Update fixture patches to completely remove the requires_estop wrappe…

…r from blocking code
Opentrons · Aug 18, 2023 · 66602a2 · 66602a2
1 parent 434730b
commit 66602a2
Showing 1 changed file with 39 additions and 2 deletions.
diff --git a/hardware-testing/fixture_overrides/hardware_fixtures.patch b/hardware-testing/fixture_overrides/hardware_fixtures.patch
@@ -1,5 +1,5 @@
 diff --git a/api/src/opentrons/config/feature_flags.py b/api/src/opentrons/config/feature_flags.py
-index f46674fb56..f59f3826de 100644
+index f46674fb5..f59f3826d 100644
 --- a/api/src/opentrons/config/feature_flags.py
 +++ b/api/src/opentrons/config/feature_flags.py
 @@ -76,6 +76,4 @@ def tip_presence_detection_enabled() -> bool:
@@ -10,8 +10,45 @@ index f46674fb56..f59f3826de 100644
 -        "estopNotRequired", RobotTypeEnum.FLEX
 -    )
 +    return False
+diff --git a/api/src/opentrons/hardware_control/backends/ot3controller.py b/api/src/opentrons/hardware_control/backends/ot3controller.py
+index 8a82c2ad9..24b43028a 100644
+--- a/api/src/opentrons/hardware_control/backends/ot3controller.py
++++ b/api/src/opentrons/hardware_control/backends/ot3controller.py
+@@ -198,19 +198,19 @@ def requires_estop(func: Wrapped) -> Wrapped:
+
+     @wraps(func)
+     async def wrapper(self: OT3Controller, *args: Any, **kwargs: Any) -> Any:
+-        state = self._estop_state_machine.state
+-        if state == EstopState.NOT_PRESENT and ff.require_estop():
+-            raise EStopNotPresentError(
+-                message="An Estop must be plugged in to move the robot."
+-            )
+-        if state == EstopState.LOGICALLY_ENGAGED:
+-            raise EStopActivatedError(
+-                message="Estop must be acknowledged and cleared to move the robot."
+-            )
+-        if state == EstopState.PHYSICALLY_ENGAGED:
+-            raise EStopActivatedError(
+-                message="Estop is currently engaged, robot cannot move."
+-            )
++        # state = self._estop_state_machine.state
++        # if state == EstopState.NOT_PRESENT and ff.require_estop():
++        #     raise EStopNotPresentError(
++        #         message="An Estop must be plugged in to move the robot."
++        #     )
++        # if state == EstopState.LOGICALLY_ENGAGED:
++        #     raise EStopActivatedError(
++        #         message="Estop must be acknowledged and cleared to move the robot."
++        #     )
++        # if state == EstopState.PHYSICALLY_ENGAGED:
++        #     raise EStopActivatedError(
++        #         message="Estop is currently engaged, robot cannot move."
++        #     )
+         return await func(self, *args, **kwargs)
+
+     return cast(Wrapped, wrapper)
 diff --git a/hardware/opentrons_hardware/hardware_control/motion_planning/move_utils.py b/hardware/opentrons_hardware/hardware_control/motion_planning/move_utils.py
-index 318deea522..8d351e4a77 100644
+index 318deea52..8d351e4a7 100644
 --- a/hardware/opentrons_hardware/hardware_control/motion_planning/move_utils.py
 +++ b/hardware/opentrons_hardware/hardware_control/motion_planning/move_utils.py
 @@ -24,7 +24,7 @@ log = logging.getLogger(__name__)