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perf(robot-server): Discriminate command unions #14286

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merged 7 commits into from
Jan 9, 2024
Merged

perf(robot-server): Discriminate command unions #14286

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9d96b22
Update command unions.
SyntaxColoring Jan 4, 2024
adc01d3
Update stateless command unions.
SyntaxColoring Jan 4, 2024
1e6d4e2
Work around Pydantic bug.
SyntaxColoring Jan 4, 2024
8695a99
Fix names and docstrings for union workarounds.
SyntaxColoring Jan 8, 2024
06882d1
Update tests.
SyntaxColoring Jan 8, 2024
ef02312
Merge branch 'edge' into discriminate_command_unions
SyntaxColoring Jan 8, 2024
be08e43
Update command schema.
SyntaxColoring Jan 8, 2024
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249 changes: 129 additions & 120 deletions api/src/opentrons/protocol_engine/commands/command_unions.py
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Original file line number Diff line number Diff line change
@@ -1,6 +1,9 @@
"""Union types of concrete command definitions."""

from typing import Union
from typing_extensions import Annotated

from pydantic import Field

from . import heater_shaker
from . import magnetic_module
Expand Down Expand Up @@ -284,66 +287,69 @@
GetTipPresenceCommandType,
)

Command = Union[
Aspirate,
AspirateInPlace,
Comment,
Custom,
Dispense,
DispenseInPlace,
BlowOut,
BlowOutInPlace,
ConfigureForVolume,
ConfigureNozzleLayout,
DropTip,
DropTipInPlace,
Home,
RetractAxis,
LoadLabware,
LoadLiquid,
LoadModule,
LoadPipette,
MoveLabware,
MoveRelative,
MoveToCoordinates,
MoveToWell,
MoveToAddressableArea,
MoveToAddressableAreaForDropTip,
PrepareToAspirate,
WaitForResume,
WaitForDuration,
PickUpTip,
SavePosition,
SetRailLights,
TouchTip,
SetStatusBar,
VerifyTipPresence,
GetTipPresence,
heater_shaker.WaitForTemperature,
heater_shaker.SetTargetTemperature,
heater_shaker.DeactivateHeater,
heater_shaker.SetAndWaitForShakeSpeed,
heater_shaker.DeactivateShaker,
heater_shaker.OpenLabwareLatch,
heater_shaker.CloseLabwareLatch,
magnetic_module.Disengage,
magnetic_module.Engage,
temperature_module.SetTargetTemperature,
temperature_module.WaitForTemperature,
temperature_module.DeactivateTemperature,
thermocycler.SetTargetBlockTemperature,
thermocycler.WaitForBlockTemperature,
thermocycler.SetTargetLidTemperature,
thermocycler.WaitForLidTemperature,
thermocycler.DeactivateBlock,
thermocycler.DeactivateLid,
thermocycler.OpenLid,
thermocycler.CloseLid,
thermocycler.RunProfile,
calibration.CalibrateGripper,
calibration.CalibratePipette,
calibration.CalibrateModule,
calibration.MoveToMaintenancePosition,
Command = Annotated[
Union[
Aspirate,
AspirateInPlace,
Comment,
Custom,
Dispense,
DispenseInPlace,
BlowOut,
BlowOutInPlace,
ConfigureForVolume,
ConfigureNozzleLayout,
DropTip,
DropTipInPlace,
Home,
RetractAxis,
LoadLabware,
LoadLiquid,
LoadModule,
LoadPipette,
MoveLabware,
MoveRelative,
MoveToCoordinates,
MoveToWell,
MoveToAddressableArea,
MoveToAddressableAreaForDropTip,
PrepareToAspirate,
WaitForResume,
WaitForDuration,
PickUpTip,
SavePosition,
SetRailLights,
TouchTip,
SetStatusBar,
VerifyTipPresence,
GetTipPresence,
heater_shaker.WaitForTemperature,
heater_shaker.SetTargetTemperature,
heater_shaker.DeactivateHeater,
heater_shaker.SetAndWaitForShakeSpeed,
heater_shaker.DeactivateShaker,
heater_shaker.OpenLabwareLatch,
heater_shaker.CloseLabwareLatch,
magnetic_module.Disengage,
magnetic_module.Engage,
temperature_module.SetTargetTemperature,
temperature_module.WaitForTemperature,
temperature_module.DeactivateTemperature,
thermocycler.SetTargetBlockTemperature,
thermocycler.WaitForBlockTemperature,
thermocycler.SetTargetLidTemperature,
thermocycler.WaitForLidTemperature,
thermocycler.DeactivateBlock,
thermocycler.DeactivateLid,
thermocycler.OpenLid,
thermocycler.CloseLid,
thermocycler.RunProfile,
calibration.CalibrateGripper,
calibration.CalibratePipette,
calibration.CalibrateModule,
calibration.MoveToMaintenancePosition,
],
Field(discriminator="commandType"),
]

CommandParams = Union[
Expand Down Expand Up @@ -471,66 +477,69 @@
calibration.MoveToMaintenancePositionCommandType,
]

CommandCreate = Union[
AspirateCreate,
AspirateInPlaceCreate,
CommentCreate,
ConfigureForVolumeCreate,
ConfigureNozzleLayoutCreate,
CustomCreate,
DispenseCreate,
DispenseInPlaceCreate,
BlowOutCreate,
BlowOutInPlaceCreate,
DropTipCreate,
DropTipInPlaceCreate,
HomeCreate,
RetractAxisCreate,
LoadLabwareCreate,
LoadLiquidCreate,
LoadModuleCreate,
LoadPipetteCreate,
MoveLabwareCreate,
MoveRelativeCreate,
MoveToCoordinatesCreate,
MoveToWellCreate,
MoveToAddressableAreaCreate,
MoveToAddressableAreaForDropTipCreate,
PrepareToAspirateCreate,
WaitForResumeCreate,
WaitForDurationCreate,
PickUpTipCreate,
SavePositionCreate,
SetRailLightsCreate,
TouchTipCreate,
SetStatusBarCreate,
VerifyTipPresenceCreate,
GetTipPresenceCreate,
heater_shaker.WaitForTemperatureCreate,
heater_shaker.SetTargetTemperatureCreate,
heater_shaker.DeactivateHeaterCreate,
heater_shaker.SetAndWaitForShakeSpeedCreate,
heater_shaker.DeactivateShakerCreate,
heater_shaker.OpenLabwareLatchCreate,
heater_shaker.CloseLabwareLatchCreate,
magnetic_module.DisengageCreate,
magnetic_module.EngageCreate,
temperature_module.SetTargetTemperatureCreate,
temperature_module.WaitForTemperatureCreate,
temperature_module.DeactivateTemperatureCreate,
thermocycler.SetTargetBlockTemperatureCreate,
thermocycler.WaitForBlockTemperatureCreate,
thermocycler.SetTargetLidTemperatureCreate,
thermocycler.WaitForLidTemperatureCreate,
thermocycler.DeactivateBlockCreate,
thermocycler.DeactivateLidCreate,
thermocycler.OpenLidCreate,
thermocycler.CloseLidCreate,
thermocycler.RunProfileCreate,
calibration.CalibrateGripperCreate,
calibration.CalibratePipetteCreate,
calibration.CalibrateModuleCreate,
calibration.MoveToMaintenancePositionCreate,
CommandCreate = Annotated[
Union[
AspirateCreate,
AspirateInPlaceCreate,
CommentCreate,
ConfigureForVolumeCreate,
ConfigureNozzleLayoutCreate,
CustomCreate,
DispenseCreate,
DispenseInPlaceCreate,
BlowOutCreate,
BlowOutInPlaceCreate,
DropTipCreate,
DropTipInPlaceCreate,
HomeCreate,
RetractAxisCreate,
LoadLabwareCreate,
LoadLiquidCreate,
LoadModuleCreate,
LoadPipetteCreate,
MoveLabwareCreate,
MoveRelativeCreate,
MoveToCoordinatesCreate,
MoveToWellCreate,
MoveToAddressableAreaCreate,
MoveToAddressableAreaForDropTipCreate,
PrepareToAspirateCreate,
WaitForResumeCreate,
WaitForDurationCreate,
PickUpTipCreate,
SavePositionCreate,
SetRailLightsCreate,
TouchTipCreate,
SetStatusBarCreate,
VerifyTipPresenceCreate,
GetTipPresenceCreate,
heater_shaker.WaitForTemperatureCreate,
heater_shaker.SetTargetTemperatureCreate,
heater_shaker.DeactivateHeaterCreate,
heater_shaker.SetAndWaitForShakeSpeedCreate,
heater_shaker.DeactivateShakerCreate,
heater_shaker.OpenLabwareLatchCreate,
heater_shaker.CloseLabwareLatchCreate,
magnetic_module.DisengageCreate,
magnetic_module.EngageCreate,
temperature_module.SetTargetTemperatureCreate,
temperature_module.WaitForTemperatureCreate,
temperature_module.DeactivateTemperatureCreate,
thermocycler.SetTargetBlockTemperatureCreate,
thermocycler.WaitForBlockTemperatureCreate,
thermocycler.SetTargetLidTemperatureCreate,
thermocycler.WaitForLidTemperatureCreate,
thermocycler.DeactivateBlockCreate,
thermocycler.DeactivateLidCreate,
thermocycler.OpenLidCreate,
thermocycler.CloseLidCreate,
thermocycler.RunProfileCreate,
calibration.CalibrateGripperCreate,
calibration.CalibratePipetteCreate,
calibration.CalibrateModuleCreate,
calibration.MoveToMaintenancePositionCreate,
],
Field(discriminator="commandType"),
]

CommandResult = Union[
Expand Down
13 changes: 12 additions & 1 deletion robot-server/robot_server/commands/router.py
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,17 @@
commands_router = APIRouter()


class RequestModelWithStatelessCommandCreate(RequestModel[StatelessCommandCreate]):
"""Equivalent to RequestModel[StatelessCommandCreate].
This works around a Pydantic v<2 bug where RequestModel[StatelessCommandCreate]
doesn't parse using the StatelessCommandCreate union discriminator.
https://github.com/pydantic/pydantic/issues/3782
"""

data: StatelessCommandCreate


class CommandNotFound(ErrorDetails):
"""An error returned if the given command cannot be found."""

Expand All @@ -50,7 +61,7 @@ class CommandNotFound(ErrorDetails):
},
)
async def create_command(
request_body: RequestModel[StatelessCommandCreate],
request_body: RequestModelWithStatelessCommandCreate,
waitUntilComplete: bool = Query(
False,
description=(
Expand Down
90 changes: 50 additions & 40 deletions robot-server/robot_server/commands/stateless_commands.py
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Original file line number Diff line number Diff line change
@@ -1,47 +1,57 @@
"""Command requests and responses allowed to be used with /commands."""
from typing import Union
from typing_extensions import Annotated

from pydantic import Field

from opentrons.protocol_engine import commands

StatelessCommandCreate = Union[
commands.HomeCreate,
commands.SetRailLightsCreate,
commands.SetStatusBarCreate,
commands.magnetic_module.EngageCreate,
commands.magnetic_module.DisengageCreate,
commands.temperature_module.SetTargetTemperatureCreate,
commands.temperature_module.DeactivateTemperatureCreate,
commands.thermocycler.SetTargetBlockTemperatureCreate,
commands.thermocycler.SetTargetLidTemperatureCreate,
commands.thermocycler.DeactivateBlockCreate,
commands.thermocycler.DeactivateLidCreate,
commands.thermocycler.OpenLidCreate,
commands.thermocycler.CloseLidCreate,
commands.heater_shaker.SetTargetTemperatureCreate,
commands.heater_shaker.SetAndWaitForShakeSpeedCreate,
commands.heater_shaker.DeactivateHeaterCreate,
commands.heater_shaker.DeactivateShakerCreate,
commands.heater_shaker.OpenLabwareLatchCreate,
commands.heater_shaker.CloseLabwareLatchCreate,
StatelessCommandCreate = Annotated[
Union[
commands.HomeCreate,
commands.SetRailLightsCreate,
commands.SetStatusBarCreate,
commands.magnetic_module.EngageCreate,
commands.magnetic_module.DisengageCreate,
commands.temperature_module.SetTargetTemperatureCreate,
commands.temperature_module.DeactivateTemperatureCreate,
commands.thermocycler.SetTargetBlockTemperatureCreate,
commands.thermocycler.SetTargetLidTemperatureCreate,
commands.thermocycler.DeactivateBlockCreate,
commands.thermocycler.DeactivateLidCreate,
commands.thermocycler.OpenLidCreate,
commands.thermocycler.CloseLidCreate,
commands.heater_shaker.SetTargetTemperatureCreate,
commands.heater_shaker.SetAndWaitForShakeSpeedCreate,
commands.heater_shaker.DeactivateHeaterCreate,
commands.heater_shaker.DeactivateShakerCreate,
commands.heater_shaker.OpenLabwareLatchCreate,
commands.heater_shaker.CloseLabwareLatchCreate,
],
Field(discriminator="commandType"),
]

StatelessCommand = Union[
commands.Home,
commands.SetRailLights,
commands.SetStatusBar,
commands.magnetic_module.Engage,
commands.magnetic_module.Disengage,
commands.temperature_module.SetTargetTemperature,
commands.temperature_module.DeactivateTemperature,
commands.thermocycler.SetTargetBlockTemperature,
commands.thermocycler.SetTargetLidTemperature,
commands.thermocycler.DeactivateBlock,
commands.thermocycler.DeactivateLid,
commands.thermocycler.OpenLid,
commands.thermocycler.CloseLid,
commands.heater_shaker.SetTargetTemperature,
commands.heater_shaker.SetAndWaitForShakeSpeed,
commands.heater_shaker.DeactivateHeater,
commands.heater_shaker.DeactivateShaker,
commands.heater_shaker.OpenLabwareLatch,
commands.heater_shaker.CloseLabwareLatch,
StatelessCommand = Annotated[
Union[
commands.Home,
commands.SetRailLights,
commands.SetStatusBar,
commands.magnetic_module.Engage,
commands.magnetic_module.Disengage,
commands.temperature_module.SetTargetTemperature,
commands.temperature_module.DeactivateTemperature,
commands.thermocycler.SetTargetBlockTemperature,
commands.thermocycler.SetTargetLidTemperature,
commands.thermocycler.DeactivateBlock,
commands.thermocycler.DeactivateLid,
commands.thermocycler.OpenLid,
commands.thermocycler.CloseLid,
commands.heater_shaker.SetTargetTemperature,
commands.heater_shaker.SetAndWaitForShakeSpeed,
commands.heater_shaker.DeactivateHeater,
commands.heater_shaker.DeactivateShaker,
commands.heater_shaker.OpenLabwareLatch,
commands.heater_shaker.CloseLabwareLatch,
],
Field(discriminator="commandType"),
]
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