opentrons 8.6.0__py3-none-any.whl

opentrons/config/__init__.py

@@ -0,0 +1,631 @@
+"""
+This module handles configuration management. It keeps track of where the
+configuration data is found in the robot, and is able to search for data to
+construct an index if an existing index is not found. All other modules that
+use persistent configuration data should use this module to read and write it.
+
+The settings file defined here is opentrons.json. This file should be located
+
+- On the robot, in /data
+- Not on the robot, either in
+  - the directory from which the python importing this module was launched
+  - ~/.opentrons for the current user (where it will be written if nothing is
+    found)
+
+The keys in opentrons.json are defined by the CONFIG_ELEMENTS tuple below.
+The keys in the file are the name elements of the CONFIG_ELEMENTS. They can
+also be specified via environment variables, the names of which are
+OT_API_${UPPERCASED_NAME_ELEMENT}. For instance, to override the
+robot_settings_file option from an environment variable, you would set the
+OT_API_ROBOT_CONFIG_FILE variable.
+
+This module's interface to the rest of the system are the IS_* attributes and
+the CONFIG attribute.
+"""
+import enum
+import os
+import json
+import logging
+from pathlib import Path
+import re
+import shutil
+import subprocess
+import sys
+from enum import Enum, auto
+from typing import Dict, NamedTuple, Optional, cast
+
+_CONFIG_FILENAME = "config.json"
+_LEGACY_INDICES = (
+    Path("/mnt") / "usbdrive" / "config" / "index.json",
+    Path("/data") / "index.json",
+)
+
+log = logging.getLogger(__file__)
+
+IS_WIN = sys.platform.startswith("win")
+IS_OSX = sys.platform == "darwin"
+IS_LINUX = sys.platform.startswith("linux")
+IS_ROBOT = bool(
+    IS_LINUX
+    and (os.environ.get("RUNNING_ON_PI") or os.environ.get("RUNNING_ON_VERDIN"))
+)
+#: This is the correct thing to check to see if we’re running on a robot
+IS_VIRTUAL = bool(os.environ.get("ENABLE_VIRTUAL_SMOOTHIE"))
+
+
+class SystemArchitecture(Enum):
+    HOST = auto()
+    BUILDROOT = auto()
+    YOCTO = auto()
+
+
+ROBOT_FIRMWARE_DIR: Optional[Path] = None
+#: The path to firmware files for modules
+
+ARCHITECTURE: SystemArchitecture = SystemArchitecture.HOST
+#: The system architecture running
+
+JUPYTER_NOTEBOOK_ROOT_DIR: Optional[Path] = None
+#: The path to the root dir for Jupyter
+
+JUPYTER_NOTEBOOK_LABWARE_DIR: Optional[Path] = None
+#: The path to labware installs for jupyter
+
+OT_SYSTEM_VERSION = "0.0.0"
+#: The semver string of the system
+
+
+if IS_ROBOT:
+    if "OT_SYSTEM_VERSION" in os.environ:
+        OT_SYSTEM_VERSION = os.environ["OT_SYSTEM_VERSION"]
+        ARCHITECTURE = SystemArchitecture.YOCTO
+    else:
+        try:
+            with open("/etc/VERSION.json") as vj:
+                contents = json.load(vj)
+            OT_SYSTEM_VERSION = contents["buildroot_version"]
+            ARCHITECTURE = SystemArchitecture.BUILDROOT
+        except Exception:
+            log.exception("Could not find version file in /etc/VERSION.json")
+    ROBOT_FIRMWARE_DIR = Path("/usr/lib/firmware/")
+    JUPYTER_NOTEBOOK_ROOT_DIR = Path("/var/lib/jupyter/notebooks/")
+    JUPYTER_NOTEBOOK_LABWARE_DIR = JUPYTER_NOTEBOOK_ROOT_DIR / "labware"
+
+
+def name() -> str:
+    if IS_ROBOT and ARCHITECTURE in (
+        SystemArchitecture.BUILDROOT,
+        SystemArchitecture.YOCTO,
+    ):
+        # Read the name from the machine's pretty hostname, which is maintained
+        # by update-server. This retrieval logic needs to be kept in sync with
+        # update-server.
+
+        # NOTE: This call to hostnamectl can fail momentarily if it runs
+        # at the same time as a systemd-hostnamed restart.
+        # update-server triggers such restarts regularly, any time the name changes.
+        #
+        # We let the exception propagate so the caller (probably an HTTP client
+        # polling /health) can retry later.
+        result = subprocess.check_output(["hostnamectl", "--pretty", "status"]).decode(
+            "utf-8"
+        )
+
+        # Strip the trailing newline, since it's not part of the actual name value.
+        # TODO(mm, 2022-07-18): When we upgrade to systemd 249, use
+        # `hostnamectl --json` for CLI output that we can parse more robustly.
+        assert len(result) >= 1 and result[-1] == "\n"
+        return result[:-1]
+
+    else:
+        robot_name = "opentrons-dev"
+        if "DEV_ROBOT_NAME" in os.environ.keys():
+            robot_name = os.environ["DEV_ROBOT_NAME"]
+        return robot_name
+
+
+class ConfigElementType(enum.Enum):
+    FILE = enum.auto()
+    DIR = enum.auto()
+
+
+class ConfigElement(NamedTuple):
+    name: str
+    display_name: str
+    default: Path
+    kind: ConfigElementType
+    help: str
+
+
+CONFIG_ELEMENTS = (
+    ConfigElement(
+        "labware_database_file",
+        "API V1 Labware Database",
+        Path("opentrons.db"),
+        ConfigElementType.FILE,
+        (
+            "A SQLite database where labware definitions and offsets were stored."
+            " No longer used as of v4."
+        ),
+    ),
+    ConfigElement(
+        "labware_calibration_offsets_dir_v2",
+        "API V2 Calibration Offsets Directory",
+        Path("labware") / "v2" / "offsets",
+        ConfigElementType.DIR,
+        "A location where labware offsets were stored. No longer used as of v5.",
+    ),
+    ConfigElement(
+        "labware_user_definitions_dir_v2",
+        "API V2 Custom Labware Directory",
+        Path("labware") / "v2" / "custom_definitions",
+        ConfigElementType.DIR,
+        (
+            "A location where custom labware definitions may be stored."
+            " Usage not recommended."
+        ),
+    ),
+    ConfigElement(
+        "feature_flags_file",
+        "Feature Flags",
+        Path("feature_flags.json"),
+        ConfigElementType.FILE,
+        "The file storing the advanced feature flags.",
+    ),
+    ConfigElement(
+        "robot_settings_file",
+        "Robot Settings",
+        Path("robot_settings.json"),
+        ConfigElementType.FILE,
+        "The file storing settings relevant to motion",
+    ),
+    ConfigElement(
+        "deck_calibration_file",
+        "Deck Calibration",
+        Path("deck_calibration.json"),
+        ConfigElementType.FILE,
+        "The file storing the deck calibration. Superseded in v4 by robot_calibration_dir.",
+    ),
+    ConfigElement(
+        "log_dir",
+        "Log Directory",
+        Path("logs"),
+        ConfigElementType.FILE,
+        "The location for saving log files",
+    ),
+    ConfigElement(
+        "api_log_file",
+        "API Log File",
+        Path("logs") / "api.log",
+        ConfigElementType.FILE,
+        "The location of the file to save API logs to. If this is an"
+        " absolute path, it will be used directly. If it is a "
+        "relative path it will be relative to log_dir",
+    ),
+    ConfigElement(
+        "sensor_log_file",
+        "Sensor Log File",
+        Path("logs") / "sensor.log",
+        ConfigElementType.FILE,
+        "The location of the file to save sensor logs to. If this is an"
+        " absolute path, it will be used directly. If it is a "
+        "relative path it will be relative to log_dir",
+    ),
+    ConfigElement(
+        "serial_log_file",
+        "Serial Log File",
+        Path("logs") / "serial.log",
+        ConfigElementType.FILE,
+        "The location of the file to save serial logs to. If this is"
+        " an absolute path, it will be used directly. If it is a "
+        "relative path it will be relative to log_dir"
+        "The location of the file to save serial logs to",
+    ),
+    # Unlike other config elements, the wifi keys dir is still in
+    # /data/user_storage/opentrons_data because these paths are fed directly to
+    # NetworkManager and stored in connections files there. To change this
+    # directory, we would have to modify those connections files, presumably on
+    # boot, which is a level of complexity that makes it worth having an
+    # annoying path.
+    ConfigElement(
+        "wifi_keys_dir",
+        "Wifi Keys Dir",
+        Path("user_storage/opentrons_data/network_keys"),
+        ConfigElementType.DIR,
+        "The directory in which to save any key material for wifi"
+        " auth. Not relevant outside of a robot.",
+    ),
+    ConfigElement(
+        "hardware_controller_lockfile",
+        "Hardware Controller Lockfile",
+        Path("hardware.lock"),
+        ConfigElementType.FILE,
+        "The file to use for a hardware controller lockfile.",
+    ),
+    ConfigElement(
+        "pipette_config_overrides_dir",
+        "Pipette Config User Overrides",
+        Path("pipettes"),
+        ConfigElementType.DIR,
+        "The dir where settings overrides for pipettes are stored",
+    ),
+    ConfigElement(
+        "tip_length_calibration_dir",
+        "Tip Length Calibration Directory",
+        Path("tip_lengths"),
+        ConfigElementType.DIR,
+        "The dir where tip length calibration of each tiprack for "
+        "each unique pipette is stored",
+    ),
+    ConfigElement(
+        "robot_calibration_dir",
+        "Robot Calibration Directory",
+        Path("robot"),
+        ConfigElementType.DIR,
+        "The dir where robot calibration is stored",
+    ),
+    ConfigElement(
+        "pipette_calibration_dir",
+        "Pipette Calibration Directory",
+        Path("robot") / "pipettes",
+        ConfigElementType.DIR,
+        "The dir where pipette calibration is stored",
+    ),
+    ConfigElement(
+        "custom_tiprack_dir",
+        "Custom Tiprack Directory",
+        Path("tip_lengths") / "custom_tiprack_definitions",
+        ConfigElementType.DIR,
+        "The dir where custom tiprack definitions for tip length "
+        "calibration are stored",
+    ),
+    ConfigElement(
+        "gripper_calibration_dir",
+        "Gripper Calibration Directory",
+        Path("robot") / "gripper",
+        ConfigElementType.DIR,
+        "The dir where gripper calibration is stored",
+    ),
+    ConfigElement(
+        "gripper_jaw_width_dir",
+        "Gripper Jaw Width Directory",
+        Path("robot") / "gripper_jaw_width_data",
+        ConfigElementType.DIR,
+        "The dir where gripper jaw width data is stored",
+    ),
+    ConfigElement(
+        "module_calibration_dir",
+        "Module Calibration Directory",
+        Path("robot") / "modules",
+        ConfigElementType.DIR,
+        "The dir where module calibration is stored",
+    ),
+    ConfigElement(
+        "performance_metrics_dir",
+        "Performance Metrics Directory",
+        Path("performance_metrics_data"),
+        ConfigElementType.DIR,
+        "The dir where performance metrics are stored",
+    ),
+)
+#: The available configuration file elements to modify. All of these can be
+#: changed by editing opentrons.json, where the keys are the name elements,
+#: or by specifying as environment variables, where the keys are uppercase
+#: versions of the name elements.
+#: In addition to these flags, the OT_API_CONFIG_DIR env var (if present)
+#: will change where the API looks for these settings by prepending it to the
+#: normal search path.
+
+
+def infer_config_base_dir() -> Path:
+    """Return the directory to store data in.
+
+    Defaults are ~/.opentrons if not on a pi; OT_API_CONFIG_DIR is
+    respected here.
+
+    When this module is imported, this function is called automatically
+    and the result stored in :py:attr:`APP_DATA_DIR`.
+
+    This directory may not exist when the module is imported. Even if it
+    does exist, it may not contain data, or may require data to be moved
+    to it.
+
+    :return pathlib.Path: The path to the desired root settings dir.
+    """
+    if "OT_API_CONFIG_DIR" in os.environ:
+        return Path(os.environ["OT_API_CONFIG_DIR"])
+    elif IS_ROBOT:
+        return Path("/data")
+    else:
+        search = (Path.cwd(), Path.home() / ".opentrons")
+        for path in search:
+            if (path / _CONFIG_FILENAME).exists():
+                return path
+        else:
+            return search[-1]
+
+
+def load_and_migrate() -> Dict[str, Path]:
+    """Ensure the settings directory tree is properly configured.
+
+    This function does most of its work on the actual robot. It will move
+    all settings files from wherever they happen to be to the proper
+    place. On non-robots, this mostly just loads. In addition, it writes
+    a default config and makes sure all directories required exist (though
+    the files in them may not).
+    """
+    if IS_ROBOT and ARCHITECTURE != SystemArchitecture.YOCTO:
+        _migrate_robot()
+    base = infer_config_base_dir()
+    base.mkdir(parents=True, exist_ok=True)
+    index = _load_with_overrides(base)
+    return _ensure_paths_and_types(index)
+
+
+def _load_with_overrides(base: Path) -> Dict[str, str]:
+    """Load an config or write its defaults"""
+    should_write = False
+    overrides = _get_environ_overrides()
+    try:
+        with (base / _CONFIG_FILENAME).open() as file:
+            index = json.load(file)
+    except (OSError, json.JSONDecodeError):
+        should_write = True
+        index = generate_config_index(overrides)
+
+    for key in CONFIG_ELEMENTS:
+        if key.name not in index:
+            if key.kind in (ConfigElementType.DIR, ConfigElementType.FILE):
+                index[key.name] = base / key.default
+            else:
+                index[key.name] = key.default
+            should_write = True
+
+    if should_write:
+        try:
+            write_config(index, path=base)
+        except Exception as e:
+            sys.stderr.write(
+                "Error writing config to {}: {}\nProceeding memory-only\n".format(
+                    str(base), e
+                )
+            )
+    index.update(overrides)
+    return cast(Dict[str, str], index)
+
+
+def _ensure_paths_and_types(index: Dict[str, str]) -> Dict[str, Path]:
+    """Take the direct results of loading the config and make sure
+    the filesystem reflects them.
+    """
+    configs_by_name = {ce.name: ce for ce in CONFIG_ELEMENTS}
+    correct_types: Dict[str, Path] = {}
+    for key, item in index.items():
+        if key not in configs_by_name:  # old config, ignore
+            continue
+        if configs_by_name[key].kind == ConfigElementType.FILE:
+            it = Path(item)
+            it.parent.mkdir(parents=True, exist_ok=True)
+            correct_types[key] = it
+        elif configs_by_name[key].kind == ConfigElementType.DIR:
+            it = Path(item)
+            it.mkdir(parents=True, exist_ok=True)
+            correct_types[key] = it
+        else:
+            raise RuntimeError(
+                f"unhandled kind in ConfigElements: {key}: "
+                f"{configs_by_name[key].kind}"
+            )
+    return correct_types
+
+
+def _get_environ_overrides() -> Dict[str, str]:
+    """Pull any overrides for the config elements from the environ and return
+    a mapping from the names to the values (as strings). Config elements that
+    are not overridden will not be in the mapping.
+    """
+    return {
+        ce.name: os.environ["OT_API_" + ce.name.upper()]
+        for ce in CONFIG_ELEMENTS
+        if "OT_API_" + ce.name.upper() in os.environ
+    }
+
+
+def _legacy_index() -> Optional[Dict[str, str]]:
+    """Try and load an index file from the various places it might exist.
+
+    If the legacy file cannot be found or cannot be parsed, return None.
+
+    This method should only be called on a robot.
+    """
+    for index in _LEGACY_INDICES:
+        if index.exists():
+            try:
+                with open(index) as file:
+                    return cast(Dict[str, str], json.load(file))
+            except (OSError, json.JSONDecodeError):
+                return None
+    return None
+
+
+def _erase_old_indices() -> None:
+    """Remove old index files so they don't pollute future loads.
+
+    This method should only be called on a robot.
+    """
+    for index in _LEGACY_INDICES:
+        if index.exists():
+            index.unlink()
+
+
+def _find_most_recent_backup(normal_path: Optional[str]) -> Optional[str]:
+    """Find the most recent old settings to migrate.
+
+    The input is the path to an unqualified settings file - e.g.
+    /mnt/usbdrive/config/robotSettings.json
+
+    This will return
+    - None if the input is None (to support chaining from dict.get())
+    - The input if it exists, or
+    - The file named normal_path-TIMESTAMP.json with the highest timestamp
+      if one can be found, or
+    - None
+    """
+    if normal_path is None:
+        return None
+
+    if os.path.exists(normal_path):
+        return normal_path
+
+    dirname, basename = os.path.split(normal_path)
+    root, ext = os.path.splitext(basename)
+    backups = [
+        fi for fi in os.listdir(dirname) if fi.startswith(root) and fi.endswith(ext)
+    ]
+    ts_re = re.compile(r".*-([0-9]+)" + ext + "$")
+
+    def ts_compare(filename: str) -> int:
+        match = ts_re.match(filename)
+        if not match:
+            return -1
+        else:
+            return int(match.group(1))
+
+    backups_sorted = sorted(backups, key=ts_compare)
+    if not backups_sorted:
+        return None
+    return os.path.join(dirname, backups_sorted[-1])
+
+
+def _do_migrate(index: Dict[str, str]) -> None:
+    base = infer_config_base_dir()
+    new_index = generate_config_index(_get_environ_overrides(), base)
+    moves = (
+        (
+            "/data/user_storage/opentrons_data/opentrons.db",
+            new_index["labware_database_file"],
+        ),
+        (
+            _find_most_recent_backup(index.get("robotSettingsFile")),
+            new_index["robot_settings_file"],
+        ),
+        (index.get("deckCalibrationFile"), new_index["deck_calibration_file"]),
+        (index.get("featureFlagFile"), new_index["feature_flags_file"]),
+    )
+    sys.stdout.write(f"config migration: new base {base}\n")
+    for old, new in moves:
+        if not old:
+            continue
+        old_path = Path(old)
+        new_path = Path(new)
+        if old_path.exists() and not old_path.is_symlink():
+            sys.stdout.write(f"config migration: {old}->{new}\n")
+            if new_path.is_dir():
+                shutil.rmtree(new_path)
+            shutil.move(str(old_path), str(new_path))
+        else:
+            sys.stdout.write(f"config migration: not moving {old}:")
+            sys.stdout.write(f" exists={old_path.exists()}")
+            sys.stdout.write(f" symlink={old_path.is_symlink()}\n")
+
+    write_config(new_index, base)
+
+
+def _migrate_robot() -> None:
+    old_index = _legacy_index()
+    if old_index:
+        _do_migrate(old_index)
+        _erase_old_indices()
+
+
+def generate_config_index(
+    defaults: Dict[str, str], base_dir: Optional[Path] = None
+) -> Dict[str, Path]:
+    """
+    Determines where existing info can be found in the system, and creates a
+    corresponding data dict that can be written to index.json in the
+    baseDataDir.
+
+    The information in the files defined by the config index is information
+    required by the API itself and nothing else - labware definitions, feature
+    flags, robot configurations. It does not include configuration files that
+    relate to the rest of the system, such as network description file
+    definitions.
+
+    :param defaults: A dict of defaults to write, useful for specifying part
+                     (but not all) of the index succinctly. This is used both
+                     when loading a configuration file from disk and when
+                     generating a new one.
+    :param base_dir: If specified, a base path used if this function has to
+                     generate defaults. If not specified, falls back to
+                     :py:attr:`CONFIG_BASE_DIR`
+    :returns: The config object
+    """
+    base = Path(base_dir) if base_dir else infer_config_base_dir()
+
+    def parse_or_default(ce: ConfigElement, val: Optional[str]) -> Path:
+        if not val:
+            return base / ce.default
+        else:
+            return Path(val)
+
+    return {
+        ce.name: parse_or_default(ce, defaults.get(ce.name)) for ce in CONFIG_ELEMENTS
+    }
+
+
+def write_config(config_data: Dict[str, Path], path: Optional[Path] = None) -> None:
+    """Save the config file.
+
+    :param config_data: The index to save
+    :param base_dir: The place to save the file. If ``None``,
+                     :py:meth:`infer_config_base_dir()` will be used
+
+    Only keys that are in the config elements will be saved.
+    """
+    path = Path(path) if path else infer_config_base_dir()
+    valid_names = [ce.name for ce in CONFIG_ELEMENTS]
+    try:
+        os.makedirs(path, exist_ok=True)
+        with (path / _CONFIG_FILENAME).open("w") as base_f:
+            json.dump(
+                {k: str(v) for k, v in config_data.items() if k in valid_names},
+                base_f,
+                indent=2,
+            )
+    except OSError as e:
+        sys.stderr.write(
+            "Config index write to {} failed: {}\n".format(path / _CONFIG_FILENAME, e)
+        )
+
+
+def reload() -> None:
+    global CONFIG
+    CONFIG.clear()
+    CONFIG.update(load_and_migrate())
+
+
+def get_opentrons_path(path_name: str) -> Path:
+    # Helper function to look-up the path
+    # to specific configuration files for
+    # the Opentrons system
+    global CONFIG
+    return CONFIG[path_name]
+
+
+CONFIG = load_and_migrate()
+#: The currently loaded config. This should not change for the lifetime
+#: of the program. This is a dict much like os.environ() where the keys
+#: are config element names
+
+
+def get_tip_length_cal_path() -> Path:
+    return get_opentrons_path("tip_length_calibration_dir")
+
+
+def get_custom_tiprack_def_path() -> Path:
+    return get_opentrons_path("custom_tiprack_dir")
+
+
+def get_performance_metrics_data_dir() -> Path:
+    return get_opentrons_path("performance_metrics_dir")