feat(api, robot-server, shared-data): add FlexStacker module to the hardware controller and robot server.

api/src/opentrons/drivers/flex_stacker/__init__.py

@@ -1,9 +1,9 @@
-from .abstract import AbstractStackerDriver
+from .abstract import AbstractFlexStackerDriver
 from .driver import FlexStackerDriver
 from .simulator import SimulatingDriver
 
 __all__ = [
-    "AbstractStackerDriver",
+    "AbstractFlexStackerDriver",
     "FlexStackerDriver",
     "SimulatingDriver",
 ]

api/src/opentrons/drivers/flex_stacker/abstract.py

@@ -1,6 +1,7 @@
 from typing import Protocol
 
 from .types import (
+    LimitSwitchStatus,
     StackerAxis,
     PlatformStatus,
     Direction,
@@ -10,7 +11,7 @@
 )
 
 
-class AbstractStackerDriver(Protocol):
+class AbstractFlexStackerDriver(Protocol):
     """Protocol for the Stacker driver."""
 
     async def connect(self) -> None:
@@ -25,10 +26,6 @@ async def is_connected(self) -> bool:
         """Check connection to stacker."""
         ...
 
-    async def update_firmware(self, firmware_file_path: str) -> None:
-        """Updates the firmware on the device."""
-        ...
-
     async def get_device_info(self) -> StackerInfo:
         """Get Device Info."""
         ...
@@ -48,6 +45,10 @@ async def get_limit_switch(self, axis: StackerAxis, direction: Direction) -> boo
         """
         ...
 
+    async def get_limit_switches_status(self) -> LimitSwitchStatus:
+        """Get limit switch statuses for all axes."""
+        ...
+
     async def get_platform_sensor(self, direction: Direction) -> bool:
         """Get platform sensor status.
 
@@ -87,3 +88,7 @@ async def set_led(
     ) -> bool:
         """Set LED color of status bar."""
         ...
+
+    async def enter_programming_mode(self) -> None:
+        """Reboot into programming mode"""
+        ...

api/src/opentrons/drivers/flex_stacker/driver.py

@@ -5,7 +5,7 @@
 from opentrons.drivers.command_builder import CommandBuilder
 from opentrons.drivers.asyncio.communication import AsyncResponseSerialConnection
 
-from .abstract import AbstractStackerDriver
+from .abstract import AbstractFlexStackerDriver
 from .types import (
     GCODE,
     StackerAxis,
@@ -28,7 +28,7 @@
 GCODE_ROUNDING_PRECISION = 2
 
 
-class FlexStackerDriver(AbstractStackerDriver):
+class FlexStackerDriver(AbstractFlexStackerDriver):
     """FLEX Stacker driver."""
 
     @classmethod
@@ -254,7 +254,8 @@ async def set_led(
             raise ValueError(f"Incorrect Response for set led: {resp}")
         return True
 
-    async def update_firmware(self, firmware_file_path: str) -> None:
-        """Updates the firmware on the device."""
-        # TODO: Implement firmware update
-        pass
+    async def enter_programming_mode(self) -> None:
+        """Reboot into programming mode"""
+        command = GCODE.ENTER_BOOTLOADER.build_command()
+        await self._connection.send_dfu_command(command)
+        await self._connection.close()

api/src/opentrons/drivers/flex_stacker/simulator.py

@@ -2,8 +2,9 @@
 
 from opentrons.util.async_helpers import ensure_yield
 
-from .abstract import AbstractStackerDriver
+from .abstract import AbstractFlexStackerDriver
 from .types import (
+    LEDColor,
     StackerAxis,
     PlatformStatus,
     Direction,
@@ -14,7 +15,7 @@
 )
 
 
-class SimulatingDriver(AbstractStackerDriver):
+class SimulatingDriver(AbstractFlexStackerDriver):
     """FLEX Stacker driver simulator."""
 
     def __init__(self, serial_number: Optional[str] = None) -> None:
@@ -61,8 +62,8 @@ async def set_serial_number(self, sn: str) -> bool:
         return True
 
     @ensure_yield
-    async def stop_motor(self) -> bool:
-        """Stop motor movement."""
+    async def stop_motors(self) -> bool:
+        """Stop all motor movement."""
         return True
 
     @ensure_yield
@@ -78,12 +79,15 @@ async def get_limit_switches_status(self) -> LimitSwitchStatus:
         """Get limit switch statuses for all axes."""
         return self._limit_switch_status
 
-    @ensure_yield
-    async def get_platform_sensor_status(self) -> PlatformStatus:
+    async def get_platform_sensor(self, direction: Direction) -> bool:
         """Get platform sensor status.
 
-        :return: True if platform is detected, False otherwise
+        :return: True if platform is present, False otherwise
         """
+        return True
+
+    async def get_platform_status(self) -> PlatformStatus:
+        """Get platform status."""
         return self._platform_sensor_status
 
     @ensure_yield
@@ -107,3 +111,17 @@ async def move_to_limit_switch(
     ) -> bool:
         """Move until limit switch is triggered."""
         return True
+
+    async def home_axis(self, axis: StackerAxis, direction: Direction) -> bool:
+        """Home axis."""
+        return True
+
+    async def set_led(
+        self, power: float, color: LEDColor | None = None, external: bool | None = None
+    ) -> bool:
+        """Set LED color."""
+        return True
+
+    async def enter_programming_mode(self) -> None:
+        """Reboot into programming mode"""
+        pass

api/src/opentrons/drivers/flex_stacker/types.py

@@ -1,6 +1,6 @@
 from enum import Enum
 from dataclasses import dataclass, fields
-from typing import List
+from typing import List, Dict
 
 from opentrons.drivers.command_builder import CommandBuilder
 
@@ -45,6 +45,14 @@ class StackerInfo:
     hw: HardwareRevision
     sn: str
 
+    def to_dict(self) -> Dict[str, str]:
+        """Build command."""
+        return {
+            "serial": self.sn,
+            "version": self.fw,
+            "model": self.hw.value,
+        }
+
 
 class StackerAxis(Enum):
     """Stacker Axis."""
@@ -90,11 +98,11 @@ def distance(self, distance: float) -> float:
 class LimitSwitchStatus:
     """Stacker Limit Switch Statuses."""
 
-    XE: bool
-    XR: bool
-    ZE: bool
-    ZR: bool
-    LR: bool
+    XE: bool = False
+    XR: bool = False
+    ZE: bool = False
+    ZR: bool = False
+    LR: bool = False
 
     @classmethod
     def get_fields(cls) -> List[str]:
@@ -116,8 +124,8 @@ def get(self, axis: StackerAxis, direction: Direction) -> bool:
 class PlatformStatus:
     """Stacker Platform Statuses."""
 
-    E: bool
-    R: bool
+    E: bool = False
+    R: bool = False
 
     @classmethod
     def get_fields(cls) -> List[str]:
@@ -128,6 +136,58 @@ def get(self, direction: Direction) -> bool:
         """Get platform status."""
         return self.E if direction == Direction.EXTENT else self.R
 
+    def to_dict(self) -> Dict[str, bool]:
+        """Dict of the data."""
+        return {
+            "extent": self.E,
+            "retract": self.R,
+        }
+
+
+class PlatformState(Enum):
+    UNKNOWN = "unknown"
+    EXTENDED = "extended"
+    RETRACTED = "retracted"
+
+    @classmethod
+    def from_status(cls, status: PlatformStatus) -> "PlatformState":
+        """Get the state from the platform status."""
+        if status.E and not status.R:
+            return PlatformState.EXTENDED
+        if status.R and not status.E:
+            return PlatformState.RETRACTED
+        return PlatformState.UNKNOWN
+
+
+class StackerAxisState(Enum):
+    UNKNOWN = "unknown"
+    EXTENDED = "extended"
+    RETRACTED = "retracted"
+
+    @classmethod
+    def from_status(
+        cls, status: LimitSwitchStatus, axis: StackerAxis
+    ) -> "StackerAxisState":
+        """Get the axis state from the limit switch status."""
+        match axis:
+            case StackerAxis.X:
+                if status.XE and not status.XR:
+                    return StackerAxisState.EXTENDED
+                if status.XR and not status.XE:
+                    return StackerAxisState.RETRACTED
+            case StackerAxis.Z:
+                if status.ZE and not status.ZR:
+                    return StackerAxisState.EXTENDED
+                if status.ZR and not status.ZE:
+                    return StackerAxisState.RETRACTED
+            case StackerAxis.L:
+                return (
+                    StackerAxisState.EXTENDED
+                    if status.LR
+                    else StackerAxisState.RETRACTED
+                )
+        return StackerAxisState.UNKNOWN
+
 
 @dataclass
 class MoveParams:

api/src/opentrons/hardware_control/modules/__init__.py

@@ -4,6 +4,7 @@
 from .thermocycler import Thermocycler
 from .heater_shaker import HeaterShaker
 from .absorbance_reader import AbsorbanceReader
+from .flex_stacker import FlexStacker
 from .update import update_firmware
 from .utils import MODULE_TYPE_BY_NAME, build
 from .types import (
@@ -55,4 +56,5 @@
     "AbsorbanceReaderStatus",
     "AbsorbanceReaderDisconnectedError",
     "ModuleDisconnectedCallback",
+    "FlexStacker",
 ]