From 7bac36ba7b9779df9cbbe050301aad549a5a5dd4 Mon Sep 17 00:00:00 2001 From: Caila Marashaj <98041399+caila-marashaj@users.noreply.github.com> Date: Wed, 22 May 2024 15:30:39 -0400 Subject: [PATCH] feat(hardware): add hepa uv to tool detector (#15001) --- .../backends/test_ot3_subsystem_manager.py | 8 +-- .../hardware_control/tools/detector.py | 58 +++++++++++++++---- .../hardware_control/tools/types.py | 18 ++++-- 3 files changed, 64 insertions(+), 20 deletions(-) diff --git a/api/tests/opentrons/hardware_control/backends/test_ot3_subsystem_manager.py b/api/tests/opentrons/hardware_control/backends/test_ot3_subsystem_manager.py index 86c2d70459b9..a7690fde28ac 100644 --- a/api/tests/opentrons/hardware_control/backends/test_ot3_subsystem_manager.py +++ b/api/tests/opentrons/hardware_control/backends/test_ot3_subsystem_manager.py @@ -227,10 +227,10 @@ def _pipette_info_from_network( else default_name ) return tools.types.PipetteInformation( - pipette_name, - pipette_name.value, - pipette_name.name, - f"dummyserial{pipette_name.name}", + name=pipette_name, + name_int=pipette_name.value, + model=pipette_name.name, + serial=f"dummyserial{pipette_name.name}", ) def _auto_tool_summary( diff --git a/hardware/opentrons_hardware/hardware_control/tools/detector.py b/hardware/opentrons_hardware/hardware_control/tools/detector.py index fe5f04032ed6..7483886c52f9 100644 --- a/hardware/opentrons_hardware/hardware_control/tools/detector.py +++ b/hardware/opentrons_hardware/hardware_control/tools/detector.py @@ -16,6 +16,7 @@ PipetteInformation, ToolSummary, GripperInformation, + HepaUVInformation, ) from opentrons_hardware.hardware_control.tools.types import ToolDetectionResult @@ -58,7 +59,7 @@ def _decode_or_default(orig: bytes) -> str: async def _await_responses( callback: WaitableCallback, for_nodes: Set[NodeId], - response_queue: "asyncio.Queue[Tuple[NodeId, Union[PipetteInformation, GripperInformation]]]", + response_queue: "asyncio.Queue[Tuple[NodeId, Union[PipetteInformation, GripperInformation, HepaUVInformation]]]", ) -> None: """Wait for pipette or gripper information and send back through a queue.""" seen: Set[NodeId] = set() @@ -77,12 +78,34 @@ async def _await_responses( ) seen.add(node) break + elif isinstance(response, message_definitions.HepaUVInfoResponse): + node = await _handle_hepa_uv_info( + response_queue, response, arbitration_id + ) elif isinstance(response, message_definitions.ErrorMessage): log.error(f"Received error message {str(response)}") +async def _handle_hepa_uv_info( + response_queue: "asyncio.Queue[Tuple[NodeId, Union[PipetteInformation, GripperInformation, HepaUVInformation]]]", + response: message_definitions.HepaUVInfoResponse, + arbitration_id: ArbitrationId, +) -> NodeId: + node = NodeId(arbitration_id.parts.originating_node_id) + await response_queue.put( + ( + node, + HepaUVInformation( + model=model_versionstring_from_int(response.payload.model.value), + serial=_decode_or_default(response.payload.serial.value), + ), + ) + ) + return node + + async def _handle_gripper_info( - response_queue: "asyncio.Queue[Tuple[NodeId, Union[PipetteInformation, GripperInformation]]]", + response_queue: "asyncio.Queue[Tuple[NodeId, Union[PipetteInformation, GripperInformation, HepaUVInformation]]]", response: message_definitions.GripperInfoResponse, arbitration_id: ArbitrationId, ) -> NodeId: @@ -100,7 +123,7 @@ async def _handle_gripper_info( async def _handle_pipette_info( - response_queue: "asyncio.Queue[Tuple[NodeId, Union[PipetteInformation, GripperInformation]]]", + response_queue: "asyncio.Queue[Tuple[NodeId, Union[PipetteInformation, GripperInformation, HepaUVInformation]]]", response: message_definitions.PipetteInfoResponse, arbitration_id: ArbitrationId, ) -> NodeId: @@ -139,7 +162,9 @@ def _should_query(attach_response: ToolType) -> bool: IntermediateResolution = Tuple[ - Dict[NodeId, PipetteInformation], Dict[NodeId, GripperInformation] + Dict[NodeId, PipetteInformation], + Dict[NodeId, GripperInformation], + Dict[NodeId, HepaUVInformation], ] @@ -153,7 +178,7 @@ async def _do_tool_resolve( node_id=NodeId.broadcast, message=message_definitions.InstrumentInfoRequest(), ) - incoming_queue: "asyncio.Queue[Tuple[NodeId, Union[PipetteInformation, GripperInformation]]]" = ( + incoming_queue: "asyncio.Queue[Tuple[NodeId, Union[PipetteInformation, GripperInformation, HepaUVInformation]]]" = ( asyncio.Queue() ) try: @@ -166,14 +191,17 @@ async def _do_tool_resolve( pipettes: Dict[NodeId, PipetteInformation] = {} gripper: Dict[NodeId, GripperInformation] = {} + hepa_uv: Dict[NodeId, HepaUVInformation] = {} while not incoming_queue.empty(): node, info = incoming_queue.get_nowait() if isinstance(info, PipetteInformation): pipettes[node] = info - else: + elif isinstance(info, GripperInformation): gripper[node] = info + elif isinstance(info, HepaUVInformation): + hepa_uv[node] = info - return pipettes, gripper + return pipettes, gripper, hepa_uv async def _resolve_with_stimulus_retries( @@ -187,15 +215,23 @@ async def _resolve_with_stimulus_retries( should_respond ) expected_gripper = {NodeId.gripper}.intersection(should_respond) + expected_hepa_uv = {NodeId.hepa_uv}.intersection(should_respond) while True: - pipettes, gripper = await _do_tool_resolve( + pipettes, gripper, hepa_uv = await _do_tool_resolve( messenger, wc, should_respond, attempt_timeout_sec ) - output_queue.put_nowait((pipettes, gripper)) + output_queue.put_nowait((pipettes, gripper, hepa_uv)) seen_pipettes = set([k.application_for() for k in pipettes.keys()]) seen_gripper = set([k.application_for() for k in gripper.keys()]) - if seen_pipettes == expected_pipettes and seen_gripper == expected_gripper: + seen_hepa_uv = set([k.application_for() for k in hepa_uv.keys()]) + if all( + [ + seen_pipettes == expected_pipettes, + seen_gripper == expected_gripper, + seen_hepa_uv == expected_hepa_uv, + ] + ): return @@ -222,7 +258,7 @@ async def _resolve_tool_types( except asyncio.TimeoutError: log.warning("No response from expected tool") - last_element: IntermediateResolution = ({}, {}) + last_element: IntermediateResolution = ({}, {}, {}) try: while True: last_element = resolve_queue.get_nowait() diff --git a/hardware/opentrons_hardware/hardware_control/tools/types.py b/hardware/opentrons_hardware/hardware_control/tools/types.py index 1d9d4286931d..48439b5a4444 100644 --- a/hardware/opentrons_hardware/hardware_control/tools/types.py +++ b/hardware/opentrons_hardware/hardware_control/tools/types.py @@ -15,21 +15,29 @@ class ToolDetectionResult: @dataclass(frozen=True) -class GripperInformation: - """Model the information you can retrieve from a gripper.""" +class BaseToolInformation: + """Model the base information you can retrieve from any tool.""" model: str serial: str @dataclass(frozen=True) -class PipetteInformation: +class GripperInformation(BaseToolInformation): + """Model the information you can retrieve from a gripper.""" + + +@dataclass(frozen=True) +class HepaUVInformation(BaseToolInformation): + """Model the information you can retrieve from a hepa/uv device.""" + + +@dataclass(frozen=True) +class PipetteInformation(BaseToolInformation): """Model the information you can retrieve from a pipette.""" name: PipetteName name_int: int - model: str - serial: str @dataclass(frozen=True)