format lint

Opentrons · Jul 1, 2024 · 730db71 · 730db71
1 parent f05b409
commit 730db71
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Showing 8 changed files with 23 additions and 25 deletions.
diff --git a/include/can/core/ids.hpp b/include/can/core/ids.hpp
@@ -215,7 +215,7 @@ enum class SensorOutputBinding {
     sync = 0x1,
     report = 0x2,
     max_threshold_sync = 0x4,
-    auto_baseline_report = 0x8,
+    auto_baseline_report = 0x08,
     multi_sensor_sync = 0x10,
 };
 

diff --git a/include/motor-control/core/motor_messages.hpp b/include/motor-control/core/motor_messages.hpp
@@ -91,6 +91,7 @@ struct SensorSyncMove {  // NOLINT(cppcoreguidelines-pro-type-member-init)
     uint16_t usage_key;
     can::ids::SensorId sensor_id;
     can::ids::SensorType sensor_type;
+    uint8_t binding_flags;
 
     auto build_ack(uint32_t position, int32_t pulses, uint8_t flags,
                    AckMessageId _id) -> Ack {
@@ -121,6 +122,7 @@ struct GearMotorMove  // NOLINT(cppcoreguidelines-pro-type-member-init)
     can::ids::GearMotorId gear_motor_id;
     can::ids::SensorId sensor_id;
     can::ids::SensorType sensor_type;
+    uint8_t binding_flags;
     auto build_ack(uint32_t position, int32_t pulses, uint8_t flags,
                    AckMessageId _id) -> GearMotorAck {
         return GearMotorAck{message_index, group_id,

diff --git a/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp b/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp
@@ -408,20 +408,17 @@ class MotorInterruptHandler {
                 hardware.get_encoder_pulses();
 #ifdef USE_SENSOR_MOVE
             if (buffered_move.sensor_id != can::ids::SensorId::UNUSED) {
-                auto binding =
-                    static_cast<uint8_t>(can::ids::SensorOutputBinding::sync) |
-                    static_cast<uint8_t>(
-                        can::ids::SensorOutputBinding::report) |
-                    static_cast<uint8_t>(
-                        can::ids::SensorOutputBinding::auto_baseline_report);
                 if (buffered_move.sensor_id == can::ids::SensorId::BOTH) {
                     send_bind_message(buffered_move.sensor_type,
-                                      can::ids::SensorId::S0, binding);
+                                      can::ids::SensorId::S0,
+                                      buffered_move.binding_flags);
                     send_bind_message(buffered_move.sensor_type,
-                                      can::ids::SensorId::S1, binding);
+                                      can::ids::SensorId::S1,
+                                      buffered_move.binding_flags);
                 } else {
                     send_bind_message(buffered_move.sensor_type,
-                                      buffered_move.sensor_id, binding);
+                                      buffered_move.sensor_id,
+                                      buffered_move.binding_flags);
                 }
             }
 #endif

diff --git a/include/sensors/core/sensor_hardware_interface.hpp b/include/sensors/core/sensor_hardware_interface.hpp
@@ -56,35 +56,32 @@ class SensorHardwareBase {
     virtual auto check_tip_presence() -> bool = 0;
 
     auto mask_satisfied() -> bool {
-        if (set_sync_required_mask != static_cast<uint8_t>(SensorIdBitMask::UNUSED)) {
+        if (set_sync_required_mask !=
+            static_cast<uint8_t>(SensorIdBitMask::UNUSED)) {
             // if anything is "required" only sync when they are all triggered
-            return  (sync_state_mask & set_sync_required_mask) == set_sync_required_mask;
+            return (sync_state_mask & set_sync_required_mask) ==
+                   set_sync_required_mask;
         }
         return sync_state_mask & set_sync_enabled_mask;
     }
 
     auto set_sync(can::ids::SensorId sensor) -> void {
-        printf("Set sync sensor called\n");
         // force the bit for this sensor to 1
         sync_state_mask |= get_mask_from_id(sensor);
         if (mask_satisfied()) {
-            printf("satisfied calling sync\n");
             set_sync();
         }
     }
 
     auto reset_sync(can::ids::SensorId sensor) -> void {
         // force the bit for this sensor to 0
-        printf("reset sync sensor called\n");
         sync_state_mask &= 0xFF ^ get_mask_from_id(sensor);
         if (!mask_satisfied()) {
-            printf("No longer satisfied calling reset\n");
             reset_sync();
         }
     }
 
     auto set_sync_enabled(can::ids::SensorId sensor, bool enabled) -> void {
-        printf("Set sync required called %d\n", enabled);
         uint8_t applied_mask = get_mask_from_id(sensor);
         if (!enabled) {
             // force enabled bit to 0
@@ -117,6 +114,7 @@ class SensorHardwareBase {
             reset_sync();
         }
     }
+
   private:
     uint8_t set_sync_required_mask = 0x00;
     uint8_t set_sync_enabled_mask = 0x00;

diff --git a/include/sensors/core/tasks/pressure_sensor_task.hpp b/include/sensors/core/tasks/pressure_sensor_task.hpp
@@ -131,8 +131,8 @@ class PressureMessageHandler {
             m.binding &
             static_cast<uint8_t>(can::ids::SensorOutputBinding::report));
         driver.set_multi_sensor_sync(
-            m.binding &
-            static_cast<uint8_t>(can::ids::SensorOutputBinding::multi_sensor_sync));
+            m.binding & static_cast<uint8_t>(
+                            can::ids::SensorOutputBinding::multi_sensor_sync));
         driver.set_bind_sync(
             m.binding &
             static_cast<uint8_t>(can::ids::SensorOutputBinding::sync));

diff --git a/include/sensors/firmware/sensor_hardware.hpp b/include/sensors/firmware/sensor_hardware.hpp
@@ -7,7 +7,6 @@
 namespace sensors {
 namespace hardware {
 
-
 class SensorHardware : public SensorHardwareBase {
   public:
     SensorHardware(sensors::hardware::SensorHardwareConfiguration hardware)

diff --git a/include/sensors/tests/mock_hardware.hpp b/include/sensors/tests/mock_hardware.hpp
@@ -25,11 +25,14 @@ class MockSensorHardware : public sensors::hardware::SensorHardwareBase {
         sensors::hardware::SensorHardwareBase::reset_sync(sensor);
     }
     auto set_sync_enabled(can::ids::SensorId sensor, bool enabled) -> void {
-        sensors::hardware::SensorHardwareBase::set_sync_enabled(sensor, enabled);
+        sensors::hardware::SensorHardwareBase::set_sync_enabled(sensor,
+                                                                enabled);
     }
     auto set_sync_required(can::ids::SensorId sensor, bool required) -> void {
-        sensors::hardware::SensorHardwareBase::set_sync_required(sensor, required);
+        sensors::hardware::SensorHardwareBase::set_sync_required(sensor,
+                                                                 required);
     }
+
   private:
     bool sync_state = false;
     uint32_t sync_set_calls = 0;

diff --git a/sensors/tests/test_sensor_hardware.cpp b/sensors/tests/test_sensor_hardware.cpp
@@ -1,9 +1,9 @@
 #include <concepts>
 
-#include "catch2/catch.hpp"
 #include "can/core/messages.hpp"
-#include "sensors/tests/mock_hardware.hpp"
+#include "catch2/catch.hpp"
 #include "sensors/core/sensor_hardware_interface.hpp"
+#include "sensors/tests/mock_hardware.hpp"
 
 constexpr auto sensor_id_primary = can::ids::SensorId::S0;
 constexpr auto sensor_id_secondary = can::ids::SensorId::S1;
@@ -79,7 +79,6 @@ SCENARIO("Multiple Sensors connected") {
             mock_hw.set_sync_enabled(sensor_id_secondary, false);
             REQUIRE(mock_hw.get_sync_state_mock() == false);
         }
-
     }
     GIVEN("Two sensors required") {
         mock_hw.set_sync_required(sensor_id_primary, true);