lint and build fixes

Opentrons · Nov 3, 2023 · 90c6a50 · 90c6a50
1 parent 394ea1d
commit 90c6a50
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Showing 11 changed files with 25 additions and 22 deletions.
diff --git a/include/motor-control/core/motor_hardware_interface.hpp b/include/motor-control/core/motor_hardware_interface.hpp
@@ -96,7 +96,7 @@ class MotorHardwareIface {
     virtual void read_limit_switch() = 0;
     virtual void read_estop_in() = 0;
     virtual void read_sync_in() = 0;
-    virtual bool read_tmc_diag0() = 0;
+    virtual auto read_tmc_diag0() -> bool = 0;
     virtual auto get_encoder_pulses() -> int32_t = 0;
     virtual void reset_encoder_pulses() = 0;
     virtual void start_timer_interrupt() = 0;

diff --git a/include/motor-control/core/tasks/motion_controller_task.hpp b/include/motor-control/core/tasks/motion_controller_task.hpp
@@ -189,7 +189,9 @@ class MotionControllerMessageHandler {
     CanClient& can_client;
     UsageClient& usage_client;
     DriverClient& driver_client;
-    std::atomic<bool> driver_error_handled_flag = false; // can get rid of this if indefinite interrupt trigger issue gets resolved
+    std::atomic<bool> driver_error_handled_flag =
+        false;  // can get rid of this if indefinite interrupt trigger issue
+                // gets resolved
 };
 
 /**

diff --git a/include/motor-control/firmware/brushed_motor/brushed_motor_hardware.hpp b/include/motor-control/firmware/brushed_motor/brushed_motor_hardware.hpp
@@ -62,7 +62,7 @@ class BrushedMotorHardware : public BrushedMotorHardwareIface {
     void read_limit_switch() final;
     void read_estop_in() final;
     void read_sync_in() final;
-    bool read_tmc_diag0() final;
+    auto read_tmc_diag0() -> bool final;
     void grip() final;
     void ungrip() final;
     void stop_pwm() final;

diff --git a/include/motor-control/firmware/stepper_motor/motor_hardware.hpp b/include/motor-control/firmware/stepper_motor/motor_hardware.hpp
@@ -51,7 +51,7 @@ class MotorHardware : public StepperMotorHardwareIface {
     void read_limit_switch() final;
     void read_estop_in() final;
     void read_sync_in() final;
-    bool read_tmc_diag0() final;
+    auto read_tmc_diag0() -> bool final;
     void set_LED(bool status) final;
     auto get_encoder_pulses() -> int32_t final;
     void reset_encoder_pulses() final;

diff --git a/include/motor-control/simulation/sim_motor_hardware_iface.hpp b/include/motor-control/simulation/sim_motor_hardware_iface.hpp
@@ -51,6 +51,7 @@ class SimMotorHardwareIface : public motor_hardware::StepperMotorHardwareIface {
     void read_limit_switch() final {}
     void read_estop_in() final {}
     void read_sync_in() final {}
+    bool read_tmc_diag0() final { return false; }
     void set_LED(bool) final {}
     void trigger_limit_switch() { limit_switch_status = true; }
     bool check_sync_in() final {
@@ -87,11 +88,11 @@ class SimMotorHardwareIface : public motor_hardware::StepperMotorHardwareIface {
     bool check_estop_in() final { return estop_detected; }
 
     void set_estop(bool estop_pressed) { estop_detected = estop_pressed; }
-    auto has_cancel_request() -> motor_hardware::CancelRequest final {
+    auto get_cancel_request() -> motor_hardware::CancelRequest final {
         motor_hardware::CancelRequest exchange_request;
         return cancel_request.exchange(exchange_request);
     }
-    void request_cancel(can::ids::ErrorSeverity error_severity,
+    void set_cancel_request(can::ids::ErrorSeverity error_severity,
                         can::ids::ErrorCode error_code) final {
         motor_hardware::CancelRequest update_request{
             .severity = static_cast<uint8_t>(error_severity),
@@ -148,6 +149,7 @@ class SimBrushedMotorHardwareIface
     void read_limit_switch() final {}
     void read_estop_in() final {}
     void read_sync_in() final {}
+    bool read_tmc_diag0() final { return false; }
     void trigger_limit_switch() { limit_switch_status = true; }
     void grip() final {}
     void ungrip() final {}
@@ -188,11 +190,11 @@ class SimBrushedMotorHardwareIface
         return ret;
     }
 
-    auto has_cancel_request() -> motor_hardware::CancelRequest final {
+    auto get_cancel_request() -> motor_hardware::CancelRequest final {
         motor_hardware::CancelRequest exchange_request;
         return cancel_request.exchange(exchange_request);
     }
-    void request_cancel(can::ids::ErrorSeverity error_severity,
+    void set_cancel_request(can::ids::ErrorSeverity error_severity,
                         can::ids::ErrorCode error_code) final {
         motor_hardware::CancelRequest update_request{
             .severity = static_cast<uint8_t>(error_severity),
@@ -256,6 +258,7 @@ class SimGearMotorHardwareIface
     void read_limit_switch() final {}
     void read_estop_in() final {}
     void read_sync_in() final {}
+    bool read_tmc_diag0() final { return false; }
     void set_LED(bool) final {}
     void trigger_limit_switch() { limit_switch_status = true; }
     bool check_sync_in() final {
@@ -288,11 +291,11 @@ class SimGearMotorHardwareIface
     bool check_estop_in() final { return estop_detected; }
 
     void set_estop(bool estop_pressed) { estop_detected = estop_pressed; }
-    auto has_cancel_request() -> motor_hardware::CancelRequest final {
+    auto get_cancel_request() -> motor_hardware::CancelRequest final {
         motor_hardware::CancelRequest exchange_request;
         return cancel_request.exchange(exchange_request);
     }
-    void request_cancel(can::ids::ErrorSeverity error_severity,
+    void set_cancel_request(can::ids::ErrorSeverity error_severity,
                         can::ids::ErrorCode error_code) final {
         motor_hardware::CancelRequest update_request{
             .severity = static_cast<uint8_t>(error_severity),

diff --git a/include/motor-control/tests/mock_brushed_motor_components.hpp b/include/motor-control/tests/mock_brushed_motor_components.hpp
@@ -79,7 +79,7 @@ class MockBrushedMotorHardware : public BrushedMotorHardwareIface {
         return old_request;
     }
     void set_cancel_request(can::ids::ErrorSeverity error_severity,
-                        can::ids::ErrorCode error_code) final {
+                            can::ids::ErrorCode error_code) final {
         CancelRequest update_request{
             .severity = static_cast<uint8_t>(error_severity),
             .code = static_cast<uint8_t>(error_code)};

diff --git a/include/motor-control/tests/mock_motor_hardware.hpp b/include/motor-control/tests/mock_motor_hardware.hpp
@@ -47,7 +47,7 @@ class MockMotorHardware : public motor_hardware::StepperMotorHardwareIface {
         return old_request;
     }
     void set_cancel_request(can::ids::ErrorSeverity error_severity,
-                        can::ids::ErrorCode error_code) final {
+                            can::ids::ErrorCode error_code) final {
         motor_hardware::CancelRequest update_request{
             .severity = static_cast<uint8_t>(error_severity),
             .code = static_cast<uint8_t>(error_code)};

diff --git a/motor-control/firmware/brushed_motor/brushed_motor_hardware.cpp b/motor-control/firmware/brushed_motor/brushed_motor_hardware.cpp
@@ -58,9 +58,7 @@ void BrushedMotorHardware::read_sync_in() {
     sync.debounce_update(gpio::is_set(pins.sync_in));
 }
 
-bool BrushedMotorHardware::read_tmc_diag0() {
-    return 0;
-}
+bool BrushedMotorHardware::read_tmc_diag0() { return 0; }
 
 int32_t BrushedMotorHardware::get_encoder_pulses() {
     if (!enc_handle) {

diff --git a/motor-control/firmware/stepper_motor/motor_hardware.cpp b/motor-control/firmware/stepper_motor/motor_hardware.cpp
@@ -48,9 +48,7 @@ void MotorHardware::read_estop_in() {
 
 void MotorHardware::read_sync_in() { sync = gpio::is_set(pins.sync_in); }
 
-bool MotorHardware::read_tmc_diag0() {
-    return gpio::is_set(pins.diag0);
-}
+bool MotorHardware::read_tmc_diag0() { return gpio::is_set(pins.diag0); }
 
 void MotorHardware::set_LED(bool status) {
     if (status) {

diff --git a/motor-control/tests/test_brushed_motor_interrupt_handler.cpp b/motor-control/tests/test_brushed_motor_interrupt_handler.cpp
@@ -512,8 +512,9 @@ SCENARIO("handler recovers from error state") {
         test_objs.handler.error_handled = true;
 
         WHEN("a cancel request is received") {
-            test_objs.hw.set_cancel_request(can::ids::ErrorSeverity::warning,
-                                        can::ids::ErrorCode::stop_requested);
+            test_objs.hw.set_cancel_request(
+                can::ids::ErrorSeverity::warning,
+                can::ids::ErrorCode::stop_requested);
             test_objs.handler.run_interrupt();
             THEN(
                 "motor state should become un-homed only if stay engaged is "

diff --git a/motor-control/tests/test_motor_interrupt_handler.cpp b/motor-control/tests/test_motor_interrupt_handler.cpp
@@ -44,8 +44,9 @@ SCENARIO("a move is cancelled due to a stop request") {
             test_objs.handler.run_interrupt();
             test_objs.handler.run_interrupt();
             CHECK(test_objs.hw.steps_taken() == 1);
-            test_objs.hw.set_cancel_request(can::ids::ErrorSeverity::warning,
-                                        can::ids::ErrorCode::stop_requested);
+            test_objs.hw.set_cancel_request(
+                can::ids::ErrorSeverity::warning,
+                can::ids::ErrorCode::stop_requested);
             test_objs.handler.run_interrupt();
             THEN("An error and increase error count is sent") {
                 REQUIRE(test_objs.reporter.messages.size() == 2);