opentrons 8.2.0a4__tar.gz → 8.3.0a1__tar.gz

{opentrons-8.2.0a4 → opentrons-8.3.0a1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: opentrons
-Version: 8.2.0a4
+Version: 8.3.0a1
 Summary: The Opentrons API is a simple framework designed to make writing automated biology lab protocols easy.
 Author: Opentrons
 Author-email: engineering@opentrons.com
@@ -21,12 +21,13 @@ Classifier: Programming Language :: Python :: 3.10
 Classifier: Topic :: Scientific/Engineering
 Requires-Python: >=3.10
 License-File: ../LICENSE
-Requires-Dist: opentrons-shared-data==8.2.0a4
+Requires-Dist: opentrons-shared-data==8.3.0a1
 Requires-Dist: aionotify==0.3.1
 Requires-Dist: anyio<4.0.0,>=3.6.1
 Requires-Dist: jsonschema<4.18.0,>=3.0.1
 Requires-Dist: numpy<2,>=1.20.0
-Requires-Dist: pydantic<2.0.0,>=1.10.9
+Requires-Dist: pydantic<3,>=2.0.0
+Requires-Dist: pydantic-settings<3,>=2
 Requires-Dist: pyserial>=3.5
 Requires-Dist: typing-extensions<5,>=4.0.0
 Requires-Dist: click<9,>=8.0.0
@@ -34,9 +35,9 @@ Requires-Dist: pyusb==1.2.1
 Requires-Dist: importlib-metadata>=1.0; python_version < "3.8"
 Requires-Dist: packaging>=21.0
 Provides-Extra: ot2-hardware
-Requires-Dist: opentrons-hardware==8.2.0a4; extra == "ot2-hardware"
+Requires-Dist: opentrons-hardware==8.3.0a1; extra == "ot2-hardware"
 Provides-Extra: flex-hardware
-Requires-Dist: opentrons-hardware[FLEX]==8.2.0a4; extra == "flex-hardware"
+Requires-Dist: opentrons-hardware[FLEX]==8.3.0a1; extra == "flex-hardware"
 
 .. _Full API Documentation: http://docs.opentrons.com
 

{opentrons-8.2.0a4 → opentrons-8.3.0a1}/setup.py

@@ -59,9 +59,11 @@ INSTALL_REQUIRES = [
     f"opentrons-shared-data=={VERSION}",
     "aionotify==0.3.1",
     "anyio>=3.6.1,<4.0.0",
+    # todo(mm, 2024-12-14): investigate ref resolution problems caused by jsonschema>=4.18.1.
     "jsonschema>=3.0.1,<4.18.0",
     "numpy>=1.20.0,<2",
-    "pydantic>=1.10.9,<2.0.0",
+    "pydantic>=2.0.0,<3",
+    "pydantic-settings>=2,<3",
     "pyserial>=3.5",
     "typing-extensions>=4.0.0,<5",
     "click>=8.0.0,<9",

{opentrons-8.2.0a4 → opentrons-8.3.0a1}/src/opentrons/calibration_storage/deck_configuration.py

@@ -10,7 +10,7 @@ from . import file_operators as io
 class _CutoutFixturePlacementModel(pydantic.BaseModel):
     cutoutId: str
     cutoutFixtureId: str
-    opentronsModuleSerialNumber: Optional[str]
+    opentronsModuleSerialNumber: Optional[str] = None
 
 
 class _DeckConfigurationModel(pydantic.BaseModel):
@@ -24,9 +24,9 @@ def serialize_deck_configuration(
     cutout_fixture_placements: List[CutoutFixturePlacement], last_modified: datetime
 ) -> bytes:
     """Serialize a deck configuration for storing on the filesystem."""
-    data = _DeckConfigurationModel.construct(
+    data = _DeckConfigurationModel.model_construct(
         cutoutFixtures=[
-            _CutoutFixturePlacementModel.construct(
+            _CutoutFixturePlacementModel.model_construct(
                 cutoutId=e.cutout_id,
                 cutoutFixtureId=e.cutout_fixture_id,
                 opentronsModuleSerialNumber=e.opentrons_module_serial_number,

{opentrons-8.2.0a4 → opentrons-8.3.0a1}/src/opentrons/calibration_storage/file_operators.py

@@ -103,7 +103,7 @@ def save_to_file(
     directory_path.mkdir(parents=True, exist_ok=True)
     file_path = directory_path / f"{file_name}.json"
     json_data = (
-        data.json()
+        data.model_dump_json()
         if isinstance(data, pydantic.BaseModel)
         else json.dumps(data, cls=encoder)
     )
@@ -112,7 +112,7 @@ def save_to_file(
 
 def serialize_pydantic_model(data: pydantic.BaseModel) -> bytes:
     """Safely serialize data from a Pydantic model into a form suitable for storing on disk."""
-    return data.json(by_alias=True).encode("utf-8")
+    return data.model_dump_json(by_alias=True).encode("utf-8")
 
 
 _ModelT = typing.TypeVar("_ModelT", bound=pydantic.BaseModel)
@@ -133,7 +133,7 @@ def deserialize_pydantic_model(
     Returns `None` if the file is missing or corrupt.
     """
     try:
-        return model.parse_raw(serialized)
+        return model.model_validate_json(serialized)
     except json.JSONDecodeError:
         _log.warning("Data is not valid JSON.", exc_info=True)
         return None

{opentrons-8.2.0a4 → opentrons-8.3.0a1}/src/opentrons/calibration_storage/helpers.py

@@ -31,7 +31,9 @@ def convert_to_dict(obj: Any) -> Dict[str, Any]:
     # https://github.com/python/mypy/issues/6568
     # Unfortunately, since it's not currently supported I have an
     # assert check instead.
-    assert is_dataclass(obj), "This function is intended for dataclasses only"
+    assert is_dataclass(obj) and not isinstance(
+        obj, type
+    ), "This function is intended for dataclasses only"
     return asdict(obj, dict_factory=dict_filter_none)
 
 

{opentrons-8.2.0a4 → opentrons-8.3.0a1}/src/opentrons/calibration_storage/ot2/models/v1.py

@@ -1,7 +1,7 @@
 import typing
 
 from typing_extensions import Literal
-from pydantic import BaseModel, Field, validator
+from pydantic import field_validator, BaseModel, Field, PlainSerializer
 from datetime import datetime
 
 from opentrons_shared_data.pipette.types import LabwareUri
@@ -9,11 +9,16 @@ from opentrons_shared_data.pipette.types import LabwareUri
 from opentrons.types import Point
 from opentrons.calibration_storage import types
 
+DatetimeType = typing.Annotated[
+    datetime,
+    PlainSerializer(lambda x: x.isoformat(), when_used="json"),
+]
+
 
 class CalibrationStatus(BaseModel):
     markedBad: bool = False
     source: typing.Optional[types.SourceType] = None
-    markedAt: typing.Optional[datetime] = None
+    markedAt: typing.Optional[DatetimeType] = None
 
 
 # Schemas used to store the data types
@@ -22,7 +27,7 @@ class CalibrationStatus(BaseModel):
 # they are currently saved in on the OT-2 to avoid a large migration.
 class TipLengthModel(BaseModel):
     tipLength: float = Field(..., description="Tip length data found from calibration.")
-    lastModified: datetime = Field(
+    lastModified: DatetimeType = Field(
         ..., description="The last time this tip length was calibrated."
     )
     source: types.SourceType = Field(
@@ -40,22 +45,19 @@ class TipLengthModel(BaseModel):
         ..., description="The tiprack hash associated with the tip length data."
     )
 
-    @validator("tipLength")
+    @field_validator("tipLength")
+    @classmethod
     def ensure_tip_length_positive(cls, tipLength: float) -> float:
         if tipLength < 0.0:
             raise ValueError("Tip Length must be a positive number")
         return tipLength
 
-    class Config:
-        json_encoders = {datetime: lambda obj: obj.isoformat()}
-        json_decoders = {datetime: lambda obj: datetime.fromisoformat(obj)}
-
 
 class DeckCalibrationModel(BaseModel):
     attitude: types.AttitudeMatrix = Field(
         ..., description="Attitude matrix for deck found from calibration."
     )
-    last_modified: typing.Optional[datetime] = Field(
+    last_modified: typing.Optional[DatetimeType] = Field(
         default=None, description="The last time this deck was calibrated."
     )
     source: types.SourceType = Field(
@@ -72,10 +74,6 @@ class DeckCalibrationModel(BaseModel):
         description="The status of the calibration data.",
     )
 
-    class Config:
-        json_encoders = {datetime: lambda obj: obj.isoformat()}
-        json_decoders = {datetime: lambda obj: datetime.fromisoformat(obj)}
-
 
 class InstrumentOffsetModel(BaseModel):
     offset: Point = Field(..., description="Instrument offset found from calibration.")
@@ -83,7 +81,7 @@ class InstrumentOffsetModel(BaseModel):
     uri: str = Field(
         ..., description="The URI of the labware used for instrument offset"
     )
-    last_modified: datetime = Field(
+    last_modified: DatetimeType = Field(
         ..., description="The last time this instrument was calibrated."
     )
     source: types.SourceType = Field(
@@ -94,10 +92,6 @@ class InstrumentOffsetModel(BaseModel):
         description="The status of the calibration data.",
     )
 
-    class Config:
-        json_encoders = {datetime: lambda obj: obj.isoformat()}
-        json_decoders = {datetime: lambda obj: datetime.fromisoformat(obj)}
-
 
 # TODO(lc 09-19-2022) We need to refactor the calibration endpoints
 # so that we only need to use one data model schema. This model is a
@@ -112,7 +106,7 @@ class PipetteOffsetCalibration(BaseModel):
     uri: str = Field(
         ..., description="The URI of the labware used for instrument offset"
     )
-    last_modified: datetime = Field(
+    last_modified: DatetimeType = Field(
         ..., description="The last time this instrument was calibrated."
     )
     source: types.SourceType = Field(
@@ -123,10 +117,6 @@ class PipetteOffsetCalibration(BaseModel):
         description="The status of the calibration data.",
     )
 
-    class Config:
-        json_encoders = {datetime: lambda obj: obj.isoformat()}
-        json_decoders = {datetime: lambda obj: datetime.fromisoformat(obj)}
-
 
 # TODO(lc 09-19-2022) We need to refactor the calibration endpoints
 # so that we only need to use one data model schema. This model is a
@@ -137,7 +127,7 @@ class TipLengthCalibration(BaseModel):
         ..., description="The tiprack hash associated with this tip length data."
     )
     tipLength: float = Field(..., description="Tip length data found from calibration.")
-    lastModified: datetime = Field(
+    lastModified: DatetimeType = Field(
         ..., description="The last time this tip length was calibrated."
     )
     source: types.SourceType = Field(
@@ -151,12 +141,9 @@ class TipLengthCalibration(BaseModel):
         ..., description="The tiprack URI associated with the tip length data."
     )
 
-    @validator("tipLength")
+    @field_validator("tipLength")
+    @classmethod
     def ensure_tip_length_positive(cls, tipLength: float) -> float:
         if tipLength < 0.0:
             raise ValueError("Tip Length must be a positive number")
         return tipLength
-
-    class Config:
-        json_encoders = {datetime: lambda obj: obj.isoformat()}
-        json_decoders = {datetime: lambda obj: datetime.fromisoformat(obj)}

{opentrons-8.2.0a4 → opentrons-8.3.0a1}/src/opentrons/calibration_storage/ot2/tip_length.py

@@ -24,13 +24,14 @@ log = logging.getLogger(__name__)
 
 
 def _convert_tip_length_model_to_dict(
-    to_dict: typing.Dict[LabwareUri, v1.TipLengthModel]
+    to_dict: typing.Dict[LabwareUri, v1.TipLengthModel],
 ) -> typing.Dict[LabwareUri, typing.Any]:
+    # TODO[pydantic]: supported in Pydantic V2
     # This is a workaround since pydantic doesn't have a nice way to
     # add encoders when converting to a dict.
     dict_of_tip_lengths = {}
     for key, item in to_dict.items():
-        dict_of_tip_lengths[key] = json.loads(item.json())
+        dict_of_tip_lengths[key] = json.loads(item.model_dump_json())
     return dict_of_tip_lengths
 
 
@@ -175,12 +176,14 @@ def delete_tip_length_calibration(
             io.save_to_file(tip_length_dir, pipette_id, dict_of_tip_lengths)
         else:
             io.delete_file(tip_length_dir / f"{pipette_id}.json")
-    elif tiprack_hash and any(tiprack_hash in v.dict() for v in tip_lengths.values()):
+    elif tiprack_hash and any(
+        tiprack_hash in v.model_dump() for v in tip_lengths.values()
+    ):
         # NOTE this is for backwards compatibilty only
         # TODO delete this check once the tip_length DELETE router
         # no longer depends on a tiprack hash
         for k, v in tip_lengths.items():
-            if tiprack_hash in v.dict():
+            if tiprack_hash in v.model_dump():
                 tip_lengths.pop(k)
         if tip_lengths:
             dict_of_tip_lengths = _convert_tip_length_model_to_dict(tip_lengths)

{opentrons-8.2.0a4 → opentrons-8.3.0a1}/src/opentrons/calibration_storage/ot3/models/v1.py

@@ -3,7 +3,7 @@ import typing
 from typing_extensions import Literal
 from opentrons.hardware_control.modules.types import ModuleType
 from opentrons.hardware_control.types import OT3Mount
-from pydantic import BaseModel, Field, validator
+from pydantic import field_validator, BaseModel, Field, PlainSerializer
 from datetime import datetime
 
 from opentrons_shared_data.pipette.types import LabwareUri
@@ -12,15 +12,21 @@ from opentrons.types import Point
 from opentrons.calibration_storage import types
 
 
+DatetimeType = typing.Annotated[
+    datetime,
+    PlainSerializer(lambda x: x.isoformat(), when_used="json"),
+]
+
+
 class CalibrationStatus(BaseModel):
     markedBad: bool = False
     source: typing.Optional[types.SourceType] = None
-    markedAt: typing.Optional[datetime] = None
+    markedAt: typing.Optional[DatetimeType] = None
 
 
 class TipLengthModel(BaseModel):
     tipLength: float = Field(..., description="Tip length data found from calibration.")
-    lastModified: datetime = Field(
+    lastModified: DatetimeType = Field(
         ..., description="The last time this tip length was calibrated."
     )
     uri: typing.Union[LabwareUri, Literal[""]] = Field(
@@ -34,22 +40,19 @@ class TipLengthModel(BaseModel):
         description="The status of the calibration data.",
     )
 
-    @validator("tipLength")
+    @field_validator("tipLength")
+    @classmethod
     def ensure_tip_length_positive(cls, tipLength: float) -> float:
         if tipLength < 0.0:
             raise ValueError("Tip Length must be a positive number")
         return tipLength
 
-    class Config:
-        json_encoders = {datetime: lambda obj: obj.isoformat()}
-        json_decoders = {datetime: lambda obj: datetime.fromisoformat(obj)}
-
 
 class BeltCalibrationModel(BaseModel):
     attitude: types.AttitudeMatrix = Field(
         ..., description="Attitude matrix for belts found from calibration."
     )
-    lastModified: datetime = Field(
+    lastModified: DatetimeType = Field(
         ..., description="The last time this deck was calibrated."
     )
     source: types.SourceType = Field(
@@ -63,14 +66,10 @@ class BeltCalibrationModel(BaseModel):
         description="The status of the calibration data.",
     )
 
-    class Config:
-        json_encoders = {datetime: lambda obj: obj.isoformat()}
-        json_decoders = {datetime: lambda obj: datetime.fromisoformat(obj)}
-
 
 class InstrumentOffsetModel(BaseModel):
     offset: Point = Field(..., description="Instrument offset found from calibration.")
-    lastModified: datetime = Field(
+    lastModified: DatetimeType = Field(
         ..., description="The last time this instrument was calibrated."
     )
     source: types.SourceType = Field(
@@ -81,10 +80,6 @@ class InstrumentOffsetModel(BaseModel):
         description="The status of the calibration data.",
     )
 
-    class Config:
-        json_encoders = {datetime: lambda obj: obj.isoformat()}
-        json_decoders = {datetime: lambda obj: datetime.fromisoformat(obj)}
-
 
 class ModuleOffsetModel(BaseModel):
     offset: Point = Field(..., description="Module offset found from calibration.")
@@ -99,7 +94,7 @@ class ModuleOffsetModel(BaseModel):
         ...,
         description="The unique id of the instrument used to calibrate this module.",
     )
-    lastModified: datetime = Field(
+    lastModified: DatetimeType = Field(
         ..., description="The last time this module was calibrated."
     )
     source: types.SourceType = Field(
@@ -109,7 +104,3 @@ class ModuleOffsetModel(BaseModel):
         default_factory=CalibrationStatus,
         description="The status of the calibration data.",
     )
-
-    class Config:
-        json_encoders = {datetime: lambda obj: obj.isoformat()}
-        json_decoders = {datetime: lambda obj: datetime.fromisoformat(obj)}

{opentrons-8.2.0a4 → opentrons-8.3.0a1}/src/opentrons/cli/analyze.py

@@ -53,9 +53,11 @@ from opentrons.protocol_engine import (
     LoadedPipette,
     LoadedModule,
     Liquid,
+    LiquidClassRecordWithId,
     StateSummary,
 )
 from opentrons.protocol_engine.protocol_engine import code_in_error_tree
+from opentrons.protocol_engine.types import CommandAnnotation
 
 from opentrons_shared_data.robot.types import RobotType
 
@@ -333,8 +335,10 @@ async def _do_analyze(
                 wells=[],
                 hasEverEnteredErrorRecovery=False,
                 files=[],
+                liquidClasses=[],
             ),
             parameters=[],
+            command_annotations=[],
         )
         return analysis
     return await orchestrator.run(deck_configuration=[])
@@ -378,16 +382,20 @@ async def _analyze(
     else:
         result = AnalysisResult.OK
 
-    results = AnalyzeResults.construct(
+    results = AnalyzeResults.model_construct(
         createdAt=datetime.now(tz=timezone.utc),
         files=[
-            ProtocolFile.construct(name=f.path.name, role=f.role)
+            ProtocolFile.model_construct(name=f.path.name, role=f.role)
             for f in protocol_source.files
         ],
         config=(
-            JsonConfig.construct(schemaVersion=protocol_source.config.schema_version)
+            JsonConfig.model_construct(
+                schemaVersion=protocol_source.config.schema_version
+            )
             if isinstance(protocol_source.config, JsonProtocolConfig)
-            else PythonConfig.construct(apiVersion=protocol_source.config.api_version)
+            else PythonConfig.model_construct(
+                apiVersion=protocol_source.config.api_version
+            )
         ),
         result=result,
         metadata=protocol_source.metadata,
@@ -399,20 +407,22 @@ async def _analyze(
         pipettes=analysis.state_summary.pipettes,
         modules=analysis.state_summary.modules,
         liquids=analysis.state_summary.liquids,
+        commandAnnotations=analysis.command_annotations,
+        liquidClasses=analysis.state_summary.liquidClasses,
     )
 
     _call_for_output_of_kind(
         "json",
         outputs,
         lambda to_file: to_file.write(
-            results.json(exclude_none=True).encode("utf-8"),
+            results.model_dump_json(exclude_none=True).encode("utf-8"),
         ),
     )
     _call_for_output_of_kind(
         "human-json",
         outputs,
         lambda to_file: to_file.write(
-            results.json(exclude_none=True, indent=2).encode("utf-8")
+            results.model_dump_json(exclude_none=True, indent=2).encode("utf-8")
         ),
     )
     if check:
@@ -486,4 +496,6 @@ class AnalyzeResults(BaseModel):
     pipettes: List[LoadedPipette]
     modules: List[LoadedModule]
     liquids: List[Liquid]
+    liquidClasses: List[LiquidClassRecordWithId]
     errors: List[ErrorOccurrence]
+    commandAnnotations: List[CommandAnnotation]

{opentrons-8.2.0a4 → opentrons-8.3.0a1}/src/opentrons/config/defaults_ot3.py

@@ -75,6 +75,7 @@ DEFAULT_RIGHT_MOUNT_OFFSET: Final[Offset] = (40.5, -60.5, 255.675)
 DEFAULT_GRIPPER_MOUNT_OFFSET: Final[Offset] = (84.55, -12.75, 93.85)
 DEFAULT_SAFE_HOME_DISTANCE: Final = 5
 DEFAULT_CALIBRATION_AXIS_MAX_SPEED: Final = 30
+DEFAULT_EMULSIFYING_PIPETTE_AXIS_MAX_SPEED: Final = 90
 
 DEFAULT_MAX_SPEEDS: Final[ByGantryLoad[Dict[OT3AxisKind, float]]] = ByGantryLoad(
     high_throughput={

{opentrons-8.2.0a4 → opentrons-8.3.0a1}/src/opentrons/drivers/asyncio/communication/__init__.py

@@ -4,6 +4,7 @@ from opentrons.drivers.asyncio.communication.errors import (
     NoResponse,
     AlarmResponse,
     ErrorResponse,
+    UnhandledGcode,
 )
 from .async_serial import AsyncSerial
 
@@ -15,4 +16,5 @@ __all__ = [
     "NoResponse",
     "AlarmResponse",
     "ErrorResponse",
+    "UnhandledGcode",
 ]

{opentrons-8.2.0a4 → opentrons-8.3.0a1}/src/opentrons/drivers/asyncio/communication/errors.py

@@ -1,23 +1,30 @@
 """Errors raised by serial connection."""
 
 
+from enum import Enum
+
+
+class ErrorCodes(Enum):
+    UNHANDLED_GCODE = "ERR003"
+
+
 class SerialException(Exception):
     """Base serial exception"""
 
-    def __init__(self, port: str, description: str):
+    def __init__(self, port: str, description: str) -> None:
         super().__init__(f"{port}: {description}")
         self.port = port
         self.description = description
 
 
 class NoResponse(SerialException):
-    def __init__(self, port: str, command: str):
+    def __init__(self, port: str, command: str) -> None:
         super().__init__(port=port, description=f"No response to '{command}'")
         self.command = command
 
 
 class FailedCommand(SerialException):
-    def __init__(self, port: str, response: str):
+    def __init__(self, port: str, response: str) -> None:
         super().__init__(
             port=port, description=f"'Received error response '{response}'"
         )
@@ -30,3 +37,9 @@ class AlarmResponse(FailedCommand):
 
 class ErrorResponse(FailedCommand):
     pass
+
+
+class UnhandledGcode(ErrorResponse):
+    def __init__(self, port: str, response: str, command: str) -> None:
+        self.command = command
+        super().__init__(port, response)

{opentrons-8.2.0a4 → opentrons-8.3.0a1}/src/opentrons/drivers/asyncio/communication/serial_connection.py

@@ -6,7 +6,7 @@ from typing import Optional, List
 
 from opentrons.drivers.command_builder import CommandBuilder
 
-from .errors import NoResponse, AlarmResponse, ErrorResponse
+from .errors import NoResponse, AlarmResponse, ErrorResponse, UnhandledGcode, ErrorCodes
 from .async_serial import AsyncSerial
 
 log = logging.getLogger(__name__)
@@ -199,7 +199,7 @@ class SerialConnection:
                 str_response = self.process_raw_response(
                     command=data, response=response.decode()
                 )
-                self.raise_on_error(response=str_response)
+                self.raise_on_error(response=str_response, request=data)
                 return str_response
 
             log.info(f"{self.name}: retry number {retry}/{retries}")
@@ -232,11 +232,12 @@ class SerialConnection:
     def send_data_lock(self) -> asyncio.Lock:
         return self._send_data_lock
 
-    def raise_on_error(self, response: str) -> None:
+    def raise_on_error(self, response: str, request: str) -> None:
         """
         Raise an error if the response contains an error
 
         Args:
+            gcode: the requesting gocde
             response: response
 
         Returns: None
@@ -248,8 +249,13 @@ class SerialConnection:
         if self._alarm_keyword in lower:
             raise AlarmResponse(port=self._port, response=response)
 
-        if self._error_keyword in lower:
-            raise ErrorResponse(port=self._port, response=response)
+        if self._error_keyword.lower() in lower:
+            if ErrorCodes.UNHANDLED_GCODE.value.lower() in lower:
+                raise UnhandledGcode(
+                    port=self._port, response=response, command=request
+                )
+            else:
+                raise ErrorResponse(port=self._port, response=response)
 
     async def on_retry(self) -> None:
         """
@@ -292,6 +298,7 @@ class AsyncResponseSerialConnection(SerialConnection):
         alarm_keyword: Optional[str] = None,
         reset_buffer_before_write: bool = False,
         async_error_ack: Optional[str] = None,
+        number_of_retries: int = 0,
     ) -> AsyncResponseSerialConnection:
         """
         Create a connection.
@@ -334,6 +341,7 @@ class AsyncResponseSerialConnection(SerialConnection):
             error_keyword=error_keyword or "err",
             alarm_keyword=alarm_keyword or "alarm",
             async_error_ack=async_error_ack or "async",
+            number_of_retries=number_of_retries,
         )
 
     def __init__(
@@ -346,6 +354,7 @@ class AsyncResponseSerialConnection(SerialConnection):
         error_keyword: str,
         alarm_keyword: str,
         async_error_ack: str,
+        number_of_retries: int = 0,
     ) -> None:
         """
         Constructor
@@ -377,6 +386,7 @@ class AsyncResponseSerialConnection(SerialConnection):
         self._name = name
         self._ack = ack.encode()
         self._retry_wait_time_seconds = retry_wait_time_seconds
+        self._number_of_retries = number_of_retries
         self._error_keyword = error_keyword.lower()
         self._alarm_keyword = alarm_keyword.lower()
         self._async_error_ack = async_error_ack.lower()
@@ -397,7 +407,9 @@ class AsyncResponseSerialConnection(SerialConnection):
         Raises: SerialException
         """
         return await self.send_data(
-            data=command.build(), retries=retries, timeout=timeout
+            data=command.build(),
+            retries=retries or self._number_of_retries,
+            timeout=timeout,
         )
 
     async def send_data(
@@ -418,7 +430,9 @@ class AsyncResponseSerialConnection(SerialConnection):
         async with super().send_data_lock, self._serial.timeout_override(
             "timeout", timeout
         ):
-            return await self._send_data(data=data, retries=retries)
+            return await self._send_data(
+                data=data, retries=retries or self._number_of_retries
+            )
 
     async def _send_data(self, data: str, retries: int = 0) -> str:
         """
@@ -433,6 +447,7 @@ class AsyncResponseSerialConnection(SerialConnection):
         Raises: SerialException
         """
         data_encode = data.encode()
+        retries = retries or self._number_of_retries
 
         for retry in range(retries + 1):
             log.debug(f"{self._name}: Write -> {data_encode!r}")
@@ -454,7 +469,7 @@ class AsyncResponseSerialConnection(SerialConnection):
                     str_response = self.process_raw_response(
                         command=data, response=ackless_response.decode()
                     )
-                    self.raise_on_error(response=str_response)
+                    self.raise_on_error(response=str_response, request=data)
 
             if self._ack in response[-1]:
                 # Remove ack from response
@@ -462,7 +477,7 @@ class AsyncResponseSerialConnection(SerialConnection):
                 str_response = self.process_raw_response(
                     command=data, response=ackless_response.decode()
                 )
-                self.raise_on_error(response=str_response)
+                self.raise_on_error(response=str_response, request=data)
                 return str_response
 
             log.info(f"{self._name}: retry number {retry}/{retries}")

{opentrons-8.2.0a4 → opentrons-8.3.0a1}/src/opentrons/drivers/command_builder.py

@@ -6,7 +6,7 @@ from typing import List, Optional, Iterator
 class CommandBuilder:
     """Class used to build GCODE commands."""
 
-    def __init__(self, terminator: str) -> None:
+    def __init__(self, terminator: str = "\n") -> None:
         """
         Construct a command builder.
 
@@ -17,7 +17,7 @@ class CommandBuilder:
         self._elements: List[str] = []
 
     def add_float(
-        self, prefix: str, value: float, precision: Optional[int]
+        self, prefix: str, value: float, precision: Optional[int] = None
     ) -> CommandBuilder:
         """
         Add a float value.