fix(api): make hs wait until idle on deactivate shake

[sanni-t]

Closes RSS-66

Overview

The above issue seems to be a race condition where hardware control internal state sometimes doesn't update before by the next awaited poll. So this PR adds a wait until h/s state updates to reflect IDLE state.

Changelog

• added _wait_for_shake_deactivation

Review requests

I wasn't able to repro the original issue but as long as this fix doesn't cause any existing functionality to fail, and we don't get the above error with the fix, I think we should be okay to call it fixed.

Here's a protocol for testing:

import time

metadata = {
    'protocolName': 'Heater-shaker race condition checker',
    'author': 'Opentrons <[email protected]>',
    'apiLevel': '2.13'
}


def run(context):

	p10rack = [context.load_labware('opentrons_96_tiprack_10ul', '5')]
	p20 = context.load_instrument('p20_single_gen2', 'right',
		                                        tip_racks= p10rack)

	# Load Heater-shaker module
	hs_mod = context.load_module("heaterShakerModuleV1", 1)

	# Load adapter + labware on module. 
	hs_plate = hs_mod.load_labware("opentrons_96_flat_bottom_adapter_nest_wellplate_200ul_flat")
	other_plate = context.load_labware("biorad_96_wellplate_200ul_pcr", 11)
	reservoir = context.load_labware('usascientific_12_reservoir_22ml', 7)

	p20.pick_up_tip()
	for x in range(10):
		hs_mod.close_labware_latch()
		hs_mod.set_and_wait_for_shake_speed(rpm=300)	# Waits until H/S has reached 300rpm speed. Should retract pipettes before
		context.delay(seconds=5)
		hs_mod.deactivate_shaker()
		hs_mod.open_labware_latch()

Risk assessment

Low if QA H/S protocols work as expected.

[codecov[bot]]

Codecov Report

Merging #11342 (b9a2157) into release_6.1.0 (b3d533c) will increase coverage by 0.22%. The diff coverage is n/a.

@@                Coverage Diff                @@
##           release_6.1.0   #11342      +/-   ##
=================================================
+ Coverage          71.87%   72.10%   +0.22%     
=================================================
  Files               1048     1065      +17     
  Lines              17151    17382     +231     
  Branches            3710     3710              
=================================================
+ Hits               12328    12534     +206     
- Misses              3857     3882      +25     
  Partials             966      966              

Flag	Coverage Δ
notify-server	89.17% <ø> (?)

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Impacted Files	Coverage Δ
notify-server/notify_server/clients/serdes.py	90.90% <0.00%> (ø)
notify-server/notify_server/models/topics.py	0.00% <0.00%> (ø)
notify-server/notify_server/app_sub.py	0.00% <0.00%> (ø)
...er/notify_server/models/hardware_event/__init__.py	100.00% <0.00%> (ø)
notify-server/notify_server/logging.py	85.71% <0.00%> (ø)
notify-server/notify_server/network/connection.py	100.00% <0.00%> (ø)
...erver/notify_server/models/hardware_event/names.py	100.00% <0.00%> (ø)
notify-server/notify_server/clients/subscriber.py	90.00% <0.00%> (ø)
notify-server/notify_server/__init__.py	100.00% <0.00%> (ø)
notify-server/notify_server/server/__init__.py	100.00% <0.00%> (ø)
... and 7 more

[sanni-t]

Tested on a heater-shaker w/ above protocol.