feat(robot-server): show module compatibility

The robot server's /modules endpoint now has a compatibleWithRobot field that shows whether the connected module is considered compatible with the robot it's running on. That compatibility determination is based on the deck name for now (module model definitions list what deck names they're compatible with) though we might want to change it to the reverse, listing in the deck configuration which modules are compatible with this deck. Closes RSQ-6
Opentrons · May 14, 2024 · 90dc748 · 90dc748
1 parent 35f7bd4
commit 90dc748
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Showing 15 changed files with 218 additions and 19 deletions.
diff --git a/robot-server/robot_server/modules/module_data_mapper.py b/robot-server/robot_server/modules/module_data_mapper.py
@@ -1,5 +1,8 @@
 """Module identification and response data mapping."""
 from typing import Type, cast, Optional
+from fastapi import Depends
+
+from opentrons_shared_data.module import load_definition
 
 from opentrons.hardware_control.modules import (
     LiveData,
@@ -16,7 +19,7 @@
 )
 from opentrons.drivers.rpi_drivers.types import USBPort as HardwareUSBPort
 
-from opentrons.protocol_engine import ModuleModel
+from opentrons.protocol_engine import ModuleModel, DeckType
 
 from .module_identifier import ModuleIdentity
 from .module_models import (
@@ -34,10 +37,15 @@
     UsbPort,
 )
 
+from robot_server.hardware import get_deck_type
+
 
 class ModuleDataMapper:
     """Map hardware control modules to module response."""
 
+    def __init__(self, deck_type: DeckType = Depends(get_deck_type)) -> None:
+        self.deck_type = deck_type
+
     def map_data(
         self,
         model: str,
@@ -53,6 +61,7 @@ def map_data(
 
         module_cls: Type[AttachedModule]
         module_data: AttachedModuleData
+        module_definition = load_definition(model_or_loadname=model, version="3")
 
         # rely on Pydantic to check/coerce data fields from dicts at run time
         if module_type == ModuleType.MAGNETIC:
@@ -131,6 +140,9 @@ def map_data(
             firmwareVersion=module_identity.firmware_version,
             hardwareRevision=module_identity.hardware_revision,
             hasAvailableUpdate=has_available_update,
+            compatibleWithRobot=(
+                not (self.deck_type.value in module_definition["incompatibleWithDecks"])
+            ),
             usbPort=UsbPort(
                 port=usb_port.port_number,
                 portGroup=usb_port.port_group,

diff --git a/robot-server/robot_server/modules/module_models.py b/robot-server/robot_server/modules/module_models.py
@@ -90,6 +90,9 @@ class _GenericModule(GenericModel, Generic[ModuleT, ModuleModelT, ModuleDataT]):
     moduleOffset: Optional[ModuleCalibrationData] = Field(
         None, description="The calibrated module offset."
     )
+    compatibleWithRobot: bool = Field(
+        ..., description="Whether the detected module is compatible with this robot."
+    )
     data: ModuleDataT
     usbPort: UsbPort
 

diff --git a/robot-server/tests/integration/test_modules.tavern.yaml b/robot-server/tests/integration/test_modules.tavern.yaml
@@ -1,5 +1,5 @@
 ---
-test_name: Get modules
+test_name: Get modules OT2
 marks:
   - usefixtures:
       - ot2_server_base_url
@@ -113,6 +113,7 @@ stages:
             firmwareVersion: !anystr
             hardwareRevision: !anystr
             hasAvailableUpdate: !anybool
+            compatibleWithRobot: true
             moduleType: thermocyclerModuleType
             moduleModel: thermocyclerModuleV1
             usbPort:
@@ -134,6 +135,7 @@ stages:
             firmwareVersion: !anystr
             hardwareRevision: !anystr
             hasAvailableUpdate: !anybool
+            compatibleWithRobot: true
             moduleType: heaterShakerModuleType
             moduleModel: heaterShakerModuleV1
             usbPort:
@@ -153,6 +155,7 @@ stages:
             firmwareVersion: !anystr
             hardwareRevision: !anystr
             hasAvailableUpdate: !anybool
+            compatibleWithRobot: true
             moduleType: temperatureModuleType
             moduleModel: temperatureModuleV1
             usbPort:
@@ -169,6 +172,7 @@ stages:
             firmwareVersion: !anystr
             hardwareRevision: !anystr
             hasAvailableUpdate: !anybool
+            compatibleWithRobot: true
             moduleType: magneticModuleType
             moduleModel: magneticModuleV2
             usbPort:
@@ -185,6 +189,7 @@ stages:
             firmwareVersion: !anystr
             hardwareRevision: !anystr
             hasAvailableUpdate: !anybool
+            compatibleWithRobot: true
             moduleType: magneticModuleType
             moduleModel: magneticModuleV1
             usbPort:
@@ -196,3 +201,95 @@ stages:
               status: !anystr
               height: !anyfloat
               engaged: !anybool
+
+---
+test_name: Get modules on Flex
+marks:
+  - usefixtures:
+      - ot3_server_base_url
+stages:
+  - name: Get all the modules
+    request:
+      url: '{ot3_server_base_url}/modules'
+      method: GET
+    response:
+      status_code: 200
+      json:
+        meta: !anydict
+        data:
+          - id: !anystr
+            serialNumber: !anystr
+            firmwareVersion: !anystr
+            hardwareRevision: !anystr
+            hasAvailableUpdate: !anybool
+            compatibleWithRobot: true
+            moduleType: thermocyclerModuleType
+            moduleModel: thermocyclerModuleV2
+            usbPort:
+              port: !anyint
+              hub: !anybool
+              portGroup: !anystr
+              path: !anystr
+            data:
+              status: !anystr
+              lidStatus: !anystr
+              lidTemperatureStatus: !anystr
+              lidTargetTemperature: !anyfloat
+              lidTemperature: !anyfloat
+              currentTemperature: !anyfloat
+              targetTemperature: !anyfloat
+              holdTime: !anyfloat
+          - id: !anystr
+            serialNumber: !anystr
+            firmwareVersion: !anystr
+            hardwareRevision: !anystr
+            hasAvailableUpdate: !anybool
+            compatibleWithRobot: true
+            moduleType: heaterShakerModuleType
+            moduleModel: heaterShakerModuleV1
+            usbPort:
+              port: !anyint
+              hub: !anybool
+              portGroup: !anystr
+              path: !anystr
+            data:
+              status: !anystr
+              labwareLatchStatus: !anystr
+              speedStatus: !anystr
+              temperatureStatus: !anystr
+              currentSpeed: !anyint
+              currentTemperature: !anyfloat
+          - id: !anystr
+            serialNumber: !anystr
+            firmwareVersion: !anystr
+            hardwareRevision: !anystr
+            hasAvailableUpdate: !anybool
+            compatibleWithRobot: true
+            moduleType: temperatureModuleType
+            moduleModel: temperatureModuleV2
+            usbPort:
+              port: !anyint
+              hub: !anybool
+              portGroup: !anystr
+              path: !anystr
+            data:
+              status: !anystr
+              currentTemperature: !anyfloat
+              targetTemperature: !anyfloat
+          - id: !anystr
+            serialNumber: !anystr
+            firmwareVersion: !anystr
+            hardwareRevision: !anystr
+            hasAvailableUpdate: !anybool
+            compatibleWithRobot: true
+            moduleType: temperatureModuleType
+            moduleModel: temperatureModuleV2
+            usbPort:
+              port: !anyint
+              hub: !anybool
+              portGroup: !anystr
+              path: !anystr
+            data:
+              status: !anystr
+              currentTemperature: !anyfloat
+              targetTemperature: !anyfloat