feat(hardware): added safety relay active state to HepaUVState and safety_relay_inactive error (#15311)

Author: vegano1

hardware/opentrons_hardware/firmware_bindings/constants.py

@@ -4,6 +4,7 @@
 by default. Please do not unconditionally import things outside the python standard
 library.
 """
+
 from enum import Enum, unique
 from typing import Union, Dict, List
 
@@ -294,6 +295,7 @@ class ErrorCode(int, Enum):
     door_open = 0x0E
     reed_open = 0x0F
     motor_driver_error_detected = 0x10
+    safety_relay_inactive = 0x11
 
 
 @unique

hardware/opentrons_hardware/firmware_bindings/messages/payloads.py

@@ -1,4 +1,5 @@
 """Payloads of can bus messages."""
+
 # TODO (amit, 2022-01-26): Figure out why using annotations import ruins
 #  dataclass fields interpretation.
 #  from __future__ import annotations
@@ -684,6 +685,7 @@ class GetHepaUVStatePayloadResponse(EmptyPayload):
     uv_light_on: utils.UInt8Field
     remaining_time_s: utils.UInt32Field
     uv_current_ma: utils.UInt16Field
+    safety_relay_active: utils.UInt8Field
 
 
 @dataclass(eq=False)

hardware/opentrons_hardware/hardware_control/hepa_uv_settings.py

@@ -1,4 +1,5 @@
 """Utilities for controlling the hepa/uv extension module."""
+
 import logging
 import asyncio
 from typing import Optional
@@ -46,6 +47,7 @@ class HepaUVState:
     uv_duration_s: int
     remaining_time_s: int
     uv_current_ma: int
+    safety_relay_active: bool
 
 
 async def set_hepa_fan_state(
@@ -136,6 +138,7 @@ def _listener(message: MessageDefinition, arb_id: ArbitrationId) -> None:
                 uv_duration_s=int(message.payload.uv_duration_s.value),
                 remaining_time_s=int(message.payload.remaining_time_s.value),
                 uv_current_ma=int(message.payload.uv_current_ma.value),
+                safety_relay_active=bool(message.payload.safety_relay_active.value),
             )
 
     def _filter(arb_id: ArbitrationId) -> bool:

hardware/tests/opentrons_hardware/hardware_control/test_hepauv_settings.py

@@ -55,6 +55,7 @@ def create_hepa_uv_state_response(
     duration: int,
     remaining_time: int,
     uv_current: int,
+    safety_relay_active: bool,
 ) -> MessageDefinition:
     """Create a GetHepaUVStateResponse."""
     return md.GetHepaUVStateResponse(
@@ -63,6 +64,7 @@ def create_hepa_uv_state_response(
             uv_duration_s=UInt32Field(duration),
             remaining_time_s=UInt32Field(remaining_time),
             uv_current_ma=UInt16Field(uv_current),
+            safety_relay_active=UInt8Field(safety_relay_active),
         )
     )
 
@@ -162,12 +164,29 @@ def responder(
     [
         (
             NodeId.host,
-            create_hepa_uv_state_response(True, 900, 300, 3300),
+            create_hepa_uv_state_response(True, 900, 300, 3300, True),
+            NodeId.hepa_uv,
+        ),
+        (
+            NodeId.host,
+            create_hepa_uv_state_response(True, 0, 0, 33000, True),
+            NodeId.hepa_uv,
+        ),
+        (
+            NodeId.host,
+            create_hepa_uv_state_response(True, 0, 0, 33000, False),
+            NodeId.hepa_uv,
+        ),
+        (
+            NodeId.host,
+            create_hepa_uv_state_response(False, 0, 0, 0, True),
+            NodeId.hepa_uv,
+        ),
+        (
+            NodeId.host,
+            create_hepa_uv_state_response(False, 900, 0, 0, False),
             NodeId.hepa_uv,
         ),
-        (NodeId.host, create_hepa_uv_state_response(True, 0, 0, 33000), NodeId.hepa_uv),
-        (NodeId.host, create_hepa_uv_state_response(False, 0, 0, 0), NodeId.hepa_uv),
-        (NodeId.host, create_hepa_uv_state_response(False, 900, 0, 0), NodeId.hepa_uv),
     ],
 )
 async def test_get_hepa_uv_state(
@@ -202,6 +221,7 @@ def responder(
             int(payload.uv_duration_s.value),
             int(payload.remaining_time_s.value),
             int(payload.uv_current_ma.value),
+            bool(payload.safety_relay_active.value),
         )
         == res
     )