feat(api): Limited support for programmatically running PAPIv≥2.14 (#…

…12970)

api/src/opentrons/protocol_engine/__init__.py

@@ -7,7 +7,10 @@
 The main interface is the `ProtocolEngine` class.
 """
 
-from .create_protocol_engine import create_protocol_engine
+from .create_protocol_engine import (
+    create_protocol_engine,
+    create_protocol_engine_in_thread,
+)
 from .protocol_engine import ProtocolEngine
 from .errors import ProtocolEngineError, ErrorOccurrence
 from .commands import (
@@ -55,6 +58,7 @@
 __all__ = [
     # main factory and interface exports
     "create_protocol_engine",
+    "create_protocol_engine_in_thread",
     "ProtocolEngine",
     "StateSummary",
     "Config",

api/src/opentrons/protocol_engine/create_protocol_engine.py

@@ -1,13 +1,19 @@
 """Main ProtocolEngine factory."""
+import asyncio
+import contextlib
+import typing
+
 from opentrons.hardware_control import HardwareControlAPI
 from opentrons.hardware_control.types import DoorState
-from opentrons.protocol_engine.resources.module_data_provider import ModuleDataProvider
+from opentrons.util.async_helpers import async_context_manager_in_thread
 
 from .protocol_engine import ProtocolEngine
-from .resources import DeckDataProvider
+from .resources import DeckDataProvider, ModuleDataProvider
 from .state import Config, StateStore
 
 
+# TODO(mm, 2023-06-16): Arguably, this not being a context manager makes us prone to forgetting to
+# clean it up properly, especially in tests. See e.g. https://opentrons.atlassian.net/browse/RSS-222
 async def create_protocol_engine(
     hardware_api: HardwareControlAPI,
     config: Config,
@@ -32,3 +38,54 @@ async def create_protocol_engine(
     )
 
     return ProtocolEngine(state_store=state_store, hardware_api=hardware_api)
+
+
+@contextlib.contextmanager
+def create_protocol_engine_in_thread(
+    hardware_api: HardwareControlAPI,
+    config: Config,
+    drop_tips_and_home_after: bool,
+) -> typing.Generator[
+    typing.Tuple[ProtocolEngine, asyncio.AbstractEventLoop], None, None
+]:
+    """Run a `ProtocolEngine` in a worker thread.
+
+    When this context manager is entered, it:
+
+    1. Starts a worker thread.
+    2. Starts an asyncio event loop in that worker thread.
+    3. Creates and `.play()`s a `ProtocolEngine` in that event loop.
+    4. Returns the `ProtocolEngine` and the event loop.
+       Use functions like `asyncio.run_coroutine_threadsafe()` to safely interact with
+       the `ProtocolEngine` from your thread.
+
+    When this context manager is exited, it:
+
+    1. Cleans up the `ProtocolEngine`.
+    2. Stops and cleans up the event loop.
+    3. Joins the thread.
+    """
+    with async_context_manager_in_thread(
+        _protocol_engine(hardware_api, config, drop_tips_and_home_after)
+    ) as (
+        protocol_engine,
+        loop,
+    ):
+        yield protocol_engine, loop
+
+
+@contextlib.asynccontextmanager
+async def _protocol_engine(
+    hardware_api: HardwareControlAPI,
+    config: Config,
+    drop_tips_and_home_after: bool,
+) -> typing.AsyncGenerator[ProtocolEngine, None]:
+    protocol_engine = await create_protocol_engine(
+        hardware_api=hardware_api,
+        config=config,
+    )
+    try:
+        protocol_engine.play()
+        yield protocol_engine
+    finally:
+        await protocol_engine.finish(drop_tips_and_home=drop_tips_and_home_after)

api/src/opentrons/util/async_helpers.py

@@ -3,9 +3,21 @@
 """
 
 from functools import wraps
-from typing import TypeVar, Callable, Awaitable, cast, Any
+from threading import Thread
+from typing import (
+    Any,
+    AsyncContextManager,
+    Awaitable,
+    Callable,
+    Generator,
+    Tuple,
+    TypeVar,
+    cast,
+)
 
 import asyncio
+import contextlib
+import queue
 
 
 async def asyncio_yield() -> None:
@@ -36,10 +48,10 @@ async def and await call() that still effectively "block" other concurrent tasks
     await asyncio.sleep(0)
 
 
-Wrapped = TypeVar("Wrapped", bound=Callable[..., Awaitable[Any]])
+_Wrapped = TypeVar("_Wrapped", bound=Callable[..., Awaitable[Any]])
 
 
-def ensure_yield(async_def_func: Wrapped) -> Wrapped:
+def ensure_yield(async_def_func: _Wrapped) -> _Wrapped:
     """
     A decorator that makes sure that asyncio_yield() is called after the decorated async
     function finishes executing.
@@ -57,4 +69,98 @@ async def _wrapper(*args: Any, **kwargs: Any) -> Any:
         await asyncio_yield()
         return ret
 
-    return cast(Wrapped, _wrapper)
+    return cast(_Wrapped, _wrapper)
+
+
+_ContextManagerResult = TypeVar("_ContextManagerResult")
+
+
+@contextlib.contextmanager
+def async_context_manager_in_thread(
+    async_context_manager: AsyncContextManager[_ContextManagerResult],
+) -> Generator[Tuple[_ContextManagerResult, asyncio.AbstractEventLoop], None, None]:
+    """Enter an async context manager in a worker thread.
+
+    When you enter this context manager, it:
+
+    1. Spawns a worker thread.
+    2. In that thread, starts an asyncio event loop.
+    3. In that event loop, enters the context manager that you passed in.
+    4. Returns: the result of entering that context manager, and the running event loop.
+       Use functions like `asyncio.run_coroutine_threadsafe()` to safely interact
+       with the returned object from your thread.
+
+    When you exit this context manager, it:
+
+    1. In the worker thread's event loop, exits the context manager that you passed in.
+    2. Stops and cleans up the worker thread's event loop.
+    3. Joins the worker thread.
+    """
+    with _run_loop_in_thread() as loop_in_thread:
+        async_object = asyncio.run_coroutine_threadsafe(
+            async_context_manager.__aenter__(),
+            loop=loop_in_thread,
+        ).result()
+
+        try:
+            yield async_object, loop_in_thread
+
+        finally:
+            exit = asyncio.run_coroutine_threadsafe(
+                async_context_manager.__aexit__(None, None, None),
+                loop=loop_in_thread,
+            )
+            exit.result()
+
+
+@contextlib.contextmanager
+def _run_loop_in_thread() -> Generator[asyncio.AbstractEventLoop, None, None]:
+    """Run an event loop in a worker thread.
+
+    Entering this context manager spawns a thread, starts an asyncio event loop in it,
+    and returns that loop.
+
+    Exiting this context manager stops and cleans up the event loop, and then joins the thread.
+    """
+    loop_mailbox: "queue.SimpleQueue[asyncio.AbstractEventLoop]" = queue.SimpleQueue()
+
+    def _in_thread() -> None:
+        loop = asyncio.new_event_loop()
+
+        # We assume that the lines above this will never fail,
+        # so we will always reach this point to unblock the parent thread.
+        loop_mailbox.put(loop)
+
+        loop.run_forever()
+
+        # If we've reached here, the loop has been stopped from outside this thread. Clean it up.
+        #
+        # This cleanup is naive because asyncio makes it difficult and confusing to get it right.
+        # Compare this with asyncio.run()'s cleanup, which:
+        #
+        # * Cancels and awaits any remaining tasks
+        #   (according to the source code--this seems undocumented)
+        # * Shuts down asynchronous generators
+        #   (see asyncio.shutdown_asyncgens())
+        # * Shuts down the default thread pool executor
+        #   (see https://bugs.python.org/issue34037 and asyncio.shutdown_default_executor())
+        #
+        # In Python >=3.11, we should rewrite this to use asyncio.Runner,
+        # which can take care of these nuances for us.
+        loop.close()
+
+    thread = Thread(
+        target=_in_thread,
+        name=f"{__name__} event loop thread",
+        # This is a load-bearing daemon=True. It avoids @atexit-related deadlocks when this is used
+        # by opentrons.execute and cleaned up by opentrons.execute's @atexit handler.
+        # https://github.com/Opentrons/opentrons/pull/12970#issuecomment-1648243785
+        daemon=True,
+    )
+    thread.start()
+    loop_in_thread = loop_mailbox.get()
+    try:
+        yield loop_in_thread
+    finally:
+        loop_in_thread.call_soon_threadsafe(loop_in_thread.stop)
+        thread.join()

api/src/opentrons/util/entrypoint_util.py

@@ -5,7 +5,8 @@
 import logging
 from json import JSONDecodeError
 import pathlib
-from typing import Dict, Sequence, Union, TYPE_CHECKING
+import shutil
+from typing import BinaryIO, Dict, Sequence, TextIO, Union, TYPE_CHECKING
 
 from jsonschema import ValidationError  # type: ignore
 
@@ -83,3 +84,37 @@ def datafiles_from_paths(paths: Sequence[Union[str, pathlib.Path]]) -> Dict[str,
                 else:
                     log.info(f"ignoring {child} in data path")
     return datafiles
+
+
+# HACK(mm, 2023-06-29): This function is attempting to do something fundamentally wrong.
+# Remove it when we fix https://opentrons.atlassian.net/browse/RSS-281.
+def copy_file_like(source: Union[BinaryIO, TextIO], destination: pathlib.Path) -> None:
+    """Copy a file-like object to a path.
+
+    Limitations:
+        If `source` is text, the new file's encoding may not correctly match its original encoding.
+        This can matter if it's a Python file and it has an encoding declaration
+        (https://docs.python.org/3.7/reference/lexical_analysis.html#encoding-declarations).
+        Also, its newlines may get translated.
+    """
+    # When we read from the source stream, will it give us bytes, or text?
+    try:
+        # Experimentally, this is present (but possibly None) on text-mode streams,
+        # and not present on binary-mode streams.
+        getattr(source, "encoding")
+    except AttributeError:
+        source_is_text = False
+    else:
+        source_is_text = True
+
+    if source_is_text:
+        destination_mode = "wt"
+    else:
+        destination_mode = "wb"
+
+    with open(
+        destination,
+        mode=destination_mode,
+    ) as destination_file:
+        # Use copyfileobj() to limit memory usage.
+        shutil.copyfileobj(fsrc=source, fdst=destination_file)