feat(api): Heater Shaker Firmware Level Emulator (#11121) (#11207)

* feat: Heater-Shaker Firmware Emulator




remove files


Fix some parsing errors


Formatting


Change rpm_per_tick

* Tests

* Modify home functionality


Formatting and linting

* fix rpm emulator g-code and add deactivate test

* Fix tests

* Add deactivate_heater G-Code

* Add start_set_temperature

* Update home and deactivate_heater functionality

Based off of #11121 (comment)

* Linting

* fix: Fix deactivate_heater function

* Make home_delay_time customizable

* Linting

Co-authored-by: jbleon95 <[email protected]>

Co-authored-by: jbleon95 <[email protected]>

api/src/opentrons/drivers/utils.py

@@ -72,6 +72,8 @@ def parse_rpm_response(rpm_string: str) -> RPM:
     """Example input: T:1233 C:212"""
     data = parse_key_values(rpm_string)
     try:
+        # target is listed as Optional for below assignment,
+        # but None will be represented as 0 in G-code
         target: Optional[int] = int(parse_number(data["T"], 0))
         if target == 0:
             target = None

api/src/opentrons/hardware_control/emulation/heater_shaker.py

@@ -0,0 +1,146 @@
+"""An emulation of the opentrons heater shaker module.
+
+The purpose is to provide a fake backend that responds to GCODE commands.
+"""
+import logging
+from time import sleep
+from typing import (
+    Optional,
+)
+
+from opentrons.drivers.heater_shaker.driver import (
+    GCODE,
+    HS_ACK,
+)
+from opentrons.hardware_control.emulation.parser import Parser, Command
+from opentrons.hardware_control.emulation.settings import HeaterShakerSettings
+from . import util
+
+from .abstract_emulator import AbstractEmulator
+from .simulations import (
+    Temperature,
+    RPM,
+)
+from .util import TEMPERATURE_ROOM
+from ...drivers.types import HeaterShakerLabwareLatchStatus
+
+logger = logging.getLogger(__name__)
+
+
+class HeaterShakerEmulator(AbstractEmulator):
+    """Heater Shaker emulator"""
+
+    _temperature: Temperature
+    _rpm: RPM
+    _latch_status: HeaterShakerLabwareLatchStatus
+
+    def __init__(self, parser: Parser, settings: HeaterShakerSettings) -> None:
+        self._parser = parser
+        self._settings = settings
+        self._gcode_to_function_mapping = {
+            GCODE.SET_RPM.value: self._set_rpm,
+            GCODE.GET_RPM.value: self._get_rpm,
+            GCODE.SET_TEMPERATURE.value: self._set_temp,
+            GCODE.GET_TEMPERATURE.value: self._get_temp,
+            GCODE.HOME.value: self._home,
+            GCODE.ENTER_BOOTLOADER.value: self._enter_bootloader,
+            GCODE.GET_VERSION.value: self._get_version,
+            GCODE.OPEN_LABWARE_LATCH.value: self._open_labware_latch,
+            GCODE.CLOSE_LABWARE_LATCH.value: self._close_labware_latch,
+            GCODE.GET_LABWARE_LATCH_STATE.value: self._get_labware_latch_state,
+            GCODE.DEACTIVATE_HEATER.value: self._deactivate_heater,
+        }
+        self.reset()
+
+    def handle(self, line: str) -> Optional[str]:
+        """Handle a line"""
+        results = (self._handle(c) for c in self._parser.parse(line))
+        joined = " ".join(r for r in results if r)
+        return None if not joined else joined
+
+    def reset(self) -> None:
+
+        self._temperature = Temperature(
+            per_tick=self._settings.temperature.degrees_per_tick,
+            current=self._settings.temperature.starting,
+        )
+        self._rpm = RPM(
+            per_tick=self._settings.rpm.rpm_per_tick,
+            current=self._settings.rpm.starting,
+        )
+        self._rpm.set_target(0.0)
+        self._latch_status = HeaterShakerLabwareLatchStatus.IDLE_OPEN
+
+    def _handle(self, command: Command) -> Optional[str]:
+        """
+        Handle a command.
+
+        TODO: AL 20210218 create dispatch map and remove 'noqa(C901)'
+        """
+        logger.info(f"Got command {command}")
+        func_to_run = self._gcode_to_function_mapping.get(command.gcode)
+        res = None if func_to_run is None else func_to_run(command)
+        return None if not isinstance(res, str) else f"{res} {HS_ACK}"
+
+    def _set_rpm(self, command: Command) -> str:
+        value = command.params["S"]
+        assert isinstance(value, float), f"invalid value '{value}'"
+        self._rpm.set_target(value)
+        return "M3"
+
+    def _get_rpm(self, command: Command) -> str:
+        res = (
+            f"M123 C:{self._rpm.current} "
+            f"T:{self._rpm.target if self._rpm.target is not None else 0}"
+        )
+        self._rpm.tick()
+        return res
+
+    def _set_temp(self, command: Command) -> str:
+        value = command.params["S"]
+        assert isinstance(value, float), f"invalid value '{value}'"
+        self._temperature.set_target(value)
+        return "M104"
+
+    def _get_temp(self, command: Command) -> str:
+        res = (
+            f"M105 C:{self._temperature.current} "
+            f"T:{util.OptionalValue(self._temperature.target)}"
+        )
+        self._temperature.tick()
+        return res
+
+    def _home(self, command: Command) -> str:
+        sleep(self._settings.home_delay_time)
+        self._rpm.deactivate(0.0)
+        self._rpm.set_target(0.0)
+        return "G28"
+
+    def _enter_bootloader(self, command: Command) -> None:
+        pass
+
+    def _get_version(self, command: Command) -> str:
+        return (
+            f"FW:{self._settings.version} "
+            f"HW:{self._settings.model} "
+            f"SerialNo:{self._settings.serial_number}"
+        )
+
+    def _open_labware_latch(self, command: Command) -> str:
+        self._latch_status = HeaterShakerLabwareLatchStatus.IDLE_OPEN
+        return "M242"
+
+    def _close_labware_latch(self, command: Command) -> str:
+        self._latch_status = HeaterShakerLabwareLatchStatus.IDLE_CLOSED
+        return "M243"
+
+    def _get_labware_latch_state(self, command: Command) -> str:
+        return f"M241 STATUS:{self._latch_status.value.upper()}"
+
+    def _deactivate_heater(self, command: Command) -> str:
+        self._temperature.deactivate(TEMPERATURE_ROOM)
+        return "M106"
+
+    @staticmethod
+    def get_terminator() -> bytes:
+        return b"\n"

api/src/opentrons/hardware_control/emulation/scripts/run_module_emulator.py

@@ -6,6 +6,7 @@
 from typing_extensions import Final
 
 from opentrons.hardware_control.emulation.abstract_emulator import AbstractEmulator
+from opentrons.hardware_control.emulation.heater_shaker import HeaterShakerEmulator
 from opentrons.hardware_control.emulation.types import ModuleType
 from opentrons.hardware_control.emulation.magdeck import MagDeckEmulator
 from opentrons.hardware_control.emulation.parser import Parser
@@ -22,12 +23,16 @@
     ModuleType.Thermocycler.value: lambda s: ThermocyclerEmulator(
         Parser(), s.thermocycler
     ),
+    ModuleType.Heatershaker.value: lambda s: HeaterShakerEmulator(
+        Parser(), s.heatershaker
+    ),
 }
 
 emulator_port: Final[Dict[str, Callable[[Settings], ProxySettings]]] = {
     ModuleType.Magnetic.value: lambda s: s.magdeck_proxy,
     ModuleType.Temperature.value: lambda s: s.temperature_proxy,
     ModuleType.Thermocycler.value: lambda s: s.thermocycler_proxy,
+    ModuleType.Heatershaker.value: lambda s: s.heatershaker_proxy,
 }
 
 

api/src/opentrons/hardware_control/emulation/settings.py

@@ -29,6 +29,11 @@ class TemperatureModelSettings(BaseModel):
     starting: float = float(TEMPERATURE_ROOM)
 
 
+class RPMModelSettings(BaseModel):
+    rpm_per_tick: float = 100.0
+    starting: float = 0.0
+
+
 class MagDeckSettings(BaseModuleSettings):
     pass
 
@@ -42,6 +47,12 @@ class ThermocyclerSettings(BaseModuleSettings):
     plate_temperature: TemperatureModelSettings
 
 
+class HeaterShakerSettings(BaseModuleSettings):
+    temperature: TemperatureModelSettings
+    rpm: RPMModelSettings
+    home_delay_time: int = 0
+
+
 class ProxySettings(BaseModel):
     """Settings for a proxy."""
 
@@ -75,6 +86,14 @@ class Settings(BaseSettings):
         lid_temperature=TemperatureModelSettings(),
         plate_temperature=TemperatureModelSettings(),
     )
+    heatershaker: HeaterShakerSettings = HeaterShakerSettings(
+        serial_number="heater_shaker_emulator",
+        model="v01",
+        version="v0.0.1",
+        temperature=TemperatureModelSettings(),
+        rpm=RPMModelSettings(),
+        home_delay_time=0,
+    )
 
     heatershaker_proxy: ProxySettings = ProxySettings(
         emulator_port=9000, driver_port=9995

api/src/opentrons/hardware_control/emulation/simulations.py

@@ -40,7 +40,56 @@ def deactivate(self, temperature: float) -> None:
         self._target = None
         self._current = temperature
 
-    def set_target(self, target: float) -> None:
+    def set_target(self, target: Optional[float]) -> None:
+        self._target = target
+
+    @property
+    def current(self) -> float:
+        return self._current
+
+    @property
+    def target(self) -> Optional[float]:
+        return self._target
+
+
+class RPM(Simulation):
+    """A model with a current and target rpm. The current rpm is
+    always moving towards the target.
+    """
+
+    def __init__(self, per_tick: float, current: float) -> None:
+        """Construct a rpm simulation.
+
+        Args:
+            per_tick: amount to move per tick,
+            current: the starting rpm
+        """
+        self._per_tick = per_tick
+        self._current = current
+        self._target: Optional[float] = None
+
+    def tick(self) -> None:
+
+        if self._target is None:
+            target = 0.0
+        else:
+            target = self._target
+
+        diff = target - self._current
+
+        if abs(diff) < self._per_tick:
+            self._current = target
+        elif diff > 0:
+            self._current += self._per_tick
+        else:
+            self._current -= self._per_tick
+
+    def deactivate(self, rpm: float) -> None:
+        """Deactivate and reset to rpm"""
+        self._target = None
+        self._current = rpm
+
+    def set_target(self, target: Optional[float]) -> None:
         self._target = target
 
     @property

api/tests/opentrons/hardware_control/integration/conftest.py

@@ -29,7 +29,12 @@ def emulator_settings() -> Settings:
 @pytest.fixture(scope="session")
 def emulation_app(emulator_settings: Settings) -> Iterator[None]:
     """Run the emulators"""
-    modules = [ModuleType.Magnetic, ModuleType.Temperature, ModuleType.Thermocycler]
+    modules = [
+        ModuleType.Magnetic,
+        ModuleType.Temperature,
+        ModuleType.Thermocycler,
+        ModuleType.Heatershaker,
+    ]
 
     def _run_app() -> None:
         async def _async_run() -> None:

api/tests/opentrons/hardware_control/integration/test_heatershaker.py

@@ -0,0 +1,102 @@
+import asyncio
+from typing import AsyncIterator, Iterator
+
+import pytest
+from mock import AsyncMock
+from opentrons.drivers.rpi_drivers.types import USBPort
+from opentrons.hardware_control.emulation.settings import Settings
+from opentrons.hardware_control.emulation.util import TEMPERATURE_ROOM
+
+from opentrons.hardware_control.modules import HeaterShaker
+
+TEMP_ROOM_LOW = TEMPERATURE_ROOM - 0.7
+TEMP_ROOM_HIGH = TEMPERATURE_ROOM + 0.7
+
+
+@pytest.fixture
+async def heatershaker(
+    emulation_app: Iterator[None],
+    emulator_settings: Settings,
+) -> AsyncIterator[HeaterShaker]:
+    module = await HeaterShaker.build(
+        port=f"socket://127.0.0.1:{emulator_settings.heatershaker_proxy.driver_port}",
+        execution_manager=AsyncMock(),
+        usb_port=USBPort(name="", port_number=1, device_path="", hub=1),
+        loop=asyncio.get_running_loop(),
+        polling_period=0.5,
+    )
+    yield module
+    await module.cleanup()
+
+
+def test_device_info(heatershaker: HeaterShaker):
+    """Confirm device_info returns correct values."""
+    assert heatershaker.device_info == {
+        "model": "v01",
+        "version": "v0.0.1",
+        "serial": "heater_shaker_emulator",
+    }
+
+
+async def test_latch_status(heatershaker: HeaterShaker) -> None:
+    """It should run open and close latch."""
+    await heatershaker.wait_next_poll()
+    assert heatershaker.labware_latch_status.value == "idle_open"
+
+    await heatershaker.close_labware_latch()
+    assert heatershaker.labware_latch_status.value == "idle_closed"
+
+    await heatershaker.open_labware_latch()
+    assert heatershaker.labware_latch_status.value == "idle_open"
+
+
+async def test_speed(heatershaker: HeaterShaker) -> None:
+    """It should speed up, then slow down."""
+
+    await heatershaker.wait_next_poll()
+    await heatershaker.set_speed(550)
+    assert heatershaker.target_speed == 550
+
+    # The acceptable delta for actual speed is 100
+    assert 450 <= heatershaker.speed <= 650
+
+
+async def test_deactivate_shaker(heatershaker: HeaterShaker) -> None:
+    """It should speed up, then slow down."""
+
+    await heatershaker.wait_next_poll()
+    await heatershaker.set_speed(150)
+    assert heatershaker.target_speed == 150
+
+    await heatershaker.deactivate_shaker()
+
+    assert heatershaker.speed == 0
+    assert heatershaker.target_speed is None
+
+
+async def test_deactivate_heater(heatershaker: HeaterShaker) -> None:
+    await heatershaker.wait_next_poll()
+    await heatershaker.start_set_temperature(30.0)
+    await heatershaker.await_temperature(30.0)
+    assert heatershaker.target_temperature == 30.0
+    assert 29.3 <= heatershaker.temperature <= 30.7
+
+    await heatershaker.deactivate_heater()
+    assert heatershaker.target_temperature is None
+    assert TEMP_ROOM_LOW <= heatershaker.temperature <= TEMP_ROOM_HIGH
+
+
+async def test_temp(heatershaker: HeaterShaker) -> None:
+    """Test setting temp"""
+
+    # Have to wait for next poll because target temp will not update until then
+    await heatershaker.wait_next_poll()
+    await heatershaker.start_set_temperature(50.0)
+    assert heatershaker.target_temperature == 50.0
+    assert heatershaker.temperature != 50.0
+
+    await heatershaker.await_temperature(50.0)
+    assert heatershaker.target_temperature == 50.0
+
+    # Acceptable delta is 0.7 degrees
+    assert 49.3 <= heatershaker.temperature <= 50.7