feat(api,hardware): add HEPA/UV config/control commands to hardware c…

…ontroller. (#14489)

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

@@ -33,10 +33,12 @@
     EstopState,
     HardwareEventHandler,
     HardwareEventUnsubscriber,
+    HepaFanState,
+    HepaUVState,
+    StatusBarState,
 )
 from opentrons.hardware_control.module_control import AttachedModulesControl
 from ..dev_types import OT3AttachedInstruments
-from ..types import StatusBarState
 from .types import HWStopCondition
 
 Cls = TypeVar("Cls")
@@ -417,3 +419,17 @@ def check_gripper_position_within_bounds(
         hard_limit_upper: float,
     ) -> None:
         ...
+
+    async def set_hepa_fan_state(self, fan_on: bool, duty_cycle: int) -> bool:
+        """Sets the state and duty cycle of the Hepa/UV module."""
+        ...
+
+    async def get_hepa_fan_state(self) -> Optional[HepaFanState]:
+        ...
+
+    async def set_hepa_uv_state(self, light_on: bool, uv_duration_s: int) -> bool:
+        """Sets the state and duration (seconds) of the UV light for the Hepa/UV module."""
+        ...
+
+    async def get_hepa_uv_state(self) -> Optional[HepaUVState]:
+        ...

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

@@ -169,6 +169,12 @@
 from opentrons_hardware.hardware_control.gripper_settings import (
     get_gripper_jaw_state,
 )
+from opentrons_hardware.hardware_control.hepa_uv_settings import (
+    set_hepa_fan_state as set_hepa_fan_state_fw,
+    get_hepa_fan_state as get_hepa_fan_state_fw,
+    set_hepa_uv_state as set_hepa_uv_state_fw,
+    get_hepa_uv_state as get_hepa_uv_state_fw,
+)
 
 from opentrons_hardware.drivers.gpio import OT3GPIO, RemoteOT3GPIO
 from opentrons_shared_data.pipette.dev_types import PipetteName
@@ -193,7 +199,7 @@
     AttachedGripper,
     OT3AttachedInstruments,
 )
-from ..types import StatusBarState
+from ..types import HepaFanState, HepaUVState, StatusBarState
 
 from .types import HWStopCondition
 from .flex_protocol import FlexBackend
@@ -1570,3 +1576,32 @@ def check_gripper_position_within_bounds(
                     "actual-jaw-width": current_gripper_position,
                 },
             )
+
+    async def set_hepa_fan_state(self, fan_on: bool, duty_cycle: int) -> bool:
+        return await set_hepa_fan_state_fw(self._messenger, fan_on, duty_cycle)
+
+    async def get_hepa_fan_state(self) -> Optional[HepaFanState]:
+        res = await get_hepa_fan_state_fw(self._messenger)
+        return (
+            HepaFanState(
+                fan_on=res.fan_on,
+                duty_cycle=res.duty_cycle,
+            )
+            if res
+            else None
+        )
+
+    async def set_hepa_uv_state(self, light_on: bool, uv_duration_s: int) -> bool:
+        return await set_hepa_uv_state_fw(self._messenger, light_on, uv_duration_s)
+
+    async def get_hepa_uv_state(self) -> Optional[HepaUVState]:
+        res = await get_hepa_uv_state_fw(self._messenger)
+        return (
+            HepaUVState(
+                light_on=res.uv_light_on,
+                uv_duration_s=res.uv_duration_s,
+                remaining_time_s=res.remaining_time_s,
+            )
+            if res
+            else None
+        )

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

@@ -25,6 +25,8 @@
 from opentrons.hardware_control.types import (
     BoardRevision,
     Axis,
+    HepaFanState,
+    HepaUVState,
     OT3Mount,
     OT3AxisMap,
     CurrentConfig,
@@ -803,3 +805,15 @@ def check_gripper_position_within_bounds(
         # This is a (pretty bad) simulation of the gripper actually gripping something,
         # but it should work.
         self._encoder_position[Axis.G] = (hard_limit_upper - jaw_width) / 2
+
+    async def set_hepa_fan_state(self, fan_on: bool, duty_cycle: int) -> bool:
+        return False
+
+    async def get_hepa_fan_state(self) -> Optional[HepaFanState]:
+        return None
+
+    async def set_hepa_uv_state(self, light_on: bool, timeout_s: int) -> bool:
+        return False
+
+    async def get_hepa_uv_state(self) -> Optional[HepaUVState]:
+        return None

api/src/opentrons/hardware_control/ot3api.py

@@ -79,6 +79,8 @@
     HardwareEvent,
     HardwareEventHandler,
     HardwareAction,
+    HepaFanState,
+    HepaUVState,
     MotionChecks,
     SubSystem,
     PauseType,
@@ -2685,3 +2687,21 @@ def estop_acknowledge_and_clear(self) -> EstopOverallStatus:
 
     def get_estop_state(self) -> EstopState:
         return self._backend.get_estop_state()
+
+    async def set_hepa_fan_state(
+        self, turn_on: bool = False, duty_cycle: int = 75
+    ) -> bool:
+        """Sets the state and duty cycle of the Hepa/UV module."""
+        return await self._backend.set_hepa_fan_state(turn_on, duty_cycle)
+
+    async def get_hepa_fan_state(self) -> Optional[HepaFanState]:
+        return await self._backend.get_hepa_fan_state()
+
+    async def set_hepa_uv_state(
+        self, turn_on: bool = False, uv_duration_s: int = 900
+    ) -> bool:
+        """Sets the state and duration (seconds) of the UV light for the Hepa/UV module."""
+        return await self._backend.set_hepa_uv_state(turn_on, uv_duration_s)
+
+    async def get_hepa_uv_state(self) -> Optional[HepaUVState]:
+        return await self._backend.get_hepa_uv_state()

api/src/opentrons/hardware_control/types.py

@@ -392,6 +392,19 @@ class EstopOverallStatus:
     right_physical_state: EstopPhysicalStatus
 
 
+@dataclass
+class HepaFanState:
+    fan_on: bool
+    duty_cycle: int
+
+
+@dataclass
+class HepaUVState:
+    light_on: bool
+    uv_duration_s: int
+    remaining_time_s: int
+
+
 @dataclass(frozen=True)
 class DoorStateNotification:
     event: Literal[

hardware/opentrons_hardware/firmware_bindings/messages/payloads.py

@@ -642,7 +642,7 @@ class SetHepaFanStateRequestPayload(EmptyPayload):
     """A request to set the state and pwm of a the hepa fan."""
 
     duty_cycle: utils.UInt32Field
-    fan_on: utils.Int8Field
+    fan_on: utils.UInt8Field
 
 
 @dataclass(eq=False)
@@ -655,16 +655,16 @@ class GetHepaFanStatePayloadResponse(EmptyPayload):
 
 @dataclass(eq=False)
 class SetHepaUVStateRequestPayload(EmptyPayload):
-    """A request to set the state and timeout in seconds of the hepa uv light."""
+    """A request to set the state and duration in seconds of the hepa uv light."""
 
-    timeout_s: utils.UInt32Field
+    uv_duration_s: utils.UInt32Field
     uv_light_on: utils.UInt8Field
 
 
 @dataclass(eq=False)
 class GetHepaUVStatePayloadResponse(EmptyPayload):
-    """A response with the state and timeout in seconds of the hepa uv light."""
+    """A response with the state and duration in seconds of the hepa uv light."""
 
-    timeout_s: utils.UInt32Field
+    uv_duration_s: utils.UInt32Field
     uv_light_on: utils.UInt8Field
     remaining_time_s: utils.UInt32Field

hardware/opentrons_hardware/hardware_control/hepa_uv_settings.py

@@ -0,0 +1,150 @@
+"""Utilities for controlling the hepa/uv extension module."""
+import logging
+import asyncio
+from typing import Optional
+from dataclasses import dataclass
+from opentrons_hardware.drivers.can_bus.can_messenger import CanMessenger
+from opentrons_hardware.firmware_bindings.arbitration_id import ArbitrationId
+
+from opentrons_hardware.firmware_bindings.messages import payloads
+from opentrons_hardware.firmware_bindings.messages.messages import MessageDefinition
+from opentrons_hardware.firmware_bindings.messages.message_definitions import (
+    SetHepaFanStateRequest,
+    GetHepaFanStateRequest,
+    GetHepaFanStateResponse,
+    SetHepaUVStateRequest,
+    GetHepaUVStateRequest,
+    GetHepaUVStateResponse,
+)
+from opentrons_hardware.firmware_bindings.utils import (
+    UInt8Field,
+    UInt32Field,
+)
+from opentrons_hardware.firmware_bindings.constants import (
+    MessageId,
+    NodeId,
+    ErrorCode,
+)
+
+log = logging.getLogger(__name__)
+
+
+@dataclass(frozen=True)
+class HepaFanState:
+    """Hepa Fan Config."""
+
+    fan_on: bool
+    duty_cycle: int
+
+
+@dataclass(frozen=True)
+class HepaUVState:
+    """Hepa UV Light Config."""
+
+    uv_light_on: bool
+    uv_duration_s: int
+    remaining_time_s: int
+
+
+async def set_hepa_fan_state(
+    can_messenger: CanMessenger,
+    fan_on: bool,
+    duty_cycle: int,
+) -> bool:
+    """Set the Hepa fan state and duty cycle."""
+    error = await can_messenger.ensure_send(
+        node_id=NodeId.hepa_uv,
+        message=SetHepaFanStateRequest(
+            payload=payloads.SetHepaFanStateRequestPayload(
+                duty_cycle=UInt32Field(duty_cycle), fan_on=UInt8Field(fan_on)
+            ),
+        ),
+        expected_nodes=[NodeId.hepa_uv],
+    )
+    if error != ErrorCode.ok:
+        log.error(f"recieved error trying to set hepa fan state {str(error)}")
+    return error == ErrorCode.ok
+
+
+async def get_hepa_fan_state(can_messenger: CanMessenger) -> Optional[HepaFanState]:
+    """Gets the state of the Hepa fan."""
+    fan_state: Optional[HepaFanState] = None
+
+    event = asyncio.Event()
+
+    def _listener(message: MessageDefinition, arb_id: ArbitrationId) -> None:
+        nonlocal fan_state
+        if isinstance(message, GetHepaFanStateResponse):
+            event.set()
+            fan_state = HepaFanState(
+                fan_on=bool(message.payload.fan_on.value),
+                duty_cycle=int(message.payload.duty_cycle.value),
+            )
+
+    def _filter(arb_id: ArbitrationId) -> bool:
+        return (NodeId(arb_id.parts.originating_node_id) == NodeId.hepa_uv) and (
+            MessageId(arb_id.parts.message_id) == MessageId.get_hepa_fan_state_response
+        )
+
+    can_messenger.add_listener(_listener, _filter)
+    await can_messenger.send(node_id=NodeId.hepa_uv, message=GetHepaFanStateRequest())
+    try:
+        await asyncio.wait_for(event.wait(), 1.0)
+    except asyncio.TimeoutError:
+        log.warning("hepa fan state request timed out")
+    finally:
+        can_messenger.remove_listener(_listener)
+        return fan_state
+
+
+async def set_hepa_uv_state(
+    can_messenger: CanMessenger,
+    uv_light_on: bool,
+    uv_duration_s: int,
+) -> bool:
+    """Sets the Hepa UV light state and duration in seconds."""
+    error = await can_messenger.ensure_send(
+        node_id=NodeId.hepa_uv,
+        message=SetHepaUVStateRequest(
+            payload=payloads.SetHepaUVStateRequestPayload(
+                uv_duration_s=UInt32Field(uv_duration_s),
+                uv_light_on=UInt8Field(uv_light_on),
+            ),
+        ),
+        expected_nodes=[NodeId.hepa_uv],
+    )
+    if error != ErrorCode.ok:
+        log.error(f"recieved error trying to set hepa uv light state {str(error)}")
+    return error == ErrorCode.ok
+
+
+async def get_hepa_uv_state(can_messenger: CanMessenger) -> Optional[HepaUVState]:
+    """Gets the state of the Hepa uv light."""
+    uv_state: Optional[HepaUVState] = None
+
+    event = asyncio.Event()
+
+    def _listener(message: MessageDefinition, arb_id: ArbitrationId) -> None:
+        nonlocal uv_state
+        if isinstance(message, GetHepaUVStateResponse):
+            event.set()
+            uv_state = HepaUVState(
+                uv_light_on=bool(message.payload.uv_light_on.value),
+                uv_duration_s=int(message.payload.uv_duration_s.value),
+                remaining_time_s=int(message.payload.remaining_time_s.value),
+            )
+
+    def _filter(arb_id: ArbitrationId) -> bool:
+        return (NodeId(arb_id.parts.originating_node_id) == NodeId.hepa_uv) and (
+            MessageId(arb_id.parts.message_id) == MessageId.get_hepa_uv_state_response
+        )
+
+    can_messenger.add_listener(_listener, _filter)
+    await can_messenger.send(node_id=NodeId.hepa_uv, message=GetHepaUVStateRequest())
+    try:
+        await asyncio.wait_for(event.wait(), 1.0)
+    except asyncio.TimeoutError:
+        log.warning("hepa uv light state request timed out")
+    finally:
+        can_messenger.remove_listener(_listener)
+        return uv_state