refactor(api,hardware): use new pipette node ids

api/Pipfile

@@ -8,7 +8,7 @@ python_version = "3.7"
 
 [dev-packages]
 coverage = "==5.1"
-mypy = "0.910"
+mypy = "==0.910"
 numpydoc = "==0.9.1"
 pytest = "==6.1.0"
 pytest-aiohttp = "==0.3.0"

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

@@ -106,7 +106,8 @@ def _axis_nodes() -> List["NodeId"]:
             NodeId.gantry_y,
             NodeId.head_l,
             NodeId.head_r,
-            NodeId.pipette,
+            NodeId.pipette_left,
+            NodeId.pipette_right,
         ]
 
     @staticmethod
@@ -120,7 +121,8 @@ def _axis_to_node(axis: str) -> "NodeId":
             "Y": NodeId.gantry_y,
             "Z": NodeId.head_l,
             "A": NodeId.head_r,
-            "B": NodeId.pipette,
+            "B": NodeId.pipette_left,
+            "C": NodeId.pipette_right,
         }
         return anm[axis]
 
@@ -131,7 +133,8 @@ def _node_to_axis(node: "NodeId") -> str:
             NodeId.gantry_y: "Y",
             NodeId.head_l: "Z",
             NodeId.head_r: "A",
-            NodeId.pipette: "B",
+            NodeId.pipette_left: "B",
+            NodeId.pipette_right: "C",
         }
         return nam[node]
 
@@ -419,5 +422,6 @@ def _get_home_position() -> Dict[NodeId, float]:
             NodeId.head_r: 0,
             NodeId.gantry_x: 0,
             NodeId.gantry_y: 0,
-            NodeId.pipette: 0,
+            NodeId.pipette_left: 0,
+            NodeId.pipette_right: 0,
         }

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

@@ -13,9 +13,7 @@
     Sequence,
     Generator,
     cast,
-    Union,
 )
-from typing_extensions import Literal
 
 from opentrons.config.types import OT3Config
 from opentrons.drivers.rpi_drivers.gpio_simulator import SimulatingGPIOCharDev
@@ -55,7 +53,7 @@
 class OT3Simulator:
     """OT3 Hardware Controller Backend."""
 
-    _position: Dict[Union[NodeId, Literal["Pipette2"]], float]
+    _position: Dict[NodeId, float]
 
     @classmethod
     async def build(
@@ -143,31 +141,31 @@ def _node_axes() -> List[str]:
         return ["X", "Y", "Z", "A", "B", "C"]
 
     @staticmethod
-    def _axis_to_node(axis: str) -> Union["NodeId", Literal["Pipette2"]]:
-        anm: Dict[str, Union["NodeId", Literal["Pipette2"]]] = {
+    def _axis_to_node(axis: str) -> "NodeId":
+        anm: Dict[str, "NodeId"] = {
             "X": NodeId.gantry_x,
             "Y": NodeId.gantry_y,
             "Z": NodeId.head_l,
             "A": NodeId.head_r,
-            "B": NodeId.pipette,
-            "C": "Pipette2",
+            "B": NodeId.pipette_left,
+            "C": NodeId.pipette_right,
         }
         return anm[axis]
 
     @staticmethod
-    def _node_to_axis(node: Union["NodeId", Literal["Pipette2"]]) -> str:
+    def _node_to_axis(node: "NodeId") -> str:
         nam = {
             NodeId.gantry_x: "X",
             NodeId.gantry_y: "Y",
             NodeId.head_l: "Z",
             NodeId.head_r: "A",
-            NodeId.pipette: "B",
-            "Pipette2": "C",
+            NodeId.pipette_left: "B",
+            NodeId.pipette_right: "C",
         }
         return nam[node]
 
     @staticmethod
-    def _node_is_axis(node: Union["NodeId", Literal["Pipette2"]]) -> bool:
+    def _node_is_axis(node: "NodeId") -> bool:
         try:
             OT3Simulator._node_to_axis(node)
             return True
@@ -212,9 +210,7 @@ async def update_position(self) -> AxisValueMap:
         return self._axis_convert(self._position)
 
     @staticmethod
-    def _axis_convert(
-        position: Dict[Union[NodeId, Literal["Pipette2"]], float]
-    ) -> AxisValueMap:
+    def _axis_convert(position: Dict[NodeId, float]) -> AxisValueMap:
         ret: AxisValueMap = {"A": 0, "B": 0, "C": 0, "X": 0, "Y": 0, "Z": 0}
         for node, pos in position.items():
             # we need to make robot config apply to z or in some other way
@@ -243,7 +239,7 @@ async def move(
             None
         """
         log.info(f"move: {target_position}")
-        target: Dict[Union[NodeId, Literal["Pipette2"]], float] = {}
+        target: Dict[NodeId, float] = {}
         for axis, pos in target_position.items():
             if self._axis_is_node(axis):
                 target[self._axis_to_node(axis)] = pos
@@ -443,12 +439,12 @@ async def configure_mount(
         return None
 
     @staticmethod
-    def _get_home_position() -> Dict[Union[NodeId, Literal["Pipette2"]], float]:
+    def _get_home_position() -> Dict[NodeId, float]:
         return {
             NodeId.head_l: 0,
             NodeId.head_r: 0,
             NodeId.gantry_x: 0,
             NodeId.gantry_y: 0,
-            NodeId.pipette: 0,
-            "Pipette2": 0,
+            NodeId.pipette_left: 0,
+            NodeId.pipette_right: 0,
         }

hardware/opentrons_hardware/firmware_update/__init__.py

@@ -1,6 +1,13 @@
 """Firmware update package."""
 
-from .initiator import FirmwareUpdateInitiator, head, gantry_y, gantry_x, pipette
+from .initiator import (
+    FirmwareUpdateInitiator,
+    head,
+    gantry_y,
+    gantry_x,
+    pipette_left,
+    pipette_right,
+)
 from .downloader import FirmwareUpdateDownloader
 from .hex_file import from_hex_file_path, from_hex_contents, HexRecordProcessor
 
@@ -10,7 +17,8 @@
     "head",
     "gantry_y",
     "gantry_x",
-    "pipette",
+    "pipette_left",
+    "pipette_right",
     "from_hex_file_path",
     "from_hex_contents",
     "HexRecordProcessor",

hardware/opentrons_hardware/firmware_update/initiator.py

@@ -24,8 +24,11 @@ class Target:
 
 
 head: Final = Target(system_node=NodeId.head, bootloader_node=NodeId.head_bootloader)
-pipette: Final = Target(
-    system_node=NodeId.pipette, bootloader_node=NodeId.pipette_bootloader
+pipette_left: Final = Target(
+    system_node=NodeId.pipette_left, bootloader_node=NodeId.pipette_left_bootloader
+)
+pipette_right: Final = Target(
+    system_node=NodeId.pipette_right, bootloader_node=NodeId.pipette_right_bootloader
 )
 gantry_x: Final = Target(
     system_node=NodeId.gantry_x, bootloader_node=NodeId.gantry_x_bootloader

hardware/opentrons_hardware/hardware_control/motion.py

@@ -32,7 +32,8 @@ class MoveGroupSingleAxisStep:
     NodeId.gantry_y: 50,
     NodeId.head_l: 50,
     NodeId.head_r: 50,
-    NodeId.pipette: 2,
+    NodeId.pipette_left: 2,
+    NodeId.pipette_right: 2,
 }
 
 
@@ -59,7 +60,8 @@ def create(
         NodeId.gantry_y,
         NodeId.head_r,
         NodeId.head_l,
-        NodeId.pipette,
+        NodeId.pipette_left,
+        NodeId.pipette_right,
     ]
     vec = np.array([deltas.get(node, 0) for node in ordered_nodes])
     if any(np.isnan(vec)):

hardware/opentrons_hardware/scripts/update_fw.py

@@ -16,7 +16,8 @@
     head,
     gantry_x,
     gantry_y,
-    pipette,
+    pipette_left,
+    pipette_right,
     HexRecordProcessor,
 )
 
@@ -47,7 +48,8 @@
     "head": head,
     "gantry-x": gantry_x,
     "gantry-y": gantry_y,
-    "pipette": pipette,
+    "pipette-left": pipette_left,
+    "pipette-right": pipette_right,
 }
 
 

hardware/tests/opentrons_hardware/hardware_control/test_motion.py

@@ -25,7 +25,10 @@ def test_create_just_head() -> None:
                 NodeId.head_l: MoveGroupSingleAxisStep(
                     distance_mm=-2.0, velocity_mm_sec=-0.25, duration_sec=8.0
                 ),
-                NodeId.pipette: MoveGroupSingleAxisStep(
+                NodeId.pipette_left: MoveGroupSingleAxisStep(
+                    distance_mm=0.0, velocity_mm_sec=0.0, duration_sec=8.0
+                ),
+                NodeId.pipette_right: MoveGroupSingleAxisStep(
                     distance_mm=0.0, velocity_mm_sec=0.0, duration_sec=8.0
                 ),
             },
@@ -63,7 +66,12 @@ def test_create_just_x_y() -> None:
                     velocity_mm_sec=0.0,
                     duration_sec=round(math.sqrt(8) / 0.25, 6),
                 ),
-                NodeId.pipette: MoveGroupSingleAxisStep(
+                NodeId.pipette_left: MoveGroupSingleAxisStep(
+                    distance_mm=0.0,
+                    velocity_mm_sec=0.0,
+                    duration_sec=round(math.sqrt(8) / 0.25, 6),
+                ),
+                NodeId.pipette_right: MoveGroupSingleAxisStep(
                     distance_mm=0.0,
                     velocity_mm_sec=0.0,
                     duration_sec=round(math.sqrt(8) / 0.25, 6),
@@ -103,7 +111,12 @@ def test_create_all() -> None:
                     velocity_mm_sec=0.05 * (4 / math.sqrt(24)),
                     duration_sec=round(math.sqrt(24) / 0.05, 6),
                 ),
-                NodeId.pipette: MoveGroupSingleAxisStep(
+                NodeId.pipette_left: MoveGroupSingleAxisStep(
+                    distance_mm=0.0,
+                    velocity_mm_sec=0.0,
+                    duration_sec=round(math.sqrt(24) / 0.05, 6),
+                ),
+                NodeId.pipette_right: MoveGroupSingleAxisStep(
                     distance_mm=0.0,
                     velocity_mm_sec=0.0,
                     duration_sec=round(math.sqrt(24) / 0.05, 6),
@@ -149,7 +162,12 @@ def test_limit_speeds_single_axis() -> None:
                     velocity_mm_sec=0.0,
                     duration_sec=target_duration,
                 ),
-                NodeId.pipette: MoveGroupSingleAxisStep(
+                NodeId.pipette_left: MoveGroupSingleAxisStep(
+                    distance_mm=0.0,
+                    velocity_mm_sec=0.0,
+                    duration_sec=target_duration,
+                ),
+                NodeId.pipette_right: MoveGroupSingleAxisStep(
                     distance_mm=0.0,
                     velocity_mm_sec=0.0,
                     duration_sec=target_duration,

hardware/tests/opentrons_hardware/hardware_control/test_move_group_runner.py

@@ -78,12 +78,12 @@ def move_group_multiple() -> MoveGroups:
         # Group 2
         [
             {
-                NodeId.pipette: MoveGroupSingleAxisStep(
+                NodeId.pipette_left: MoveGroupSingleAxisStep(
                     distance_mm=12, velocity_mm_sec=-23, duration_sec=1234
                 ),
             },
             {
-                NodeId.pipette: MoveGroupSingleAxisStep(
+                NodeId.pipette_left: MoveGroupSingleAxisStep(
                     distance_mm=12, velocity_mm_sec=23, duration_sec=1234
                 ),
             },
@@ -236,22 +236,22 @@ async def test_multi_send_setup_commands(
 
     # Group 2
     mock_can_messenger.send.assert_any_call(
-        node_id=NodeId.pipette,
+        node_id=NodeId.pipette_left,
         message=AddLinearMoveRequest(
             payload=AddLinearMoveRequestPayload(
                 group_id=UInt8Field(2),
                 seq_id=UInt8Field(0),
                 velocity=Int32Field(
                     int(
-                        move_group_multiple[2][0][NodeId.pipette].velocity_mm_sec
+                        move_group_multiple[2][0][NodeId.pipette_left].velocity_mm_sec
                         / interrupts_per_sec
                         * (2 ** 31)
                     )
                 ),
                 acceleration=Int32Field(0),
                 duration=UInt32Field(
                     int(
-                        move_group_multiple[2][0][NodeId.pipette].duration_sec
+                        move_group_multiple[2][0][NodeId.pipette_left].duration_sec
                         * interrupts_per_sec
                     )
                 ),
@@ -260,22 +260,22 @@ async def test_multi_send_setup_commands(
     )
 
     mock_can_messenger.send.assert_any_call(
-        node_id=NodeId.pipette,
+        node_id=NodeId.pipette_left,
         message=AddLinearMoveRequest(
             payload=AddLinearMoveRequestPayload(
                 group_id=UInt8Field(2),
                 seq_id=UInt8Field(1),
                 velocity=Int32Field(
                     int(
-                        move_group_multiple[2][1][NodeId.pipette].velocity_mm_sec
+                        move_group_multiple[2][1][NodeId.pipette_left].velocity_mm_sec
                         / interrupts_per_sec
                         * (2 ** 31)
                     )
                 ),
                 acceleration=Int32Field(0),
                 duration=UInt32Field(
                     int(
-                        move_group_multiple[2][1][NodeId.pipette].duration_sec
+                        move_group_multiple[2][1][NodeId.pipette_left].duration_sec
                         * interrupts_per_sec
                     )
                 ),

hardware/tests/test_scripts/test_can_comm.py

@@ -36,7 +36,7 @@ def test_prompt_message_without_payload(
 ) -> None:
     """It should create a message without payload."""
     message_id = MessageId.get_status_request
-    node_id = NodeId.pipette
+    node_id = NodeId.pipette_left
     mock_get_input.side_effect = [
         str(list(MessageId).index(message_id)),
         str(list(NodeId).index(node_id)),
@@ -57,7 +57,7 @@ def test_prompt_message_with_payload(
 ) -> None:
     """It should send a message with payload."""
     message_id = MessageId.device_info_response
-    node_id = NodeId.pipette
+    node_id = NodeId.pipette_left
     mock_get_input.side_effect = [
         str(list(MessageId).index(message_id)),
         str(list(NodeId).index(node_id)),
@@ -113,7 +113,7 @@ def test_prompt_message_bad_input(
 ) -> None:
     """It should raise on bad input."""
     message_id = MessageId.get_status_response
-    node_id = NodeId.pipette
+    node_id = NodeId.pipette_right
     mock_get_input.side_effect = [
         str(list(MessageId).index(message_id)),
         str(list(NodeId).index(node_id)),