cleanup

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

@@ -605,14 +605,15 @@ async def home(
  ]
  async with self._monitor_overpressure(moving_pipettes):
  positions = await asyncio.gather(*coros)
- # if Axis.Q in checked_axes:
- # await self.tip_action(
- # [Axis.Q],
- # self.axis_bounds[Axis.Q][1] - self.axis_bounds[Axis.Q][0],
- # self._configuration.motion_settings.max_speed_discontinuity.high_throughput[
- # Axis.to_kind(Axis.Q)
- # ],
- # )
+ # TODO(CM): default gear motor homing routine to have some acceleration
+ if Axis.Q in checked_axes:
+ await self.tip_action(
+ distance=self.axis_bounds[Axis.Q][1] - self.axis_bounds[Axis.Q][0],
+ velocity=self._configuration.motion_settings.max_speed_discontinuity.high_throughput[
+ Axis.to_kind(Axis.Q)
+ ],
+ tip_action="home",
+ )
  for position in positions:
  self._handle_motor_status_response(position)
  return axis_convert(self._position, 0.0)

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

@@ -245,7 +245,6 @@ def get_system_constraints(
  conf_by_pip["direction_change_speed_discontinuity"][axis_kind],
  conf_by_pip["default_max_speed"][axis_kind],
  )
-
  return constraints
 
 

api/src/opentrons/hardware_control/ot3api.py

@@ -1279,7 +1279,7 @@ async def _home(self, axes: Sequence[Axis]) -> None:
  if axis == Axis.G:
  await self.home_gripper_jaw()
  elif axis == Axis.Q:
- await self.home_gear_motors()
+ await self._backend.home([axis], self.gantry_load)
  else:
  await self._home_axis(axis)
  except ZeroLengthMoveError:
@@ -1710,7 +1710,6 @@ async def _motor_pick_up_tip(
  )
  await self._move(target_down)
  # perform pick up tip
-
  await self._backend.update_gear_motor_position()
  gear_origin_float = axis_convert(self._backend.gear_motor_position, 0.0)[
  Axis.P_L
@@ -1793,7 +1792,6 @@ async def drop_tip(
  if move.is_ht_tip_action and move.speed:
  # The speed check is needed because speed can sometimes be None.
  # Not sure why
-
  await self._backend.update_gear_motor_position()
  gear_start_position = axis_convert(
  self._backend.gear_motor_position, 0.0
@@ -1804,13 +1802,6 @@ async def drop_tip(
  await self._backend.tip_action(moves=drop_moves[0], tip_action="clamp")
 
  await self.home_gear_motors()
- # await self._backend.update_gear_motor_position()
- # gear_pos_float = axis_convert(self._backend.gear_motor_position, 0.0)[AxisP_L]
- # gear_pos_dict = {AxisQ: gear_pos_float}
- # home_target_dict = {AxisQ: 0.0}
- # home_moves = self._build_moves(gear_pos_dict, home_target_dict)
-
- # await self._backend.tip_action(moves=home_moves[0], tip_action="home")
 
  else:
  target_pos = target_position_from_plunger(

api/tests/opentrons/hardware_control/test_ot3_api.py

@@ -1401,11 +1401,9 @@ def _update_gear_motor_pos(
  tip_action.side_effect = _update_gear_motor_pos
  await ot3_hardware.set_gantry_load(GantryLoad.HIGH_THROUGHPUT)
  await ot3_hardware.pick_up_tip(Mount.LEFT, 40.0)
- # backend._gear_motor_position = 10
  pipette_handler.plan_check_pick_up_tip.assert_called_once_with(
  OT3Mount.LEFT, 40.0, None, None
  )
- # breakpoint()
  # first call should be "clamp", moving down
  assert tip_action.call_args_list[0][-1]["tip_action"] == "clamp"
  assert tip_action.call_args_list[0][-1]["moves"][0].unit_vector == {Axis.Q: 1}
@@ -1445,7 +1443,6 @@ def _fake_function():
  ),
  _fake_function,
  )
-
  def _update_gear_motor_pos(
  moves: Optional[List[Move[Axis]]] = None,
  distance: Optional[float] = None,

hardware/opentrons_hardware/hardware_control/motor_position_status.py

@@ -179,7 +179,6 @@ def _listener_filter(arbitration_id: ArbitrationId) -> bool:
  MessageId(arbitration_id.parts.message_id)
  in [
  UpdateGearMotorPositionEstimationResponse.message_id,
- # TipActionResponse.message_id,
  ]
  )
 
@@ -217,9 +216,7 @@ async def _parser_update_gear_motor_position_response(
  reader: WaitableCallback, expected: NodeId
 ) -> Tuple[float, bool]:
  async for response, arb_id in reader:
- if isinstance(
- response, UpdateGearMotorPositionEstimationResponse
- ): # or isinstance(response, TipActionResponse):
+ if isinstance(response, UpdateGearMotorPositionEstimationResponse):
  node = NodeId(arb_id.parts.originating_node_id)
  if node == expected:
  return (

hardware/opentrons_hardware/hardware_control/move_group_runner.py

@@ -404,19 +404,16 @@ def _remove_move_group(
  group_id = message.payload.group_id.value - self._start_at_index
  node_id = arbitration_id.parts.originating_node_id
  try:
-
  in_group = (node_id, seq_id) in self._moves[group_id]
  self._moves[group_id].remove((node_id, seq_id))
  self._completion_queue.put_nowait((arbitration_id, message))
  log.debug(
  f"Received completion for {node_id} group {group_id} seq {seq_id}"
  f", which {'is' if in_group else 'isn''t'} in group"
  )
-
  if not self._moves[group_id]:
  log.debug(f"Move group {group_id+self._start_at_index} has completed.")
  self._event.set()
-
  except KeyError:
  log.warning(
  f"Got a move ack for ({node_id}, {seq_id}) which is not in this "

hardware/tests/opentrons_hardware/hardware_control/test_move_group_runner.py

@@ -800,17 +800,17 @@ async def test_tip_action_move_runner_position_updated(
  assert completion_message[0][1].payload.current_position_um.value == 2000
 
 
-# async def test_tip_action_move_runner_fail_receives_one_response(
-#  mock_can_messenger: AsyncMock, move_group_tip_action: MoveGroups, caplog: Any
-# ) -> None:
-#  """Tip action move should fail if one or less responses received."""
-#  subject = MoveScheduler(move_groups=move_group_tip_action)
-#  mock_sender = MockSendMoveCompleter(move_group_tip_action, subject)
-#  mock_can_messenger.ensure_send.side_effect = mock_sender.mock_ensure_send_failure
-#  mock_can_messenger.send.side_effect = mock_sender.mock_send_failure
-
- # with pytest.raises(MotionFailedError):
- # await subject.run(can_messenger=mock_can_messenger)
+async def test_tip_action_move_runner_fail_receives_one_response(
+ mock_can_messenger: AsyncMock, move_group_tip_action: MoveGroups, caplog: Any
+) -> None:
+ """Tip action move should fail if one or less responses received."""
+ subject = MoveScheduler(move_groups=move_group_tip_action)
+ mock_sender = MockSendMoveCompleter(move_group_tip_action, subject)
+ mock_can_messenger.ensure_send.side_effect = mock_sender.mock_ensure_send_failure
+ mock_can_messenger.send.side_effect = mock_sender.mock_send_failure
+
+ with pytest.raises(MotionFailedError):
+   await subject.run(can_messenger=mock_can_messenger)
 
 
 async def test_multi_group_move(