cleaning up

api/src/opentrons/hardware_control/backends/ot3controller.py

@@ -494,9 +494,9 @@ def update_feature_flags(self, feature_flags: HardwareFeatureFlags) -> None:
     async def update_motor_status(self) -> None:
         """Retreieve motor and encoder status and position from all present nodes"""
         motor_nodes = self._motor_nodes()
-        assert len(motor_nodes)
-        response = await get_motor_position(self._messenger, motor_nodes)
-        self._handle_motor_status_response(response)
+        if motor_nodes:
+            response = await get_motor_position(self._messenger, motor_nodes)
+            self._handle_motor_status_response(response)
 
     async def update_motor_estimation(self, axes: Sequence[Axis]) -> None:
         """Update motor position estimation for commanded nodes, and update cache of data."""

api/src/opentrons/hardware_control/module_control.py

@@ -127,8 +127,8 @@ async def unregister_modules(
         for mod in mods_at_ports:
             for attached_mod in self.available_modules:
                 if (
-                    attached_mod.port == mod.port
-                    and attached_mod.serial_number == mod.serial
+                    attached_mod.serial_number == mod.serial
+                    or attached_mod.port == mod.port
                 ):
                     removed_modules.append(attached_mod)
 

api/src/opentrons/hardware_control/modules/absorbance_reader.py

@@ -295,6 +295,7 @@ async def update_device(self, firmware_file_path: str) -> Tuple[bool, str]:
         log.debug(f"Updating {self.name}: {self.port} with {firmware_file_path}")
         self._updating = True
         success, res = await self._driver.update_firmware(firmware_file_path)
+        self._device_info = await self._driver.get_device_info()
         await self._poller.start()
         self._updating = False
         return success, res

api/src/opentrons/hardware_control/modules/update.py

@@ -141,7 +141,8 @@ async def upload_via_avrdude(
         "-b{}".format(BAUDRATE),
         "-D",
         "-Uflash:w:{}:i".format(firmware_file_path),
-        **kwargs,
+        stdout=kwargs["stdout"],
+        stderr=kwargs["stderr"],
     )
     await proc.wait()
 
@@ -193,8 +194,9 @@ async def upload_via_bossa(
         "--offset=0x2000",
         f"{firmware_file_path}",
     ]
-
-    proc = await asyncio.create_subprocess_exec(*bossa_args, **kwargs)
+    proc = await asyncio.create_subprocess_exec(
+        *bossa_args, stdout=kwargs["stdout"], stderr=kwargs["stderr"]
+    )
     stdout, stderr = await proc.communicate()
     res = stdout.decode()
     if "Verify successful" in res:
@@ -233,7 +235,9 @@ async def upload_via_dfu(
         f"-D{firmware_file_path}",
         "-R",
     ]
-    proc = await asyncio.create_subprocess_exec(*dfu_args, **kwargs)
+    proc = await asyncio.create_subprocess_exec(
+        *dfu_args, stdout=kwargs["stdout"], stderr=kwargs["stderr"]
+    )
     stdout, stderr = await proc.communicate()
     res = stdout.decode()
 

api/src/opentrons/hardware_control/poller.py

@@ -36,10 +36,6 @@ def __init__(self, reader: Reader, interval: float) -> None:
         self._poll_waiters: List["asyncio.Future[None]"] = []
         self._poll_forever_task: Optional["asyncio.Task[None]"] = None
 
-    @property
-    def is_running(self) -> bool:
-        return self._poll_forever_task is not None
-
     async def start(self) -> None:
         assert self._poll_forever_task is None, "Poller already started"
         self._poll_forever_task = asyncio.create_task(self._poll_forever())
@@ -56,7 +52,6 @@ async def stop(self) -> None:
             await asyncio.gather(task, return_exceptions=True)
         for waiter in self._poll_waiters:
             waiter.cancel(msg="Module was removed")
-        self._poll_forever_task = None
 
     async def wait_next_poll(self) -> None:
         """Wait for the next poll to complete.

api/tests/opentrons/drivers/absorbance_reader/test_driver.py

@@ -60,7 +60,7 @@ async def test_driver_connect_disconnect(
 
     mock_interface.byonoy_open_device.assert_called_once()
     assert await driver.is_connected()
-    assert driver._connection.verify_device_handle()
+    assert driver._connection._verify_device_handle()
     assert driver._connection._device_handle == 1
 
     mock_interface.byonoy_free_device.return_value = MockErrorCode.BYONOY_ERROR_NO_ERROR