test and simulator build changes

Opentrons · Oct 25, 2023 · f3f224b · f3f224b
1 parent d2307be
commit f3f224b
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Showing 10 changed files with 87 additions and 51 deletions.
diff --git a/gantry/simulator/interfaces.cpp b/gantry/simulator/interfaces.cpp
@@ -89,14 +89,16 @@ static stall_check::StallCheck stallcheck(
  * Handler of motor interrupts.
  */
 static motor_handler::MotorInterruptHandler motor_interrupt(
-    motor_queue, gantry::queues::get_queues(), motor_interface, stallcheck,
+    motor_queue, gantry::queues::get_queues(), gantry::queues::get_queues(), motor_interface, stallcheck,
     update_position_queue);
 
 static motor_interrupt_driver::MotorInterruptDriver A(motor_queue,
                                                       motor_interrupt,
                                                       motor_interface,
                                                       update_position_queue);
-void interfaces::initialize() {}
+void interfaces::initialize(diag0_handler* call_diag0_handler) {
+    static_cast<void>(call_diag0_handler);
+}
 
 static po::variables_map options{};
 

diff --git a/gantry/simulator/main.cpp b/gantry/simulator/main.cpp
@@ -12,6 +12,8 @@ void signal_handler(int signum) {
     exit(signum);
 }
 
+static interfaces::diag0_handler call_diag0_handler = NULL;
+
 int main(int argc, char** argv) {
     signal(SIGINT, signal_handler);
 
@@ -21,10 +23,10 @@ int main(int argc, char** argv) {
             return pcTaskGetName(xTaskGetCurrentTaskHandle());
         });
 
-    interfaces::initialize();
+    interfaces::initialize(&call_diag0_handler);
     interfaces::initialize_sim(argc, argv);
 
-    gantry::tasks::start_tasks(
+    call_diag0_handler = gantry::tasks::start_tasks(
         interfaces::get_can_bus(), interfaces::get_motor().motion_controller,
         interfaces::get_spi(), interfaces::get_driver_config(),
         interfaces::get_motor_hardware_task(), *interfaces::get_sim_i2c2(),

diff --git a/gripper/simulator/interfaces.cpp b/gripper/simulator/interfaces.cpp
@@ -94,7 +94,7 @@ static stall_check::StallCheck stallcheck(
  * Handler of motor interrupts.
  */
 static motor_handler::MotorInterruptHandler motor_interrupt(
-    motor_queue, gripper_tasks::z_tasks::get_queues(), motor_interface,
+    motor_queue, gripper_tasks::z_tasks::get_queues(), gripper_tasks::z_tasks::get_queues(), motor_interface,
     stallcheck, update_position_queue);
 
 static motor_interrupt_driver::MotorInterruptDriver A(motor_queue,

diff --git a/head/simulator/main.cpp b/head/simulator/main.cpp
@@ -94,7 +94,7 @@ static stall_check::StallCheck stallcheck_right(
     linear_config.get_usteps_per_mm() / 1000.0F, utils::STALL_THRESHOLD_UM);
 
 static motor_handler::MotorInterruptHandler motor_interrupt_right(
-    motor_queue_right, head_tasks::get_right_queues(), motor_interface_right,
+    motor_queue_right, head_tasks::get_right_queues(), head_tasks::get_right_queues(), motor_interface_right,
     stallcheck_right, update_position_queue_right);
 
 static stall_check::StallCheck stallcheck_left(
@@ -117,7 +117,7 @@ static motor_class::Motor motor_right{
     motor_queue_right, update_position_queue_right};
 
 static motor_handler::MotorInterruptHandler motor_interrupt_left(
-    motor_queue_left, head_tasks::get_left_queues(), motor_interface_left,
+    motor_queue_left, head_tasks::get_left_queues(), head_tasks::get_left_queues(), motor_interface_left,
     stallcheck_left, update_position_queue_left);
 
 static motor_class::Motor motor_left{

diff --git a/include/motor-control/simulation/motor_interrupt_driver.hpp b/include/motor-control/simulation/motor_interrupt_driver.hpp
@@ -9,15 +9,15 @@
 
 namespace motor_interrupt_driver {
 
-template <class StatusClient, typename MotorMoveMessage, class MotorHardware>
+template <class StatusClient, class DriverClient, typename MotorMoveMessage, class MotorHardware>
 class MotorInterruptDriver {
     using InterruptQueue =
         freertos_message_queue::FreeRTOSMessageQueue<MotorMoveMessage>;
     using MotorPositionUpdateQueue =
         freertos_message_queue::FreeRTOSMessageQueue<
             can::messages::UpdateMotorPositionEstimationRequest>;
     using InterruptHandler = motor_handler::MotorInterruptHandler<
-        freertos_message_queue::FreeRTOSMessageQueue, StatusClient,
+        freertos_message_queue::FreeRTOSMessageQueue, StatusClient, DriverClient,
         MotorMoveMessage, MotorHardware>;
 
   public:

diff --git a/include/motor-control/simulation/sim_motor_hardware_iface.hpp b/include/motor-control/simulation/sim_motor_hardware_iface.hpp
@@ -87,10 +87,10 @@ class SimMotorHardwareIface : public motor_hardware::StepperMotorHardwareIface {
     bool check_estop_in() final { return estop_detected; }
 
     void set_estop(bool estop_pressed) { estop_detected = estop_pressed; }
-    auto has_cancel_request() -> bool final {
-        return cancel_request.exchange(false);
+    auto has_cancel_request() -> uint8_t final {
+        return cancel_request.exchange(0);
     }
-    void request_cancel() final { cancel_request.store(true); }
+    void request_cancel(uint8_t error_severity) final { cancel_request.store(error_severity); }
     auto get_usage_eeprom_config()
         -> motor_hardware::UsageEEpromConfig & final {
         return eeprom_config;
@@ -106,7 +106,7 @@ class SimMotorHardwareIface : public motor_hardware::StepperMotorHardwareIface {
     Direction _direction = Direction::POSITIVE;
     float _encoder_ticks_per_pulse = 0;
     bool estop_detected = false;
-    std::atomic<bool> cancel_request = false;
+    std::atomic<uint8_t> cancel_request = 0;
     motor_hardware::UsageEEpromConfig eeprom_config = {
         std::array<UsageRequestSet, 1>{UsageRequestSet{
             .eeprom_key = 0,
@@ -177,10 +177,10 @@ class SimBrushedMotorHardwareIface
         return ret;
     }
 
-    auto has_cancel_request() -> bool final {
-        return cancel_request.exchange(false);
+    auto has_cancel_request() -> uint8_t final {
+        return cancel_request.exchange(0);
     }
-    void request_cancel() final { cancel_request.store(true); }
+    void request_cancel(uint8_t error_severity) final { cancel_request.store(error_severity); }
 
     void disable_encoder() final {}
     void enable_encoder() final {}
@@ -198,7 +198,7 @@ class SimBrushedMotorHardwareIface
     StateManagerHandle _state_manager = nullptr;
     MoveMessageHardware _id;
     bool estop_detected = false;
-    std::atomic<bool> cancel_request = false;
+    std::atomic<uint8_t> cancel_request = 0;
     motor_hardware::UsageEEpromConfig eeprom_config{
         std::array<UsageRequestSet, 1>{UsageRequestSet{
             .eeprom_key = 0,
@@ -263,10 +263,10 @@ class SimGearMotorHardwareIface
     bool check_estop_in() final { return estop_detected; }
 
     void set_estop(bool estop_pressed) { estop_detected = estop_pressed; }
-    auto has_cancel_request() -> bool final {
-        return cancel_request.exchange(false);
+    auto has_cancel_request() -> uint8_t final {
+        return cancel_request.exchange(0);
     }
-    void request_cancel() final { cancel_request.store(true); }
+    void request_cancel(uint8_t error_severity) final { cancel_request.store(error_severity); }
 
     auto get_usage_eeprom_config()
         -> motor_hardware::UsageEEpromConfig & final {
@@ -283,7 +283,7 @@ class SimGearMotorHardwareIface
     Direction _direction = Direction::POSITIVE;
     float _encoder_ticks_per_pulse = 0;
     bool estop_detected = false;
-    std::atomic<bool> cancel_request = false;
+    std::atomic<uint8_t> cancel_request = 0;
     motor_hardware::UsageEEpromConfig eeprom_config = {
         std::array<UsageRequestSet, 1>{UsageRequestSet{
             .eeprom_key = 0,

diff --git a/include/pipettes/simulator/interfaces.hpp b/include/pipettes/simulator/interfaces.hpp
@@ -12,14 +12,14 @@
 
 namespace interfaces {
 
-template <typename Client>
+template <typename Client, typename DriverClient>
 using MotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
-    freertos_message_queue::FreeRTOSMessageQueue, Client, motor_messages::Move,
+    freertos_message_queue::FreeRTOSMessageQueue, Client, DriverClient, motor_messages::Move,
     sim_motor_hardware_iface::SimMotorHardwareIface>;
 
 template <typename Client>
 using GearMotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
-    freertos_message_queue::FreeRTOSMessageQueue, Client,
+    freertos_message_queue::FreeRTOSMessageQueue, Client, Client,
     motor_messages::GearMotorMove,
     sim_motor_hardware_iface::SimGearMotorHardwareIface>;
 
@@ -61,16 +61,29 @@ auto get_interrupt_queues<PipetteType::THREE_EIGHTY_FOUR_CHANNEL>()
 namespace linear_motor {
 
 auto get_interrupt(sim_motor_hardware_iface::SimMotorHardwareIface& hw,
-                   MoveQueue& queue, stall_check::StallCheck& stall,
-                   UpdatePositionQueue& update_queue)
-    -> MotorInterruptHandlerType<linear_motor_tasks::QueueClient>;
+                                 LowThroughputInterruptQueues& queues,
+                                 stall_check::StallCheck& stall)
+    -> MotorInterruptHandlerType<linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2130_driver::QueueClient>;
+
+auto get_interrupt(sim_motor_hardware_iface::SimMotorHardwareIface& hw,
+                                 HighThroughputInterruptQueues& queues,
+                                 stall_check::StallCheck& stall)
+    -> MotorInterruptHandlerType<linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2160_driver::QueueClient>;
+
+auto get_interrupt_driver(
+    sim_motor_hardware_iface::SimMotorHardwareIface& hw,
+    LowThroughputInterruptQueues& queues,
+    MotorInterruptHandlerType<linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2130_driver::QueueClient>& handler)
+    -> motor_interrupt_driver::MotorInterruptDriver<
+        linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2130_driver::QueueClient, motor_messages::Move,
+        sim_motor_hardware_iface::SimMotorHardwareIface>;
 
 auto get_interrupt_driver(
-    sim_motor_hardware_iface::SimMotorHardwareIface& hw, MoveQueue& queue,
-    MotorInterruptHandlerType<linear_motor_tasks::QueueClient>& handler,
-    UpdatePositionQueue& update_queue)
+    sim_motor_hardware_iface::SimMotorHardwareIface& hw,
+    HighThroughputInterruptQueues& queues,
+    MotorInterruptHandlerType<linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2160_driver::QueueClient>& handler)
     -> motor_interrupt_driver::MotorInterruptDriver<
-        linear_motor_tasks::QueueClient, motor_messages::Move,
+        linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2160_driver::QueueClient, motor_messages::Move,
         sim_motor_hardware_iface::SimMotorHardwareIface>;
 
 auto get_motor_hardware() -> sim_motor_hardware_iface::SimMotorHardwareIface;
@@ -93,11 +106,11 @@ struct GearInterruptHandlers {
 
 struct GearInterruptDrivers {
     motor_interrupt_driver::MotorInterruptDriver<
-        gear_motor_tasks::QueueClient, motor_messages::GearMotorMove,
+        gear_motor_tasks::QueueClient, gear_motor_tasks::QueueClient, motor_messages::GearMotorMove,
         sim_motor_hardware_iface::SimGearMotorHardwareIface>
         left;
     motor_interrupt_driver::MotorInterruptDriver<
-        gear_motor_tasks::QueueClient, motor_messages::GearMotorMove,
+        gear_motor_tasks::QueueClient, gear_motor_tasks::QueueClient, motor_messages::GearMotorMove,
         sim_motor_hardware_iface::SimGearMotorHardwareIface>
         right;
 };

diff --git a/pipettes/simulator/interfaces.cpp b/pipettes/simulator/interfaces.cpp
@@ -44,23 +44,44 @@ auto interfaces::get_interrupt_queues<PipetteType::THREE_EIGHTY_FOUR_CHANNEL>()
         .left_update_queue = UpdatePositionQueue{"Left PUpdate Queue"}};
 }
 
-auto linear_motor::get_interrupt(
-    sim_motor_hardware_iface::SimMotorHardwareIface& hw, MoveQueue& queue,
-    stall_check::StallCheck& stall, UpdatePositionQueue& update_queue)
-    -> MotorInterruptHandlerType<linear_motor_tasks::QueueClient> {
+auto linear_motor::get_interrupt(sim_motor_hardware_iface::SimMotorHardwareIface& hw,
+                                 LowThroughputInterruptQueues& queues,
+                                 stall_check::StallCheck& stall)
+    -> MotorInterruptHandlerType<linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2130_driver::QueueClient> {
     return motor_handler::MotorInterruptHandler(
-        queue, linear_motor_tasks::get_queues(), hw, stall, update_queue);
+        queues.plunger_queue, linear_motor_tasks::get_queues(), linear_motor_tasks::tmc2130_driver::get_queues(), hw, stall,
+        queues.plunger_update_queue);
+}
+
+auto linear_motor::get_interrupt(sim_motor_hardware_iface::SimMotorHardwareIface& hw,
+                                 HighThroughputInterruptQueues& queues,
+                                 stall_check::StallCheck& stall)
+    -> MotorInterruptHandlerType<linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2160_driver::QueueClient> {
+    return motor_handler::MotorInterruptHandler(
+        queues.plunger_queue, linear_motor_tasks::get_queues(), linear_motor_tasks::tmc2160_driver::get_queues(), hw, stall,
+        queues.plunger_update_queue);
+}
+
+auto linear_motor::get_interrupt_driver(
+    sim_motor_hardware_iface::SimMotorHardwareIface& hw,
+    LowThroughputInterruptQueues& queues,
+    MotorInterruptHandlerType<linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2130_driver::QueueClient>& handler)
+    -> motor_interrupt_driver::MotorInterruptDriver<
+        linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2130_driver::QueueClient, motor_messages::Move,
+        sim_motor_hardware_iface::SimMotorHardwareIface> {
+    return motor_interrupt_driver::MotorInterruptDriver(queues.plunger_queue, handler, hw,
+                                                        queues.plunger_update_queue);
 }
 
 auto linear_motor::get_interrupt_driver(
-    sim_motor_hardware_iface::SimMotorHardwareIface& hw, MoveQueue& queue,
-    MotorInterruptHandlerType<linear_motor_tasks::QueueClient>& handler,
-    UpdatePositionQueue& update_queue)
+    sim_motor_hardware_iface::SimMotorHardwareIface& hw,
+    HighThroughputInterruptQueues& queues,
+    MotorInterruptHandlerType<linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2160_driver::QueueClient>& handler)
     -> motor_interrupt_driver::MotorInterruptDriver<
-        linear_motor_tasks::QueueClient, motor_messages::Move,
+        linear_motor_tasks::QueueClient, linear_motor_tasks::tmc2160_driver::QueueClient, motor_messages::Move,
         sim_motor_hardware_iface::SimMotorHardwareIface> {
-    return motor_interrupt_driver::MotorInterruptDriver(queue, handler, hw,
-                                                        update_queue);
+    return motor_interrupt_driver::MotorInterruptDriver(queues.plunger_queue, handler, hw,
+                                                        queues.plunger_update_queue);
 }
 
 auto linear_motor::get_motor_hardware()
@@ -103,10 +124,10 @@ auto gear_motor::get_interrupts(gear_motor::GearHardware& hw,
     return gear_motor::GearInterruptHandlers{
         .left = motor_handler::MotorInterruptHandler(
             queues.left_motor_queue, gear_motor_tasks::get_left_gear_queues(),
-            hw.left, stall.left, queues.left_update_queue),
+            gear_motor_tasks::get_left_gear_queues(), hw.left, stall.left, queues.left_update_queue),
         .right = motor_handler::MotorInterruptHandler(
             queues.right_motor_queue, gear_motor_tasks::get_right_gear_queues(),
-            hw.right, stall.right, queues.right_update_queue),
+            gear_motor_tasks::get_right_gear_queues(), hw.right, stall.right, queues.right_update_queue),
     };
 }
 

diff --git a/pipettes/simulator/main.cpp b/pipettes/simulator/main.cpp
@@ -59,12 +59,10 @@ static auto gear_stall_check = interfaces::gear_motor::GearStallCheck{
 static auto linear_motor_hardware =
     interfaces::linear_motor::get_motor_hardware();
 static auto plunger_interrupt = interfaces::linear_motor::get_interrupt(
-    linear_motor_hardware, interrupt_queues.plunger_queue, linear_stall_check,
-    interrupt_queues.plunger_update_queue);
+    linear_motor_hardware, interrupt_queues, linear_stall_check);
 static auto plunger_interrupt_driver =
     interfaces::linear_motor::get_interrupt_driver(
-        linear_motor_hardware, interrupt_queues.plunger_queue,
-        plunger_interrupt, interrupt_queues.plunger_update_queue);
+        linear_motor_hardware, interrupt_queues, plunger_interrupt);
 static auto linear_motion_control =
     interfaces::linear_motor::get_motion_control(linear_motor_hardware,
                                                  interrupt_queues);

diff --git a/sensors/tests/CMakeLists.txt b/sensors/tests/CMakeLists.txt
@@ -35,7 +35,7 @@ target_compile_options(sensors
         $<$<COMPILE_LANGUAGE:CXX>:-fno-rtti>
 )
 
-target_link_libraries(sensors PUBLIC Catch2::Catch2 common-core motor-utils common-simulation)
+target_link_libraries(sensors PUBLIC Catch2::Catch2 Boost::boost Boost::program_options Boost::date_time common-core motor-utils common-simulation)
 
 target_i2c_simlib(sensors)