feat(api, robot-server, shared-data): add FlexStacker module to the hardware controller and robot server. #17187

vegano1 · 2025-01-06T15:17:30Z

Overview

Adds the Flex Stacker module to the hardware controller and some other gcodes to the driver.

Closes: EXEC-981

Test Plan and Hands on Testing

Connect a flex stacker to the flex and make sure the module shows up in the GET /modules endpoint
Connect multiple flex stackers to a flex and make sure they both show up
Make sure you can move each axis a fixed distance with move_axis command.
Make sure you can home each axis, except for L, with the home_axis command.
Make sure you can update the flex stacker using the POST /modules/update endpoint

Changelog

Add FlexStacker module to the hardware controller
Expose FlexStacker module via the robot servers /modules endpoint.
add enable_motors to the driver and module (M17)
add set_run_current (M906) and set_ihold_current (M907) to driver
add get_motion_params (M120) to driver
add current to MoveParams to simplify the interface
add STACKER_MOTION_CONFIG to keep track of default move parameters used for homing or moving an axis.
move_in_mm and move_to_limit_switch now return MoveResult
added move_axis and home_axis methods to the FlexStacker module
added close_latch and open_latch methods to the FlexStacker module

Risk assessment

Low, unreleased

…dware controller and robot server.

revert debug changes

ahiuchingau · 2025-01-06T19:41:50Z

api/src/opentrons/drivers/flex_stacker/types.py

-    ZE: bool
-    ZR: bool
-    LR: bool
+    XE: bool = False


The GCode that we use to get the limit switch statuses always return results for all axes. What are the reasoning behind having setting default values?

makes it easier to build the obj for testing.

the data constraints should match real life, IMO, and not have defaults. if it's annoying to build for tests, we can make a helper function in the test file that does it.

ahiuchingau · 2025-01-06T19:44:09Z

api/src/opentrons/drivers/flex_stacker/types.py

+        return PlatformState.UNKNOWN
+
+
+class StackerAxisState(Enum):


Nice - I was actually planning on this exact logic of this in FW. So we can send a GCode querying the axis state, and it will return one of these strings.

…iver

- add set_run_current and set_ihold_current to driver - add get_motion_params to driver - add current to MoveParams to simplify interface - add STACKER_MOTION_CONFIG to keep track of default move parameters used for homing or moving an axis. - move_in_mm and move_to_limit_switch now return MoveResult - added move_axis and home_axis methods to the FlexStacker module - added close_latch and open_latch methods to the FlexStacker module

SyntaxColoring

robot-server and api/src/opentrons/protocol_engine changes LGTM. Thank you!

sfoster1

Looks good but let's not do those defaults for testing - make a helper function in the test file if needed instead.

sfoster1 · 2025-01-09T14:24:46Z

api/src/opentrons/drivers/flex_stacker/abstract.py

@@ -87,3 +105,7 @@ async def set_led(
    ) -> bool:
        """Set LED color of status bar."""
        ...
+
+    async def enter_programming_mode(self) -> None:


nit: can we call this prep_for_update() or something that's more like what other modules use?

enter_programming_mode is the lower-level driver function called by the module's higher-level prep_for_update function, which adheres to the rest of the modules.

sfoster1 · 2025-01-09T14:26:23Z

api/src/opentrons/drivers/flex_stacker/types.py

-    ZE: bool
-    ZR: bool
-    LR: bool
+    XE: bool = False


the data constraints should match real life, IMO, and not have defaults. if it's annoying to build for tests, we can make a helper function in the test file that does it.

- added HopperDoorState and LatchState to FlexStacker module - replaced hopperDoorClosed with hopperDoorState in live data - replaced axisStateL with LatchState in live data - use move_axis instead of home_axis for open_latch and close_latch - set find_dfu_device expected_device_count to 3 - cleanup

caila-marashaj · 2025-01-09T18:44:57Z

api/src/opentrons/drivers/flex_stacker/types.py

-    max_speed: float | None = None
-    acceleration: float | None = None
-    max_speed_discont: float | None = None
+    axis: Optional[StackerAxis] = None


When wouldn't you specify an Axis?

probably never, ill change it in a follow-up pr I have.

caila-marashaj

Nice! I think this is gonna make the module code a little easier to structure going forward

vegano1 added 3 commits January 2, 2025 15:00

save

a2cf1e3

feat(api,robot-server,shared-data): add FlexStacker module to the har…

d26ee40

…dware controller and robot server.

add poller status getters

be1a278

vegano1 assigned ahiuchingau Jan 6, 2025

vegano1 requested a review from ahiuchingau January 6, 2025 15:39

vegano1 unassigned ahiuchingau Jan 6, 2025

Merge branch 'edge' into flex-stacker-add-module-skeleton

5865baa

vegano1 self-assigned this Jan 6, 2025

Update ot3controller.py

2cf4b16

revert debug changes

ahiuchingau reviewed Jan 6, 2025

View reviewed changes

vegano1 added 4 commits January 7, 2025 16:56

fixes to robot-server and api

ce2b674

add get motion params (M120) and enable motors (M17) to FlexStackerDr…

f1b0e69

…iver

Merge branch 'edge' into flex-stacker-add-module-skeleton

83b5b7d

vegano1 requested a review from ahiuchingau January 8, 2025 22:08

vegano1 marked this pull request as ready for review January 8, 2025 22:09

vegano1 requested review from a team as code owners January 8, 2025 22:09

SyntaxColoring approved these changes Jan 8, 2025

View reviewed changes

vegano1 requested review from sfoster1 and a team January 8, 2025 22:56

sfoster1 approved these changes Jan 9, 2025

View reviewed changes

caila-marashaj reviewed Jan 9, 2025

View reviewed changes

fix unit tests

dc016e3

caila-marashaj approved these changes Jan 9, 2025

View reviewed changes

vegano1 merged commit a3f541d into edge Jan 9, 2025
66 of 70 checks passed

vegano1 deleted the flex-stacker-add-module-skeleton branch January 9, 2025 19:22

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feat(api, robot-server, shared-data): add FlexStacker module to the hardware controller and robot server. #17187

feat(api, robot-server, shared-data): add FlexStacker module to the hardware controller and robot server. #17187

vegano1 commented Jan 6, 2025 •

edited by jira bot

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feat(api, robot-server, shared-data): add FlexStacker module to the hardware controller and robot server. #17187

feat(api, robot-server, shared-data): add FlexStacker module to the hardware controller and robot server. #17187

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vegano1 commented Jan 6, 2025 • edited by jira bot Loading

Overview

Test Plan and Hands on Testing

Changelog

Risk assessment

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vegano1 commented Jan 6, 2025 •

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