fix(can): hook up the tertiary flag through the system message handle…

…r task (#765) * fix(can): hook up the tertiary flag through the system message handler tasks * fix the cmake generator variable for tertiary flag * format
Opentrons · Apr 4, 2024 · 95eed5e · 95eed5e
1 parent 9d9bbef
commit 95eed5e
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Showing 8 changed files with 16 additions and 5 deletions.
diff --git a/common/core/CMakeLists.txt b/common/core/CMakeLists.txt
@@ -55,7 +55,7 @@ function(add_revision)
   string(SUBSTRING ${_ar_REVISION} 0 1 PRIMARY_REVISION)
   string(SUBSTRING ${_ar_REVISION} 1 1 SECONDARY_REVISION)
   if (${USE_PRESSURE_MOVE})
-  set(TERTIARY_FLAG "0x01")
+  set(TERTIARY_FLAG "'1'")
   else()
   set(TERTIARY_FLAG "0x00")
   endif()

diff --git a/gantry/core/can_task.cpp b/gantry/core/can_task.cpp
@@ -52,7 +52,8 @@ static auto system_message_handler =
         std::span(std::cbegin(version_get()->sha),
                   std::cend(version_get()->sha)),
         revision_get()->primary,
-        revision_get()->secondary};
+        revision_get()->secondary,
+        reinterpret_cast<const std::array<char, 2>&>(revision_get()->tertiary)};
 static auto system_dispatch_target =
     can_task::SystemDispatchTarget{system_message_handler};
 

diff --git a/gripper/core/can_tasks.cpp b/gripper/core/can_tasks.cpp
@@ -38,7 +38,8 @@ static auto system_message_handler =
         std::span(std::cbegin(version_get()->sha),
                   std::cend(version_get()->sha)),
         revision_get()->primary,
-        revision_get()->secondary};
+        revision_get()->secondary,
+        reinterpret_cast<const std::array<char, 2>&>(revision_get()->tertiary)};
 static auto system_dispatch_target =
     can_task::SystemDispatchTarget{system_message_handler};
 

diff --git a/head/core/can_task.cpp b/head/core/can_task.cpp
@@ -80,7 +80,8 @@ static auto system_message_handler =
         common_queues, version_get()->version, version_get()->flags,
         std::span(std::cbegin(version_get()->sha),
                   std::cend(version_get()->sha)),
-        revision_get()->primary, revision_get()->secondary);
+        revision_get()->primary, revision_get()->secondary,
+        reinterpret_cast<const std::array<char, 2>&>(revision_get()->tertiary));
 static auto system_dispatch_target =
     SystemDispatchTarget{system_message_handler};
 

diff --git a/hepa-uv/core/can_tasks.cpp b/hepa-uv/core/can_tasks.cpp
@@ -29,7 +29,8 @@ static auto system_message_handler =
         std::span(std::cbegin(version_get()->sha),
                   std::cend(version_get()->sha)),
         revision_get()->primary,
-        revision_get()->secondary};
+        revision_get()->secondary,
+        reinterpret_cast<const std::array<char, 2>&>(revision_get()->tertiary)};
 static auto system_dispatch_target =
     can_task::SystemDispatchTarget{system_message_handler};
 

diff --git a/include/can/core/message_handlers/system.hpp b/include/can/core/message_handlers/system.hpp
@@ -29,6 +29,7 @@ class SystemMessageHandler {
     SystemMessageHandler(CanClient &writer, uint32_t version, uint32_t flags,
                          std::span<const char> version_sha,
                          char primary_revision, char secondary_revision,
+                         std::array<char, 2> tertiary_revision,
                          uint8_t device_subid = 0)
         : writer(writer),
           response{.version = version,
@@ -39,6 +40,10 @@ class SystemMessageHandler {
         std::copy_n(version_sha.begin(),
                     std::min(version_sha.size(), response.shortsha.size()),
                     response.shortsha.begin());
+        std::copy_n(tertiary_revision.begin(),
+                    std::min(tertiary_revision.size(),
+                             response.tertiary_revision.size()),
+                    response.tertiary_revision.begin());
     }
     SystemMessageHandler(const SystemMessageHandler &) = delete;
     SystemMessageHandler(const SystemMessageHandler &&) = delete;

diff --git a/pipettes/core/can_task_high_throughput.cpp b/pipettes/core/can_task_high_throughput.cpp
@@ -51,6 +51,7 @@ static auto system_message_handler =
         std::span(std::cbegin(version_get()->sha),
                   std::cend(version_get()->sha)),
         revision_get()->primary, revision_get()->secondary,
+        reinterpret_cast<const std::array<char, 2>&>(revision_get()->tertiary),
         // this is the high-throughput path so we can only be a 96
         static_cast<uint8_t>(can::ids::PipetteType::pipette_96)};
 

diff --git a/pipettes/core/can_task_low_throughput.cpp b/pipettes/core/can_task_low_throughput.cpp
@@ -34,6 +34,7 @@ static auto system_message_handler =
         std::span(std::cbegin(version_get()->sha),
                   std::cend(version_get()->sha)),
         revision_get()->primary, revision_get()->secondary,
+        reinterpret_cast<const std::array<char, 2>&>(revision_get()->tertiary),
         // in low throughput, we can be either single or multi (8-chan)
         static_cast<uint8_t>(get_pipette_type() == PipetteType::SINGLE_CHANNEL
                                  ? can::ids::PipetteType::pipette_single