
 from opentrons_hardware.firmware_bindings.messages.message_definitions import (
     StopRequest,
 )
@@ -142,6 +141,10 @@
     EstopState,
     HardwareEventHandler,
     HardwareEventUnsubscriber,
+    PipetteSensorId,
+    PipetteSensorType,
+    PipetteSensorData,
+    PipetteSensorResponseQueue,
 )
 from opentrons.hardware_control.errors import (
     InvalidPipetteName,
@@ -212,6 +215,7 @@
 from .types import HWStopCondition
 from .flex_protocol import FlexBackend
 from .status_bar_state import StatusBarStateController
+from opentrons_hardware.sensors.types import SensorDataType
 
 log = logging.getLogger(__name__)
 
@@ -967,7 +971,6 @@ def _build_tip_action_group(
     async def tip_action(
         self, origin: float, targets: List[Tuple[float, float]]
     ) -> None:
-
         move_group = self._build_tip_action_group(origin, targets)
         runner = MoveGroupRunner(
             move_groups=[move_group],
@@ -1492,9 +1495,7 @@ async def liquid_probe(
         num_baseline_reads: int,
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,
         force_both_sensors: bool = False,
-        response_queue: Optional[
-            asyncio.Queue[Dict[SensorId, List[SensorDataType]]]
-        ] = None,
+        response_queue: Optional[PipetteSensorResponseQueue] = None,
     ) -> float:
         head_node = axis_to_node(Axis.by_mount(mount))
         tool = sensor_node_for_pipette(OT3Mount(mount.value))
@@ -1503,6 +1504,27 @@ async def liquid_probe(
                 "Liquid Presence Detection not available on this pipette."
             )
 
+        if response_queue is None:
+            response_capture: Optional[
+                Callable[[Dict[SensorId, List[SensorDataType]]], None]
+            ] = None
+        else:
+
+            def response_capture(data: Dict[SensorId, List[SensorDataType]]) -> None:
+                response_queue.put_nowait(
+                    {
+                        PipetteSensorId(sensor_id.value): [
+                            PipetteSensorData(
+                                sensor_type=PipetteSensorType(packet.sensor_type.value),
+                                _as_int=packet.to_int,
+                                _as_float=packet.to_float(),
+                            )
+                            for packet in packets
+                        ]
+                        for sensor_id, packets in data.items()
+                    }
+                )
+
         positions = await liquid_probe(
             messenger=self._messenger,
             tool=tool,
@@ -1515,7 +1537,7 @@ async def liquid_probe(
             num_baseline_reads=num_baseline_reads,
             sensor_id=sensor_id_for_instrument(probe),
             force_both_sensors=force_both_sensors,
-            response_queue=response_queue,
+            emplace_data=response_capture,
         )
         for node, point in positions.items():
             self._position.update({node: point.motor_position})

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

@@ -45,6 +45,7 @@
     EstopPhysicalStatus,
     HardwareEventHandler,
     HardwareEventUnsubscriber,
+    PipetteSensorResponseQueue,
 )
 
 from opentrons_shared_data.pipette.types import PipetteName, PipetteModel
@@ -62,9 +63,9 @@
 )
 from opentrons.util.async_helpers import ensure_yield
 from .types import HWStopCondition
-from .flex_protocol import FlexBackend
-from opentrons_hardware.firmware_bindings.constants import SensorId
-from opentrons_hardware.sensors.types import SensorDataType
+from .flex_protocol import (
+    FlexBackend,
+)
 
 log = logging.getLogger(__name__)
 
@@ -354,9 +355,7 @@ async def liquid_probe(
         num_baseline_reads: int,
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,
         force_both_sensors: bool = False,
-        response_queue: Optional[
-            asyncio.Queue[Dict[SensorId, List[SensorDataType]]]
-        ] = None,
+        response_queue: Optional[PipetteSensorResponseQueue] = None,
     ) -> float:
         z_axis = Axis.by_mount(mount)
         pos = self._position

api/src/opentrons/hardware_control/ot3api.py

@@ -98,6 +98,7 @@
     EstopState,
     HardwareFeatureFlags,
     FailedTipStateCheck,
+    PipetteSensorResponseQueue,
 )
 from .errors import (
     UpdateOngoingError,
@@ -143,8 +144,6 @@
 from .backends.flex_protocol import FlexBackend
 from .backends.ot3simulator import OT3Simulator
 from .backends.errors import SubsystemUpdating
-from opentrons_hardware.firmware_bindings.constants import SensorId
-from opentrons_hardware.sensors.types import SensorDataType
 
 mod_log = logging.getLogger(__name__)
 
@@ -2679,9 +2678,7 @@ async def _liquid_probe_pass(
         probe: InstrumentProbeType,
         p_travel: float,
         force_both_sensors: bool = False,
-        response_queue: Optional[
-            asyncio.Queue[Dict[SensorId, List[SensorDataType]]]
-        ] = None,
+        response_queue: Optional[PipetteSensorResponseQueue] = None,
     ) -> float:
         plunger_direction = -1 if probe_settings.aspirate_while_sensing else 1
         end_z = await self._backend.liquid_probe(
@@ -2715,9 +2712,7 @@ async def liquid_probe(  # noqa: C901
         probe_settings: Optional[LiquidProbeSettings] = None,
         probe: Optional[InstrumentProbeType] = None,
         force_both_sensors: bool = False,
-        response_queue: Optional[
-            asyncio.Queue[Dict[SensorId, List[SensorDataType]]]
-        ] = None,
+        response_queue: Optional[PipetteSensorResponseQueue] = None,
     ) -> float:
         """Search for and return liquid level height.
 

api/src/opentrons/hardware_control/types.py

@@ -1,3 +1,4 @@
+from asyncio import Queue
 import enum
 import logging
 from dataclasses import dataclass
@@ -712,3 +713,63 @@ def __init__(
         super().__init__(
             f"Expected tip state {expected_state}, but received {actual_state}."
         )
+
+
+@enum.unique
+class PipetteSensorId(int, enum.Enum):
+    """Sensor IDs available.
+
+    Not to be confused with SensorType. This is the ID value that separate
+    two or more of the same type of sensor within a system.
+
+    Note that this is a copy of an enum defined in opentrons_hardware.firmware_bindings.constants. That version
+    is authoritative; this version is here because this data is exposed above the hardware control layer and
+    therefore needs a typing source here so that we don't create a dependency on the internal hardware package.
+    """
+
+    S0 = 0x0
+    S1 = 0x1
+    UNUSED = 0x2
+    BOTH = 0x3
+
+
+@enum.unique
+class PipetteSensorType(int, enum.Enum):
+    """Sensor types available.
+
+    Note that this is a copy of an enum defined in opentrons_hardware.firmware_bindings.constants. That version
+    is authoritative; this version is here because this data is exposed above the hardware control layer and
+    therefore needs a typing source here so that we don't create a dependency on the internal hardware package.
+    """
+
+    tip = 0x00
+    capacitive = 0x01
+    environment = 0x02
+    pressure = 0x03
+    pressure_temperature = 0x04
+    humidity = 0x05
+    temperature = 0x06
+
+
+@dataclass(frozen=True)
+class PipetteSensorData:
+    """Sensor data from a monitored sensor.
+
+    Note that this is a copy of an enum defined in opentrons_hardware.firmware_bindings.constants. That version
+    is authoritative; this version is here because this data is exposed above the hardware control layer and
+    therefore needs a typing source here so that we don't create a dependency on the internal hardware package.
+    """
+
+    sensor_type: PipetteSensorType
+    _as_int: int
+    _as_float: float
+
+    def to_float(self) -> float:
+        return self._as_float
+
+    @property
+    def to_int(self) -> int:
+        return self._as_int
+
+
+PipetteSensorResponseQueue = Queue[Dict[PipetteSensorId, List[PipetteSensorData]]]

hardware/opentrons_hardware/hardware_control/tool_sensors.py

@@ -271,8 +271,8 @@ async def liquid_probe(
     num_baseline_reads: int,
     sensor_id: SensorId = SensorId.S0,
     force_both_sensors: bool = False,
-    response_queue: Optional[
-        asyncio.Queue[Dict[SensorId, List[SensorDataType]]]
+    emplace_data: Optional[
+        Callable[[Dict[SensorId, List[SensorDataType]]], None]
     ] = None,
 ) -> Dict[NodeId, MotorPositionStatus]:
     """Move the mount and pipette simultaneously while reading from the pressure sensor."""
@@ -360,12 +360,12 @@ async def liquid_probe(
         await finalize_logs(messenger, tool, listeners, pressure_sensors)
 
     # give response data to any consumer that wants it
-    if response_queue:
+    if emplace_data:
         for s_id in listeners.keys():
             data = listeners[s_id].get_data()
             if data:
                 for d in data:
-                    response_queue.put_nowait({s_id: data})
+                    emplace_data({s_id: data})
 
     return positions