feat(api): express stalls in a recoverable way #16861
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sfoster1
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SyntaxColoring,
TamarZanzouri,
mjhuff and
CaseyBatten
TamarZanzouri
approved these changes
Nov 18, 2024
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one small note, I worry that the error construction will now be scattered in a bunch of places, but it makes sense to add this logic in one place so I think its ok. |
SyntaxColoring
approved these changes
Nov 18, 2024
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| class StallOrCollisionError(ErrorOccurrence): | ||
| """Returned when the machine detects that axis encoders are reading a different position than expected. | ||
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| All axes are stopped at the point where the error was encountered. | ||
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| The next thing to move the machine must account for the robot not having a valid estimate | ||
| of its position. It should be a `home` or `unsafe/updatePositionEstimators`. | ||
| """ | ||
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| isDefined: bool = True | ||
| errorType: Literal["stallOrCollision"] = "stallOrCollision" | ||
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| errorCode: str = ErrorCodes.STALL_OR_COLLISION_DETECTED.value.code | ||
| detail: str = ErrorCodes.STALL_OR_COLLISION_DETECTED.value.detail |
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Thanks for the docstring.
Commands that use move_to_well now will return stalls as DefinedErrors, which means they can be hooked into error recovery en masse. Closes EXEC-831
Both move to addressable are and move to addressable area for drop tip handle stalls now.
Co-authored-by: Max Marrone <[email protected]>
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Well, that's the goal with the micro-operations - now they're not scattered, they're all in one place for each kind of micro-operation |
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Commands that use
move_to_well,move_to_coordinates,move_to_addressable_area, andmove_relativenow will return stalls as DefinedErrors, which means they can be hooked into error recovery en masse.This just leaves move labware.
Closes EXEC-831
Reviews
Testing
Further work and questions
aspirate's automatic prepare for aspirate at the beginning and probably the same with drop tip but we didn't handle it at all so far so I don't know