feat(hardware): add can message to adjust gripper jaw holdoff ms value (

#14157)

hardware/opentrons_hardware/firmware_bindings/constants.py

@@ -154,6 +154,9 @@ class MessageId(int, Enum):
     set_gripper_error_tolerance = 0x47
     gripper_jaw_state_request = 0x48
     gripper_jaw_state_response = 0x49
+    set_gripper_jaw_holdoff_request = 0x401
+    gripper_jaw_holdoff_request = 0x402
+    gripper_jaw_holdoff_response = 0x403
 
     acknowledgement = 0x50
 

hardware/opentrons_hardware/firmware_bindings/messages/message_definitions.py

@@ -640,6 +640,35 @@ class GripperJawStateResponse(BaseMessage):  # noqa: D101
     ] = MessageId.gripper_jaw_state_response
 
 
+@dataclass
+class SetGripperJawHoldoffRequest(BaseMessage):  # noqa: D101
+    payload: payloads.GripperJawHoldoffPayload
+    payload_type: Type[
+        payloads.GripperJawHoldoffPayload
+    ] = payloads.GripperJawHoldoffPayload
+    message_id: Literal[
+        MessageId.set_gripper_jaw_holdoff_request
+    ] = MessageId.set_gripper_jaw_holdoff_request
+
+
+@dataclass
+class GripperJawHoldoffResponse(BaseMessage):  # noqa: D101
+    payload: payloads.GripperJawHoldoffPayload
+    payload_type: Type[
+        payloads.GripperJawHoldoffPayload
+    ] = payloads.GripperJawHoldoffPayload
+    message_id: Literal[
+        MessageId.gripper_jaw_holdoff_response
+    ] = MessageId.gripper_jaw_holdoff_response
+
+
+@dataclass
+class GripperJawHoldoffRequest(EmptyPayloadMessage):  # noqa: D101
+    message_id: Literal[
+        MessageId.gripper_jaw_holdoff_request
+    ] = MessageId.gripper_jaw_holdoff_request
+
+
 @dataclass
 class GripperGripRequest(BaseMessage):  # noqa: D101
     payload: payloads.GripperMoveRequestPayload

hardware/opentrons_hardware/firmware_bindings/messages/messages.py

@@ -96,6 +96,9 @@
     defs.GetMotorUsageResponse,
     defs.GripperJawStateRequest,
     defs.GripperJawStateResponse,
+    defs.SetGripperJawHoldoffRequest,
+    defs.GripperJawHoldoffRequest,
+    defs.GripperJawHoldoffResponse,
 ]
 
 

hardware/opentrons_hardware/firmware_bindings/messages/payloads.py

@@ -527,6 +527,13 @@ class GripperJawStatePayload(EmptyPayload):
     state: utils.UInt8Field
 
 
+@dataclass(eq=False)
+class GripperJawHoldoffPayload(EmptyPayload):
+    """A respones carrying info about the jaw holdoff value of a gripper."""
+
+    holdoff_ms: utils.UInt32Field
+
+
 @dataclass(eq=False)
 class GripperMoveRequestPayload(AddToMoveGroupRequestPayload):
     """A request to move gripper."""

hardware/opentrons_hardware/hardware_control/gripper_settings.py

@@ -21,6 +21,9 @@
     BrushedMotorConfResponse,
     GripperJawStateRequest,
     GripperJawStateResponse,
+    SetGripperJawHoldoffRequest,
+    GripperJawHoldoffRequest,
+    GripperJawHoldoffResponse,
 )
 from opentrons_hardware.firmware_bindings.utils import (
     UInt8Field,
@@ -100,6 +103,51 @@ async def set_error_tolerance(
         log.error(f"recieved error trying to set gripper error tolerance {str(error)}")
 
 
+async def set_jaw_holdoff(
+    can_messenger: CanMessenger,
+    holdoff_ms: float,
+) -> None:
+    """Set the idle holdoff value for gripper jaw."""
+    error = await can_messenger.ensure_send(
+        node_id=NodeId.gripper_g,
+        message=SetGripperJawHoldoffRequest(
+            payload=payloads.GripperJawHoldoffPayload(
+                holdoff_ms=UInt32Field(int(holdoff_ms * (2**16)))
+            )
+        ),
+        expected_nodes=[NodeId.gripper_g],
+    )
+    if error != ErrorCode.ok:
+        log.error(
+            f"recieved error trying to set gripper jaw holdoff value {str(error)}"
+        )
+
+
+async def get_jaw_holdoff_ms(can_messenger: CanMessenger) -> float:
+    """Get the idle holdoff value for gripper jaw."""
+
+    def _filter(arbitration_id: ArbitrationId) -> bool:
+        return NodeId(arbitration_id.parts.originating_node_id) == NodeId.gripper_g
+
+    async def _wait_for_response(reader: WaitableCallback) -> float:
+        """Listener for receiving messages back."""
+        async for response, _ in reader:
+            if isinstance(response, GripperJawHoldoffResponse):
+                return float(response.payload.holdoff_ms.value / (2**16))
+        raise StopAsyncIteration
+
+    with WaitableCallback(can_messenger, _filter) as reader:
+        await can_messenger.send(
+            node_id=NodeId.gripper_g,
+            message=GripperJawHoldoffRequest(),
+        )
+        try:
+            return await asyncio.wait_for(_wait_for_response(reader), 1.0)
+        except asyncio.TimeoutError:
+            log.warning("Read gripper jaw idle holdoff value timed out")
+            raise StopAsyncIteration
+
+
 async def get_gripper_jaw_motor_param(
     can_messenger: CanMessenger,
 ) -> DriverConfig: