make hardware delay subsitute global

Opentrons · Jun 14, 2024 · adc41ad · adc41ad
1 parent e6378ce
commit adc41ad
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Showing 3 changed files with 16 additions and 26 deletions.
diff --git a/include/common/core/hardware_delay.hpp b/include/common/core/hardware_delay.hpp
@@ -0,0 +1,12 @@
+#pragma once
+// Not my favorite way to check this, but if we don't have access
+// to vTaskDelay during host compilation so just dummy the function
+template <typename T>
+requires std::is_integral_v<T>
+static void vtask_hardware_delay(T ticks) {
+#ifndef INC_TASK_H
+    std::ignore = ticks;
+#else
+    vTaskDelay(ticks);
+#endif
+}
diff --git a/include/motor-control/core/tasks/usage_storage_task.hpp b/include/motor-control/core/tasks/usage_storage_task.hpp
@@ -7,6 +7,7 @@
 #include "can/core/ids.hpp"
 #include "can/core/messages.hpp"
 #include "common/core/bit_utils.hpp"
+#include "common/core/hardware_delay.hpp"
 #include "common/core/logging.h"
 #include "eeprom/core/dev_data.hpp"
 #include "motor-control/core/tasks/messages.hpp"
@@ -15,18 +16,6 @@ namespace usage_storage_task {
 
 using namespace usage_messages;
 
-// Not my favorite way to check this, but if we don't have access
-// to vTaskDelay during host compilation so just dummy the function
-template <typename T>
-requires std::is_integral_v<T>
-static void _hardware_delay(T ticks) {
-#ifndef INC_TASK_H
-    std::ignore = ticks;
-#else
-    vTaskDelay(ticks);
-#endif
-}
-
 using TaskMessage = motor_control_task_messages::UsageStorageTaskMessage;
 
 static constexpr uint16_t distance_data_usage_len = 8;
@@ -237,7 +226,7 @@ class UsageStorageTask {
             } else {
                 // wait for the handler to be ready before sending the next
                 // message
-                _hardware_delay(10);
+                vtask_hardware_delay(10);
             }
         }
     }

diff --git a/include/sensors/core/tasks/pressure_driver.hpp b/include/sensors/core/tasks/pressure_driver.hpp
@@ -2,22 +2,11 @@
 
 #include <cmath>
 
-// Not my favorite way to check this, but if we don't have access
-// to vTaskDelay during host compilation so just dummy the function
-template <typename T>
-requires std::is_integral_v<T>
-static void _hardware_delay(T ticks) {
-#ifndef INC_TASK_H
-    std::ignore = ticks;
-#else
-    vTaskDelay(ticks);
-#endif
-}
-
 #include "can/core/can_writer_task.hpp"
 #include "can/core/ids.hpp"
 #include "can/core/messages.hpp"
 #include "common/core/bit_utils.hpp"
+#include "common/core/hardware_delay.hpp"
 #include "common/core/logging.h"
 #include "common/core/message_queue.hpp"
 #include "common/core/sensor_buffer.hpp"
@@ -317,7 +306,7 @@ class MMR920 {
                         (*sensor_buffer).at(current_index))});
             if (i % 10 == 0) {
                 // slow it down so the can buffer doesn't choke
-                _hardware_delay(50);
+                vtask_hardware_delay(50);
             }
             (*sensor_buffer).at(current_index) = 0;
         }