refactor(emulation): integrated with module control (#8586)

* Module control refactors

* new package.

* start module control integration.

* tests for module control integration.

* implement connection listener.

* module server integrated into module control.

* lint

* g-code-testing

* redo docker compose to deal with separate emulator apps.

* usb port.

* expand module emulation settings.

* update docker readme.

* format-js

* lint

* go back to threadings. I don't want to debug windows nonsense.

* fix bug.

* redo gcode testing's emulator setup.

* documentation.

* clean up.

DOCKER.md

@@ -37,6 +37,62 @@ For example to use a `p300_multi` on the right add:
     OT_EMULATOR_smoothie: '{"right": {"model": "p300_multi"}}'
 ```
 
+### Adding more emulators
+
+#### Magdeck
+
+To add a second mag deck emulator make a copy of the existing `magdeck` section and change the key and `serial_number`.
+
+For example this adds a `magdeck` with the serial number `magdeck2`:
+
+```
+ magdeck2:
+    build: .
+    command: python3 -m opentrons.hardware_control.emulation.scripts.run_module_emulator magdeck emulator
+    links:
+      - 'emulator'
+    depends_on:
+      - 'emulator'
+    environment:
+      OT_EMULATOR_magdeck: '{"serial_number": "magdeck2", "model":"mag_deck_v20", "version":"2.0.0"}'
+```
+
+#### Tempdeck
+
+To add a second temp deck emulator make a copy of the existing `tempdeck` section and change the key and `serial_number`.
+
+For example this adds a `tempdeck` with the serial number `tempdeck2`:
+
+```
+ tempdeck2:
+    build: .
+    command: python3 -m opentrons.hardware_control.emulation.scripts.run_module_emulator tempdeck emulator
+    links:
+      - 'emulator'
+    depends_on:
+      - 'emulator'
+    environment:
+      OT_EMULATOR_tempdeck: '{"serial_number": "tempdeck2", "model":"temp_deck_v20", "version":"v2.0.1", "temperature": {"starting":0.0, "degrees_per_tick": 2.0}}'
+```
+
+#### Thermocycler
+
+To add a second thermocycler emulator make a copy of the existing `thermocycler` section and change the key and `serial_number`.
+
+For example this adds a `thermocycler` with the serial number `thermocycler2`:
+
+```
+ thermocycler2:
+    build: .
+    command: python3 -m opentrons.hardware_control.emulation.scripts.run_module_emulator thermocycler emulator
+    links:
+      - 'emulator'
+    depends_on:
+      - 'emulator'
+    environment:
+      OT_EMULATOR_thermocycler: '{"serial_number": "thermocycler2", "model":"v02", "version":"v1.1.0", "lid_temperature": {"starting":23.0, "degrees_per_tick": 2.0},  "plate_temperature": {"starting":23.0, "degrees_per_tick": 2.0}}'
+```
+
 ## Known Issues
 
 - Pipettes cannot be changed at run time.

api/src/opentrons/hardware_control/api.py

@@ -214,7 +214,9 @@ async def blink():
 
             api_instance = cls(backend, loop=checked_loop, config=checked_config)
             await api_instance.cache_instruments()
-            module_controls = await AttachedModulesControl.build(api_instance)
+            module_controls = await AttachedModulesControl.build(
+                api_instance, board_revision=backend.board_revision
+            )
             backend.module_controls = module_controls
             checked_loop.create_task(backend.watch(loop=checked_loop))
             backend.start_gpio_door_watcher(
@@ -260,7 +262,9 @@ async def build_hardware_simulator(
         )
         api_instance = cls(backend, loop=checked_loop, config=checked_config)
         await api_instance.cache_instruments()
-        module_controls = await AttachedModulesControl.build(api_instance)
+        module_controls = await AttachedModulesControl.build(
+            api_instance, board_revision=backend.board_revision
+        )
         backend.module_controls = module_controls
         await backend.watch()
         return api_instance

api/src/opentrons/hardware_control/controller.py

@@ -11,7 +11,7 @@
     aionotify = None
 
 from opentrons.drivers.smoothie_drivers import SmoothieDriver
-from opentrons.drivers.rpi_drivers import build_gpio_chardev, usb
+from opentrons.drivers.rpi_drivers import build_gpio_chardev
 import opentrons.config
 from opentrons.config import pipette_config
 from opentrons.config.types import RobotConfig
@@ -77,7 +77,6 @@ def __init__(self, config: RobotConfig, gpio: GPIODriverLike):
             config=self.config, gpio_chardev=self._gpio_chardev
         )
         self._cached_fw_version: Optional[str] = None
-        self._usb = usb.USBBus(self._board_revision)
         self._module_controls: Optional[AttachedModulesControl] = None
         try:
             self._event_watcher = self._build_event_watcher()

api/src/opentrons/hardware_control/emulation/magdeck.py

@@ -8,24 +8,21 @@
 from opentrons.drivers.mag_deck.driver import GCODE
 from opentrons.hardware_control.emulation.parser import Parser, Command
 from .abstract_emulator import AbstractEmulator
+from .settings import MagDeckSettings
 
 logger = logging.getLogger(__name__)
 
 
-SERIAL = "magnetic_emulator"
-MODEL = "mag_deck_v20"
-VERSION = "2.0.0"
-
-
 class MagDeckEmulator(AbstractEmulator):
     """Magdeck emulator"""
 
     height: float = 0
     position: float = 0
 
-    def __init__(self, parser: Parser) -> None:
-        self.reset()
+    def __init__(self, parser: Parser, settings: MagDeckSettings) -> None:
+        self._settings = settings
         self._parser = parser
+        self.reset()
 
     def handle(self, line: str) -> Optional[str]:
         """Handle a line"""
@@ -53,7 +50,11 @@ def _handle(self, command: Command) -> Optional[str]:
         elif command.gcode == GCODE.GET_CURRENT_POSITION:
             return f"Z:{self.position}"
         elif command.gcode == GCODE.DEVICE_INFO:
-            return f"serial:{SERIAL} model:{MODEL} version:{VERSION}"
+            return (
+                f"serial:{self._settings.serial_number} "
+                f"model:{self._settings.model} "
+                f"version:{self._settings.version}"
+            )
         elif command.gcode == GCODE.PROGRAMMING_MODE:
             pass
         return None

api/src/opentrons/hardware_control/emulation/module_server/__init__.py

@@ -0,0 +1,8 @@
+"""Package for the module status server."""
+from .server import ModuleStatusServer
+from .client import ModuleStatusClient
+
+__all__ = [
+    "ModuleStatusServer",
+    "ModuleStatusClient",
+]