Port Hamilton Nimbus to v1b1 architecture

pylabrobot/hamilton/liquid_handlers/nimbus/__init__.py

@@ -0,0 +1,5 @@
+from .chatterbox import NimbusChatterboxDriver
+from .door import NimbusDoor
+from .driver import NimbusDriver
+from .nimbus import Nimbus
+from .pip_backend import NimbusPIPBackend

pylabrobot/hamilton/liquid_handlers/nimbus/chatterbox.py

@@ -0,0 +1,69 @@
+"""NimbusChatterboxDriver: prints commands instead of sending them over TCP."""
+
+from __future__ import annotations
+
+import logging
+from typing import Optional
+
+from pylabrobot.hamilton.tcp.commands import HamiltonCommand
+from pylabrobot.hamilton.tcp.packets import Address
+
+from .door import NimbusDoor
+from .driver import NimbusDriver
+
+logger = logging.getLogger(__name__)
+
+
+class NimbusChatterboxDriver(NimbusDriver):
+  """Chatterbox driver for Nimbus. Simulates commands for testing without hardware.
+
+  Inherits NimbusDriver but overrides setup/stop/send_command to skip TCP
+  and use canned addresses and responses instead.
+  """
+
+  def __init__(self, num_channels: int = 8):
+    # Pass dummy host — Socket is created but never opened
+    super().__init__(host="chatterbox", port=2000)
+    self._num_channels = num_channels
+
+  async def setup(self, deck=None):
+    from .pip_backend import NimbusPIPBackend
+
+    # Use canned addresses (skip TCP connection entirely)
+    pipette_address = Address(1, 1, 257)
+    self._nimbus_core_address = Address(1, 1, 48896)
+    door_address = Address(1, 1, 268)
+
+    self.pip = NimbusPIPBackend(
+      driver=self, deck=deck, address=pipette_address, num_channels=self._num_channels
+    )
+    self.door = NimbusDoor(driver=self, address=door_address)
+
+  async def stop(self):
+    if self.door is not None:
+      await self.door._on_stop()
+    self.door = None
+
+  async def send_command(self, command: HamiltonCommand, timeout: float = 10.0) -> Optional[dict]:
+    logger.info(f"[Chatterbox] {command.__class__.__name__}")
+
+    # Return canned responses for commands that need them
+    from .commands import (
+      GetChannelConfiguration,
+      GetChannelConfiguration_1,
+      IsDoorLocked,
+      IsInitialized,
+      IsTipPresent,
+    )
+
+    if isinstance(command, GetChannelConfiguration_1):
+      return {"channels": self._num_channels}
+    if isinstance(command, IsInitialized):
+      return {"initialized": True}
+    if isinstance(command, IsTipPresent):
+      return {"tip_present": [False] * self._num_channels}
+    if isinstance(command, IsDoorLocked):
+      return {"locked": True}
+    if isinstance(command, GetChannelConfiguration):
+      return {"enabled": [False]}
+    return None