refactor(hardware): constants from firmware (#8995)

* chore(hardware): add firmware python module as dep

Pipenv can add git repo dependencies, so we can add the
opentrons_ot3_firmware repo here.

If you want to switch branches you can edit the pipfile (there's not
really a better way to do this).

This will become a problem if we ever want to depend on this module and
get its transitive dependencies because that stuff only reads setup.py,
but we don't really do that yet.

* chore(hardware): rely on constants from firmware

This lets us take a bunch of code out how nice

* add pushing to ot3

hardware/Makefile

@@ -100,6 +100,10 @@ format:
 dev:
 	echo "Nothing here yet"
 
+.PHONY: opentrons_ot3_firmware_dist
+opentrons_ot3_firmware_dist: Pipfile.lock
+	mkdir -p dist
+	$(python) ../scripts/bundle_installed_package.py opentrons_ot3_firmware dist
 
 .PHONY: push-no-restart
 push-no-restart: wheel
@@ -109,11 +113,11 @@ push-no-restart: wheel
 push: push-no-restart
 	$(call restart-service,$(host),$(br_ssh_key),$(ssh_opts),"jupyter-notebook opentrons-robot-server")
 
-
 .PHONY: push-no-restart-ot3
-push-no-restart-ot3: $(sdist_file)
-	echo $(sdist_file)
+push-no-restart-ot3: $(sdist_file) Pipfile.lock
+	echo $(sdist_file) $(wildcard dist/opentrons_ot3_firmware-*.tar.gz)
 	$(call push-python-sdist,$(host),,$(ssh_opts),$(sdist_file),/opt/opentrons-robot-server,"opentrons_hardware")
+	$(call push-python-sdist,$(host),,$(ssh_opts),$(wildcard dist/opentrons_ot3_firmware-*.tar.gz),/opt/opentrons-robot-server,"opentrons_ot3_firmware")
 
 .PHONY: push-ot3
 push-ot3: push-no-restart-ot3

hardware/Pipfile

@@ -7,6 +7,7 @@ name = "pypi"
 python-can = "==3.3.4"
 pyserial = "==3.5"
 typing-extensions = "==3.10.0.0"
+opentrons-ot3-firmware = {subdirectory = "python", git = "https://github.com/Opentrons/ot3-firmware.git", branch = "main"}
 
 [dev-packages]
 pytest = "==6.1.0"

hardware/opentrons_hardware/drivers/can_bus/__init__.py

@@ -1,13 +1,13 @@
 """Can bus drivers package."""
 
 from .driver import CanDriver
-from .message import CanMessage
-from .arbitration_id import (
+from .can_messenger import CanMessenger
+from opentrons_ot3_firmware.message import CanMessage
+from opentrons_ot3_firmware.arbitration_id import (
     ArbitrationId,
     ArbitrationIdParts,
 )
-from .constants import NodeId, FunctionCode, MessageId
-from .can_messenger import CanMessenger
+from opentrons_ot3_firmware.constants import NodeId, FunctionCode, MessageId
 
 
 __all__ = [

hardware/opentrons_hardware/drivers/can_bus/can_messenger.py

@@ -5,19 +5,22 @@
 
 from opentrons_hardware.drivers.can_bus import (
     CanDriver,
-    NodeId,
+
+)
+from opentrons_ot3_firmware.arbitration_id import (
     ArbitrationId,
     ArbitrationIdParts,
-    CanMessage,
-    MessageId,
+
 )
+from opentrons_ot3_firmware.message import CanMessage
+from opentrons_ot3_firmware.constants import NodeId, MessageId
 from abc import ABC, abstractmethod
 
-from opentrons_hardware.drivers.can_bus.messages.messages import (
+from opentrons_ot3_firmware.messages.messages import (
     MessageDefinition,
     get_definition,
 )
-from opentrons_hardware.utils import BinarySerializableException
+from opentrons_ot3_firmware.utils import BinarySerializableException
 
 log = logging.getLogger(__name__)
 

hardware/opentrons_hardware/drivers/can_bus/driver.py

@@ -7,8 +7,8 @@
 
 from can import Notifier, Bus, AsyncBufferedReader, Message, util
 
-from .arbitration_id import ArbitrationId
-from .message import CanMessage
+from opentrons_ot3_firmware.arbitration_id import ArbitrationId
+from opentrons_ot3_firmware.message import CanMessage
 from .errors import ErrorFrameCanError
 
 log = logging.getLogger(__name__)