fix: handle firmware slave timeout for slow CoRe 96 head operations#983
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fix: handle firmware slave timeout for slow CoRe 96 head operations#983rickwierenga wants to merge 1 commit intomainfrom
rickwierenga wants to merge 1 commit intomainfrom
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The Hamilton firmware master has an internal ~5 minute timeout for slave
commands. For slow liquid handling operations (e.g. large volumes at low
flow rates), the master reports a slave timeout error (H0 HardwareError,
trace 11) even though the CoRe 96 head is still working and will finish.
This adds a workaround: when aspirate96/dispense96 receive this specific
error, we poll the master by sending C0 EV (move Z to safety) which goes
through the 96-head task queue. If the head is busy, the master responds
with trace 46 ("CoRe 96 head task busy"). When it finishes, EV succeeds
harmlessly. Also increases read_timeout on aspirate_core_96/dispense_core_96
to 300s so our Python timeout doesn't fire before the firmware's.
Closes #944
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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Summary
aspirate96/dispense96receive this error (H0 HardwareError trace 11), we now poll by sendingC0 EV(move Z to safety) which goes through the 96-head task queue — trace 46 means still busy, success means doneread_timeoutonaspirate_core_96/dispense_core_96to 300s so Python doesn't timeout before the firmware does_bypass_fw_waitparam on low-level methods for advanced users who want to manually fire-and-pollCloses #944
Test plan
C0 EVreturns trace 46 when 96-head is busyC0 EVsucceeds when head is idle (harmless Z safety move)aspirate96/dispense96still work (no regression)🤖 Generated with Claude Code