feat(api): Add FlexStacker functionality to enable stallguard + add a…

…nimation patterns to set_led . (#17349)


- added set_motor_stallguard_threshold (M910) command)
- added get_motor_stallguard_threshold (M911) command
- added get_motor_driver_register (M920) command
- added set_motor_driver_register (M921) command
- added parse reset reason to the get_device_info command
- fixed issue where driver.get_motion_params was not awaited on the FlexStacker module
- rename Direction.EXTENT to Direction.EXTEND
- validate the serial number before setting it.
- add `set_led_state` to the FlexStacker module
- added handling for motors stall errors (ERR403)
- catch MotorStall exception in flex stacker driver to set MoveResult.STALL_ERROR
- fixed an issue with set_led not setting the K arg properly
- handle MoveResult.STALL_ERROR and raise FlexStackerStallError in `home_axis` and `move_axis`
- set DEFAULT_FS_TIMEOUT to 1 second and added FS_MOVE_TIMEOUT 20s
- clear serial input/output buffers if there is an error

api/src/opentrons/drivers/asyncio/communication/async_serial.py

@@ -155,6 +155,10 @@ def reset_input_buffer(self) -> None:
         """Reset the input buffer"""
         self._serial.reset_input_buffer()
 
+    def reset_output_buffer(self) -> None:
+        """Reset the output buffer"""
+        self._serial.reset_output_buffer()
+
     @contextlib.asynccontextmanager
     async def timeout_override(
         self, timeout_property: TimeoutProperties, timeout: Optional[float]

api/src/opentrons/drivers/asyncio/communication/errors.py

@@ -6,6 +6,7 @@
 
 class ErrorCodes(Enum):
     UNHANDLED_GCODE = "ERR003"
+    MOTOR_STALL = "ERR403"
 
 
 class SerialException(Exception):
@@ -43,3 +44,9 @@ class UnhandledGcode(ErrorResponse):
     def __init__(self, port: str, response: str, command: str) -> None:
         self.command = command
         super().__init__(port, response)
+
+
+class MotorStall(ErrorResponse):
+    def __init__(self, port: str, response: str, command: str) -> None:
+        self.command = command
+        super().__init__(port, response)

api/src/opentrons/drivers/asyncio/communication/serial_connection.py

@@ -6,7 +6,14 @@
 
 from opentrons.drivers.command_builder import CommandBuilder
 
-from .errors import NoResponse, AlarmResponse, ErrorResponse, UnhandledGcode, ErrorCodes
+from .errors import (
+    MotorStall,
+    NoResponse,
+    AlarmResponse,
+    ErrorResponse,
+    UnhandledGcode,
+    ErrorCodes,
+)
 from .async_serial import AsyncSerial
 
 log = logging.getLogger(__name__)
@@ -254,6 +261,9 @@ def raise_on_error(self, response: str, request: str) -> None:
                 raise UnhandledGcode(
                     port=self._port, response=response, command=request
                 )
+
+            elif ErrorCodes.MOTOR_STALL.value.lower() in lower:
+                raise MotorStall(port=self._port, response=response, command=request)
             else:
                 raise ErrorResponse(port=self._port, response=response)
 

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

@@ -1,5 +1,5 @@
 from .abstract import AbstractFlexStackerDriver
-from .driver import FlexStackerDriver, STACKER_MOTION_CONFIG
+from .driver import FlexStackerDriver, STACKER_MOTION_CONFIG, STALLGUARD_CONFIG
 from .simulator import SimulatingDriver
 from . import types as FlexStackerTypes
 
@@ -9,4 +9,5 @@
     "SimulatingDriver",
     "FlexStackerTypes",
     "STACKER_MOTION_CONFIG",
+    "STALLGUARD_CONFIG",
 ]

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

@@ -1,6 +1,7 @@
-from typing import List, Protocol
+from typing import List, Optional, Protocol
 
 from .types import (
+    LEDPattern,
     LimitSwitchStatus,
     MoveResult,
     StackerAxis,
@@ -9,6 +10,7 @@
     MoveParams,
     StackerInfo,
     LEDColor,
+    StallGuardParams,
 )
 
 
@@ -51,10 +53,30 @@ async def set_ihold_current(self, axis: StackerAxis, current: float) -> bool:
         """Set axis hold current in amps."""
         ...
 
+    async def set_stallguard_threshold(
+        self, axis: StackerAxis, enable: bool, threshold: int
+    ) -> bool:
+        """Enables and sets the stallguard threshold for the given axis motor."""
+        ...
+
+    async def set_motor_driver_register(
+        self, axis: StackerAxis, reg: int, value: int
+    ) -> bool:
+        """Set the register of the given motor axis driver to the given value."""
+        ...
+
+    async def get_motor_driver_register(self, axis: StackerAxis, reg: int) -> int:
+        """Gets the register value of the given motor axis driver."""
+        ...
+
     async def get_motion_params(self, axis: StackerAxis) -> MoveParams:
         """Get the motion parameters used by the given axis motor."""
         ...
 
+    async def get_stallguard_threshold(self, axis: StackerAxis) -> StallGuardParams:
+        """Get the stallguard parameters by the given axis motor."""
+        ...
+
     async def get_limit_switch(self, axis: StackerAxis, direction: Direction) -> bool:
         """Get limit switch status.
 
@@ -96,16 +118,26 @@ async def move_to_limit_switch(
         """Move until limit switch is triggered."""
         ...
 
-    async def home_axis(self, axis: StackerAxis, direction: Direction) -> bool:
+    async def home_axis(self, axis: StackerAxis, direction: Direction) -> MoveResult:
         """Home axis."""
         ...
 
     async def set_led(
-        self, power: float, color: LEDColor | None = None, external: bool | None = None
+        self,
+        power: float,
+        color: Optional[LEDColor] = None,
+        external: Optional[bool] = None,
+        pattern: Optional[LEDPattern] = None,
+        duration: Optional[int] = None,
+        reps: Optional[int] = None,
     ) -> bool:
-        """Set LED color of status bar."""
+        """Set LED Status bar color and pattern."""
         ...
 
     async def enter_programming_mode(self) -> None:
         """Reboot into programming mode"""
         ...
+
+    def reset_serial_buffers(self) -> None:
+        """Reset the input and output serial buffers."""
+        ...