updated message naming

Opentrons · Dec 18, 2023 · 19ace41 · 19ace41
1 parent c7af96e
commit 19ace41
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Showing 16 changed files with 35 additions and 30 deletions.
diff --git a/gripper/simulator/interfaces.cpp b/gripper/simulator/interfaces.cpp
@@ -135,7 +135,8 @@ static brushed_motor_handler::BrushedMotorInterruptHandler
 static brushed_motor_interrupt_driver::BrushedMotorInterruptDriver G(
     brushed_motor_queue, brushed_motor_interrupt, brushed_motor_hardware_iface);
 
-void z_motor_iface::initialize() {
+void z_motor_iface::initialize(diag0_handler *call_diag0_handler) {
+    static_cast<void>(call_diag0_handler);
     motor_interface.provide_mech_config(z_motor_sys_config);
 };
 

diff --git a/gripper/simulator/main.cpp b/gripper/simulator/main.cpp
@@ -21,6 +21,8 @@
 
 namespace po = boost::program_options;
 
+static z_motor_iface::diag0_handler call_diag0_handler = nullptr;
+
 void signal_handler(int signum) {
     LOG("Interrupt signal (%d) received.", signum);
     exit(signum);
@@ -111,9 +113,9 @@ int main(int argc, char** argv) {
     auto i2c3 = std::make_shared<i2c::hardware::SimI2C>(i2c_device_map);
     static auto canbus =
         can::sim::bus::SimCANBus(can::sim::transport::create(options));
-    z_motor_iface::initialize();
+    z_motor_iface::initialize(&call_diag0_handler);
     grip_motor_iface::initialize();
-    gripper_tasks::start_tasks(
+    call_diag0_handler = gripper_tasks::start_tasks(
         canbus, z_motor_iface::get_z_motor(),
         grip_motor_iface::get_grip_motor(), z_motor_iface::get_spi(),
         z_motor_iface::get_tmc2130_driver_configs(), i2c2, *i2c3,

diff --git a/head/core/can_task.cpp b/head/core/can_task.cpp
@@ -29,7 +29,7 @@ using MotorDispatchTarget = can::dispatch::DispatchParseTarget<
     can::messages::ReadMotorDriverRegister,
     can::messages::WriteMotorDriverRegister,
     can::messages::WriteMotorCurrentRequest,
-    can::messages::ReadMotorDriverErrorStatus>;
+    can::messages::ReadMotorDriverErrorStatusRequest>;
 using MoveGroupDispatchTarget = can::dispatch::DispatchParseTarget<
     can::message_handlers::move_group::MoveGroupHandler<
         head_tasks::MotorQueueClient>,

diff --git a/include/can/core/ids.hpp b/include/can/core/ids.hpp
@@ -61,8 +61,8 @@ enum class MessageId {
     write_motor_current_request = 0x33,
     read_motor_current_request = 0x34,
     read_motor_current_response = 0x35,
-    read_motor_driver_error_status = 0x36,
-    read_motor_driver_error_register_response = 0x37,
+    read_motor_driver_error_status_request = 0x36,
+    read_motor_driver_error_status_response = 0x37,
     motor_driver_in_error_state = 0x38,
     set_brushed_motor_vref_request = 0x40,
     set_brushed_motor_pwm_request = 0x41,

diff --git a/include/can/core/messages.hpp b/include/can/core/messages.hpp
@@ -618,24 +618,24 @@ struct ReadMotorDriverRegisterResponse
         -> bool = default;
 };
 
-struct ReadMotorDriverErrorStatus
-    : BaseMessage<MessageId::read_motor_driver_error_status> {
+struct ReadMotorDriverErrorStatusRequest
+    : BaseMessage<MessageId::read_motor_driver_error_status_request> {
     uint32_t message_index;
 
     template <bit_utils::ByteIterator Input, typename Limit>
-    static auto parse(Input body, Limit limit) -> ReadMotorDriverErrorStatus {
+    static auto parse(Input body, Limit limit) -> ReadMotorDriverErrorStatusRequest {
         uint32_t msg_ind = 0;
 
         body = bit_utils::bytes_to_int(body, limit, msg_ind);
-        return ReadMotorDriverErrorStatus{.message_index = msg_ind};
+        return ReadMotorDriverErrorStatusRequest{.message_index = msg_ind};
     }
 
-    auto operator==(const ReadMotorDriverErrorStatus& other) const
+    auto operator==(const ReadMotorDriverErrorStatusRequest& other) const
         -> bool = default;
 };
 
-struct ReadMotorDriverErrorRegisterResponse
-    : BaseMessage<MessageId::read_motor_driver_error_register_response> {
+struct ReadMotorDriverErrorStatusResponse
+    : BaseMessage<MessageId::read_motor_driver_error_status_response> {
     uint32_t message_index;
     uint8_t reg_address;
     uint32_t data;
@@ -648,7 +648,7 @@ struct ReadMotorDriverErrorRegisterResponse
         return iter - body;
     }
 
-    auto operator==(const ReadMotorDriverErrorRegisterResponse& other) const
+    auto operator==(const ReadMotorDriverErrorStatusResponse& other) const
         -> bool = default;
 };
 
@@ -1573,7 +1573,7 @@ using ResponseMessageType = std::variant<
     PeripheralStatusResponse, BrushedMotorConfResponse,
     UpdateMotorPositionEstimationResponse, BaselineSensorResponse,
     PushTipPresenceNotification, GetMotorUsageResponse,
-    ReadMotorDriverErrorRegisterResponse, GripperJawStateResponse,
+    ReadMotorDriverErrorStatusResponse, GripperJawStateResponse,
     MotorDriverInErrorState>;
 
 }  // namespace can::messages
diff --git a/include/gantry/core/can_task.hpp b/include/gantry/core/can_task.hpp
@@ -22,7 +22,7 @@ using MotorDispatchTarget = can::dispatch::DispatchParseTarget<
     can::messages::ReadMotorDriverRegister,
     can::messages::WriteMotorDriverRegister,
     can::messages::WriteMotorCurrentRequest,
-    can::messages::ReadMotorDriverErrorStatus>;
+    can::messages::ReadMotorDriverErrorStatusRequest>;
 using MoveGroupDispatchTarget = can::dispatch::DispatchParseTarget<
     can::message_handlers::move_group::MoveGroupHandler<
         gantry::queues::QueueClient>,

diff --git a/include/gripper/core/can_task.hpp b/include/gripper/core/can_task.hpp
@@ -19,7 +19,7 @@ using MotorDispatchTarget = can::dispatch::DispatchParseTarget<
     can::messages::ReadMotorDriverRegister,
     can::messages::WriteMotorDriverRegister,
     can::messages::WriteMotorCurrentRequest,
-    can::messages::ReadMotorDriverErrorStatus>;
+    can::messages::ReadMotorDriverErrorStatusRequest>;
 using MoveGroupDispatchTarget = can::dispatch::DispatchParseTarget<
     can::message_handlers::move_group::MoveGroupHandler<z_tasks::QueueClient>,
     can::messages::AddLinearMoveRequest,

diff --git a/include/gripper/simulation/sim_interfaces.hpp b/include/gripper/simulation/sim_interfaces.hpp
@@ -4,6 +4,8 @@
 
 namespace z_motor_iface {
 
+extern "C" using diag0_handler = void(*)();
+
 auto get_z_motor_interface()
     -> sim_motor_hardware_iface::SimMotorHardwareIface&;
 

diff --git a/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp b/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp
@@ -433,7 +433,7 @@ class MotorInterruptHandler {
                                         .error_code = err_code});
         if (err_code == can::ids::ErrorCode::motor_driver_error_detected) {
             driver_client.send_motor_driver_queue(
-                can::messages::ReadMotorDriverErrorStatus{.message_index =
+                can::messages::ReadMotorDriverErrorStatusRequest{.message_index =
                                                               message_index});
         }
         if (err_code == can::ids::ErrorCode::collision_detected) {

diff --git a/include/motor-control/core/tasks/gear_tmc2160_motor_driver_task.hpp b/include/motor-control/core/tasks/gear_tmc2160_motor_driver_task.hpp
@@ -87,7 +87,7 @@ class MotorDriverMessageHandler {
         }
     }
 
-    void handle(const can::messages::ReadMotorDriverErrorStatus& m) {
+    void handle(const can::messages::ReadMotorDriverErrorStatusRequest& m) {
         LOG("Received read motor driver error register request");
         uint32_t data = 0;
         std::array tags{spi::utils::ResponseTag::IS_ERROR_RESPONSE};

diff --git a/include/motor-control/core/tasks/messages.hpp b/include/motor-control/core/tasks/messages.hpp
@@ -119,7 +119,7 @@ using MotorDriverTaskMessage =
     std::variant<std::monostate, can::messages::ReadMotorDriverRegister,
                  can::messages::WriteMotorDriverRegister,
                  can::messages::WriteMotorCurrentRequest,
-                 can::messages::ReadMotorDriverErrorStatus>;
+                 can::messages::ReadMotorDriverErrorStatusRequest>;
 
 using MoveGroupTaskMessage =
     std::variant<std::monostate, can::messages::AddLinearMoveRequest,

diff --git a/include/motor-control/core/tasks/motion_controller_task.hpp b/include/motor-control/core/tasks/motion_controller_task.hpp
@@ -240,7 +240,7 @@ class MotionControllerMessageHandler {
                         .error_code =
                             can::ids::ErrorCode::motor_driver_error_detected});
                 driver_client.send_motor_driver_queue(
-                    can::messages::ReadMotorDriverErrorStatus{
+                    can::messages::ReadMotorDriverErrorStatusRequest{
                         .message_index = m.message_index});
             }
         } else {

diff --git a/include/motor-control/core/tasks/tmc2130_motor_driver_task.hpp b/include/motor-control/core/tasks/tmc2130_motor_driver_task.hpp
@@ -60,7 +60,7 @@ class MotorDriverMessageHandler {
                 m.rxBuffer);
             if (spi::utils::tag_in_token(
                     m.id.token, spi::utils::ResponseTag::IS_ERROR_RESPONSE)) {
-                can::messages::ReadMotorDriverErrorRegisterResponse
+                can::messages::ReadMotorDriverErrorStatusResponse
                     response_msg{
                         .message_index = m.id.message_index,
                         .reg_address = static_cast<uint8_t>(m.id.token),
@@ -99,7 +99,7 @@ class MotorDriverMessageHandler {
         }
     }
 
-    void handle(const can::messages::ReadMotorDriverErrorStatus& m) {
+    void handle(const can::messages::ReadMotorDriverErrorStatusRequest& m) {
         LOG("Received read motor driver error register request");
         uint32_t data = 0;
         std::array tags{spi::utils::ResponseTag::IS_ERROR_RESPONSE};

diff --git a/include/motor-control/core/tasks/tmc2160_motor_driver_task.hpp b/include/motor-control/core/tasks/tmc2160_motor_driver_task.hpp
@@ -60,7 +60,7 @@ class MotorDriverMessageHandler {
                 m.rxBuffer);
             if (spi::utils::tag_in_token(
                     m.id.token, spi::utils::ResponseTag::IS_ERROR_RESPONSE)) {
-                can::messages::ReadMotorDriverErrorRegisterResponse
+                can::messages::ReadMotorDriverErrorStatusResponse
                     response_msg{
                         .message_index = m.id.message_index,
                         .reg_address = static_cast<uint8_t>(m.id.token),
@@ -99,7 +99,7 @@ class MotorDriverMessageHandler {
         }
     }
 
-    void handle(const can::messages::ReadMotorDriverErrorStatus& m) {
+    void handle(const can::messages::ReadMotorDriverErrorStatusRequest& m) {
         LOG("Received read motor driver error register request");
         uint32_t data = 0;
         std::array tags{spi::utils::ResponseTag::IS_ERROR_RESPONSE};

diff --git a/include/motor-control/core/tasks/tmc_motor_driver_common.hpp b/include/motor-control/core/tasks/tmc_motor_driver_common.hpp
@@ -11,10 +11,10 @@ using SpiResponseMessage = std::tuple<spi::messages::TransactResponse>;
 using CanMessageTuple = std::tuple<can::messages::ReadMotorDriverRegister,
                                    can::messages::WriteMotorDriverRegister,
                                    can::messages::WriteMotorCurrentRequest,
-                                   can::messages::ReadMotorDriverErrorStatus>;
+                                   can::messages::ReadMotorDriverErrorStatusRequest>;
 using GearCanMessageTuple =
     std::tuple<can::messages::GearReadMotorDriverRegister,
-               can::messages::ReadMotorDriverErrorStatus,
+               can::messages::ReadMotorDriverErrorStatusRequest,
                can::messages::GearWriteMotorDriverRegister,
                can::messages::GearWriteMotorCurrentRequest>;
 using CanMessage =

diff --git a/include/pipettes/core/dispatch_builder.hpp b/include/pipettes/core/dispatch_builder.hpp
@@ -24,21 +24,21 @@ using TMC2130MotorDispatchTarget = can::dispatch::DispatchParseTarget<
     can::messages::ReadMotorDriverRegister,
     can::messages::WriteMotorDriverRegister,
     can::messages::WriteMotorCurrentRequest,
-    can::messages::ReadMotorDriverErrorStatus>;
+    can::messages::ReadMotorDriverErrorStatusRequest>;
 
 using TMC2160MotorDispatchTarget = can::dispatch::DispatchParseTarget<
     can::message_handlers::motor::MotorHandler<
         linear_motor_tasks::tmc2160_driver::QueueClient>,
     can::messages::ReadMotorDriverRegister,
     can::messages::WriteMotorDriverRegister,
     can::messages::WriteMotorCurrentRequest,
-    can::messages::ReadMotorDriverErrorStatus>;
+    can::messages::ReadMotorDriverErrorStatusRequest>;
 
 using GearMotorDispatchTarget = can::dispatch::DispatchParseTarget<
     can::message_handlers::motor::GearMotorHandler<
         gear_motor_tasks::QueueClient>,
     can::messages::GearReadMotorDriverRegister,
-    can::messages::ReadMotorDriverErrorStatus,
+    can::messages::ReadMotorDriverErrorStatusRequest,
     can::messages::GearWriteMotorDriverRegister,
     can::messages::GearWriteMotorCurrentRequest>;