add a compile option to gate the pressure-based move

Opentrons · Mar 7, 2024 · 8bb65f8 · 8bb65f8
1 parent 5f76e1f
commit 8bb65f8
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Showing 13 changed files with 61 additions and 18 deletions.
diff --git a/include/can/core/message_handlers/move_group.hpp b/include/can/core/message_handlers/move_group.hpp
@@ -11,7 +11,7 @@ using namespace can::messages;
 template <move_group_task::TaskClient Client>
 class MoveGroupHandler {
   public:
-#ifdef PIPETTE_TYPE_DEFINE
+#ifdef USE_PRESSURE_MOVE
     using MessageType =
         std::variant<std::monostate, AddLinearMoveRequest,
                      ClearAllMoveGroupsRequest, ExecuteMoveGroupRequest,

diff --git a/include/motor-control/core/stepper_motor/motion_controller.hpp b/include/motor-control/core/stepper_motor/motion_controller.hpp
@@ -25,7 +25,7 @@ template <lms::MotorMechanicalConfig MEConfig>
 class MotionController {
   public:
     using GenericQueue =
-#ifdef PIPETTE_TYPE_DEFINE
+#ifdef USE_PRESSURE_MOVE
         freertos_message_queue::FreeRTOSMessageQueue<SensorSyncMove>;
 #else
         freertos_message_queue::FreeRTOSMessageQueue<Move>;
@@ -63,7 +63,7 @@ class MotionController {
         -> const lms::LinearMotionSystemConfig<MEConfig>& {
         return linear_motion_sys_config;
     }
-#ifdef PIPETTE_TYPE_DEFINE
+#ifdef USE_PRESSURE_MOVE
     void move(const can::messages::AddSensorMoveRequest& can_msg) {
         steps_per_tick velocity_steps =
             fixed_point_multiply(steps_per_mm, can_msg.velocity);

diff --git a/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp b/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp
@@ -9,7 +9,7 @@
 #include "motor-control/core/motor_messages.hpp"
 #include "motor-control/core/stall_check.hpp"
 #include "motor-control/core/tasks/move_status_reporter_task.hpp"
-#ifdef PIPETTE_TYPE_DEFINE
+#ifdef USE_PRESSURE_MOVE
 #include "pipettes/core/sensor_tasks.hpp"
 #endif
 namespace motor_handler {
@@ -378,7 +378,7 @@ class MotorInterruptHandler {
             hardware.enable_encoder();
             buffered_move.start_encoder_position =
                 hardware.get_encoder_pulses();
-#ifdef PIPETTE_TYPE_DEFINE
+#ifdef USE_PRESSURE_MOVE
             if (buffered_move.sensor_id != can::ids::SensorId::UNUSED) {
                 auto msg = can::messages::BindSensorOutputRequest{
                     .message_index = buffered_move.message_index,
@@ -471,7 +471,7 @@ class MotorInterruptHandler {
         tick_count = 0x0;
         stall_handled = false;
         build_and_send_ack(ack_msg_id);
-#ifdef PIPETTE_TYPE_DEFINE
+#ifdef USE_PRESSURE_MOVE
         if (buffered_move.sensor_id != can::ids::SensorId::UNUSED) {
             auto stop_msg = can::messages::BindSensorOutputRequest{
                 .message_index = buffered_move.message_index,
@@ -624,7 +624,7 @@ class MotorInterruptHandler {
         hardware.set_step_tracker(
             static_cast<uint32_t>(position_tracker >> 31));
     }
-#ifdef PIPETTE_TYPE_DEFINE
+#ifdef USE_PRESSURE_MOVE
     void send_to_pressure_sensor_queue(
         can::messages::BindSensorOutputRequest& m) {
         std::ignore = sensor_tasks::get_queues()

diff --git a/include/motor-control/core/tasks/messages.hpp b/include/motor-control/core/tasks/messages.hpp
@@ -6,7 +6,7 @@
 
 namespace motor_control_task_messages {
 
-#ifdef PIPETTE_TYPE_DEFINE
+#ifdef USE_PRESSURE_MOVE
 using MotionControlTaskMessage = std::variant<
     std::monostate, can::messages::AddLinearMoveRequest,
     can::messages::DisableMotorRequest, can::messages::EnableMotorRequest,

diff --git a/include/motor-control/core/tasks/motion_controller_task.hpp b/include/motor-control/core/tasks/motion_controller_task.hpp
@@ -95,7 +95,7 @@ class MotionControllerMessageHandler {
         controller.move(m);
     }
 
-#ifdef PIPETTE_TYPE_DEFINE
+#ifdef USE_PRESSURE_MOVE
     void handle(const can::messages::AddSensorMoveRequest& m) {
         LOG("Received add linear move request: velocity=%d, acceleration=%d, "
             "groupid=%d, seqid=%d, duration=%d, stopcondition=%d",

diff --git a/include/motor-control/core/tasks/move_group_task.hpp b/include/motor-control/core/tasks/move_group_task.hpp
@@ -14,7 +14,7 @@ namespace move_group_task {
 
 constexpr std::size_t max_groups = 3;
 constexpr std::size_t max_moves_per_group = 12;
-#ifdef PIPETTE_TYPE_DEFINE
+#ifdef USE_PRESSURE_MOVE
 using MoveGroupType = move_group::MoveGroupManager<
     max_groups, max_moves_per_group, can::messages::AddLinearMoveRequest,
     can::messages::HomeRequest, can::messages::AddSensorMoveRequest>;
@@ -126,7 +126,7 @@ class MoveGroupMessageHandler {
         mc_client.send_motion_controller_queue(m);
     }
 
-#ifdef PIPETTE_TYPE_DEFINE
+#ifdef USE_PRESSURE_MOVE
     void visit_move(const can::messages::AddSensorMoveRequest& m) {
         mc_client.send_motion_controller_queue(m);
     }

diff --git a/include/pipettes/core/dispatch_builder.hpp b/include/pipettes/core/dispatch_builder.hpp
@@ -39,7 +39,7 @@ using GearMotorDispatchTarget = can::dispatch::DispatchParseTarget<
     can::messages::GearWriteMotorDriverRegister,
     can::messages::GearWriteMotorCurrentRequest>;
 
-#ifdef PIPETTE_TYPE_DEFINE
+#ifdef USE_PRESSURE_MOVE
 using MoveGroupDispatchTarget = can::dispatch::DispatchParseTarget<
     can::message_handlers::move_group::MoveGroupHandler<
         linear_motor_tasks::QueueClient>,

diff --git a/include/pipettes/core/interfaces.hpp b/include/pipettes/core/interfaces.hpp
@@ -6,9 +6,13 @@
 #include "motor-control/core/tasks/motor_hardware_task.hpp"
 
 namespace interfaces {
-
+#ifdef USE_PRESSURE_MOVE
 using MoveQueue = freertos_message_queue::FreeRTOSMessageQueue<
     motor_messages::SensorSyncMove>;
+#else
+using MoveQueue =
+    freertos_message_queue::FreeRTOSMessageQueue<motor_messages::Move>;
+#endif
 using GearMoveQueue =
     freertos_message_queue::FreeRTOSMessageQueue<motor_messages::GearMotorMove>;
 using MotionControlType =

diff --git a/include/pipettes/firmware/interfaces.hpp b/include/pipettes/firmware/interfaces.hpp
@@ -18,10 +18,17 @@
 
 namespace interfaces {
 
+#ifdef USE_PRESSURE_MOVE
 template <typename Client>
 using MotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
     freertos_message_queue::FreeRTOSMessageQueue, Client,
     motor_messages::SensorSyncMove, motor_hardware::MotorHardware>;
+#else
+template <typename Client>
+using MotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
+    freertos_message_queue::FreeRTOSMessageQueue, Client, motor_messages::Move,
+    motor_hardware::MotorHardware>;
+#endif
 template <typename Client>
 using GearMotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
     freertos_message_queue::FreeRTOSMessageQueue, Client,

diff --git a/include/pipettes/firmware/interfaces_g4.hpp b/include/pipettes/firmware/interfaces_g4.hpp
@@ -28,19 +28,30 @@
 
 namespace interfaces {
 
+#ifdef USE_PRESSURE_MOVE
 template <typename Client>
 using MotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
     freertos_message_queue::FreeRTOSMessageQueue, Client,
     motor_messages::SensorSyncMove, motor_hardware::MotorHardware>;
 template <typename Client>
-using GearMotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
-    freertos_message_queue::FreeRTOSMessageQueue, Client,
-    motor_messages::GearMotorMove, motor_hardware::MotorHardware>;
-template <typename Client>
 using PipetteMotorInterruptHandlerType = pipettes::PipetteMotorInterruptHandler<
     freertos_message_queue::FreeRTOSMessageQueue, Client,
     motor_messages::SensorSyncMove, motor_hardware::MotorHardware,
     sensor_tasks::QueueClient>;
+#else
+template <typename Client>
+using MotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
+    freertos_message_queue::FreeRTOSMessageQueue, Client, motor_messages::Move,
+    motor_hardware::MotorHardware>;
+template <typename Client>
+using PipetteMotorInterruptHandlerType = pipettes::PipetteMotorInterruptHandler<
+    freertos_message_queue::FreeRTOSMessageQueue, Client, motor_messages::Move,
+    motor_hardware::MotorHardware, sensor_tasks::QueueClient>;
+#endif
+template <typename Client>
+using GearMotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
+    freertos_message_queue::FreeRTOSMessageQueue, Client,
+    motor_messages::GearMotorMove, motor_hardware::MotorHardware>;
 
 template <PipetteType P>
 auto get_interrupt_queues()

diff --git a/include/sensors/core/tasks/pressure_driver.hpp b/include/sensors/core/tasks/pressure_driver.hpp
@@ -14,7 +14,9 @@
 #include "sensors/core/sensors.hpp"
 #include "sensors/core/utils.hpp"
 
-#if PIPETTE_TYPE_DEFINE == NINETY_SIX_CHANNEL
+#ifndef USE_PRESSURE_MOVE
+constexpr size_t PRESSURE_SENSOR_BUFFER_SIZE = 0;
+#elif PIPETTE_TYPE_DEFINE == NINETY_SIX_CHANNEL
 constexpr size_t PRESSURE_SENSOR_BUFFER_SIZE = 1800;
 #else
 constexpr size_t PRESSURE_SENSOR_BUFFER_SIZE = 3000;
@@ -367,6 +369,7 @@ class MMR920 {
         }
 
         if (echo_this_time) {
+#ifdef USE_PRESSURE_MOVE
             // send a response with 9999 to make an overload of the buffer
             // visible
             if (pressure_buffer_index < PRESSURE_SENSOR_BUFFER_SIZE) {
@@ -380,6 +383,15 @@ class MMR920 {
                         .severity = can::ids::ErrorSeverity::warning,
                         .error_code = can::ids::ErrorCode::stop_requested});
             }
+#else
+            can_client.send_can_message(
+                can::ids::NodeId::host,
+                can::messages::ReadFromSensorResponse{
+                    .message_index = m.message_index,
+                    .sensor = can::ids::SensorType::pressure,
+                    .sensor_id = sensor_id,
+                    .sensor_data = mmr920::reading_to_fixed_point(pressure)});
+#endif
         }
     }
 

diff --git a/pipettes/core/CMakeLists.txt b/pipettes/core/CMakeLists.txt
@@ -9,6 +9,9 @@ function(target_pipettes_core_common TARGET REVISION)
     target_include_directories(${TARGET} PUBLIC ${CMAKE_CURRENT_FUNCTION_LIST_DIR})
     target_link_libraries(${TARGET} PUBLIC common-core)
     target_include_directories(${TARGET} INTERFACE ${CMAKE_SOURCE_DIR}/cpp-utils/include)
+    if(${USE_PRESSURE_MOVE})
+    add_compile_definitions(-DUSE_PRESSURE_MOVE)
+    endif()
 endfunction()
 
 function(target_pipettes_core_single TARGET REVISION)

diff --git a/pipettes/simulator/interfaces.cpp b/pipettes/simulator/interfaces.cpp
@@ -56,9 +56,15 @@ auto linear_motor::get_interrupt_driver(
     sim_motor_hardware_iface::SimMotorHardwareIface& hw, MoveQueue& queue,
     MotorInterruptHandlerType<linear_motor_tasks::QueueClient>& handler,
     UpdatePositionQueue& update_queue)
+#ifdef USE_PRESSURE_MOVE
     -> motor_interrupt_driver::MotorInterruptDriver<
         linear_motor_tasks::QueueClient, motor_messages::SensorSyncMove,
         sim_motor_hardware_iface::SimMotorHardwareIface> {
+#else
+    -> motor_interrupt_driver::MotorInterruptDriver<
+        linear_motor_tasks::QueueClient, motor_messages::Move,
+        sim_motor_hardware_iface::SimMotorHardwareIface> {
+#endif
     return motor_interrupt_driver::MotorInterruptDriver(queue, handler, hw,
                                                         update_queue);
 }