feat(api): publish module commands and make module data endpoint (#2053)

Include Module method calls in the message broker, which allows for run log entries in the run-app.
Create a new endpoint that requests the live data from a module with a given serial number. Point
the TempdeckStatusCard's IntervalWrapper at this new endpoint.

Closes #1653

api/opentrons/__init__.py

@@ -198,9 +198,6 @@ def P1000_Single(
             aspirate_flow_rate=aspirate_flow_rate,
             dispense_flow_rate=dispense_flow_rate)
 
-    def Magbead(self, *args, **kwargs):
-        return inst.Magbead(self.robot, *args, **kwargs)
-
     def _create_pipette_from_config(
             self,
             config,

api/opentrons/commands/commands.py

@@ -250,25 +250,43 @@ def drop_tip(instrument, location):
     )
 
 
-def engage(motor):
-    text = "Engaging Magbead at mosfet #{motor}"
+def magdeck_engage():
+    text = "Engaging magnetic deck module"
     return make_command(
-        name=types.MAGBEAD_ENGAGE,
-        payload={
-            'motor': motor,
-            'text': text
-        }
+        name=types.MAGDECK_ENGAGE,
+        payload={'text': text}
     )
 
 
-def disengage(motor):
-    text = "Disengaging Magbead at mosfet #{motor}"
+def magdeck_disengage():
+    text = "Disengaging magnetic deck module"
     return make_command(
-        name=types.MAGBEAD_ENGAGE,
-        payload={
-            'motor': motor,
-            'text': text
-        }
+        name=types.MAGDECK_DISENGAGE,
+        payload={'text': text}
+    )
+
+
+def magdeck_calibrate():
+    text = "Calibrating magnetic deck module"
+    return make_command(
+        name=types.MAGDECK_CALIBRATE,
+        payload={'text': text}
+    )
+
+
+def tempdeck_set_temp():
+    text = "Setting temperature deck module temperature"
+    return make_command(
+        name=types.TEMPDECK_SET_TEMP,
+        payload={'text': text}
+    )
+
+
+def tempdeck_deactivate():
+    text = "Deactivating temperature deck module"
+    return make_command(
+        name=types.TEMPDECK_DEACTIVATE,
+        payload={'text': text}
     )
 
 
@@ -302,15 +320,6 @@ def resume():
     )
 
 
-def magbead():
-    pass
-
-
-magbead.engage = engage
-magbead.disengage = disengage
-magbead.delay = delay
-
-
 def publish(before, after, command, meta=None):
     publish_command = functools.partial(
         broker.publish,

api/opentrons/commands/types.py

@@ -1,11 +1,22 @@
 COMMAND = 'command'
 
 
-# Robot #
+# helpers #
+
 def makeRobotCommandName(name):
     return '{}.{}'.format(COMMAND, name)
 
 
+# Robot #
+
+DELAY = makeRobotCommandName('DELAY')
+HOME = makeRobotCommandName('HOME')
+PAUSE = makeRobotCommandName('PAUSE')
+RESUME = makeRobotCommandName('RESUME')
+COMMENT = makeRobotCommandName('COMMENT')
+
+# Pipette #
+
 ASPIRATE = makeRobotCommandName('ASPIRATE')
 DISPENSE = makeRobotCommandName('DISPENSE')
 MIX = makeRobotCommandName('MIX')
@@ -14,13 +25,16 @@ def makeRobotCommandName(name):
 TRANSFER = makeRobotCommandName('TRANSFER')
 PICK_UP_TIP = makeRobotCommandName('PICK_UP_TIP')
 DROP_TIP = makeRobotCommandName('DROP_TIP')
-COMMENT = makeRobotCommandName('COMMENT')
-MAGBEAD_ENGAGE = makeRobotCommandName('MAGBEAD_ENGAGE')
-DELAY = makeRobotCommandName('DELAY')
 BLOW_OUT = makeRobotCommandName('BLOW_OUT')
 AIR_GAP = makeRobotCommandName('AIR_GAP')
 TOUCH_TIP = makeRobotCommandName('TOUCH_TIP')
 RETURN_TIP = makeRobotCommandName('RETURN_TIP')
-HOME = makeRobotCommandName('HOME')
-PAUSE = makeRobotCommandName('PAUSE')
-RESUME = makeRobotCommandName('RESUME')
+
+# Modules #
+
+MAGDECK_CALIBRATE = makeRobotCommandName('MAGDECK_CALIBRATE')
+MAGDECK_DISENGAGE = makeRobotCommandName('MAGDECK_DISENGAGE')
+MAGDECK_ENGAGE = makeRobotCommandName('MAGDECK_ENGAGE')
+
+TEMPDECK_DEACTIVATE = makeRobotCommandName('TEMPDECK_DEACTIVATE')
+TEMPDECK_SET_TEMP = makeRobotCommandName('TEMPDECK_SET_TEMP')

api/opentrons/instruments/__init__.py

@@ -1,9 +1,7 @@
-from opentrons.instruments.magbead import Magbead
 from opentrons.instruments.pipette import Pipette
 
 
 __all__ = [
-    Magbead,
     Pipette
 ]
 

api/opentrons/instruments/instrument.py

@@ -21,7 +21,7 @@
 class Instrument(object):
     """
     This class represents instrument attached to the :any:`Robot`:
-    :Pipette:, :Magbead:.
+    :Pipette:.
 
     It gives the instruments ability to CRUD their calibration data,
     and gives access to some common methods across instruments

api/opentrons/modules/__init__.py

@@ -30,7 +30,7 @@ def load(name, slot):
             # that type that is on the robot, in the future we should add
             # support for multiple instances of one module type this
             # accessor would then load the correct disambiguated module
-            # instance (via nickname?)
+            # instance via the module's serial
             matching_modules = [
                 module for module in robot.modules if isinstance(
                     module, SUPPORTED_MODULES.get(name)

api/opentrons/modules/magdeck.py

@@ -1,4 +1,5 @@
 from opentrons.drivers.mag_deck import MagDeck as MagDeckDriver
+from opentrons import commands
 
 
 class MissingDevicePortError(Exception):
@@ -19,6 +20,7 @@ def __init__(self, lw=None, port=None):
         self._driver = None
         self._device_info = None
 
+    @commands.publish.both(command=commands.magdeck_calibrate)
     def calibrate(self):
         '''
         Calibration involves probing for top plate to get the plate height
@@ -28,6 +30,7 @@ def calibrate(self):
             # return if successful or not?
             self._engaged = False
 
+    @commands.publish.both(command=commands.magdeck_engage)
     def engage(self):
         '''
         Move the magnet to plate top - 1 mm
@@ -36,6 +39,7 @@ def engage(self):
             self._driver.move(self._driver.plate_height - 1.0)
             self._engaged = True
 
+    @commands.publish.both(command=commands.magdeck_disengage)
     def disengage(self):
         '''
         Home the magnet
@@ -54,7 +58,8 @@ def to_dict(self):
             'model': self.device_info and self.device_info.get('model'),
             'fwVersion': self.device_info and self.device_info.get('version'),
             'displayName': 'Magnetic Deck',
-            'status': self.status
+            'status': self.status,
+            'data': {'engaged': self._engaged}
         }
 
     @property

api/opentrons/modules/tempdeck.py

@@ -1,4 +1,5 @@
 from opentrons.drivers.temp_deck import TempDeck as TempDeckDriver
+from opentrons import commands
 
 
 class MissingDevicePortError(Exception):
@@ -18,6 +19,7 @@ def __init__(self, lw=None, port=None):
         self._driver = None
         self._device_info = None
 
+    @commands.publish.both(command=commands.tempdeck_set_temp)
     def set_temperature(self, celsius):
         """
         Set temperature in degree Celsius
@@ -28,6 +30,7 @@ def set_temperature(self, celsius):
         if self._driver and self._driver.is_connected():
             self._driver.set_temperature(celsius)
 
+    @commands.publish.both(command=commands.tempdeck_deactivate)
     def deactivate(self):
         """ Stop heating/cooling and turn off the fan """
         if self._driver and self._driver.is_connected():
@@ -51,7 +54,16 @@ def to_dict(self):
             'model': self.device_info and self.device_info.get('model'),
             'fwVersion': self.device_info and self.device_info.get('version'),
             'displayName': 'Temperature Deck',
-            'status': self.status
+            **self.live_data()
+        }
+
+    def live_data(self):
+        return {
+            'status': self.status,
+            'data': {
+                'currentTemp': self.temperature,
+                'targetTemp': self.target
+            }
         }
 
     @property

api/opentrons/server/endpoints/control.py

@@ -86,6 +86,23 @@ async def get_attached_modules(request):
     return web.json_response(data, status=200)
 
 
+async def get_module_data(request):
+    """
+    Query a module (by its serial number) for its live data
+    """
+    requested_serial = request.match_info['serial']
+    res = None
+
+    for module in robot.modules:
+        if module.device_info.get('serial') == requested_serial:
+            res = module.live_data() if module.live_data() else None
+
+    if res:
+        return web.json_response(res, status=200)
+    else:
+        return web.json_response({"message": "Module not found"}, status=404)
+
+
 async def get_engaged_axes(request):
     """
     Query driver for engaged state by axis. Response keys will be axes XYZABC

api/opentrons/server/main.py

@@ -171,6 +171,8 @@ def init(loop=None):
         '/identify', control.identify)
     server.app.router.add_get(
         '/modules', control.get_attached_modules)
+    server.app.router.add_get(
+        '/modules/{serial}/data', control.get_module_data)
     server.app.router.add_post(
         '/camera/picture', control.take_picture)
     server.app.router.add_post(