refactor(hardware): constants from firmware

.github/workflows/hardware-lint-test.yaml

@@ -32,21 +32,6 @@ jobs:
     timeout-minutes: 20
     runs-on: 'ubuntu-20.04'
     steps:
-      - name: Setup SocketCan
-        run: |
-          sudo apt-get update
-          sudo apt-get install linux-modules-extra-$(uname -r)
-          sudo modprobe vcan
-
-      - name: Checkout firmware repo
-        uses: actions/checkout@v2
-
-      - name: Run OT-3 Emulator
-        uses: Opentrons/[email protected]
-        with:
-          ot3-firmware-commit-id: latest
-          modules-commit-id: latest
-
       - name: Checkout opentrons repo
         uses: 'actions/checkout@v2'
 
@@ -78,3 +63,22 @@ jobs:
         with:
           files: ./hardware/coverage.xml
           flags: hardware 
+  integration:
+    name: 'hardware package integration tests'
+    timeout-minutes: 20
+    runs-on: 'ubuntu-20.04'
+    steps:
+      - name: Setup SocketCan
+        run: |
+          sudo apt-get update
+          sudo apt-get install linux-modules-extra-$(uname -r)
+          sudo modprobe vcan
+
+      - name: Checkout firmware repo
+        uses: actions/checkout@v2
+
+      - name: Run OT-3 Emulator
+        uses: Opentrons/[email protected]
+        with:
+          ot3-firmware-commit-id: latest
+          modules-commit-id: latest

api/Makefile

@@ -112,7 +112,7 @@ format:
 	$(python) -m black src tests setup.py
 
 docs/build/html/v%: docs/v%
-	$(sphinx_build) -b html -d docs/build/doctrees -n $< $@
+	$(sphinx_build_allow_warnings) -b html -d docs/build/doctrees -n $< $@
 # sphinx wont automatically do this because it's only in a template
 	$(SHX) cp docs/img/lightbulb.jpg $@/_images/
 
@@ -122,7 +122,7 @@ docs/build/html/hardware: docs/hardware src/opentrons/hardware_control
 	$(SHX) cp docs/img/lightbulb.jpg $@/_images/
 
 docs/build/pdf/OpentronsPythonAPIV%.pdf: docs/v%
-	$(sphinx_build) -b latex -d docs/build/doctrees $< $(@D)
+	$(sphinx_build_allow_warnings) -b latex -d docs/build/doctrees $< $(@D)
 	$(MAKE) -C $(@D) all-pdf $(if $(CI),>/dev/null,|| $(SHX) echo "latex build failed (pdflatex not installed?)")
 	$(SHX) ls $(@D)/*.pdf $(if $(CI),,|| $(SHX) echo "no pdf produced")
 

api/Pipfile

@@ -37,3 +37,4 @@ types-setuptools = "==57.0.2"
 opentrons-shared-data = {editable = true, path = "../shared-data/python"}
 opentrons = {editable = true, path = "."}
 opentrons-hardware = {editable = true, path = "./../hardware"}
+opentrons-ot3-firmware = {subdirectory = "python", git = "https://github.com/Opentrons/ot3-firmware.git", branch = "main"}

api/docs/v1/api_cache/robot.py

@@ -112,8 +112,8 @@ def connect(self, port=None, options=None):
         -------
         ``True`` for success, ``False`` for failure.
 
-        Note
-        ----
+        Notes
+        -----
         If you wish to connect to the robot without using the OT App, you will
         need to use this function.
 

api/src/opentrons/hardware_control/ot3controller.py

@@ -12,14 +12,14 @@
 
 try:
     from opentrons_hardware.drivers.can_bus import CanDriver, CanMessenger
-    from opentrons_hardware.drivers.can_bus.constants import NodeId
     from opentrons_hardware.hardware_control.motion import create
     from opentrons_hardware.hardware_control.move_group_runner import MoveGroupRunner
-    from opentrons_hardware.drivers.can_bus.messages.message_definitions import (
+    from opentrons_ot3_firmware.constants import NodeId
+    from opentrons_ot3_firmware.messages.message_definitions import (
         SetupRequest,
         EnableMotorRequest,
     )
-    from opentrons_hardware.drivers.can_bus.messages.payloads import EmptyPayload
+    from opentrons_ot3_firmware.messages.payloads import EmptyPayload
 except ModuleNotFoundError:
     pass
 

hardware/Makefile

@@ -100,6 +100,10 @@ format:
 dev:
 	echo "Nothing here yet"
 
+.PHONY: opentrons_ot3_firmware_dist
+opentrons_ot3_firmware_dist: Pipfile.lock
+	mkdir -p dist
+	$(python) ../scripts/bundle_installed_package.py opentrons_ot3_firmware dist
 
 .PHONY: push-no-restart
 push-no-restart: wheel
@@ -109,11 +113,11 @@ push-no-restart: wheel
 push: push-no-restart
 	$(call restart-service,$(host),$(br_ssh_key),$(ssh_opts),"jupyter-notebook opentrons-robot-server")
 
-
 .PHONY: push-no-restart-ot3
-push-no-restart-ot3: $(sdist_file)
-	echo $(sdist_file)
+push-no-restart-ot3: $(sdist_file) Pipfile.lock
+	echo $(sdist_file) $(wildcard dist/opentrons_ot3_firmware-*.tar.gz)
 	$(call push-python-sdist,$(host),,$(ssh_opts),$(sdist_file),/opt/opentrons-robot-server,"opentrons_hardware")
+	$(call push-python-sdist,$(host),,$(ssh_opts),$(wildcard dist/opentrons_ot3_firmware-*.tar.gz),/opt/opentrons-robot-server,"opentrons_ot3_firmware")
 
 .PHONY: push-ot3
 push-ot3: push-no-restart-ot3

hardware/Pipfile

@@ -7,6 +7,7 @@ name = "pypi"
 python-can = "==3.3.4"
 pyserial = "==3.5"
 typing-extensions = "==3.10.0.0"
+opentrons-ot3-firmware = {subdirectory = "python", git = "https://github.com/Opentrons/ot3-firmware.git", branch = "main"}
 
 [dev-packages]
 pytest = "==6.1.0"