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feat(api): expose versions of connected micros #12470

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merged 2 commits into from
Apr 12, 2023
Merged

feat(api): expose versions of connected micros #12470

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62c5de3
feat(api): expose versions of connected micros
sfoster1 Apr 11, 2023
b1f0825
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sfoster1 Apr 12, 2023
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16 changes: 14 additions & 2 deletions api/src/opentrons/hardware_control/backends/ot3controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,8 @@
create_tip_action_group,
PipetteAction,
sub_system_to_node_id,
NODEID_SUBSYSTEM,
USBTARGET_SUBSYSTEM,
)

try:
Expand Down Expand Up @@ -112,6 +114,7 @@
UpdateStatus,
mount_to_subsystem,
DoorState,
OT3SubSystem,
)
from opentrons.hardware_control.errors import (
MustHomeError,
Expand Down Expand Up @@ -244,9 +247,18 @@ def initialized(self, value: bool) -> None:
self._initialized = value

@property
def fw_version(self) -> Optional[str]:
def fw_version(self) -> Dict[OT3SubSystem, int]:
"""Get the firmware version."""
return None
subsystem_map: Dict[Union[NodeId, USBTarget], OT3SubSystem] = deepcopy(
cast(Dict[Union[NodeId, USBTarget], OT3SubSystem], USBTARGET_SUBSYSTEM)
)
subsystem_map.update(
cast(Dict[Union[NodeId, USBTarget], OT3SubSystem], NODEID_SUBSYSTEM)
)
return {
subsystem_map[node.application_for()]: device.version
for node, device in self._network_info.device_info.items()
}

@property
def update_required(self) -> bool:
Expand Down
8 changes: 6 additions & 2 deletions api/src/opentrons/hardware_control/backends/ot3simulator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@
create_gripper_jaw_home_group,
create_tip_action_group,
PipetteAction,
NODEID_SUBSYSTEM,
)

from opentrons_hardware.firmware_bindings.constants import (
Expand All @@ -56,6 +57,7 @@
MotorStatus,
PipetteSubType,
UpdateStatus,
OT3SubSystem,
)
from opentrons_hardware.hardware_control.motion import MoveStopCondition
from opentrons_hardware.hardware_control import status_bar
Expand Down Expand Up @@ -483,9 +485,11 @@ def axis_bounds(self) -> OT3AxisMap[Tuple[float, float]]:
}

@property
def fw_version(self) -> Optional[str]:
def fw_version(self) -> Dict[OT3SubSystem, int]:
"""Get the firmware version."""
return None
return {
NODEID_SUBSYSTEM[node.application_for()]: 0 for node in self._present_nodes
}

@property
def update_required(self) -> bool:
Expand Down
20 changes: 20 additions & 0 deletions api/src/opentrons/hardware_control/backends/ot3utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@
PipetteType,
SensorId,
PipetteTipActionType,
USBTarget,
)
from opentrons_hardware.firmware_update.types import FirmwareUpdateStatus, StatusElement
from opentrons_hardware.hardware_control.motion_planning import (
Expand Down Expand Up @@ -68,6 +69,25 @@
OT3SubSystem.gripper: NodeId.gripper,
}

NODEID_SUBSYSTEM: Dict[NodeId, OT3SubSystem] = {
NodeId.gantry_x: OT3SubSystem.gantry_x,
NodeId.gantry_x_bootloader: OT3SubSystem.gantry_x,
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I guess not super relevant to this PR, but should we be throwing an error somewhere in the hardware controller if one of the microcontrollers is in a bootloader state? Or, at the very least, should we not mask whether a node id is a bootloader?

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yes we should. i think we need to overhaul that at some point.

NodeId.gantry_y: OT3SubSystem.gantry_y,
NodeId.gantry_y_bootloader: OT3SubSystem.gantry_y,
NodeId.head: OT3SubSystem.head,
NodeId.head_bootloader: OT3SubSystem.head,
NodeId.pipette_left: OT3SubSystem.pipette_left,
NodeId.pipette_left_bootloader: OT3SubSystem.pipette_left,
NodeId.pipette_right: OT3SubSystem.pipette_right,
NodeId.pipette_right_bootloader: OT3SubSystem.pipette_right,
NodeId.gripper: OT3SubSystem.gripper,
NodeId.gripper_bootloader: OT3SubSystem.gripper,
}

USBTARGET_SUBSYSTEM: Dict[USBTarget, OT3SubSystem] = {
USBTarget.rear_panel: OT3SubSystem.rear_panel
}


def axis_nodes() -> List["NodeId"]:
return [
Expand Down
5 changes: 3 additions & 2 deletions api/src/opentrons/hardware_control/ot3api.py
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Original file line number Diff line number Diff line change
Expand Up @@ -385,10 +385,11 @@ def get_fw_version(self) -> str:
Return the firmware version of the connected hardware.
"""
from_backend = self._backend.fw_version
if from_backend is None:
uniques = set(version for version in from_backend.values())
if not from_backend:
return "unknown"
else:
return from_backend
return ", ".join(str(version) for version in uniques)

@property
def fw_version(self) -> str:
Expand Down
46 changes: 42 additions & 4 deletions api/tests/opentrons/hardware_control/backends/test_ot3_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,7 @@
OT3Mount,
OT3AxisMap,
MotorStatus,
OT3SubSystem,
)
from opentrons.hardware_control.errors import (
FirmwareUpdateRequired,
Expand Down Expand Up @@ -982,7 +983,7 @@ async def test_update_firmware_update_required(
async def test_update_firmware_up_to_date(
controller: OT3Controller,
fw_update_info: Dict[NodeId, str],
):
) -> None:
"""Test that updates are not started if they are not required."""
with mock.patch(
"opentrons_hardware.firmware_update.RunUpdate.run_updates"
Expand All @@ -1003,7 +1004,7 @@ async def test_update_firmware_specified_nodes(
controller: OT3Controller,
fw_node_info: Dict[NodeId, DeviceInfoCache],
fw_update_info: Dict[NodeId, str],
):
) -> None:
"""Test that updates are started if nodes are NOT out-of-date when nodes are specified."""
for node_cache in fw_node_info.values():
node_cache.shortsha = "978abcde"
Expand Down Expand Up @@ -1046,7 +1047,7 @@ async def test_update_firmware_invalid_specified_node(
controller: OT3Controller,
fw_node_info: Dict[NodeId, DeviceInfoCache],
fw_update_info: Dict[FirmwareUpdateType, UpdateInfo],
):
) -> None:
"""Test that only nodes in device_info_cache are updated when nodes are specified."""
check_fw_update_return = {
NodeId.head: (1, "/some/path/head.hex"),
Expand Down Expand Up @@ -1082,7 +1083,7 @@ async def test_update_firmware_progress(
controller: OT3Controller,
fw_node_info: Dict[NodeId, DeviceInfoCache],
fw_update_info: Dict[FirmwareUpdateType, UpdateInfo],
):
) -> None:
"""Test that the progress is reported for nodes updating."""
controller._network_info._device_info_cache = fw_node_info

Expand Down Expand Up @@ -1119,3 +1120,40 @@ async def _fake_update_progress(
assert not controller.update_required
assert controller._update_tracker is None
probe.assert_called_once()


@pytest.mark.parametrize("versions", [(1, 2, 3), (1, 1, 1), (1, 2, 2)])
def test_fw_versions(controller: OT3Controller, versions: Tuple[int, int, int]) -> None:
info = {
NodeId.head: DeviceInfoCache(
NodeId.head,
versions[0],
"12345678",
None,
PCBARevision(None),
subidentifier=0,
),
NodeId.gantry_y: DeviceInfoCache(
NodeId.gantry_y,
versions[1],
"12345678",
None,
PCBARevision(None),
subidentifier=0,
),
NodeId.pipette_right_bootloader: DeviceInfoCache(
NodeId.pipette_right_bootloader,
versions[2],
"12345678",
None,
PCBARevision(None),
subidentifier=2,
),
}

controller._network_info._device_info_cache = info
assert controller.fw_version == {
OT3SubSystem.head: versions[0],
OT3SubSystem.gantry_y: versions[1],
OT3SubSystem.pipette_right: versions[2],
}
32 changes: 31 additions & 1 deletion api/tests/opentrons/hardware_control/test_ot3_api.py
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
from typing_extensions import Literal
from math import copysign
import pytest
from mock import AsyncMock, patch, Mock, call
from mock import AsyncMock, patch, Mock, call, PropertyMock
from opentrons.config.types import (
GantryLoad,
CapacitivePassSettings,
Expand All @@ -30,6 +30,7 @@
InstrumentProbeType,
LiquidNotFound,
EarlyLiquidSenseTrigger,
OT3SubSystem,
)
from opentrons.hardware_control.errors import (
GripperNotAttachedError,
Expand Down Expand Up @@ -1210,3 +1211,32 @@ async def test_light_settings(
check = await ot3_hardware.get_lights()
assert check["rails"] != setting
assert not check["button"]


@pytest.mark.parametrize(
"versions,version_str",
[
({}, "unknown"),
({OT3SubSystem.pipette_right: 2}, "2"),
(
{
OT3SubSystem.pipette_left: 2,
OT3SubSystem.gantry_x: 2,
OT3SubSystem.gantry_y: 2,
},
"2",
),
({OT3SubSystem.gripper: 3, OT3SubSystem.head: 1}, "1, 3"),
],
)
def test_fw_version(
ot3_hardware: ThreadManager[OT3API],
versions: Dict[OT3SubSystem, int],
version_str: str,
) -> None:
with patch(
"opentrons.hardware_control.ot3api.OT3Simulator.fw_version",
new_callable=PropertyMock,
) as mock_fw_version:
mock_fw_version.return_value = versions
assert ot3_hardware.get_fw_version() == version_str