add ExecutionCancelledError

api/src/opentrons/hardware_control/__init__.py

@@ -14,7 +14,6 @@
 from .pause_manager import PauseManager
 from .backends import Controller, Simulator
 from .types import CriticalPoint, ExecutionState
-from .errors import ExecutionCancelledError
 from .constants import DROP_TIP_RELEASE_DISTANCE
 from .thread_manager import ThreadManager
 from .execution_manager import ExecutionManager
@@ -52,7 +51,6 @@
     "ThreadManager",
     "ExecutionManager",
     "ExecutionState",
-    "ExecutionCancelledError",
     "ThreadedAsyncLock",
     "ThreadedAsyncForbidden",
     "ThreadManagedHardware",

api/src/opentrons/hardware_control/errors.py

@@ -1,5 +1,4 @@
 from typing import Optional
-from .types import OT3Mount
 from opentrons_shared_data.errors.exceptions import (
     MotionPlanningFailureError,
     InvalidInstrumentData,
@@ -20,10 +19,6 @@ def __init__(self, cp_name: str, instr: str, message: Optional[str] = None):
         )
 
 
-class ExecutionCancelledError(RuntimeError):
-    pass
-
-
 class InvalidPipetteName(InvalidInstrumentData):
     """Raised for an invalid pipette."""
 

api/src/opentrons/hardware_control/execution_manager.py

@@ -2,7 +2,7 @@
 import functools
 from typing import Set, TypeVar, Type, cast, Callable, Any, Awaitable, overload
 from .types import ExecutionState
-from .errors import ExecutionCancelledError
+from opentrons_shared_data.errors.exceptions import ExecutionCancelledError
 
 TaskContents = TypeVar("TaskContents")
 

api/src/opentrons/protocol_api/instrument_context.py

@@ -5,7 +5,7 @@
 from typing import Any, List, Optional, Sequence, Union, cast
 from opentrons.broker import Broker
 from opentrons.hardware_control.dev_types import PipetteDict
-from opentrons import types, hardware_control as hc
+from opentrons import types
 from opentrons.commands import commands as cmds
 
 from opentrons.commands import publisher

api/src/opentrons/protocols/execution/execute_python.py

@@ -9,8 +9,8 @@
 from opentrons.protocol_api import ProtocolContext
 from opentrons.protocols.execution.errors import ExceptionInProtocolError
 from opentrons.protocols.types import PythonProtocol, MalformedPythonProtocolError
-from opentrons.hardware_control import ExecutionCancelledError
 from opentrons.protocol_engine.errors import ProtocolCommandFailedError
+from opentrons_shared_data.errors.exceptions import ExecutionCancelledError
 
 MODULE_LOG = logging.getLogger(__name__)
 

api/tests/opentrons/hardware_control/test_execution_manager.py

@@ -3,8 +3,8 @@
 from opentrons.hardware_control import (
     ExecutionManager,
     ExecutionState,
-    ExecutionCancelledError,
 )
+from opentrons_shared_data.errors.exceptions import ExecutionCancelledError
 
 
 async def test_state_machine():

shared-data/errors/definitions/1/errors.json

@@ -106,6 +106,10 @@
       "detail": "Position Unknown",
       "category": "roboticsControlError"
     },
+    "2013": {
+      "detail": "Execution Cancelled",
+      "category": "roboticsControlError"
+    },
     "3000": {
       "detail": "A robotics interaction error occurred.",
       "category": "roboticsInteractionError"

shared-data/python/opentrons_shared_data/errors/codes.py

@@ -56,6 +56,7 @@ class ErrorCodes(Enum):
     INACCURATE_NON_CONTACT_SWEEP = _code_from_dict_entry("2010")
     MISALIGNED_GANTRY = _code_from_dict_entry("2011")
     POSITION_UNKNOWN = _code_from_dict_entry("2012")
+    EXECUTION_CANCELLED = _code_from_dict_entry("2013")
     ROBOTICS_INTERACTION_ERROR = _code_from_dict_entry("3000")
     LABWARE_DROPPED = _code_from_dict_entry("3001")
     LABWARE_NOT_PICKED_UP = _code_from_dict_entry("3002")

shared-data/python/opentrons_shared_data/errors/exceptions.py

@@ -541,6 +541,19 @@ def __init__(
         super().__init__(ErrorCodes.POSITION_UNKNOWN, message, detail, wrapping)
 
 
+class ExecutionCancelledError(RoboticsControlError):
+    """An error indicating that the robot's execution manager has been cancelled."""
+
+    def __init__(
+        self,
+        message: Optional[str] = None,
+        detail: Optional[Dict[str, Any]] = None,
+        wrapping: Optional[Sequence[EnumeratedError]] = None,
+    ) -> None:
+        """Build a ExecutionCancelledError."""
+        super().__init__(ErrorCodes.EXECUTION_CANCELLED, message, detail, wrapping)
+
+
 class LabwareDroppedError(RoboticsInteractionError):
     """An error indicating that the gripper dropped labware it was holding."""
 
@@ -596,7 +609,9 @@ def __init__(
         checked_detail["pipette_name"] = pipette_name
         checked_detail["mount"] = mount
         message = f"Cannot perform {action} without a tip attached."
-        super().__init__(ErrorCodes.UNEXPECTED_TIP_REMOVAL, message, checked_detail, wrapping)
+        super().__init__(
+            ErrorCodes.UNEXPECTED_TIP_REMOVAL, message, checked_detail, wrapping
+        )
 
 
 class UnexpectedTipAttachError(RoboticsInteractionError):
@@ -642,7 +657,9 @@ def __init__(
         wrapping: Optional[Sequence[EnumeratedError]] = None,
     ) -> None:
         """Build an PipetteOverpressureError."""
-        msg = f"The pressure sensor on the {mount} mount has exceeded operational limits."
+        msg = (
+            f"The pressure sensor on the {mount} mount has exceeded operational limits."
+        )
         super().__init__(ErrorCodes.PIPETTE_OVERPRESSURE, msg, detail, wrapping)
 
 
@@ -777,4 +794,6 @@ def __init__(
         wrapping: Optional[Sequence[EnumeratedError]] = None,
     ) -> None:
         """Build an UnsupportedHardwareCommand."""
-        super().__init__(ErrorCodes.NOT_SUPPORTED_ON_ROBOT_TYPE, message, detail, wrapping)
+        super().__init__(
+            ErrorCodes.NOT_SUPPORTED_ON_ROBOT_TYPE, message, detail, wrapping
+        )