AddSensorMoveRequest to be sent to the pipette task

Opentrons · Jan 25, 2024 · d65650f · d65650f
1 parent 083a816
commit d65650f
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Showing 7 changed files with 60 additions and 4 deletions.
diff --git a/include/bootloader/core/ids.h b/include/bootloader/core/ids.h
@@ -45,6 +45,7 @@ typedef enum {
     can_messageid_execute_move_group_request = 0x18,
     can_messageid_clear_all_move_groups_request = 0x19,
     can_messageid_home_request = 0x20,
+    can_messageid_add_sensor_move_request = 0x23,
     can_messageid_move_completed = 0x13,
     can_messageid_motor_position_request = 0x12,
     can_messageid_motor_position_response = 0x14,

diff --git a/include/can/core/ids.hpp b/include/can/core/ids.hpp
@@ -47,6 +47,7 @@ enum class MessageId {
     execute_move_group_request = 0x18,
     clear_all_move_groups_request = 0x19,
     home_request = 0x20,
+    add_sensor_move_request = 0x23,
     move_completed = 0x13,
     motor_position_request = 0x12,
     motor_position_response = 0x14,

diff --git a/include/can/core/message_handlers/move_group.hpp b/include/can/core/message_handlers/move_group.hpp
@@ -14,7 +14,7 @@ class MoveGroupHandler {
     using MessageType =
         std::variant<std::monostate, AddLinearMoveRequest,
                      ClearAllMoveGroupsRequest, ExecuteMoveGroupRequest,
-                     GetMoveGroupRequest, HomeRequest, StopRequest>;
+                     GetMoveGroupRequest, HomeRequest, StopRequest, AddSensorMoveRequest>;
     MoveGroupHandler(Client &task_client) : task_client{task_client} {}
     MoveGroupHandler(const MoveGroupHandler &) = delete;
     MoveGroupHandler(const MoveGroupHandler &&) = delete;

diff --git a/include/can/core/messages.hpp b/include/can/core/messages.hpp
@@ -1561,6 +1561,51 @@ struct GripperJawHoldoffResponse
         -> bool = default;
 };
 
+struct AddSensorMoveRequest : BaseMessage<MessageId::add_sensor_move_request> {
+    uint32_t message_index;
+    uint8_t group_id;
+    uint8_t seq_id;
+    stepper_timer_ticks duration;
+    um_per_tick_sq acceleration;
+    mm_per_tick velocity;
+    uint8_t request_stop_condition;
+    can::ids::SensorId sensor_id{};
+
+    template <bit_utils::ByteIterator Input, typename Limit>
+    static auto parse(Input body, Limit limit) -> AddSensorMoveRequest {
+        uint8_t group_id = 0;
+        uint8_t seq_id = 0;
+        stepper_timer_ticks duration = 0;
+        um_per_tick_sq acceleration = 0;
+        mm_per_tick velocity = 0;
+        uint8_t request_stop_condition = 0;
+        uint32_t msg_ind = 0;
+        uint8_t sensor_id = 0;
+
+        body = bit_utils::bytes_to_int(body, limit, msg_ind);
+        body = bit_utils::bytes_to_int(body, limit, group_id);
+        body = bit_utils::bytes_to_int(body, limit, seq_id);
+        body = bit_utils::bytes_to_int(body, limit, duration);
+        body = bit_utils::bytes_to_int(body, limit, acceleration);
+        body = bit_utils::bytes_to_int(body, limit, velocity);
+        body = bit_utils::bytes_to_int(body, limit, request_stop_condition);
+        body = bit_utils::bytes_to_int(body, limit, sensor_id);
+        return AddSensorMoveRequest{
+                .message_index = msg_ind,
+                .group_id = group_id,
+                .seq_id = seq_id,
+                .duration = duration,
+                .acceleration = acceleration,
+                .velocity = velocity,
+                .request_stop_condition = request_stop_condition,
+                .sensor_id = static_cast<can::ids::SensorId>(sensor_id),
+        };
+    }
+
+    auto operator==(const AddSensorMoveRequest& other) const -> bool = default;
+};
+
+
 /**
  * A variant of all message types we might send..
  */

diff --git a/include/motor-control/core/tasks/messages.hpp b/include/motor-control/core/tasks/messages.hpp
@@ -26,7 +26,7 @@ using MoveGroupTaskMessage =
                  can::messages::ClearAllMoveGroupsRequest,
                  can::messages::ExecuteMoveGroupRequest,
                  can::messages::GetMoveGroupRequest, can::messages::HomeRequest,
-                 can::messages::StopRequest>;
+                 can::messages::StopRequest, can::messages::AddSensorMoveRequest>;
 
 using MoveStatusReporterTaskMessage = std::variant<
     std::monostate, motor_messages::Ack, motor_messages::UpdatePositionResponse,

diff --git a/include/motor-control/core/tasks/move_group_task.hpp b/include/motor-control/core/tasks/move_group_task.hpp
@@ -18,7 +18,8 @@ constexpr std::size_t max_moves_per_group = 12;
 using MoveGroupType =
     move_group::MoveGroupManager<max_groups, max_moves_per_group,
                                  can::messages::AddLinearMoveRequest,
-                                 can::messages::HomeRequest>;
+                                 can::messages::HomeRequest,
+                                 can::messages::AddSensorMoveRequest>;
 
 using TaskMessage = motor_control_task_messages::MoveGroupTaskMessage;
 
@@ -105,6 +106,12 @@ class MoveGroupMessageHandler {
         mc_client.send_motion_controller_queue(m);
     }
 
+    void handle(const can::messages::AddSensorMoveRequest& m) {
+        LOG("Received add sensor move request: groupid=%d, seqid=%d",
+            m.group_id, m.seq_id);
+        static_cast<void>(move_groups[m.group_id].set_move(m));
+    }
+
     void visit_move(const std::monostate&) {}
 
     void visit_move(const can::messages::AddLinearMoveRequest& m) {
@@ -115,6 +122,8 @@ class MoveGroupMessageHandler {
         mc_client.send_motion_controller_queue(m);
     }
 
+    void visit_move(const can::messages::AddSensorMoveRequest&) {}
+
     MoveGroupType& move_groups;
     MotionControllerClient& mc_client;
     CanClient& can_client;

diff --git a/include/pipettes/core/dispatch_builder.hpp b/include/pipettes/core/dispatch_builder.hpp
@@ -45,7 +45,7 @@ using MoveGroupDispatchTarget = can::dispatch::DispatchParseTarget<
     can::messages::AddLinearMoveRequest,
     can::messages::ClearAllMoveGroupsRequest,
     can::messages::ExecuteMoveGroupRequest, can::messages::GetMoveGroupRequest,
-    can::messages::HomeRequest, can::messages::StopRequest>;
+    can::messages::HomeRequest, can::messages::StopRequest, can::messages::AddSensorMoveRequest>;
 
 using GearMoveGroupDispatchTarget = can::dispatch::DispatchParseTarget<
     gear_move_group_handler::GearMoveGroupHandler<