module server integrated into module control.

Opentrons · Oct 23, 2021 · 4b3e6b2 · 4b3e6b2
1 parent 1b792c5
commit 4b3e6b2
Show file tree

Hide file tree

Showing 4 changed files with 19 additions and 18 deletions.
diff --git a/api/src/opentrons/hardware_control/emulation/module_server/helpers.py b/api/src/opentrons/hardware_control/emulation/module_server/helpers.py
@@ -5,13 +5,25 @@
 from opentrons.hardware_control.emulation.module_server.client import ModuleServerClient
 from opentrons.hardware_control.emulation.module_server.models import Message
 from opentrons.hardware_control.emulation.module_server.server import log
+from opentrons.hardware_control.emulation.settings import Settings
 from opentrons.hardware_control.emulation.types import ModuleType
 from opentrons.hardware_control.modules import ModuleAtPort
 
 NotifyMethod = Callable[[List[ModuleAtPort], List[ModuleAtPort]], Awaitable[None]]
 """Signature of method to be notified of new and removed modules."""
 
 
+async def listen_module_connection(callback: NotifyMethod) -> None:
+    """Listen for module emulator connections."""
+    settings = Settings()
+    try:
+        client = await ModuleServerClient.connect(host=settings.module_server.host, port=settings.module_server.port, interval_seconds=1.0)
+        listener = ModuleListener(client=client, notify_method=callback)
+        await listener.run()
+    except IOError:
+        log.exception("Failed to connect to module server.")
+
+
 class ModuleListener:
     """Provide a callback for listening for new and removed module connections."""
 

diff --git a/api/src/opentrons/hardware_control/emulation/proxy.py b/api/src/opentrons/hardware_control/emulation/proxy.py
@@ -115,7 +115,7 @@ async def _handle_server_connection(
         self._cons.append(connection)
         self._event_listener.on_server_connected(
             server_type=self._name,
-            client_uri=f"{socket.gethostname()}:{self._settings.driver_port}",
+            client_uri=f"socket://{socket.gethostname()}:{self._settings.driver_port}",
             identifier=connection.identifier,
         )
 

diff --git a/api/src/opentrons/hardware_control/emulation/types.py b/api/src/opentrons/hardware_control/emulation/types.py
@@ -4,7 +4,7 @@
 class ModuleType(str, Enum):
     """Module type enumeration."""
 
-    Magnetic = "magnetic"
-    Temperature = "temperature"
+    Magnetic = "magdeck"
+    Temperature = "tempdeck"
     Thermocycler = "thermocycler"
     Heatershaker = "heatershaker"
diff --git a/api/src/opentrons/hardware_control/module_control.py b/api/src/opentrons/hardware_control/module_control.py
@@ -8,6 +8,8 @@
 
 from opentrons.config import IS_ROBOT, IS_LINUX
 from opentrons.drivers.rpi_drivers import types, usb, usb_simulator
+from opentrons.hardware_control.emulation.module_server.helpers import \
+    listen_module_connection
 from opentrons.hardware_control.modules import ModuleAtPort
 
 from .types import AionotifyEvent, BoardRevision
@@ -41,6 +43,8 @@ async def build(
         mc_instance = cls(api_instance, board_revision)
         if not api_instance.is_simulator:
             await mc_instance.register_modules(mc_instance.scan())
+            api_instance.loop.create_task(listen_module_connection(mc_instance.register_modules))
+
         return mc_instance
 
     @property
@@ -184,21 +188,6 @@ def scan(self) -> List[modules.ModuleAtPort]:
             if module_at_port:
                 discovered_modules.append(module_at_port)
 
-        # Check for emulator environment variables
-        emulator_uri = os.environ.get("OT_THERMOCYCLER_EMULATOR_URI")
-        if emulator_uri:
-            discovered_modules.append(
-                ModuleAtPort(port=emulator_uri, name="thermocycler")
-            )
-
-        emulator_uri = os.environ.get("OT_TEMPERATURE_EMULATOR_URI")
-        if emulator_uri:
-            discovered_modules.append(ModuleAtPort(port=emulator_uri, name="tempdeck"))
-
-        emulator_uri = os.environ.get("OT_MAGNETIC_EMULATOR_URI")
-        if emulator_uri:
-            discovered_modules.append(ModuleAtPort(port=emulator_uri, name="magdeck"))
-
         log.debug("Discovered modules: {}".format(discovered_modules))
         return discovered_modules