From 6ae4a1ea86c04086a08c0e368c524c6e0f8daea8 Mon Sep 17 00:00:00 2001 From: amit lissack Date: Fri, 22 Oct 2021 11:27:08 -0400 Subject: [PATCH] utils --- .../emulation/module_server.py | 4 ++ .../emulation/run_emulator.py | 2 +- .../g_code_parsing/g_code_engine.py | 56 ++++++++----------- 3 files changed, 27 insertions(+), 35 deletions(-) diff --git a/api/src/opentrons/hardware_control/emulation/module_server.py b/api/src/opentrons/hardware_control/emulation/module_server.py index a7aa7b5e87cb..2a09a21afd2f 100644 --- a/api/src/opentrons/hardware_control/emulation/module_server.py +++ b/api/src/opentrons/hardware_control/emulation/module_server.py @@ -171,6 +171,10 @@ async def read(self) -> Message: m: Message = Message.parse_raw(b) return m + def close(self) -> None: + """Close the client.""" + self._writer.close() + async def wait_emulators( client: ModuleServerClient, diff --git a/api/src/opentrons/hardware_control/emulation/run_emulator.py b/api/src/opentrons/hardware_control/emulation/run_emulator.py index aedeec27e631..c4709cec7a8b 100644 --- a/api/src/opentrons/hardware_control/emulation/run_emulator.py +++ b/api/src/opentrons/hardware_control/emulation/run_emulator.py @@ -58,7 +58,7 @@ async def run_emulator_server(host: str, port: int, emulator: AbstractEmulator) Args: host: Host to listen on. port: Port to listen on. - emulator: Emaulator instance. + emulator: Emulator instance. Returns: None diff --git a/g-code-testing/g_code_parsing/g_code_engine.py b/g-code-testing/g_code_parsing/g_code_engine.py index 5d068d8c4c8f..d33b3134e954 100644 --- a/g-code-testing/g_code_parsing/g_code_engine.py +++ b/g-code-testing/g_code_parsing/g_code_engine.py @@ -15,12 +15,14 @@ from opentrons.hardware_control.emulation.tempdeck import TempDeckEmulator from opentrons.hardware_control.emulation.thermocycler import \ ThermocyclerEmulator +from opentrons.hardware_control.emulation.types import ModuleType from opentrons.protocols.parse import parse from opentrons.protocols.execution import execute from contextlib import contextmanager from opentrons.protocol_api import ProtocolContext from opentrons.config.robot_configs import build_config -from opentrons.hardware_control.emulation.app import Application +from opentrons.hardware_control.emulation import module_server +from opentrons.hardware_control.emulation.scripts import run_app from opentrons.hardware_control import API, ThreadManager from g_code_parsing.g_code_program.g_code_program import ( GCodeProgram, @@ -76,39 +78,27 @@ def _set_env_vars(settings: Settings) -> None: ) @staticmethod - def _start_emulation_app(application: Application, emulator_settings: Settings) -> Process: + def _start_emulation_app(emulator_settings: Settings) -> Process: """Start emulated OT-2""" - async def _run_emulation_environment() -> None: - await asyncio.gather( - # Start application - application.run(), - # Add magdeck emulator - run_emulator_client( - host="localhost", - port=emulator_settings.magdeck_proxy.emulator_port, - emulator=MagDeckEmulator(Parser()), - ), - # Add temperature emulator - run_emulator_client( - host="localhost", - port=emulator_settings.temperature_proxy.emulator_port, - emulator=TempDeckEmulator(Parser()), - ), - # Add thermocycler emulator - run_emulator_client( - host="localhost", - port=emulator_settings.thermocycler_proxy.emulator_port, - emulator=ThermocyclerEmulator(Parser()), - ), - ) + modules = [ModuleType.Magnetic, ModuleType.Temperature, ModuleType.Thermocycler] def runit(): - asyncio.run(_run_emulation_environment()) + asyncio.run(run_app.run(emulator_settings, modules=[m.value for m in modules])) - t = Process(target=runit) - t.daemon = True - t.start() - return t + proc = Process(target=runit) + proc.daemon = True + proc.start() + + async def _wait_ready() -> None: + c = await module_server.ModuleServerClient.connect(host="localhost", port=emulator_settings.module_server.port) + await module_server.wait_emulators(client=c, modules=modules, timeout=5) + c.close() + + proc2 = Process(target=lambda: asyncio.run(_wait_ready())) + proc2.start() + proc2.join() + + return proc @staticmethod def _emulate_hardware(settings: Settings) -> ThreadManager: @@ -138,8 +128,7 @@ def run_protocol(self, path: str) -> Generator: :return: GCodeProgram with all the parsed data """ file_path = os.path.join(get_configuration_dir(), path) - emulator_app = Application(self._config) - app_process = self._start_emulation_app(application=emulator_app, emulator_settings=self._config) + app_process = self._start_emulation_app(emulator_settings=self._config) protocol = self._get_protocol(file_path) context = ProtocolContext( implementation=ProtocolContextImplementation( @@ -161,8 +150,7 @@ def run_http(self, executable: Callable): :param executable: Function connected to HTTP Request to execute :return: """ - emulator_app = Application(self._config) - app_process = self._start_emulation_app(application=emulator_app, emulator_settings=self._config) + app_process = self._start_emulation_app(emulator_settings=self._config) with GCodeWatcher(emulator_settings=self._config) as watcher: asyncio.run(executable(hardware=self._emulate_hardware(settings=self._config))) yield GCodeProgram.from_g_code_watcher(watcher)