From 4d684f710ac85c2a7c755d9e795543232ca3b3eb Mon Sep 17 00:00:00 2001
From: caila-marashaj <caila.marashaj@opentrons.com>
Date: Wed, 12 Jun 2024 14:08:21 -0400
Subject: [PATCH] unconditionally allocate sensor_buff_size

---
 include/common/core/sensor_buffer.hpp          | 6 +-----
 include/sensors/core/tasks/pressure_driver.hpp | 8 ++------
 pipettes/core/CMakeLists.txt                   | 8 ++++----
 3 files changed, 7 insertions(+), 15 deletions(-)

diff --git a/include/common/core/sensor_buffer.hpp b/include/common/core/sensor_buffer.hpp
index 287828582..61d792164 100644
--- a/include/common/core/sensor_buffer.hpp
+++ b/include/common/core/sensor_buffer.hpp
@@ -1,7 +1,3 @@
 #pragma once
 
-#ifdef USE_SENSOR_MOVE
-constexpr size_t SENSOR_BUFFER_SIZE = SENSOR_BUFF_SIZE;
-#else
-constexpr size_t SENSOR_BUFFER_SIZE = 0;
-#endif
\ No newline at end of file
+constexpr size_t SENSOR_BUFFER_SIZE = SENSOR_BUFF_SIZE;
\ No newline at end of file
diff --git a/include/sensors/core/tasks/pressure_driver.hpp b/include/sensors/core/tasks/pressure_driver.hpp
index fdc2c3b5c..1bd143ed3 100644
--- a/include/sensors/core/tasks/pressure_driver.hpp
+++ b/include/sensors/core/tasks/pressure_driver.hpp
@@ -289,10 +289,9 @@ class MMR920 {
     }
 
     void send_accumulated_sensor_data(uint32_t message_index) {
-#ifdef USE_SENSOR_MOVE
         for (int i = 0; i < SENSOR_BUFFER_SIZE; i++) {
-            // send over buffer adn then clear buffer values
-            current_index = (i + sensor_buffer_index) % SENSOR_BUFFER_SIZE;
+            // send over buffer and then clear buffer values
+            int current_index = (i + sensor_buffer_index) % SENSOR_BUFFER_SIZE;
 
             can_client.send_can_message(
                 can::ids::NodeId::host,
@@ -308,9 +307,6 @@ class MMR920 {
             }
             (*sensor_buffer).at(current_index) = 0;
         }
-#else
-        std::ignore = message_index;
-#endif
     }
 
     auto handle_ongoing_pressure_response(i2c::messages::TransactionResponse &m)
diff --git a/pipettes/core/CMakeLists.txt b/pipettes/core/CMakeLists.txt
index 105c07d9d..a1860f3d9 100644
--- a/pipettes/core/CMakeLists.txt
+++ b/pipettes/core/CMakeLists.txt
@@ -17,8 +17,8 @@ endfunction()
 function(target_pipettes_core_single TARGET REVISION)
     target_pipettes_core_common(${TARGET} ${REVISION})
     target_compile_definitions(${TARGET} PUBLIC PIPETTE_TYPE_DEFINE=SINGLE_CHANNEL)
-    if(${USE_SENSOR_MOVE})
     target_compile_definitions(${TARGET} PUBLIC SENSOR_BUFF_SIZE=500)
+    if(${USE_SENSOR_MOVE})
     endif()
     target_sources(${TARGET} PUBLIC
             ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/can_task_low_throughput.cpp)
@@ -27,8 +27,8 @@ endfunction()
 function(target_pipettes_core_multi TARGET REVISION)
     target_pipettes_core_common(${TARGET} ${REVISION})
     target_compile_definitions(${TARGET} PUBLIC PIPETTE_TYPE_DEFINE=EIGHT_CHANNEL)
-    if(${USE_SENSOR_MOVE})
     target_compile_definitions(${TARGET} PUBLIC SENSOR_BUFF_SIZE=500)
+    if(${USE_SENSOR_MOVE})
     target_compile_definitions(${TARGET} PUBLIC USE_TWO_BUFFERS=true)
     endif()
     target_sources(${TARGET} PUBLIC
@@ -38,8 +38,8 @@ endfunction()
 function(target_pipettes_core_96 TARGET REVISION)
     target_pipettes_core_common(${TARGET} ${REVISION})
     target_compile_definitions(${TARGET} PUBLIC PIPETTE_TYPE_DEFINE=NINETY_SIX_CHANNEL)
+    target_compile_definitions(${TARGET} PUBLIC SENSOR_BUFF_SIZE=500)
     if(${USE_SENSOR_MOVE})
-    target_compile_definitions(${TARGET} PUBLIC SENSOR_BUFF_SIZE=800)
     target_compile_definitions(${TARGET} PUBLIC USE_TWO_BUFFERS=true)
     endif()
     target_sources(${TARGET} PUBLIC
@@ -49,8 +49,8 @@ endfunction()
 function(target_pipettes_core_384 TARGET REVISION)
     target_pipettes_core_common(${TARGET} ${REVISION})
     target_compile_definitions(${TARGET} PUBLIC PIPETTE_TYPE_DEFINE=THREE_EIGHTY_FOUR_CHANNEL)
+    target_compile_definitions(${TARGET} PUBLIC SENSOR_BUFF_SIZE=500)
     if(${USE_SENSOR_MOVE})
-    target_compile_definitions(${TARGET} PUBLIC SENSOR_BUFF_SIZE=1500)
     target_compile_definitions(${TARGET} PUBLIC USE_TWO_BUFFERS=true)
     endif()
     target_sources(${TARGET} PUBLIC