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fix(api): fix APIv1 GPIO ctl for cmdline and jupyter protocol execution #6091

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merged 1 commit into from
Jul 13, 2020
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fix(api): fix APIv1 GPIO ctl for cmdline and jupyter protocol execution #6091

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12 changes: 12 additions & 0 deletions api/src/opentrons/drivers/rpi_drivers/gpio.py
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Original file line number Diff line number Diff line change
Expand Up @@ -132,6 +132,18 @@ async def setup(self):
self.set_reset_pin(True)
await asyncio.sleep(0.25)

def setup_v1(self):
# TODO: AA 07-08-2020 remove when legacy API is deprecated
MODULE_LOG.info("Setting up GPIOs for APIv1")
self.set_audio_enable(True)
# smoothieware programming pins, must be in a known state (HIGH)
self.set_halt_pin(True)
self.set_isp_pin(True)
self.set_reset_pin(False)
time.sleep(0.25)
self.set_reset_pin(True)
time.sleep(0.25)

def set_high(self, output_pin: GPIOPin):
self.lines[output_pin.name].set_value(1)

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14 changes: 13 additions & 1 deletion api/src/opentrons/legacy_api/robot/robot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,8 @@

from opentrons.data_storage import database, old_container_loading,\
database_migration
from opentrons.drivers.rpi_drivers import build_gpio_chardev
from opentrons.drivers.rpi_drivers.gpio_simulator import SimulatingGPIOCharDev
from opentrons.drivers.smoothie_drivers import driver_3_0
from opentrons.drivers.types import MoveSplit
from opentrons.trackers import pose_tracker
Expand Down Expand Up @@ -530,7 +532,17 @@ def connect(self, port=None, options=None):
>>> from opentrons import robot # doctest: +SKIP
>>> robot.connect() # doctest: +SKIP
"""

log.info(
'Setting up GPIOs for APIv1, expected to fail if opentrons-'
'robot-server is already running. This should not affect the '
'robot lights behavior in the protocol if it is running using '
'the Opentrons App.')
gpio_chardev = build_gpio_chardev('gpiochip0')
# setup gpio chardev if built successfully
if not isinstance(gpio_chardev, SimulatingGPIOCharDev):
gpio_chardev.config_by_board_rev()
gpio_chardev.setup_v1()
self._driver.gpio_chardev = gpio_chardev
self._driver.connect(port=port)
self.fw_version = self._driver.get_fw_version()

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