From 357576735314e748b07db0ba5a3a3c8661dd4b1d Mon Sep 17 00:00:00 2001
From: Seth Foster <seth@opentrons.com>
Date: Tue, 27 Jun 2023 15:14:52 -0400
Subject: [PATCH 01/20] feat(hardware): add shared-data for errors

---
 hardware/Pipfile      |   3 +-
 hardware/Pipfile.lock | 731 +++++++++++++++++++++++++-----------------
 hardware/setup.py     |   6 +-
 3 files changed, 451 insertions(+), 289 deletions(-)

diff --git a/hardware/Pipfile b/hardware/Pipfile
index adae953e9b0..ef1497cee78 100644
--- a/hardware/Pipfile
+++ b/hardware/Pipfile
@@ -11,7 +11,7 @@ numpy = "==1.21.2"
 pydantic = "==1.8.2"
 
 [dev-packages]
-pytest = "==6.1.0"
+pytest = "==7.0.1"
 pytest-lazy-fixture = "==0.6.3"
 pytest-cov = "==2.10.1"
 mypy = "==0.910"
@@ -25,6 +25,7 @@ types-mock = "==4.0.1"
 hypothesis = "~=6.36.1"
 pytest-asyncio = "~=0.18"
 matplotlib = "*"
+opentrons-shared-data = { editable = true, path = "../shared-data/python" }
 
 [requires]
 python_version = "3.7"
diff --git a/hardware/Pipfile.lock b/hardware/Pipfile.lock
index efff4b0a04c..29a90038227 100644
--- a/hardware/Pipfile.lock
+++ b/hardware/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "6ae1b3a213054f85d8838d5751f105f56157f52679015be32e34e375989ab443"
+            "sha256": "e648179e894ecd8eab6eaf4d0a75f1bde4c9aa087ab04e79d8058210f4318c8b"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -18,11 +18,11 @@
     "default": {
         "aenum": {
             "hashes": [
-                "sha256:12ae89967f2e25c0ce28c293955d643f891603488bc3d9946158ba2b35203638",
-                "sha256:525b4870a27d0b471c265bda692bc657f1e0dd7597ad4186d072c59f9db666f6",
-                "sha256:aed2c273547ae72a0d5ee869719c02a643da16bf507c80958faadc7e038e3f73"
+                "sha256:27b1710b9d084de6e2e695dab78fe9f269de924b51ae2850170ee7e1ca6288a5",
+                "sha256:8cbd76cd18c4f870ff39b24284d3ea028fbe8731a58df3aa581e434c575b9559",
+                "sha256:e0dfaeea4c2bd362144b87377e2c61d91958c5ed0b4daf89cb6f45ae23af6288"
             ],
-            "version": "==3.1.11"
+            "version": "==3.1.15"
         },
         "numpy": {
             "hashes": [
@@ -105,91 +105,102 @@
         },
         "typing-extensions": {
             "hashes": [
-                "sha256:6657594ee297170d19f67d55c05852a874e7eb634f4f753dbd667855e07c1708",
-                "sha256:f1c24655a0da0d1b67f07e17a5e6b2a105894e6824b92096378bb3668ef02376"
+                "sha256:88a4153d8505aabbb4e13aacb7c486c2b4a33ca3b3f807914a9b4c844c471c26",
+                "sha256:d91d5919357fe7f681a9f2b5b4cb2a5f1ef0a1e9f59c4d8ff0d3491e05c0ffd5"
             ],
             "index": "pypi",
-            "version": "==4.2.0"
+            "version": "==4.6.3"
         },
         "wrapt": {
             "hashes": [
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             "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3, 3.4'",
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     "develop": {
         "attrs": {
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@@ -230,50 +241,69 @@
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         "cycler": {
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@@ -309,18 +339,19 @@
         },
         "flake8-noqa": {
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@@ -332,108 +363,141 @@
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@@ -481,10 +545,10 @@
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@@ -522,80 +586,113 @@
             "index": "pypi",
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+            "path": "./../shared-data/python"
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+                "sha256:b735e538f74ec31378f5a1e3886a26d2ca6351106b4dfde376a26fc32a044edc",
+                "sha256:c147257a92374fde8498491f53ffa8f4822cd70c0d85037e09028e478cababb7",
+                "sha256:c4db1bd596fefd66b296a3d5d943c94f4fac5bcd13e99bffe2ba6a759d959a28",
+                "sha256:c74bed51f9b41c48366a286395c67f4e894374306b197e62810e0fdaf2364da2",
+                "sha256:c9bb60a40a0ab9aba40a59f68214eed5a29c6274c83b2cc206a359c4a89fa41b",
+                "sha256:cc5d149f31706762c1f8bda2e8c4f8fead6e80312e3692619a75301d3dbb819a",
+                "sha256:ccf0d6bd208f8111179f0c26fdf84ed7c3891982f2edaeae7422575f47e66b64",
+                "sha256:e42296a09e83028b3476f7073fcb69ffebac0e66dbbfd1bd847d61f74db30f19",
+                "sha256:e8f2b814a3dc6225964fa03d8582c6e0b6650d68a232df41e3cc1b66a5d2f8d1",
+                "sha256:f0774bf48631f3a20471dd7c5989657b639fd2d285b861237ea9e82c36a415a9",
+                "sha256:f0e7c4b2f77593871e918be000b96c8107da48444d57005b6a6bc61fb4331b2c"
+            ],
+            "markers": "python_version >= '3.7'",
+            "version": "==0.19.3"
         },
         "pytest": {
             "hashes": [
-                "sha256:1cd09785c0a50f9af72220dd12aa78cfa49cbffc356c61eab009ca189e018a33",
-                "sha256:d010e24666435b39a4cf48740b039885642b6c273a3f77be3e7e03554d2806b7"
+                "sha256:9ce3ff477af913ecf6321fe337b93a2c0dcf2a0a1439c43f5452112c1e4280db",
+                "sha256:e30905a0c131d3d94b89624a1cc5afec3e0ba2fbdb151867d8e0ebd49850f171"
             ],
             "index": "pypi",
-            "version": "==6.1.0"
+            "version": "==7.0.1"
         },
         "pytest-asyncio": {
             "hashes": [
-                "sha256:16cf40bdf2b4fb7fc8e4b82bd05ce3fbcd454cbf7b92afc445fe299dabb88213",
-                "sha256:7659bdb0a9eb9c6e3ef992eef11a2b3e69697800ad02fb06374a210d85b29f91",
-                "sha256:8fafa6c52161addfd41ee7ab35f11836c5a16ec208f93ee388f752bea3493a84"
+                "sha256:2b38a496aef56f56b0e87557ec313e11e1ab9276fc3863f6a7be0f1d0e415e1b",
+                "sha256:f2b3366b7cd501a4056858bd39349d5af19742aed2d81660b7998b6341c7eb9c"
             ],
             "index": "pypi",
-            "version": "==0.18.3"
+            "version": "==0.21.0"
         },
         "pytest-cov": {
             "hashes": [
@@ -749,7 +906,7 @@
                 "sha256:f8afcf15cc511ada719a88e013cec87c11aff7b91f019295eb4530f96fe5ef2f",
                 "sha256:fb1bbeac803adea29cedd70781399c99138358c26d05fcbd23c13016b7f5ec65"
             ],
-            "markers": "python_version < '3.8' and implementation_name == 'cpython'",
+            "markers": "python_full_version < '3.8.0' and implementation_name == 'cpython' and python_full_version < '3.8.0' and python_full_version < '3.8.0'",
             "version": "==1.4.3"
         },
         "types-mock": {
@@ -762,19 +919,19 @@
         },
         "typing-extensions": {
             "hashes": [
-                "sha256:6657594ee297170d19f67d55c05852a874e7eb634f4f753dbd667855e07c1708",
-                "sha256:f1c24655a0da0d1b67f07e17a5e6b2a105894e6824b92096378bb3668ef02376"
+                "sha256:88a4153d8505aabbb4e13aacb7c486c2b4a33ca3b3f807914a9b4c844c471c26",
+                "sha256:d91d5919357fe7f681a9f2b5b4cb2a5f1ef0a1e9f59c4d8ff0d3491e05c0ffd5"
             ],
             "index": "pypi",
-            "version": "==4.2.0"
+            "version": "==4.6.3"
         },
         "zipp": {
             "hashes": [
-                "sha256:56bf8aadb83c24db6c4b577e13de374ccfb67da2078beba1d037c17980bf43ad",
-                "sha256:c4f6e5bbf48e74f7a38e7cc5b0480ff42b0ae5178957d564d18932525d5cf099"
+                "sha256:112929ad649da941c23de50f356a2b5570c954b65150642bccdd66bf194d224b",
+                "sha256:48904fc76a60e542af151aded95726c1a5c34ed43ab4134b597665c86d7ad556"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==3.8.0"
+            "version": "==3.15.0"
         }
     }
 }
diff --git a/hardware/setup.py b/hardware/setup.py
index f285eaf3128..8dbb43965a3 100644
--- a/hardware/setup.py
+++ b/hardware/setup.py
@@ -46,7 +46,11 @@ def get_version() -> str:
 KEYWORDS = ["robots", "protocols", "synbio", "pcr", "automation", "lab"]
 DESCRIPTION = "Hardware control for Opentrons Robots."
 PACKAGES = find_packages(where=".", exclude=["tests.*", "tests"])
-INSTALL_REQUIRES = ["python-can==3.3.4", "pyserial==3.5"]
+INSTALL_REQUIRES = [
+    "python-can==3.3.4",
+    "pyserial==3.5",
+    f"opentrons_shared_data=={VERSION}",
+]
 
 
 def read(*parts: str) -> str:

From 69c64886905f01f3613030f0d395c5a37bb7a49f Mon Sep 17 00:00:00 2001
From: Seth Foster <seth@opentrons.com>
Date: Tue, 27 Jun 2023 15:15:11 -0400
Subject: [PATCH 02/20] add internal message format error

---
 shared-data/errors/definitions/1/errors.json         |  4 ++++
 .../python/opentrons_shared_data/errors/codes.py     |  1 +
 .../opentrons_shared_data/errors/exceptions.py       | 12 ++++++++++++
 3 files changed, 17 insertions(+)

diff --git a/shared-data/errors/definitions/1/errors.json b/shared-data/errors/definitions/1/errors.json
index 4a8a5c3e683..d8dbf950f7e 100644
--- a/shared-data/errors/definitions/1/errors.json
+++ b/shared-data/errors/definitions/1/errors.json
@@ -42,6 +42,10 @@
       "detail": "Firmware Update Failed",
       "category": "hardwareCommunicationError"
     },
+    "1006": {
+      "detail": "Internal Message Format Error",
+      "category": "hardwareCommunicationError"
+    },
     "2000": {
       "detail": "Robotics Control Error",
       "category": "roboticsControlError"
diff --git a/shared-data/python/opentrons_shared_data/errors/codes.py b/shared-data/python/opentrons_shared_data/errors/codes.py
index 99ec11f9537..30dd8ed9aa7 100644
--- a/shared-data/python/opentrons_shared_data/errors/codes.py
+++ b/shared-data/python/opentrons_shared_data/errors/codes.py
@@ -40,6 +40,7 @@ class ErrorCodes(Enum):
     MODULE_COMMUNICATION_ERROR = _code_from_dict_entry("1003")
     COMMAND_TIMED_OUT = _code_from_dict_entry("1004")
     FIRMWARE_UPDATE_FAILED = _code_from_dict_entry("1005")
+    INTERNAL_MESSAGE_FORMAT_ERROR = _code_from_dict_entry('1006')
     ROBOTICS_CONTROL_ERROR = _code_from_dict_entry("2000")
     MOTION_FAILED = _code_from_dict_entry("2001")
     HOMING_FAILED = _code_from_dict_entry("2002")
diff --git a/shared-data/python/opentrons_shared_data/errors/exceptions.py b/shared-data/python/opentrons_shared_data/errors/exceptions.py
index 6b2bb305b38..1b45d48bc8f 100644
--- a/shared-data/python/opentrons_shared_data/errors/exceptions.py
+++ b/shared-data/python/opentrons_shared_data/errors/exceptions.py
@@ -286,6 +286,18 @@ def __init__(
         super().__init__(ErrorCodes.FIRMWARE_UPDATE_FAILED, message, detail, wrapping)
 
 
+class InternalMessageFormatError(CommunicationError):
+    """An error indicating that an internal message was formatted incorrectly."""
+
+    def __init__(
+        self,
+        message: Optional[str] = None,
+        detail: Optional[Dict[str, Any]] = None,
+        wrapping: Optional[Sequence[EnumeratedError]] = None,
+    ) -> None:
+        """Build an InternalMesasgeFormatError."""
+        super().__init__(ErrorCodes.FIRMWARE_UPDATE_FAILED, message, detail, wrapping)
+
 class MotionFailedError(RoboticsControlError):
     """An error indicating that a motion failed."""
 

From d6e045e03aeae4f4cb7a5cc7a2a07eed860ce1ab Mon Sep 17 00:00:00 2001
From: Seth Foster <seth@opentrons.com>
Date: Tue, 27 Jun 2023 15:15:19 -0400
Subject: [PATCH 03/20] use some errors in hardware

---
 hardware/mypy.ini                             |  1 +
 .../firmware_bindings/messages/payloads.py    | 18 +++---
 .../opentrons_hardware/sensors/scheduler.py   | 60 +++++++++++++++----
 3 files changed, 61 insertions(+), 18 deletions(-)

diff --git a/hardware/mypy.ini b/hardware/mypy.ini
index c4dca9c9f39..0fd2feea554 100644
--- a/hardware/mypy.ini
+++ b/hardware/mypy.ini
@@ -1,5 +1,6 @@
 [mypy]
 show_error_codes = True
+warn_unused_configs = True
 strict = True
 
 [mypy-can.*]
diff --git a/hardware/opentrons_hardware/firmware_bindings/messages/payloads.py b/hardware/opentrons_hardware/firmware_bindings/messages/payloads.py
index 223a929c942..5b084a896d3 100644
--- a/hardware/opentrons_hardware/firmware_bindings/messages/payloads.py
+++ b/hardware/opentrons_hardware/firmware_bindings/messages/payloads.py
@@ -3,9 +3,11 @@
 #  dataclass fields interpretation.
 #  from __future__ import annotations
 from dataclasses import dataclass, field, asdict
-from . import message_definitions
 from typing import Iterator, List
 
+from opentrons_shared_data.errors.exceptions import InternalMessageFormatError
+
+from . import message_definitions
 from .fields import (
     FirmwareShortSHADataField,
     VersionFlagsField,
@@ -314,14 +316,16 @@ def __post_init__(self) -> None:
         data_length = len(self.data.value)
         address = self.address.value
         if address % 8 != 0:
-            raise ValueError(
-                f"Data address needs to be doubleword aligned."
-                f" {address} mod 8 equals {address % 8} and should be 0"
+            raise InternalMessageFormatError(
+                f"FirmwareUpdateData: Data address needs to be doubleword aligned."
+                f" {address} mod 8 equals {address % 8} and should be 0",
+                detail={"address": address},
             )
         if data_length > FirmwareUpdateDataField.NUM_BYTES:
-            raise ValueError(
-                f"Data cannot be more than"
-                f" {FirmwareUpdateDataField.NUM_BYTES} bytes got {data_length}."
+            raise InternalMessageFormatError(
+                f"FirmwareUpdateData: Data cannot be more than"
+                f" {FirmwareUpdateDataField.NUM_BYTES} bytes got {data_length}.",
+                detail={"size": data_length},
             )
 
     @classmethod
diff --git a/hardware/opentrons_hardware/sensors/scheduler.py b/hardware/opentrons_hardware/sensors/scheduler.py
index dd0ee6744c1..edda0da3bb9 100644
--- a/hardware/opentrons_hardware/sensors/scheduler.py
+++ b/hardware/opentrons_hardware/sensors/scheduler.py
@@ -5,6 +5,8 @@
 
 from typing import Optional, TypeVar, Callable, AsyncIterator, List, Tuple
 
+from opentrons_shared_data.errors.exceptions import CommandTimedOutError
+
 from opentrons_hardware.firmware_bindings.constants import (
     NodeId,
     SensorOutputBinding,
@@ -135,8 +137,17 @@ async def run_baseline(
                     self._multi_wait_for_response(reader, _format_sensor_response),
                     timeout,
                 )
-            except asyncio.TimeoutError:
-                log.warning("Sensor poll timed out")
+            except asyncio.TimeoutError as te:
+                msg = f"Sensor poll of {sensor_info.node_id.name} timed out"
+                log.warning(msg)
+                raise CommandTimedOutError(
+                    message=msg,
+                    detail={
+                        "node": sensor_info.node_id.name,
+                        "sensor": sensor_info.sensor_type.name,
+                        "sensor_id": sensor_info.sensor_id.name,
+                    },
+                ) from te
             finally:
                 return data_list
 
@@ -160,7 +171,7 @@ async def send_write(
         )
         if error != ErrorCode.ok:
             log.error(
-                f"recieved error {str(error)} trying to write sensor info to {str(sensor_info.node_id)}"
+                f"recieved error {str(error)} trying to write sensor info to {sensor_info.node_id.name}"
             )
 
     async def send_read(
@@ -195,8 +206,17 @@ async def send_read(
                     self._multi_wait_for_response(reader, _format_sensor_response),
                     timeout,
                 )
-            except asyncio.TimeoutError:
-                log.warning("Sensor Read timed out")
+            except asyncio.TimeoutError as te:
+                msg = f"Sensor Read from {sensor_info.node_id.name} timed out"
+                log.warning(msg)
+                raise CommandTimedOutError(
+                    message=msg,
+                    detail={
+                        "node": sensor_info.node_id.name,
+                        "sensor": sensor_info.sensor_type.name,
+                        "sensor_id": sensor_info.sensor_id.name,
+                    },
+                ) from te
             finally:
                 return data_list
 
@@ -226,7 +246,7 @@ async def read(
                     timeout,
                 )
             except asyncio.TimeoutError:
-                log.warning("Sensor Read timed out")
+                log.warning(f"Sensor Read from {node_id.name} timed out")
             finally:
                 return data_list
 
@@ -268,9 +288,17 @@ def _format(response: MessageDefinition) -> SensorDataType:
                     self._wait_for_response(reader, _format),
                     timeout,
                 )
-            except asyncio.TimeoutError:
-                log.error(f"Sensor Threshold Read from {sensor_info.node_id} timed out")
-                raise
+            except asyncio.TimeoutError as te:
+                msg = f"Sensor Threshold Read from {sensor_info.node_id.name} timed out"
+                log.error(msg)
+                raise CommandTimedOutError(
+                    message=msg,
+                    detail={
+                        "node": sensor_info.node_id.name,
+                        "sensor": sensor_info.sensor_type.name,
+                        "sensor_id": sensor_info.sensor_id.name,
+                    },
+                ) from te
 
     @staticmethod
     async def _multi_wait_for_response(
@@ -334,8 +362,18 @@ async def request_peripheral_status(
                 return await asyncio.wait_for(
                     self._read_peripheral_response(reader), timeout
                 )
-            except asyncio.TimeoutError:
-                log.warning(f"No PeripheralStatusResponse from node {node_id}")
+            except asyncio.TimeoutError as te:
+                msg = f"No PeripheralStatusResponse from node {node_id}"
+                log.warning(msg)
+                raise CommandTimedOutError(
+                    message=msg,
+                    detail={
+                        "node": node_id.name,
+                        "sensor": sensor.name,
+                        "sensor_id": sensor_id.name,
+                        "timeout": str(timeout),
+                    },
+                ) from te
                 return False
 
     @staticmethod

From 5f2673f999cb4c1414d8653ed440f8d078bab0cf Mon Sep 17 00:00:00 2001
From: Seth Foster <seth@opentrons.com>
Date: Tue, 27 Jun 2023 16:21:17 -0400
Subject: [PATCH 04/20] fix message format

---
 shared-data/python/opentrons_shared_data/errors/exceptions.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/shared-data/python/opentrons_shared_data/errors/exceptions.py b/shared-data/python/opentrons_shared_data/errors/exceptions.py
index 1b45d48bc8f..936c970f258 100644
--- a/shared-data/python/opentrons_shared_data/errors/exceptions.py
+++ b/shared-data/python/opentrons_shared_data/errors/exceptions.py
@@ -296,7 +296,8 @@ def __init__(
         wrapping: Optional[Sequence[EnumeratedError]] = None,
     ) -> None:
         """Build an InternalMesasgeFormatError."""
-        super().__init__(ErrorCodes.FIRMWARE_UPDATE_FAILED, message, detail, wrapping)
+        super().__init__(ErrorCodes.INTERNAL_MESSAGE_FORMAT_ERROR, message, detail, wrapping)
+
 
 class MotionFailedError(RoboticsControlError):
     """An error indicating that a motion failed."""

From 7eb83c5c85eeb20a7c16e5020f662fc2573e9b35 Mon Sep 17 00:00:00 2001
From: Seth Foster <seth@opentrons.com>
Date: Tue, 27 Jun 2023 16:21:25 -0400
Subject: [PATCH 05/20] add configuration error

---
 shared-data/errors/definitions/1/errors.json          |  4 ++++
 .../python/opentrons_shared_data/errors/codes.py      |  1 +
 .../python/opentrons_shared_data/errors/exceptions.py | 11 +++++++++++
 3 files changed, 16 insertions(+)

diff --git a/shared-data/errors/definitions/1/errors.json b/shared-data/errors/definitions/1/errors.json
index d8dbf950f7e..278539815fe 100644
--- a/shared-data/errors/definitions/1/errors.json
+++ b/shared-data/errors/definitions/1/errors.json
@@ -46,6 +46,10 @@
       "detail": "Internal Message Format Error",
       "category": "hardwareCommunicationError"
     },
+    "1007": {
+      "detail": "CANBus Configuration Error",
+      "category": "hardwareCommunicationError"
+    },
     "2000": {
       "detail": "Robotics Control Error",
       "category": "roboticsControlError"
diff --git a/shared-data/python/opentrons_shared_data/errors/codes.py b/shared-data/python/opentrons_shared_data/errors/codes.py
index 30dd8ed9aa7..e51cc2d70ae 100644
--- a/shared-data/python/opentrons_shared_data/errors/codes.py
+++ b/shared-data/python/opentrons_shared_data/errors/codes.py
@@ -41,6 +41,7 @@ class ErrorCodes(Enum):
     COMMAND_TIMED_OUT = _code_from_dict_entry("1004")
     FIRMWARE_UPDATE_FAILED = _code_from_dict_entry("1005")
     INTERNAL_MESSAGE_FORMAT_ERROR = _code_from_dict_entry('1006')
+    CANBUS_CONFIGURATION_ERROR = _code_from_dict_entry('1007')
     ROBOTICS_CONTROL_ERROR = _code_from_dict_entry("2000")
     MOTION_FAILED = _code_from_dict_entry("2001")
     HOMING_FAILED = _code_from_dict_entry("2002")
diff --git a/shared-data/python/opentrons_shared_data/errors/exceptions.py b/shared-data/python/opentrons_shared_data/errors/exceptions.py
index 936c970f258..79ba6c95fe1 100644
--- a/shared-data/python/opentrons_shared_data/errors/exceptions.py
+++ b/shared-data/python/opentrons_shared_data/errors/exceptions.py
@@ -298,6 +298,17 @@ def __init__(
         """Build an InternalMesasgeFormatError."""
         super().__init__(ErrorCodes.INTERNAL_MESSAGE_FORMAT_ERROR, message, detail, wrapping)
 
+class CANBusConfigurationError(CommunicationError):
+    """An error indicating a misconfiguration of the CANbus."""
+    def __init__(
+        self,
+        message: Optional[str] = None,
+        detail: Optional[Dict[str, Any]] = None,
+        wrapping: Optional[Sequence[EnumeratedError]] = None,
+    ) -> None:
+        """Build a CANBus Configuration Error."""
+        super().__init__(ErrorCodes.CANBUS_CONFIGURATION_ERROR, message, detail, wrapping)
+
 
 class MotionFailedError(RoboticsControlError):
     """An error indicating that a motion failed."""

From 389d221bb5078e197d12be8d77a180416f46037e Mon Sep 17 00:00:00 2001
From: Seth Foster <seth@opentrons.com>
Date: Tue, 27 Jun 2023 16:21:37 -0400
Subject: [PATCH 06/20] use configuration error

---
 .../drivers/can_bus/settings.py                | 18 +++++++++++-------
 1 file changed, 11 insertions(+), 7 deletions(-)

diff --git a/hardware/opentrons_hardware/drivers/can_bus/settings.py b/hardware/opentrons_hardware/drivers/can_bus/settings.py
index 3f8dd9d5305..0fbddb1827d 100644
--- a/hardware/opentrons_hardware/drivers/can_bus/settings.py
+++ b/hardware/opentrons_hardware/drivers/can_bus/settings.py
@@ -3,6 +3,8 @@
 from typing import Optional
 from pydantic import BaseSettings, Field
 
+from opentrons_shared_data.errors.exceptions import CANBusConfigurationError
+
 from math import floor
 
 DEFAULT_INTERFACE: Final = "socketcan"
@@ -72,13 +74,13 @@ def _check_calculated_bit_timing_values(
     brp: float, tseg_1: float, tseg_2: float
 ) -> None:
     if not brp.is_integer():
-        raise ValueError(f"BRP is {brp} and must be an integer")
+        raise CANBusConfigurationError(message=f"BRP is {brp} and must be an integer", detail={'brp': str(brp)})
     if brp > MAX_BRP:
-        raise ValueError(f"Calculated BRP {brp} exceeds max value {MAX_BRP}")
+        raise CANBusConfigurationError(message=f"Calculated BRP {brp} exceeds max value {MAX_BRP}", detail={'brp': str(brp), 'max': str(MAX_BRP)})
     if tseg_1 > MAX_TSEG1:
-        raise ValueError(f"Calculated TSEG1 {tseg_1} exceeds max value {MAX_TSEG1}")
+        raise CANBusConfigurationError(message=f"Calculated TSEG1 {tseg_1} exceeds max value {MAX_TSEG1}", detail={'tseg1': str(tseg_1), 'max': str(MAX_TSEG1)})
     if tseg_2 > MAX_TSEG2:
-        raise ValueError(f"Calculated TSEG2 {tseg_2} exceeds max value {MAX_TSEG2}")
+        raise CANBusConfigurationError(message=f"Calculated TSEG2 {tseg_2} exceeds max value {MAX_TSEG2}", detail={'tseg2': str(tseg_2), 'max': str(MAX_TSEG2)})
 
 
 def calculate_fdcan_parameters(
@@ -107,12 +109,14 @@ def calculate_fdcan_parameters(
         jump_width = DEFAULT_JUMP_WIDTH_SEG
 
     if fcan_clock > MAX_FCAN_CLK:
-        raise ValueError(
-            f"Clock value {fcan_clock} exceeds max value of {MAX_FCAN_CLK}"
+        raise CANBusConfigurationError(
+            message=f"Clock value {fcan_clock} exceeds max value of {MAX_FCAN_CLK}",
+            detail={'clock': str(fcan_clock), 'max': str(MAX_FCAN_CLK)}
         )
     if jump_width > MAX_SJW:
         raise ValueError(
-            f"Jump width value {jump_width} exceeds max value of {MAX_SJW}"
+            message=f"Jump width value {jump_width} exceeds max value of {MAX_SJW}",
+            detail={'sjw': str(jump_width), 'max': str(max_sjw)}
         )
 
     sample_rate_percent = sample_rate / 100

From 125c28b7c91a9bd6b4fd234b3df8c716bad622e3 Mon Sep 17 00:00:00 2001
From: Seth Foster <seth@opentrons.com>
Date: Tue, 27 Jun 2023 16:50:35 -0400
Subject: [PATCH 07/20] add a bus error for e.g. error frames

---
 shared-data/errors/definitions/1/errors.json          |  4 ++++
 .../python/opentrons_shared_data/errors/codes.py      |  1 +
 .../python/opentrons_shared_data/errors/exceptions.py | 11 +++++++++++
 3 files changed, 16 insertions(+)

diff --git a/shared-data/errors/definitions/1/errors.json b/shared-data/errors/definitions/1/errors.json
index 278539815fe..ea051a19ae5 100644
--- a/shared-data/errors/definitions/1/errors.json
+++ b/shared-data/errors/definitions/1/errors.json
@@ -50,6 +50,10 @@
       "detail": "CANBus Configuration Error",
       "category": "hardwareCommunicationError"
     },
+    "1008": {
+      "detail": "CANBus Bus Error",
+      "category": "hardwareCommunicationError"
+    },
     "2000": {
       "detail": "Robotics Control Error",
       "category": "roboticsControlError"
diff --git a/shared-data/python/opentrons_shared_data/errors/codes.py b/shared-data/python/opentrons_shared_data/errors/codes.py
index e51cc2d70ae..6dd5f27d0cf 100644
--- a/shared-data/python/opentrons_shared_data/errors/codes.py
+++ b/shared-data/python/opentrons_shared_data/errors/codes.py
@@ -42,6 +42,7 @@ class ErrorCodes(Enum):
     FIRMWARE_UPDATE_FAILED = _code_from_dict_entry("1005")
     INTERNAL_MESSAGE_FORMAT_ERROR = _code_from_dict_entry('1006')
     CANBUS_CONFIGURATION_ERROR = _code_from_dict_entry('1007')
+    CANBUS_BUS_ERROR = _code_from_dict_entry('1008')
     ROBOTICS_CONTROL_ERROR = _code_from_dict_entry("2000")
     MOTION_FAILED = _code_from_dict_entry("2001")
     HOMING_FAILED = _code_from_dict_entry("2002")
diff --git a/shared-data/python/opentrons_shared_data/errors/exceptions.py b/shared-data/python/opentrons_shared_data/errors/exceptions.py
index 79ba6c95fe1..76422dd2cbf 100644
--- a/shared-data/python/opentrons_shared_data/errors/exceptions.py
+++ b/shared-data/python/opentrons_shared_data/errors/exceptions.py
@@ -309,6 +309,17 @@ def __init__(
         """Build a CANBus Configuration Error."""
         super().__init__(ErrorCodes.CANBUS_CONFIGURATION_ERROR, message, detail, wrapping)
 
+class CANBusBusError(CommunicationError):
+    """An error indicating a low-level bus error on the CANbus like an error frame."""
+    def __init__(
+        self,
+        message: Optional[str] = None,
+        detail: Optional[Dict[str, Any]] = None,
+        wrapping: Optional[Sequence[EnumeratedError]] = None,
+    ) -> None:
+        """Build a CANBus Bus Error."""
+        super().__init__(ErrorCodes.CANBUS_BUS_ERROR, message, detail, wrapping)
+
 
 class MotionFailedError(RoboticsControlError):
     """An error indicating that a motion failed."""

From 3ff490e8f69b439b07104ba0b28f14e8e469f8df Mon Sep 17 00:00:00 2001
From: Seth Foster <seth@opentrons.com>
Date: Tue, 27 Jun 2023 16:50:48 -0400
Subject: [PATCH 08/20] use bus error instead of hw error

---
 .../drivers/can_bus/driver.py                 |  8 +++---
 .../drivers/can_bus/errors.py                 | 14 -----------
 .../drivers/can_bus/settings.py               | 25 +++++++++++++------
 .../drivers/can_bus/socket_driver.py          | 11 +++++---
 .../scripts/sim_socket_can.py                 |  4 +--
 .../drivers/can_bus/test_driver.py            |  4 +--
 6 files changed, 35 insertions(+), 31 deletions(-)

diff --git a/hardware/opentrons_hardware/drivers/can_bus/driver.py b/hardware/opentrons_hardware/drivers/can_bus/driver.py
index 8c1ffc68803..083f4ec5a2d 100644
--- a/hardware/opentrons_hardware/drivers/can_bus/driver.py
+++ b/hardware/opentrons_hardware/drivers/can_bus/driver.py
@@ -6,11 +6,11 @@
 from typing import Optional, Union, Dict, Any
 import concurrent.futures
 
+from opentrons_shared_data.errors.exceptions import CANBusBusError
 from can import Notifier, Bus, AsyncBufferedReader, Message
 
 from opentrons_hardware.firmware_bindings.arbitration_id import ArbitrationId
 from opentrons_hardware.firmware_bindings.message import CanMessage
-from .errors import ErrorFrameCanError
 from .abstract_driver import AbstractCanDriver
 from .settings import calculate_fdcan_parameters, PCANParameters
 
@@ -124,12 +124,14 @@ async def read(self) -> CanMessage:
             A can message
 
         Raises:
-            ErrorFrameCanError
+            CANBusBusError
         """
         m: Message = await self._reader.get_message()
         if m.is_error_frame:
             log.error("Error frame encountered")
-            raise ErrorFrameCanError(message=repr(m))
+            raise CANBusBusError(
+                message="Error frame encountered", detail={"frame": repr(m)}
+            )
 
         return CanMessage(
             arbitration_id=ArbitrationId(id=m.arbitration_id), data=m.data
diff --git a/hardware/opentrons_hardware/drivers/can_bus/errors.py b/hardware/opentrons_hardware/drivers/can_bus/errors.py
index 2d5765437d9..eb8cbf68d44 100644
--- a/hardware/opentrons_hardware/drivers/can_bus/errors.py
+++ b/hardware/opentrons_hardware/drivers/can_bus/errors.py
@@ -3,20 +3,6 @@
 from opentrons_hardware.firmware_bindings.constants import ErrorCode, ErrorSeverity
 
 
-class CanError(Exception):
-    """Can bus error."""
-
-    def __init__(self, message: str) -> None:
-        """Constructor."""
-        super().__init__(message)
-
-
-class ErrorFrameCanError(CanError):
-    """An error frame was received on the can bus."""
-
-    pass
-
-
 class AsyncHardwareError(RuntimeError):
     """An error generated from firmware that was not caused by a command sent from hardware controller."""
 
diff --git a/hardware/opentrons_hardware/drivers/can_bus/settings.py b/hardware/opentrons_hardware/drivers/can_bus/settings.py
index 0fbddb1827d..c36bd791fb9 100644
--- a/hardware/opentrons_hardware/drivers/can_bus/settings.py
+++ b/hardware/opentrons_hardware/drivers/can_bus/settings.py
@@ -74,13 +74,24 @@ def _check_calculated_bit_timing_values(
     brp: float, tseg_1: float, tseg_2: float
 ) -> None:
     if not brp.is_integer():
-        raise CANBusConfigurationError(message=f"BRP is {brp} and must be an integer", detail={'brp': str(brp)})
+        raise CANBusConfigurationError(
+            message=f"BRP is {brp} and must be an integer", detail={"brp": str(brp)}
+        )
     if brp > MAX_BRP:
-        raise CANBusConfigurationError(message=f"Calculated BRP {brp} exceeds max value {MAX_BRP}", detail={'brp': str(brp), 'max': str(MAX_BRP)})
+        raise CANBusConfigurationError(
+            message=f"Calculated BRP {brp} exceeds max value {MAX_BRP}",
+            detail={"brp": str(brp), "max": str(MAX_BRP)},
+        )
     if tseg_1 > MAX_TSEG1:
-        raise CANBusConfigurationError(message=f"Calculated TSEG1 {tseg_1} exceeds max value {MAX_TSEG1}", detail={'tseg1': str(tseg_1), 'max': str(MAX_TSEG1)})
+        raise CANBusConfigurationError(
+            message=f"Calculated TSEG1 {tseg_1} exceeds max value {MAX_TSEG1}",
+            detail={"tseg1": str(tseg_1), "max": str(MAX_TSEG1)},
+        )
     if tseg_2 > MAX_TSEG2:
-        raise CANBusConfigurationError(message=f"Calculated TSEG2 {tseg_2} exceeds max value {MAX_TSEG2}", detail={'tseg2': str(tseg_2), 'max': str(MAX_TSEG2)})
+        raise CANBusConfigurationError(
+            message=f"Calculated TSEG2 {tseg_2} exceeds max value {MAX_TSEG2}",
+            detail={"tseg2": str(tseg_2), "max": str(MAX_TSEG2)},
+        )
 
 
 def calculate_fdcan_parameters(
@@ -111,12 +122,12 @@ def calculate_fdcan_parameters(
     if fcan_clock > MAX_FCAN_CLK:
         raise CANBusConfigurationError(
             message=f"Clock value {fcan_clock} exceeds max value of {MAX_FCAN_CLK}",
-            detail={'clock': str(fcan_clock), 'max': str(MAX_FCAN_CLK)}
+            detail={"clock": str(fcan_clock), "max": str(MAX_FCAN_CLK)},
         )
     if jump_width > MAX_SJW:
-        raise ValueError(
+        raise CANBusConfigurationError(
             message=f"Jump width value {jump_width} exceeds max value of {MAX_SJW}",
-            detail={'sjw': str(jump_width), 'max': str(max_sjw)}
+            detail={"sjw": str(jump_width), "max": str(MAX_SJW)},
         )
 
     sample_rate_percent = sample_rate / 100
diff --git a/hardware/opentrons_hardware/drivers/can_bus/socket_driver.py b/hardware/opentrons_hardware/drivers/can_bus/socket_driver.py
index d3b0cac04a8..753beb9bf52 100644
--- a/hardware/opentrons_hardware/drivers/can_bus/socket_driver.py
+++ b/hardware/opentrons_hardware/drivers/can_bus/socket_driver.py
@@ -5,10 +5,11 @@
 import struct
 import asyncio
 
+from opentrons_shared_data.errors.exceptions import CanbusCommunicationError
+
 from . import ArbitrationId
 from opentrons_hardware.firmware_bindings import CanMessage
 from .abstract_driver import AbstractCanDriver
-from .errors import CanError
 
 log = logging.getLogger(__name__)
 
@@ -62,13 +63,17 @@ async def read(self) -> CanMessage:
             header = await self._reader.readexactly(self.header_length)
             arbitration_id, length = struct.unpack(">LL", header)
         except asyncio.IncompleteReadError as e:
-            raise CanError(str(e))
+            raise CanbusCommunicationError(
+                message=f"Error reading socket header: {str(e)}"
+            )
 
         if length > 0:
             try:
                 data = await self._reader.readexactly(length)
             except asyncio.IncompleteReadError as e:
-                raise CanError(str(e))
+                raise CanbusCommunicationError(
+                    message=f"Error reading socket payload: {str(e)}"
+                )
         else:
             data = b""
         return CanMessage(arbitration_id=ArbitrationId(id=arbitration_id), data=data)
diff --git a/hardware/opentrons_hardware/scripts/sim_socket_can.py b/hardware/opentrons_hardware/scripts/sim_socket_can.py
index fee1edcb516..de25ae7f717 100644
--- a/hardware/opentrons_hardware/scripts/sim_socket_can.py
+++ b/hardware/opentrons_hardware/scripts/sim_socket_can.py
@@ -7,7 +7,7 @@
 from logging.config import dictConfig
 from typing import List
 
-from opentrons_hardware.drivers.can_bus.errors import CanError
+from opentrons_shared_data.errors.exceptions import CANBusBusError
 from opentrons_hardware.drivers.can_bus.socket_driver import SocketDriver
 
 log = logging.getLogger(__name__)
@@ -35,7 +35,7 @@ async def __call__(
         while not reader.at_eof():
             try:
                 data = await driver.read()
-            except CanError as e:
+            except CANBusBusError as e:
                 log.error(f"Read error: {e}.")
                 break
 
diff --git a/hardware/tests/opentrons_hardware/drivers/can_bus/test_driver.py b/hardware/tests/opentrons_hardware/drivers/can_bus/test_driver.py
index fc294a6019b..2956d8dd360 100644
--- a/hardware/tests/opentrons_hardware/drivers/can_bus/test_driver.py
+++ b/hardware/tests/opentrons_hardware/drivers/can_bus/test_driver.py
@@ -4,8 +4,8 @@
 import pytest
 from can import Bus, Message
 
+from opentrons_shared_data.errors.exceptions import CANBusBusError
 from opentrons_hardware.drivers.can_bus import CanDriver, ArbitrationId, CanMessage
-from opentrons_hardware.drivers.can_bus.errors import ErrorFrameCanError
 
 
 @pytest.fixture
@@ -100,5 +100,5 @@ async def test_raise_error_frame_error(subject: CanDriver, can_bus: Bus) -> None
         data=bytearray([1, 2, 3, 4]),
     )
     can_bus.send(m)
-    with pytest.raises(ErrorFrameCanError):
+    with pytest.raises(CANBusBusError):
         await subject.read()

From 6cdd1532d1843e9b5889012dcdac04f9bce7bdfe Mon Sep 17 00:00:00 2001
From: Seth Foster <seth@opentrons.com>
Date: Tue, 27 Jun 2023 17:08:13 -0400
Subject: [PATCH 09/20] all can errors except async hardware

---
 .../drivers/can_bus/can_messenger.py          | 48 +++++++++++--------
 .../hardware_control/tools/detector.py        |  4 +-
 2 files changed, 32 insertions(+), 20 deletions(-)

diff --git a/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py b/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py
index 02d8e0bec06..ac724367bf6 100644
--- a/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py
+++ b/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py
@@ -16,7 +16,11 @@
 
 import logging
 
-from opentrons_hardware.drivers.errors import CANCommunicationError
+from opentrons_shared_data.errors.exceptions import (
+    CanbusCommunicationError,
+    EnumeratedError,
+    PythonException,
+)
 from opentrons_hardware.drivers.can_bus.abstract_driver import AbstractCanDriver
 from opentrons_hardware.firmware_bindings.arbitration_id import (
     ArbitrationId,
@@ -238,11 +242,13 @@ async def _send(self, node_id: NodeId, message: MessageDefinition) -> None:
             await self._drive.send(
                 message=CanMessage(arbitration_id=arbitration_id, data=data)
             )
-        except CANCommunicationError:
+        except EnumeratedError:
             raise
         except Exception as exc:
             log.exception("Exception in CAN send")
-            raise CANCommunicationError(exc=exc) from exc
+            raise CanbusCommunicationError(
+                message="Exception in canbus.send", wrapping=[PythonException(exc)]
+            )
 
     async def ensure_send_exclusive(
         self,
@@ -293,11 +299,13 @@ async def _ensure_send(
         )
         try:
             return await listener.send_and_verify_recieved()
-        except CANCommunicationError:
+        except EnumeratedError:
             raise
         except Exception as exc:
             log.exception("Exception in CAN ensure_send")
-            raise CANCommunicationError(exc=exc) from exc
+            raise CanbusCommunicationError(
+                message="Exception in CAN ensure_send", wrapping=[PythonException(exc)]
+            )
 
     async def __aenter__(self: CanMessenger) -> CanMessenger:
         """Start messenger."""
@@ -313,9 +321,10 @@ async def __aexit__(
         """Stop messenger."""
         await self.stop()
         if exc_val:
-            if isinstance(exc_val, CANCommunicationError):
+            if isinstance(exc_val, EnumeratedError):
                 raise exc_val
-            raise CANCommunicationError(exc=exc_val)
+            # Don't want a specific error here because this wraps other code
+            raise PythonException(exc_val)
 
     def start(self) -> None:
         """Start the reader task."""
@@ -349,18 +358,19 @@ def remove_listener(self, listener: MessageListenerCallback) -> None:
             self._listeners.pop(listener)
 
     async def _read_task_shield(self) -> None:
-        while True:
-            try:
-                await self._read_task()
-            except (asyncio.CancelledError, StopAsyncIteration):
-                return
-            except (CANCommunicationError, AsyncHardwareError, CanError) as e:
-                log.exception(f"Nonfatal error in CAN read task: {e}")
-                continue
-            except Exception as e:
-                # Log this separately if it's some unknown error
-                log.exception(f"Unexpected error in CAN read task: {e}")
-                continue
+        try:
+            await self._read_task()
+        except asyncio.CancelledError:
+            pass
+        except EnumeratedError:
+            raise
+        except AsyncHardwareError:
+            raise
+        except Exception as exc:
+            log.exception("Exception in read")
+            raise CanbusCommunicationError(
+                message="Exception in read", wrapping=[PythonException(exc)]
+            )
 
     async def _read_task(self) -> None:
         """Read task."""
diff --git a/hardware/opentrons_hardware/hardware_control/tools/detector.py b/hardware/opentrons_hardware/hardware_control/tools/detector.py
index 694573396df..fd526406405 100644
--- a/hardware/opentrons_hardware/hardware_control/tools/detector.py
+++ b/hardware/opentrons_hardware/hardware_control/tools/detector.py
@@ -4,6 +4,8 @@
 import asyncio
 from typing import AsyncIterator, Set, Dict, Tuple, Union
 
+from opentrons_shared_data.errors.exceptions import CanbusCommunicationError
+
 from opentrons_hardware.drivers.can_bus.can_messenger import WaitableCallback
 from opentrons_hardware.firmware_bindings.constants import ToolType, PipetteName
 from opentrons_hardware.firmware_bindings.messages import message_definitions
@@ -43,7 +45,7 @@ async def _await_one_result(callback: WaitableCallback) -> ToolDetectionResult:
             return _handle_detection_result(response)
         if isinstance(response, message_definitions.ErrorMessage):
             log.error(f"Recieved error message {str(response)}")
-    raise RuntimeError("Messenger closed before a tool was found")
+    raise CanbusCommunicationError(message="Messenger closed before a tool was found")
 
 
 def _decode_or_default(orig: bytes) -> str:

From 66ba34dd51bacde149449eda174a1d05ea84b56c Mon Sep 17 00:00:00 2001
From: Seth Foster <seth@opentrons.com>
Date: Wed, 28 Jun 2023 14:49:08 -0400
Subject: [PATCH 10/20] add some new lovely error codes

---
 shared-data/errors/definitions/1/errors.json  |  8 +++++++
 .../opentrons_shared_data/errors/codes.py     |  2 ++
 .../errors/exceptions.py                      | 24 +++++++++++++++++++
 3 files changed, 34 insertions(+)

diff --git a/shared-data/errors/definitions/1/errors.json b/shared-data/errors/definitions/1/errors.json
index ea051a19ae5..266a0d80217 100644
--- a/shared-data/errors/definitions/1/errors.json
+++ b/shared-data/errors/definitions/1/errors.json
@@ -74,6 +74,10 @@
       "detail": "Motion Planning Failure",
       "category": "roboticsControlError"
     },
+    "2005": {
+      "detail": "Position Estimation Invalid",
+      "category": "roboticsControlError"
+    },
     "3000": {
       "detail": "A robotics interaction error occurred.",
       "category": "roboticsInteractionError"
@@ -134,6 +138,10 @@
       "detail": "Module Not Present",
       "category": "roboticsInteractionError"
     },
+    "3016": {
+      "detail": "Invalid Instrument Data",
+      "category": "roboticsInteractionError"
+    },
     "4000": {
       "detail": "Unknown or Uncategorized Error",
       "category": "generalError"
diff --git a/shared-data/python/opentrons_shared_data/errors/codes.py b/shared-data/python/opentrons_shared_data/errors/codes.py
index 6dd5f27d0cf..2f711f18821 100644
--- a/shared-data/python/opentrons_shared_data/errors/codes.py
+++ b/shared-data/python/opentrons_shared_data/errors/codes.py
@@ -48,6 +48,7 @@ class ErrorCodes(Enum):
     HOMING_FAILED = _code_from_dict_entry("2002")
     STALL_OR_COLLISION_DETECTED = _code_from_dict_entry("2003")
     MOTION_PLANNING_FAILURE = _code_from_dict_entry("2004")
+    POSITION_ESTIMATION_INVALID = _code_from_dict_entry('2005')
     ROBOTICS_INTERACTION_ERROR = _code_from_dict_entry("3000")
     LABWARE_DROPPED = _code_from_dict_entry("3001")
     LABWARE_NOT_PICKED_UP = _code_from_dict_entry("3002")
@@ -63,6 +64,7 @@ class ErrorCodes(Enum):
     FIRMWARE_UPDATE_REQUIRED = _code_from_dict_entry("3013")
     INVALID_ACTUATOR = _code_from_dict_entry("3014")
     MODULE_NOT_PRESENT = _code_from_dict_entry("3015")
+    INVALID_INSTRUMENT_DATA = _code_from_dict_entry('3016')
     GENERAL_ERROR = _code_from_dict_entry("4000")
     ROBOT_IN_USE = _code_from_dict_entry("4001")
     API_REMOVED = _code_from_dict_entry("4002")
diff --git a/shared-data/python/opentrons_shared_data/errors/exceptions.py b/shared-data/python/opentrons_shared_data/errors/exceptions.py
index 76422dd2cbf..79b78c13679 100644
--- a/shared-data/python/opentrons_shared_data/errors/exceptions.py
+++ b/shared-data/python/opentrons_shared_data/errors/exceptions.py
@@ -375,6 +375,18 @@ def __init__(
         super().__init__(ErrorCodes.MOTION_PLANNING_FAILURE, message, detail, wrapping)
 
 
+class PositionEstimationInvalidError(RoboticsControlError):
+    """An error indicating that motion planning failed."""
+
+    def __init__(
+        self,
+        message: Optional[str] = None,
+        detail: Optional[Dict[str, Any]] = None,
+        wrapping: Optional[Sequence[EnumeratedError]] = None,
+    ) -> None:
+        """Build a PositionEstimationFailedError."""
+        super().__init__(ErrorCodes.POSITION_ESTIMATION_INVALID, message, detail, wrapping)
+
 class LabwareDroppedError(RoboticsInteractionError):
     """An error indicating that the gripper dropped labware it was holding."""
 
@@ -549,6 +561,18 @@ def __init__(
             ErrorCodes.MODULE_NOT_PRESENT, checked_message, checked_detail, wrapping
         )
 
+class InvalidInstrumentData(RoboticsInteractionError):
+    """An error indicating that instrument data is invalid."""
+
+    def __init__(
+        self,
+        message: Optional[str] = None,
+        detail: Optional[Dict[str, Any]] = None,
+        wrapping: Optional[Sequence[EnumeratedError]] = None,
+    ) -> None:
+        """Build an GripperNotPresentError."""
+        super().__init__(ErrorCodes.INVALID_INSTRUMENT_DATA, message, detail, wrapping)
+
 
 class APIRemoved(GeneralError):
     """An error indicating that a specific API is no longer available."""

From 96b141c5191e755646457840909b4524a9bdebde Mon Sep 17 00:00:00 2001
From: Seth Foster <seth@opentrons.com>
Date: Wed, 28 Jun 2023 14:49:21 -0400
Subject: [PATCH 11/20] use some more error codes

---
 .../drivers/binary_usb/bin_serial.py          |  19 ++-
 .../drivers/binary_usb/binary_messenger.py    |  52 +++++---
 hardware/opentrons_hardware/drivers/errors.py |   8 --
 .../utils/binary_serializable.py              |  48 ++++++--
 .../firmware_update/downloader.py             |   8 +-
 .../firmware_update/eraser.py                 |   4 +-
 .../firmware_update/errors.py                 |  71 +++++++----
 .../firmware_update/hex_file.py               | 114 +++++++++++++-----
 .../firmware_update/initiator.py              |   4 +-
 .../opentrons_hardware/firmware_update/run.py |  82 ++++++++++---
 .../hardware_control/motion_planning/types.py |  20 ++-
 .../hardware_control/motor_position_status.py |  22 +++-
 .../hardware_control/tool_sensors.py          |  11 +-
 .../instruments/gripper/serials.py            |  18 ++-
 .../instruments/pipettes/serials.py           |  33 +++--
 .../firmware_update/test_hex_file.py          |  10 +-
 16 files changed, 377 insertions(+), 147 deletions(-)

diff --git a/hardware/opentrons_hardware/drivers/binary_usb/bin_serial.py b/hardware/opentrons_hardware/drivers/binary_usb/bin_serial.py
index ac4051f8e40..0ce04bb2d8a 100644
--- a/hardware/opentrons_hardware/drivers/binary_usb/bin_serial.py
+++ b/hardware/opentrons_hardware/drivers/binary_usb/bin_serial.py
@@ -1,17 +1,21 @@
 """The usb binary protocol over serial transport."""
+import asyncio
+import logging
+import concurrent.futures
+from functools import partial
+from typing import Optional, Type, Tuple
 
 import serial  # type: ignore[import]
 from serial.tools.list_ports import comports  # type: ignore[import]
-from functools import partial
+
+from opentrons_shared_data.errors.exceptions import InternalUSBCommunicationError
+
 from opentrons_hardware.firmware_bindings.messages.binary_message_definitions import (
     BinaryMessageDefinition,
     get_binary_definition,
 )
-import asyncio
-import logging
-import concurrent.futures
 
-from typing import Optional, Type, Tuple
+
 from opentrons_hardware.firmware_bindings import utils
 from opentrons_hardware.firmware_bindings.binary_constants import BinaryMessageId
 
@@ -37,7 +41,10 @@ def find_and_connect(
         """Initialize a serial connection to a usb device that uses the binary messaging protocol."""
         _port_name = self._find_serial_port(vid, pid)
         if _port_name is None:
-            raise IOError("unable to find serial device")
+            raise InternalUSBCommunicationError(
+                message="unable to find serial device",
+                detail={"vid": str(vid), "pid": str(pid)},
+            )
         self._vid = vid
         self._pid = pid
         self._baudrate = baudrate
diff --git a/hardware/opentrons_hardware/drivers/binary_usb/binary_messenger.py b/hardware/opentrons_hardware/drivers/binary_usb/binary_messenger.py
index 148a45c8e80..49c1584526d 100644
--- a/hardware/opentrons_hardware/drivers/binary_usb/binary_messenger.py
+++ b/hardware/opentrons_hardware/drivers/binary_usb/binary_messenger.py
@@ -7,9 +7,14 @@
 
 import logging
 
+from opentrons_shared_data.errors.exceptions import (
+    EnumeratedError,
+    InternalUSBCommunicationError,
+    PythonException,
+)
+
 from opentrons_hardware.drivers.binary_usb.bin_serial import SerialUsbDriver
 from opentrons_hardware.firmware_bindings.binary_constants import BinaryMessageId
-from opentrons_hardware.drivers.errors import USBCommunicationError
 
 
 from opentrons_hardware.firmware_bindings.messages.binary_message_definitions import (
@@ -106,10 +111,14 @@ async def send(self, message: BinaryMessageDefinition) -> bool:
             return bool(
                 (await self._drive.write(message=message)) == message.get_size()
             )
-        except USBCommunicationError:
+        except EnumeratedError:
             raise
-        except Exception as exc:
-            raise USBCommunicationError(exc=exc) from exc
+        except BaseException as exc:
+            raise InternalUSBCommunicationError(
+                message="Error in USB send",
+                detail={"message": str(message)},
+                wrapping=[PythonException(exc)],
+            )
 
     async def __aenter__(self) -> BinaryMessenger:
         """Start messenger."""
@@ -124,9 +133,9 @@ async def __aexit__(
         if exc_val:
             # type ignore because it's unclear what the type of exc_tb should be
             log.error(format_exception(exc_type, exc_val, exc_tb))  # type: ignore
-            if isinstance(exc_val, USBCommunicationError):
+            if isinstance(exc_val, EnumeratedError):
                 raise exc_val
-            raise USBCommunicationError(exc=exc_val)
+            raise PythonException(exc_val)
 
     def start(self) -> None:
         """Start the reader task."""
@@ -165,15 +174,18 @@ def remove_listener(self, listener: BinaryMessageListenerCallback) -> None:
             self._listeners.pop(listener)
 
     async def _read_task_shield(self) -> None:
-        try:
-            await self._read_task()
-        except asyncio.CancelledError:
-            pass
-        except USBCommunicationError:
-            raise
-        except Exception as exc:
-            log.exception("Exception in read")
-            raise USBCommunicationError(exc=exc) from exc
+        while True:
+            try:
+                await self._read_task()
+            except (asyncio.CancelledError, StopAsyncIteration):
+                return
+            except (InternalUSBCommunicationError) as e:
+                log.exception(f"Nonfatal error in USB read task: {e}")
+                continue
+            except BaseException as e:
+                # Log this separately if it's some unknown error
+                log.exception(f"Unexpected error in USB read task: {e}")
+                continue
 
     async def _read_task(self) -> None:
         """Read task."""
@@ -214,11 +226,15 @@ async def send_and_receive(
         listener = SendAndReceiveListener(self, response_type, timeout)
         try:
             return await listener.send_and_receive(message)
-        except USBCommunicationError:
+        except EnumeratedError:
             raise
-        except Exception as exc:
+        except BaseException as exc:
             log.exception("Exception in send_and_receive")
-            raise USBCommunicationError(exc=exc) from exc
+            raise InternalUSBCommunicationError(
+                message="Exception in internal USB send_and_receive",
+                detail={"message": str(message)},
+                wrapping=[PythonException(exc=exc)],
+            )
 
 
 class BinaryWaitableCallback:
diff --git a/hardware/opentrons_hardware/drivers/errors.py b/hardware/opentrons_hardware/drivers/errors.py
index 8b2de183ff8..4f0cd2e4468 100644
--- a/hardware/opentrons_hardware/drivers/errors.py
+++ b/hardware/opentrons_hardware/drivers/errors.py
@@ -7,11 +7,3 @@ class CommunicationError(RuntimeError):
     def __init__(self, exc: BaseException) -> None:
         """Build an exception for easier catching that wraps another."""
         self.wrapped_exc = exc
-
-
-class USBCommunicationError(CommunicationError):
-    """There was an error in communications with a USB device."""
-
-
-class CANCommunicationError(CommunicationError):
-    """There was an error in communications with a canbus device."""
diff --git a/hardware/opentrons_hardware/firmware_bindings/utils/binary_serializable.py b/hardware/opentrons_hardware/firmware_bindings/utils/binary_serializable.py
index ff82412c635..987483b98ff 100644
--- a/hardware/opentrons_hardware/firmware_bindings/utils/binary_serializable.py
+++ b/hardware/opentrons_hardware/firmware_bindings/utils/binary_serializable.py
@@ -3,25 +3,53 @@
 from __future__ import annotations
 import struct
 from dataclasses import dataclass, fields, astuple
-from typing import TypeVar, Generic, Type
+from typing import TypeVar, Generic, Type, Optional, Dict, Any, Sequence
 
+from opentrons_shared_data.errors.exceptions import (
+    InternalMessageFormatError,
+    EnumeratedError,
+    PythonException,
+)
 
-class BinarySerializableException(BaseException):
+
+class BinarySerializableException(InternalMessageFormatError):
     """Exception."""
 
-    pass
+    def __init__(
+        self,
+        message: Optional[str] = None,
+        detail: Optional[Dict[str, Any]] = None,
+        wrapping: Optional[Sequence[EnumeratedError]] = None,
+    ) -> None:
+        """Build a BinarySerializableException."""
+        submessage = f": {message}" if message else ""
+        super().__init__(
+            f"Could not create message object{submessage}",
+            detail=detail,
+            wrapping=wrapping,
+        )
 
 
 class InvalidFieldException(BinarySerializableException):
     """Field is wrong type."""
 
-    pass
+    def __init__(self, message: str, intended_bytes: bytes, exc: BaseException) -> None:
+        """Build an InvalidFieldException."""
+        super().__init__(
+            message=message,
+            detail={
+                "data": repr(intended_bytes),
+            },
+            wrapping=[PythonException(exc)],
+        )
 
 
 class SerializationException(BinarySerializableException):
     """Serialization error."""
 
-    pass
+    def __init__(self, exc: BaseException) -> None:
+        """Build a SerializationException."""
+        super().__init__("Serialization failed", wrapping=[PythonException(exc)])
 
 
 T = TypeVar("T")
@@ -162,7 +190,7 @@ def serialize(self) -> bytes:
         try:
             return struct.pack(string, *vals)
         except struct.error as e:
-            raise SerializationException(str(e))
+            raise SerializationException(e)
 
     @classmethod
     def build(cls, data: bytes) -> BinarySerializable:
@@ -207,7 +235,7 @@ def build(cls, data: bytes) -> BinarySerializable:
                 ret_instance.message_index = message_index  # type: ignore[attr-defined]
             return ret_instance
         except struct.error as e:
-            raise InvalidFieldException(str(e))
+            raise InvalidFieldException("Bad data for field", data, e)
 
     @classmethod
     def _get_format_string(cls) -> str:
@@ -221,8 +249,10 @@ def _get_format_string(cls) -> str:
             format_string = (
                 f"{cls.ENDIAN}{''.join(v.type.FORMAT for v in dataclass_fields)}"
             )
-        except AttributeError:
-            raise InvalidFieldException(f"All fields must be of type {BinaryFieldBase}")
+        except AttributeError as e:
+            raise InvalidFieldException(
+                "All fields must be of type BinaryFieldBase", b"", e
+            )
 
         return format_string
 
diff --git a/hardware/opentrons_hardware/firmware_update/downloader.py b/hardware/opentrons_hardware/firmware_update/downloader.py
index 54b9ffafb6f..e4b6d2a750a 100644
--- a/hardware/opentrons_hardware/firmware_update/downloader.py
+++ b/hardware/opentrons_hardware/firmware_update/downloader.py
@@ -69,7 +69,7 @@ async def run(
                         self._wait_data_message_ack(node_id, reader), ack_wait_seconds
                     )
                 except asyncio.TimeoutError:
-                    raise TimeoutResponse(data_message)
+                    raise TimeoutResponse(data_message, node_id)
 
                 crc32 = binascii.crc32(data, crc32)
                 num_messages += 1
@@ -88,7 +88,7 @@ async def run(
                     self._wait_update_complete_ack(node_id, reader), ack_wait_seconds
                 )
             except asyncio.TimeoutError:
-                raise TimeoutResponse(complete_message)
+                raise TimeoutResponse(complete_message, node_id)
 
     @staticmethod
     async def _wait_data_message_ack(node_id: NodeId, reader: WaitableCallback) -> None:
@@ -99,7 +99,7 @@ async def _wait_data_message_ack(node_id: NodeId, reader: WaitableCallback) -> N
                     response, message_definitions.FirmwareUpdateDataAcknowledge
                 ):
                     if response.payload.error_code.value != ErrorCode.ok:
-                        raise ErrorResponse(response)
+                        raise ErrorResponse(response, node_id)
                     break
 
     @staticmethod
@@ -113,5 +113,5 @@ async def _wait_update_complete_ack(
                     response, message_definitions.FirmwareUpdateCompleteAcknowledge
                 ):
                     if response.payload.error_code.value != ErrorCode.ok:
-                        raise ErrorResponse(response)
+                        raise ErrorResponse(response, node_id)
                     break
diff --git a/hardware/opentrons_hardware/firmware_update/eraser.py b/hardware/opentrons_hardware/firmware_update/eraser.py
index 178a6a6df0a..8b7abf821f6 100644
--- a/hardware/opentrons_hardware/firmware_update/eraser.py
+++ b/hardware/opentrons_hardware/firmware_update/eraser.py
@@ -40,7 +40,7 @@ async def run(self, node_id: NodeId, timeout_sec: float) -> None:
                     self._wait_response(node_id, reader), timeout_sec
                 )
             except asyncio.TimeoutError:
-                raise TimeoutResponse(request)
+                raise TimeoutResponse(request, node_id)
 
     @staticmethod
     async def _wait_response(node_id: NodeId, reader: WaitableCallback) -> None:
@@ -52,6 +52,6 @@ async def _wait_response(node_id: NodeId, reader: WaitableCallback) -> None:
                 and arbitration_id.parts.originating_node_id == node_id
             ):
                 if response.payload.error_code.value != ErrorCode.ok:
-                    raise ErrorResponse(response)
+                    raise ErrorResponse(response, node_id)
                 else:
                     break
diff --git a/hardware/opentrons_hardware/firmware_update/errors.py b/hardware/opentrons_hardware/firmware_update/errors.py
index efc8d96c297..0200b5c784a 100644
--- a/hardware/opentrons_hardware/firmware_update/errors.py
+++ b/hardware/opentrons_hardware/firmware_update/errors.py
@@ -1,36 +1,59 @@
 """Firmware update exceptions."""
+from typing import Optional, Sequence
+from opentrons_shared_data.errors.exceptions import (
+    FirmwareUpdateFailedError,
+    EnumeratedError,
+)
 from opentrons_hardware.firmware_bindings.messages import MessageDefinition
+from opentrons_hardware.firmware_bindings import FirmwareTarget
 
 
-class FirmwareUpdateException(Exception):
-    """Base exception."""
-
-    pass
-
-
-class ErrorResponse(FirmwareUpdateException):
+class ErrorResponse(FirmwareUpdateFailedError):
     """Error response exception."""
 
-    message: MessageDefinition
-
-    def __init__(self, message: MessageDefinition) -> None:
-        """Constructor."""
-        self.message = message
-        super().__init__(f"Got error response {message}.")
+    def __init__(
+        self,
+        error_message: MessageDefinition,
+        target: FirmwareTarget,
+    ) -> None:
+        """Build an ErrorResponse."""
+        super().__init__(
+            message="Error response during firmware update",
+            detail={"node": target.application_for().name, "error": str(error_message)},
+        )
 
 
-class TimeoutResponse(FirmwareUpdateException):
+class TimeoutResponse(FirmwareUpdateFailedError):
     """No response exception."""
 
-    message: MessageDefinition
-
-    def __init__(self, message: MessageDefinition) -> None:
-        """Constructor."""
-        self.message = message
-        super().__init__(f"Timed out waiting for response to {message}")
-
-
-class BootloaderNotReady(FirmwareUpdateException):
+    def __init__(
+        self,
+        message: MessageDefinition,
+        target: FirmwareTarget,
+    ) -> None:
+        """Build a TimeoutResponse."""
+        super().__init__(
+            message="Device response timeout during firmware update",
+            detail={
+                "node": target.application_for().name,
+                "message": str(message),
+            },
+        )
+
+
+class BootloaderNotReady(FirmwareUpdateFailedError):
     """Bootloader is not ready."""
 
-    pass
+    def __init__(
+        self,
+        target: FirmwareTarget,
+        wrapping: Optional[Sequence[EnumeratedError]] = None,
+    ) -> None:
+        """Build a BootloaderNotReady."""
+        super().__init__(
+            message="Device did not enter bootloader for firmware update",
+            detail={
+                "node": target.application_for().name,
+            },
+            wrapping=wrapping,
+        )
diff --git a/hardware/opentrons_hardware/firmware_update/hex_file.py b/hardware/opentrons_hardware/firmware_update/hex_file.py
index 3e4188b718c..32e97bb93cf 100644
--- a/hardware/opentrons_hardware/firmware_update/hex_file.py
+++ b/hardware/opentrons_hardware/firmware_update/hex_file.py
@@ -8,6 +8,8 @@
 import struct
 import logging
 
+from opentrons_shared_data.errors.exceptions import FirmwareUpdateFailedError
+
 from typing_extensions import Final
 
 
@@ -36,34 +38,68 @@ class HexRecord:
     checksum: int
 
 
-class HexFileException(BaseException):
-    """Base of all hex file exceptions."""
-
-    pass
-
-
-class MalformedLineException(HexFileException):
+class MalformedLineException(FirmwareUpdateFailedError):
     """Line is malformed."""
 
-    pass
+    def __init__(self, message: str, line: str, line_no: int, filename: str) -> None:
+        """Build a MalformedLineException."""
+        super().__init__(
+            message=f"Could not parse firmware update file: {message}",
+            detail={"line": line, "line_number": str(line_no), "filename": filename},
+        )
 
 
-class ChecksumException(HexFileException):
+class ChecksumException(FirmwareUpdateFailedError):
     """Wrong checksum."""
 
-    pass
-
-
-class StartAddressException(HexFileException):
+    def __init__(
+        self,
+        line: str,
+        line_no: int,
+        filename: str,
+        calculated_checksum: int,
+        expected_checksum: int,
+    ) -> None:
+        """Build a ChecksumException."""
+        super().__init__(
+            message="Bad line checksum in firmware update file",
+            detail={
+                "line": line,
+                "line_number": str(line_no),
+                "filename": filename,
+                "calculated": str(calculated_checksum),
+                "expected": str(expected_checksum),
+            },
+        )
+
+
+class StartAddressException(FirmwareUpdateFailedError):
     """Start address error."""
 
-    pass
-
-
-class BadChunkSizeException(HexFileException):
+    def __init__(
+        self, line: str, line_no: int, filename: str, bad_address: int
+    ) -> None:
+        """Build a StartAddressException."""
+        super().__init__(
+            message="Bad start address in firmware update file",
+            detail={
+                "line": line,
+                "line_number": str(line_no),
+                "filename": filename,
+                "address": str(bad_address),
+            },
+        )
+
+
+class BadChunkSizeException(FirmwareUpdateFailedError):
     """Invalid chunk size."""
 
-    pass
+    def __init__(self, filename: str, actual_size: int) -> None:
+        """Build a BadChunkSizeException."""
+        super().__init__(
+            message="Bad chunk size: must be >0",
+            detail={"filename": filename, "actual": str(actual_size)},
+        )
 
 
 def from_hex_file_path(file_path: Path) -> Iterable[HexRecord]:
@@ -74,18 +110,26 @@ def from_hex_file_path(file_path: Path) -> Iterable[HexRecord]:
 
 def from_hex_file(hex_file: TextIO) -> Iterable[HexRecord]:
     """A generator that processes a hex file contents."""
-    for line in hex_file.readlines():
-        yield process_line(line)
+    for idx, line in enumerate(hex_file.readlines()):
+        yield process_line(line, idx, hex_file.name)
 
 
-def process_line(line: str) -> HexRecord:
+def process_line(
+    line: str,
+    line_no_for_error: int,
+    filename_for_error: str,
+) -> HexRecord:
     """Convert a line in a HEX file into a HexRecord."""
     if len(line) < 11:
         # 11 = 1 (':') + 2 (byte count) + 4 (address) + 2 (record type) + 2 (checksum)
-        raise MalformedLineException(f"Line is missing fields '{line}'")
+        raise MalformedLineException(
+            "Line is missing fields", line, line_no_for_error, filename_for_error
+        )
 
     if line[0] != ":":
-        raise MalformedLineException(f"Missing ':' in '{line}'")
+        raise MalformedLineException(
+            "Missing ':'", line, line_no_for_error, filename_for_error
+        )
 
     # Skip the ':' and strip
     binary_line = binascii.unhexlify(line[1:].rstrip())
@@ -98,11 +142,18 @@ def process_line(line: str) -> HexRecord:
     try:
         record_type = RecordType(binary_line[3])
     except ValueError:
-        raise MalformedLineException(f"'{binary_line[3]}' is not a valid record type.")
+        raise MalformedLineException(
+            f"Invalid record type '{binary_line[3]}'",
+            line,
+            line_no_for_error,
+            filename_for_error,
+        )
 
     # 5 is 1 for byte count, 2 for address, 1 for record type, and 1 for checksum
     if len(binary_line) != (byte_count + 5):
-        raise MalformedLineException("Incorrect byte count")
+        raise MalformedLineException(
+            "Incorrect byte count", line, line_no_for_error, filename_for_error
+        )
 
     byte_count_index: Final = 4
     checksum_index: Final = byte_count_index + byte_count
@@ -116,7 +167,9 @@ def process_line(line: str) -> HexRecord:
     computed_checksum = 0xFF & (~sum(binary_line[:checksum_index]) + 1)
 
     if computed_checksum != checksum:
-        raise ChecksumException(f"Expected {checksum} but computed {computed_checksum}")
+        raise ChecksumException(
+            line, line_no_for_error, filename_for_error, computed_checksum, checksum
+        )
 
     return HexRecord(
         byte_count=byte_count,
@@ -141,20 +194,21 @@ class HexRecordProcessor:
     Iterate through the process generator to get data chunks and start_address.
     """
 
-    def __init__(self, records: Iterable[HexRecord]) -> None:
+    def __init__(self, records: Iterable[HexRecord], filename: str) -> None:
         """Constructor."""
         self._records = records
         self._start_address: int = 0
+        self._filename = filename
 
     @classmethod
     def from_file_path(cls, file_path: Path) -> HexRecordProcessor:
         """Construct from file."""
-        return HexRecordProcessor(from_hex_file_path(file_path))
+        return HexRecordProcessor(from_hex_file_path(file_path), str(file_path))
 
     @classmethod
     def from_file(cls, hex_file: TextIO) -> HexRecordProcessor:
         """Construct from file."""
-        return HexRecordProcessor(from_hex_file(hex_file))
+        return HexRecordProcessor(from_hex_file(hex_file), hex_file.name)
 
     @property
     def start_address(self) -> int:
@@ -175,7 +229,7 @@ def process(self, chunk_size: int) -> Generator[Chunk, None, None]:  # noqa: C90
 
         """
         if chunk_size <= 0:
-            raise BadChunkSizeException("chunk size must be greater than 0.")
+            raise BadChunkSizeException(self._filename, chunk_size)
 
         # Address offset set by the StartLinearAddress record type
         address_offset = 0
diff --git a/hardware/opentrons_hardware/firmware_update/initiator.py b/hardware/opentrons_hardware/firmware_update/initiator.py
index b8c3e0cf50f..e27d1016d19 100644
--- a/hardware/opentrons_hardware/firmware_update/initiator.py
+++ b/hardware/opentrons_hardware/firmware_update/initiator.py
@@ -63,7 +63,9 @@ async def run(
                         if i < retry_count:
                             i += 1
                         else:
-                            raise BootloaderNotReady()
+                            raise BootloaderNotReady(
+                                target.bootloader_node.application_for()
+                            )
             logger.info("initiate: released exclusive")
 
     async def _wait_bootloader(self, reader: WaitableCallback, target: Target) -> None:
diff --git a/hardware/opentrons_hardware/firmware_update/run.py b/hardware/opentrons_hardware/firmware_update/run.py
index 69e6946fdbc..2e896d77023 100644
--- a/hardware/opentrons_hardware/firmware_update/run.py
+++ b/hardware/opentrons_hardware/firmware_update/run.py
@@ -3,7 +3,14 @@
 import asyncio
 import os
 from typing import Optional, Dict, Tuple, AsyncIterator, Any
-from .types import FirmwareUpdateStatus, StatusElement
+
+
+from opentrons_shared_data.errors.exceptions import (
+    InternalUSBCommunicationError,
+    FirmwareUpdateFailedError,
+    EnumeratedError,
+    PythonException,
+)
 
 from opentrons_hardware.drivers.can_bus import CanMessenger
 from opentrons_hardware.drivers.binary_usb import BinaryMessenger
@@ -26,6 +33,7 @@
 )
 from opentrons_hardware.firmware_update.errors import BootloaderNotReady
 from opentrons_hardware.firmware_update.target import Target
+from .types import FirmwareUpdateStatus, StatusElement
 
 logger = logging.getLogger(__name__)
 DFU_PID = "df11"
@@ -60,7 +68,15 @@ async def find_dfu_device(pid: str, expected_device_count: int) -> str:
         if stdout is None and stderr is None:
             continue
         if stderr:
-            raise RuntimeError(f"Error finding dfu device: {stderr.decode()}")
+            raise BootloaderNotReady(
+                USBTarget.rear_panel,
+                wrapping=[
+                    InternalUSBCommunicationError(
+                        message="Error finding dfu device",
+                        detail={"stderr": stderr.decode(), "target-pid": pid},
+                    )
+                ],
+            )
 
         result = stdout.decode()
         if pid not in result:
@@ -76,11 +92,24 @@ async def find_dfu_device(pid: str, expected_device_count: int) -> str:
             # rear panel has 3 endpoints
             return serial
         elif devices_found > expected_device_count:
-            raise OSError("Multiple new bootloader devices" "found on mode switch")
+            raise BootloaderNotReady(
+                USBTarget.rear_panel,
+                wrapping=[
+                    InternalUSBCommunicationError(
+                        message="Multiple new bootloader devices found on mode switch",
+                        detail={"devices": result, "target-pid": pid},
+                    )
+                ],
+            )
 
-    raise RuntimeError(
-        "Could not update firmware via dfu. Possible issues- dfu-util"
-        " not working or specified dfu device not found"
+    raise BootloaderNotReady(
+        USBTarget.rear_panel,
+        wrapping=[
+            InternalUSBCommunicationError(
+                message="Could not find dfu device to update firmware. dfu-util may be broken or the device may not be present.",
+                detail={"target-pid": pid},
+            )
+        ],
     )
 
 
@@ -281,7 +310,7 @@ async def _prep_can_update(
                         (FirmwareUpdateStatus.updating, prep_progress),
                     )
                 )
-            except BootloaderNotReady as e:
+            except BaseException as e:
                 logger.error(f"Firmware Update failed for {target} {e}.")
                 await self._status_queue.put(
                     (
@@ -289,7 +318,20 @@ async def _prep_can_update(
                         (FirmwareUpdateStatus.updating, prep_progress),
                     )
                 )
-                raise
+                if isinstance(e, FirmwareUpdateFailedError):
+                    raise
+                elif isinstance(e, EnumeratedError):
+                    raise FirmwareUpdateFailedError(
+                        message="Device did not enter bootloader",
+                        detail={"node": target.bootloader_node.application_for().name},
+                        wrapping=[e],
+                    )
+                else:
+                    raise FirmwareUpdateFailedError(
+                        "Unhandled exception during firmware update",
+                        detail={"node": target.bootloader_node.application_for().name},
+                        wrapping=[PythonException(e)],
+                    )
         else:
             logger.info("Skipping erase step.")
         return prep_progress
@@ -307,19 +349,19 @@ async def _run_can_update(
         """Perform a firmware update on a node target."""
         if not os.path.exists(filepath):
             logger.error(f"Subsystem update file not found {filepath}")
-            raise FileNotFoundError
-
-        try:
-            download_start_progress = await self._prep_can_update(
-                messenger,
-                node_id,
-                retry_count,
-                timeout_seconds,
-                erase,
-                erase_timeout_seconds,
+            raise FirmwareUpdateFailedError(
+                message="Subsystem update file not found",
+                detail={"filepath": filepath, "target": node_id.application_for().name},
             )
-        except BootloaderNotReady:
-            return
+
+        download_start_progress = await self._prep_can_update(
+            messenger,
+            node_id,
+            retry_count,
+            timeout_seconds,
+            erase,
+            erase_timeout_seconds,
+        )
 
         target = Target.from_single_node(node_id)
         logger.info(f"Downloading {filepath} to {target.bootloader_node}.")
diff --git a/hardware/opentrons_hardware/hardware_control/motion_planning/types.py b/hardware/opentrons_hardware/hardware_control/motion_planning/types.py
index e1b8c777c21..f78eeb0b22e 100644
--- a/hardware/opentrons_hardware/hardware_control/motion_planning/types.py
+++ b/hardware/opentrons_hardware/hardware_control/motion_planning/types.py
@@ -19,6 +19,8 @@
     TYPE_CHECKING,
 )
 
+from opentrons_shared_data.errors.exceptions import MotionPlanningFailureError
+
 if TYPE_CHECKING:
     from numpy.typing import NDArray
 
@@ -104,7 +106,14 @@ def __init__(
         """Constructor."""
         # verify unit vector before creating Move
         if not is_unit_vector(unit_vector):
-            raise ValueError(f"{unit_vector} is not a valid unit vector.")
+            raise MotionPlanningFailureError(
+                f"Invalid unit vector: {unit_vector}",
+                detail={
+                    "unit_vector": str(unit_vector),
+                    "distance": str(distance),
+                    "max_speed": str(max_speed),
+                },
+            )
         self.unit_vector = unit_vector
         self.distance = distance
         self.max_speed = max_speed
@@ -241,7 +250,9 @@ def build(
 SystemConstraints = Dict[AxisKey, AxisConstraints]
 
 
-class ZeroLengthMoveError(ValueError, Generic[AxisKey, CoordinateValue]):
+class ZeroLengthMoveError(
+    MotionPlanningFailureError, Generic[AxisKey, CoordinateValue]
+):
     """Error that handles trying to make a unit vector from a 0-length input.
 
     A unit vector would be undefined in this scenario, so this is the only safe way to
@@ -258,7 +269,10 @@ def __init__(
         """Build the exception with the data that caused it."""
         self._origin: Coordinates[AxisKey, CoordinateValue] = origin
         self._destination: Coordinates[AxisKey, CoordinateValue] = destination
-        super().__init__()
+        super(MotionPlanningFailureError, self).__init__(
+            message="Zero length move",
+            detail={"origin": str(origin), "destination": str(destination)},
+        )
 
     def __repr__(self) -> str:
         """Stringify."""
diff --git a/hardware/opentrons_hardware/hardware_control/motor_position_status.py b/hardware/opentrons_hardware/hardware_control/motor_position_status.py
index 1dd747d1d93..faa51d236b7 100644
--- a/hardware/opentrons_hardware/hardware_control/motor_position_status.py
+++ b/hardware/opentrons_hardware/hardware_control/motor_position_status.py
@@ -2,6 +2,11 @@
 import asyncio
 from typing import Set, Tuple
 import logging
+
+from opentrons_shared_data.errors.exceptions import (
+    RoboticsControlError,
+    CommandTimedOutError,
+)
 from opentrons_hardware.drivers.can_bus.can_messenger import (
     CanMessenger,
     WaitableCallback,
@@ -135,11 +140,22 @@ def _listener_filter(arbitration_id: ArbitrationId) -> bool:
                 )
                 if not data[node][2]:
                     # If the stepper_ok flag isn't set, that means the node didn't update position.
-                    raise RuntimeError(
-                        f"Failed to update motor position for node: {node}"
+                    # This probably is because the motor is off. It's rare.
+                    raise RoboticsControlError(
+                        message="Failed to update motor position",
+                        detail={
+                            "node": node.name,
+                        },
                     )
             except asyncio.TimeoutError:
                 log.warning("Update motor position estimation timed out")
-                raise StopAsyncIteration
+                raise CommandTimedOutError(
+                    "Update motor position estimation timed out",
+                    detail={
+                        "missing-nodes": ", ".join(
+                            node.name for node in set(nodes).difference(set(data))
+                        )
+                    },
+                )
 
     return data
diff --git a/hardware/opentrons_hardware/hardware_control/tool_sensors.py b/hardware/opentrons_hardware/hardware_control/tool_sensors.py
index ebc5a66fffb..a4417fe225b 100644
--- a/hardware/opentrons_hardware/hardware_control/tool_sensors.py
+++ b/hardware/opentrons_hardware/hardware_control/tool_sensors.py
@@ -7,6 +7,8 @@
 from math import copysign
 from typing_extensions import Literal
 
+from opentrons_shared_data.errors.exceptions import CanbusCommunicationError
+
 from opentrons_hardware.firmware_bindings.constants import (
     NodeId,
     SensorId,
@@ -178,7 +180,14 @@ async def capacitive_probe(
         messenger,
     )
     if not threshold:
-        raise RuntimeError("Could not set threshold for probe")
+        raise CanbusCommunicationError(
+            message="Could not set threshold for probe",
+            detail={
+                "tool": tool.name,
+                "sensor": sensor_id.name,
+                "threshold": relative_threshold_pf,
+            },
+        )
     LOG.info(f"starting capacitive probe with threshold {threshold.to_float()}")
     pass_group = _build_pass_step([mover], {mover: distance}, {mover: speed})
     runner = MoveGroupRunner(move_groups=[[pass_group]])
diff --git a/hardware/opentrons_hardware/instruments/gripper/serials.py b/hardware/opentrons_hardware/instruments/gripper/serials.py
index de2f9c0581a..09f41d92dd6 100644
--- a/hardware/opentrons_hardware/instruments/gripper/serials.py
+++ b/hardware/opentrons_hardware/instruments/gripper/serials.py
@@ -3,6 +3,10 @@
 from typing import Tuple
 import struct
 
+from opentrons_shared_data.errors.exceptions import (
+    InvalidInstrumentData,
+    PythonException,
+)
 from opentrons_hardware.instruments.serial_utils import ensure_serial_length
 
 # Separate string into 2 groups
@@ -37,8 +41,9 @@ def gripper_info_from_serial_string(serialval: str) -> Tuple[int, bytes]:
     """
     matches = SERIAL_RE.match(serialval.strip())
     if not matches:
-        raise ValueError(
-            f"The serial number {serialval.strip()} is not valid. {SERIAL_FORMAT_MSG}"
+        raise InvalidInstrumentData(
+            message=f"The serial number {serialval.strip()} is not valid. {SERIAL_FORMAT_MSG}",
+            detail={"serial": serialval},
         )
     model = int(matches.group("model"))
 
@@ -60,4 +65,11 @@ def gripper_serial_val_from_parts(model: int, serialval: bytes) -> bytes:
 
     you will not get what you put in.
     """
-    return struct.pack(">H16s", model, ensure_serial_length(serialval))
+    try:
+        return struct.pack(">H16s", model, ensure_serial_length(serialval))
+    except struct.error as e:
+        raise InvalidInstrumentData(
+            message="Invalid serial data",
+            detail={"model": model, "serial": serialval},
+            wrapping=[PythonException(e)],
+        )
diff --git a/hardware/opentrons_hardware/instruments/pipettes/serials.py b/hardware/opentrons_hardware/instruments/pipettes/serials.py
index 01a23b13394..3d5d0b3c54e 100644
--- a/hardware/opentrons_hardware/instruments/pipettes/serials.py
+++ b/hardware/opentrons_hardware/instruments/pipettes/serials.py
@@ -2,6 +2,10 @@
 import re
 from typing import Dict, Tuple
 import struct
+from opentrons_shared_data.errors.exceptions import (
+    InvalidInstrumentData,
+    PythonException,
+)
 from opentrons_hardware.firmware_bindings.constants import PipetteName
 from opentrons_hardware.instruments.serial_utils import ensure_serial_length
 
@@ -47,14 +51,16 @@ def info_from_serial_string(serialval: str) -> Tuple[PipetteName, int, bytes]:
     """
     matches = SERIAL_RE.match(serialval.strip())
     if not matches:
-        raise ValueError(
-            f"The serial number {serialval.strip()} is not valid. {SERIAL_FORMAT_MSG}"
+        raise InvalidInstrumentData(
+            message=f"The serial number {serialval.strip()} is not valid. {SERIAL_FORMAT_MSG}",
+            detail={"serial": serialval},
         )
     try:
         name = NAME_LOOKUP[matches.group("name")]
     except KeyError:
-        raise ValueError(
-            f"The pipette name part of the serial number ({matches.group('name')}) is unknown. {SERIAL_FORMAT_MSG}"
+        raise InvalidInstrumentData(
+            message=f"The pipette name part of the serial number ({matches.group('name')}) is unknown. {SERIAL_FORMAT_MSG}",
+            detail={"serial": name, "name": matches.group("name")},
         )
     model = int(matches.group("model"))
 
@@ -77,9 +83,16 @@ def serial_val_from_parts(name: PipetteName, model: int, serialval: bytes) -> by
 
     you will not get what you put in.
     """
-    return struct.pack(
-        ">HH16s",
-        name.value,
-        model,
-        ensure_serial_length(serialval),
-    )
+    try:
+        return struct.pack(
+            ">HH16s",
+            name.value,
+            model,
+            ensure_serial_length(serialval),
+        )
+    except struct.error as e:
+        raise InvalidInstrumentData(
+            message="Invalid pipette serial",
+            detail={"name": name, "model": model, "serial": str(serialval)},
+            wrapping=[PythonException(e)],
+        )
diff --git a/hardware/tests/opentrons_hardware/firmware_update/test_hex_file.py b/hardware/tests/opentrons_hardware/firmware_update/test_hex_file.py
index 686edc6422c..e2429d9e439 100644
--- a/hardware/tests/opentrons_hardware/firmware_update/test_hex_file.py
+++ b/hardware/tests/opentrons_hardware/firmware_update/test_hex_file.py
@@ -63,7 +63,7 @@
 )
 def test_process_line(line: str, expected: hex_file.HexRecord) -> None:
     """It should process line successfully."""
-    assert hex_file.process_line(line) == expected
+    assert hex_file.process_line(line, 2, "dummy-name") == expected
 
 
 @pytest.mark.parametrize(
@@ -94,7 +94,7 @@ def test_process_line(line: str, expected: hex_file.HexRecord) -> None:
 def test_process_bad_line(line: str) -> None:
     """It should fail to process malformed line."""
     with pytest.raises(hex_file.MalformedLineException):
-        hex_file.process_line(line)
+        hex_file.process_line(line, 2, "dummy-name")
 
 
 @pytest.mark.parametrize(
@@ -114,7 +114,7 @@ def test_process_bad_line(line: str) -> None:
 def test_process_bad_checksum(line: str) -> None:
     """It should raise a checksum exception."""
     with pytest.raises(hex_file.ChecksumException):
-        hex_file.process_line(line)
+        hex_file.process_line(line, 3, "dummy-name")
 
 
 @pytest.fixture(scope="session")
@@ -246,7 +246,7 @@ def test_process(
     hex_records: Iterable[hex_file.HexRecord], size: int, expected: List[hex_file.Chunk]
 ) -> None:
     """It should read n sized chunks from a stream of HexRecord objects."""
-    subject = hex_file.HexRecordProcessor(records=hex_records)
+    subject = hex_file.HexRecordProcessor(records=hex_records, filename="dummy-name")
 
     assert list(subject.process(size)) == expected
     assert subject.start_address == 0x8090A0B0
@@ -254,6 +254,6 @@ def test_process(
 
 def test_process_failure_zero_size(hex_records: Iterable[hex_file.HexRecord]) -> None:
     """It should fail if 0 is the requested size."""
-    subject = hex_file.HexRecordProcessor(records=hex_records)
+    subject = hex_file.HexRecordProcessor(records=hex_records, filename="dummy-name")
     with pytest.raises(hex_file.BadChunkSizeException):
         list(subject.process(0))

From 6d455d76891c1232be328cedd068447cd657edd4 Mon Sep 17 00:00:00 2001
From: Seth Foster <seth@opentrons.com>
Date: Wed, 28 Jun 2023 16:11:55 -0400
Subject: [PATCH 12/20] add a move condition error

---
 shared-data/errors/definitions/1/errors.json   |  4 ++++
 .../opentrons_shared_data/errors/codes.py      |  1 +
 .../opentrons_shared_data/errors/exceptions.py | 18 +++++++++++++++++-
 3 files changed, 22 insertions(+), 1 deletion(-)

diff --git a/shared-data/errors/definitions/1/errors.json b/shared-data/errors/definitions/1/errors.json
index 266a0d80217..8c749ae3383 100644
--- a/shared-data/errors/definitions/1/errors.json
+++ b/shared-data/errors/definitions/1/errors.json
@@ -78,6 +78,10 @@
       "detail": "Position Estimation Invalid",
       "category": "roboticsControlError"
     },
+    "2006": {
+      "detail": "Move Condition Not Met",
+      "category": "roboticsControlError"
+    },
     "3000": {
       "detail": "A robotics interaction error occurred.",
       "category": "roboticsInteractionError"
diff --git a/shared-data/python/opentrons_shared_data/errors/codes.py b/shared-data/python/opentrons_shared_data/errors/codes.py
index 2f711f18821..6449b68424e 100644
--- a/shared-data/python/opentrons_shared_data/errors/codes.py
+++ b/shared-data/python/opentrons_shared_data/errors/codes.py
@@ -49,6 +49,7 @@ class ErrorCodes(Enum):
     STALL_OR_COLLISION_DETECTED = _code_from_dict_entry("2003")
     MOTION_PLANNING_FAILURE = _code_from_dict_entry("2004")
     POSITION_ESTIMATION_INVALID = _code_from_dict_entry('2005')
+    MOVE_CONDITION_NOT_MET = _code_from_dict_entry('2006')
     ROBOTICS_INTERACTION_ERROR = _code_from_dict_entry("3000")
     LABWARE_DROPPED = _code_from_dict_entry("3001")
     LABWARE_NOT_PICKED_UP = _code_from_dict_entry("3002")
diff --git a/shared-data/python/opentrons_shared_data/errors/exceptions.py b/shared-data/python/opentrons_shared_data/errors/exceptions.py
index 79b78c13679..50dd00bf8ef 100644
--- a/shared-data/python/opentrons_shared_data/errors/exceptions.py
+++ b/shared-data/python/opentrons_shared_data/errors/exceptions.py
@@ -376,7 +376,7 @@ def __init__(
 
 
 class PositionEstimationInvalidError(RoboticsControlError):
-    """An error indicating that motion planning failed."""
+    """An error indicating that a command failed because position estimation was invalid."""
 
     def __init__(
         self,
@@ -387,6 +387,22 @@ def __init__(
         """Build a PositionEstimationFailedError."""
         super().__init__(ErrorCodes.POSITION_ESTIMATION_INVALID, message, detail, wrapping)
 
+
+class MoveConditionNotMetError(RoboticsControlError):
+    """An error indicating that a move completed without its condition being met."""
+
+    def __init__(
+        self,
+        message: Optional[str] = None,
+        detail: Optional[Dict[str, Any]] = None,
+        wrapping: Optional[Sequence[EnumeratedError]] = None,
+    ) -> None:
+        """Build a MoveConditionNotMetError."""
+        super().__init__(
+            ErrorCodes.MOVE_CONDITION_NOT_MET,
+            message or 'Move completed without its complete condition being met', detail, wrapping)
+
+
 class LabwareDroppedError(RoboticsInteractionError):
     """An error indicating that the gripper dropped labware it was holding."""
 

From cf88046aba580502b84834fa21a62cf3b7109004 Mon Sep 17 00:00:00 2001
From: Seth Foster <seth@opentrons.com>
Date: Wed, 28 Jun 2023 16:12:06 -0400
Subject: [PATCH 13/20] add handling for error messages from hardware

---
 hardware/opentrons_hardware/errors.py         | 150 ++++++++++++++++++
 .../motion_planning/move_utils.py             |   4 -
 .../hardware_control/move_group_runner.py     |  76 ++++++---
 .../test_move_group_runner.py                 |   7 +-
 4 files changed, 203 insertions(+), 34 deletions(-)
 create mode 100644 hardware/opentrons_hardware/errors.py

diff --git a/hardware/opentrons_hardware/errors.py b/hardware/opentrons_hardware/errors.py
new file mode 100644
index 00000000000..fbb33ebfbbb
--- /dev/null
+++ b/hardware/opentrons_hardware/errors.py
@@ -0,0 +1,150 @@
+"""Module to convert message errors to exceptions."""
+from typing import Dict, Optional, Tuple
+import logging
+
+from opentrons_shared_data.errors.exceptions import (
+    InternalMessageFormatError,
+    RoboticsControlError,
+    RoboticsInteractionError,
+    CommandTimedOutError,
+    EStopActivatedError,
+    StallOrCollisionDetectedError,
+    PipetteOverpressureError,
+    LabwareDroppedError,
+    PythonException,
+)
+
+from opentrons_hardware.firmware_bindings.messages.message_definitions import (
+    ErrorMessage,
+)
+from opentrons_hardware.firmware_bindings.messages import MessageDefinition
+from opentrons_hardware.firmware_bindings.constants import (
+    ErrorSeverity,
+    ErrorCode,
+    NodeId,
+)
+from opentrons_hardware.firmware_bindings.arbitration_id import ArbitrationId
+
+
+log = logging.getLogger(__name__)
+
+
+def nice_name_for_error(code: ErrorCode) -> str:
+    """Build a quick nice name for an error code instance."""
+    return code.name.replace("_", " ")
+
+
+def _safe_details_from_message(
+    message: ErrorMessage, arbitration_id: Optional[ArbitrationId]
+) -> Tuple[Optional[NodeId], ErrorCode, ErrorSeverity]:
+
+    detail_dict = {
+        "hardware-error": str(message.payload.error_code.value),
+        "hardware-severity": str(message.payload.severity.value),
+    }
+    if arbitration_id:
+        detail_dict["hardware-node"] = str(
+            arbitration_id.parts.originating_node_id.value
+        )
+        try:
+            originator = NodeId(arbitration_id.parts.originating_node_id.value)
+        except BaseException as e:
+            raise InternalMessageFormatError(
+                message="Invalid or unknown message sender",
+                detail=detail_dict,
+                wrapping=[PythonException(e)],
+            )
+        node: Optional[NodeId] = originator
+    else:
+        node = None
+    try:
+        error_code = ErrorCode(message.payload.error_code.value)
+    except BaseException as e:
+        raise InternalMessageFormatError(
+            message="Invalid or unknown error code",
+            detail=detail_dict,
+            wrapping=[PythonException(e)],
+        )
+    try:
+        error_severity = ErrorSeverity(message.payload.severity.value)
+    except BaseException as e:
+        raise InternalMessageFormatError(
+            message="Invalid or unknown error severity",
+            detail=detail_dict,
+            wrapping=[PythonException(e)],
+        )
+    return node, error_code, error_severity
+
+
+def raise_from_error_message(  # noqa: C901
+    message: ErrorMessage,
+    arbitration_id: Optional[ArbitrationId] = None,
+    *,
+    detail: Optional[Dict[str, str]] = None,
+) -> ErrorMessage:
+    """Raise a proper enumerated error based on an error message if required, or return."""
+    detail_dict = detail or {}
+    maybe_node, error_code, error_severity = _safe_details_from_message(
+        message, arbitration_id
+    )
+    if error_severity == ErrorSeverity.warning:
+        return message
+    if error_code == ErrorCode.ok:
+        log.warning(f"Error message with ok error code: {message}")
+        return message
+
+    detail_dict["error-code"] = error_code.name
+    detail_dict["error-severity"] = error_severity.name
+    if maybe_node:
+        detail_dict["node"] = maybe_node.name
+
+    if error_code in (
+        ErrorCode.invalid_size,
+        ErrorCode.bad_checksum,
+        ErrorCode.invalid_input,
+    ):
+        raise InternalMessageFormatError(
+            message=f"Message format error: {nice_name_for_error(error_code)}",
+            detail=detail_dict,
+        )
+
+    if error_code in (ErrorCode.motor_busy,):
+        raise RoboticsInteractionError(
+            message="Motor busy when operation requested", detail=detail_dict
+        )
+
+    if error_code in (ErrorCode.timeout,):
+        raise CommandTimedOutError(
+            message="Command timeout from hardware", detail=detail_dict
+        )
+
+    if error_code in (ErrorCode.estop_detected,):
+        raise EStopActivatedError(detail=detail_dict)
+
+    if error_code in (ErrorCode.collision_detected,):
+        raise StallOrCollisionDetectedError(detail=detail_dict)
+
+    if error_code in (ErrorCode.over_pressure,):
+        raise PipetteOverpressureError(detail=detail_dict)
+
+    if error_code in (ErrorCode.labware_dropped,):
+        raise LabwareDroppedError(detail=detail_dict)
+
+    if error_code in (ErrorCode.stop_requested, ErrorCode.estop_released):
+        raise RoboticsControlError(
+            message="Unexpected robotics error", detail=detail_dict
+        )
+
+    raise RoboticsControlError(message="Hardware error", detail=detail_dict)
+
+
+def message_or_raise(
+    message: MessageDefinition,
+    arbitration_id: Optional[ArbitrationId] = None,
+    *,
+    detail: Optional[Dict[str, str]] = None,
+) -> MessageDefinition:
+    """Raise an error for an error message or return a non-error message."""
+    if isinstance(message, ErrorMessage):
+        return raise_from_error_message(message, arbitration_id, detail=detail)
+    return message
diff --git a/hardware/opentrons_hardware/hardware_control/motion_planning/move_utils.py b/hardware/opentrons_hardware/hardware_control/motion_planning/move_utils.py
index fc78d45092a..318deea5221 100644
--- a/hardware/opentrons_hardware/hardware_control/motion_planning/move_utils.py
+++ b/hardware/opentrons_hardware/hardware_control/motion_planning/move_utils.py
@@ -27,10 +27,6 @@
 MINIMUM_DISPLACEMENT = 0.05
 
 
-class MoveConditionNotMet(ValueError):
-    """Error raised if a move does not meet its stop condition before finishing."""
-
-
 def apply_constraint(constraint: np.float64, input: np.float64) -> np.float64:
     """Keep the sign of the input but cap the numeric value at the constraint value."""
     return cast(np.float64, np.copysign(np.minimum(abs(constraint), abs(input)), input))
diff --git a/hardware/opentrons_hardware/hardware_control/move_group_runner.py b/hardware/opentrons_hardware/hardware_control/move_group_runner.py
index 8dc5b4304ca..ddf2385af4a 100644
--- a/hardware/opentrons_hardware/hardware_control/move_group_runner.py
+++ b/hardware/opentrons_hardware/hardware_control/move_group_runner.py
@@ -6,6 +6,14 @@
 import numpy as np
 import time
 
+from opentrons_shared_data.errors.exceptions import (
+    GeneralError,
+    MoveConditionNotMetError,
+    EnumeratedError,
+    MotionFailedError,
+    PythonException
+)
+
 from opentrons_hardware.firmware_bindings import ArbitrationId
 from opentrons_hardware.firmware_bindings.constants import (
     NodeId,
@@ -44,6 +52,7 @@
     tip_interrupts_per_sec,
     brushed_motor_interrupts_per_sec,
 )
+from opentrons_hardware.errors import raise_from_error_message
 from opentrons_hardware.hardware_control.motion import (
     MoveGroups,
     MoveGroupSingleAxisStep,
@@ -62,9 +71,7 @@
     MoveStopConditionField,
 )
 from opentrons_hardware.hardware_control.motion import MoveStopCondition
-from opentrons_hardware.hardware_control.motion_planning.move_utils import (
-    MoveConditionNotMet,
-)
+
 from .types import NodeDict
 
 log = logging.getLogger(__name__)
@@ -130,12 +137,10 @@ async def execute(
             log.debug("No moves. Nothing to do.")
             return {}
         if not self._is_prepped:
-            raise RuntimeError("A group must be prepped before it can be executed.")
-        try:
-            move_completion_data = await self._move(can_messenger, self._start_at_index)
-        except (RuntimeError, asyncio.TimeoutError):
-            log.error("raising error from Move group runner")
-            raise
+            raise GeneralError(
+                message="A move group must be prepped before it can be executed."
+            )
+        move_completion_data = await self._move(can_messenger, self._start_at_index)
         return self._accumulate_move_completions(move_completion_data)
 
     async def run(
@@ -361,7 +366,7 @@ def __init__(self, move_groups: MoveGroups, start_at_index: int = 0) -> None:
         log.debug(f"Move scheduler running for groups {move_groups}")
         self._completion_queue: asyncio.Queue[_CompletionPacket] = asyncio.Queue()
         self._event = asyncio.Event()
-        self._error: Optional[ErrorMessage] = None
+        self._errors: List[EnumeratedError] = []
         self._current_group: Optional[int] = None
         self._should_stop = False
 
@@ -395,7 +400,10 @@ def _remove_move_group(
     def _handle_error(
         self, message: ErrorMessage, arbitration_id: ArbitrationId
     ) -> None:
-        self._error = message
+        try:
+            message = raise_from_error_message(message, arbitration_id)
+        except EnumeratedError as e:
+            self._errors.append(e)
         severity = message.payload.severity.value
         node_name = NodeId(arbitration_id.parts.node_id).name
         log.error(f"Error during move group from {node_name} : {message}")
@@ -425,6 +433,11 @@ def _handle_move_completed(
                 log.error(
                     f"Homing move from node {node_id} completed without meeting condition {stop_cond}"
                 )
+                self._errors.append(
+                    MoveConditionNotMetError(
+                        detail={"node": node_id.name, "stop-condition": stop_cond.name}
+                    )
+                )
                 self._should_stop = True
                 self._event.set()
             if (
@@ -477,15 +490,20 @@ async def _send_stop_if_necessary(
             )
             if err != ErrorCode.stop_requested:
                 log.warning("Stop request failed")
-            if self._error:
-                raise RuntimeError(
-                    f"Unrecoverable firmware error during move group {group_id}: {self._error}"
-                )
+            if self._errors:
+                if len(self._errors) > 1:
+                    raise MotionFailedError(
+                        "Motion failed with multiple errors", wrapping=self._errors
+                    )
+                else:
+                    raise self._errors[0]
             else:
                 # This happens when the move completed without stop condition
-                raise MoveConditionNotMet
-        elif self._error is not None:
-            log.warning(f"Recoverable firmware error during {group_id}: {self._error}")
+                raise MoveConditionNotMetError(detail={"group-id": str(group_id)})
+        elif self._errors:
+            log.warning(
+                f"Recoverable firmware errors during {group_id}: {self._errors}"
+            )
 
     async def run(self, can_messenger: CanMessenger) -> _Completions:
         """Start each move group after the prior has completed."""
@@ -538,16 +556,22 @@ async def run(self, can_messenger: CanMessenger) -> _Completions:
                         f"Move set {str(group_id)} took longer ({duration} seconds) than expected ({expected_time} seconds)."
                     )
             except asyncio.TimeoutError:
-                log.warning(
-                    f"Move set {str(group_id)} timed out of max duration {full_timeout}. Expected time: {expected_time}"
-                )
-                log.warning(
-                    f"Expected nodes in group {str(group_id)}: {str(self._get_nodes_in_move_group(group_id))}"
+                missing_node_msg = ', '.join(node.name for node in self._get_nodes_in_move_group(group_id))
+                log.error(
+                    f"Move set {str(group_id)} timed out of max duration {full_timeout}. Expected time: {expected_time}. Missing: {missing_node_Msg}"
                 )
+
+                raise MotionFailedError(message='Command timed out', detail={
+                    'missing-nodes': missing_node_msg,
+                    'full-timeout': str(full_timeout),
+                    'expected-time': expected_time,
+                    'elapsed': str(time.time() - start_time)})
+            except EnumeratedError:
+                log.exception('Cancelling move group scheduler')
                 raise
-            except (RuntimeError, MoveConditionNotMet) as e:
-                log.error("canceling move group scheduler")
-                raise e
+            except BaseException as e:
+                log.exception("canceling move group scheduler")
+                raise PythonException(e) from e
 
         def _reify_queue_iter() -> Iterator[_CompletionPacket]:
             while not self._completion_queue.empty():
diff --git a/hardware/tests/opentrons_hardware/hardware_control/test_move_group_runner.py b/hardware/tests/opentrons_hardware/hardware_control/test_move_group_runner.py
index 98c6522bdbb..d169eac9651 100644
--- a/hardware/tests/opentrons_hardware/hardware_control/test_move_group_runner.py
+++ b/hardware/tests/opentrons_hardware/hardware_control/test_move_group_runner.py
@@ -4,6 +4,7 @@
 from numpy import float64, float32, int32
 from mock import AsyncMock, call, MagicMock, patch
 import asyncio
+from opentrons_shared_data.errors.exceptions import MoveConditionNotMetError
 from opentrons_hardware.firmware_bindings import ArbitrationId, ArbitrationIdParts
 
 from opentrons_hardware.firmware_bindings.constants import (
@@ -54,9 +55,7 @@
     MoveScheduler,
     _CompletionPacket,
 )
-from opentrons_hardware.hardware_control.motion_planning.move_utils import (
-    MoveConditionNotMet,
-)
+
 from opentrons_hardware.hardware_control.types import NodeMap
 from opentrons_hardware.firmware_bindings.messages import (
     message_definitions as md,
@@ -745,7 +744,7 @@ async def test_home_timeout(
     mock_sender = MockSendMoveCompleter(move_group_home_single, subject, ack_id=3)
     mock_can_messenger.ensure_send.side_effect = mock_sender.mock_ensure_send
     mock_can_messenger.send.side_effect = mock_sender.mock_send
-    with pytest.raises(MoveConditionNotMet):
+    with pytest.raises(MoveConditionNotMetError):
         await subject.run(can_messenger=mock_can_messenger)
 
 

From 51c460b35e59176941ea7822e7e5c4ecd0228457 Mon Sep 17 00:00:00 2001
From: Seth Foster <seth@opentrons.com>
Date: Wed, 28 Jun 2023 16:19:29 -0400
Subject: [PATCH 14/20] remove asynchardwareerror

This doesn't, like, do anything. It just blew up the reader task and
nothing else, and we don't even do that anymore. It didn't go anywhere.
Remove it.
---
 .../drivers/can_bus/can_messenger.py          | 34 ++++++-------------
 .../drivers/can_bus/errors.py                 | 15 --------
 hardware/opentrons_hardware/drivers/errors.py |  9 -----
 hardware/opentrons_hardware/errors.py         |  5 +--
 .../hardware_control/network.py               |  5 ++-
 5 files changed, 16 insertions(+), 52 deletions(-)
 delete mode 100644 hardware/opentrons_hardware/drivers/can_bus/errors.py
 delete mode 100644 hardware/opentrons_hardware/drivers/errors.py

diff --git a/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py b/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py
index ac724367bf6..a5da8165f9b 100644
--- a/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py
+++ b/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py
@@ -53,7 +53,7 @@
 
 from opentrons_hardware.firmware_bindings.utils import BinarySerializableException
 
-from .errors import AsyncHardwareError, CanError
+from opentrons_hardware.errors import raise_from_error_message
 
 log = logging.getLogger(__name__)
 
@@ -364,8 +364,6 @@ async def _read_task_shield(self) -> None:
             pass
         except EnumeratedError:
             raise
-        except AsyncHardwareError:
-            raise
         except Exception as exc:
             log.exception("Exception in read")
             raise CanbusCommunicationError(
@@ -385,37 +383,27 @@ async def _read_task(self) -> None:
                         f"Received <--\n\tarbitration_id: {message.arbitration_id},\n\t"
                         f"payload: {build}"
                     )
+                    handled = False
                     for listener, filter in self._listeners.values():
                         if filter and not filter(message.arbitration_id):
                             log.debug("message ignored by filter")
                             continue
                         listener(message_definition(payload=build), message.arbitration_id)  # type: ignore[arg-type]
-                    if (
-                        message.arbitration_id.parts.message_id
-                        == MessageId.error_message
-                    ):
-                        await self._handle_error(build)
+                        handled = True
+                    if not handled:
+                        if (
+                            message.arbitration_id.parts.message_id
+                            == MessageId.error_message
+                        ):
+                            log.error(f"Asynchronous error message ignored: {message}")
+                        else:
+                            log.info(f"Message ignored: {message}")
                 except BinarySerializableException:
                     log.exception(f"Failed to build from {message}")
             else:
                 log.error(f"Message {message} is not recognized.")
         raise StopAsyncIteration
 
-    async def _handle_error(self, build: BinarySerializable) -> None:
-        err_msg = ErrorMessage(payload=build)  # type: ignore[arg-type]
-        error_payload: ErrorMessagePayload = err_msg.payload
-        err_msg.log_error(log)
-
-        if error_payload.message_index == 0:
-            log.error(
-                f"error {str(err_msg)} recieved is asyncronous, raising exception"
-            )
-            raise AsyncHardwareError(
-                "Async firmware error: " + str(err_msg),
-                ErrorCode(error_payload.error_code.value),
-                ErrorSeverity(error_payload.severity.value),
-            )
-
     @property
     def exclusive_writer(self) -> asyncio.Lock:
         """A caller may acquire this context manager to temporarily gain exclusive control of the bus.
diff --git a/hardware/opentrons_hardware/drivers/can_bus/errors.py b/hardware/opentrons_hardware/drivers/can_bus/errors.py
deleted file mode 100644
index eb8cbf68d44..00000000000
--- a/hardware/opentrons_hardware/drivers/can_bus/errors.py
+++ /dev/null
@@ -1,15 +0,0 @@
-"""Can bus errors."""
-
-from opentrons_hardware.firmware_bindings.constants import ErrorCode, ErrorSeverity
-
-
-class AsyncHardwareError(RuntimeError):
-    """An error generated from firmware that was not caused by a command sent from hardware controller."""
-
-    def __init__(
-        self, description: str, error_code: ErrorCode, error_severity: ErrorSeverity
-    ) -> None:
-        """Build an async error."""
-        self.description = description
-        self.error_code = error_code
-        self.error_severity = error_severity
diff --git a/hardware/opentrons_hardware/drivers/errors.py b/hardware/opentrons_hardware/drivers/errors.py
deleted file mode 100644
index 4f0cd2e4468..00000000000
--- a/hardware/opentrons_hardware/drivers/errors.py
+++ /dev/null
@@ -1,9 +0,0 @@
-"""Driver errors for collecting all the pokemon."""
-
-
-class CommunicationError(RuntimeError):
-    """There was an error in communications with a device."""
-
-    def __init__(self, exc: BaseException) -> None:
-        """Build an exception for easier catching that wraps another."""
-        self.wrapped_exc = exc
diff --git a/hardware/opentrons_hardware/errors.py b/hardware/opentrons_hardware/errors.py
index fbb33ebfbbb..32e2d4a13eb 100644
--- a/hardware/opentrons_hardware/errors.py
+++ b/hardware/opentrons_hardware/errors.py
@@ -81,15 +81,16 @@ def raise_from_error_message(  # noqa: C901
     arbitration_id: Optional[ArbitrationId] = None,
     *,
     detail: Optional[Dict[str, str]] = None,
+    ignore_severity: bool = False,
 ) -> ErrorMessage:
     """Raise a proper enumerated error based on an error message if required, or return."""
     detail_dict = detail or {}
     maybe_node, error_code, error_severity = _safe_details_from_message(
         message, arbitration_id
     )
-    if error_severity == ErrorSeverity.warning:
+    if error_severity == ErrorSeverity.warning and not ignore_severity:
         return message
-    if error_code == ErrorCode.ok:
+    if error_code == ErrorCode.ok and not ignore_severity:
         log.warning(f"Error message with ok error code: {message}")
         return message
 
diff --git a/hardware/opentrons_hardware/hardware_control/network.py b/hardware/opentrons_hardware/hardware_control/network.py
index 2572fe91505..a58ac85ca03 100644
--- a/hardware/opentrons_hardware/hardware_control/network.py
+++ b/hardware/opentrons_hardware/hardware_control/network.py
@@ -14,7 +14,6 @@
 from opentrons_hardware.drivers.can_bus.can_messenger import (
     CanMessenger,
 )
-from opentrons_hardware.drivers.errors import CommunicationError
 from opentrons_hardware.drivers.binary_usb import BinaryMessenger
 from opentrons_hardware.firmware_bindings.messages.message_definitions import (
     DeviceInfoRequest as CanDeviceInfoRequest,
@@ -239,7 +238,7 @@ def listener(message: BinaryMessageDefinition) -> None:
             self._log_failure(
                 devices, set(iter(targets.keys())), "Timeout during probe_specific"
             )
-        except CommunicationError:
+        except BaseException:
             self._log_failure(
                 devices,
                 set(iter(targets.keys())),
@@ -293,7 +292,7 @@ def listener(message: BinaryMessageDefinition) -> None:
             self._log_failure(
                 expected_targets, set(iter(targets.keys())), "Timeout during probe"
             )
-        except CommunicationError:
+        except BaseException:
             self._log_failure(
                 expected_targets,
                 set(iter(targets.keys())),

From 127ac557542fe51528535a6723cd97c6dd5737bf Mon Sep 17 00:00:00 2001
From: Seth Foster <seth@opentrons.com>
Date: Wed, 28 Jun 2023 16:53:49 -0400
Subject: [PATCH 15/20] fix tests

---
 .../drivers/can_bus/can_messenger.py                 | 12 ------------
 hardware/opentrons_hardware/errors.py                |  6 ++----
 .../hardware_control/move_group_runner.py            |  5 ++++-
 .../instruments/pipettes/serials.py                  |  2 +-
 .../drivers/can_bus/test_settings.py                 |  3 ++-
 .../hardware_control/test_move_group_runner.py       |  9 ++++++---
 .../opentrons_hardware/instruments/test_serials.py   |  7 ++++---
 7 files changed, 19 insertions(+), 25 deletions(-)

diff --git a/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py b/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py
index a5da8165f9b..b8e8b22a6c5 100644
--- a/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py
+++ b/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py
@@ -27,34 +27,22 @@
     ArbitrationIdParts,
 )
 from opentrons_hardware.firmware_bindings.message import CanMessage
-from opentrons_hardware.firmware_bindings.utils.binary_serializable import (
-    BinarySerializable,
-)
-
 from opentrons_hardware.firmware_bindings.constants import (
     NodeId,
     MessageId,
     FunctionCode,
-    ErrorSeverity,
     ErrorCode,
 )
-
 from opentrons_hardware.firmware_bindings.messages.message_definitions import (
     Acknowledgement,
     ErrorMessage,
 )
-
 from opentrons_hardware.firmware_bindings.messages.messages import (
     MessageDefinition,
     get_definition,
 )
-
-from opentrons_hardware.firmware_bindings.messages.payloads import ErrorMessagePayload
-
 from opentrons_hardware.firmware_bindings.utils import BinarySerializableException
 
-from opentrons_hardware.errors import raise_from_error_message
-
 log = logging.getLogger(__name__)
 
 
diff --git a/hardware/opentrons_hardware/errors.py b/hardware/opentrons_hardware/errors.py
index 32e2d4a13eb..3bc5310f4b7 100644
--- a/hardware/opentrons_hardware/errors.py
+++ b/hardware/opentrons_hardware/errors.py
@@ -43,11 +43,9 @@ def _safe_details_from_message(
         "hardware-severity": str(message.payload.severity.value),
     }
     if arbitration_id:
-        detail_dict["hardware-node"] = str(
-            arbitration_id.parts.originating_node_id.value
-        )
+        detail_dict["hardware-node"] = str(arbitration_id.parts.originating_node_id)
         try:
-            originator = NodeId(arbitration_id.parts.originating_node_id.value)
+            originator = NodeId(arbitration_id.parts.originating_node_id)
         except BaseException as e:
             raise InternalMessageFormatError(
                 message="Invalid or unknown message sender",
diff --git a/hardware/opentrons_hardware/hardware_control/move_group_runner.py b/hardware/opentrons_hardware/hardware_control/move_group_runner.py
index ddf2385af4a..8e123257058 100644
--- a/hardware/opentrons_hardware/hardware_control/move_group_runner.py
+++ b/hardware/opentrons_hardware/hardware_control/move_group_runner.py
@@ -435,7 +435,10 @@ def _handle_move_completed(
                 )
                 self._errors.append(
                     MoveConditionNotMetError(
-                        detail={"node": node_id.name, "stop-condition": stop_cond.name}
+                        detail={
+                            "node": NodeId(node_id).name,
+                            "stop-condition": stop_cond.name,
+                        }
                     )
                 )
                 self._should_stop = True
diff --git a/hardware/opentrons_hardware/instruments/pipettes/serials.py b/hardware/opentrons_hardware/instruments/pipettes/serials.py
index 3d5d0b3c54e..b7b43cd3b59 100644
--- a/hardware/opentrons_hardware/instruments/pipettes/serials.py
+++ b/hardware/opentrons_hardware/instruments/pipettes/serials.py
@@ -60,7 +60,7 @@ def info_from_serial_string(serialval: str) -> Tuple[PipetteName, int, bytes]:
     except KeyError:
         raise InvalidInstrumentData(
             message=f"The pipette name part of the serial number ({matches.group('name')}) is unknown. {SERIAL_FORMAT_MSG}",
-            detail={"serial": name, "name": matches.group("name")},
+            detail={"name": matches.group("name")},
         )
     model = int(matches.group("model"))
 
diff --git a/hardware/tests/opentrons_hardware/drivers/can_bus/test_settings.py b/hardware/tests/opentrons_hardware/drivers/can_bus/test_settings.py
index bda7f20b530..1833509a4d6 100644
--- a/hardware/tests/opentrons_hardware/drivers/can_bus/test_settings.py
+++ b/hardware/tests/opentrons_hardware/drivers/can_bus/test_settings.py
@@ -2,6 +2,7 @@
 import pytest
 
 from typing import Optional
+from opentrons_shared_data.errors.exceptions import CANBusConfigurationError
 from opentrons_hardware.drivers.can_bus import settings
 
 
@@ -94,7 +95,7 @@ def test_invalid_calculate_bit_timings(
     match_str: str,
 ) -> None:
     """Test invalid bit timing calculations."""
-    with pytest.raises(ValueError, match=match_str):
+    with pytest.raises(CANBusConfigurationError, match=match_str):
         settings.calculate_fdcan_parameters(
             fcan_clock, bitrate, sample_rate, jump_width
         )
diff --git a/hardware/tests/opentrons_hardware/hardware_control/test_move_group_runner.py b/hardware/tests/opentrons_hardware/hardware_control/test_move_group_runner.py
index d169eac9651..10762e1cf21 100644
--- a/hardware/tests/opentrons_hardware/hardware_control/test_move_group_runner.py
+++ b/hardware/tests/opentrons_hardware/hardware_control/test_move_group_runner.py
@@ -4,7 +4,10 @@
 from numpy import float64, float32, int32
 from mock import AsyncMock, call, MagicMock, patch
 import asyncio
-from opentrons_shared_data.errors.exceptions import MoveConditionNotMetError
+from opentrons_shared_data.errors.exceptions import (
+    MoveConditionNotMetError,
+    EnumeratedError,
+)
 from opentrons_hardware.firmware_bindings import ArbitrationId, ArbitrationIdParts
 
 from opentrons_hardware.firmware_bindings.constants import (
@@ -1213,7 +1216,7 @@ async def test_single_move_error(
     mock_sender = MockSendMoveErrorCompleter(move_group_single, subject)
     mock_can_messenger.ensure_send.side_effect = mock_sender.mock_ensure_send
     mock_can_messenger.send.side_effect = mock_sender.mock_send
-    with pytest.raises(RuntimeError):
+    with pytest.raises(EnumeratedError):
         await subject.run(can_messenger=mock_can_messenger)
     assert mock_sender.call_count == 1
 
@@ -1252,7 +1255,7 @@ async def test_multiple_move_error(
     mock_sender = MockSendMoveErrorCompleter(move_group_multiple_axes, subject)
     mock_can_messenger.ensure_send.side_effect = mock_sender.mock_ensure_send
     mock_can_messenger.send.side_effect = mock_sender.mock_send
-    with pytest.raises(RuntimeError):
+    with pytest.raises(EnumeratedError):
         await subject.run(can_messenger=mock_can_messenger)
     assert mock_sender.call_count == 2
 
diff --git a/hardware/tests/opentrons_hardware/instruments/test_serials.py b/hardware/tests/opentrons_hardware/instruments/test_serials.py
index 75d57eafb42..7b398eda286 100644
--- a/hardware/tests/opentrons_hardware/instruments/test_serials.py
+++ b/hardware/tests/opentrons_hardware/instruments/test_serials.py
@@ -1,5 +1,6 @@
 """Test serial setting."""
 import pytest
+from opentrons_shared_data.errors.exceptions import InvalidInstrumentData
 from opentrons_hardware.instruments.serial_utils import model_versionstring_from_int
 from opentrons_hardware.instruments.pipettes import serials as pip_serials
 from opentrons_hardware.instruments.gripper import serials as grip_serials
@@ -56,7 +57,7 @@ def test_scan_valid_pipette_serials(
 @pytest.mark.parametrize("scannedval", ["P111V02", "P1ksV22", "P3HSV12"])
 def test_pipette_name_validity(scannedval: str) -> None:
     """Pipette name lookup matching."""
-    with pytest.raises(ValueError, match="The pipette name part.*"):
+    with pytest.raises(InvalidInstrumentData, match="The pipette name part.*"):
         pip_serials.info_from_serial_string(scannedval)
 
 
@@ -75,7 +76,7 @@ def test_pipette_name_validity(scannedval: str) -> None:
 )
 def test_pipette_serial_validity(scannedval: str) -> None:
     """Various regex failures."""
-    with pytest.raises(ValueError, match="The serial number.*"):
+    with pytest.raises(InvalidInstrumentData, match="The serial number.*"):
         pip_serials.info_from_serial_string(scannedval)
 
 
@@ -133,7 +134,7 @@ def test_scan_valid_gripper_serials(
 )
 def test_gripper_serial_validity(scannedval: str) -> None:
     """Various regex failures for gripper."""
-    with pytest.raises(ValueError, match="The serial number.*"):
+    with pytest.raises(InvalidInstrumentData, match="The serial number.*"):
         grip_serials.gripper_info_from_serial_string(scannedval)
 
 

From 32b5dc8bf084456eafeac5ffc1805f8ee3af9c05 Mon Sep 17 00:00:00 2001
From: Seth Foster <seth@opentrons.com>
Date: Wed, 28 Jun 2023 16:54:34 -0400
Subject: [PATCH 16/20] shared-data format

---
 .../opentrons_shared_data/errors/codes.py     | 12 +++++-----
 .../errors/exceptions.py                      | 22 +++++++++++++++----
 2 files changed, 24 insertions(+), 10 deletions(-)

diff --git a/shared-data/python/opentrons_shared_data/errors/codes.py b/shared-data/python/opentrons_shared_data/errors/codes.py
index 6449b68424e..d8327508029 100644
--- a/shared-data/python/opentrons_shared_data/errors/codes.py
+++ b/shared-data/python/opentrons_shared_data/errors/codes.py
@@ -40,16 +40,16 @@ class ErrorCodes(Enum):
     MODULE_COMMUNICATION_ERROR = _code_from_dict_entry("1003")
     COMMAND_TIMED_OUT = _code_from_dict_entry("1004")
     FIRMWARE_UPDATE_FAILED = _code_from_dict_entry("1005")
-    INTERNAL_MESSAGE_FORMAT_ERROR = _code_from_dict_entry('1006')
-    CANBUS_CONFIGURATION_ERROR = _code_from_dict_entry('1007')
-    CANBUS_BUS_ERROR = _code_from_dict_entry('1008')
+    INTERNAL_MESSAGE_FORMAT_ERROR = _code_from_dict_entry("1006")
+    CANBUS_CONFIGURATION_ERROR = _code_from_dict_entry("1007")
+    CANBUS_BUS_ERROR = _code_from_dict_entry("1008")
     ROBOTICS_CONTROL_ERROR = _code_from_dict_entry("2000")
     MOTION_FAILED = _code_from_dict_entry("2001")
     HOMING_FAILED = _code_from_dict_entry("2002")
     STALL_OR_COLLISION_DETECTED = _code_from_dict_entry("2003")
     MOTION_PLANNING_FAILURE = _code_from_dict_entry("2004")
-    POSITION_ESTIMATION_INVALID = _code_from_dict_entry('2005')
-    MOVE_CONDITION_NOT_MET = _code_from_dict_entry('2006')
+    POSITION_ESTIMATION_INVALID = _code_from_dict_entry("2005")
+    MOVE_CONDITION_NOT_MET = _code_from_dict_entry("2006")
     ROBOTICS_INTERACTION_ERROR = _code_from_dict_entry("3000")
     LABWARE_DROPPED = _code_from_dict_entry("3001")
     LABWARE_NOT_PICKED_UP = _code_from_dict_entry("3002")
@@ -65,7 +65,7 @@ class ErrorCodes(Enum):
     FIRMWARE_UPDATE_REQUIRED = _code_from_dict_entry("3013")
     INVALID_ACTUATOR = _code_from_dict_entry("3014")
     MODULE_NOT_PRESENT = _code_from_dict_entry("3015")
-    INVALID_INSTRUMENT_DATA = _code_from_dict_entry('3016')
+    INVALID_INSTRUMENT_DATA = _code_from_dict_entry("3016")
     GENERAL_ERROR = _code_from_dict_entry("4000")
     ROBOT_IN_USE = _code_from_dict_entry("4001")
     API_REMOVED = _code_from_dict_entry("4002")
diff --git a/shared-data/python/opentrons_shared_data/errors/exceptions.py b/shared-data/python/opentrons_shared_data/errors/exceptions.py
index 50dd00bf8ef..f74853e3fd6 100644
--- a/shared-data/python/opentrons_shared_data/errors/exceptions.py
+++ b/shared-data/python/opentrons_shared_data/errors/exceptions.py
@@ -296,10 +296,14 @@ def __init__(
         wrapping: Optional[Sequence[EnumeratedError]] = None,
     ) -> None:
         """Build an InternalMesasgeFormatError."""
-        super().__init__(ErrorCodes.INTERNAL_MESSAGE_FORMAT_ERROR, message, detail, wrapping)
+        super().__init__(
+            ErrorCodes.INTERNAL_MESSAGE_FORMAT_ERROR, message, detail, wrapping
+        )
+
 
 class CANBusConfigurationError(CommunicationError):
     """An error indicating a misconfiguration of the CANbus."""
+
     def __init__(
         self,
         message: Optional[str] = None,
@@ -307,10 +311,14 @@ def __init__(
         wrapping: Optional[Sequence[EnumeratedError]] = None,
     ) -> None:
         """Build a CANBus Configuration Error."""
-        super().__init__(ErrorCodes.CANBUS_CONFIGURATION_ERROR, message, detail, wrapping)
+        super().__init__(
+            ErrorCodes.CANBUS_CONFIGURATION_ERROR, message, detail, wrapping
+        )
+
 
 class CANBusBusError(CommunicationError):
     """An error indicating a low-level bus error on the CANbus like an error frame."""
+
     def __init__(
         self,
         message: Optional[str] = None,
@@ -385,7 +393,9 @@ def __init__(
         wrapping: Optional[Sequence[EnumeratedError]] = None,
     ) -> None:
         """Build a PositionEstimationFailedError."""
-        super().__init__(ErrorCodes.POSITION_ESTIMATION_INVALID, message, detail, wrapping)
+        super().__init__(
+            ErrorCodes.POSITION_ESTIMATION_INVALID, message, detail, wrapping
+        )
 
 
 class MoveConditionNotMetError(RoboticsControlError):
@@ -400,7 +410,10 @@ def __init__(
         """Build a MoveConditionNotMetError."""
         super().__init__(
             ErrorCodes.MOVE_CONDITION_NOT_MET,
-            message or 'Move completed without its complete condition being met', detail, wrapping)
+            message or "Move completed without its complete condition being met",
+            detail,
+            wrapping,
+        )
 
 
 class LabwareDroppedError(RoboticsInteractionError):
@@ -577,6 +590,7 @@ def __init__(
             ErrorCodes.MODULE_NOT_PRESENT, checked_message, checked_detail, wrapping
         )
 
+
 class InvalidInstrumentData(RoboticsInteractionError):
     """An error indicating that instrument data is invalid."""
 

From c6b828ddafd53d136d6a199c73444d55111a8f6b Mon Sep 17 00:00:00 2001
From: Seth Foster <seth@opentrons.com>
Date: Thu, 29 Jun 2023 09:20:17 -0400
Subject: [PATCH 17/20] fix up api

---
 api/src/opentrons/hardware_control/ot3api.py       | 6 ++----
 api/tests/opentrons/hardware_control/test_moves.py | 9 ++++-----
 2 files changed, 6 insertions(+), 9 deletions(-)

diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py
index fb40e0b0fbf..9d2d45184c3 100644
--- a/api/src/opentrons/hardware_control/ot3api.py
+++ b/api/src/opentrons/hardware_control/ot3api.py
@@ -142,9 +142,7 @@
     InstrumentDict,
     GripperDict,
 )
-from opentrons_hardware.hardware_control.motion_planning.move_utils import (
-    MoveConditionNotMet,
-)
+
 
 from .status_bar_state import StatusBarStateController
 
@@ -1227,7 +1225,7 @@ async def _home(self, axes: Sequence[OT3Axis]) -> None:
                 except ZeroLengthMoveError:
                     self._log.info(f"{axis} already at home position, skip homing")
                     continue
-                except (MoveConditionNotMet, Exception) as e:
+                except BaseException as e:
                     self._log.exception(f"Homing failed: {e}")
                     self._current_position.clear()
                     raise
diff --git a/api/tests/opentrons/hardware_control/test_moves.py b/api/tests/opentrons/hardware_control/test_moves.py
index 3d2888cd89c..cd4ce3be829 100644
--- a/api/tests/opentrons/hardware_control/test_moves.py
+++ b/api/tests/opentrons/hardware_control/test_moves.py
@@ -27,6 +27,8 @@
 )
 from opentrons.hardware_control.types import OT3Axis
 
+from opentrons_shared_data.errors.exceptions import MoveConditionNotMetError
+
 
 async def test_controller_must_home(hardware_api):
     abs_position = types.Point(30, 20, 10)
@@ -100,12 +102,9 @@ async def test_home(ot3_hardware, mock_home):
 
 
 async def test_home_unmet(ot3_hardware, mock_home):
-    from opentrons_hardware.hardware_control.motion_planning.move_utils import (
-        MoveConditionNotMet,
-    )
 
-    mock_home.side_effect = MoveConditionNotMet()
-    with pytest.raises(MoveConditionNotMet):
+    mock_home.side_effect = MoveConditionNotMetError()
+    with pytest.raises(MoveConditionNotMetError):
         await ot3_hardware.home([OT3Axis.X])
     assert ot3_hardware.gantry_load == GantryLoad.LOW_THROUGHPUT
     mock_home.assert_called_once_with([OT3Axis.X], GantryLoad.LOW_THROUGHPUT)

From c82248aa3caf7d59f2e4179e995a641716ceee3d Mon Sep 17 00:00:00 2001
From: Seth Foster <seth@opentrons.com>
Date: Thu, 6 Jul 2023 14:30:53 -0400
Subject: [PATCH 18/20] fix accidental change to can messenger

---
 .../drivers/can_bus/can_messenger.py          | 19 ++++++++-----------
 1 file changed, 8 insertions(+), 11 deletions(-)

diff --git a/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py b/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py
index b8e8b22a6c5..3aa325c46ee 100644
--- a/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py
+++ b/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py
@@ -346,17 +346,14 @@ def remove_listener(self, listener: MessageListenerCallback) -> None:
             self._listeners.pop(listener)
 
     async def _read_task_shield(self) -> None:
-        try:
-            await self._read_task()
-        except asyncio.CancelledError:
-            pass
-        except EnumeratedError:
-            raise
-        except Exception as exc:
-            log.exception("Exception in read")
-            raise CanbusCommunicationError(
-                message="Exception in read", wrapping=[PythonException(exc)]
-            )
+        while True:
+            try:
+                await self._read_task()
+            except (asyncio.CancelledError, StopAsyncIteration):
+               return
+            except BaseException as exc:
+                log.exception("Exception in read")
+                continue
 
     async def _read_task(self) -> None:
         """Read task."""

From 06502ed27a707381d08a7b7deb9f0fd0266b847c Mon Sep 17 00:00:00 2001
From: Seth Foster <seth@opentrons.com>
Date: Thu, 6 Jul 2023 14:55:20 -0400
Subject: [PATCH 19/20] lint

---
 hardware/opentrons_hardware/drivers/can_bus/can_messenger.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py b/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py
index 3aa325c46ee..8803859d741 100644
--- a/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py
+++ b/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py
@@ -350,8 +350,8 @@ async def _read_task_shield(self) -> None:
             try:
                 await self._read_task()
             except (asyncio.CancelledError, StopAsyncIteration):
-               return
-            except BaseException as exc:
+                return
+            except BaseException:
                 log.exception("Exception in read")
                 continue
 

From 38741fb828cb9962a6f8240ef3c9afb0a0b5f954 Mon Sep 17 00:00:00 2001
From: Seth Foster <seth@opentrons.com>
Date: Mon, 10 Jul 2023 14:24:42 -0400
Subject: [PATCH 20/20] rebase fixups

---
 .../hardware_control/move_group_runner.py     | 123 +++++++++---------
 .../test_move_group_runner.py                 |   4 +-
 2 files changed, 64 insertions(+), 63 deletions(-)

diff --git a/hardware/opentrons_hardware/hardware_control/move_group_runner.py b/hardware/opentrons_hardware/hardware_control/move_group_runner.py
index 8e123257058..0b182d1e8c8 100644
--- a/hardware/opentrons_hardware/hardware_control/move_group_runner.py
+++ b/hardware/opentrons_hardware/hardware_control/move_group_runner.py
@@ -11,7 +11,7 @@
     MoveConditionNotMetError,
     EnumeratedError,
     MotionFailedError,
-    PythonException
+    PythonException,
 )
 
 from opentrons_hardware.firmware_bindings import ArbitrationId
@@ -508,73 +508,74 @@ async def _send_stop_if_necessary(
                 f"Recoverable firmware errors during {group_id}: {self._errors}"
             )
 
-    async def run(self, can_messenger: CanMessenger) -> _Completions:
-        """Start each move group after the prior has completed."""
-        for group_id in range(
-            self._start_at_index, self._start_at_index + len(self._moves)
-        ):
-            self._event.clear()
+    async def _run_one_group(self, group_id: int, can_messenger: CanMessenger) -> None:
+        self._event.clear()
 
-            log.debug(f"Executing move group {group_id}.")
-            self._current_group = group_id - self._start_at_index
-            error = await can_messenger.ensure_send(
-                node_id=NodeId.broadcast,
-                message=ExecuteMoveGroupRequest(
-                    payload=ExecuteMoveGroupRequestPayload(
-                        group_id=UInt8Field(group_id),
-                        # TODO (al, 2021-11-8): The triggers should be populated
-                        #  with actual values.
-                        start_trigger=UInt8Field(0),
-                        cancel_trigger=UInt8Field(0),
-                    )
-                ),
-                expected_nodes=self._get_nodes_in_move_group(group_id),
+        log.debug(f"Executing move group {group_id}.")
+        self._current_group = group_id - self._start_at_index
+        error = await can_messenger.ensure_send(
+            node_id=NodeId.broadcast,
+            message=ExecuteMoveGroupRequest(
+                payload=ExecuteMoveGroupRequestPayload(
+                    group_id=UInt8Field(group_id),
+                    # TODO (al, 2021-11-8): The triggers should be populated
+                    #  with actual values.
+                    start_trigger=UInt8Field(0),
+                    cancel_trigger=UInt8Field(0),
+                )
+            ),
+            expected_nodes=self._get_nodes_in_move_group(group_id),
+        )
+        if error != ErrorCode.ok:
+            log.error(f"received error trying to execute move group: {str(error)}")
+
+        expected_time = max(1.0, self._durations[group_id - self._start_at_index] * 1.1)
+        full_timeout = max(1.0, self._durations[group_id - self._start_at_index] * 2)
+        start_time = time.time()
+
+        try:
+            # The staged timeout handles some times when a move takes a liiiittle extra
+            await asyncio.wait_for(
+                self._event.wait(),
+                full_timeout,
             )
-            if error != ErrorCode.ok:
-                log.error(f"recieved error trying to execute move group {str(error)}")
+            duration = time.time() - start_time
+            await self._send_stop_if_necessary(can_messenger, group_id)
 
-            expected_time = max(
-                1.0, self._durations[group_id - self._start_at_index] * 1.1
+            if duration >= expected_time:
+                log.warning(
+                    f"Move set {str(group_id)} took longer ({duration} seconds) than expected ({expected_time} seconds)."
+                )
+        except asyncio.TimeoutError:
+            missing_node_msg = ", ".join(
+                node.name for node in self._get_nodes_in_move_group(group_id)
             )
-            full_timeout = max(
-                1.0, self._durations[group_id - self._start_at_index] * 2
+            log.error(
+                f"Move set {str(group_id)} timed out of max duration {full_timeout}. Expected time: {expected_time}. Missing: {missing_node_msg}"
             )
-            start_time = time.time()
-
-            try:
-                # TODO: The max here can be removed once can_driver.send() no longer
-                # returns before the message actually hits the bus. Right now it
-                # returns when the message is enqueued in the kernel, meaning that
-                # for short move durations we can see the timeout expiring before
-                # the execute even gets sent.
-                await asyncio.wait_for(
-                    self._event.wait(),
-                    full_timeout,
-                )
-                duration = time.time() - start_time
-                await self._send_stop_if_necessary(can_messenger, group_id)
 
-                if duration >= expected_time:
-                    log.warning(
-                        f"Move set {str(group_id)} took longer ({duration} seconds) than expected ({expected_time} seconds)."
-                    )
-            except asyncio.TimeoutError:
-                missing_node_msg = ', '.join(node.name for node in self._get_nodes_in_move_group(group_id))
-                log.error(
-                    f"Move set {str(group_id)} timed out of max duration {full_timeout}. Expected time: {expected_time}. Missing: {missing_node_Msg}"
-                )
+            raise MotionFailedError(
+                message="Command timed out",
+                detail={
+                    "missing-nodes": missing_node_msg,
+                    "full-timeout": str(full_timeout),
+                    "expected-time": expected_time,
+                    "elapsed": str(time.time() - start_time),
+                },
+            )
+        except EnumeratedError:
+            log.exception("Cancelling move group scheduler")
+            raise
+        except BaseException as e:
+            log.exception("canceling move group scheduler")
+            raise PythonException(e) from e
 
-                raise MotionFailedError(message='Command timed out', detail={
-                    'missing-nodes': missing_node_msg,
-                    'full-timeout': str(full_timeout),
-                    'expected-time': expected_time,
-                    'elapsed': str(time.time() - start_time)})
-            except EnumeratedError:
-                log.exception('Cancelling move group scheduler')
-                raise
-            except BaseException as e:
-                log.exception("canceling move group scheduler")
-                raise PythonException(e) from e
+    async def run(self, can_messenger: CanMessenger) -> _Completions:
+        """Start each move group after the prior has completed."""
+        for group_id in range(
+            self._start_at_index, self._start_at_index + len(self._moves)
+        ):
+            await self._run_one_group(group_id, can_messenger)
 
         def _reify_queue_iter() -> Iterator[_CompletionPacket]:
             while not self._completion_queue.empty():
diff --git a/hardware/tests/opentrons_hardware/hardware_control/test_move_group_runner.py b/hardware/tests/opentrons_hardware/hardware_control/test_move_group_runner.py
index 10762e1cf21..f6f1386bd87 100644
--- a/hardware/tests/opentrons_hardware/hardware_control/test_move_group_runner.py
+++ b/hardware/tests/opentrons_hardware/hardware_control/test_move_group_runner.py
@@ -3,10 +3,10 @@
 from typing import List, Any, Tuple
 from numpy import float64, float32, int32
 from mock import AsyncMock, call, MagicMock, patch
-import asyncio
 from opentrons_shared_data.errors.exceptions import (
     MoveConditionNotMetError,
     EnumeratedError,
+    MotionFailedError,
 )
 from opentrons_hardware.firmware_bindings import ArbitrationId, ArbitrationIdParts
 
@@ -799,7 +799,7 @@ async def test_tip_action_move_runner_fail_receives_one_response(
     mock_can_messenger.ensure_send.side_effect = mock_sender.mock_ensure_send_failure
     mock_can_messenger.send.side_effect = mock_sender.mock_send_failure
 
-    with pytest.raises(asyncio.TimeoutError):
+    with pytest.raises(MotionFailedError):
         await subject.run(can_messenger=mock_can_messenger)