Modifed get_robot_type to be parameterized on some singleton class …

…types for robot models

api/src/opentrons/hardware_control/api.py

@@ -28,7 +28,7 @@
     pipette_load_name_conversions as pipette_load_name,
 )
 from opentrons_shared_data.pipette.dev_types import PipetteName
-from opentrons_shared_data.robot.dev_types import RobotType, RobotTypeEnum
+from opentrons_shared_data.robot.dev_types import RobotType
 from opentrons import types as top_types
 from opentrons.config import robot_configs
 from opentrons.config.types import RobotConfig, OT3Config
@@ -302,9 +302,6 @@ async def build_hardware_simulator(
     def __repr__(self) -> str:
         return "<{} using backend {}>".format(type(self), type(self._backend))
 
-    def get_robot_type(self) -> RobotTypeEnum:
-        return RobotTypeEnum.OT2
-
     async def get_serial_number(self) -> Optional[str]:
         return await self._backend.get_serial_number()
 

api/src/opentrons/hardware_control/ot3api.py

@@ -33,7 +33,7 @@
 from opentrons_shared_data.pipette import (
     pipette_load_name_conversions as pipette_load_name,
 )
-from opentrons_shared_data.robot.dev_types import RobotType, RobotTypeEnum
+from opentrons_shared_data.robot.dev_types import RobotType
 from opentrons_shared_data.errors.exceptions import (
     StallOrCollisionDetectedError,
 )
@@ -291,9 +291,6 @@ async def set_gantry_load(self, gantry_load: GantryLoad) -> None:
         )
         await self._backend.update_to_default_current_settings(gantry_load)
 
-    def get_robot_type(self) -> RobotTypeEnum:
-        return RobotTypeEnum.FLEX
-
     async def get_serial_number(self) -> Optional[str]:
         return await self._backend.get_serial_number()
 

api/src/opentrons/hardware_control/protocols/__init__.py

@@ -1,5 +1,5 @@
 """Typing protocols describing a hardware controller."""
-from typing_extensions import Protocol
+from typing_extensions import Protocol, Type
 
 from .module_provider import ModuleProvider
 from .hardware_manager import HardwareManager
@@ -19,7 +19,13 @@
 from .flex_calibratable import FlexCalibratable
 from .flex_instrument_configurer import FlexInstrumentConfigurer
 
-from .types import CalibrationType, MountArgType, ConfigType
+from .types import (
+    CalibrationType,
+    MountArgType,
+    ConfigType,
+    OT2RobotType,
+    FlexRobotType,
+)
 
 
 class HardwareControlInterface(
@@ -31,7 +37,7 @@ class HardwareControlInterface(
     AsyncioConfigurable,
     Stoppable,
     Simulatable,
-    Identifiable,
+    Identifiable[Type[OT2RobotType]],
     Protocol[CalibrationType, MountArgType, ConfigType],
 ):
     """A mypy protocol for a hardware controller.
@@ -48,14 +54,23 @@ class HardwareControlInterface(
     however, they can satisfy protocols.
     """
 
-    ...
+    def get_robot_type(self) -> Type[OT2RobotType]:
+        return OT2RobotType
 
 
 class FlexHardwareControlInterface(
-    HardwareControlInterface[CalibrationType, MountArgType, ConfigType],
+    ModuleProvider,
+    ExecutionControllable,
+    LiquidHandler[CalibrationType, MountArgType, ConfigType],
+    ChassisAccessoryManager,
+    HardwareManager,
+    AsyncioConfigurable,
+    Stoppable,
+    Simulatable,
     GripperController,
     FlexCalibratable,
     FlexInstrumentConfigurer[MountArgType],
+    Identifiable[Type[FlexRobotType]],
     Protocol[CalibrationType, MountArgType, ConfigType],
 ):
     """A mypy protocol for a hardware controller with Flex-specific extensions.
@@ -64,7 +79,8 @@ class FlexHardwareControlInterface(
     with some additional functionality and parameterization not supported on the OT-2.
     """
 
-    ...
+    def get_robot_type(self) -> Type[FlexRobotType]:
+        return FlexRobotType
 
 
 __all__ = [

api/src/opentrons/hardware_control/protocols/identifiable.py

@@ -1,11 +1,12 @@
 from typing_extensions import Protocol
-from opentrons_shared_data.robot.dev_types import RobotTypeEnum
 
+from .types import ProtocolRobotType
 
-class Identifiable(Protocol):
+
+class Identifiable(Protocol[ProtocolRobotType]):
     """Protocol specifying support for hardware identification."""
 
-    def get_robot_type(self) -> RobotTypeEnum:
+    def get_robot_type(self) -> ProtocolRobotType:
         """Return the enumerated robot type that this API controls.
 
         When a caller needs to determine whether an API function is expected

api/src/opentrons/hardware_control/protocols/types.py

@@ -1,15 +1,27 @@
 """Types that are common across protocols."""
 
-from typing import TypeVar, Union
+from typing import TypeVar, Union, Type
 from opentrons.hardware_control.types import OT3Mount
 from opentrons.types import Mount
 from opentrons.config.types import RobotConfig, OT3Config
 
 
+class OT2RobotType:
+    pass
+
+
+class FlexRobotType:
+    pass
+
+
 CalibrationType = TypeVar("CalibrationType")
 
 MountArgType = TypeVar(
     "MountArgType", Mount, Union[OT3Mount, Mount], contravariant=True
 )
 
 ConfigType = TypeVar("ConfigType", RobotConfig, OT3Config)
+
+ProtocolRobotType = TypeVar(
+    "ProtocolRobotType", Type[FlexRobotType], Type[OT2RobotType], covariant=True
+)

api/src/opentrons/protocol_engine/resources/ot3_validation.py

@@ -3,7 +3,7 @@
 from typing import Optional, TYPE_CHECKING
 
 from opentrons.protocol_engine.errors import HardwareNotSupportedError
-from opentrons_shared_data.robot.dev_types import RobotTypeEnum
+from opentrons.hardware_control.protocols.types import FlexRobotType
 
 if TYPE_CHECKING:
     from opentrons.hardware_control import HardwareControlAPI, OT3HardwareControlAPI
@@ -14,9 +14,9 @@ def ensure_ot3_hardware(
     error_msg: Optional[str] = None,
 ) -> OT3HardwareControlAPI:
     """Validate that the HardwareControlAPI is of OT-3 instance."""
-    if hardware_api.get_robot_type() != RobotTypeEnum.FLEX:
-        raise HardwareNotSupportedError(
-            error_msg or "This command is supported by OT-3 only."
-        )
+    if hardware_api.get_robot_type() == FlexRobotType:
+        return hardware_api  # type: ignore
 
-    return hardware_api  # type: ignore
+    raise HardwareNotSupportedError(
+        error_msg or "This command is supported by OT-3 only."
+    )

api/tests/opentrons/protocol_engine/conftest.py

@@ -20,7 +20,7 @@
 
 from opentrons.hardware_control import HardwareControlAPI, OT2HardwareControlAPI
 from opentrons.hardware_control.api import API
-from opentrons_shared_data.robot.dev_types import RobotTypeEnum
+from opentrons.hardware_control.protocols.types import FlexRobotType, OT2RobotType
 
 if TYPE_CHECKING:
     from opentrons.hardware_control.ot3api import OT3API
@@ -35,7 +35,9 @@ def hardware_api(decoy: Decoy) -> HardwareControlAPI:
 @pytest.fixture
 def ot2_hardware_api(decoy: Decoy) -> API:
     """Get a mocked out OT-2 hardware API."""
-    return decoy.mock(cls=API)
+    mock = decoy.mock(cls=API)
+    decoy.when(mock.get_robot_type()).then_return(OT2RobotType)
+    return mock
 
 
 @pytest.mark.ot3_only
@@ -46,7 +48,7 @@ def ot3_hardware_api(decoy: Decoy) -> OT3API:
         from opentrons.hardware_control.ot3api import OT3API
 
         mock = decoy.mock(cls=OT3API)
-        decoy.when(mock.get_robot_type()).then_return(RobotTypeEnum.FLEX)
+        decoy.when(mock.get_robot_type()).then_return(FlexRobotType)
         return mock
     except ImportError:
         # TODO (tz, 9-23-22) Figure out a better way to use this fixture with OT-3 api only.

api/tests/opentrons/protocol_engine/resources/test_ot3_validation.py

@@ -6,7 +6,7 @@
 from opentrons.protocol_engine.errors.exceptions import HardwareNotSupportedError
 
 from opentrons.hardware_control.api import API
-from opentrons_shared_data.robot.dev_types import RobotTypeEnum
+from opentrons.hardware_control.protocols.types import FlexRobotType, OT2RobotType
 
 
 @pytest.mark.ot3_only
@@ -17,7 +17,7 @@ def test_ensure_ot3_hardware(decoy: Decoy) -> None:
         from opentrons.hardware_control.ot3api import OT3API
 
         ot_3_hardware_api = decoy.mock(cls=OT3API)
-        decoy.when(ot_3_hardware_api.get_robot_type()).then_return(RobotTypeEnum.FLEX)
+        decoy.when(ot_3_hardware_api.get_robot_type()).then_return(FlexRobotType)
         result = ensure_ot3_hardware(
             ot_3_hardware_api,
         )
@@ -30,7 +30,7 @@ def test_ensure_ot3_hardware(decoy: Decoy) -> None:
 def test_ensure_ot3_hardware_raises_error(decoy: Decoy) -> None:
     """Should raise a HardwareNotSupportedError exception."""
     ot_2_hardware_api = decoy.mock(cls=API)
-    decoy.when(ot_2_hardware_api.get_robot_type()).then_return(RobotTypeEnum.OT2)
+    decoy.when(ot_2_hardware_api.get_robot_type()).then_return(OT2RobotType)
     with pytest.raises(HardwareNotSupportedError):
         ensure_ot3_hardware(
             ot_2_hardware_api,

robot-server/tests/instruments/test_router.py

@@ -26,7 +26,7 @@
     GripperModel,
 )
 from opentrons_shared_data.pipette.dev_types import PipetteName, PipetteModel
-from opentrons_shared_data.robot.dev_types import RobotTypeEnum
+from opentrons.hardware_control.protocols.types import FlexRobotType, OT2RobotType
 
 from robot_server.instruments.instrument_models import (
     Gripper,
@@ -52,7 +52,7 @@
 def ot2_hardware_api(decoy: Decoy) -> HardwareControlAPI:
     """Get a mock hardware control API."""
     mock = decoy.mock(cls=API)
-    decoy.when(mock.get_robot_type()).then_return(RobotTypeEnum.OT2)
+    decoy.when(mock.get_robot_type()).then_return(OT2RobotType)
     return mock
 
 
@@ -81,7 +81,7 @@ def ot3_hardware_api(decoy: Decoy) -> HardwareControlAPI:
         from opentrons.hardware_control.ot3api import OT3API
 
         mock = decoy.mock(cls=OT3API)
-        decoy.when(mock.get_robot_type()).then_return(RobotTypeEnum.FLEX)
+        decoy.when(mock.get_robot_type()).then_return(FlexRobotType)
         return mock
     except ImportError:
         return None  # type: ignore[return-value]