feat(hardware): add CAN messages to control the Hepa/UV filter. (#14452)

hardware/opentrons_hardware/firmware_bindings/constants.py

@@ -250,6 +250,13 @@ class MessageId(int, Enum):
     peripheral_status_response = 0x8D
     baseline_sensor_response = 0x8E
 
+    set_hepa_fan_state_request = 0x90
+    get_hepa_fan_state_request = 0x91
+    get_hepa_fan_state_response = 0x92
+    set_hepa_uv_state_request = 0x93
+    get_hepa_uv_state_request = 0x94
+    get_hepa_uv_state_response = 0x95
+
 
 @unique
 class ErrorSeverity(int, Enum):

hardware/opentrons_hardware/firmware_bindings/messages/message_definitions.py

@@ -907,3 +907,73 @@ class HepaUVInfoResponse(BaseMessage):  # noqa: D101
         payloads.HepaUVInfoResponsePayload
     ] = payloads.HepaUVInfoResponsePayload
     message_id: Literal[MessageId.hepauv_info_response] = MessageId.hepauv_info_response
+
+
+@dataclass
+class SetHepaFanStateRequest(BaseMessage):
+    """Request to set the state and duty cycle of the hepa fan."""
+
+    payload: payloads.SetHepaFanStateRequestPayload
+    payload_type: Type[
+        payloads.SetHepaFanStateRequestPayload
+    ] = payloads.SetHepaFanStateRequestPayload
+    message_id: Literal[
+        MessageId.set_hepa_fan_state_request
+    ] = MessageId.set_hepa_fan_state_request
+
+
+@dataclass
+class GetHepaFanStateRequest(EmptyPayloadMessage):
+    """Request the Hepa/UV to send the state and duty cycle of the fan."""
+
+    message_id: Literal[
+        MessageId.get_hepa_fan_state_request
+    ] = MessageId.get_hepa_fan_state_request
+
+
+@dataclass
+class GetHepaFanStateResponse(BaseMessage):
+    """Hepa/UV response with the state and duty cycle of the fan."""
+
+    payload: payloads.GetHepaFanStatePayloadResponse
+    payload_type: Type[
+        payloads.GetHepaFanStatePayloadResponse
+    ] = payloads.GetHepaFanStatePayloadResponse
+    message_id: Literal[
+        MessageId.get_hepa_fan_state_response
+    ] = MessageId.get_hepa_fan_state_response
+
+
+@dataclass
+class SetHepaUVStateRequest(BaseMessage):
+    """Sets the state and timeout in seconds the UV light should stay on."""
+
+    payload: payloads.SetHepaUVStateRequestPayload
+    payload_type: Type[
+        payloads.SetHepaUVStateRequestPayload
+    ] = payloads.SetHepaUVStateRequestPayload
+    message_id: Literal[
+        MessageId.set_hepa_uv_state_request
+    ] = MessageId.set_hepa_uv_state_request
+
+
+@dataclass
+class GetHepaUVStateRequest(EmptyPayloadMessage):
+    """Request the Hepa/UV send the state and timeout in seconds for the UV light."""
+
+    message_id: Literal[
+        MessageId.get_hepa_uv_state_request
+    ] = MessageId.get_hepa_uv_state_request
+
+
+@dataclass
+class GetHepaUVStateResponse(BaseMessage):
+    """Response from the Hepa/UV state and timeout in seconds for the UV light."""
+
+    payload: payloads.GetHepaUVStatePayloadResponse
+    payload_type: Type[
+        payloads.GetHepaUVStatePayloadResponse
+    ] = payloads.GetHepaUVStatePayloadResponse
+    message_id: Literal[
+        MessageId.get_hepa_uv_state_response
+    ] = MessageId.get_hepa_uv_state_response

hardware/opentrons_hardware/firmware_bindings/messages/messages.py

@@ -100,6 +100,12 @@
     defs.SetGripperJawHoldoffRequest,
     defs.GripperJawHoldoffRequest,
     defs.GripperJawHoldoffResponse,
+    defs.SetHepaFanStateRequest,
+    defs.GetHepaFanStateRequest,
+    defs.GetHepaFanStateResponse,
+    defs.SetHepaUVStateRequest,
+    defs.GetHepaUVStateRequest,
+    defs.GetHepaUVStateResponse,
 ]
 
 

hardware/opentrons_hardware/firmware_bindings/messages/payloads.py

@@ -631,7 +631,40 @@ def build(cls, data: bytes) -> "GetMotorUsageResponsePayload":
 
 @dataclass(eq=False)
 class HepaUVInfoResponsePayload(EmptyPayload):
-    """A response carrying data about an attached gripper."""
+    """A response carrying data about an attached hepa uv."""
 
     model: utils.UInt16Field
     serial: SerialDataCodeField
+
+
+@dataclass(eq=False)
+class SetHepaFanStateRequestPayload(EmptyPayload):
+    """A request to set the state and pwm of a the hepa fan."""
+
+    duty_cycle: utils.UInt32Field
+    fan_on: utils.Int8Field
+
+
+@dataclass(eq=False)
+class GetHepaFanStatePayloadResponse(EmptyPayload):
+    """A response with the state and pwm of the fan."""
+
+    duty_cycle: utils.UInt32Field
+    fan_on: utils.UInt8Field
+
+
+@dataclass(eq=False)
+class SetHepaUVStateRequestPayload(EmptyPayload):
+    """A request to set the state and timeout in seconds of the hepa uv light."""
+
+    timeout_s: utils.UInt32Field
+    uv_light_on: utils.UInt8Field
+
+
+@dataclass(eq=False)
+class GetHepaUVStatePayloadResponse(EmptyPayload):
+    """A response with the state and timeout in seconds of the hepa uv light."""
+
+    timeout_s: utils.UInt32Field
+    uv_light_on: utils.UInt8Field
+    remaining_time_s: utils.UInt32Field