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fix(hardware): handle usage responses better #17942

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Merged
sfoster1 merged 1 commit into from
Mar 31, 2025
Merged

fix(hardware): handle usage responses better #17942

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15 changes: 11 additions & 4 deletions hardware/opentrons_hardware/hardware_control/network.py
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Original file line number Diff line number Diff line change
Expand Up @@ -509,11 +509,12 @@ def _parse_can_device_info_response(
return None


async def log_motor_usage_data(
async def log_motor_usage_data( # noqa: C901
can_messenger: CanMessenger, nodes: List[NodeId]
) -> None:
"""Broadcasts a message to get motor usage request and waits for a list of expected nodes."""
event = asyncio.Event()
log.info(f"Getting usage data from {nodes}")

def _filter(arb_id: ArbitrationId) -> bool:
return MessageId(arb_id.parts.message_id) == MessageId.get_motor_usage_response
Expand All @@ -522,12 +523,18 @@ def _listener(message: MessageDefinition, arb_id: ArbitrationId) -> None:
if isinstance(message, GetMotorUsageResponse):
usage_elements = message.payload.usage_elements
node = arb_id.parts.originating_node_id
log.info(f"Usage from {node}: ")
logline = f"Usage from {node}: "
for m in usage_elements:
data_name = MotorUsageValueType(m.key).name
data_value = m.usage_value
log.info(f" {data_name}: {data_value}")
nodes.remove(node)
logline += f"\n {data_name}: {data_value}"
log.info(logline)
try:
nodes.remove(node)
except ValueError:
log.warning(
f"Usage response from {node} which was not passed in as expected originally"
)
if len(nodes) == 0:
event.set()

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