Merge branch 'edge' into pd_flex_main

.github/workflows/api-test-lint-deploy.yaml

@@ -104,7 +104,7 @@ jobs:
  with:
  python-version: ${{ matrix.python }}
  - name: 'set complex environment variables'
- uses: actions/github-script@v6.1.1
+ uses: actions/github-script@v6
  with:
  script: |
  const { buildComplexEnvVars, } = require(`${process.env.GITHUB_WORKSPACE}/.github/workflows/utils.js`)
@@ -154,7 +154,7 @@ jobs:
  with:
  python-version: '3.7'
  - name: 'set complex environment variables'
- uses: actions/github-script@v6.1.1
+ uses: actions/github-script@v6
  with:
  script: |
  const { buildComplexEnvVars, } = require(`${process.env.GITHUB_WORKSPACE}/.github/workflows/utils.js`)

.github/workflows/app-test-build-deploy.yaml

@@ -66,7 +66,7 @@ jobs:
  run: sudo apt-get update && sudo apt-get install libudev-dev
  - name: 'set complex environment variables'
  id: 'set-vars'
- uses: actions/github-script@v6.1.1
+ uses: actions/github-script@v6
  with:
  script: |
  const { buildComplexEnvVars } = require(`${process.env.GITHUB_WORKSPACE}/.github/workflows/utils.js`)
@@ -125,7 +125,7 @@ jobs:
  run: sudo apt-get update && sudo apt-get install libudev-dev
  - name: 'set complex environment variables'
  id: 'set-vars'
- uses: actions/github-script@v6.1.1
+ uses: actions/github-script@v6
  with:
  script: |
  const { buildComplexEnvVars } = require(`${process.env.GITHUB_WORKSPACE}/.github/workflows/utils.js`)
@@ -220,7 +220,7 @@ jobs:
  run: sudo apt-get update && sudo apt-get install libudev-dev libsystemd-dev
  - name: 'set complex environment variables'
  id: 'set-vars'
- uses: actions/github-script@v6.1.1
+ uses: actions/github-script@v6
  with:
  script: |
  const { buildComplexEnvVars } = require(`${process.env.GITHUB_WORKSPACE}/.github/workflows/utils.js`)

.github/workflows/components-test-build-deploy.yaml

@@ -121,7 +121,7 @@ jobs:
  node-version: '16'
  - name: 'set complex environment variables'
  id: 'set-vars'
- uses: actions/github-script@v6.1.1
+ uses: actions/github-script@v6
  with:
  script: |
  const { buildComplexEnvVars } = require(`${process.env.GITHUB_WORKSPACE}/.github/workflows/utils.js`)

.github/workflows/docs-build.yaml

@@ -59,7 +59,7 @@ jobs:
  with:
  project: 'api'
  - name: 'set complex environment variables'
- uses: actions/github-script@v6.1.1
+ uses: actions/github-script@v6
  with:
  script: |
  const { buildComplexEnvVars, } = require(`${process.env.GITHUB_WORKSPACE}/.github/workflows/utils.js`)

.github/workflows/g-code-testing-lint-test.yaml

@@ -50,7 +50,7 @@ jobs:
  node-version: '16'
  - name: 'set complex environment variables'
  id: 'set-vars'
- uses: actions/github-script@v6.1.1
+ uses: actions/github-script@v6
  with:
  script: |
  const { buildComplexEnvVars } = require(`${process.env.GITHUB_WORKSPACE}/.github/workflows/utils.js`)

.github/workflows/js-check.yaml

@@ -48,7 +48,7 @@ jobs:
  node-version: '16'
  - name: 'set complex environment variables'
  id: 'set-vars'
- uses: actions/github-script@v6.1.1
+ uses: actions/github-script@v6
  with:
  script: |
  const { buildComplexEnvVars } = require(`${process.env.GITHUB_WORKSPACE}/.github/workflows/utils.js`)

.github/workflows/ll-test-build-deploy.yaml

@@ -179,7 +179,7 @@ jobs:
  run: sudo apt-get update && sudo apt-get install libudev-dev
  - name: 'set complex environment variables'
  id: 'set-vars'
- uses: actions/github-script@v6.1.1
+ uses: actions/github-script@v6
  with:
  script: |
  const { buildComplexEnvVars } = require(`${process.env.GITHUB_WORKSPACE}/.github/workflows/utils.js`)

.github/workflows/pd-test-build-deploy.yaml

@@ -184,7 +184,7 @@ jobs:
  run: sudo apt-get update && sudo apt-get install libudev-dev
  - name: 'set complex environment variables'
  id: 'set-vars'
- uses: actions/github-script@v6.1.1
+ uses: actions/github-script@v6
  with:
  script: |
  const { buildComplexEnvVars } = require(`${process.env.GITHUB_WORKSPACE}/.github/workflows/utils.js`)

.github/workflows/shared-data-test-lint-deploy.yaml

@@ -92,7 +92,7 @@ jobs:
  project: 'shared-data/python'
  python-version: ${{ matrix.python }}
  - name: 'set complex environment variables'
- uses: actions/github-script@v6.1.1
+ uses: actions/github-script@v6
  with:
  script: |
  const { buildComplexEnvVars, } = require(`${process.env.GITHUB_WORKSPACE}/.github/workflows/utils.js`)
@@ -168,7 +168,7 @@ jobs:
  with:
  project: 'shared-data/python'
  - name: 'set complex environment variables'
- uses: actions/github-script@v6.1.1
+ uses: actions/github-script@v6
  with:
  script: |
  const { buildComplexEnvVars, } = require(`${process.env.GITHUB_WORKSPACE}/.github/workflows/utils.js`)

api/src/opentrons/hardware_control/backends/ot3controller.py

@@ -43,6 +43,8 @@
  create_tip_action_group,
  PipetteAction,
  sub_system_to_node_id,
+ NODEID_SUBSYSTEM,
+ USBTARGET_SUBSYSTEM,
 )
 
 try:
@@ -112,6 +114,7 @@
  UpdateStatus,
  mount_to_subsystem,
  DoorState,
+ OT3SubSystem,
 )
 from opentrons.hardware_control.errors import (
  MustHomeError,
@@ -244,9 +247,18 @@ def initialized(self, value: bool) -> None:
  self._initialized = value
 
  @property
- def fw_version(self) -> Optional[str]:
+ def fw_version(self) -> Dict[OT3SubSystem, int]:
  """Get the firmware version."""
- return None
+ subsystem_map: Dict[Union[NodeId, USBTarget], OT3SubSystem] = deepcopy(
+ cast(Dict[Union[NodeId, USBTarget], OT3SubSystem], USBTARGET_SUBSYSTEM)
+ )
+ subsystem_map.update(
+ cast(Dict[Union[NodeId, USBTarget], OT3SubSystem], NODEID_SUBSYSTEM)
+ )
+ return {
+ subsystem_map[node.application_for()]: device.version
+ for node, device in self._network_info.device_info.items()
+ }
 
  @property
  def update_required(self) -> bool:

api/src/opentrons/hardware_control/backends/ot3simulator.py

@@ -31,6 +31,7 @@
  create_gripper_jaw_home_group,
  create_tip_action_group,
  PipetteAction,
+ NODEID_SUBSYSTEM,
 )
 
 from opentrons_hardware.firmware_bindings.constants import (
@@ -56,6 +57,7 @@
  MotorStatus,
  PipetteSubType,
  UpdateStatus,
+ OT3SubSystem,
 )
 from opentrons_hardware.hardware_control.motion import MoveStopCondition
 from opentrons_hardware.hardware_control import status_bar
@@ -483,9 +485,11 @@ def axis_bounds(self) -> OT3AxisMap[Tuple[float, float]]:
  }
 
  @property
- def fw_version(self) -> Optional[str]:
+ def fw_version(self) -> Dict[OT3SubSystem, int]:
  """Get the firmware version."""
- return None
+ return {
+ NODEID_SUBSYSTEM[node.application_for()]: 0 for node in self._present_nodes
+ }
 
  @property
  def update_required(self) -> bool:

api/src/opentrons/hardware_control/backends/ot3utils.py

@@ -22,6 +22,7 @@
  PipetteType,
  SensorId,
  PipetteTipActionType,
+ USBTarget,
 )
 from opentrons_hardware.firmware_update.types import FirmwareUpdateStatus, StatusElement
 from opentrons_hardware.hardware_control.motion_planning import (
@@ -68,6 +69,25 @@
  OT3SubSystem.gripper: NodeId.gripper,
 }
 
+NODEID_SUBSYSTEM: Dict[NodeId, OT3SubSystem] = {
+ NodeId.gantry_x: OT3SubSystem.gantry_x,
+ NodeId.gantry_x_bootloader: OT3SubSystem.gantry_x,
+ NodeId.gantry_y: OT3SubSystem.gantry_y,
+ NodeId.gantry_y_bootloader: OT3SubSystem.gantry_y,
+ NodeId.head: OT3SubSystem.head,
+ NodeId.head_bootloader: OT3SubSystem.head,
+ NodeId.pipette_left: OT3SubSystem.pipette_left,
+ NodeId.pipette_left_bootloader: OT3SubSystem.pipette_left,
+ NodeId.pipette_right: OT3SubSystem.pipette_right,
+ NodeId.pipette_right_bootloader: OT3SubSystem.pipette_right,
+ NodeId.gripper: OT3SubSystem.gripper,
+ NodeId.gripper_bootloader: OT3SubSystem.gripper,
+}
+
+USBTARGET_SUBSYSTEM: Dict[USBTarget, OT3SubSystem] = {
+ USBTarget.rear_panel: OT3SubSystem.rear_panel
+}
+
 
 def axis_nodes() -> List["NodeId"]:
  return [

api/src/opentrons/hardware_control/ot3api.py

@@ -385,10 +385,11 @@ def get_fw_version(self) -> str:
  Return the firmware version of the connected hardware.
  """
  from_backend = self._backend.fw_version
- if from_backend is None:
+ uniques = set(version for version in from_backend.values())
+ if not from_backend:
  return "unknown"
  else:
- return from_backend
+ return ", ".join(str(version) for version in uniques)
 
  @property
  def fw_version(self) -> str:

api/src/opentrons/protocol_engine/clients/transports.py

@@ -107,6 +107,17 @@ def execute_command(self, request: CommandCreate) -> CommandResult:
  error = command.error
  raise ProtocolEngineError(f"{error.errorType}: {error.detail}")
 
+ # FIXME(mm, 2023-04-10): This assert can easily trigger from this sequence:
+ #
+ # 1. The engine is paused.
+ # 2. The user's Python script calls this method to start a new command,
+ # which remains `queued` because of the pause.
+ # 3. The engine is stopped.
+ #
+ # The returned command will be `queued`, so it won't have a result.
+ #
+ # We need to figure out a proper way to report this condition to callers
+ # so they correctly interpret it as an intentional stop, not an internal error.
  assert command.result is not None, f"Expected Command {command} to have result"
 
  return command.result

api/src/opentrons/protocol_engine/execution/queue_worker.py

@@ -60,20 +60,24 @@ async def join(self) -> None:
 
  try:
  await worker_task
- except (RunStoppedError, asyncio.CancelledError):
+ except asyncio.CancelledError: # From self.cancel().
  pass
  except Exception as e:
  log.error("Unhandled exception in QueueWorker job", exc_info=e)
  raise e
 
  async def _run_commands(self) -> None:
- while not self._state_store.commands.get_stop_requested():
- command_id = await self._state_store.wait_for(
- condition=self._state_store.commands.get_next_queued
- )
-
- await self._command_executor.execute(command_id=command_id)
-
- # Yield to the event loop in case we're executing a long run of commands
- # that never yields internally. For example, a long run of comment commands.
- await asyncio.sleep(0)
+ while True:
+ try:
+ command_id = await self._state_store.wait_for(
+ condition=self._state_store.commands.get_next_to_execute
+ )
+ except RunStoppedError:
+ # There are no more commands that we should execute, either because the run has
+ # completed on its own, or because a client requested it to stop.
+ break
+ else:
+ await self._command_executor.execute(command_id=command_id)
+ # Yield to the event loop in case we're executing a long sequence of commands
+ # that never yields internally. For example, a long sequence of comment commands.
+ await asyncio.sleep(0)

api/src/opentrons/protocol_engine/protocol_engine.py

@@ -166,9 +166,12 @@ def add_command(self, request: commands.CommandCreate) -> commands.Command:
  return self._state_store.commands.get(command_id)
 
  async def wait_for_command(self, command_id: str) -> None:
- """Wait for a command to be completed."""
+ """Wait for a command to be completed.
+
+ Will also return if the engine was stopped before it reached the command.
+ """
  await self._state_store.wait_for(
- self._state_store.commands.get_is_complete,
+ self._state_store.commands.get_command_is_final,
  command_id=command_id,
  )
 
@@ -185,7 +188,9 @@ async def add_and_execute_command(
  the command in state.
 
  Returns:
- The completed command, whether it succeeded or failed.
+ The command. If the command completed, it will be succeeded or failed.
+ If the engine was stopped before it reached the command,
+ the command will be queued.
  """
  command = self.add_command(request)
  await self.wait_for_command(command.id)
@@ -211,7 +216,7 @@ async def wait_until_complete(self) -> None:
  CommandExecutionFailedError: if any protocol command failed.
  """
  await self._state_store.wait_for(
- condition=self._state_store.commands.get_all_complete
+ condition=self._state_store.commands.get_all_commands_final
  )
 
  async def finish(