draft

hardware/opentrons_hardware/scripts/sensor_utils.py

@@ -139,7 +139,7 @@ async def handle_capacitive_sensor(
  )
  csv = CSVFormatter.build(metadata, list(metadata.to_dict().keys()))
  # autozero
- await capacitive.poll(messenger, pipette_mount, 10, timeout=10)
+ await capacitive.get_baseline(messenger, pipette_mount, 10, 10, timeout=10)
  end_time = start_time + timedelta(minutes=command.minutes)
  while datetime.now() < end_time:
  data = await capacitive.read(messenger, pipette_mount, offset=False, timeout=10)

hardware/opentrons_hardware/sensors/fdc1004.py

@@ -2,17 +2,33 @@
 
 from typing import Optional
 
-from opentrons_hardware.drivers.can_bus.can_messenger import CanMessenger
+import logging
+
+from opentrons_hardware.drivers.can_bus.can_messenger import (
+ CanMessenger,
+)
 from opentrons_hardware.firmware_bindings.constants import SensorType, NodeId
+from opentrons_hardware.firmware_bindings.messages.message_definitions import (
+ BindSensorOutputRequest,
+)
+from opentrons_hardware.firmware_bindings.messages.fields import (
+ SensorOutputBindingField,
+ SensorTypeField,
+)
 from opentrons_hardware.sensors.utils import (
  ReadSensorInformation,
  PollSensorInformation,
  WriteSensorInformation,
  SensorDataType,
 )
-
+from opentrons_hardware.firmware_bindings.messages.payloads import (
+ BindSensorOutputRequestPayload,
+)
 from .sensor_abc import AbstractAdvancedSensor
 from .scheduler import SensorScheduler
+from opentrons_hardware.firmware_bindings.constants import SensorOutputBinding
+
+log = logging.getLogger(__name__)
 
 
 class CapacitiveSensor(AbstractAdvancedSensor):
@@ -26,16 +42,49 @@ def __init__(
  ) -> None:
  """Constructor."""
  super().__init__(zero_threshold, stop_threshold, offset, SensorType.capacitive)
+ self._scheduler = SensorScheduler()
+
+ async def bind_to_sync(
+ self,
+ can_messenger: CanMessenger,
+ node_id: NodeId,
+ binding: SensorOutputBinding = SensorOutputBinding.sync,
+ timeout: int = 1,
+ ) -> None:
+ """Send a BindSensorOutputRequest."""
+ await can_messenger.send(
+ node_id=node_id,
+ message=BindSensorOutputRequest(
+ payload=BindSensorOutputRequestPayload(
+ sensor=SensorTypeField(self._sensor_type),
+ binding=SensorOutputBindingField(binding),
+ )
+ ),
+ )
+
+ async def get_report(
+ self,
+ node_id: NodeId,
+ can_messenger: CanMessenger,
+ timeout: int = 1,
+ ) -> Optional[SensorDataType]:
+ """This function retrieves ReadFromResponse messages.
+
+ This is meant to be called after a bind_to_sync call,
+ with the sensor being bound to "report".
+ """
+ return await self._scheduler.read(can_messenger, node_id)
 
- async def poll(
+ async def get_baseline(
  self,
  can_messenger: CanMessenger,
  node_id: NodeId,
- poll_for: int,
+ poll_for_ms: int,
+ sample_rate: int,
  timeout: int = 1,
  ) -> Optional[SensorDataType]:
  """Poll the capacitive sensor."""
- poll = PollSensorInformation(self._sensor_type, node_id, poll_for)
+ poll = PollSensorInformation(self._sensor_type, node_id, poll_for_ms)
  scheduler = SensorScheduler()
  return await scheduler.run_poll(poll, can_messenger, timeout)
 

hardware/opentrons_hardware/sensors/mmr920C04.py

@@ -2,17 +2,34 @@
 from typing import Optional
 
 from opentrons_hardware.drivers.can_bus.can_messenger import CanMessenger
-from opentrons_hardware.firmware_bindings.constants import SensorType, NodeId
+from opentrons_hardware.firmware_bindings.constants import (
+ SensorType,
+ NodeId,
+ SensorOutputBinding,
+)
 from opentrons_hardware.sensors.utils import (
  ReadSensorInformation,
  PollSensorInformation,
  WriteSensorInformation,
  SensorDataType,
 )
+from opentrons_hardware.firmware_bindings.messages.message_definitions import (
+ BindSensorOutputRequest,
+)
+from opentrons_hardware.firmware_bindings.messages.payloads import (
+ BindSensorOutputRequestPayload,
+)
+from opentrons_hardware.firmware_bindings.messages.fields import (
+ SensorOutputBindingField,
+ SensorTypeField,
+)
 
+import logging
 from .scheduler import SensorScheduler
 from .sensor_abc import AbstractAdvancedSensor
 
+log = logging.getLogger(__name__)
+
 
 class PressureSensor(AbstractAdvancedSensor):
  """MMR820C04 Driver."""
@@ -25,18 +42,50 @@ def __init__(
  ) -> None:
  """Constructor."""
  super().__init__(zero_threshold, stop_threshold, offset, SensorType.pressure)
+ self._scheduler = SensorScheduler()
 
- async def poll(
+ async def bind_to_sync(
+ self,
+ can_messenger: CanMessenger,
+ node_id: NodeId,
+ binding: SensorOutputBinding = SensorOutputBinding.sync,
+ timeout: int = 1,
+ ) -> None:
+ """Send a BindSensorOutputRequest."""
+ await can_messenger.send(
+ node_id=node_id,
+ message=BindSensorOutputRequest(
+ payload=BindSensorOutputRequestPayload(
+ sensor=SensorTypeField(self._sensor_type),
+ binding=SensorOutputBindingField(binding),
+ )
+ ),
+ )
+
+ async def get_report(
+ self,
+ node_id: NodeId,
+ can_messenger: CanMessenger,
+ timeout: int = 1,
+ ) -> Optional[SensorDataType]:
+ """This function retrieves ReadFromResponse messages.
+
+ This is meant to be called after a bind_to_sync call,
+ with the sensor being bound to "report".
+ """
+ return await self._scheduler.read(can_messenger, node_id)
+
+ async def get_baseline(
  self,
  can_messenger: CanMessenger,
  node_id: NodeId,
  poll_for_ms: int,
+ sample_rate: int,
  timeout: int = 1,
  ) -> Optional[SensorDataType]:
- """Poll the pressure sensor."""
+ """Poll the capacitive sensor."""
  poll = PollSensorInformation(self._sensor_type, node_id, poll_for_ms)
- scheduler = SensorScheduler()
- return await scheduler.run_poll(poll, can_messenger, timeout)
+ return await self._scheduler.run_poll(poll, can_messenger, timeout)
 
  async def poll_temperature(
  self,
@@ -61,8 +110,7 @@ async def read(
  ) -> Optional[SensorDataType]:
  """Poll the read sensor."""
  read = ReadSensorInformation(self._sensor_type, node_id, offset)
- scheduler = SensorScheduler()
- return await scheduler.send_read(read, can_messenger, timeout)
+ return await self._scheduler.send_read(read, can_messenger, timeout)
 
  async def read_temperature(
  self,
@@ -84,8 +132,7 @@ async def write(
  ) -> None:
  """Write to a register of the pressure sensor."""
  write = WriteSensorInformation(self._sensor_type, node_id, data)
- scheduler = SensorScheduler()
- await scheduler.send_write(write, can_messenger)
+ await self._scheduler.send_write(write, can_messenger)
 
  async def send_zero_threshold(
  self,

hardware/opentrons_hardware/sensors/scheduler.py

@@ -24,7 +24,9 @@
  WriteToSensorRequestPayload,
  BaselineSensorRequestPayload,
 )
-from opentrons_hardware.firmware_bindings.messages.fields import SensorTypeField
+from opentrons_hardware.firmware_bindings.messages.fields import (
+ SensorTypeField,
+)
 
 from opentrons_hardware.sensors.utils import (
  ReadSensorInformation,
@@ -39,7 +41,6 @@
  Int32Field,
 )
 
-
 log = logging.getLogger(__name__)
 
 
@@ -105,6 +106,28 @@ async def send_read(
  data = await asyncio.wait_for(
  self._wait_for_response(sensor.node_id, reader), timeout
  )
+ print("wait_for_response done")
+ except asyncio.TimeoutError:
+ log.warning("Sensor Read timed out")
+ finally:
+ return data
+
+ async def read(
+ self,
+ can_messenger: CanMessenger,
+ node_id: NodeId,
+ ) -> Optional[SensorDataType]:
+ """Helper function for the get_report sensor driver.
+
+ This simply retrieves CAN messages without first
+ sending a ReadFromSensorRequest.
+ """
+ data: Optional[SensorDataType] = SensorDataType.build(0)
+ with WaitableCallback(can_messenger) as reader:
+ try:
+ data = await self._wait_for_response(node_id, reader)
+ print(" read data = ", data)
+
  except asyncio.TimeoutError:
  log.warning("Sensor Read timed out")
  finally:

hardware/opentrons_hardware/sensors/sensor_abc.py

@@ -2,10 +2,14 @@
 from abc import ABC, abstractmethod
 
 from typing import Optional
-
 from opentrons_hardware.drivers.can_bus.can_messenger import CanMessenger
-from opentrons_hardware.firmware_bindings.constants import NodeId, SensorType
+from opentrons_hardware.firmware_bindings.constants import (
+ NodeId,
+ SensorType,
+)
 from opentrons_hardware.sensors.utils import SensorDataType
+from opentrons_hardware.firmware_bindings.constants import SensorOutputBinding
+from .scheduler import SensorScheduler
 
 
 class AbstractBasicSensor(ABC):
@@ -45,6 +49,7 @@ def __init__(
  self._stop_threshold: float = stop_threshold
  self._offset: float = offset
  self._sensor_type: SensorType = sensor_type
+ self._scheduler = SensorScheduler()
 
  @property
  def zero_threshold(self) -> float:
@@ -77,11 +82,23 @@ def offset(self, offset: float) -> None:
  self._offset = offset
 
  @abstractmethod
- async def poll(
+ async def bind_to_sync(
+ self,
+ can_messenger: CanMessenger,
+ node_id: NodeId,
+ binding: SensorOutputBinding = SensorOutputBinding.sync,
+ timeout: int = 1,
+ ) -> None:
+ """Send a BindSensorOutputRequest."""
+ ...
+
+ @abstractmethod
+ async def get_baseline(
  self,
  can_messenger: CanMessenger,
  node_id: NodeId,
  poll_for_ms: int,
+ sample_rate: int,
  timeout: int = 1,
  ) -> Optional[SensorDataType]:
  """Poll the sensor for data."""
@@ -97,3 +114,16 @@ async def send_zero_threshold(
  ) -> Optional[SensorDataType]:
  """Send the zero threshold to the sensor."""
  ...
+
+ async def get_report(
+ self,
+ node_id: NodeId,
+ can_messenger: CanMessenger,
+ timeout: int = 1,
+ ) -> Optional[SensorDataType]:
+ """This function retrieves ReadFromResponse messages.
+
+ This is meant to be called after a bind_to_sync call,
+ with the sensor being bound to "report".
+ """
+ ...

hardware/opentrons_hardware/sensors/utils.py

@@ -3,7 +3,12 @@
 from typing import List, overload
 
 from opentrons_hardware.firmware_bindings.constants import NodeId, SensorType
-from opentrons_hardware.firmware_bindings.utils.binary_serializable import Int32Field
+from opentrons_hardware.firmware_bindings.messages.fields import (
+ SensorOutputBindingField,
+)
+from opentrons_hardware.firmware_bindings.utils.binary_serializable import (
+ Int32Field,
+)
 
 
 @dataclass
@@ -28,6 +33,11 @@ def build(cls, data: Int32Field) -> "SensorDataType":
  def build(cls, data: List[int]) -> "SensorDataType":
  ...
 
+ @overload
+ @classmethod
+ def build(cls, data: SensorOutputBindingField) -> "SensorDataType":
+ ...
+
  @classmethod
  def build(cls, data): # type: ignore[no-untyped-def]
  """Build function for sensor data type."""