From 57059b84f6c2e9eec500f3458b9aa8f400609fc0 Mon Sep 17 00:00:00 2001
From: caila-marashaj <caila.marashaj@opentrons.com>
Date: Thu, 13 Jun 2024 10:42:07 -0400
Subject: [PATCH] default sensor_buffer_size to 0

---
 include/common/core/sensor_buffer.hpp          |  7 +++++--
 include/sensors/core/tasks/pressure_driver.hpp | 12 +++---------
 sensors/tests/test_capacitive_sensor.cpp       |  2 ++
 3 files changed, 10 insertions(+), 11 deletions(-)

diff --git a/include/common/core/sensor_buffer.hpp b/include/common/core/sensor_buffer.hpp
index 61d792164..3072b0170 100644
--- a/include/common/core/sensor_buffer.hpp
+++ b/include/common/core/sensor_buffer.hpp
@@ -1,3 +1,6 @@
 #pragma once
-
-constexpr size_t SENSOR_BUFFER_SIZE = SENSOR_BUFF_SIZE;
\ No newline at end of file
+#ifndef SENSOR_BUFF_SIZE
+#define SENSOR_BUFFER_SIZE = 0;
+#else
+constexpr size_t SENSOR_BUFFER_SIZE = SENSOR_BUFF_SIZE;
+#endif
\ 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 c2cd028bb..cd667c58e 100644
--- a/include/sensors/core/tasks/pressure_driver.hpp
+++ b/include/sensors/core/tasks/pressure_driver.hpp
@@ -233,7 +233,7 @@ class MMR920 {
             sensor_buffer_index = 0;
         }
 
-        (*sensor_buffer).at(sensor_buffer_index) = data;
+        sensor_buffer->at(sensor_buffer_index) = data;
         sensor_buffer_index++;
     }
 
@@ -330,7 +330,6 @@ class MMR920 {
             _registers.pressure_result.reading, sensor_version);
 
         if (max_pressure_sync) {
-            sensor_buffer_log(pressure);
             bool this_tick_over_threshold =
                 std::fabs(pressure - current_pressure_baseline_pa) >=
                 mmr920::get_max_pressure_reading(sensor_version);
@@ -368,12 +367,8 @@ class MMR920 {
 
         if (echo_this_time) {
             auto response_pressure = pressure - current_pressure_baseline_pa;
-#ifdef USE_SENSOR_MOVE
-            if (sensor_buffer_index < SENSOR_BUFFER_SIZE) {
-                (*sensor_buffer).at(sensor_buffer_index) = response_pressure;
-                sensor_buffer_index++;
-            }
-#else
+            // do we want pressure or response pressure
+            sensor_buffer_log(pressure);
             can_client.send_can_message(
                 can::ids::NodeId::host,
                 can::messages::ReadFromSensorResponse{
@@ -382,7 +377,6 @@ class MMR920 {
                     .sensor_id = sensor_id,
                     .sensor_data =
                         mmr920::reading_to_fixed_point(response_pressure)});
-#endif
         }
     }
 
diff --git a/sensors/tests/test_capacitive_sensor.cpp b/sensors/tests/test_capacitive_sensor.cpp
index 1d3e5c950..6a99c26f7 100644
--- a/sensors/tests/test_capacitive_sensor.cpp
+++ b/sensors/tests/test_capacitive_sensor.cpp
@@ -1,3 +1,5 @@
+#define SENSOR_BUFF_SIZE = 500
+
 #include "can/core/ids.hpp"
 #include "can/core/messages.hpp"
 #include "catch2/catch.hpp"