refactor(robot-server): add ProtocolEngine commands to /sessions resp…

…onses

Closes #7871

api/src/opentrons/file_runner/command_queue_worker.py

@@ -89,7 +89,7 @@ def _next_command(
     ) -> Optional[str]:
         if self._keep_running:
             # Will be None if the engine has no commands left.
-            return self._engine.state_view.commands.get_next_command()
+            return self._engine.state_view.commands.get_next_queued()
         else:
             return None
 

api/src/opentrons/protocol_engine/__init__.py

@@ -8,6 +8,7 @@
 from .create_protocol_engine import create_protocol_engine
 from .protocol_engine import ProtocolEngine
 from .errors import ProtocolEngineError
+from .commands import Command, CommandRequest, CommandStatus, CommandType
 from .state import State, StateView, LabwareData
 from .types import (
     DeckLocation,
@@ -24,6 +25,11 @@
     "ProtocolEngine",
     # error types
     "ProtocolEngineError",
+    # top level command unions and values
+    "Command",
+    "CommandRequest",
+    "CommandStatus",
+    "CommandType",
     # state interfaces and models
     "State",
     "StateView",

api/src/opentrons/protocol_engine/commands/__init__.py

@@ -15,37 +15,71 @@
 
 from .command import AbstractCommandImpl, BaseCommand, BaseCommandRequest, CommandStatus
 from .command_mapper import CommandMapper
-from .command_unions import Command, CommandRequest, CommandResult
-
+from .command_unions import Command, CommandRequest, CommandResult, CommandType
 
 from .add_labware_definition import (
     AddLabwareDefinition,
-    AddLabwareDefinitionRequest,
     AddLabwareDefinitionData,
+    AddLabwareDefinitionRequest,
     AddLabwareDefinitionResult,
+    AddLabwareDefinitionCommandType,
+)
+
+from .aspirate import (
+    Aspirate,
+    AspirateData,
+    AspirateRequest,
+    AspirateResult,
+    AspirateCommandType,
 )
-from .aspirate import Aspirate, AspirateRequest, AspirateData, AspirateResult
-from .dispense import Dispense, DispenseRequest, DispenseData, DispenseResult
-from .drop_tip import DropTip, DropTipRequest, DropTipData, DropTipResult
+
+from .dispense import (
+    Dispense,
+    DispenseData,
+    DispenseRequest,
+    DispenseResult,
+    DispenseCommandType,
+)
+
+from .drop_tip import (
+    DropTip,
+    DropTipData,
+    DropTipRequest,
+    DropTipResult,
+    DropTipCommandType,
+)
+
 from .load_labware import (
     LoadLabware,
-    LoadLabwareRequest,
     LoadLabwareData,
+    LoadLabwareRequest,
     LoadLabwareResult,
+    LoadLabwareCommandType,
 )
+
 from .load_pipette import (
     LoadPipette,
-    LoadPipetteRequest,
     LoadPipetteData,
+    LoadPipetteRequest,
     LoadPipetteResult,
+    LoadPipetteCommandType,
 )
+
 from .move_to_well import (
     MoveToWell,
-    MoveToWellRequest,
     MoveToWellData,
+    MoveToWellRequest,
     MoveToWellResult,
+    MoveToWellCommandType,
+)
+
+from .pick_up_tip import (
+    PickUpTip,
+    PickUpTipData,
+    PickUpTipRequest,
+    PickUpTipResult,
+    PickUpTipCommandType,
 )
-from .pick_up_tip import PickUpTip, PickUpTipRequest, PickUpTipData, PickUpTipResult
 
 
 __all__ = [
@@ -55,6 +89,7 @@
     "Command",
     "CommandRequest",
     "CommandResult",
+    "CommandType",
     # base interfaces
     "AbstractCommandImpl",
     "BaseCommand",
@@ -65,39 +100,47 @@
     "LoadLabwareRequest",
     "LoadLabwareData",
     "LoadLabwareResult",
+    "LoadLabwareCommandType",
     # add labware definition command models
     "AddLabwareDefinition",
     "AddLabwareDefinitionRequest",
     "AddLabwareDefinitionData",
     "AddLabwareDefinitionResult",
+    "AddLabwareDefinitionCommandType",
     # load pipette command models
     "LoadPipette",
     "LoadPipetteRequest",
     "LoadPipetteData",
     "LoadPipetteResult",
+    "LoadPipetteCommandType",
     # move to well command models
     "MoveToWell",
     "MoveToWellRequest",
     "MoveToWellData",
     "MoveToWellResult",
+    "MoveToWellCommandType",
     # pick up tip command models
     "PickUpTip",
     "PickUpTipRequest",
     "PickUpTipData",
     "PickUpTipResult",
+    "PickUpTipCommandType",
     # drop tip command models
     "DropTip",
     "DropTipRequest",
     "DropTipData",
     "DropTipResult",
+    "DropTipCommandType",
     # aspirate command models
     "Aspirate",
     "AspirateRequest",
     "AspirateData",
     "AspirateResult",
+    "AspirateCommandType",
     # dispense command models
     "Dispense",
     "DispenseRequest",
     "DispenseData",
     "DispenseResult",
+    "DispenseCommandType",
 ]

api/src/opentrons/protocol_engine/commands/command_unions.py

@@ -5,14 +5,41 @@
     AddLabwareDefinition,
     AddLabwareDefinitionRequest,
     AddLabwareDefinitionResult,
+    AddLabwareDefinitionCommandType,
+)
+
+from .aspirate import Aspirate, AspirateRequest, AspirateResult, AspirateCommandType
+
+from .dispense import Dispense, DispenseRequest, DispenseResult, DispenseCommandType
+
+from .drop_tip import DropTip, DropTipRequest, DropTipResult, DropTipCommandType
+from .load_labware import (
+    LoadLabware,
+    LoadLabwareRequest,
+    LoadLabwareResult,
+    LoadLabwareCommandType,
+)
+
+from .load_pipette import (
+    LoadPipette,
+    LoadPipetteRequest,
+    LoadPipetteResult,
+    LoadPipetteCommandType,
+)
+
+from .move_to_well import (
+    MoveToWell,
+    MoveToWellRequest,
+    MoveToWellResult,
+    MoveToWellCommandType,
+)
+
+from .pick_up_tip import (
+    PickUpTip,
+    PickUpTipRequest,
+    PickUpTipResult,
+    PickUpTipCommandType,
 )
-from .aspirate import Aspirate, AspirateRequest, AspirateResult
-from .dispense import Dispense, DispenseRequest, DispenseResult
-from .drop_tip import DropTip, DropTipRequest, DropTipResult
-from .load_labware import LoadLabware, LoadLabwareRequest, LoadLabwareResult
-from .load_pipette import LoadPipette, LoadPipetteRequest, LoadPipetteResult
-from .move_to_well import MoveToWell, MoveToWellRequest, MoveToWellResult
-from .pick_up_tip import PickUpTip, PickUpTipRequest, PickUpTipResult
 
 Command = Union[
     AddLabwareDefinition,
@@ -25,6 +52,17 @@
     PickUpTip,
 ]
 
+CommandType = Union[
+    AddLabwareDefinitionCommandType,
+    AspirateCommandType,
+    DispenseCommandType,
+    DropTipCommandType,
+    LoadLabwareCommandType,
+    LoadPipetteCommandType,
+    MoveToWellCommandType,
+    PickUpTipCommandType,
+]
+
 CommandRequest = Union[
     AddLabwareDefinitionRequest,
     AspirateRequest,

api/src/opentrons/protocol_engine/protocol_engine.py

@@ -56,7 +56,7 @@ def add_command(self, request: CommandRequest) -> Command:
 
     async def execute_command_by_id(self, command_id: str) -> Command:
         """Execute a protocol engine command by its identifier."""
-        queued_command = self.state_view.commands.get_command_by_id(command_id)
+        queued_command = self.state_view.commands.get(command_id)
 
         running_command = self._command_mapper.update_command(
             command=queued_command,

api/src/opentrons/protocol_engine/state/commands.py

@@ -2,7 +2,7 @@
 from __future__ import annotations
 from collections import OrderedDict
 from dataclasses import dataclass, replace
-from typing import List, Optional, Tuple
+from typing import List, Optional
 
 from ..commands import Command, CommandStatus
 from ..errors import CommandDoesNotExistError
@@ -41,24 +41,24 @@ def __init__(self, state: CommandState) -> None:
         """Initialize the view of command state with its underlying data."""
         self._state = state
 
-    def get_command_by_id(self, command_id: str) -> Command:
+    def get(self, command_id: str) -> Command:
         """Get a command by its unique identifier."""
         # TODO(mc, 2021-06-17): raise on missing ID, to line up with other state views
         try:
             return self._state.commands_by_id[command_id]
         except KeyError:
             raise CommandDoesNotExistError(f"Command {command_id} does not exist")
 
-    def get_all_commands(self) -> List[Tuple[str, Command]]:
+    def get_all(self) -> List[Command]:
         """Get a list of all commands in state, paired with their respective IDs.
 
         Entries are returned in the order of first-added command to last-added command.
         Replacing a command (to change its status, for example) keeps its place in the
         ordering.
         """
-        return [entry for entry in self._state.commands_by_id.items()]
+        return list(self._state.commands_by_id.values())
 
-    def get_next_command(self) -> Optional[str]:
+    def get_next_queued(self) -> Optional[str]:
         """Return the next request in line to be executed.
 
         Normally, this corresponds to the earliest-added command that's currently

api/tests/opentrons/file_runner/test_command_queue_worker.py

@@ -30,7 +30,7 @@ def state_view_with_commands(
 ) -> MagicMock:
     """Create a state view fixture with pending commands."""
     pending_commands = commands + [None]
-    state_view.commands.get_next_command.side_effect = pending_commands
+    state_view.commands.get_next_queued.side_effect = pending_commands
     return state_view
 
 
@@ -54,7 +54,7 @@ async def test_play_no_pending(
     state_view: MagicMock,
 ) -> None:
     """It should not execute any commands."""
-    state_view.commands.get_next_command.return_value = None
+    state_view.commands.get_next_queued.return_value = None
 
     subject.play()
     await subject.wait_to_be_idle()

api/tests/opentrons/protocol_engine/state/test_command_view.py

@@ -24,12 +24,12 @@ def get_command_view(
     return CommandView(state=state)
 
 
-def test_get_command_by_id() -> None:
+def test_get_by_id() -> None:
     """It should get a command by ID from state."""
     command = create_completed_command(command_id="command-id")
     subject = get_command_view(commands_by_id=[("command-id", command)])
 
-    assert subject.get_command_by_id("command-id") == command
+    assert subject.get("command-id") == command
 
 
 def test_get_command_bad_id() -> None:
@@ -38,10 +38,10 @@ def test_get_command_bad_id() -> None:
     subject = get_command_view(commands_by_id=[("command-id", command)])
 
     with pytest.raises(errors.CommandDoesNotExistError):
-        subject.get_command_by_id("asdfghjkl")
+        subject.get("asdfghjkl")
 
 
-def test_get_all_commands() -> None:
+def test_get_all() -> None:
     """It should get all the commands from the state."""
     command_1 = create_completed_command(command_id="command-id-1")
     command_2 = create_running_command(command_id="command-id-2")
@@ -55,14 +55,10 @@ def test_get_all_commands() -> None:
         ]
     )
 
-    assert subject.get_all_commands() == [
-        ("command-id-1", command_1),
-        ("command-id-2", command_2),
-        ("command-id-3", command_3),
-    ]
+    assert subject.get_all() == [command_1, command_2, command_3]
 
 
-def test_get_next_command_returns_first_pending() -> None:
+def test_get_next_queued_returns_first_pending() -> None:
     """It should return the first command that's pending."""
     pending_command = create_pending_command()
     running_command = create_running_command()
@@ -77,18 +73,18 @@ def test_get_next_command_returns_first_pending() -> None:
         ]
     )
 
-    assert subject.get_next_command() == "command-id-3"
+    assert subject.get_next_queued() == "command-id-3"
 
 
-def test_get_next_command_returns_none_when_no_pending() -> None:
+def test_get_next_queued_returns_none_when_no_pending() -> None:
     """It should return None if there are no pending commands to return."""
     running_command = create_running_command(command_id="command-id-1")
     completed_command = create_completed_command(command_id="command-id-2")
     failed_command = create_failed_command(command_id="command-id-3")
 
     subject = get_command_view()
 
-    assert subject.get_next_command() is None
+    assert subject.get_next_queued() is None
 
     subject = get_command_view(
         commands_by_id=[
@@ -98,10 +94,10 @@ def test_get_next_command_returns_none_when_no_pending() -> None:
         ]
     )
 
-    assert subject.get_next_command() is None
+    assert subject.get_next_queued() is None
 
 
-def test_get_next_command_returns_none_when_earlier_command_failed() -> None:
+def test_get_next_queued_returns_none_when_earlier_command_failed() -> None:
     """It should return None if any prior-added command is failed."""
     running_command = create_running_command(command_id="command-id-1")
     completed_command = create_completed_command(command_id="command-id-2")
@@ -117,4 +113,4 @@ def test_get_next_command_returns_none_when_earlier_command_failed() -> None:
         ]
     )
 
-    assert subject.get_next_command() is None
+    assert subject.get_next_queued() is None

api/tests/opentrons/protocol_engine/test_protocol_engine.py

@@ -134,9 +134,9 @@ async def test_execute_command_by_id(
         data=data,
     )
 
-    decoy.when(
-        state_store.state_view.commands.get_command_by_id("command-id")
-    ).then_return(queued_command)
+    decoy.when(state_store.state_view.commands.get("command-id")).then_return(
+        queued_command
+    )
 
     decoy.when(resources.model_utils.get_timestamp()).then_return(started_at)