opentrons 8.6.0__py3-none-any.whl

opentrons/protocol_engine/clients/sync_client.py

@@ -0,0 +1,174 @@
+"""Control a `ProtocolEngine` without async/await."""
+
+from typing import cast, Any, Optional, overload
+
+from opentrons_shared_data.labware.types import LabwareUri
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
+
+from .. import commands
+from ..commands.command_unions import CREATE_TYPES_BY_PARAMS_TYPE
+from ..state.state import StateView
+from ..types import (
+    Liquid,
+    LabwareOffsetCreate,
+)
+from .transports import ChildThreadTransport
+
+
+class SyncClient:
+    """Control a `ProtocolEngine` without async/await.
+
+    Normally, `ProtocolEngine` provides an async/await interface, like this:
+
+    ```
+    aspirate_result = await protocol_engine.add_and_execute_command(aspirate_command)
+    dispense_result = await protocol_engine.add_and_execute_command(dispense_command)
+    ```
+
+    But we sometimes want to control it with plain old non-async blocking method calls.
+    To accomplish that, this class adapts `ProtocolEngine`'s interface into this:
+
+    ```
+    aspirate_result = sync_client.aspirate(...)
+    dispense_result = sync_client.dispense(...)
+    ```
+
+    This is intended to help implement the Python Protocol API, which is all non-async.
+    """
+
+    # todo(mm, 2024-06-13): The separation of responsibilities between this class
+    # and ChildThreadTransport has grown to be pretty fuzzy. Clarify or merge the two
+    # classes.
+
+    def __init__(self, transport: ChildThreadTransport) -> None:
+        """Initialize the `SyncClient`.
+
+        Params:
+            transport: The interface for the new `SyncClient` to use to
+                communicate with the `ProtocolEngine`.
+        """
+        self._transport = transport
+
+    def execute_command(self, params: commands.CommandParams) -> None:
+        """Execute a ProtocolEngine command, including error recovery.
+
+        See `ChildThreadTransport.execute_command_wait_for_recovery()` for exact
+        behavior.
+        """
+        CreateType = CREATE_TYPES_BY_PARAMS_TYPE[type(params)]
+        create_request = CreateType(params=cast(Any, params))
+        self._transport.execute_command_wait_for_recovery(create_request)
+
+    @overload
+    def execute_command_without_recovery(
+        self, params: commands.LoadLabwareParams
+    ) -> commands.LoadLabwareResult:
+        pass
+
+    @overload
+    def execute_command_without_recovery(
+        self, params: commands.LoadModuleParams
+    ) -> commands.LoadModuleResult:
+        pass
+
+    @overload
+    def execute_command_without_recovery(
+        self, params: commands.LoadPipetteParams
+    ) -> commands.LoadPipetteResult:
+        pass
+
+    @overload
+    def execute_command_without_recovery(
+        self, params: commands.LoadLidStackParams
+    ) -> commands.LoadLidStackResult:
+        pass
+
+    @overload
+    def execute_command_without_recovery(
+        self, params: commands.LoadLidParams
+    ) -> commands.LoadLidResult:
+        pass
+
+    @overload
+    def execute_command_without_recovery(
+        self, params: commands.LiquidProbeParams
+    ) -> commands.LiquidProbeResult:
+        pass
+
+    @overload
+    def execute_command_without_recovery(
+        self, params: commands.TryLiquidProbeParams
+    ) -> commands.TryLiquidProbeResult:
+        pass
+
+    @overload
+    def execute_command_without_recovery(
+        self, params: commands.LoadLiquidClassParams
+    ) -> commands.LoadLiquidClassResult:
+        pass
+
+    @overload
+    def execute_command_without_recovery(
+        self, params: commands.GetNextTipParams
+    ) -> commands.GetNextTipResult:
+        pass
+
+    def execute_command_without_recovery(
+        self, params: commands.CommandParams
+    ) -> commands.CommandResult:
+        """Execute a ProtocolEngine command.
+
+        See `ChildThreadTransport.execute_command()` for exact
+        behavior.
+        """
+        CreateType = CREATE_TYPES_BY_PARAMS_TYPE[type(params)]
+        create_request = CreateType(params=cast(Any, params))
+        return self._transport.execute_command(create_request)
+
+    @property
+    def state(self) -> StateView:
+        """Get a view of the engine's state."""
+        return self._transport.state
+
+    def add_labware_definition(self, definition: LabwareDefinition) -> LabwareUri:
+        """Add a labware definition to the engine."""
+        return self._transport.call_method(
+            "add_labware_definition",
+            definition=definition,
+        )
+
+    def add_addressable_area(self, addressable_area_name: str) -> None:
+        """Add an addressable area to the engine's state."""
+        self._transport.call_method(
+            "add_addressable_area", addressable_area_name=addressable_area_name
+        )
+
+    def add_liquid(
+        self, name: str, color: Optional[str], description: Optional[str]
+    ) -> Liquid:
+        """Add a liquid to the engine."""
+        return self._transport.call_method("add_liquid", name=name, color=color, description=description)  # type: ignore[no-any-return]
+
+    def reset_tips(self, labware_id: str) -> None:
+        """Reset a labware's tip tracking state.."""
+        self._transport.call_method(
+            "reset_tips",
+            labware_id=labware_id,
+        )
+
+    def add_labware_offset(self, request: LabwareOffsetCreate) -> None:
+        """Add a labware offset."""
+        self._transport.call_method("add_labware_offset", request=request)
+
+    def set_pipette_movement_speed(
+        self, pipette_id: str, speed: Optional[float]
+    ) -> None:
+        """Set the speed of a pipette's X/Y/Z movements. Does not affect plunger speed.
+
+        None will use the hardware API's default.
+        """
+        self._transport.call_method(
+            "set_pipette_movement_speed",
+            pipette_id=pipette_id,
+            speed=speed,
+        )

opentrons/protocol_engine/clients/transports.py

@@ -0,0 +1,197 @@
+"""A helper for controlling a `ProtocolEngine` without async/await."""
+from asyncio import AbstractEventLoop, run_coroutine_threadsafe
+from typing import Any, Final, overload
+from typing_extensions import Literal
+
+from opentrons_shared_data.labware.types import LabwareUri
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
+
+
+from ..protocol_engine import ProtocolEngine
+from ..errors import ProtocolCommandFailedError
+from ..error_recovery_policy import ErrorRecoveryType
+from ..state.state import StateView
+from ..commands import Command, CommandCreate, CommandResult, CommandStatus
+
+
+class RunStoppedBeforeCommandError(RuntimeError):
+    """Raised if the ProtocolEngine was stopped before a command could start."""
+
+    def __init__(self, command: Command) -> None:
+        self._command = command
+        super().__init__(
+            f"The run was stopped"
+            f" before {command.commandType} command {command.id} could execute."
+        )
+
+
+class ChildThreadTransport:
+    """A helper for controlling a `ProtocolEngine` without async/await.
+
+    You shouldn't use this directly, except to construct it and then pass it to a `SyncClient`.
+
+    This class is responsible for doing the actual transformation from async `ProtocolEngine` calls
+    to non-async ones, and doing it in a thread-safe way.
+    """
+
+    def __init__(self, engine: ProtocolEngine, loop: AbstractEventLoop) -> None:
+        """Initialize the `ChildThreadTransport`.
+
+        Args:
+            engine: The `ProtocolEngine` instance that you want to interact with.
+                It must be running in a thread *other* than the one from which you
+                want to synchronously access it.
+            loop: The event loop that `engine` is running in (in the other thread).
+        """
+        # We might access these from different threads,
+        # so let's make them Final for (shallow) immutability.
+        self._engine: Final = engine
+        self._loop: Final = loop
+
+    @property
+    def state(self) -> StateView:
+        """Get a view of the Protocol Engine's state."""
+        return self._engine.state_view
+
+    def execute_command(self, request: CommandCreate) -> CommandResult:
+        """Execute a ProtocolEngine command.
+
+        This blocks until the command completes. If the command fails, this will always
+        raise the failure as an exception--even if ProtocolEngine deemed the failure
+        recoverable.
+
+        Args:
+            request: The ProtocolEngine command request
+
+        Returns:
+            The command's result data.
+
+        Raises:
+            ProtocolEngineError: If the command execution was not successful,
+                the specific error that caused the command to fail is raised.
+
+                If the run was stopped before the command could complete, that's
+                also signaled as this exception.
+        """
+        command = run_coroutine_threadsafe(
+            self._engine.add_and_execute_command(request=request),
+            loop=self._loop,
+        ).result()
+
+        # TODO: this needs to have an actual code
+        if command.error is not None:
+            error = command.error
+            raise ProtocolCommandFailedError(
+                original_error=error,
+                message=f"{error.errorType}: {error.detail}",
+            )
+
+        if command.result is None:
+            # This can happen with a certain pause timing:
+            #
+            # 1. The engine is paused.
+            # 2. The user's Python script calls this method to start a new command,
+            #    which remains `queued` because of the pause.
+            # 3. The engine is stopped. The returned command will be `queued`
+            #    and won't have a result.
+            raise RunStoppedBeforeCommandError(command)
+
+        return command.result
+
+    def execute_command_wait_for_recovery(self, request: CommandCreate) -> Command:
+        """Execute a ProtocolEngine command, including error recovery.
+
+        This blocks until the command completes. Additionally, if the command fails,
+        this will continue to block until its error recovery has been completed.
+
+        Args:
+            request: The ProtocolEngine command request.
+
+        Returns:
+            The command. If error recovery happened for it, the command will be
+            reported here as failed.
+
+        Raises:
+            ProtocolEngineError: If the command failed, *and* the failure was not
+                recovered from.
+
+                If the run was stopped before the command could complete, that's
+                also signalled as this exception.
+        """
+
+        async def run_in_pe_thread() -> Command:
+            command = await self._engine.add_and_execute_command_wait_for_recovery(
+                request=request
+            )
+
+            if command.error is not None:
+                error_recovery_type = (
+                    self._engine.state_view.commands.get_error_recovery_type(command.id)
+                )
+                error_should_fail_run = (
+                    error_recovery_type == ErrorRecoveryType.FAIL_RUN
+                )
+                if error_should_fail_run:
+                    error = command.error
+                    # TODO: this needs to have an actual code
+                    raise ProtocolCommandFailedError(
+                        original_error=error,
+                        message=f"{error.errorType}: {error.detail}",
+                    )
+
+            elif command.status == CommandStatus.QUEUED:
+                # This can happen with a certain pause timing:
+                #
+                # 1. The engine is paused.
+                # 2. The user's Python script calls this method to start a new command,
+                #    which remains `queued` because of the pause.
+                # 3. The engine is stopped. The returned command will be `queued`,
+                #    and won't have a result.
+                raise RunStoppedBeforeCommandError(command)
+
+            return command
+
+        command = run_coroutine_threadsafe(
+            run_in_pe_thread(),
+            loop=self._loop,
+        ).result()
+
+        return command
+
+    @overload
+    def call_method(
+        self,
+        method_name: Literal["add_labware_definition"],
+        *,
+        definition: LabwareDefinition,
+    ) -> LabwareUri:
+        ...
+
+    @overload
+    def call_method(
+        self,
+        method_name: Literal["reset_tips"],
+        *,
+        labware_id: str,
+    ) -> None:
+        ...
+
+    @overload
+    def call_method(
+        self,
+        method_name: str,
+        **kwargs: Any,
+    ) -> Any:
+        ...
+
+    def call_method(self, method_name: str, **kwargs: Any) -> Any:
+        """Execute a ProtocolEngine method, returning the result."""
+        return run_coroutine_threadsafe(
+            self._call_method(method_name, **kwargs),
+            loop=self._loop,
+        ).result()
+
+    async def _call_method(self, method_name: str, **kwargs: Any) -> Any:
+        method = getattr(self._engine, method_name)
+        assert callable(method), f"{method_name} is not a method of ProtocolEngine"
+        return method(**kwargs)