gracefully exit gpio

Opentrons · Jul 26, 2023 · ef486d4 · ef486d4
1 parent a95ae99
commit ef486d4
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Showing 3 changed files with 24 additions and 10 deletions.
diff --git a/hardware-testing/hardware_testing/gravimetric/__main__.py b/hardware-testing/hardware_testing/gravimetric/__main__.py
@@ -317,14 +317,19 @@ def _main(args: argparse.Namespace, _ctx: ProtocolContext) -> None:
         deck_version="2",
         extra_labware=custom_defs,
     )
-    if args.tip == 0:
-        for tip in get_tip_volumes_for_qc(
-            args.pipette, args.channels, args.extra, args.photometric
-        ):
-            hw = _ctx._core.get_hardware()
-            if not _ctx.is_simulating():
-                ui.alert_user_ready(f"Ready to run with {tip}ul tip?", hw)
-            args.tip = tip
+    try:
+        if args.tip == 0:
+            for tip in get_tip_volumes_for_qc(
+                args.pipette, args.channels, args.extra, args.photometric
+            ):
+                hw = _ctx._core.get_hardware()
+                if not _ctx.is_simulating():
+                    ui.alert_user_ready(f"Ready to run with {tip}ul tip?", hw)
+                args.tip = tip
+                _main(args, _ctx)
+        else:
             _main(args, _ctx)
-    else:
-        _main(args, _ctx)
+    except Exception:
+        pass
+    finally:
+        _ctx._core.get_hardware()._backend.eeprom_driver._gpio.__del__()
diff --git a/hardware/opentrons_hardware/drivers/eeprom/eeprom.py b/hardware/opentrons_hardware/drivers/eeprom/eeprom.py
@@ -128,6 +128,7 @@ def close(self) -> bool:
             logger.debug("Closing eeprom file descriptor")
             os.close(self._eeprom_fd)
             self._eeprom_fd = -1
+        self._gpio.__del__()
         return True
 
     def property_read(self, prop_ids: Optional[Set[PropId]] = None) -> Set[Property]:

diff --git a/hardware/opentrons_hardware/drivers/gpio/__init__.py b/hardware/opentrons_hardware/drivers/gpio/__init__.py
@@ -63,6 +63,14 @@ def __init__(self, consumer_name: Optional[str] = None) -> None:
         self.deactivate_eeprom_wp()
         sleep(1)
 
+    def __del__(self) -> None:
+        try:
+            self._estop_out_line.release()
+            self._nsync_out_line.release()
+            self._eeprom_wp_out_line.release()
+        except Exception:
+            pass
+
     def activate_estop(self) -> None:
         """Assert the emergency stop, which will disable all motors."""
         self._estop_out_line.set_value(0)