Added feature flag to enable movement without an estop

api/src/opentrons/config/advanced_settings.py

@@ -191,6 +191,11 @@ class Setting(NamedTuple):
         title="Disable the LED status bar on the Flex.",
         description="This setting disables the LED status bar on the Flex.",
     ),
+    SettingDefinition(
+        _id="estopNotRequired",
+        title="If enabled, the Flex gantry can move with no estop attached.",
+        description="This setting allows the gantry on the Flex to move with no estop attached.",
+    ),
 ]
 
 if ARCHITECTURE == SystemArchitecture.BUILDROOT:
@@ -587,6 +592,16 @@ def _migrate26to27(previous: SettingsMap) -> SettingsMap:
     return newmap
 
 
+def _migrate27to28(previous: SettingsMap) -> SettingsMap:
+    """Migrate to version 28 of the feature flags file.
+
+    - Adds the estopNotRequired config element.
+    """
+    newmap = {k: v for k, v in previous.items()}
+    newmap["estopNotRequired"] = None
+    return newmap
+
+
 _MIGRATIONS = [
     _migrate0to1,
     _migrate1to2,
@@ -615,6 +630,7 @@ def _migrate26to27(previous: SettingsMap) -> SettingsMap:
     _migrate24to25,
     _migrate25to26,
     _migrate26to27,
+    _migrate27to28,
 ]
 """
 List of all migrations to apply, indexed by (version - 1). See _migrate below

api/src/opentrons/config/feature_flags.py

@@ -48,3 +48,8 @@ def overpressure_detection_enabled() -> bool:
 def status_bar_enabled() -> bool:
     """Whether the status bar is enabled."""
     return not advs.get_setting_with_env_overload("disableStatusBar")
+
+
+def require_estop() -> bool:
+    """Whether the OT3 should allow gantry movements with no Estop plugged in."""
+    return not advs.get_setting_with_env_overload("estopNotRequired")

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

@@ -197,7 +197,7 @@ def requires_estop(func: Wrapped) -> Wrapped:
     @wraps(func)
     async def wrapper(self: OT3Controller, *args: Any, **kwargs: Any) -> Any:
         state = self._estop_state_machine.state
-        if state == EstopState.NOT_PRESENT:
+        if state == EstopState.NOT_PRESENT and ff.require_estop():
             raise EStopNotPresentError(
                 message="An Estop must be plugged in to move the robot."
             )

api/tests/opentrons/config/test_advanced_settings_migration.py

@@ -7,7 +7,7 @@
 
 @pytest.fixture
 def migrated_file_version() -> int:
-    return 27
+    return 28
 
 
 # make sure to set a boolean value in default_file_settings only if
@@ -27,6 +27,7 @@ def default_file_settings() -> Dict[str, Any]:
         "disableStallDetection": None,
         "disableStatusBar": None,
         "disableOverpressureDetection": None,
+        "estopNotRequired": None,
     }
 
 
@@ -333,6 +334,18 @@ def v27_config(v26_config: Dict[str, Any]) -> Dict[str, Any]:
     return r
 
 
+@pytest.fixture
+def v28_config(v27_config: Dict[str, Any]) -> Dict[str, Any]:
+    r = v27_config.copy()
+    r.update(
+        {
+            "_version": 28,
+            "estopNotRequired": None,
+        }
+    )
+    return r
+
+
 @pytest.fixture(
     scope="session",
     params=[
@@ -365,6 +378,7 @@ def v27_config(v26_config: Dict[str, Any]) -> Dict[str, Any]:
         lazy_fixture("v25_config"),
         lazy_fixture("v26_config"),
         lazy_fixture("v27_config"),
+        lazy_fixture("v28_config"),
     ],
 )
 def old_settings(request: pytest.FixtureRequest) -> Dict[str, Any]:
@@ -454,4 +468,5 @@ def test_ensures_config() -> None:
         "rearPanelIntegration": None,
         "disableStallDetection": None,
         "disableStatusBar": None,
+        "estopNotRequired": None,
     }