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fix(hardware): specify nodes when clearing move groups #13072

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merged 2 commits into from
Jul 10, 2023
Merged

fix(hardware): specify nodes when clearing move groups #13072

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c47250f
Specify expected nodes when clearing move groups
fsinapi Jul 10, 2023
1b1bc01
A little bit of test cleanup
fsinapi Jul 10, 2023
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10 changes: 10 additions & 0 deletions hardware/opentrons_hardware/hardware_control/move_group_runner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -209,10 +209,20 @@ async def _clear_groups(self, can_messenger: CanMessenger) -> None:
error = await can_messenger.ensure_send(
node_id=NodeId.broadcast,
message=ClearAllMoveGroupsRequest(payload=EmptyPayload()),
expected_nodes=list(self.all_nodes()),
)
if error != ErrorCode.ok:
log.warning("Clear move group failed")

def all_nodes(self) -> Set[NodeId]:
"""Get all of the nodes in the move group runner's move gruops."""
node_set: Set[NodeId] = set()
for group in self._move_groups:
for sequence in group:
for node in sequence.keys():
node_set.add(node)
return node_set

async def _send_groups(self, can_messenger: CanMessenger) -> None:
"""Send commands to set up the message groups."""
for group_i, group in enumerate(self._move_groups):
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23 changes: 21 additions & 2 deletions hardware/tests/opentrons_hardware/hardware_control/test_move_group_runner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -261,7 +261,13 @@ async def test_single_group_clear(
subject = MoveGroupRunner(move_groups=move_group_single)
await subject._clear_groups(can_messenger=mock_can_messenger)
mock_can_messenger.ensure_send.assert_has_calls(
[call(node_id=NodeId.broadcast, message=md.ClearAllMoveGroupsRequest())],
[
call(
node_id=NodeId.broadcast,
message=md.ClearAllMoveGroupsRequest(),
expected_nodes=[NodeId.head],
)
],
)


Expand All @@ -271,8 +277,21 @@ async def test_multi_group_clear(
"""It should send a clear group command before setup."""
subject = MoveGroupRunner(move_groups=move_group_multiple)
await subject.prep(can_messenger=mock_can_messenger)
expected = subject.all_nodes()
# Test that the expected nodes are correct
for group in move_group_multiple:
for step in group:
for node in step.keys():
assert node in expected

mock_can_messenger.ensure_send.assert_has_calls(
[call(node_id=NodeId.broadcast, message=md.ClearAllMoveGroupsRequest())],
[
call(
node_id=NodeId.broadcast,
message=md.ClearAllMoveGroupsRequest(),
expected_nodes=list(expected),
)
],
)


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