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fix(api): retract function should acquire motion lock #14944

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merged 2 commits into from
Apr 18, 2024
Merged

fix(api): retract function should acquire motion lock #14944

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5e6b38e
remove can messenger listener
ahiuchingau Apr 17, 2024
4adf900
retract function should acquire motion lock
ahiuchingau Apr 17, 2024
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21 changes: 11 additions & 10 deletions api/src/opentrons/hardware_control/ot3api.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1655,16 +1655,17 @@ async def retract_axis(self, axis: Axis) -> None:
motor_ok = self._backend.check_motor_status([axis])
encoder_ok = self._backend.check_encoder_status([axis])

if motor_ok and encoder_ok:
# we can move to the home position without checking the limit switch
origin = await self._backend.update_position()
target_pos = {axis: self._backend.home_position()[axis]}
await self._backend.move(origin, target_pos, 400, HWStopCondition.none)
else:
# home the axis
await self._home_axis(axis)
await self._cache_current_position()
await self._cache_encoder_position()
async with self._motion_lock:
if motor_ok and encoder_ok:
# we can move to the home position without checking the limit switch
origin = await self._backend.update_position()
target_pos = {axis: self._backend.home_position()[axis]}
await self._backend.move(origin, target_pos, 400, HWStopCondition.none)
else:
# home the axis
await self._home_axis(axis)
await self._cache_current_position()
await self._cache_encoder_position()

# Gantry/frame (i.e. not pipette) config API
@property
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4 changes: 3 additions & 1 deletion hardware/opentrons_hardware/hardware_control/motor_enable_disable.py
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Original file line number Diff line number Diff line change
Expand Up @@ -122,7 +122,9 @@ def _listener(message: MessageDefinition, arb_id: ArbitrationId) -> None:
)
else:
log.debug("Read motor status terminated, no missing nodes.")
return reported
finally:
can_messenger.remove_listener(_listener)
return reported


async def get_tip_motor_enabled(
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