feat(api): Create framework for running protocols against emulation (#8149)

* feat(api): Add G-Code only text output mode

* Put response property with other properties

* Move device parsing to G-Code Watcher

* Add smoothie protocols to validate against

* feat(api) Add reset methods to all emulated hardware

* feat(api): Refactor app.py into ServerManager class

* feat(api): Create Protocol Runner

* feat(api): Remove unused properties

* feat(api): Fix linting errors

* feat(api): Add support for settings

* feat(api): More linting

* feat(api): Cleanup

* feat(api): Remove file that was used for testing

Author: DerekMaggio

api/src/opentrons/hardware_control/emulation/app.py

@@ -1,6 +1,5 @@
 import asyncio
 import logging
-
 from opentrons.hardware_control.emulation.connection_handler import \
     ConnectionHandler
 from opentrons.hardware_control.emulation.magdeck import MagDeckEmulator
@@ -9,7 +8,6 @@
 from opentrons.hardware_control.emulation.tempdeck import TempDeckEmulator
 from opentrons.hardware_control.emulation.thermocycler import ThermocyclerEmulator
 from opentrons.hardware_control.emulation.smoothie import SmoothieEmulator
-
 logger = logging.getLogger(__name__)
 
 
@@ -19,37 +17,69 @@
 MAGDECK_PORT = 9999
 
 
-async def run_server(host: str, port: int, handler: ConnectionHandler) -> None:
-    """Run a server."""
-    server = await asyncio.start_server(handler, host, port)
+class ServerManager:
+    """
+    Class to start and stop emulated smoothie and modules.
+    """
+    def __init__(self, settings=Settings()) -> None:
+        host = settings.host
+        self._mag_emulator = MagDeckEmulator(parser=Parser())
+        self._temp_emulator = TempDeckEmulator(parser=Parser())
+        self._therm_emulator = ThermocyclerEmulator(parser=Parser())
+        self._smoothie_emulator = SmoothieEmulator(
+            parser=Parser(), settings=settings.smoothie
+        )
+
+        self._mag_server = self._create_server(
+            host=host,
+            port=MAGDECK_PORT,
+            handler=ConnectionHandler(self._mag_emulator),
+        )
+        self._temp_server = self._create_server(
+            host=host,
+            port=TEMPDECK_PORT,
+            handler=ConnectionHandler(self._temp_emulator),
+        )
+        self._therm_server = self._create_server(
+            host=host,
+            port=THERMOCYCLER_PORT,
+            handler=ConnectionHandler(self._therm_emulator),
+        )
+        self._smoothie_server = self._create_server(
+            host=host,
+            port=SMOOTHIE_PORT,
+            handler=ConnectionHandler(self._smoothie_emulator),
+        )
+
+    async def run(self):
+        await asyncio.gather(
+            self._mag_server,
+            self._temp_server,
+            self._therm_server,
+            self._smoothie_server
+        )
 
-    async with server:
-        await server.serve_forever()
+    @staticmethod
+    async def _create_server(host: str, port: int, handler: ConnectionHandler) -> None:
+        """Run a server."""
+        server = await asyncio.start_server(handler, host, port)
 
+        async with server:
+            await server.serve_forever()
 
-async def run() -> None:
-    """Run the module emulators."""
-    settings = Settings()
-    host = settings.host
+    def reset(self):
+        self._smoothie_emulator.reset()
+        self._mag_emulator.reset()
+        self._temp_emulator.reset()
+        self._therm_emulator.reset()
 
-    await asyncio.gather(
-        run_server(host=host,
-                   port=MAGDECK_PORT,
-                   handler=ConnectionHandler(MagDeckEmulator(parser=Parser()))),
-        run_server(host=host,
-                   port=TEMPDECK_PORT,
-                   handler=ConnectionHandler(TempDeckEmulator(parser=Parser()))),
-        run_server(host=host,
-                   port=THERMOCYCLER_PORT,
-                   handler=ConnectionHandler(ThermocyclerEmulator(parser=Parser()))),
-        run_server(host=host,
-                   port=SMOOTHIE_PORT,
-                   handler=ConnectionHandler(
-                       SmoothieEmulator(parser=Parser(), settings=settings.smoothie))
-                   ),
-    )
+    def stop(self):
+        self._smoothie_server.close()
+        self._temp_server.close()
+        self._therm_server.close()
+        self._mag_server.close()
 
 
 if __name__ == "__main__":
     logging.basicConfig(format='%(asctime)s:%(message)s', level=logging.DEBUG)
-    asyncio.run(run())
+    asyncio.run(ServerManager().run())

api/src/opentrons/hardware_control/emulation/magdeck.py

@@ -21,8 +21,7 @@ class MagDeckEmulator(AbstractEmulator):
     """Magdeck emulator"""
 
     def __init__(self, parser: Parser) -> None:
-        self.height: float = 0
-        self.position: float = 0
+        self.reset()
         self._parser = parser
 
     def handle(self, line: str) -> Optional[str]:
@@ -31,6 +30,10 @@ def handle(self, line: str) -> Optional[str]:
         joined = ' '.join(r for r in results if r)
         return None if not joined else joined
 
+    def reset(self):
+        self.height: float = 0
+        self.position: float = 0
+
     def _handle(self, command: Command) -> Optional[str]:
         """Handle a command."""
         logger.info(f"Got command {command}")

api/src/opentrons/hardware_control/emulation/smoothie.py

@@ -26,7 +26,17 @@ class SmoothieEmulator(AbstractEmulator):
     INSTRUMENT_AND_MODEL_STRING_LENGTH = 64
 
     def __init__(self, parser: Parser, settings: SmoothieSettings) -> None:
-        """Constructor"""
+        self._parser = parser
+        self._settings = settings
+        self.reset()
+
+    def handle(self, line: str) -> Optional[str]:
+        """Handle a line"""
+        results = (self._handle(c) for c in self._parser.parse(line))
+        joined = ' '.join(r for r in results if r)
+        return None if not joined else joined
+
+    def reset(self):
         _, fw_version = _find_smoothie_file()
         self._version_string = \
             f"Build version: {fw_version}, Build date: CURRENT, " \
@@ -52,22 +62,21 @@ def __init__(self, parser: Parser, settings: SmoothieSettings) -> None:
 
         self._pipette_model = {
             "L": utils.string_to_hex(
-                settings.left.model, self.INSTRUMENT_AND_MODEL_STRING_LENGTH
+                self._settings.left.model, self.INSTRUMENT_AND_MODEL_STRING_LENGTH
             ),
             "R": utils.string_to_hex(
-                settings.right.model, self.INSTRUMENT_AND_MODEL_STRING_LENGTH
+                self._settings.right.model, self.INSTRUMENT_AND_MODEL_STRING_LENGTH
             ),
         }
 
         self._pipette_id = {
             "L": utils.string_to_hex(
-                settings.left.id, self.INSTRUMENT_AND_MODEL_STRING_LENGTH
+                self._settings.left.id, self.INSTRUMENT_AND_MODEL_STRING_LENGTH
             ),
             "R": utils.string_to_hex(
-                settings.right.id, self.INSTRUMENT_AND_MODEL_STRING_LENGTH
+                self._settings.right.id, self.INSTRUMENT_AND_MODEL_STRING_LENGTH
             ),
         }
-        self._parser = parser
 
         self._gcode_to_function_mapping = {
             GCODE.HOMING_STATUS.value: self._get_homing_status,
@@ -81,11 +90,8 @@ def __init__(self, parser: Parser, settings: SmoothieSettings) -> None:
             GCODE.HOME.value: self._home_gantry,
         }
 
-    def handle(self, line: str) -> Optional[str]:
-        """Handle a line"""
-        results = (self._handle(c) for c in self._parser.parse(line))
-        joined = ' '.join(r for r in results if r)
-        return None if not joined else joined
+    def get_current_position(self):
+        return self._pos
 
     def _get_homing_status(self, command: Command) -> str:
         """Get the current homing status of the emulated gantry"""

api/src/opentrons/hardware_control/emulation/tempdeck.py

@@ -26,9 +26,7 @@ class TempDeckEmulator(AbstractEmulator):
     """TempDeck emulator"""
 
     def __init__(self, parser: Parser) -> None:
-        self._temperature = Temperature(
-            per_tick=.25, current=0.0
-        )
+        self.reset()
         self._parser = parser
 
     def handle(self, line: str) -> Optional[str]:
@@ -37,6 +35,11 @@ def handle(self, line: str) -> Optional[str]:
         joined = ' '.join(r for r in results if r)
         return None if not joined else joined
 
+    def reset(self):
+        self._temperature = Temperature(
+            per_tick=.25, current=0.0
+        )
+
     def _handle(self, command: Command) -> Optional[str]:
         """Handle a command."""
         logger.info(f"Got command {command}")

api/src/opentrons/hardware_control/emulation/thermocycler.py

@@ -25,6 +25,16 @@ class ThermocyclerEmulator(AbstractEmulator):
     """Thermocycler emulator"""
 
     def __init__(self, parser: Parser) -> None:
+        self.reset()
+        self._parser = parser
+
+    def handle(self, line: str) -> Optional[str]:
+        """Handle a line"""
+        results = (self._handle(c) for c in self._parser.parse(line))
+        joined = ' '.join(r for r in results if r)
+        return None if not joined else joined
+
+    def reset(self):
         self._lid_temperate = Temperature(
             per_tick=2, current=util.TEMPERATURE_ROOM
         )
@@ -34,13 +44,6 @@ def __init__(self, parser: Parser) -> None:
         self.lid_status = ThermocyclerLidStatus.OPEN
         self.plate_volume = util.OptionalValue[float]()
         self.plate_ramp_rate = util.OptionalValue[float]()
-        self._parser = parser
-
-    def handle(self, line: str) -> Optional[str]:
-        """Handle a line"""
-        results = (self._handle(c) for c in self._parser.parse(line))
-        joined = ' '.join(r for r in results if r)
-        return None if not joined else joined
 
     def _handle(self, command: Command) -> Optional[str]:  # noqa: C901
         """

api/src/opentrons/hardware_control/g_code_parsing/g_code.py

@@ -193,6 +193,11 @@ def g_code_line(self) -> str:
         """
         return f'{self.g_code} {self.g_code_body}'.strip()
 
+    @property
+    def response(self):
+        """Unparsed G-Code Response"""
+        return self._response
+
     def get_gcode_function(self) -> str:
         """
         Returns the function that the G-Code performs.
@@ -256,7 +261,3 @@ def get_explanation(self) -> Explanation:
                 self.g_code_args,
                 self.response
             )
-
-    @property
-    def response(self):
-        return self._response

api/src/opentrons/hardware_control/g_code_parsing/g_code_program/g_code_program.py

@@ -1,8 +1,6 @@
 from __future__ import annotations
 import os
 import json
-from opentrons.hardware_control.emulation.app import \
-    TEMPDECK_PORT, THERMOCYCLER_PORT, SMOOTHIE_PORT, MAGDECK_PORT
 from typing import List, Union
 from opentrons.hardware_control.g_code_parsing.g_code_watcher import GCodeWatcher
 from opentrons.hardware_control.g_code_parsing.g_code import GCode
@@ -14,14 +12,6 @@ class GCodeProgram:
     Class for parsing various G-Code files and programs into a
     list of GCode objects
     """
-
-    DEVICE_LOOKUP_BY_PORT = {
-        SMOOTHIE_PORT: 'smoothie',
-        TEMPDECK_PORT: 'tempdeck',
-        THERMOCYCLER_PORT: 'thermocycler',
-        MAGDECK_PORT: 'magdeck',
-    }
-
     @classmethod
     def from_g_code_watcher(cls, watcher: GCodeWatcher) -> GCodeProgram:
         """
@@ -32,11 +22,10 @@ def from_g_code_watcher(cls, watcher: GCodeWatcher) -> GCodeProgram:
         """
         g_codes = []
         for watcher_data in watcher.get_command_list():
-            device = cls._parse_device(watcher_data.serial_connection)
             g_codes.extend(
                 GCode.from_raw_code(
                     watcher_data.raw_g_code,
-                    device,
+                    watcher_data.device,
                     watcher_data.response
                 )
             )
@@ -45,16 +34,6 @@ def from_g_code_watcher(cls, watcher: GCodeWatcher) -> GCodeProgram:
     def __init__(self, g_codes: List[GCode]):
         self._g_codes = g_codes
 
-    @classmethod
-    def _parse_device(cls, serial_connection):
-        """
-        Based on port specified in connection URL, parse out what the name
-        of the device is
-        """
-        serial_port = serial_connection.port
-        device_port = serial_port[serial_port.rfind(':') + 1:]
-        return cls.DEVICE_LOOKUP_BY_PORT[int(device_port)]
-
     def add_g_code(self, g_code: GCode) -> None:
         """Add singular G-Code to the end of the program"""
         self._g_codes.append(g_code)

api/src/opentrons/hardware_control/g_code_parsing/g_code_program/supported_text_modes.py

@@ -85,6 +85,23 @@ def concise_builder(code: GCode):
     return MULTIPLE_SPACE_REGEX.sub(' ', message).strip()
 
 
+def g_code_only_builder(code: GCode):
+    """
+    Function to build string that contains only the raw G-Code input and output
+
+    <Raw G-Code> -> <Raw G-Code Output>
+
+    Example:
+
+    G28.2 X -> Homing the following axes: X
+
+    :param code: G-Code object to parse into a string
+    :return: Textual description
+    """
+    message = f'{code.g_code_line} -> {code.response}'
+    return MULTIPLE_SPACE_REGEX.sub(' ', message).strip()
+
+
 class SupportedTextModes(Enum):
     """
     Class representing the different text modes that G-Codes can be parsed into
@@ -101,14 +118,20 @@ class SupportedTextModes(Enum):
     """
     DEFAULT = 'Default'
     CONCISE = 'Concise'
+    G_CODE = 'G-Code'
+
+    @classmethod
+    def get_valid_modes(cls):
+        return [cls.CONCISE.value, cls.DEFAULT.value, cls.G_CODE.value]
 
     @classmethod
     def get_text_mode(cls, key: str):
         # Defining this inside of the function so that it does not show up
         # when using the __members__ attribute
         _internal_mapping = {
             cls.DEFAULT.value: TextMode(cls.DEFAULT.value, default_builder),
-            cls.CONCISE.value: TextMode(cls.CONCISE.value, concise_builder)
+            cls.CONCISE.value: TextMode(cls.CONCISE.value, concise_builder),
+            cls.G_CODE.value: TextMode(cls.G_CODE.value, g_code_only_builder)
         }
         members = [member.value for member in list(cls.__members__.values())]
         if key not in members: