Added a FlexInstrumentConfigurer for flex-specific configuration ex…

…tensions
Opentrons · Dec 5, 2023 · ede3171 · ede3171
1 parent 1ac290e
commit ede3171
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Showing 5 changed files with 47 additions and 8 deletions.
diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py
@@ -2262,7 +2262,7 @@ def reset_instrument(
             self._pipette_handler.reset_instrument(checked_mount)
 
     def get_instrument_offset(
-        self, mount: OT3Mount
+        self, mount: Union[top_types.Mount, OT3Mount]
     ) -> Union[GripperCalibrationOffset, PipetteOffsetSummary, None]:
         """Get instrument calibration data."""
         # TODO (spp, 2023-04-19): We haven't introduced a 'calibration_offset' key in
@@ -2271,11 +2271,13 @@ def get_instrument_offset(
         #  to be a part of the dict, this getter can be updated to fetch pipette offset
         #  from the dict, or just remove this getter entirely.
 
-        if mount == OT3Mount.GRIPPER:
+        ot3_mount = OT3Mount.from_mount(mount)
+
+        if ot3_mount == OT3Mount.GRIPPER:
             gripper_dict = self._gripper_handler.get_gripper_dict()
             return gripper_dict["calibration_offset"] if gripper_dict else None
         else:
-            return self._pipette_handler.get_instrument_offset(mount=mount)
+            return self._pipette_handler.get_instrument_offset(mount=ot3_mount)
 
     async def reset_instrument_offset(
         self, mount: Union[top_types.Mount, OT3Mount], to_default: bool = True

diff --git a/api/src/opentrons/hardware_control/protocols/__init__.py b/api/src/opentrons/hardware_control/protocols/__init__.py
@@ -17,6 +17,7 @@
 from .identifiable import Identifiable
 from .gripper_controller import GripperController
 from .flex_calibratable import FlexCalibratable
+from .flex_instrument_configurer import FlexInstrumentConfigurer
 
 from .types import CalibrationType, MountArgType, ConfigType
 
@@ -54,6 +55,7 @@ class FlexHardwareControlInterface(
     HardwareControlInterface[CalibrationType, MountArgType, ConfigType],
     GripperController,
     FlexCalibratable,
+    FlexInstrumentConfigurer[MountArgType],
     Protocol[CalibrationType, MountArgType, ConfigType],
 ):
     """A mypy protocol for a hardware controller with Flex-specific extensions.

diff --git a/api/src/opentrons/hardware_control/protocols/flex_instrument_configurer.py b/api/src/opentrons/hardware_control/protocols/flex_instrument_configurer.py
@@ -0,0 +1,28 @@
+"""Flex-specific extensions to instrument configuration."""
+from typing import Union
+from typing_extensions import Protocol
+
+from .types import MountArgType
+
+from opentrons.hardware_control.dev_types import (
+    PipetteStateDict,
+)
+from opentrons.hardware_control.instruments.ot3.instrument_calibration import (
+    PipetteOffsetSummary,
+    GripperCalibrationOffset,
+)
+
+
+class FlexInstrumentConfigurer(Protocol[MountArgType]):
+    """A protocol specifying Flex-specific extensions to instrument configuration."""
+
+    async def get_instrument_state(
+        self,
+        mount: MountArgType,
+    ) -> PipetteStateDict:
+        ...
+
+    def get_instrument_offset(
+        self, mount: MountArgType
+    ) -> Union[GripperCalibrationOffset, PipetteOffsetSummary, None]:
+        ...
diff --git a/api/src/opentrons/hardware_control/protocols/gripper_controller.py b/api/src/opentrons/hardware_control/protocols/gripper_controller.py
@@ -2,6 +2,8 @@
 from typing import Optional
 from typing_extensions import Protocol
 
+from opentrons.hardware_control.dev_types import GripperDict
+
 
 class GripperController(Protocol):
     """A protocol specifying gripper API functions."""
@@ -29,3 +31,8 @@ def gripper_jaw_can_home(self) -> bool:
         currently holding something.
         """
         ...
+
+    @property
+    def attached_gripper(self) -> Optional[GripperDict]:
+        """Get a dict of all attached grippers."""
+        ...
diff --git a/robot-server/robot_server/instruments/router.py b/robot-server/robot_server/instruments/router.py
@@ -49,7 +49,7 @@
 from robot_server.subsystems.router import status_route_for, update_route_for
 
 if TYPE_CHECKING:
-    from opentrons.hardware_control.ot3api import OT3API
+    from opentrons.hardware_control import OT3HardwareControlAPI
 
 instruments_router = APIRouter()
 
@@ -151,7 +151,7 @@ def _bad_pipette_response(subsystem: SubSystem) -> BadPipette:
 
 
 async def _get_gripper_instrument_data(
-    hardware: "OT3API",
+    hardware: "OT3HardwareControlAPI",
     attached_gripper: Optional[GripperDict],
 ) -> Optional[AttachedItem]:
     subsys = HWSubSystem.of_mount(OT3Mount.GRIPPER)
@@ -167,7 +167,7 @@ async def _get_gripper_instrument_data(
 
 
 async def _get_pipette_instrument_data(
-    hardware: "OT3API",
+    hardware: "OT3HardwareControlAPI",
     attached_pipettes: Dict[Mount, PipetteDict],
     mount: Mount,
 ) -> Optional[AttachedItem]:
@@ -193,7 +193,7 @@ async def _get_pipette_instrument_data(
 
 
 async def _get_instrument_data(
-    hardware: "OT3API",
+    hardware: "OT3HardwareControlAPI",
 ) -> List[AttachedItem]:
     attached_pipettes = hardware.attached_pipettes
     attached_gripper = hardware.attached_gripper
@@ -214,7 +214,7 @@ async def _get_instrument_data(
 
 
 async def _get_attached_instruments_ot3(
-    hardware: "OT3API",
+    hardware: "OT3HardwareControlAPI",
 ) -> PydanticResponse[SimpleMultiBody[AttachedItem]]:
     # OT3
     await hardware.cache_instruments()