cleanup

api/src/opentrons/drivers/absorbance_reader/async_byonoy.py

@@ -178,8 +178,6 @@ async def update_firmware(self, firmware_file_path: str) -> Tuple[bool, str]:
         handle = self._verify_device_handle()
         if not os.path.exists(firmware_file_path):
             return False, f"Firmware file not found: {firmware_file_path}"
-        # TODO: verify if this needs to run in this context or executor thread
-        # err = self._interface.byonoy_update_device(handle, firmware_file_path)
         err = await self._loop.run_in_executor(
             executor=self._executor,
             func=partial(
@@ -287,7 +285,7 @@ def _initialize(self, wavelength: int) -> None:
         self._initialize_measurement(conf)
 
     async def initialize(self, wavelength: int) -> None:
-        """???"""
+        """Initialize the device so we can start reading samples from it."""
         await self._loop.run_in_executor(
             executor=self._executor, func=partial(self._initialize, wavelength)
         )

api/src/opentrons/drivers/absorbance_reader/driver.py

@@ -35,9 +35,6 @@ def __init__(self, connection: AsyncByonoyType) -> None:
     async def connect(self) -> None:
         """Connect to absorbance reader"""
         await self._connection.open()
-        # The Absorbance reader needs to initialize after opening a connection
-        # This takes about 10 seconds, so lets wait 15 to be safe.
-        # await asyncio.sleep(15)
 
     async def disconnect(self) -> None:
         """Disconnect from absorbance reader"""

api/src/opentrons/hardware_control/backends/ot3controller.py

@@ -494,9 +494,9 @@ def update_feature_flags(self, feature_flags: HardwareFeatureFlags) -> None:
     async def update_motor_status(self) -> None:
         """Retreieve motor and encoder status and position from all present nodes"""
         motor_nodes = self._motor_nodes()
-        if motor_nodes:
-            response = await get_motor_position(self._messenger, motor_nodes)
-            self._handle_motor_status_response(response)
+        assert len(motor_nodes)
+        response = await get_motor_position(self._messenger, motor_nodes)
+        self._handle_motor_status_response(response)
 
     async def update_motor_estimation(self, axes: Sequence[Axis]) -> None:
         """Update motor position estimation for commanded nodes, and update cache of data."""
@@ -1142,6 +1142,7 @@ async def _handle_watch_event(self) -> None:
             return
         if event is not None:
             flags = aionotify.Flags.parse(event.flags)
+            log.debug(f"aionotify: {flags} {event.name}")
             if "ot_module" in event.name:
                 event_name = event.name
                 event_description = AionotifyEvent.build(event_name, flags)

api/src/opentrons/hardware_control/backends/subsystem_manager.py

@@ -150,13 +150,13 @@ def subsystems_to_update(self) -> List[SubSystem]:
         return [target_to_subsystem(t) for t in self._updates_required.keys()]
 
     async def start(self) -> None:
-        # await self._probe_network_and_cache_fw_updates(
-        #    self._expected_core_targets, True
-        # )
-        # self._tool_detection_task = asyncio.create_task(
-        #    self._tool_detection_task_main()
-        # )
-        # await self.refresh()
+        await self._probe_network_and_cache_fw_updates(
+            self._expected_core_targets, True
+        )
+        self._tool_detection_task = asyncio.create_task(
+            self._tool_detection_task_main()
+        )
+        await self.refresh()
         log.info(f"Subsystem manager started with devices {self.device_info}")
 
     async def refresh(self) -> None:

api/src/opentrons/hardware_control/poller.py

@@ -113,8 +113,6 @@ async def _poll_once(self) -> None:
             self._reader.on_error(e)
             for waiter in previous_waiters:
                 Poller._set_waiter_complete(waiter, e)
-            # NOTE: For debugging
-            await self.stop()
         else:
             for waiter in previous_waiters:
                 Poller._set_waiter_complete(waiter)