refactor(hardware): Scripts use hardware can context manager (#10274)

* conftest

* can_comm

* can_control

* can_mon

* gripper

* gripper_currents

* monitor_sensors

* move

* sensor_pass

* sensors

* set_current

* update_fw

* lint

* bug in can_control

hardware/opentrons_hardware/scripts/can_comm.py

@@ -7,6 +7,7 @@
 from logging.config import dictConfig
 from typing import Type, Sequence, Callable, TypeVar
 
+from opentrons_hardware.drivers.can_bus import build
 from opentrons_hardware.firmware_bindings.constants import (
     MessageId,
     NodeId,
@@ -20,7 +21,6 @@
 from opentrons_hardware.drivers.can_bus.abstract_driver import AbstractCanDriver
 from opentrons_hardware.firmware_bindings.messages.messages import get_definition
 
-from opentrons_hardware.drivers.can_bus.build import build_driver
 from opentrons_hardware.scripts.can_args import add_can_args, build_settings
 from opentrons_hardware.firmware_bindings.utils import (
     BinarySerializable,
@@ -213,10 +213,8 @@ async def ui_task(can_driver: AbstractCanDriver) -> None:
             print(in_red(str(e)))
 
 
-async def run(args: argparse.Namespace) -> None:
-    """Entry point for script."""
-    driver = await build_driver(build_settings(args))
-
+async def run_ui(driver: AbstractCanDriver) -> None:
+    """Run the UI."""
     loop = asyncio.get_event_loop()
     fut = asyncio.gather(
         loop.create_task(listen_task(driver)), loop.create_task(ui_task(driver))
@@ -227,8 +225,12 @@ async def run(args: argparse.Namespace) -> None:
         fut.cancel()
     except asyncio.CancelledError:
         pass
-    finally:
-        driver.shutdown()
+
+
+async def run(args: argparse.Namespace) -> None:
+    """Entry point for script."""
+    async with build.driver(build_settings(args)) as driver:
+        await (run_ui(driver))
 
 
 def in_red(s: str) -> str:

hardware/opentrons_hardware/scripts/can_control.py

@@ -11,13 +11,10 @@
 from logging.config import dictConfig
 from typing import TextIO, Optional
 
+from opentrons_hardware.drivers.can_bus import build, CanMessenger
 from opentrons_hardware.drivers.can_bus.abstract_driver import AbstractCanDriver
-from opentrons_hardware.drivers.can_bus.can_messenger import (
-    CanMessenger,
-)
-from opentrons_hardware.firmware_bindings.message import CanMessage
 
-from opentrons_hardware.drivers.can_bus.build import build_driver
+from opentrons_hardware.firmware_bindings.message import CanMessage
 from opentrons_hardware.scripts.can_args import add_can_args, build_settings
 
 from .can_mon import task as monitor_task
@@ -76,24 +73,19 @@ async def input_task(
 
 async def run(args: argparse.Namespace) -> None:
     """Entry point for script."""
-    driver = await build_driver(build_settings(args))
-
-    messenger = CanMessenger(driver)
-    messenger.start()
-
-    try:
-        all_fut = asyncio.gather(
-            monitor_task(messenger, args.output),
-            input_task(driver, args.input, args.output),
-        )
-        await all_fut
-    except KeyboardInterrupt:
-        all_fut.cancel()
-    except asyncio.CancelledError:
-        pass
-    finally:
-        await messenger.stop()
-        driver.shutdown()
+    async with build.driver(build_settings(args)) as driver, CanMessenger(
+        driver
+    ) as messenger:
+        try:
+            all_fut = asyncio.gather(
+                monitor_task(messenger, args.output),
+                input_task(driver, args.input, args.output),
+            )
+            await all_fut
+        except KeyboardInterrupt:
+            all_fut.cancel()
+        except asyncio.CancelledError:
+            pass
 
 
 LOG_CONFIG = {

hardware/opentrons_hardware/scripts/can_mon.py

@@ -9,8 +9,8 @@
 from logging.config import dictConfig
 from typing import List, TextIO
 
-
-from opentrons_hardware.drivers.can_bus.can_messenger import (
+from opentrons_hardware.drivers.can_bus import (
+    build,
     CanMessenger,
     WaitableCallback,
 )
@@ -19,7 +19,6 @@
     NodeId,
 )
 
-from opentrons_hardware.drivers.can_bus.build import build_driver
 from opentrons_hardware.scripts.can_args import add_can_args, build_settings
 
 log = logging.getLogger(__name__)
@@ -114,22 +113,15 @@ async def task(
 
 async def run(args: argparse.Namespace) -> None:
     """Entry point for script."""
-    driver = await build_driver(build_settings(args))
-
-    messenger = CanMessenger(driver)
-    messenger.start()
-
-    loop = asyncio.get_event_loop()
-    fut = loop.create_task(task(messenger, args.output))
-    try:
-        await fut
-    except KeyboardInterrupt:
-        fut.cancel()
-    except asyncio.CancelledError:
-        pass
-    finally:
-        await messenger.stop()
-        driver.shutdown()
+    async with build.can_messenger(build_settings(args)) as messenger:
+        loop = asyncio.get_event_loop()
+        fut = loop.create_task(task(messenger, args.output))
+        try:
+            await fut
+        except KeyboardInterrupt:
+            fut.cancel()
+        except asyncio.CancelledError:
+            pass
 
 
 LOG_CONFIG = {

hardware/opentrons_hardware/scripts/gripper.py

@@ -6,6 +6,8 @@
 
 from typing import Callable
 from logging.config import dictConfig
+
+from opentrons_hardware.drivers.can_bus import build
 from opentrons_hardware.firmware_bindings.messages import payloads
 from opentrons_hardware.firmware_bindings.messages.message_definitions import (
     SetupRequest,
@@ -15,7 +17,6 @@
 from opentrons_hardware.drivers.can_bus.can_messenger import CanMessenger
 from opentrons_hardware.firmware_bindings.constants import NodeId
 from opentrons_hardware.scripts.can_args import add_can_args, build_settings
-from opentrons_hardware.drivers.can_bus.build import build_driver
 from opentrons_hardware.hardware_control.gripper_settings import (
     set_pwm_param,
     set_reference_voltage,
@@ -82,19 +83,12 @@ def output_details(i: int, freq: int, duty_cycle: int, v_ref: float) -> None:
     print(f"PWM: {freq}Hz {duty_cycle}%\n")
 
 
-async def run(args: argparse.Namespace) -> None:
-    """Entry point for script."""
-    os.system("cls")
-    os.system("clear")
-
-    print("Gripper testing beings... \n")
+async def run_test(messenger: CanMessenger) -> None:
+    """Run the for test."""
+    print("Gripper testing begins... \n")
     pwm_freq = prompt_int_input("PWM frequency in Hz (int)")
     pwm_duty = prompt_int_input("PWM duty cycle in % (int)")
 
-    driver = await build_driver(build_settings(args))
-    messenger = CanMessenger(driver=driver)
-    messenger.start()
-
     """Setup gripper"""
     try:
         await messenger.send(node_id=NodeId.gripper, message=SetupRequest())
@@ -119,8 +113,15 @@ async def run(args: argparse.Namespace) -> None:
     finally:
         print("\nTesting finishes...\n")
         await messenger.send(node_id=NodeId.gripper, message=DisableMotorRequest())
-        await messenger.stop()
-        driver.shutdown()
+
+
+async def run(args: argparse.Namespace) -> None:
+    """Entry point for script."""
+    os.system("cls")
+    os.system("clear")
+
+    async with build.can_messenger(build_settings(args)) as messenger:
+        await run_test(messenger)
 
 
 log = logging.getLogger(__name__)

hardware/opentrons_hardware/scripts/gripper_currents.py

@@ -6,6 +6,8 @@
 
 from typing import Callable
 from logging.config import dictConfig
+
+from opentrons_hardware.drivers.can_bus import build
 from opentrons_hardware.firmware_bindings.messages.message_definitions import (
     SetupRequest,
     DisableMotorRequest,
@@ -17,7 +19,6 @@
 from opentrons_hardware.drivers.can_bus.can_messenger import CanMessenger
 from opentrons_hardware.firmware_bindings.constants import NodeId
 from opentrons_hardware.scripts.can_args import add_can_args, build_settings
-from opentrons_hardware.drivers.can_bus.build import build_driver
 from opentrons_hardware.hardware_control.gripper_settings import (
     set_pwm_param,
     set_reference_voltage,
@@ -73,22 +74,15 @@ async def execute_move(messenger: CanMessenger) -> None:
     )
 
 
-async def run(args: argparse.Namespace) -> None:
-    """Entry point for script."""
-    os.system("cls")
-    os.system("clear")
-
-    print("Gripper testing beings... \n")
+async def run_test(messenger: CanMessenger) -> None:
+    """Run test."""
+    print("Gripper testing begins... \n")
     print("Hints: \033[96mdefaults values\033[0m \n")
     v_ref = prompt_float_input(
         "Set reference voltage in A (float, \033[96m0.5A\033[0m)"
     )
     pwm_freq = prompt_int_input("Set PWM frequency in Hz (int, \033[96m32000Hz\033[0m)")
 
-    driver = await build_driver(build_settings(args))
-    messenger = CanMessenger(driver=driver)
-    messenger.start()
-
     try:
         await messenger.send(node_id=NodeId.gripper, message=SetupRequest())
         await set_reference_voltage(messenger, v_ref)
@@ -114,8 +108,15 @@ async def run(args: argparse.Namespace) -> None:
     finally:
         print("\nTesting finishes...\n")
         await messenger.send(node_id=NodeId.gripper, message=DisableMotorRequest())
-        await messenger.stop()
-        driver.shutdown()
+
+
+async def run(args: argparse.Namespace) -> None:
+    """Entry point for script."""
+    os.system("cls")
+    os.system("clear")
+
+    async with build.can_messenger(build_settings(args)) as messenger:
+        await run_test(messenger)
 
 
 log = logging.getLogger(__name__)

hardware/opentrons_hardware/scripts/monitor_sensors.py

@@ -3,7 +3,8 @@
 import argparse
 import datetime
 
-from opentrons_hardware.drivers.can_bus.can_messenger import (
+from opentrons_hardware.drivers.can_bus import (
+    build,
     CanMessenger,
     WaitableCallback,
 )
@@ -19,7 +20,6 @@
     sensor_fixed_point_conversion,
 )
 
-from opentrons_hardware.drivers.can_bus.build import build_driver
 from opentrons_hardware.scripts.can_args import add_can_args, build_settings
 
 
@@ -67,14 +67,12 @@ async def do_run(
 
 async def run(args: argparse.Namespace) -> None:
     """Entry point for script."""
-    driver = await build_driver(build_settings(args))
     target = constants.NodeId["pipette_" + args.mount]
     sensor = constants.SensorType[args.sensor]
 
-    messenger = CanMessenger(driver)
-    messenger.start()
-    with WaitableCallback(messenger) as reader:
-        return await do_run(messenger, reader, target, sensor, args.threshold)
+    async with build.can_messenger(build_settings(args)) as messenger:
+        with WaitableCallback(messenger) as reader:
+            return await do_run(messenger, reader, target, sensor, args.threshold)
 
 
 def main() -> None:

hardware/opentrons_hardware/scripts/move.py

@@ -4,10 +4,8 @@
 import logging
 from numpy import float64
 from logging.config import dictConfig
-from typing import Optional
 
-from opentrons_hardware.drivers.can_bus import CanDriver
-from opentrons_hardware.drivers.can_bus.can_messenger import CanMessenger
+from opentrons_hardware.drivers.can_bus import build, CanMessenger
 from opentrons_hardware.firmware_bindings.constants import NodeId
 
 from opentrons_hardware.firmware_bindings.messages.message_definitions import (
@@ -16,8 +14,7 @@
 )
 from opentrons_hardware.hardware_control.motion import MoveGroupSingleAxisStep
 from opentrons_hardware.hardware_control.move_group_runner import MoveGroupRunner
-from opentrons_hardware.scripts.can_args import add_can_args
-
+from opentrons_hardware.scripts.can_args import add_can_args, build_settings
 
 log = logging.getLogger(__name__)
 
@@ -43,15 +40,8 @@
 }
 
 
-async def run(interface: str, bitrate: int, channel: Optional[str] = None) -> None:
-    """Entry point for script."""
-    log.info(f"Connecting to {interface} {bitrate} {channel}")
-    driver = await CanDriver.build(
-        bitrate=bitrate, interface=interface, channel=channel
-    )
-    messenger = CanMessenger(driver=driver)
-    messenger.start()
-
+async def run_move(messenger: CanMessenger) -> None:
+    """Run the move."""
     await messenger.send(node_id=NodeId.broadcast, message=SetupRequest())
     await messenger.send(node_id=NodeId.broadcast, message=EnableMotorRequest())
 
@@ -99,9 +89,12 @@ async def run(interface: str, bitrate: int, channel: Optional[str] = None) -> No
         await runner.run(can_messenger=messenger)
     except asyncio.CancelledError:
         pass
-    finally:
-        await messenger.stop()
-        driver.shutdown()
+
+
+async def run(args: argparse.Namespace) -> None:
+    """Entry point for script."""
+    async with build.can_messenger(build_settings(args)) as messenger:
+        await run_move(messenger)
 
 
 def main() -> None:
@@ -113,7 +106,7 @@ def main() -> None:
 
     args = parser.parse_args()
 
-    asyncio.run(run(args.interface, args.bitrate, args.channel))
+    asyncio.run(run(args))
 
 
 if __name__ == "__main__":