added send_from_isr method

Opentrons · Jan 24, 2024 · 3ea1c80 · 3ea1c80
1 parent ecffbdb
commit 3ea1c80
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Showing 16 changed files with 52 additions and 1 deletion.
diff --git a/gantry/core/tasks_proto.cpp b/gantry/core/tasks_proto.cpp
@@ -142,6 +142,11 @@ void gantry::queues::QueueClient::send_motor_driver_queue(
     motor_driver_queue->try_write(m);
 }
 
+void gantry::queues::QueueClient::send_motor_driver_queue_isr(
+    const tmc2130::tasks::TaskMessage& m) {
+    static_cast<void>(motor_driver_queue->try_write_isr(m));
+}
+
 void gantry::queues::QueueClient::send_move_group_queue(
     const move_group_task::TaskMessage& m) {
     move_group_queue->try_write(m);

diff --git a/gantry/core/tasks_rev1.cpp b/gantry/core/tasks_rev1.cpp
@@ -141,6 +141,11 @@ void gantry::queues::QueueClient::send_motor_driver_queue(
     motor_driver_queue->try_write(m);
 }
 
+void gantry::queues::QueueClient::send_motor_driver_queue_isr(
+    const tmc2160::tasks::TaskMessage& m) {
+    static_cast<void>(motor_driver_queue->try_write_isr(m));
+}
+
 void gantry::queues::QueueClient::send_move_group_queue(
     const move_group_task::TaskMessage& m) {
     move_group_queue->try_write(m);

diff --git a/gripper/core/tasks_z.cpp b/gripper/core/tasks_z.cpp
@@ -101,6 +101,11 @@ void z_tasks::QueueClient::send_motor_driver_queue(
     tmc2130_driver_queue->try_write(m);
 }
 
+void z_tasks::QueueClient::send_motor_driver_queue_isr(
+    const tmc2130::tasks::TaskMessage& m) {
+    static_cast<void>(tmc2130_driver_queue->try_write_isr(m));
+}
+
 void z_tasks::QueueClient::send_move_group_queue(
     const move_group_task::TaskMessage& m) {
     move_group_queue->try_write(m);

diff --git a/head/core/tasks_proto.cpp b/head/core/tasks_proto.cpp
@@ -248,6 +248,11 @@ void head_tasks::MotorQueueClient::send_motor_driver_queue(
     motor_queue->try_write(m);
 }
 
+void head_tasks::MotorQueueClient::send_motor_driver_queue_isr(
+    const tmc2130::tasks::TaskMessage& m) {
+    static_cast<void>(motor_queue->try_write_isr(m));
+}
+
 void head_tasks::MotorQueueClient::send_move_group_queue(
     const move_group_task::TaskMessage& m) {
     move_group_queue->try_write(m);

diff --git a/head/core/tasks_rev1.cpp b/head/core/tasks_rev1.cpp
@@ -273,6 +273,11 @@ void head_tasks::MotorQueueClient::send_motor_driver_queue(
     motor_queue->try_write(m);
 }
 
+void head_tasks::MotorQueueClient::send_motor_driver_queue_isr(
+    const tmc::tasks::TaskMessage& m) {
+    static_cast<void>(motor_queue->try_write_isr(m));
+}
+
 void head_tasks::MotorQueueClient::send_move_group_queue(
     const move_group_task::TaskMessage& m) {
     move_group_queue->try_write(m);

diff --git a/include/gantry/core/queues.hpp b/include/gantry/core/queues.hpp
@@ -32,6 +32,8 @@ struct QueueClient : can::message_writer::MessageWriter {
 
     void send_motor_driver_queue(const tmc::tasks::TaskMessage& m);
 
+    void send_motor_driver_queue_isr(const tmc::tasks::TaskMessage& m);
+
     void send_move_group_queue(const move_group_task::TaskMessage& m);
 
     void send_move_status_reporter_queue(

diff --git a/include/gripper/core/tasks.hpp b/include/gripper/core/tasks.hpp
@@ -191,6 +191,8 @@ struct QueueClient : can::message_writer::MessageWriter {
 
     void send_motor_driver_queue(const tmc2130::tasks::TaskMessage& m);
 
+    void send_motor_driver_queue_isr(const tmc2130::tasks::TaskMessage& m);
+
     void send_move_group_queue(const move_group_task::TaskMessage& m);
 
     void send_move_status_reporter_queue(

diff --git a/include/head/core/queues.hpp b/include/head/core/queues.hpp
@@ -55,6 +55,8 @@ struct MotorQueueClient : can::message_writer::MessageWriter {
 
     void send_motor_driver_queue(const tmc::tasks::TaskMessage& m);
 
+    void send_motor_driver_queue_isr(const tmc::tasks::TaskMessage& m);
+
     void send_move_group_queue(const move_group_task::TaskMessage& m);
 
     void send_move_status_reporter_queue(

diff --git a/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp b/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp
@@ -432,7 +432,7 @@ class MotorInterruptHandler {
                                         .severity = severity,
                                         .error_code = err_code});
         if (err_code == can::ids::ErrorCode::motor_driver_error_detected) {
-            driver_client.send_motor_driver_queue(
+            driver_client.send_motor_driver_queue_isr(
                 can::messages::ReadMotorDriverErrorStatusRequest{.message_index =
                                                               message_index});
         }

diff --git a/include/motor-control/core/tasks/tmc2130_motor_driver_task.hpp b/include/motor-control/core/tasks/tmc2130_motor_driver_task.hpp
@@ -176,6 +176,7 @@ class MotorDriverTask {
 template <typename Client>
 concept TaskClient = requires(Client client, const TaskMessage& m) {
     {client.send_motor_driver_queue(m)};
+    {client.send_motor_driver_queue_isr(m)};
 };
 
 }  // namespace tasks

diff --git a/include/motor-control/core/tasks/tmc2160_motor_driver_task.hpp b/include/motor-control/core/tasks/tmc2160_motor_driver_task.hpp
@@ -176,6 +176,7 @@ class MotorDriverTask {
 template <typename Client>
 concept TaskClient = requires(Client client, const TaskMessage& m) {
     {client.send_motor_driver_queue(m)};
+    {client.send_motor_driver_queue_isr(m)};
 };
 
 }  // namespace tasks

diff --git a/include/motor-control/core/tasks/tmc_motor_driver_common.hpp b/include/motor-control/core/tasks/tmc_motor_driver_common.hpp
@@ -39,6 +39,7 @@ using GearTaskMessage = typename ::utils::VariantCat<
 template <typename Client>
 concept TaskClient = requires(Client client, const TaskMessage& m) {
     {client.send_motor_driver_queue(m)};
+    {client.send_motor_driver_queue_isr(m)};
 };
 
 /**

diff --git a/include/pipettes/core/gear_motor_tasks.hpp b/include/pipettes/core/gear_motor_tasks.hpp
@@ -73,6 +73,8 @@ struct QueueClient : can::message_writer::MessageWriter {
 
     void send_motor_driver_queue(const tmc2160::tasks::gear::TaskMessage& m);
 
+    void send_motor_driver_queue_isr(const tmc2160::tasks::gear::TaskMessage& m);
+
     void send_move_group_queue(
         const pipettes::tasks::move_group_task::TaskMessage& m);
 

diff --git a/include/pipettes/core/linear_motor_tasks.hpp b/include/pipettes/core/linear_motor_tasks.hpp
@@ -134,6 +134,10 @@ struct QueueClient : can::message_writer::MessageWriter {
         driver_queue->try_write(m);
     }
 
+    void send_motor_driver_queue_isr(const tmc2130::tasks::TaskMessage& m) const {
+        static_cast<void>(driver_queue->try_write_isr(m));
+    }
+
     freertos_message_queue::FreeRTOSMessageQueue<tmc2130::tasks::TaskMessage>*
         driver_queue{nullptr};
 };
@@ -173,6 +177,10 @@ struct QueueClient : can::message_writer::MessageWriter {
         driver_queue->try_write(m);
     }
 
+    void send_motor_driver_queue_isr(const tmc2160::tasks::TaskMessage& m) const {
+        static_cast<void>(driver_queue->try_write_isr(m));
+    }
+
     freertos_message_queue::FreeRTOSMessageQueue<tmc2160::tasks::TaskMessage>*
         driver_queue{nullptr};
 };

diff --git a/include/pipettes/core/tasks.hpp b/include/pipettes/core/tasks.hpp
@@ -49,6 +49,8 @@ struct QueueClient : can::message_writer::MessageWriter {
 
     void send_motor_driver_queue(const tmc2130::tasks::TaskMessage& m);
 
+    void send_motor_driver_queue_isr(const tmc2130::tasks::TaskMessage& m);
+
     void send_move_group_queue(const move_group_task::TaskMessage& m);
 
     void send_move_status_reporter_queue(

diff --git a/pipettes/core/gear_motor_tasks.cpp b/pipettes/core/gear_motor_tasks.cpp
@@ -133,6 +133,11 @@ void gear_motor_tasks::QueueClient::send_motor_driver_queue(
     driver_queue->try_write(m);
 }
 
+void gear_motor_tasks::QueueClient::send_motor_driver_queue_isr(
+    const tmc2160::tasks::gear::TaskMessage& m) {
+    static_cast<void>(driver_queue->try_write_isr(m));
+}
+
 void gear_motor_tasks::QueueClient::send_move_group_queue(
     const pipettes::tasks::move_group_task::TaskMessage& m) {
     move_group_queue->try_write(m);