feat(hardware): OT3 gripper info messages (#10027)

Opentrons · Apr 21, 2022 · 5724a19 · 5724a19
1 parent a0504c7
commit 5724a19
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Showing 5 changed files with 41 additions and 0 deletions.
diff --git a/hardware/opentrons_hardware/firmware_bindings/constants.py b/hardware/opentrons_hardware/firmware_bindings/constants.py
@@ -21,6 +21,8 @@ class NodeId(int, Enum):
     head_l = 0x51
     head_r = 0x52
     gripper = 0x20
+    gripper_z = 0x21
+    gripper_g = 0x22
     pipette_left_bootloader = pipette_left | 0xF
     pipette_right_bootloader = pipette_right | 0xF
     gantry_x_bootloader = gantry_x | 0xF
@@ -56,6 +58,8 @@ class MessageId(int, Enum):
     task_info_response = 0x305
     pipette_info_request = 0x306
     pipette_info_response = 0x307
+    gripper_info_request = 0x308
+    gripper_info_response = 0x309
 
     stop_request = 0x00
 

diff --git a/hardware/opentrons_hardware/firmware_bindings/messages/fields.py b/hardware/opentrons_hardware/firmware_bindings/messages/fields.py
@@ -116,6 +116,18 @@ class PipetteSerialField(utils.BinaryFieldBase[bytes]):
     FORMAT = f"{NUM_BYTES}s"
 
 
+class GripperSerialField(utils.BinaryFieldBase[bytes]):
+    """The serial number of a gripper.
+
+    This is sized to handle only the datecode part of the serial
+    number; the full field can be synthesized from this, the
+    model number, and the name.
+    """
+
+    NUM_BYTES = 12
+    FORMAT = f"{NUM_BYTES}s"
+
+
 class SensorOutputBindingField(utils.UInt8Field):
     """sensor type."""
 

diff --git a/hardware/opentrons_hardware/firmware_bindings/messages/message_definitions.py b/hardware/opentrons_hardware/firmware_bindings/messages/message_definitions.py
@@ -469,3 +469,17 @@ class BindSensorOutputResponse:  # noqa: D101
     message_id: Literal[
         MessageId.bind_sensor_output_response
     ] = MessageId.bind_sensor_output_response
+
+
+@dataclass
+class GripperInfoRequest(EmptyPayloadMessage):  # noqa: D101
+    message_id: Literal[MessageId.gripper_info_request] = MessageId.gripper_info_request
+
+
+@dataclass
+class GripperInfoResponse:  # noqa: D101
+    payload: payloads.GripperInfoResponsePayload
+    payload_type: Type[BinarySerializable] = payloads.GripperInfoResponsePayload
+    message_id: Literal[
+        MessageId.gripper_info_response
+    ] = MessageId.gripper_info_response
diff --git a/hardware/opentrons_hardware/firmware_bindings/messages/messages.py b/hardware/opentrons_hardware/firmware_bindings/messages/messages.py
@@ -68,6 +68,8 @@
     defs.HomeRequest,
     defs.PipetteInfoRequest,
     defs.PipetteInfoResponse,
+    defs.GripperInfoRequest,
+    defs.GripperInfoResponse,
     defs.BindSensorOutputRequest,
 ]
 

diff --git a/hardware/opentrons_hardware/firmware_bindings/messages/payloads.py b/hardware/opentrons_hardware/firmware_bindings/messages/payloads.py
@@ -14,6 +14,7 @@
     SensorTypeField,
     PipetteNameField,
     PipetteSerialField,
+    GripperSerialField,
     SensorOutputBindingField,
 )
 from .. import utils
@@ -388,3 +389,11 @@ class BrushedMotorPwmPayload(utils.BinarySerializable):
 
     freq: utils.UInt32Field
     duty_cycle: utils.UInt32Field
+
+
+@dataclass
+class GripperInfoResponsePayload(utils.BinarySerializable):
+    """A response carrying data about an attached gripper."""
+
+    gripper_model: utils.UInt16Field
+    gripper_serial: GripperSerialField