def initialize(
hardware_server: bool = False,
hardware_server_socket: str = None) \
-> ThreadManager:
"""
Initialize the Opentrons hardware returning a hardware instance.
:param hardware_server: Run a jsonrpc server allowing rpc to the hardware
controller. Only works on buildroot because extra dependencies are
required.
:param hardware_server_socket: Override for the hardware server socket
"""
checked_socket = hardware_server_socket\
or "/var/run/opentrons-hardware.sock"
robot_conf = robot_configs.load()
logging_config.log_init(robot_conf.log_level)
log.info(f"API server version: {__version__}")
log.info(f"Robot Name: {name()}")
loop = asyncio.get_event_loop()
hardware = loop.run_until_complete(initialize_robot())
if hardware_server:
# TODO: BC 2020-02-25 adapt hardware socket server to ThreadManager
loop.run_until_complete(
install_hardware_server(checked_socket, hardware)) # type: ignore
return hardware
def run(hardware, **kwargs): # noqa(C901)
"""
This function was necessary to separate from main() to accommodate for
server startup path on system 3.0, which is server.main. In the case where
the api is on system 3.0, server.main will redirect to this function with
an additional argument of 'patch_old_init'. kwargs are hence used to allow
the use of different length args
"""
loop = asyncio.get_event_loop()
if ff.use_protocol_api_v2():
robot_conf = loop.run_until_complete(hardware.get_config())
else:
robot_conf = hardware.config
logging_config.log_init(robot_conf.log_level)
log.info("API server version: {}".format(__version__))
if not os.environ.get("ENABLE_VIRTUAL_SMOOTHIE"):
initialize_robot(loop, hardware)
if ff.use_protocol_api_v2():
loop.run_until_complete(hardware.cache_instruments())
if not ff.disable_home_on_boot():
log.info("Homing Z axes")
if ff.use_protocol_api_v2():
loop.run_until_complete(hardware.home_z())
else:
hardware.home_z()
try:
udev.setup_rules_file()
except Exception:
log.exception(
"Could not setup udev rules, modules may not be detected")
if kwargs.get('hardware_server'):
if ff.use_protocol_api_v2():
loop.run_until_complete(
install_hardware_server(kwargs['hardware_server_socket'],
hardware._api))
else:
log.warning(
"Hardware server requested but apiv1 selected, not starting")
server.run(
hardware,
kwargs.get('hostname'),
kwargs.get('port'),
kwargs.get('path'),
loop)