opentrons 8.6.0__py3-none-any.whl

opentrons/hardware_control/api.py

@@ -0,0 +1,1347 @@
+import asyncio
+import contextlib
+from dataclasses import replace
+from functools import partial
+import logging
+import pathlib
+from collections import OrderedDict
+from typing import (
+    Callable,
+    Dict,
+    Union,
+    List,
+    Optional,
+    Tuple,
+    Sequence,
+    Set,
+    Any,
+    TypeVar,
+    Mapping,
+    cast,
+)
+
+from opentrons_shared_data.errors.exceptions import (
+    PositionUnknownError,
+    UnsupportedHardwareCommand,
+)
+from opentrons_shared_data.pipette import (
+    pipette_load_name_conversions as pipette_load_name,
+)
+from opentrons_shared_data.pipette.types import PipetteName
+from opentrons_shared_data.robot.types import RobotType
+from opentrons import types as top_types
+from opentrons.config import robot_configs
+from opentrons.config.types import RobotConfig, OT3Config
+from opentrons.drivers.rpi_drivers.types import USBPort, PortGroup
+
+from .util import use_or_initialize_loop, check_motion_bounds, ot2_axis_to_string
+from .instruments.ot2.pipette import (
+    generate_hardware_configs,
+    load_from_config_and_check_skip,
+)
+from .backends import Controller, Simulator
+from .execution_manager import ExecutionManagerProvider
+from .pause_manager import PauseManager
+from .module_control import AttachedModulesControl
+from .types import (
+    Axis,
+    CriticalPoint,
+    DoorState,
+    DoorStateNotification,
+    ErrorMessageNotification,
+    HardwareEventHandler,
+    HardwareAction,
+    MotionChecks,
+    PauseType,
+    StatusBarState,
+    EstopState,
+    SubSystem,
+    SubSystemState,
+    HardwareFeatureFlags,
+    TipScrapeType,
+)
+from . import modules
+from .robot_calibration import (
+    RobotCalibrationProvider,
+    RobotCalibration,
+)
+from .protocols import HardwareControlInterface
+from .instruments.ot2.pipette_handler import PipetteHandlerProvider
+from .instruments.ot2.instrument_calibration import load_pipette_offset
+from .motion_utilities import (
+    target_position_from_absolute,
+    target_position_from_relative,
+    target_position_from_plunger,
+    deck_from_machine,
+    machine_from_deck,
+)
+
+
+mod_log = logging.getLogger(__name__)
+
+AttachedModuleSpec = Dict[str, List[Union[str, Tuple[str, str]]]]
+
+
+class API(
+    ExecutionManagerProvider,
+    RobotCalibrationProvider,
+    PipetteHandlerProvider[top_types.Mount],
+    # This MUST be kept last in the inheritance list so that it is
+    # deprioritized in the method resolution order; otherwise, invocations
+    # of methods that are present in the protocol will call the (empty,
+    # do-nothing) methods in the protocol. This will happily make all the
+    # tests fail.
+    HardwareControlInterface[RobotCalibration, top_types.Mount, RobotConfig],
+):
+    """This API is the primary interface to the hardware controller.
+
+    Because the hardware manager controls access to the system's hardware
+    as a whole, it is designed as a class of which only one should be
+    instantiated at a time. This class's methods should be the only method
+    of external access to the hardware. Each method may be minimal - it may
+    only delegate the call to another submodule of the hardware manager -
+    but its purpose is to be gathered here to provide a single interface.
+
+    This implements the protocols in opentrons.hardware_control.protocols,
+    and longer method docstrings may be found there. Docstrings for the
+    methods in this class only note where their behavior is different or
+    extended from that described in the protocol.
+    """
+
+    CLS_LOG = mod_log.getChild("API")
+
+    def __init__(
+        self,
+        backend: Union[Controller, Simulator],
+        loop: asyncio.AbstractEventLoop,
+        config: RobotConfig,
+        feature_flags: Optional[HardwareFeatureFlags] = None,
+    ) -> None:
+        """Initialize an API instance.
+
+        This should rarely be explicitly invoked by an external user; instead,
+        one of the factory methods build_hardware_controller or
+        build_hardware_simulator should be used.
+        """
+        self._log = self.CLS_LOG.getChild(str(id(self)))
+        self._config = config
+        self._backend = backend
+        self._loop = loop
+        # If no feature flag set is defined, we will use the default values
+        self._feature_flags = feature_flags or HardwareFeatureFlags()
+
+        self._callbacks: Set[HardwareEventHandler] = set()
+        # {'X': 0.0, 'Y': 0.0, 'Z': 0.0, 'A': 0.0, 'B': 0.0, 'C': 0.0}
+        self._current_position: Dict[Axis, float] = {}
+
+        self._last_moved_mount: Optional[top_types.Mount] = None
+        # The motion lock synchronizes calls to long-running physical tasks
+        # involved in motion. This fixes issue where for instance a move()
+        # or home() call is in flight and something else calls
+        # current_position(), which will not be updated until the move() or
+        # home() call succeeds or fails.
+        self._motion_lock = asyncio.Lock()
+        self._door_state = DoorState.CLOSED
+        self._pause_manager = PauseManager()
+        ExecutionManagerProvider.__init__(self, isinstance(backend, Simulator))
+        RobotCalibrationProvider.__init__(self)
+        PipetteHandlerProvider.__init__(
+            self, {top_types.Mount.LEFT: None, top_types.Mount.RIGHT: None}
+        )
+
+    @property
+    def door_state(self) -> DoorState:
+        return self._door_state
+
+    @door_state.setter
+    def door_state(self, door_state: DoorState) -> None:
+        self._door_state = door_state
+
+    def _update_door_state(self, door_state: DoorState) -> None:
+        mod_log.info(f"Updating the window switch status: {door_state}")
+        self.door_state = door_state
+        for cb in self._callbacks:
+            hw_event = DoorStateNotification(new_state=door_state)
+            try:
+                cb(hw_event)
+            except Exception:
+                mod_log.exception("Errored during door state event callback")
+
+    def _reset_last_mount(self) -> None:
+        self._last_moved_mount = None
+
+    def get_deck_from_machine(
+        self, machine_pos: Dict[Axis, float]
+    ) -> Dict[Axis, float]:
+        return deck_from_machine(
+            machine_pos=machine_pos,
+            attitude=self._robot_calibration.deck_calibration.attitude,
+            offset=top_types.Point(0, 0, 0),
+            robot_type=cast(RobotType, "OT-2 Standard"),
+        )
+
+    @classmethod
+    async def build_hardware_controller(  # noqa: C901
+        cls,
+        config: Union[RobotConfig, OT3Config, None] = None,
+        port: Optional[str] = None,
+        loop: Optional[asyncio.AbstractEventLoop] = None,
+        firmware: Optional[Tuple[pathlib.Path, str]] = None,
+        feature_flags: Optional[HardwareFeatureFlags] = None,
+    ) -> "API":
+        """Build a hardware controller that will actually talk to hardware.
+
+        This method should not be used outside of a real robot, and on a
+        real robot only one true hardware controller may be active at one
+        time.
+
+        :param config: A config to preload. If not specified, load the default.
+        :param port: A port to connect to. If not specified, the default port
+                     (found by scanning for connected FT232Rs).
+        :param loop: An event loop to use. If not specified, use the result of
+                     :py:meth:`asyncio.get_event_loop`.
+        """
+        checked_loop = use_or_initialize_loop(loop)
+        if isinstance(config, RobotConfig):
+            checked_config = config
+        else:
+            checked_config = robot_configs.load_ot2()
+        backend = await Controller.build(checked_config)
+        backend.set_lights(button=None, rails=False)
+
+        async def blink() -> None:
+            while True:
+                backend.set_lights(button=True, rails=None)
+                await asyncio.sleep(0.5)
+                backend.set_lights(button=False, rails=None)
+                await asyncio.sleep(0.5)
+
+        blink_task = checked_loop.create_task(blink())
+        try:
+            try:
+                await backend.connect(port)
+                fw_version = backend.fw_version
+            except Exception:
+                mod_log.exception(
+                    "Motor driver could not connect, reprogramming if possible"
+                )
+                fw_version = None
+
+            if firmware is not None:
+                if fw_version != firmware[1]:
+                    await backend.update_firmware(str(firmware[0]), checked_loop, True)
+                    await backend.connect(port)
+            elif firmware is None and fw_version is None:
+                msg = (
+                    "Motor controller could not be connected and no "
+                    "firmware was provided for (re)programming"
+                )
+                mod_log.error(msg)
+                raise RuntimeError(msg)
+
+            api_instance = cls(
+                backend,
+                loop=checked_loop,
+                config=checked_config,
+                feature_flags=feature_flags,
+            )
+            await api_instance.cache_instruments()
+            module_controls = await AttachedModulesControl.build(
+                api_instance, board_revision=backend.board_revision
+            )
+            backend.module_controls = module_controls
+            checked_loop.create_task(backend.watch(loop=checked_loop))
+            backend.start_gpio_door_watcher(
+                loop=checked_loop, update_door_state=api_instance._update_door_state
+            )
+            return api_instance
+        finally:
+            blink_task.cancel()
+            try:
+                await blink_task
+            except asyncio.CancelledError:
+                pass
+
+    @classmethod
+    async def build_hardware_simulator(
+        cls,
+        attached_instruments: Optional[
+            Dict[top_types.Mount, Dict[str, Optional[str]]]
+        ] = None,
+        attached_modules: Optional[Dict[str, List[modules.SimulatingModule]]] = None,
+        config: Optional[Union[RobotConfig, OT3Config]] = None,
+        loop: Optional[asyncio.AbstractEventLoop] = None,
+        strict_attached_instruments: bool = True,
+        feature_flags: Optional[HardwareFeatureFlags] = None,
+    ) -> "API":
+        """Build a simulating hardware controller.
+
+        This method may be used both on a real robot and on dev machines.
+        Multiple simulating hardware controllers may be active at one time.
+        """
+
+        if None is attached_instruments:
+            attached_instruments = {}
+
+        if None is attached_modules:
+            attached_modules = {}
+
+        checked_loop = use_or_initialize_loop(loop)
+        if isinstance(config, RobotConfig):
+            checked_config = config
+        else:
+            checked_config = robot_configs.load_ot2()
+        backend = await Simulator.build(
+            attached_instruments,
+            attached_modules,
+            checked_config,
+            checked_loop,
+            strict_attached_instruments,
+        )
+        api_instance = cls(
+            backend,
+            loop=checked_loop,
+            config=checked_config,
+            feature_flags=feature_flags,
+        )
+        await api_instance.cache_instruments()
+        module_controls = await AttachedModulesControl.build(
+            api_instance, board_revision=backend.board_revision
+        )
+        backend.module_controls = module_controls
+        await backend.watch()
+        return api_instance
+
+    def __repr__(self) -> str:
+        return "<{} using backend {}>".format(type(self), type(self._backend))
+
+    async def get_serial_number(self) -> Optional[str]:
+        return await self._backend.get_serial_number()
+
+    @property
+    def loop(self) -> asyncio.AbstractEventLoop:
+        """The event loop used by this instance."""
+        return self._loop
+
+    @property
+    def is_simulator(self) -> bool:
+        """`True` if this is a simulator; `False` otherwise."""
+        return isinstance(self._backend, Simulator)
+
+    def register_callback(self, cb: HardwareEventHandler) -> Callable[[], None]:
+        """Allows the caller to register a callback, and returns a closure
+        that can be used to unregister the provided callback
+        """
+        self._callbacks.add(cb)
+
+        def unregister() -> None:
+            self._callbacks.remove(cb)
+
+        return unregister
+
+    def get_fw_version(self) -> str:
+        """
+        Return the firmware version of the connected motor control board.
+
+        The version is a string retrieved directly from the attached hardware
+        (or possibly simulator).
+        """
+        from_backend = self._backend.fw_version
+        if from_backend is None:
+            return "unknown"
+        else:
+            return from_backend
+
+    @property
+    def fw_version(self) -> str:
+        return self.get_fw_version()
+
+    @property
+    def board_revision(self) -> str:
+        return str(self._backend.board_revision)
+
+    @property
+    def attached_subsystems(self) -> Dict[SubSystem, SubSystemState]:
+        return {}
+
+    # Incidentals (i.e. not motion) API
+
+    async def set_lights(
+        self, button: Optional[bool] = None, rails: Optional[bool] = None
+    ) -> None:
+        """Control the robot lights."""
+        self._backend.set_lights(button, rails)
+
+    async def get_lights(self) -> Dict[str, bool]:
+        """Return the current status of the robot lights.
+
+        :returns: A dict of the lights: `{'button': bool, 'rails': bool}`
+        """
+        return self._backend.get_lights()
+
+    async def identify(self, duration_s: int = 5) -> None:
+        """Blink the button light to identify the robot."""
+        count = duration_s * 4
+        on = False
+        for sec in range(count):
+            then = self._loop.time()
+            await self.set_lights(button=on)
+            on = not on
+            now = self._loop.time()
+            await asyncio.sleep(max(0, 0.25 - (now - then)))
+        await self.set_lights(button=True)
+
+    async def set_status_bar_state(self, state: StatusBarState) -> None:
+        """The status bar does not exist on OT-2!"""
+        return None
+
+    async def set_status_bar_enabled(self, enabled: bool) -> None:
+        """The status bar does not exist on OT-2!"""
+        return None
+
+    def get_status_bar_enabled(self) -> bool:
+        """There is no status bar on OT-2, return False at all times."""
+        return False
+
+    def get_status_bar_state(self) -> StatusBarState:
+        """There is no status bar on OT-2, return IDLE at all times."""
+        return StatusBarState.IDLE
+
+    @ExecutionManagerProvider.wait_for_running
+    async def delay(self, duration_s: float) -> None:
+        """Delay execution by pausing and sleeping."""
+        self.pause(PauseType.DELAY)
+        try:
+            await self.do_delay(duration_s)
+        finally:
+            self.resume(PauseType.DELAY)
+
+    @property
+    def attached_modules(self) -> List[modules.AbstractModule]:
+        return self._backend.module_controls.available_modules
+
+    async def update_firmware(
+        self,
+        firmware_file: str,
+        loop: Optional[asyncio.AbstractEventLoop] = None,
+        explicit_modeset: bool = True,
+    ) -> str:
+        """Update the firmware on the motor controller board.
+
+        :param firmware_file: The path to the firmware file.
+        :param explicit_modeset: `True` to force the smoothie into programming
+                                 mode; `False` to assume it is already in
+                                 programming mode.
+        :param loop: An asyncio event loop to use; if not specified, the one
+                     associated with this instance will be used.
+        :returns: The stdout of the tool used to update the smoothie
+        """
+        if None is loop:
+            checked_loop = self._loop
+        else:
+            checked_loop = loop
+        return await self._backend.update_firmware(
+            firmware_file, checked_loop, explicit_modeset
+        )
+
+    def has_gripper(self) -> bool:
+        return False
+
+    async def cache_instruments(
+        self,
+        require: Optional[Dict[top_types.Mount, PipetteName]] = None,
+        skip_if_would_block: bool = False,
+    ) -> None:
+        """
+        Scan the attached instruments, take necessary configuration actions,
+        and set up hardware controller internal state if necessary.
+        """
+        self._log.info("Updating instrument model cache")
+        checked_require = require or {}
+        for mount, name in checked_require.items():
+            if not pipette_load_name.supported_pipette(name):
+                raise RuntimeError(f"{name} is not a valid pipette name")
+        async with self._motion_lock:
+            found = await self._backend.get_attached_instruments(checked_require)
+        for mount, instrument_data in found.items():
+            config = instrument_data.get("config")
+            req_instr = checked_require.get(mount, None)
+            pip_id = instrument_data.get("id")
+            pip_offset_cal = load_pipette_offset(pip_id, mount)
+            p, may_skip = load_from_config_and_check_skip(
+                config,
+                self._attached_instruments[mount],
+                req_instr,
+                pip_id,
+                pip_offset_cal,
+                self._feature_flags.use_old_aspiration_functions,
+            )
+            self._attached_instruments[mount] = p
+            if req_instr and p:
+                converted_name = pipette_load_name.convert_to_pipette_name_type(
+                    req_instr
+                )
+                p.act_as(converted_name)
+
+            if may_skip:
+                self._log.info(f"Skipping configuration on {mount.name}")
+                continue
+
+            self._log.info(f"Doing full configuration on {mount.name}")
+            hw_config = generate_hardware_configs(
+                p, self._config, self._backend.board_revision
+            )
+            await self._backend.configure_mount(mount, hw_config)
+        self._log.info("Instruments found: {}".format(self._attached_instruments))
+
+    # Global actions API
+    def pause(self, pause_type: PauseType) -> None:
+        """
+        Pause motion of the robot after a current motion concludes.
+        """
+        self._pause_manager.pause(pause_type)
+
+        async def _chained_calls() -> None:
+            await self._execution_manager.pause()
+            self._backend.pause()
+
+        asyncio.run_coroutine_threadsafe(_chained_calls(), self._loop)
+
+    def pause_with_message(self, message: str) -> None:
+        """As pause, but providing a message to registered callbacks."""
+        self._log.warning(f"Pause with message: {message}")
+        notification = ErrorMessageNotification(message=message)
+        for cb in self._callbacks:
+            cb(notification)
+        self.pause(PauseType.PAUSE)
+
+    def resume(self, pause_type: PauseType) -> None:
+        """Resume motion after a call to pause."""
+        self._pause_manager.resume(pause_type)
+
+        if self._pause_manager.should_pause:
+            return
+
+        # Resume must be called immediately to awaken thread running hardware
+        #  methods (ThreadManager)
+        self._backend.resume()
+
+        async def _chained_calls() -> None:
+            # mirror what happens API.pause.
+            await self._execution_manager.resume()
+            self._backend.resume()
+
+        asyncio.run_coroutine_threadsafe(_chained_calls(), self._loop)
+
+    async def halt(self, disengage_before_stopping: bool = False) -> None:
+        """Immediately stop motion, cancel execution manager and cancel running tasks.
+
+        After this call, the smoothie will be in a bad state until a call to
+        :py:meth:`stop`.
+        """
+        if disengage_before_stopping:
+            await self._backend.hard_halt()
+        await self._backend.halt()
+
+    async def stop(self, home_after: bool = True) -> None:
+        """
+        Stop motion as soon as possible, reset, and optionally home.
+
+        This will cancel motion (after the current call to :py:meth:`move`;
+        see :py:meth:`pause` for more detail), then home and reset the
+        robot. After this call, no further recovery is necessary.
+        """
+        await self._backend.halt()  # calls smoothie_driver.kill()
+        await self.cancel_execution_and_running_tasks()
+        self._log.info("Recovering from halt")
+        await self.reset()
+        await self.cache_instruments()
+
+        if home_after:
+            await self.home()
+
+    def is_movement_execution_taskified(self) -> bool:
+        return self.taskify_movement_execution
+
+    def should_taskify_movement_execution(self, taskify: bool) -> None:
+        self.taskify_movement_execution = taskify
+
+    async def cancel_execution_and_running_tasks(self) -> None:
+        await self._execution_manager.cancel()
+
+    async def reset(self) -> None:
+        """Reset the stored state of the system."""
+        self._pause_manager.reset()
+        await self._execution_manager.reset()
+        await PipetteHandlerProvider.reset(self)
+
+    # Gantry/frame (i.e. not pipette) action API
+    async def home_z(
+        self,
+        mount: Optional[top_types.Mount] = None,
+        allow_home_other: bool = True,
+    ) -> None:
+        """Home the Z-stage(s) of the instrument mounts.
+
+        If given a mount, will try to only home that mount.
+        However, if the other mount is currently extended,
+        both mounts will be homed, unless `allow_home_other`
+        is explicitly set to `False`.
+
+        Setting `allow_home_other` to `False` is a bad idea,
+        but the option exists for strict backwards compatibility.
+        """
+        if mount is not None and (
+            self._last_moved_mount in [mount, None] or allow_home_other is False
+        ):
+            axes = [Axis.by_mount(mount)]
+        else:
+            axes = [Axis.Z, Axis.A]
+
+        await self.home(axes)
+
+    async def _do_plunger_home(
+        self,
+        axis: Optional[Axis] = None,
+        mount: Optional[top_types.Mount] = None,
+        acquire_lock: bool = True,
+    ) -> None:
+        assert (axis is not None) ^ (mount is not None), "specify either axis or mount"
+        if axis:
+            checked_axis = axis
+            checked_mount = Axis.to_ot2_mount(checked_axis)
+        if mount:
+            checked_mount = mount
+            checked_axis = Axis.of_plunger(checked_mount)
+        instr = self.hardware_instruments[checked_mount]
+        if not instr:
+            return
+        async with contextlib.AsyncExitStack() as stack:
+            if acquire_lock:
+                await stack.enter_async_context(self._motion_lock)
+            with self._backend.save_current():
+                self._backend.set_active_current(
+                    {checked_axis: instr.plunger_motor_current.run}
+                )
+                await self._backend.home([ot2_axis_to_string(checked_axis)])
+                # either we were passed False for our acquire_lock and we
+                # should pass it on, or we acquired the lock above and
+                # shouldn't do it again
+                target_pos = target_position_from_plunger(
+                    checked_mount,
+                    instr.plunger_positions.bottom,
+                    self._current_position,
+                )
+                await self._move(
+                    target_pos,
+                    acquire_lock=False,
+                    home_flagged_axes=False,
+                )
+
+    @ExecutionManagerProvider.wait_for_running
+    async def home_plunger(self, mount: top_types.Mount) -> None:
+        """
+        Home the plunger motor for a mount, and then return it to the 'bottom'
+        position.
+        """
+        await self.current_position(mount=mount, refresh=True)
+        await self._do_plunger_home(mount=mount, acquire_lock=True)
+
+    @ExecutionManagerProvider.wait_for_running
+    async def home(self, axes: Optional[List[Axis]] = None) -> None:
+        """Home the entire robot and initialize current position."""
+        # Should we assert/ raise an error or just remove non-ot2 axes and log warning?
+        # No internal code passes OT3 axes as arguments on an OT2. But a user/ client
+        # can still explicitly specify an OT3 axis even when working on an OT2.
+        # Adding this check in order to prevent misuse of axes types.
+        if axes:
+            unsupported = list(axis not in Axis.ot2_axes() for axis in axes)
+            if any(unsupported):
+                raise UnsupportedHardwareCommand(
+                    message=f"At least one axis in {axes} is not supported on the OT2.",
+                    detail={"unsupported_axes": str(unsupported)},
+                )
+        self._reset_last_mount()
+        # Initialize/update current_position
+        checked_axes = axes or [ax for ax in Axis.ot2_axes()]
+        gantry = [ax for ax in checked_axes if ax in Axis.gantry_axes()]
+        smoothie_gantry = [ot2_axis_to_string(ax) for ax in gantry]
+        smoothie_pos = {}
+        plungers = [ax for ax in checked_axes if ax not in Axis.gantry_axes()]
+
+        async with self._motion_lock:
+            if smoothie_gantry:
+                smoothie_pos.update(await self._backend.home(smoothie_gantry))
+                self._current_position = self.get_deck_from_machine(
+                    self._axis_map_from_string_map(smoothie_pos)
+                )
+            for plunger in plungers:
+                await self._do_plunger_home(axis=plunger, acquire_lock=False)
+
+    async def current_position(
+        self,
+        mount: top_types.Mount,
+        critical_point: Optional[CriticalPoint] = None,
+        refresh: bool = False,
+        # TODO(mc, 2021-11-15): combine with `refresh` for more reliable
+        # position reporting when motors are not homed
+        fail_on_not_homed: bool = False,
+    ) -> Dict[Axis, float]:
+        """Return the postion (in deck coords) of the critical point of the
+        specified mount.
+        """
+        z_ax = Axis.by_mount(mount)
+        plunger_ax = Axis.of_plunger(mount)
+        position_axes = [Axis.X, Axis.Y, z_ax, plunger_ax]
+
+        if fail_on_not_homed:
+            if not self._current_position:
+                raise PositionUnknownError(
+                    message=f"Current position of {str(mount)} pipette is unknown,"
+                    " please home.",
+                    detail={"mount": str(mount), "missing_axes": str(position_axes)},
+                )
+            axes_str = [ot2_axis_to_string(a) for a in position_axes]
+            if not self._backend.is_homed(axes_str):
+                unhomed = self._backend._unhomed_axes(axes_str)
+                raise PositionUnknownError(
+                    message=f"{str(mount)} pipette axes ({unhomed}) must be homed.",
+                    detail={"mount": str(mount), "unhomed_axes": str(unhomed)},
+                )
+        elif not self._current_position and not refresh:
+            raise PositionUnknownError(
+                message="Current position is unknown; please home motors."
+            )
+        async with self._motion_lock:
+            if refresh:
+                smoothie_pos = await self._backend.update_position()
+                self._current_position = self.get_deck_from_machine(
+                    self._axis_map_from_string_map(smoothie_pos)
+                )
+            if mount == top_types.Mount.RIGHT:
+                offset = top_types.Point(0, 0, 0)
+            else:
+                offset = top_types.Point(*self._config.left_mount_offset)
+
+            cp = self.critical_point_for(mount, critical_point)
+            return {
+                Axis.X: self._current_position[Axis.X] + offset[0] + cp.x,
+                Axis.Y: self._current_position[Axis.Y] + offset[1] + cp.y,
+                z_ax: self._current_position[z_ax] + offset[2] + cp.z,
+                plunger_ax: self._current_position[plunger_ax],
+            }
+
+    async def gantry_position(
+        self,
+        mount: top_types.Mount,
+        critical_point: Optional[CriticalPoint] = None,
+        refresh: bool = False,
+        # TODO(mc, 2021-11-15): combine with `refresh` for more reliable
+        # position reporting when motors are not homed
+        fail_on_not_homed: bool = False,
+    ) -> top_types.Point:
+        """Return the position of the critical point for only gantry axes."""
+        cur_pos = await self.current_position(
+            mount,
+            critical_point,
+            refresh,
+            fail_on_not_homed,
+        )
+        return top_types.Point(
+            x=cur_pos[Axis.X], y=cur_pos[Axis.Y], z=cur_pos[Axis.by_mount(mount)]
+        )
+
+    # TODO(mc, 2022-05-13): return resulting gantry position
+    async def move_to(
+        self,
+        mount: top_types.Mount,
+        abs_position: top_types.Point,
+        speed: Optional[float] = None,
+        critical_point: Optional[CriticalPoint] = None,
+        max_speeds: Optional[Dict[Axis, float]] = None,
+    ) -> None:
+        """
+        Move the critical point of the specified mount to a location
+        relative to the deck, at the specified speed.
+        """
+        if not self._current_position:
+            await self.home()
+
+        target_position = target_position_from_absolute(
+            mount,
+            abs_position,
+            partial(self.critical_point_for, cp_override=critical_point),
+            top_types.Point(*self._config.left_mount_offset),
+            top_types.Point(0, 0, 0),
+        )
+
+        await self.prepare_for_mount_movement(mount)
+        await self._move(target_position, speed=speed, max_speeds=max_speeds)
+
+    async def move_axes(
+        self,
+        position: Mapping[Axis, float],
+        speed: Optional[float] = None,
+        max_speeds: Optional[Dict[Axis, float]] = None,
+        expect_stalls: bool = False,
+    ) -> None:
+        """Moves the effectors of the specified axis to the specified position.
+        The effector of the x,y axis is the center of the carriage.
+        The effector of the pipette mount axis are the mount critical points but only in z.
+        """
+        raise UnsupportedHardwareCommand(
+            message="move_axes is not supported on the OT-2.",
+            detail={"axes_commanded": str(list(position.keys()))},
+        )
+
+    async def move_rel(
+        self,
+        mount: top_types.Mount,
+        delta: top_types.Point,
+        speed: Optional[float] = None,
+        max_speeds: Optional[Dict[Axis, float]] = None,
+        check_bounds: MotionChecks = MotionChecks.NONE,
+        fail_on_not_homed: bool = False,
+    ) -> None:
+        """Move the critical point of the specified mount by a specified
+        displacement in a specified direction, at the specified speed.
+        """
+
+        # TODO: Remove the fail_on_not_homed and make this the behavior all the time.
+        # Having the optional arg makes the bug stick around in existing code and we
+        # really want to fix it when we're not gearing up for a release.
+        if not self._current_position:
+            if fail_on_not_homed:
+                raise PositionUnknownError(
+                    message="Cannot make a relative move because absolute position"
+                    " is unknown.",
+                    detail={
+                        "mount": str(mount),
+                        "fail_on_not_homed": str(fail_on_not_homed),
+                    },
+                )
+            else:
+                await self.home()
+
+        target_position = target_position_from_relative(
+            mount, delta, self._current_position
+        )
+
+        axes_moving = [Axis.X, Axis.Y, Axis.by_mount(mount)]
+        axes_str = [ot2_axis_to_string(a) for a in axes_moving]
+        if fail_on_not_homed and not self._backend.is_homed(axes_str):
+            unhomed = self._backend._unhomed_axes(axes_str)
+            raise PositionUnknownError(
+                message=f"{str(mount)} pipette axes ({unhomed}) must be homed.",
+                detail={"mount": str(mount), "unhomed_axes": str(unhomed)},
+            )
+
+        await self.prepare_for_mount_movement(mount)
+        await self._move(
+            target_position,
+            speed=speed,
+            max_speeds=max_speeds,
+            check_bounds=check_bounds,
+        )
+
+    async def _cache_and_maybe_retract_mount(self, mount: top_types.Mount) -> None:
+        """Retract the 'other' mount if necessary
+
+        If `mount` does not match the value in :py:attr:`_last_moved_mount`
+        (and :py:attr:`_last_moved_mount` exists) then retract the mount
+        in :py:attr:`_last_moved_mount`. Also unconditionally update
+        :py:attr:`_last_moved_mount` to contain `mount`.
+        """
+        if mount != self._last_moved_mount and self._last_moved_mount:
+            await self.retract(self._last_moved_mount, 10)
+        self._last_moved_mount = mount
+
+    async def prepare_for_mount_movement(self, mount: top_types.Mount) -> None:
+        await self._cache_and_maybe_retract_mount(mount)
+
+    @ExecutionManagerProvider.wait_for_running
+    async def _move(
+        self,
+        target_position: "OrderedDict[Axis, float]",
+        speed: Optional[float] = None,
+        home_flagged_axes: bool = True,
+        max_speeds: Optional[Dict[Axis, float]] = None,
+        acquire_lock: bool = True,
+        check_bounds: MotionChecks = MotionChecks.NONE,
+    ) -> None:
+        """Worker function to apply robot motion.
+
+        Robot motion means the kind of motions that are relevant to the robot,
+        i.e. only one pipette plunger and mount move at the same time, and an
+        XYZ move in the coordinate frame of one of the pipettes.
+
+        ``target_position`` should be an ordered dict (ordered by XYZABC)
+        of deck calibrated values, containing any specified XY motion and
+        at most one of a ZA or BC components. The frame in which to move
+        is identified by the presence of (ZA) or (BC).
+        """
+        machine_pos = self._string_map_from_axis_map(
+            machine_from_deck(
+                deck_pos=target_position,
+                attitude=self._robot_calibration.deck_calibration.attitude,
+                offset=top_types.Point(0, 0, 0),
+                robot_type=cast(RobotType, "OT-2 Standard"),
+            )
+        )
+
+        bounds = self._backend.axis_bounds
+        to_check = {
+            ax: machine_pos[ot2_axis_to_string(ax)]
+            for idx, ax in enumerate(target_position.keys())
+            if ax in Axis.gantry_axes()
+        }
+
+        check_motion_bounds(to_check, target_position, bounds, check_bounds)
+        checked_maxes = max_speeds or {}
+        str_maxes = {ot2_axis_to_string(ax): val for ax, val in checked_maxes.items()}
+        async with contextlib.AsyncExitStack() as stack:
+            if acquire_lock:
+                await stack.enter_async_context(self._motion_lock)
+            try:
+                await self._backend.move(
+                    machine_pos,
+                    speed=speed,
+                    home_flagged_axes=home_flagged_axes,
+                    axis_max_speeds=str_maxes,
+                )
+            except Exception:
+                self._log.exception("Move failed")
+                self._current_position.clear()
+                raise
+            else:
+                self._current_position.update(target_position)
+
+    def get_engaged_axes(self) -> Dict[Axis, bool]:
+        """Which axes are engaged and holding."""
+        return {Axis[ax]: eng for ax, eng in self._backend.engaged_axes().items()}
+
+    @property
+    def engaged_axes(self) -> Dict[Axis, bool]:
+        return self.get_engaged_axes()
+
+    async def disengage_axes(self, which: List[Axis]) -> None:
+        await self._backend.disengage_axes([ot2_axis_to_string(ax) for ax in which])
+
+    def axis_is_present(self, axis: Axis) -> bool:
+        is_ot2 = axis in Axis.ot2_axes()
+        if not is_ot2:
+            return False
+        if axis in Axis.pipette_axes():
+            mount = Axis.to_ot2_mount(axis)
+            if self.attached_pipettes.get(mount) is None:
+                return False
+        return True
+
+    @ExecutionManagerProvider.wait_for_running
+    async def _fast_home(self, axes: Sequence[str], margin: float) -> Dict[str, float]:
+        converted_axes = "".join(axes)
+        return await self._backend.fast_home(converted_axes, margin)
+
+    async def retract(self, mount: top_types.Mount, margin: float = 10) -> None:
+        """Pull the specified mount up to its home position.
+
+        Works regardless of critical point or home status.
+        """
+        await self.retract_axis(Axis.by_mount(mount), margin)
+
+    async def retract_axis(self, axis: Axis, margin: float = 10) -> None:
+        """Pull the specified axis up to its home position.
+
+        Works regardless of critical point or home status.
+        """
+        smoothie_ax = (ot2_axis_to_string(axis),)
+
+        async with self._motion_lock:
+            smoothie_pos = await self._fast_home(smoothie_ax, margin)
+            self._current_position = self.get_deck_from_machine(
+                self._axis_map_from_string_map(smoothie_pos)
+            )
+
+    # Gantry/frame (i.e. not pipette) config API
+    @property
+    def config(self) -> RobotConfig:
+        """Get the robot's configuration object.
+
+        :returns .RobotConfig: The object.
+        """
+        return self._config
+
+    @config.setter
+    def config(self, config: Union[RobotConfig, OT3Config]) -> None:
+        """Replace the currently-loaded config"""
+        if isinstance(config, RobotConfig):
+            self._config = config
+        else:
+            self._log.error("Cannot use an OT-3 config on an OT-2")
+
+    def get_config(self) -> RobotConfig:
+        """
+        Get the robot's configuration object.
+
+        :returns .RobotConfig: The object.
+        """
+        return self.config
+
+    def set_config(self, config: Union[OT3Config, RobotConfig]) -> None:
+        """Replace the currently-loaded config"""
+        if isinstance(config, RobotConfig):
+            self.config = config
+        else:
+            self._log.error("Cannot use an OT-3 config on an OT-2")
+
+    async def update_config(self, **kwargs: Any) -> None:
+        """Update values of the robot's configuration.
+
+        `kwargs` should contain keys of the robot's configuration. For
+        instance, `update_config(log_level='debug)` would change the API
+        server log level to :py:attr:`logging.DEBUG`.
+
+        Documentation on keys can be found in the documentation for
+        :py:class:`.RobotConfig`.
+        """
+        self._config = replace(self._config, **kwargs)
+
+    @property
+    def hardware_feature_flags(self) -> HardwareFeatureFlags:
+        return self._feature_flags
+
+    @hardware_feature_flags.setter
+    def hardware_feature_flags(self, feature_flags: HardwareFeatureFlags) -> None:
+        self._feature_flags = feature_flags
+
+    async def update_deck_calibration(self, new_transform: RobotCalibration) -> None:
+        pass
+
+    # Pipette action API
+    async def prepare_for_aspirate(
+        self, mount: top_types.Mount, rate: float = 1.0
+    ) -> None:
+        """
+        Prepare the pipette for aspiration.
+        """
+        instrument = self.get_pipette(mount)
+        self.ready_for_tip_action(instrument, HardwareAction.PREPARE_ASPIRATE, mount)
+
+        if instrument.current_volume == 0:
+            speed = self.plunger_speed(
+                instrument, instrument.blow_out_flow_rate, "aspirate"
+            )
+            bottom = instrument.plunger_positions.bottom
+            target = target_position_from_plunger(mount, bottom, self._current_position)
+            await self._move(
+                target,
+                speed=(speed * rate),
+                home_flagged_axes=False,
+            )
+            instrument.ready_to_aspirate = True
+
+    async def aspirate(
+        self,
+        mount: top_types.Mount,
+        volume: Optional[float] = None,
+        rate: float = 1.0,
+        correction_volume: float = 0.0,
+    ) -> None:
+        """
+        Aspirate a volume of liquid (in microliters/uL) using this pipette.
+        """
+        aspirate_spec = self.plan_check_aspirate(mount, volume, rate)
+        if not aspirate_spec:
+            return
+        target_pos = target_position_from_plunger(
+            mount,
+            aspirate_spec.plunger_distance,
+            self._current_position,
+        )
+        try:
+            self._backend.set_active_current(
+                {aspirate_spec.axis: aspirate_spec.current}
+            )
+            await self._move(
+                target_pos,
+                speed=aspirate_spec.speed,
+                home_flagged_axes=False,
+            )
+        except Exception:
+            self._log.exception("Aspirate failed")
+            aspirate_spec.instr.set_current_volume(0)
+            raise
+        else:
+            aspirate_spec.instr.add_current_volume(aspirate_spec.volume)
+
+    async def dispense(
+        self,
+        mount: top_types.Mount,
+        volume: Optional[float] = None,
+        rate: float = 1.0,
+        push_out: Optional[float] = None,
+        correction_volume: float = 0.0,
+        is_full_dispense: bool = False,
+    ) -> None:
+        """
+        Dispense a volume of liquid in microliters(uL) using this pipette.
+        """
+
+        dispense_spec = self.plan_check_dispense(mount, volume, rate, push_out)
+        if not dispense_spec:
+            return
+        target_pos = target_position_from_plunger(
+            mount,
+            dispense_spec.plunger_distance,
+            self._current_position,
+        )
+
+        try:
+            self._backend.set_active_current(
+                {dispense_spec.axis: dispense_spec.current}
+            )
+            await self._move(
+                target_pos,
+                speed=dispense_spec.speed,
+                home_flagged_axes=False,
+            )
+        except Exception:
+            self._log.exception("Dispense failed")
+            dispense_spec.instr.set_current_volume(0)
+            raise
+        else:
+            dispense_spec.instr.remove_current_volume(dispense_spec.volume)
+
+    async def blow_out(
+        self, mount: top_types.Mount, volume: Optional[float] = None
+    ) -> None:
+        """
+        Force any remaining liquid to dispense. The liquid will be dispensed at
+        the current location of pipette
+        """
+        blowout_spec = self.plan_check_blow_out(mount)
+        self._backend.set_active_current({blowout_spec.axis: blowout_spec.current})
+        target_pos = target_position_from_plunger(
+            mount,
+            blowout_spec.plunger_distance,
+            self._current_position,
+        )
+
+        try:
+            await self._move(
+                target_pos,
+                speed=blowout_spec.speed,
+                home_flagged_axes=False,
+            )
+        except Exception:
+            self._log.exception("Blow out failed")
+            raise
+        finally:
+            blowout_spec.instr.set_current_volume(0)
+            blowout_spec.instr.ready_to_aspirate = False
+
+    async def update_nozzle_configuration_for_mount(
+        self,
+        mount: top_types.Mount,
+        back_left_nozzle: Optional[str],
+        front_right_nozzle: Optional[str],
+        starting_nozzle: Optional[str] = None,
+    ) -> None:
+        """
+        Update a nozzle configuration for a given pipette.
+
+        The expectation of this function is that the back_left_nozzle/front_right_nozzle are the two corners
+        of a rectangle of nozzles. A call to this function that does not follow that schema will result
+        in an error.
+
+        :param mount: A robot mount that the instrument is on.
+        :param back_left_nozzle: A string representing a nozzle name of the form <LETTER><NUMBER> such as 'A1'.
+        :param front_right_nozzle: A string representing a nozzle name of the form <LETTER><NUMBER> such as 'A1'.
+        :param starting_nozzle: A string representing the starting nozzle which will be used as the critical point
+        of the pipette nozzle configuration. By default, the back left nozzle will be the starting nozzle if
+        none is provided.
+        :return: None.
+
+        If none of the nozzle parameters are provided, the nozzle configuration will be reset to default.
+        """
+        if not back_left_nozzle and not front_right_nozzle and not starting_nozzle:
+            await self.reset_nozzle_configuration(mount)
+        else:
+            assert back_left_nozzle and front_right_nozzle
+            await self.update_nozzle_configuration(
+                mount, back_left_nozzle, front_right_nozzle, starting_nozzle
+            )
+
+    async def tip_pickup_moves(
+        self,
+        mount: top_types.Mount,
+        presses: Optional[int] = None,
+        increment: Optional[float] = None,
+    ) -> None:
+        spec, _ = self.plan_check_pick_up_tip(
+            mount=mount, presses=presses, increment=increment
+        )
+        self._backend.set_active_current(spec.plunger_currents)
+        target_absolute = target_position_from_plunger(
+            mount, spec.plunger_prep_pos, self._current_position
+        )
+        await self._move(
+            target_absolute,
+            home_flagged_axes=False,
+        )
+
+        for press in spec.presses:
+            with self._backend.save_current():
+                self._backend.set_active_current(press.current)
+                target_down = target_position_from_relative(
+                    mount, press.relative_down, self._current_position
+                )
+                await self._move(target_down, speed=press.speed)
+            target_up = target_position_from_relative(
+                mount, press.relative_up, self._current_position
+            )
+            await self._move(target_up)
+        # neighboring tips tend to get stuck in the space between
+        # the volume chamber and the drop-tip sleeve on p1000.
+        # This extra shake ensures those tips are removed
+        for rel_point, speed in spec.shake_off_list:
+            await self.move_rel(mount, rel_point, speed=speed)
+
+        await self.retract(mount, spec.retract_target)
+
+    async def pick_up_tip(
+        self,
+        mount: top_types.Mount,
+        tip_length: float,
+        presses: Optional[int] = None,
+        increment: Optional[float] = None,
+        prep_after: bool = True,
+    ) -> None:
+        """
+        Pick up tip from current location.
+        """
+
+        spec, _add_tip_to_instrs = self.plan_check_pick_up_tip(
+            mount=mount, presses=presses, increment=increment, tip_length=tip_length
+        )
+        self._backend.set_active_current(spec.plunger_currents)
+        target_absolute = target_position_from_plunger(
+            mount, spec.plunger_prep_pos, self._current_position
+        )
+        await self._move(
+            target_absolute,
+            home_flagged_axes=False,
+        )
+
+        for press in spec.presses:
+            with self._backend.save_current():
+                self._backend.set_active_current(press.current)
+                target_down = target_position_from_relative(
+                    mount, press.relative_down, self._current_position
+                )
+                await self._move(target_down, speed=press.speed)
+            target_up = target_position_from_relative(
+                mount, press.relative_up, self._current_position
+            )
+            await self._move(target_up)
+        # neighboring tips tend to get stuck in the space between
+        # the volume chamber and the drop-tip sleeve on p1000.
+        # This extra shake ensures those tips are removed
+        for rel_point, speed in spec.shake_off_list:
+            await self.move_rel(mount, rel_point, speed=speed)
+
+        await self.retract(mount, spec.retract_target)
+        _add_tip_to_instrs()
+
+        if prep_after:
+            await self.prepare_for_aspirate(mount)
+
+    async def tip_drop_moves(
+        self,
+        mount: top_types.Mount,
+        home_after: bool = True,
+        ignore_plunger: bool = False,
+        scrape_type: TipScrapeType = TipScrapeType.NONE,
+    ) -> None:
+        spec, _ = self.plan_check_drop_tip(mount, home_after)
+
+        for move in spec.drop_moves:
+            self._backend.set_active_current(move.current)
+            target_pos = target_position_from_plunger(
+                mount, move.target_position, self._current_position
+            )
+            await self._move(
+                target_pos,
+                speed=move.speed,
+                home_flagged_axes=False,
+            )
+            if move.home_after:
+                smoothie_pos = await self._fast_home(
+                    axes=[ot2_axis_to_string(ax) for ax in move.home_axes],
+                    margin=move.home_after_safety_margin,
+                )
+                self._current_position = self.get_deck_from_machine(
+                    self._axis_map_from_string_map(smoothie_pos)
+                )
+
+        for shake in spec.shake_moves:
+            await self.move_rel(mount, shake[0], speed=shake[1])
+
+        self._backend.set_active_current(spec.ending_current)
+
+    async def drop_tip(self, mount: top_types.Mount, home_after: bool = True) -> None:
+        """Drop tip at the current location."""
+        await self.tip_drop_moves(mount, home_after)
+
+        # todo(mm, 2024-10-17): Ideally, callers would be able to replicate the behavior
+        # of this method via self.drop_tip_moves() plus other public methods. This
+        # currently prevents that: there is no public equivalent for
+        # instrument.set_current_volume().
+        instrument = self.get_pipette(mount)
+        instrument.set_current_volume(0)
+
+        self.set_current_tiprack_diameter(mount, 0.0)
+        self.remove_tip(mount)
+
+    async def create_simulating_module(
+        self,
+        model: modules.types.ModuleModel,
+    ) -> modules.AbstractModule:
+        """Get a simulating module hardware API interface for the given model."""
+        assert (
+            self.is_simulator
+        ), "Cannot build simulating module from non-simulating hardware control API"
+
+        return await self._backend.module_controls.build_module(
+            port="",
+            usb_port=USBPort(name="", port_number=1, port_group=PortGroup.MAIN),
+            type=modules.ModuleType.from_model(model),
+            sim_model=model.value,
+        )
+
+    def get_instrument_max_height(
+        self, mount: top_types.Mount, critical_point: Optional[CriticalPoint] = None
+    ) -> float:
+        return PipetteHandlerProvider.instrument_max_height(
+            self, mount, self._config.z_retract_distance, critical_point
+        )
+
+    async def clean_up(self) -> None:
+        """Get the API ready to stop cleanly."""
+        await self._backend.clean_up()
+
+    MapPayload = TypeVar("MapPayload")
+
+    @staticmethod
+    def _axis_map_from_string_map(
+        input_map: Dict[str, "API.MapPayload"]
+    ) -> Dict[Axis, "API.MapPayload"]:
+        return {Axis[k]: v for k, v in input_map.items()}
+
+    def _string_map_from_axis_map(
+        self, input_map: Dict[Axis, "API.MapPayload"]
+    ) -> Dict[str, "API.MapPayload"]:
+        return {ot2_axis_to_string(k): v for k, v in input_map.items()}
+
+    def get_estop_state(self) -> EstopState:
+        return EstopState.DISENGAGED