from typing import Iterator

import pytest
from opentrons import _find_smoothie_file
from opentrons.config.robot_configs import build_config
from opentrons.hardware_control import Controller
from opentrons.hardware_control.emulation.settings import Settings
from opentrons.types import Mount


@pytest.fixture
async def subject(
    emulation_app: Iterator[None],
    emulator_settings: Settings,
) -> Controller:
    conf = build_config({})
    port = f"socket://127.0.0.1:{emulator_settings.smoothie.port}"
    hc = await Controller.build(config=conf)
    await hc.connect(port=port)
    yield hc
    await hc._smoothie_driver.disconnect()


async def test_get_fw_version(subject: Controller):
    """It should be set."""
    _, fw_version = _find_smoothie_file()
    assert subject._cached_fw_version == fw_version


async def test_get_attached_instruments(subject: Controller):
    """It should get the attached instruments."""
    instruments = await subject.get_attached_instruments({})
    assert instruments[Mount.RIGHT]["id"] == "P20SV202020070101"
    assert instruments[Mount.RIGHT]["config"].display_name == "P20 Single-Channel GEN2"
    assert instruments[Mount.LEFT]["id"] == "P3HMV202020041605"
    assert instruments[Mount.LEFT]["config"].display_name == "P20 8-Channel GEN2"


async def test_move(subject: Controller):
    """It should move."""
    new_position = {"X": 1.0, "Z": 2.0, "Y": 3.0, "A": 4.0, "B": 5.0, "C": 6.0}

    await subject.move(target_position=new_position)

    updated_position = await subject.update_position()

    assert updated_position == {"X": 1, "Z": 2, "Y": 3, "A": 4, "B": 5, "C": 6}

ac99f3037a4ef688de3f31c49d07202cb91b8f51
<mask token>

<mask token>


@pytest.fixture
async def subject(emulation_app: Iterator[None], emulator_settings: Settings
    ) ->Controller:
    conf = build_config({})
    port = f'socket://127.0.0.1:{emulator_settings.smoothie.port}'
    hc = await Controller.build(config=conf)
    await hc.connect(port=port)
    yield hc
    await hc._smoothie_driver.disconnect()


async def test_get_fw_version(subject: Controller):
    """It should be set."""
    _, fw_version = _find_smoothie_file()
    assert subject._cached_fw_version == fw_version


async def test_get_attached_instruments(subject: Controller):
    """It should get the attached instruments."""
    instruments = await subject.get_attached_instruments({})
    assert instruments[Mount.RIGHT]['id'] == 'P20SV202020070101'
    assert instruments[Mount.RIGHT]['config'
        ].display_name == 'P20 Single-Channel GEN2'
    assert instruments[Mount.LEFT]['id'] == 'P3HMV202020041605'
    assert instruments[Mount.LEFT]['config'
        ].display_name == 'P20 8-Channel GEN2'


async def test_move(subject: Controller):
    """It should move."""
    new_position = {'X': 1.0, 'Z': 2.0, 'Y': 3.0, 'A': 4.0, 'B': 5.0, 'C': 6.0}
    await subject.move(target_position=new_position)
    updated_position = await subject.update_position()
    assert updated_position == {'X': 1, 'Z': 2, 'Y': 3, 'A': 4, 'B': 5, 'C': 6}

from typing import Iterator
import pytest
from opentrons import _find_smoothie_file
from opentrons.config.robot_configs import build_config
from opentrons.hardware_control import Controller
from opentrons.hardware_control.emulation.settings import Settings
from opentrons.types import Mount


@pytest.fixture
async def subject(emulation_app: Iterator[None], emulator_settings: Settings
    ) ->Controller:
    conf = build_config({})
    port = f'socket://127.0.0.1:{emulator_settings.smoothie.port}'
    hc = await Controller.build(config=conf)
    await hc.connect(port=port)
    yield hc
    await hc._smoothie_driver.disconnect()


async def test_get_fw_version(subject: Controller):
    """It should be set."""
    _, fw_version = _find_smoothie_file()
    assert subject._cached_fw_version == fw_version


async def test_get_attached_instruments(subject: Controller):
    """It should get the attached instruments."""
    instruments = await subject.get_attached_instruments({})
    assert instruments[Mount.RIGHT]['id'] == 'P20SV202020070101'
    assert instruments[Mount.RIGHT]['config'
        ].display_name == 'P20 Single-Channel GEN2'
    assert instruments[Mount.LEFT]['id'] == 'P3HMV202020041605'
    assert instruments[Mount.LEFT]['config'
        ].display_name == 'P20 8-Channel GEN2'


async def test_move(subject: Controller):
    """It should move."""
    new_position = {'X': 1.0, 'Z': 2.0, 'Y': 3.0, 'A': 4.0, 'B': 5.0, 'C': 6.0}
    await subject.move(target_position=new_position)
    updated_position = await subject.update_position()
    assert updated_position == {'X': 1, 'Z': 2, 'Y': 3, 'A': 4, 'B': 5, 'C': 6}

from typing import Iterator

import pytest
from opentrons import _find_smoothie_file
from opentrons.config.robot_configs import build_config
from opentrons.hardware_control import Controller
from opentrons.hardware_control.emulation.settings import Settings
from opentrons.types import Mount


@pytest.fixture
async def subject(
    emulation_app: Iterator[None],
    emulator_settings: Settings,
) -> Controller:
    conf = build_config({})
    port = f"socket://127.0.0.1:{emulator_settings.smoothie.port}"
    hc = await Controller.build(config=conf)
    await hc.connect(port=port)
    yield hc
    await hc._smoothie_driver.disconnect()


async def test_get_fw_version(subject: Controller):
    """It should be set."""
    _, fw_version = _find_smoothie_file()
    assert subject._cached_fw_version == fw_version


async def test_get_attached_instruments(subject: Controller):
    """It should get the attached instruments."""
    instruments = await subject.get_attached_instruments({})
    assert instruments[Mount.RIGHT]["id"] == "P20SV202020070101"
    assert instruments[Mount.RIGHT]["config"].display_name == "P20 Single-Channel GEN2"
    assert instruments[Mount.LEFT]["id"] == "P3HMV202020041605"
    assert instruments[Mount.LEFT]["config"].display_name == "P20 8-Channel GEN2"


async def test_move(subject: Controller):
    """It should move."""
    new_position = {"X": 1.0, "Z": 2.0, "Y": 3.0, "A": 4.0, "B": 5.0, "C": 6.0}

    await subject.move(target_position=new_position)

    updated_position = await subject.update_position()

    assert updated_position == {"X": 1, "Z": 2, "Y": 3, "A": 4, "B": 5, "C": 6}
