From 4f500440b5d785c9f7cc1698b15b758df9ced507 Mon Sep 17 00:00:00 2001
From: Alise Au <20424172+ahiuchingau@users.noreply.github.com>
Date: Tue, 9 Nov 2021 16:38:54 -0500
Subject: [PATCH] feat(can): add getMoveStatus request & response (#8688)

---
 .../drivers/can_bus/constants.py               |  2 ++
 .../can_bus/messages/message_definitions.py    | 18 ++++++++++++++++++
 .../drivers/can_bus/messages/messages.py       |  2 ++
 .../drivers/can_bus/messages/payloads.py       | 11 +++++++++++
 4 files changed, 33 insertions(+)

diff --git a/hardware/opentrons_hardware/drivers/can_bus/constants.py b/hardware/opentrons_hardware/drivers/can_bus/constants.py
index 280eca92289..fc212738ead 100644
--- a/hardware/opentrons_hardware/drivers/can_bus/constants.py
+++ b/hardware/opentrons_hardware/drivers/can_bus/constants.py
@@ -62,3 +62,5 @@ class MessageId(int, Enum):
     clear_move_group_request = 0x19
     move_group_completed = 0x1A
     move_completed = 0x13
+    get_move_status_request = 0x30
+    get_move_status_response = 0x31
diff --git a/hardware/opentrons_hardware/drivers/can_bus/messages/message_definitions.py b/hardware/opentrons_hardware/drivers/can_bus/messages/message_definitions.py
index c8c1305aabb..1c17701cc57 100644
--- a/hardware/opentrons_hardware/drivers/can_bus/messages/message_definitions.py
+++ b/hardware/opentrons_hardware/drivers/can_bus/messages/message_definitions.py
@@ -178,3 +178,21 @@ class MoveCompleted:  # noqa: D101
     payload: payloads.MoveCompletedPayload
     payload_type: Type[BinarySerializable] = payloads.MoveCompletedPayload
     message_id: Literal[MessageId.move_completed] = MessageId.move_completed
+
+
+@dataclass
+class GetMoveStatusRequest:  # noqa: D101
+    payload: payloads.EmptyPayload
+    payload_type: Type[BinarySerializable] = payloads.EmptyPayload
+    message_id: Literal[
+        MessageId.get_move_status_request
+    ] = MessageId.get_move_status_request
+
+
+@dataclass
+class GetMoveStatusResponse:  # noqa: D101
+    payload: payloads.GetMoveStatusResponsePayload
+    payload_type: Type[BinarySerializable] = payloads.GetMoveStatusResponsePayload
+    message_id: Literal[
+        MessageId.get_move_status_response
+    ] = MessageId.get_move_status_response
diff --git a/hardware/opentrons_hardware/drivers/can_bus/messages/messages.py b/hardware/opentrons_hardware/drivers/can_bus/messages/messages.py
index 7748beae6c3..49a2bb67ab0 100644
--- a/hardware/opentrons_hardware/drivers/can_bus/messages/messages.py
+++ b/hardware/opentrons_hardware/drivers/can_bus/messages/messages.py
@@ -31,6 +31,8 @@
     defs.ClearMoveGroupRequest,
     defs.MoveGroupCompleted,
     defs.MoveCompleted,
+    defs.GetMoveStatusRequest,
+    defs.GetMoveStatusResponse,
 ]
 
 
diff --git a/hardware/opentrons_hardware/drivers/can_bus/messages/payloads.py b/hardware/opentrons_hardware/drivers/can_bus/messages/payloads.py
index 66b6aface28..5fdcd006d29 100644
--- a/hardware/opentrons_hardware/drivers/can_bus/messages/payloads.py
+++ b/hardware/opentrons_hardware/drivers/can_bus/messages/payloads.py
@@ -109,3 +109,14 @@ class MoveCompletedPayload(MoveGroupRequestPayload):
     seq_id: utils.UInt8Field
     ack_id: utils.UInt8Field
     node_id: utils.UInt8Field
+
+
+@dataclass
+class GetMoveStatusResponsePayload(MoveGroupRequestPayload):
+    """Read status of current move being executed."""
+
+    seq_id: utils.UInt8Field
+    remaining_duration: utils.UInt64Field
+    current_position: utils.UInt64Field
+    node_id: utils.UInt8Field
+    padding: utils.UInt8Field