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feat(api): Add modules api to hardware_control
Closes #2237
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,88 @@ | ||
| import asyncio | ||
| import logging | ||
| import os | ||
| import re | ||
| from typing import List, Optional, Tuple | ||
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| from .mod_abc import AbstractModule | ||
| # Must import tempdeck and magdeck (and other modules going forward) so they | ||
| # actually create the subclasses | ||
| from . import update, tempdeck, magdeck # noqa(W0611) | ||
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| log = logging.getLogger(__name__) | ||
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| class UnsupportedModuleError(Exception): | ||
| pass | ||
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| class AbsentModuleError(Exception): | ||
| pass | ||
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| # mypy isn’t quite expressive enough to handle what we’re doing here, which | ||
| # is get all the class objects that are subclasses of an abstract module | ||
| # (strike 1) and call a classmethod on them (strike 2) and actually store | ||
| # the class objects (strike 3). So, type: ignore | ||
| MODULE_TYPES = {cls.name(): cls | ||
| for cls in AbstractModule.__subclasses__()} # type: ignore | ||
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| def build(port: str, which: str, simulate: bool) -> AbstractModule: | ||
| return MODULE_TYPES[which].build(port, simulate) | ||
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| def discover() -> List[Tuple[str, str]]: | ||
| """ Scan for connected modules and instantiate handler classes | ||
| """ | ||
| if os.environ.get('RUNNING_ON_PI') and os.path.isdir('/dev/modules'): | ||
| devices = os.listdir('/dev/modules') | ||
| else: | ||
| devices = [] | ||
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| discovered_modules = [] | ||
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| module_port_regex = re.compile('|'.join(MODULE_TYPES.keys()), re.I) | ||
| for port in devices: | ||
| match = module_port_regex.search(port) | ||
| if match: | ||
| name = match.group().lower() | ||
| if name not in MODULE_TYPES: | ||
| log.warning("Unexpected module connected: {} on {}" | ||
| .format(name, port)) | ||
| continue | ||
| absolute_port = '/dev/modules/{}'.format(port) | ||
| discovered_modules.append((absolute_port, name)) | ||
| log.info('Discovered modules: {}'.format(discovered_modules)) | ||
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| return discovered_modules | ||
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| class UpdateError(RuntimeError): | ||
| def __init__(self, msg): | ||
| self.msg = msg | ||
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| async def update_firmware( | ||
| module: AbstractModule, | ||
| firmware_file: str, | ||
| loop: Optional[asyncio.AbstractEventLoop]) -> AbstractModule: | ||
| """ Update a module. | ||
| If the update succeeds, an Module instance will be returned. | ||
| Otherwise, raises an UpdateError with the reason for the failure. | ||
| """ | ||
| simulated = module.is_simulated | ||
| cls = type(module) | ||
| old_port = module.port | ||
| flash_port = await module.prep_for_update() | ||
| del module | ||
| after_port, results = await update.update_firmware(flash_port, | ||
| firmware_file, | ||
| loop) | ||
| await asyncio.sleep(1.0) | ||
| new_port = after_port or old_port | ||
| if not results[0]: | ||
| raise UpdateError(results[1]) | ||
| return cls.build(new_port, simulated) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,137 @@ | ||
| from opentrons.drivers.mag_deck import MagDeck as MagDeckDriver | ||
| from . import update, mod_abc | ||
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| LABWARE_ENGAGE_HEIGHT = {'biorad-hardshell-96-PCR': 18} # mm | ||
| MAX_ENGAGE_HEIGHT = 45 # mm from home position | ||
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| class MissingDevicePortError(Exception): | ||
| pass | ||
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| class SimulatingDriver: | ||
| def __init__(self): | ||
| self._port = None | ||
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| def probe_plate(self): | ||
| pass | ||
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| def home(self): | ||
| pass | ||
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| def move(self, location): | ||
| pass | ||
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| def get_device_info(self): | ||
| return {'serial': 'dummySerial', | ||
| 'model': 'dummyModel', | ||
| 'version': 'dummyVersion'} | ||
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| def connect(self, port): | ||
| pass | ||
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| def disconnect(self): | ||
| pass | ||
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| def enter_programming_mode(self): | ||
| pass | ||
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| class MagDeck(mod_abc.AbstractModule): | ||
| """ | ||
| Under development. API subject to change | ||
| """ | ||
| @classmethod | ||
| def build(cls, port, simulating=False): | ||
| mod = cls(port, simulating) | ||
| mod._connect() | ||
| return mod | ||
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| @classmethod | ||
| def name(cls) -> str: | ||
| return 'magdeck' | ||
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| def __init__(self, port, simulating): | ||
| self._engaged = False | ||
| self._port = port | ||
| if simulating: | ||
| self._driver = SimulatingDriver() | ||
| else: | ||
| self._driver = MagDeckDriver() | ||
| self._device_info = None | ||
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| def calibrate(self): | ||
| """ | ||
| Calibration involves probing for top plate to get the plate height | ||
| """ | ||
| self._driver.probe_plate() | ||
| # return if successful or not? | ||
| self._engaged = False | ||
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| def engage(self, height): | ||
| """ | ||
| Move the magnet to a specific height, in mm from home position | ||
| """ | ||
| if height > MAX_ENGAGE_HEIGHT or height < 0: | ||
| raise ValueError('Invalid engage height. Should be 0 to {}'.format( | ||
| MAX_ENGAGE_HEIGHT)) | ||
| self._driver.move(height) | ||
| self._engaged = True | ||
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| def disengage(self): | ||
| """ | ||
| Home the magnet | ||
| """ | ||
| self._driver.home() | ||
| self._engaged = False | ||
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| @property | ||
| def device_info(self): | ||
| """ | ||
| Returns a dict: | ||
| { 'serial': 'abc123', 'model': '8675309', 'version': '9001' } | ||
| """ | ||
| return self._device_info | ||
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| @property | ||
| def status(self): | ||
| return 'engaged' if self._engaged else 'disengaged' | ||
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| @property | ||
| def live_data(self): | ||
| return { | ||
| 'status': self.status, | ||
| 'data': {} | ||
| } | ||
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| @property | ||
| def port(self): | ||
| return self._port | ||
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| @property | ||
| def is_simulated(self): | ||
| return isinstance(self._driver, SimulatingDriver) | ||
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| # Internal Methods | ||
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| def _connect(self): | ||
| """ | ||
| Connect to the serial port | ||
| """ | ||
| self._driver.connect(self._port) | ||
| self._device_info = self._driver.get_device_info() | ||
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| def _disconnect(self): | ||
| """ | ||
| Disconnect from the serial port | ||
| """ | ||
| if self._driver: | ||
| self._driver.disconnect() | ||
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| def __del__(self): | ||
| self._disconnect() | ||
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| async def prep_for_update(self) -> str: | ||
| new_port = await update.enter_bootloader(self._driver, | ||
| self.device_info['model']) | ||
| return new_port or self.port |
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