fix(api): 4.6.x set max speed fails (#8437)

* tests that demonstrate bug.

* format tests.

* make restore_max_speeds and restore_speeds async.

closes #8436

Author: amitlissack

api/src/opentrons/drivers/smoothie_drivers/driver_3_0.py

@@ -13,7 +13,7 @@
 import logging
 from os import environ
 from time import time
-from typing import Any, Dict, Optional, Union, List, Tuple
+from typing import Any, Dict, Optional, Union, List, Tuple, cast
 
 from math import isclose
 
@@ -175,7 +175,9 @@ def __init__(
         self.engaged_axes = {ax: True for ax in AXES}
 
         # motor speed settings
-        self._max_speed_settings = config.default_max_speed.copy()
+        self._max_speed_settings = cast(
+            Dict[str, float], config.default_max_speed.copy()
+        )
         self._saved_max_speed_settings = self._max_speed_settings.copy()
         self._combined_speed = float(DEFAULT_AXES_SPEED)
         self._saved_axes_speed = float(self._combined_speed)
@@ -525,13 +527,13 @@ def speed(self) -> None:
     def steps_per_mm(self) -> Dict[str, float]:
         return self._steps_per_mm
 
-    @contextlib.contextmanager
-    def restore_speed(self, value: Union[float, str]):
-        self.set_speed(value, update=False)
+    @contextlib.asynccontextmanager
+    async def restore_speed(self, value: Union[float, str]):
+        await self.set_speed(value, update=False)
         try:
             yield
         finally:
-            self.set_speed(self._combined_speed)
+            await self.set_speed(self._combined_speed)
 
     @staticmethod
     def _build_speed_command(speed: float) -> CommandBuilder:
@@ -555,13 +557,13 @@ def push_speed(self) -> None:
     async def pop_speed(self) -> None:
         await self.set_speed(self._saved_axes_speed)
 
-    @contextlib.contextmanager
-    def restore_axis_max_speed(self, new_max_speeds: Dict[str, float]):
-        self.set_axis_max_speed(new_max_speeds, update=False)
+    @contextlib.asynccontextmanager
+    async def restore_axis_max_speed(self, new_max_speeds: Dict[str, float]):
+        await self.set_axis_max_speed(new_max_speeds, update=False)
         try:
             yield
         finally:
-            self.set_axis_max_speed(self._max_speed_settings)  # type: ignore
+            await self.set_axis_max_speed(self._max_speed_settings)
 
     async def set_axis_max_speed(
         self, settings: Dict[str, float], update: bool = True
@@ -576,7 +578,7 @@ async def set_axis_max_speed(
             bool, True to save the settings for future use
         """
         if update:
-            self._max_speed_settings.update(settings)  # type: ignore
+            self._max_speed_settings.update(settings)
 
         command = _command_builder().add_gcode(gcode=GCODE.SET_MAX_SPEED)
         for axis, value in sorted(settings.items()):
@@ -589,7 +591,7 @@ def push_axis_max_speed(self) -> None:
         self._saved_max_speed_settings = self._max_speed_settings.copy()
 
     async def pop_axis_max_speed(self) -> None:
-        await self.set_axis_max_speed(self._saved_max_speed_settings)  # type: ignore
+        await self.set_axis_max_speed(self._saved_max_speed_settings)
 
     async def set_acceleration(self, settings: Dict[str, float]) -> None:
         """

api/src/opentrons/hardware_control/controller.py

@@ -1,6 +1,6 @@
 from __future__ import annotations
 import asyncio
-from contextlib import contextmanager, ExitStack
+from contextlib import contextmanager, AsyncExitStack
 import logging
 from typing import Any, Dict, List, Optional, Tuple, TYPE_CHECKING, Union, Sequence
 from typing_extensions import Final
@@ -129,9 +129,9 @@ async def move(
         speed: float = None,
         axis_max_speeds: Dict[str, float] = None,
     ):
-        with ExitStack() as cmstack:
+        async with AsyncExitStack() as cmstack:
             if axis_max_speeds:
-                cmstack.enter_context(
+                await cmstack.enter_async_context(
                     self._smoothie_driver.restore_axis_max_speed(axis_max_speeds)
                 )
             await self._smoothie_driver.move(

api/tests/opentrons/drivers/smoothie_drivers/test_driver.py

@@ -328,3 +328,72 @@ def test_axis_bounds(smoothie: driver_3_0.SmoothieDriver) -> None:
     assert bounds == {
         k: (v if k != "Y" else Y_BOUND_OVERRIDE) for k, v in HOMED_POSITION.items()
     }
+
+
+async def test_set_max_speed(
+    smoothie: driver_3_0.SmoothieDriver, mock_connection: AsyncMock
+) -> None:
+    """It should set the max speed."""
+    await smoothie.set_axis_max_speed({"A": 22, "B": 322})
+    cmds = [
+        c.kwargs["command"].build().strip()
+        for c in mock_connection.send_command.call_args_list
+    ]
+    assert cmds == ["M203.1 A22 B322", "M400"]
+
+
+async def test_restore_axis_max_speed(
+    smoothie: driver_3_0.SmoothieDriver, mock_connection: AsyncMock
+) -> None:
+    """It should set then restore the max speed."""
+    smoothie._max_speed_settings = {"A": 1, "B": 2, "C": 3, "X": 4, "Y": 5, "Z": 6}
+    async with smoothie.restore_axis_max_speed(
+        {"A": 6, "B": 5, "C": 4, "X": 3, "Y": 2, "Z": 1}
+    ):
+        pass
+    cmds = [
+        c.kwargs["command"].build().strip()
+        for c in mock_connection.send_command.call_args_list
+    ]
+    assert cmds == [
+        # Set new max speed.
+        "M203.1 A6 B5 C4 X3 Y2 Z1",
+        "M400",
+        # Restore old.
+        "M203.1 A1 B2 C3 X4 Y5 Z6",
+        "M400",
+    ]
+
+
+async def test_speed(
+    smoothie: driver_3_0.SmoothieDriver, mock_connection: AsyncMock
+) -> None:
+    """It should set the speed."""
+    await smoothie.set_speed(1)
+    cmds = [
+        c.kwargs["command"].build().strip()
+        for c in mock_connection.send_command.call_args_list
+    ]
+    # 60 is (speed * seconds_per_minute)
+    assert cmds == ["G0 F60", "M400"]
+
+
+async def test_restore_speed(
+    smoothie: driver_3_0.SmoothieDriver, mock_connection: AsyncMock
+) -> None:
+    """It should set then restore the speed."""
+    smoothie._combined_speed = 3
+    async with smoothie.restore_speed(2):
+        pass
+    cmds = [
+        c.kwargs["command"].build().strip()
+        for c in mock_connection.send_command.call_args_list
+    ]
+    assert cmds == [
+        # Set speed.
+        "G0 F120",
+        "M400",
+        # Restore old.
+        "G0 F180",
+        "M400",
+    ]

api/tests/opentrons/hardware_control/test_moves.py

@@ -25,7 +25,7 @@ async def test_controller_must_home(hardware_api):
     home.assert_called_once()
 
 
-async def test_home_specific_sim(hardware_api, monkeypatch, is_robot):
+async def test_home_specific_sim(hardware_api):
     await hardware_api.home()
     await hardware_api.move_to(types.Mount.RIGHT, types.Point(0, 10, 20))
     # Avoid the autoretract when moving two difference instruments
@@ -56,7 +56,7 @@ async def test_retract(hardware_api):
     }
 
 
-async def test_move(hardware_api, is_robot):
+async def test_move(hardware_api):
     abs_position = types.Point(30, 20, 10)
     mount = types.Mount.RIGHT
     target_position1 = {
@@ -197,7 +197,7 @@ async def test_critical_point_applied(hardware_api, monkeypatch, is_robot):
     assert await hardware_api.current_position(types.Mount.RIGHT) == target
 
 
-async def test_new_critical_point_applied(hardware_api, monkeypatch, is_robot):
+async def test_new_critical_point_applied(hardware_api):
     await hardware_api.home()
     hardware_api._backend._attached_instruments = {
         types.Mount.LEFT: {"model": None, "id": None},