feat(hardware-testing,api,shared-data): Add TOF-Analysis tool to generate, plot, and validate baselines and measurements + related improvements.

[vegano1]

Overview

This pull request consolidates the TOF sensor tooling scattered across various branches into a single tof-analysis tool. This tool lets you generate baselines, plot baselines + measurements, and validate baselines for labware detection. It updates the baseline format to include version and platform for each baseline, and generates new baselines in the FlexStackerModuleV1.json file using over 1800 new measurement samples to greatly increase labware detection accuracy. There are a lot of file changes, but that's from moving the stacker QC tests into a stacker directory.

plus a few other cleanup changes.

TOF-Analysis Tool

Test Plan and Hands on Testing

• Test the new baseline on the Flex using various labware, and it can dispense/store said labware.
• Make sure variations of labware colors are detectable on the X-retract and Z-extend positions.

Changelog

• Add tof-analysis tool to generate, plot, and validate baselines + measurements.
• Generate a new baseline with a standard deviation of 5 for all axes and directions.
• Move TOF_DETECTION_CONFIG, STALLGUARD_CONFIG, and STACKER_MOTION_CONFIG out of the driver and into the flex_stacker.py file, which is the only place that uses them.
• Update the TOF_DETECTION_CONFIG with new values
  • Update the bin range Z-Extend (30, 40), Z-Retract (17, 30), X-Extend (15, 63), X-Retract (15, 63)
  • Add the Direction.RETRACT direction to the TOF_DETECTION_CONFIG for the Z axis
  • Decrease raw photon threshold to 1000
• Update the STALLGUARD_CONFIG from 2 -> 0 per hardware testing. @Carlos-fernandez

Review requests

Risk assessment

[sfoster1]

Looks good to me. I hope we get a second pass at the thresholding someday.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 23.79%. Comparing base (41c97ad) to head (2de7f78).
Report is 8 commits behind head on edge.

Additional details and impacted files

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- Coverage   25.39%   23.79%   -1.61%     
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  Lines      287572   287598      +26     
  Branches    36508    35907     -601     
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- Hits        73042    68433    -4609     
- Misses     214507   219139    +4632     
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Flag	Coverage Δ
protocol-designer	19.01% <ø> (ø)
step-generation	5.31% <ø> (ø)

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Files with missing lines	Coverage Δ
...ta/python/opentrons_shared_data/module/__init__.py	82.22% <ø> (+3.49%)	⬆️
...-data/python/opentrons_shared_data/module/types.py	100.00% <ø> (ø)

... and 116 files with indirect coverage changes

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[djgomez-opentrons]

Looks great