add PipetteMotorInterruptHandler

Author: caila-marashaj

include/pipettes/core/motor_interrupt_handler.hpp

@@ -0,0 +1,50 @@
+#pragma once
+
+#include "motor-control/core/stepper_motor/motor_interrupt_handler.hpp"
+#include "pipettes/core/sensor_tasks.hpp"
+
+namespace pipettes {
+using namespace motor_messages;
+template <template <class> class QueueImpl, class StatusClient,
+          typename MotorMoveMessage, typename MotorHardware, class SensorClient>
+requires MessageQueue<QueueImpl<MotorMoveMessage>, MotorMoveMessage> &&
+    std::is_base_of_v<motor_hardware::MotorHardwareIface, MotorHardware>
+class PipetteMotorInterruptHandler
+    : public motor_handler::MotorInterruptHandler<
+          freertos_message_queue::FreeRTOSMessageQueue, StatusClient,
+          MotorMoveMessage, MotorHardware> {
+  public:
+    using MoveQueue = QueueImpl<MotorMoveMessage>;
+    using InterruptHandler = motor_handler::MotorInterruptHandler<
+        freertos_message_queue::FreeRTOSMessageQueue, StatusClient,
+        MotorMoveMessage, MotorHardware>;
+    using UpdatePositionQueue =
+        QueueImpl<can::messages::UpdateMotorPositionEstimationRequest>;
+    PipetteMotorInterruptHandler() = delete;
+    PipetteMotorInterruptHandler(
+        MoveQueue& incoming_move_queue, StatusClient& outgoing_queue,
+        MotorHardware& hardware_iface, stall_check::StallCheck& stall,
+        UpdatePositionQueue& incoming_update_position_queue,
+        SensorClient& sensor_queue_client)
+        : sensor_client(sensor_queue_client),
+          InterruptHandler(incoming_move_queue, outgoing_queue, hardware_iface,
+                           stall, incoming_update_position_queue) {}
+
+    ~PipetteMotorInterruptHandler() = default;
+
+    auto operator=(PipetteMotorInterruptHandler&)
+        -> PipetteMotorInterruptHandler& = delete;
+
+    auto operator=(PipetteMotorInterruptHandler&&)
+        -> PipetteMotorInterruptHandler&& = delete;
+
+    PipetteMotorInterruptHandler(PipetteMotorInterruptHandler&) = delete;
+
+    PipetteMotorInterruptHandler(PipetteMotorInterruptHandler&&) = delete;
+
+    // might be able to overwrite functions in here
+
+  private:
+    SensorClient& sensor_client;
+};
+}  // namespace pipettes

include/pipettes/firmware/interfaces_g4.hpp

@@ -30,7 +30,7 @@ namespace interfaces {
 template <typename Client>
 using MotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
     freertos_message_queue::FreeRTOSMessageQueue, Client, motor_messages::Move,
-    motor_hardware::MotorHardware>;
+    motor_hardware::MotorHardware>;  // pass in sensor client here
 template <typename Client>
 using GearMotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
     freertos_message_queue::FreeRTOSMessageQueue, Client,