feat(robot-server): Robot server command namespaces (#6098)

* adding namespaces

* refactor after rebase

* create multiple command definition enumerations.

* allow backwards compatility for pre-namespaced command names

* rename exit to exitSession

* run app uses namespaced calibration check commands

* Update robot-server/robot_server/service/session/models.py

Co-authored-by: Brian Arthur Cooper <[email protected]>

* Removed unused -TIP_LENGTH_TRANSITIONS dict

* clean up naming

* flow errors

* fix js test

Co-authored-by: Brian Arthur Cooper <[email protected]>

closes #6089

app/src/sessions/__fixtures__/index.js

@@ -36,12 +36,12 @@ export const mockSession: Types.Session = {
 }
 
 export const mockSessionCommand: Types.SessionCommandAttributes = {
-  command: 'jog',
+  command: 'calibration.jog',
   data: { someData: 32 },
 }
 
 export const mockSessionCommandAttributes: Types.SessionCommandAttributes = {
-  command: 'preparePipette',
+  command: 'calibration.preparePipette',
   status: 'accepted',
   data: {},
 }

app/src/sessions/calibration-check/constants.js

@@ -42,15 +42,18 @@ export const CHECK_STEP_BAD_ROBOT_CALIBRATION: 'badCalibrationData' =
 export const CHECK_STEP_NO_PIPETTES_ATTACHED: 'noPipettesAttached' =
   'noPipettesAttached'
 
-const LOAD_LABWARE: 'loadLabware' = 'loadLabware'
-const PREPARE_PIPETTE: 'preparePipette' = 'preparePipette'
-const JOG: 'jog' = 'jog'
-const PICK_UP_TIP: 'pickUpTip' = 'pickUpTip'
-const CONFIRM_TIP: 'confirmTip' = 'confirmTip'
-const INVALIDATE_TIP: 'invalidateTip' = 'invalidateTip'
-const COMPARE_POINT: 'comparePoint' = 'comparePoint'
-const GO_TO_NEXT_CHECK: 'goToNextCheck' = 'goToNextCheck'
-const EXIT: 'exitSession' = 'exitSession'
+const LOAD_LABWARE: 'calibration.loadLabware' = 'calibration.loadLabware'
+const PREPARE_PIPETTE: 'calibration.preparePipette' =
+  'calibration.preparePipette'
+const JOG: 'calibration.jog' = 'calibration.jog'
+const PICK_UP_TIP: 'calibration.pickUpTip' = 'calibration.pickUpTip'
+const CONFIRM_TIP: 'calibration.confirmTip' = 'calibration.confirmTip'
+const INVALIDATE_TIP: 'calibration.invalidateTip' = 'calibration.invalidateTip'
+const COMPARE_POINT: 'calibration.check.comparePoint' =
+  'calibration.check.comparePoint'
+const GO_TO_NEXT_CHECK: 'calibration.check.goToNextCheck' =
+  'calibration.check.goToNextCheck'
+const EXIT: 'calibration.exitSession' = 'calibration.exitSession'
 
 export const checkCommands = {
   LOAD_LABWARE,

app/src/sessions/epic/__tests__/createSessionCommandEpic.test.js

@@ -33,7 +33,7 @@ describe('createSessionCommandEpic', () => {
       data: {
         type: 'Command',
         attributes: {
-          command: 'jog',
+          command: 'calibration.jog',
           data: {
             someData: 32,
           },

robot-server/robot_server/robot/calibration/check/session.py

@@ -13,7 +13,8 @@
 from robot_server.robot.calibration.helper_classes import (
     CheckMove, DeckCalibrationError, PipetteRank, PipetteInfo, PipetteStatus
 )
-from robot_server.service.session.models import OffsetVector
+from robot_server.service.session.models import OffsetVector,\
+    CalibrationCommand, CalibrationCheckCommand
 from opentrons.hardware_control import ThreadManager
 from opentrons.protocol_api import labware
 
@@ -57,16 +58,16 @@ class CalibrationCheckState(str, Enum):
 
 
 class CalibrationCheckTrigger(str, Enum):
-    load_labware = "loadLabware"
-    prepare_pipette = "preparePipette"
-    jog = "jog"
-    pick_up_tip = "pickUpTip"
-    confirm_tip_attached = "confirmTip"
-    invalidate_tip = "invalidateTip"
-    compare_point = "comparePoint"
-    go_to_next_check = "goToNextCheck"
-    exit = "exitSession"
-    reject_calibration = "rejectCalibration"
+    load_labware = CalibrationCommand.load_labware.value
+    prepare_pipette = CalibrationCommand.prepare_pipette.value
+    jog = CalibrationCommand.jog.value
+    pick_up_tip = CalibrationCommand.pick_up_tip.value
+    confirm_tip_attached = CalibrationCommand.confirm_tip_attached.value
+    invalidate_tip = CalibrationCommand.invalidate_tip.value
+    compare_point = CalibrationCheckCommand.compare_point.value
+    go_to_next_check = CalibrationCheckCommand.go_to_next_check.value
+    exit = CalibrationCommand.exit.value
+    reject_calibration = CalibrationCheckCommand.reject_calibration.value
 
 
 CHECK_TRANSITIONS: typing.List[typing.Dict[str, typing.Any]] = [

robot-server/robot_server/robot/calibration/tip_length/state_machine.py

@@ -1,5 +1,6 @@
 from typing import Dict
-from robot_server.service.session.models import CommandName
+from robot_server.service.session.models import CommandDefinition, \
+    TipLengthCalibrationCommand, CalibrationCommand
 from robot_server.robot.calibration.tip_length.util import (
     SimpleStateMachine,
     TipCalibrationError as Error
@@ -9,41 +10,41 @@
 )
 
 
-TIP_LENGTH_TRANSITIONS: Dict[State, Dict[CommandName, State]] = {
+TIP_LENGTH_TRANSITIONS: Dict[State, Dict[CommandDefinition, State]] = {
     State.sessionStarted: {
-        CommandName.load_labware: State.labwareLoaded
+        CalibrationCommand.load_labware: State.labwareLoaded
     },
     State.labwareLoaded: {
-        CommandName.move_to_reference_point: State.measuringNozzleOffset
+        TipLengthCalibrationCommand.move_to_reference_point: State.measuringNozzleOffset  # noqa: e501
     },
     State.measuringNozzleOffset: {
-        CommandName.save_offset: State.preparingPipette,
-        CommandName.jog: State.measuringNozzleOffset
+        CalibrationCommand.save_offset: State.preparingPipette,
+        CalibrationCommand.jog: State.measuringNozzleOffset
     },
     State.preparingPipette: {
-        CommandName.jog: State.preparingPipette,
-        CommandName.pick_up_tip: State.preparingPipette,
-        CommandName.invalidate_tip: State.preparingPipette,
-        CommandName.move_to_reference_point: State.measuringTipOffset
+        CalibrationCommand.jog: State.preparingPipette,
+        CalibrationCommand.pick_up_tip: State.preparingPipette,
+        CalibrationCommand.invalidate_tip: State.preparingPipette,
+        TipLengthCalibrationCommand.move_to_reference_point: State.measuringTipOffset  # noqa: e501
     },
     State.measuringTipOffset: {
-        CommandName.save_offset: State.calibrationComplete,
-        CommandName.jog: State.measuringTipOffset
+        CalibrationCommand.save_offset: State.calibrationComplete,
+        CalibrationCommand.jog: State.measuringTipOffset
     },
     State.WILDCARD: {
-        CommandName.exit: State.sessionExited
+        CalibrationCommand.exit: State.sessionExited
     }
 }
 
 
-class TipCalibrationStateMachine():
+class TipCalibrationStateMachine:
     def __init__(self):
         self._state_machine = SimpleStateMachine(
             states=set(s for s in State),
             transitions=TIP_LENGTH_TRANSITIONS
         )
 
-    def get_next_state(self, from_state: State, command: CommandName):
+    def get_next_state(self, from_state: State, command: CommandDefinition):
         next_state = self._state_machine.get_next_state(from_state, command)
         if next_state:
             return next_state

robot-server/robot_server/robot/calibration/tip_length/user_flow.py

@@ -1,7 +1,8 @@
 from typing import Dict, Awaitable, Callable, Any
 from opentrons.types import Mount, Point
 from opentrons.hardware_control import ThreadManager
-from robot_server.service.session.models import CommandName
+from robot_server.service.session.models import CalibrationCommand, \
+    TipLengthCalibrationCommand
 from robot_server.robot.calibration.tip_length.state_machine import (
     TipCalibrationStateMachine
 )
@@ -19,32 +20,6 @@
 unique (by serial number) physical pipette.
 """
 
-TIP_LENGTH_TRANSITIONS: Dict[State, Dict[CommandName, State]] = {
-    State.sessionStarted: {
-        CommandName.load_labware: State.labwareLoaded
-    },
-    State.labwareLoaded: {
-        CommandName.move_to_reference_point: State.measuringNozzleOffset
-    },
-    State.measuringNozzleOffset: {
-        CommandName.save_offset: State.preparingPipette,
-        CommandName.jog: State.measuringNozzleOffset
-    },
-    State.preparingPipette: {
-        CommandName.jog: State.preparingPipette,
-        CommandName.pick_up_tip: State.preparingPipette,
-        CommandName.invalidate_tip: State.preparingPipette,
-        CommandName.move_to_reference_point: State.measuringTipOffset
-    },
-    State.measuringTipOffset: {
-        CommandName.save_offset: State.calibrationComplete,
-        CommandName.jog: State.measuringTipOffset
-    },
-    State.WILDCARD: {
-        CommandName.exit: State.sessionExited
-    }
-}
-
 # TODO: BC 2020-07-08: type all command logic here with actual Model type
 COMMAND_HANDLER = Callable[..., Awaitable]
 
@@ -68,13 +43,13 @@ def __init__(self,
                         'cannot run tip length calibration')
 
         self._command_map: COMMAND_MAP = {
-            CommandName.load_labware: self.load_labware,
-            CommandName.jog: self.jog,
-            CommandName.pick_up_tip: self.pick_up_tip,
-            CommandName.invalidate_tip: self.invalidate_tip,
-            CommandName.save_offset: self.save_offset,
-            CommandName.move_to_reference_point: self.move_to_reference_point,
-            CommandName.exit: self.exit_session,
+            CalibrationCommand.load_labware: self.load_labware,
+            CalibrationCommand.jog: self.jog,
+            CalibrationCommand.pick_up_tip: self.pick_up_tip,
+            CalibrationCommand.invalidate_tip: self.invalidate_tip,
+            CalibrationCommand.save_offset: self.save_offset,
+            TipLengthCalibrationCommand.move_to_reference_point: self.move_to_reference_point,  # noqa: E501
+            CalibrationCommand.exit: self.exit_session,
         }
 
     def _set_current_state(self, to_state: State):

robot-server/robot_server/service/session/command_execution/__init__.py

@@ -1,5 +1,5 @@
 from .base_command_queue import CommandQueue  # noqa(W0611)
 from .base_executor import CommandExecutor  # noqa(W0611)
-from .command import Command, CompletedCommand, create_command # noqa(W0611)
+from .command import Command, CompletedCommand, create_command, CommandResult # noqa(W0611)
 from .callable_executor import CallableExecutor  # noqa(W0611)
 from .hardware_executor import HardwareExecutor, DefaultHardwareExecutor  # noqa(W0611)

robot-server/robot_server/service/session/command_execution/command.py

@@ -2,12 +2,12 @@
 from dataclasses import dataclass, field
 
 from robot_server.service.session.models import IdentifierType, \
-    create_identifier, CommandName, CommandDataType, CommandStatus
+    create_identifier, CommandDefinition, CommandDataType, CommandStatus
 
 
 @dataclass(frozen=True)
 class CommandContent:
-    name: CommandName
+    name: CommandDefinition
     data: CommandDataType
 
 
@@ -37,7 +37,7 @@ class CompletedCommand:
     result: CommandResult
 
 
-def create_command(name: CommandName, data: CommandDataType) -> Command:
+def create_command(name: CommandDefinition, data: CommandDataType) -> Command:
     """Create a command object"""
     return Command(
         content=CommandContent(

robot-server/robot_server/service/session/command_execution/hardware_executor.py

@@ -1,11 +1,10 @@
 import typing
 from opentrons.hardware_control import ThreadManager
 
-from . import Command, CompletedCommand
+from . import Command, CompletedCommand, CommandResult
 from . base_executor import CommandExecutor
-from .command import CommandResult
 from ..errors import UnsupportedCommandException
-from ..models import CommandDataType, CommandName
+from ..models import CommandDataType, RobotCommand, CommandDefinition
 from robot_server.util import duration
 
 
@@ -25,14 +24,14 @@ async def toggle_lights(hardware: ThreadManager, *args):
 class HardwareExecutor(CommandExecutor):
     """A command executor that executes direct hardware commands"""
 
-    COMMAND_TO_FUNC: typing.Dict[CommandName, COMMAND_HANDLER] = {
-        CommandName.home_all_motors: home_all_motors,
-        CommandName.toggle_lights: toggle_lights
+    COMMAND_TO_FUNC: typing.Dict[CommandDefinition, COMMAND_HANDLER] = {
+        RobotCommand.home_all_motors: home_all_motors,
+        RobotCommand.toggle_lights: toggle_lights
     }
 
     def __init__(self,
                  hardware: ThreadManager,
-                 command_filter: typing.Optional[typing.Set[CommandName]]):
+                 command_filter: typing.Optional[typing.Set[RobotCommand]]):
         """
         Constructor
 
@@ -59,7 +58,7 @@ async def execute(self, command: Command) -> CompletedCommand:
                                  completed_at=timed.end)
         )
 
-    def get_handler(self, command_name: CommandName) \
+    def get_handler(self, command_name: CommandDefinition) \
             -> typing.Optional[COMMAND_HANDLER]:
         """Get the handler for the command type"""
         if self._command_filter is not None:
@@ -71,6 +70,6 @@ def get_handler(self, command_name: CommandName) \
 class DefaultHardwareExecutor(HardwareExecutor):
     """The default command executor"""
     def __init__(self, hardware: ThreadManager):
-        super().__init__(hardware, {CommandName.home_all_motors,
-                                    CommandName.home_pipette,
-                                    CommandName.toggle_lights})
+        super().__init__(hardware, {RobotCommand.home_all_motors,
+                                    RobotCommand.home_pipette,
+                                    RobotCommand.toggle_lights})