From b12ba2702c0728aeef9292ce7d51fc13d3e7e68b Mon Sep 17 00:00:00 2001 From: Alise Au <20424172+ahiuchingau@users.noreply.github.com> Date: Wed, 20 Nov 2024 12:05:50 -0500 Subject: [PATCH] feat(flex-stacker): implement platform sensors and door switch gpios (#481) --- .../firmware/motor_control/motor_hardware.c | 31 +++++- .../firmware/motor_control/motor_policy.cpp | 5 + .../flex-stacker/firmware/system/main.h | 2 - .../firmware/system/system_hardware.c | 18 ++++ .../firmware/system/system_policy.cpp | 8 ++ .../flex-stacker/firmware/motor_hardware.h | 8 ++ .../flex-stacker/firmware/motor_policy.hpp | 1 + .../flex-stacker/firmware/system_hardware.h | 5 + .../flex-stacker/firmware/system_policy.hpp | 2 + .../flex-stacker/flex-stacker/gcodes.hpp | 30 ++++++ .../flex-stacker/gcodes_motor.hpp | 32 ++++++ .../flex-stacker/host_comms_task.hpp | 100 +++++++++++++++++- .../flex-stacker/flex-stacker/messages.hpp | 38 +++++-- .../flex-stacker/flex-stacker/motor_task.hpp | 11 ++ .../flex-stacker/flex-stacker/system_task.hpp | 19 +++- 15 files changed, 295 insertions(+), 15 deletions(-) diff --git a/stm32-modules/flex-stacker/firmware/motor_control/motor_hardware.c b/stm32-modules/flex-stacker/firmware/motor_control/motor_hardware.c index da125fde..8d9d5690 100644 --- a/stm32-modules/flex-stacker/firmware/motor_control/motor_hardware.c +++ b/stm32-modules/flex-stacker/firmware/motor_control/motor_hardware.c @@ -42,11 +42,17 @@ typedef struct stepper_hardware_struct { PinConfig diag0; } stepper_hardware_t; +typedef struct platform_sensor_struct { + PinConfig x_minus; + PinConfig x_plus; +} platform_sensor_t; + typedef struct motor_hardware_struct { bool initialized; stepper_hardware_t motor_x; stepper_hardware_t motor_z; stepper_hardware_t motor_l; + platform_sensor_t platform_sensors; } motor_hardware_t; @@ -81,7 +87,11 @@ static motor_hardware_t _motor_hardware = { .limit_switch_plus = {L_N_RELEASED_PORT, L_N_RELEASED_PIN, GPIO_PIN_RESET}, .diag0 = {MOTOR_DIAG0_PORT, MOTOR_DIAG0_PIN, GPIO_PIN_SET}, .ebrake = {0}, - } + }, + .platform_sensors = { + .x_minus = {PLAT_SENSE_MINUS_PORT, PLAT_SENSE_MINUS_PIN, GPIO_PIN_SET}, + .x_plus = {PLAT_SENSE_PLUS_PORT, PLAT_SENSE_PLUS_PIN, GPIO_PIN_SET}, + }, }; void motor_hardware_gpio_init(void){ @@ -93,6 +103,7 @@ void motor_hardware_gpio_init(void){ __HAL_RCC_GPIOF_CLK_ENABLE(); __HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_GPIOB_CLK_ENABLE(); + __HAL_RCC_GPIOD_CLK_ENABLE(); /*Configure GPIO pins : OUTPUTS */ init.Mode = GPIO_MODE_OUTPUT_PP; @@ -154,6 +165,13 @@ void motor_hardware_gpio_init(void){ init.Pin = X_PLUS_LIMIT_PIN; HAL_GPIO_Init(X_PLUS_LIMIT_PORT, &init); + // Platform sensors + init.Pin = PLAT_SENSE_PLUS_PIN; + HAL_GPIO_Init(PLAT_SENSE_PLUS_PORT, &init); + + init.Pin = PLAT_SENSE_MINUS_PIN; + HAL_GPIO_Init(PLAT_SENSE_MINUS_PORT, &init); + // L MOTOR init.Pin = L_N_HELD_PIN; HAL_GPIO_Init(L_N_HELD_PORT, &init); @@ -365,6 +383,17 @@ bool hw_read_limit_switch(MotorID motor_id, bool direction) { motor.limit_switch_minus.active_setting; } +bool hw_read_platform_sensor(bool direction) { + if (direction) { + return HAL_GPIO_ReadPin(_motor_hardware.platform_sensors.x_plus.port, + _motor_hardware.platform_sensors.x_plus.pin) == + _motor_hardware.platform_sensors.x_plus.active_setting; + } + return HAL_GPIO_ReadPin(_motor_hardware.platform_sensors.x_minus.port, + _motor_hardware.platform_sensors.x_minus.pin) == + _motor_hardware.platform_sensors.x_minus.active_setting; +} + void hw_set_diag0_irq(bool enable) { enable ? HAL_NVIC_EnableIRQ(EXTI15_10_IRQn) : diff --git a/stm32-modules/flex-stacker/firmware/motor_control/motor_policy.cpp b/stm32-modules/flex-stacker/firmware/motor_control/motor_policy.cpp index 984e9bed..fab9740f 100644 --- a/stm32-modules/flex-stacker/firmware/motor_control/motor_policy.cpp +++ b/stm32-modules/flex-stacker/firmware/motor_control/motor_policy.cpp @@ -32,6 +32,11 @@ auto MotorPolicy::check_limit_switch(MotorID motor_id, bool direction) -> bool { return hw_read_limit_switch(motor_id, direction); } +// NOLINTNEXTLINE(readability-convert-member-functions-to-static) +auto MotorPolicy::check_platform_sensor(bool direction) -> bool { + return hw_read_platform_sensor(direction); +} + // NOLINTNEXTLINE(readability-convert-member-functions-to-static) auto MotorPolicy::set_diag0_irq(bool enable) -> void { hw_set_diag0_irq(enable); diff --git a/stm32-modules/flex-stacker/firmware/system/main.h b/stm32-modules/flex-stacker/firmware/system/main.h index 196d27f2..5d5b0f1f 100644 --- a/stm32-modules/flex-stacker/firmware/system/main.h +++ b/stm32-modules/flex-stacker/firmware/system/main.h @@ -33,8 +33,6 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim); void Error_Handler(void); /* Private defines -----------------------------------------------------------*/ -#define HOPPER_DOR_CLOSED_Pin GPIO_PIN_13 -#define HOPPER_DOR_CLOSED_GPIO_Port GPIOC #define MOTOR_DIR_Z_Pin GPIO_PIN_1 #define MOTOR_DIR_Z_GPIO_Port GPIOC diff --git a/stm32-modules/flex-stacker/firmware/system/system_hardware.c b/stm32-modules/flex-stacker/firmware/system/system_hardware.c index 2217e253..233642fc 100644 --- a/stm32-modules/flex-stacker/firmware/system/system_hardware.c +++ b/stm32-modules/flex-stacker/firmware/system/system_hardware.c @@ -58,3 +58,21 @@ void system_hardware_enter_bootloader(void) { : "r" (*sysmem_boot_loc) : "memory" ); } + +void system_hardware_gpio_init(void) { + GPIO_InitTypeDef init = {0}; + + /* GPIO Ports Clock Enable */ + __HAL_RCC_GPIOC_CLK_ENABLE(); + + init.Mode = GPIO_MODE_INPUT; + init.Pull = GPIO_NOPULL; + init.Speed = GPIO_SPEED_FREQ_LOW; + init.Pin = HOPPER_DOR_CLOSED_PIN; + HAL_GPIO_Init(HOPPER_DOR_CLOSED_GPIO_PORT, &init); +} + + +bool system_hardware_read_door_closed(void) { + return HAL_GPIO_ReadPin(HOPPER_DOR_CLOSED_GPIO_PORT, HOPPER_DOR_CLOSED_PIN) == GPIO_PIN_SET; +} \ No newline at end of file diff --git a/stm32-modules/flex-stacker/firmware/system/system_policy.cpp b/stm32-modules/flex-stacker/firmware/system/system_policy.cpp index 05e5ac90..e6382f49 100644 --- a/stm32-modules/flex-stacker/firmware/system/system_policy.cpp +++ b/stm32-modules/flex-stacker/firmware/system/system_policy.cpp @@ -57,3 +57,11 @@ auto SystemPolicy::get_serial_number() } return serial_number_array; } + +// NOLINTNEXTLINE(readability-convert-member-functions-to-static) +auto SystemPolicy::initialize() -> void { system_hardware_gpio_init(); } + +// NOLINTNEXTLINE(readability-convert-member-functions-to-static) +auto SystemPolicy::get_door_closed() -> bool { + return system_hardware_read_door_closed(); +} diff --git a/stm32-modules/include/flex-stacker/firmware/motor_hardware.h b/stm32-modules/include/flex-stacker/firmware/motor_hardware.h index 84d14ed1..ed28f385 100644 --- a/stm32-modules/include/flex-stacker/firmware/motor_hardware.h +++ b/stm32-modules/include/flex-stacker/firmware/motor_hardware.h @@ -21,6 +21,7 @@ bool hw_stop_motor(MotorID motor_id); void hw_set_direction(MotorID, bool direction); bool hw_read_limit_switch(MotorID motor_id, bool direction); void hw_set_diag0_irq(bool enable); +bool hw_read_platform_sensor(bool direction); #ifdef __cplusplus } // extern "C" @@ -69,6 +70,13 @@ void hw_set_diag0_irq(bool enable); #define X_PLUS_LIMIT_PIN (GPIO_PIN_2) #define X_PLUS_LIMIT_PORT (GPIOA) +/** Platform Sensor **/ +/* + (PC6) and - (PD2) */ +#define PLAT_SENSE_PLUS_PIN (GPIO_PIN_6) +#define PLAT_SENSE_PLUS_PORT (GPIOC) +#define PLAT_SENSE_MINUS_PIN (GPIO_PIN_2) +#define PLAT_SENSE_MINUS_PORT (GPIOD) + /******************* Motor L *******************/ /** Motor hardware **/ diff --git a/stm32-modules/include/flex-stacker/firmware/motor_policy.hpp b/stm32-modules/include/flex-stacker/firmware/motor_policy.hpp index 9384cb53..c541d70f 100644 --- a/stm32-modules/include/flex-stacker/firmware/motor_policy.hpp +++ b/stm32-modules/include/flex-stacker/firmware/motor_policy.hpp @@ -15,6 +15,7 @@ class MotorPolicy { auto set_direction(MotorID motor_id, bool direction) -> void; auto check_limit_switch(MotorID motor_id, bool direction) -> bool; auto set_diag0_irq(bool enable) -> void; + auto check_platform_sensor(bool direction) -> bool; }; } // namespace motor_policy diff --git a/stm32-modules/include/flex-stacker/firmware/system_hardware.h b/stm32-modules/include/flex-stacker/firmware/system_hardware.h index 9bf035db..51741b2c 100644 --- a/stm32-modules/include/flex-stacker/firmware/system_hardware.h +++ b/stm32-modules/include/flex-stacker/firmware/system_hardware.h @@ -6,10 +6,15 @@ extern "C" { #include +#define HOPPER_DOR_CLOSED_PIN GPIO_PIN_13 +#define HOPPER_DOR_CLOSED_GPIO_PORT GPIOC + /** * @brief Enter the bootloader. This function never returns. */ void system_hardware_enter_bootloader(void); +void system_hardware_gpio_init(void); +bool system_hardware_read_door_closed(void); #ifdef __cplusplus } // extern "C" diff --git a/stm32-modules/include/flex-stacker/firmware/system_policy.hpp b/stm32-modules/include/flex-stacker/firmware/system_policy.hpp index 317e1198..87b7745f 100644 --- a/stm32-modules/include/flex-stacker/firmware/system_policy.hpp +++ b/stm32-modules/include/flex-stacker/firmware/system_policy.hpp @@ -16,9 +16,11 @@ class SystemPolicy { SYSTEM_SERIAL_NUMBER_LENGTH / ADDRESS_LENGTH; public: + auto initialize() -> void; auto enter_bootloader() -> void; auto set_serial_number( std::array system_serial_number) -> errors::ErrorCode; auto get_serial_number() -> std::array; + auto get_door_closed() -> bool; }; diff --git a/stm32-modules/include/flex-stacker/flex-stacker/gcodes.hpp b/stm32-modules/include/flex-stacker/flex-stacker/gcodes.hpp index 28f1c062..21251861 100644 --- a/stm32-modules/include/flex-stacker/flex-stacker/gcodes.hpp +++ b/stm32-modules/include/flex-stacker/flex-stacker/gcodes.hpp @@ -181,4 +181,34 @@ struct SetSerialNumber { } }; +struct GetDoorClosed { + using ParseResult = std::optional; + static constexpr auto prefix = std::array{'M', '1', '2', '2'}; + + template + requires std::forward_iterator && + std::sized_sentinel_for + static auto parse(const InputIt& input, Limit limit) + -> std::pair { + auto working = prefix_matches(input, limit, prefix); + if (working == input) { + return std::make_pair(ParseResult(), input); + } + return std::make_pair(ParseResult(GetDoorClosed()), working); + } + + template + requires std::forward_iterator && + std::sized_sentinel_for + static auto write_response_into(InputIt buf, InLimit limit, int door_closed) + -> InputIt { + int res = 0; + res = snprintf(&*buf, (limit - buf), "M122 %i OK\n", door_closed); + if (res <= 0) { + return buf; + } + return buf + res; + } +}; + } // namespace gcode diff --git a/stm32-modules/include/flex-stacker/flex-stacker/gcodes_motor.hpp b/stm32-modules/include/flex-stacker/flex-stacker/gcodes_motor.hpp index 65a9ebba..6d113ca3 100644 --- a/stm32-modules/include/flex-stacker/flex-stacker/gcodes_motor.hpp +++ b/stm32-modules/include/flex-stacker/flex-stacker/gcodes_motor.hpp @@ -944,4 +944,36 @@ struct GetMotorStallGuard { } }; +struct GetPlatformSensors { + using ParseResult = std::optional; + static constexpr auto prefix = std::array{'M', '1', '2', '1'}; + + template + requires std::forward_iterator && + std::sized_sentinel_for + static auto parse(const InputIt& input, Limit limit) + -> std::pair { + auto working = prefix_matches(input, limit, prefix); + if (working == input) { + return std::make_pair(ParseResult(), input); + } + return std::make_pair(ParseResult(GetPlatformSensors()), working); + } + + template + requires std::forward_iterator && + std::sized_sentinel_for + static auto write_response_into(InputIt buf, InLimit limit, + int extend_presence, int retract_presence) + -> InputIt { + int res = 0; + res = snprintf(&*buf, (limit - buf), "M121 E:%i R:%i OK\n", + extend_presence, retract_presence); + if (res <= 0) { + return buf; + } + return buf + res; + } +}; + } // namespace gcode diff --git a/stm32-modules/include/flex-stacker/flex-stacker/host_comms_task.hpp b/stm32-modules/include/flex-stacker/flex-stacker/host_comms_task.hpp index f26f7839..f8914ee4 100644 --- a/stm32-modules/include/flex-stacker/flex-stacker/host_comms_task.hpp +++ b/stm32-modules/include/flex-stacker/flex-stacker/host_comms_task.hpp @@ -46,7 +46,8 @@ class HostCommsTask { gcode::SetHoldCurrent, gcode::EnableMotor, gcode::DisableMotor, gcode::MoveMotorInSteps, gcode::MoveToLimitSwitch, gcode::MoveMotorInMm, gcode::GetLimitSwitches, gcode::SetMicrosteps, gcode::GetMoveParams, - gcode::SetMotorStallGuard, gcode::GetMotorStallGuard, gcode::HomeMotor>; + gcode::SetMotorStallGuard, gcode::GetMotorStallGuard, gcode::HomeMotor, + gcode::GetPlatformSensors, gcode::GetDoorClosed>; using AckOnlyCache = AckCache<8, gcode::EnterBootloader, gcode::SetSerialNumber, gcode::SetTMCRegister, gcode::SetRunCurrent, @@ -59,6 +60,8 @@ class HostCommsTask { using GetLimitSwitchesCache = AckCache<8, gcode::GetLimitSwitches>; using GetMoveParamsCache = AckCache<8, gcode::GetMoveParams>; using GetMotorStallGuardCache = AckCache<8, gcode::GetMotorStallGuard>; + using GetDoorClosedCache = AckCache<8, gcode::GetDoorClosed>; + using GetPlatformSensorsCache = AckCache<8, gcode::GetPlatformSensors>; public: static constexpr size_t TICKS_TO_WAIT_ON_SEND = 10; @@ -77,7 +80,11 @@ class HostCommsTask { // NOLINTNEXTLINE(readability-redundant-member-init) get_move_params_cache(), // NOLINTNEXTLINE(readability-redundant-member-init) - get_motor_stall_guard_cache() {} + get_motor_stall_guard_cache(), + // NOLINTNEXTLINE(readability-redundant-member-init) + get_door_closed_cache(), + // NOLINTNEXTLINE(readability-redundant-member-init) + get_platform_sensors_cache() {} HostCommsTask(const HostCommsTask& other) = delete; auto operator=(const HostCommsTask& other) -> HostCommsTask& = delete; HostCommsTask(HostCommsTask&& other) noexcept = delete; @@ -354,6 +361,51 @@ class HostCommsTask { cache_entry); } + template + requires std::forward_iterator && + std::sized_sentinel_for + auto visit_message(const messages::GetDoorClosedResponse& response, + InputIt tx_into, InputLimit tx_limit) -> InputIt { + auto cache_entry = + get_door_closed_cache.remove_if_present(response.responding_to_id); + return std::visit( + [tx_into, tx_limit, response](auto cache_element) { + using T = std::decay_t; + if constexpr (std::is_same_v) { + return errors::write_into( + tx_into, tx_limit, + errors::ErrorCode::BAD_MESSAGE_ACKNOWLEDGEMENT); + } else { + return cache_element.write_response_into( + tx_into, tx_limit, response.door_closed); + } + }, + cache_entry); + } + + template + requires std::forward_iterator && + std::sized_sentinel_for + auto visit_message(const messages::GetPlatformSensorsResponse& response, + InputIt tx_into, InputLimit tx_limit) -> InputIt { + auto cache_entry = get_platform_sensors_cache.remove_if_present( + response.responding_to_id); + return std::visit( + [tx_into, tx_limit, response](auto cache_element) { + using T = std::decay_t; + if constexpr (std::is_same_v) { + return errors::write_into( + tx_into, tx_limit, + errors::ErrorCode::BAD_MESSAGE_ACKNOWLEDGEMENT); + } else { + return cache_element.write_response_into( + tx_into, tx_limit, response.extend_presence, + response.retract_presence); + } + }, + cache_entry); + } + template requires std::forward_iterator && std::sized_sentinel_for @@ -856,6 +908,48 @@ class HostCommsTask { cache_entry); } + template + requires std::forward_iterator && + std::sized_sentinel_for + auto visit_gcode(const gcode::GetDoorClosed& gcode, InputIt tx_into, + InputLimit tx_limit) -> std::pair { + auto id = get_door_closed_cache.add(gcode); + if (id == 0) { + return std::make_pair( + false, errors::write_into(tx_into, tx_limit, + errors::ErrorCode::GCODE_CACHE_FULL)); + } + auto message = messages::GetDoorClosedMessage{.id = id}; + if (!task_registry->send(message, TICKS_TO_WAIT_ON_SEND)) { + auto wrote_to = errors::write_into( + tx_into, tx_limit, errors::ErrorCode::INTERNAL_QUEUE_FULL); + get_door_closed_cache.remove_if_present(id); + return std::make_pair(false, wrote_to); + } + return std::make_pair(true, tx_into); + } + + template + requires std::forward_iterator && + std::sized_sentinel_for + auto visit_gcode(const gcode::GetPlatformSensors& gcode, InputIt tx_into, + InputLimit tx_limit) -> std::pair { + auto id = get_platform_sensors_cache.add(gcode); + if (id == 0) { + return std::make_pair( + false, errors::write_into(tx_into, tx_limit, + errors::ErrorCode::GCODE_CACHE_FULL)); + } + auto message = messages::GetPlatformSensorsMessage{.id = id}; + if (!task_registry->send(message, TICKS_TO_WAIT_ON_SEND)) { + auto wrote_to = errors::write_into( + tx_into, tx_limit, errors::ErrorCode::INTERNAL_QUEUE_FULL); + get_platform_sensors_cache.remove_if_present(id); + return std::make_pair(false, wrote_to); + } + return std::make_pair(true, tx_into); + } + // Our error handler just writes an error and bails template requires std::forward_iterator && @@ -876,6 +970,8 @@ class HostCommsTask { GetLimitSwitchesCache get_limit_switches_cache; GetMoveParamsCache get_move_params_cache; GetMotorStallGuardCache get_motor_stall_guard_cache; + GetDoorClosedCache get_door_closed_cache; + GetPlatformSensorsCache get_platform_sensors_cache; bool may_connect_latch = true; }; diff --git a/stm32-modules/include/flex-stacker/flex-stacker/messages.hpp b/stm32-modules/include/flex-stacker/flex-stacker/messages.hpp index 64d1d508..5c5cdbd8 100644 --- a/stm32-modules/include/flex-stacker/flex-stacker/messages.hpp +++ b/stm32-modules/include/flex-stacker/flex-stacker/messages.hpp @@ -239,6 +239,25 @@ struct GetMotorStallGuardResponse { int sgt; }; +struct GetDoorClosedMessage { + uint32_t id; +}; + +struct GetDoorClosedResponse { + uint32_t responding_to_id; + bool door_closed; +}; + +struct GetPlatformSensorsMessage { + uint32_t id; +}; + +struct GetPlatformSensorsResponse { + uint32_t responding_to_id; + bool extend_presence; // Sensor located on the positive end of X axis + bool retract_presence; // Sensor located on the negative end of X axis +}; + struct HomeMotorMessage { uint32_t id; MotorID motor_id; @@ -249,11 +268,13 @@ using HostCommsMessage = ::std::variant; + GetMoveParamsResponse, GetMotorStallGuardResponse, + GetDoorClosedResponse, GetPlatformSensorsResponse>; using SystemMessage = ::std::variant; + SetSerialNumberMessage, EnterBootloaderMessage, + GetDoorClosedMessage>; using MotorDriverMessage = ::std::variant; -using MotorMessage = - ::std::variant; +using MotorMessage = ::std::variant< + std::monostate, MotorEnableMessage, MoveMotorInStepsMessage, + MoveToLimitSwitchMessage, StopMotorMessage, MoveCompleteMessage, + GetLimitSwitchesMessage, MoveMotorInMmMessage, SetMicrostepsMessage, + GetMoveParamsMessage, SetDiag0IRQMessage, GPIOInterruptMessage, + HomeMotorMessage, GetPlatformSensorsMessage>; }; // namespace messages diff --git a/stm32-modules/include/flex-stacker/flex-stacker/motor_task.hpp b/stm32-modules/include/flex-stacker/flex-stacker/motor_task.hpp index c0b17121..1212951b 100644 --- a/stm32-modules/include/flex-stacker/flex-stacker/motor_task.hpp +++ b/stm32-modules/include/flex-stacker/flex-stacker/motor_task.hpp @@ -339,6 +339,17 @@ class MotorTask { response, Queues::HostCommsAddress)); } + template + auto visit_message(const messages::GetPlatformSensorsMessage& m, + Policy& policy) -> void { + auto response = messages::GetPlatformSensorsResponse{ + .responding_to_id = m.id, + .extend_presence = policy.check_platform_sensor(true), + .retract_presence = policy.check_platform_sensor(false)}; + static_cast(_task_registry->send_to_address( + response, Queues::HostCommsAddress)); + } + template auto visit_message(const messages::MoveCompleteMessage& m, Policy& policy) -> void { diff --git a/stm32-modules/include/flex-stacker/flex-stacker/system_task.hpp b/stm32-modules/include/flex-stacker/flex-stacker/system_task.hpp index c20510d3..33efd3c1 100644 --- a/stm32-modules/include/flex-stacker/flex-stacker/system_task.hpp +++ b/stm32-modules/include/flex-stacker/flex-stacker/system_task.hpp @@ -46,7 +46,8 @@ class SystemTask { : _message_queue(q), _task_registry(aggregator), // NOLINTNEXTLINE(readability-redundant-member-init) - _prep_cache() {} + _prep_cache(), + _initialized(false) {} SystemTask(const SystemTask& other) = delete; auto operator=(const SystemTask& other) -> SystemTask& = delete; SystemTask(SystemTask&& other) noexcept = delete; @@ -61,6 +62,12 @@ class SystemTask { auto run_once(Policy& policy) -> void { auto message = Message(std::monostate()); _message_queue.recv(&message); + + if (!_initialized) { + policy.initialize(); + _initialized = true; + } + auto visit_helper = [this, &policy](auto& message) -> void { this->visit_message(message, policy); }; @@ -127,6 +134,15 @@ class SystemTask { } } + template + auto visit_message(const messages::GetDoorClosedMessage& m, Policy& policy) + -> void { + auto response = messages::GetDoorClosedResponse{ + .responding_to_id = m.id, .door_closed = policy.get_door_closed()}; + static_cast(_task_registry->send_to_address( + response, Queues::HostCommsAddress)); + } + template auto visit_message(const std::monostate& message, Policy& policy) -> void { static_cast(message); @@ -136,6 +152,7 @@ class SystemTask { Queue& _message_queue; Aggregator* _task_registry; BootloaderPrepCache _prep_cache; + bool _initialized; }; }; // namespace system_task