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feat: Door interlock in robot server mode #35

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pbeaucage opened this issue Jul 3, 2022 · 1 comment · May be fixed by #52
Open

feat: Door interlock in robot server mode #35

pbeaucage opened this issue Jul 3, 2022 · 1 comment · May be fixed by #52
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@pbeaucage

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@pbeaucage
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Robot server should have a pre_execute that checks for the door switch before beginning an action.

One annoyance is that you can't access the robot gpios when the robot server is running. So the startup script would need to stop the opentrons robot server and somehow restart it after our server starts successfully so we grab the gpios.

See #34 as well. Lots of reasons to take the GPIOs during execution.
This was referenced Jul 3, 2022
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@pbeaucage
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While looking at other things, I found that the Opentrons Robot Server API already has an endpoint for the door status, like so:

$ curl -H "Opentrons-Version: 2" -H  "accept: application/json" -X GET "http://piot2:31950/robot/door/status"
{"data": {"status": "open", "doorRequiredClosedForProtocol": false}}

This is now very easy to implement on the robot.

@pbeaucage pbeaucage self-assigned this Mar 6, 2024
@pbeaucage pbeaucage linked a pull request Mar 6, 2024 that will close this issue
Add door interlock to OT2 Driver #52
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Add door interlock to OT2 Driver usnistgov/AFL-automation
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@pbeaucage