opentrons 8.6.0__py3-none-any.whl

opentrons/hardware_control/backends/simulator.py

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+from __future__ import annotations
+import asyncio
+import copy
+import logging
+from threading import Event
+from typing import Dict, Optional, List, Tuple, TYPE_CHECKING, Sequence, Iterator, cast
+from contextlib import contextmanager
+
+from opentrons_shared_data.pipette import (
+    pipette_load_name_conversions as pipette_load_name,
+    mutable_configurations,
+    pipette_definition,
+)
+
+from opentrons import types
+from opentrons.config.types import RobotConfig
+from opentrons.config import get_opentrons_path
+from opentrons.drivers.smoothie_drivers import SimulatingDriver
+
+from opentrons.drivers.rpi_drivers.gpio_simulator import SimulatingGPIOCharDev
+from opentrons.util.async_helpers import ensure_yield
+
+from .. import modules
+from ..types import BoardRevision, Axis
+from ..module_control import AttachedModulesControl
+from ..util import ot2_axis_to_string
+
+if TYPE_CHECKING:
+    from opentrons_shared_data.pipette.types import PipetteName, PipetteModel
+    from ..dev_types import (
+        AttachedPipette,
+        AttachedInstruments,
+        PipetteSpec,
+        InstrumentHardwareConfigs,
+    )
+    from opentrons.drivers.rpi_drivers.dev_types import GPIODriverLike
+
+
+MODULE_LOG = logging.getLogger(__name__)
+
+
+class Simulator:
+    """This is a subclass of hardware_control that only simulates the
+    hardware actions. It is suitable for use on a dev machine or on
+    a robot with no smoothie connected.
+    """
+
+    @classmethod
+    async def build(
+        cls,
+        attached_instruments: Dict[types.Mount, Dict[str, Optional[str]]],
+        attached_modules: Dict[str, List[modules.SimulatingModule]],
+        config: RobotConfig,
+        loop: asyncio.AbstractEventLoop,
+        strict_attached_instruments: bool = True,
+    ) -> Simulator:
+        """Build the simulator.
+
+        Use this factory method rather than the initializer to handle proper GPIO
+        initialization.
+
+        :param attached_instruments: A dictionary describing the instruments
+                                     the simulator should consider attached.
+                                     If this argument is specified and
+                                     :py:meth:`get_attached_instruments` is
+                                     called with expectations that do not
+                                     match, the call fails. This is useful for
+                                     making the simulator match the real
+                                     hardware, for instance to check if a
+                                     protocol asks for the right instruments.
+                                     This dict should map mounts to either
+                                     empty dicts or to dicts containing
+                                     'model' and 'id' keys.
+        :param attached_modules: A map of module type names (e.g.
+                                 `'tempdeck'` or `'magdeck'`) to lists of SimulatingModel
+                                 dataclasses representing
+                                 modules the simulator should assume are
+                                 attached. Like `attached_instruments`, used
+                                 to make the simulator match the setup of the
+                                 real hardware.
+        :param config: The robot config to use
+        :param loop: The asyncio event loop to use.
+        :param strict_attached_instruments: This param changes the behavior of
+                                            the instrument cache. If ``True``,
+                                            (default), ``cache_instrument``
+                                            calls requesting instruments not
+                                            in ``attached_instruments`` will
+                                            fail as if the instrument was not
+                                            present. If ``False``, those calls
+                                            will still pass but give a response
+                                            version of 1, while calls
+                                            requesting instruments that _are_
+                                            present get the full number.
+        """
+        gpio = SimulatingGPIOCharDev("gpiochip0")
+        await gpio.setup()
+        return cls(
+            attached_instruments,
+            attached_modules,
+            config,
+            loop,
+            gpio,
+            strict_attached_instruments,
+        )
+
+    def __init__(
+        self,
+        attached_instruments: Dict[types.Mount, Dict[str, Optional[str]]],
+        attached_modules: Dict[str, List[modules.SimulatingModule]],
+        config: RobotConfig,
+        loop: asyncio.AbstractEventLoop,
+        gpio_chardev: GPIODriverLike,
+        strict_attached_instruments: bool = True,
+    ) -> None:
+        """Initialize the simulator.
+
+        Always prefer using :py:meth:`.build` to create an instance of this class. For
+        more information on arguments, see that method. If you want to use this
+        directly, you must pass in an initialized _and set up_ GPIO driver instance.
+        """
+        self.config = config
+        self._loop = loop
+        self._smoothie_driver = SimulatingDriver()
+        self._gpio_chardev = gpio_chardev
+
+        def _sanitize_attached_instrument(
+            passed_ai: Optional[PipetteSpec] = None,
+        ) -> PipetteSpec:
+            if not passed_ai or not passed_ai.get("model"):
+                return {"model": None, "id": None}
+            if pipette_load_name.supported_pipette(
+                cast("PipetteName", passed_ai["model"])
+            ):
+                if pipette_load_name.is_model(passed_ai["model"]):
+                    return passed_ai
+                else:
+                    get_pip_model = pipette_load_name.convert_pipette_name(
+                        cast("PipetteName", passed_ai["model"])
+                    )
+                    return {
+                        "model": PipetteModel(str(get_pip_model)),
+                        "id": passed_ai.get("id"),
+                    }
+            raise KeyError(
+                "If you specify attached_instruments, the model "
+                "should be pipette names or pipette models, but "
+                f'{passed_ai["model"]} is not'
+            )
+
+        self._attached_instruments = {
+            m: _sanitize_attached_instrument(attached_instruments.get(m))  # type: ignore
+            for m in types.Mount.ot2_mounts()
+        }
+        self._stubbed_attached_modules = attached_modules
+        self._position = copy.copy(self._smoothie_driver.homed_position)
+        # Engaged axes start all true in smoothie for some reason so we
+        # imitate that here
+        # TODO(LC2642019) Create a simulating driver for smoothie instead of
+        # using a flag
+
+        self._engaged_axes = {ax: True for ax in self._smoothie_driver.homed_position}
+        self._lights = {"button": False, "rails": False}
+        self._run_flag = Event()
+        self._run_flag.set()
+        self._log = MODULE_LOG.getChild(repr(self))
+        self._strict_attached = bool(strict_attached_instruments)
+        self._board_revision = BoardRevision.OG
+        # TODO (lc 05-12-2021) In a follow-up refactor that pulls the execution
+        # manager responsbility into the controller/backend itself as opposed
+        # to the hardware api controller.
+        self._module_controls: Optional[AttachedModulesControl] = None
+
+    async def get_serial_number(self) -> Optional[str]:
+        return "simulator"
+
+    @property
+    def gpio_chardev(self) -> GPIODriverLike:
+        return self._gpio_chardev
+
+    @property
+    def module_controls(self) -> AttachedModulesControl:
+        if not self._module_controls:
+            raise AttributeError("Module controls not found.")
+        return self._module_controls
+
+    @module_controls.setter
+    def module_controls(self, module_controls: AttachedModulesControl) -> None:
+        self._module_controls = module_controls
+
+    @ensure_yield
+    async def update_position(self) -> Dict[str, float]:
+        return self._position
+
+    def _unhomed_axes(self, axes: Sequence[str]) -> List[str]:
+        return list(
+            axis
+            for axis in axes
+            if not self._smoothie_driver.homed_flags.get(axis, False)
+        )
+
+    def is_homed(self, axes: Sequence[str]) -> bool:
+        return not any(self._unhomed_axes(axes))
+
+    @ensure_yield
+    async def move(
+        self,
+        target_position: Dict[str, float],
+        home_flagged_axes: bool = True,
+        speed: Optional[float] = None,
+        axis_max_speeds: Optional[Dict[str, float]] = None,
+    ) -> None:
+        self._position.update(target_position)
+        self._engaged_axes.update({ax: True for ax in target_position})
+
+    @ensure_yield
+    async def home(self, axes: Optional[List[str]] = None) -> Dict[str, float]:
+        # driver_3_0-> HOMED_POSITION
+        checked_axes = "".join(axes) if axes else "XYZABC"
+        self._position.update(
+            {ax: self._smoothie_driver.homed_position[ax] for ax in checked_axes}
+        )
+        self._engaged_axes.update({ax: True for ax in checked_axes})
+        await self._smoothie_driver.home(axis=checked_axes)
+        return self._position
+
+    @ensure_yield
+    async def fast_home(self, axis: Sequence[str], margin: float) -> Dict[str, float]:
+        for ax in axis:
+            self._position[ax] = self._smoothie_driver.homed_position[ax]
+            self._engaged_axes[ax] = True
+        return self._position
+
+    def _attached_to_mount(
+        self, mount: types.Mount, expected_instr: Optional["PipetteName"]
+    ) -> AttachedPipette:
+        init_instr = self._attached_instruments.get(mount, {"model": None, "id": None})
+        found_model = init_instr["model"]
+        back_compat: List["PipetteName"] = []
+
+        path_to_overrides = get_opentrons_path("pipette_config_overrides_dir")
+        found_model_configs: Optional[pipette_definition.PipetteConfigurations] = None
+
+        converted_found_name: Optional[pipette_definition.PipetteNameType] = None
+        if found_model:
+            converted_found_model = pipette_load_name.convert_pipette_model(found_model)
+            converted_found_name = pipette_load_name.convert_to_pipette_name_type(
+                found_model
+            )
+            found_model_configs = (
+                mutable_configurations.load_with_mutable_configurations(
+                    converted_found_model, path_to_overrides, init_instr["id"]
+                )
+            )
+            back_compat = found_model_configs.pipette_backcompat_names
+        if (
+            expected_instr
+            and found_model
+            and found_model_configs
+            and (
+                str(converted_found_name) != expected_instr
+                and expected_instr not in back_compat
+            )
+        ):
+            if self._strict_attached:
+                raise RuntimeError(
+                    "mount {}: expected instrument {} but got {}".format(
+                        mount.name, expected_instr, found_model
+                    )
+                )
+            else:
+                converted_expected_model = pipette_load_name.convert_pipette_name(
+                    expected_instr
+                )
+                return {
+                    "config": mutable_configurations.load_with_mutable_configurations(
+                        converted_expected_model, path_to_overrides
+                    ),
+                    "id": None,
+                }
+        elif found_model and found_model_configs:
+            # Instrument detected matches instrument expected (note:
+            # "instrument detected" means passed as an argument to the
+            # constructor of this class) OR,
+            # Instrument detected and no expected instrument specified
+            return {
+                "config": found_model_configs,
+                "id": init_instr["id"],
+            }
+        elif expected_instr:
+            # Expected instrument specified and no instrument detected
+            converted_expected_model = pipette_load_name.convert_pipette_name(
+                expected_instr
+            )
+            return {
+                "config": mutable_configurations.load_with_mutable_configurations(
+                    converted_expected_model, path_to_overrides
+                ),
+                "id": None,
+            }
+        else:
+            # No instrument detected or expected
+            return {"config": None, "id": None}
+
+    @ensure_yield
+    async def get_attached_instruments(
+        self, expected: Dict[types.Mount, "PipetteName"]
+    ) -> AttachedInstruments:
+        """Update the internal cache of attached instruments.
+
+        This method allows after-init-time specification of attached simulated
+        instruments. The method will return
+        - the instruments specified at init-time, or if those do not exists,
+        - the instruments specified in expected, or if that is not passed,
+        - nothing
+
+        :param expected: A mapping of mount to instrument model prefixes. When
+                         loading instruments from a prefix, we return the
+                         lexically-first model that matches the prefix. If the
+                         models specified in expected do not match the models
+                         specified in the `attached_instruments` argument of
+                         :py:meth:`__init__`, :py:attr:`RuntimeError` is
+                         raised.
+        :raises RuntimeError: If an instrument is expected but not found.
+        :returns: A dict of mount to either instrument model names or `None`.
+        """
+        return {
+            mount: self._attached_to_mount(mount, expected.get(mount))
+            for mount in types.Mount.ot2_mounts()
+        }
+
+    def set_active_current(self, axis_currents: Dict[Axis, float]) -> None:
+        pass
+
+    @ensure_yield
+    async def watch(self) -> None:
+        new_mods_at_ports = []
+        for mod_name, list_of_modules in self._stubbed_attached_modules.items():
+            for module_details in list_of_modules:
+                new_mods_at_ports.append(
+                    modules.SimulatingModuleAtPort(
+                        port=f"/dev/ot_module_sim_{mod_name}{str(module_details.serial_number)}",
+                        name=mod_name,
+                        serial_number=module_details.serial_number,
+                        model=module_details.model,
+                    )
+                )
+        await self.module_controls.register_modules(new_mods_at_ports=new_mods_at_ports)
+
+    @contextmanager
+    def save_current(self) -> Iterator[None]:
+        yield
+
+    @property
+    def axis_bounds(self) -> Dict[Axis, Tuple[float, float]]:
+        """The (minimum, maximum) bounds for each axis."""
+        return {
+            Axis[ax]: (0, pos)
+            for ax, pos in self._smoothie_driver.axis_bounds.items()
+            if ax not in "BC"
+        }
+
+    @property
+    def fw_version(self) -> Optional[str]:
+        return "Virtual Smoothie"
+
+    @ensure_yield
+    async def update_fw_version(self) -> None:
+        pass
+
+    @property
+    def board_revision(self) -> BoardRevision:
+        return self._board_revision
+
+    @ensure_yield
+    async def update_firmware(
+        self, filename: str, loop: asyncio.AbstractEventLoop, modeset: bool
+    ) -> str:
+        return "Did nothing (simulating)"
+
+    def engaged_axes(self) -> Dict[str, bool]:
+        return self._engaged_axes
+
+    @ensure_yield
+    async def disengage_axes(self, axes: List[str]) -> None:
+        self._engaged_axes.update({ax: False for ax in axes})
+
+    def set_lights(self, button: Optional[bool], rails: Optional[bool]) -> None:
+        if button is not None:
+            self._lights["button"] = button
+        if rails is not None:
+            self._lights["rails"] = rails
+
+    def get_lights(self) -> Dict[str, bool]:
+        return self._lights
+
+    def pause(self) -> None:
+        self._run_flag.clear()
+
+    def resume(self) -> None:
+        self._run_flag.set()
+
+    @ensure_yield
+    async def halt(self) -> None:
+        self._run_flag.set()
+
+    @ensure_yield
+    async def hard_halt(self) -> None:
+        self._run_flag.set()
+
+    @ensure_yield
+    async def probe(self, axis: str, distance: float) -> Dict[str, float]:
+        self._position[axis.upper()] = self._position[axis.upper()] + distance
+        return self._position
+
+    @ensure_yield
+    async def clean_up(self) -> None:
+        pass
+
+    @ensure_yield
+    async def configure_mount(
+        self, mount: types.Mount, config: InstrumentHardwareConfigs
+    ) -> None:
+        mount_axis = Axis.by_mount(mount)
+        plunger_axis = Axis.of_plunger(mount)
+
+        await self._smoothie_driver.update_steps_per_mm(
+            {ot2_axis_to_string(plunger_axis): config["steps_per_mm"]}
+        )
+        await self._smoothie_driver.update_pipette_config(
+            ot2_axis_to_string(mount_axis), {"home": config["home_pos"]}
+        )
+        await self._smoothie_driver.update_pipette_config(
+            ot2_axis_to_string(plunger_axis), {"max_travel": config["max_travel"]}
+        )
+        self._smoothie_driver.set_dwelling_current(
+            {ot2_axis_to_string(plunger_axis): config["idle_current"]}
+        )
+        ms = config["splits"]
+        if ms:
+            self._smoothie_driver.configure_splits_for(
+                {ot2_axis_to_string(plunger_axis): ms}
+            )

opentrons/hardware_control/backends/status_bar_state.py

@@ -0,0 +1,240 @@
+from opentrons.hardware_control.types import (
+    StatusBarState,
+    StatusBarUpdateEvent,
+    StatusBarUpdateListener,
+    StatusBarUpdateUnsubscriber,
+)
+from opentrons_hardware.hardware_control import status_bar
+from opentrons_hardware.firmware_bindings.binary_constants import (
+    LightAnimationType,
+    LightTransitionType,
+)
+
+from typing import List
+
+
+class StatusBarStateController:
+    """Stateful control of the status bar.
+
+    Note that the controller can be enabled/disabled at any time. If the controller
+    is ever disabled, the lights are set to OFF and future state changes will not
+    write to the rear panel board. However, the proper `StatusBarState` will still
+    be cached, so if the controller becomes enabled/disabled in the future it will
+    be able to resume the correct animation based on the current system state."""
+
+    def __init__(self, controller: status_bar.StatusBar) -> None:
+        """Create a StatusBarStateController."""
+        self._status_bar_state = StatusBarState.IDLE
+        self._controller = controller
+        self._enabled = True
+        self._listeners: List[StatusBarUpdateListener] = []
+
+    def add_listener(
+        self, listener: StatusBarUpdateListener
+    ) -> StatusBarUpdateUnsubscriber:
+        """Add a listener to the status bar state."""
+        if listener not in self._listeners:
+            self._listeners.append(listener)
+
+        def _remove_listener() -> None:
+            self._listeners.remove(listener)
+
+        return _remove_listener
+
+    def emit_event(self) -> None:
+        """Emit an event to all listeners."""
+        for listener in self._listeners:
+            listener(StatusBarUpdateEvent(self._status_bar_state, self._enabled))
+
+    async def _status_bar_idle(self) -> None:
+        self._status_bar_state = StatusBarState.IDLE
+        if self._enabled:
+            await self._controller.static_color(status_bar.WHITE)
+
+    async def _status_bar_running(self) -> None:
+        self._status_bar_state = StatusBarState.RUNNING
+        if self._enabled:
+            await self._controller.static_color(status_bar.GREEN)
+
+    async def _status_bar_paused(self) -> None:
+        self._status_bar_state = StatusBarState.PAUSED
+        if self._enabled:
+            await self._controller.pulse_color(status_bar.BLUE)
+
+    async def _status_bar_hardware_error(self) -> None:
+        self._status_bar_state = StatusBarState.HARDWARE_ERROR
+        if self._enabled:
+            await self._controller.flash_color(status_bar.RED)
+
+    async def _status_bar_software_error(self) -> None:
+        self._status_bar_state = StatusBarState.SOFTWARE_ERROR
+        if self._enabled:
+            await self._controller.static_color(status_bar.YELLOW)
+
+    async def _status_bar_error_recovery(self) -> None:
+        self._status_bar_state = StatusBarState.ERROR_RECOVERY
+        if self._enabled:
+            await self._controller.pulse_color(status_bar.YELLOW)
+
+    async def _status_bar_confirm(self) -> None:
+        # Confirm should revert to IDLE
+        self._status_bar_state = StatusBarState.IDLE
+        if self._enabled:
+            await self._controller.blink_once(status_bar.GREEN, status_bar.WHITE)
+
+    async def _status_bar_run_complete(self) -> None:
+        self._status_bar_state = StatusBarState.RUN_COMPLETED
+        if self._enabled:
+            await self._controller.pulse_color(status_bar.GREEN)
+
+    async def _status_bar_updating(self) -> None:
+        self._status_bar_state = StatusBarState.UPDATING
+        if self._enabled:
+            await self._controller.pulse_color(status_bar.WHITE)
+
+    async def _status_bar_activation(self) -> None:
+        # Activation should revert to IDLE
+        self._status_bar_state = StatusBarState.IDLE
+
+        # This animation uses an intermediate color between the blue and the white.
+        # This results in a sort of light-blue effect.
+        steps: List[status_bar.ColorStep] = [
+            status_bar.ColorStep(LightTransitionType.linear, 250, status_bar.OFF),
+            status_bar.ColorStep(LightTransitionType.linear, 750, status_bar.OFF),
+            status_bar.ColorStep(LightTransitionType.linear, 1000, status_bar.BLUE),
+            status_bar.ColorStep(
+                LightTransitionType.linear,
+                250,
+                status_bar.Color(
+                    r=0,
+                    g=int(status_bar.BLUE.g * 0.75),
+                    b=int(status_bar.BLUE.b * 0.75),
+                    w=50,
+                ),
+            ),
+            status_bar.ColorStep(LightTransitionType.linear, 250, status_bar.WHITE),
+        ]
+
+        if self._enabled:
+            await self._controller.start_animation(
+                steps=steps, type=LightAnimationType.single_shot
+            )
+
+    async def _status_bar_disco(self) -> None:
+        # TODO - update implementation
+        colors = [
+            status_bar.GREEN,
+            status_bar.YELLOW,
+            status_bar.PURPLE,
+            status_bar.ORANGE,
+            status_bar.GREEN,
+            status_bar.YELLOW,
+            status_bar.PURPLE,
+            status_bar.ORANGE,
+            status_bar.WHITE,
+        ]
+        steps: List[status_bar.ColorStep] = [
+            status_bar.ColorStep(LightTransitionType.linear, 300, color)
+            for color in colors
+        ]
+        steps.append(
+            status_bar.ColorStep(LightTransitionType.linear, 500, status_bar.OFF)
+        )
+        steps.append(
+            status_bar.ColorStep(LightTransitionType.linear, 75, status_bar.BLUE)
+        )
+        steps.append(
+            status_bar.ColorStep(
+                LightTransitionType.instant,
+                transition_time_ms=150,
+                color=status_bar.GREEN,
+            )
+        )
+        steps.append(
+            status_bar.ColorStep(
+                LightTransitionType.instant,
+                transition_time_ms=150,
+                color=status_bar.OFF,
+            )
+        )
+        steps.append(
+            status_bar.ColorStep(
+                LightTransitionType.instant,
+                transition_time_ms=150,
+                color=status_bar.GREEN,
+            )
+        )
+        steps.append(
+            status_bar.ColorStep(
+                LightTransitionType.linear,
+                transition_time_ms=1000,
+                color=status_bar.WHITE,
+            )
+        )
+
+        self._status_bar_state = StatusBarState.IDLE
+        if self._enabled:
+            await self._controller.start_animation(
+                steps=steps, type=LightAnimationType.single_shot
+            )
+
+    async def _status_bar_off(self) -> None:
+        self._status_bar_state = StatusBarState.OFF
+        if self._enabled:
+            await self._controller.static_color(status_bar.OFF)
+
+    async def set_status_bar_state(self, state: StatusBarState) -> None:
+        """Main interface to set a new state."""
+        callbacks = {
+            StatusBarState.IDLE: self._status_bar_idle,
+            StatusBarState.RUNNING: self._status_bar_running,
+            StatusBarState.PAUSED: self._status_bar_paused,
+            StatusBarState.HARDWARE_ERROR: self._status_bar_hardware_error,
+            StatusBarState.SOFTWARE_ERROR: self._status_bar_software_error,
+            StatusBarState.ERROR_RECOVERY: self._status_bar_error_recovery,
+            StatusBarState.CONFIRMATION: self._status_bar_confirm,
+            StatusBarState.RUN_COMPLETED: self._status_bar_run_complete,
+            StatusBarState.UPDATING: self._status_bar_updating,
+            StatusBarState.ACTIVATION: self._status_bar_activation,
+            StatusBarState.DISCO: self._status_bar_disco,
+            StatusBarState.OFF: self._status_bar_off,
+        }
+        await callbacks[state]()
+        self.emit_event()
+
+    def get_current_state(self) -> StatusBarState:
+        """Get the current state."""
+        return self._status_bar_state
+
+    async def set_enabled(self, enabled: bool) -> None:
+        """Enable or disable the status bar.
+
+        If the status bar is newly disabled, the lights are set OFF
+        and the old status is cached so it can later be restored.
+
+        If the status bar is newly enabled, the last-set animation
+        will be sent to the rear panel.
+
+        NOTE When the status bar is disabled, `set_status_bar_state` will
+        still update the internal status bar setting as if the bar is on!
+        This means that, when the status bar is reenabled, it will look
+        correct for the current robot status."""
+        if enabled == self._enabled:
+            return
+
+        if enabled:
+            # Need to turn Enabled true *first* so that we can actually write
+            # the setting to the rear panel
+            self._enabled = True
+            await self.set_status_bar_state(self._status_bar_state)
+        else:
+            cached_state = self.get_current_state()
+            await self.set_status_bar_state(StatusBarState.OFF)
+            self._enabled = False
+            # This ensures that the status bar will be set to the correct state
+            # if it's reactivated before the state gets set again.
+            self._status_bar_state = cached_state
+
+    def get_enabled(self) -> bool:
+        """Check whether the status bar is enabled."""
+        return self._enabled