From 60b7cc1e20869bcbe5a8f5ac9adc009d196c887d Mon Sep 17 00:00:00 2001
From: pmoegenburg <pbm53@cornell.edu>
Date: Fri, 31 May 2024 14:28:39 -0400
Subject: [PATCH] fixed build issues stemming from removal of motor driver
 error surfacing branch

---
 gripper/firmware/interfaces_z_motor.cpp            |  2 +-
 .../core/stepper_motor/motor_interrupt_handler.hpp |  6 ++----
 include/pipettes/firmware/interfaces.hpp           | 14 ++++++--------
 include/pipettes/firmware/interfaces_g4.hpp        | 14 ++++++--------
 pipettes/firmware/interfaces.cpp                   | 10 ++++------
 5 files changed, 19 insertions(+), 27 deletions(-)

diff --git a/gripper/firmware/interfaces_z_motor.cpp b/gripper/firmware/interfaces_z_motor.cpp
index 381d0e55e..d74056de4 100644
--- a/gripper/firmware/interfaces_z_motor.cpp
+++ b/gripper/firmware/interfaces_z_motor.cpp
@@ -197,7 +197,7 @@ static motor_class::Motor z_motor{
  */
 static motor_handler::MotorInterruptHandler motor_interrupt(
     motor_queue, gripper_tasks::z_tasks::get_queues(),
-    gripper_tasks::z_tasks::get_queues(), motor_hardware_iface, stallcheck,
+    motor_hardware_iface, stallcheck,
     update_position_queue, gripper_tasks::get_main_queues());
 
 static auto encoder_background_timer =
diff --git a/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp b/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp
index fc47b9023..5cdc44439 100644
--- a/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp
+++ b/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp
@@ -9,7 +9,6 @@
 #include "motor-control/core/motor_messages.hpp"
 #include "motor-control/core/stall_check.hpp"
 #include "motor-control/core/tasks/move_status_reporter_task.hpp"
-#include "motor-control/core/tasks/tmc_motor_driver_common.hpp"
 
 namespace motor_handler {
 
@@ -95,7 +94,7 @@ struct SensorClientHelper<Empty> {
 };
 
 template <template <class> class QueueImpl, class StatusClient,
-          class DriverClient, typename MotorMoveMessage, typename MotorHardware,
+          typename MotorMoveMessage, typename MotorHardware,
           class SensorClient = Empty>
 requires MessageQueue<QueueImpl<MotorMoveMessage>, MotorMoveMessage> &&
     std::is_base_of_v<motor_hardware::MotorHardwareIface, MotorHardware>
@@ -111,11 +110,10 @@ class MotorInterruptHandler {
                           stall_check::StallCheck& stall,
                           UpdatePositionQueue& incoming_update_position_queue)
         : MotorInterruptHandler(
-              incoming_move_queue, outgoing_queue, driver_queue, hardware_iface,
+              incoming_move_queue, outgoing_queue, hardware_iface,
               stall, incoming_update_position_queue, Empty::get_default()) {}
     MotorInterruptHandler(MoveQueue& incoming_move_queue,
                           StatusClient& outgoing_queue,
-                          DriverClient& driver_queue,
                           MotorHardware& hardware_iface,
                           stall_check::StallCheck& stall,
                           UpdatePositionQueue& incoming_update_position_queue,
diff --git a/include/pipettes/firmware/interfaces.hpp b/include/pipettes/firmware/interfaces.hpp
index 665da11ed..c98ddbfb1 100644
--- a/include/pipettes/firmware/interfaces.hpp
+++ b/include/pipettes/firmware/interfaces.hpp
@@ -20,15 +20,15 @@
 namespace interfaces {
 
 #ifdef USE_SENSOR_MOVE
-template <typename Client, typename DriverClient>
+template <typename Client>
 using MotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
-    freertos_message_queue::FreeRTOSMessageQueue, Client, DriverClient,
+    freertos_message_queue::FreeRTOSMessageQueue, Client
     motor_messages::SensorSyncMove, motor_hardware::MotorHardware,
     sensor_tasks::QueueClient>;
 #else
-template <typename Client, typename DriverClient>
+template <typename Client>
 using MotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
-    freertos_message_queue::FreeRTOSMessageQueue, Client, DriverClient,
+    freertos_message_queue::FreeRTOSMessageQueue, Client,
     motor_messages::Move, motor_hardware::MotorHardware,
     sensor_tasks::QueueClient>;
 #endif
@@ -79,15 +79,13 @@ auto get_interrupt(motor_hardware::MotorHardware& hw,
                    stall_check::StallCheck& stall,
                    sensor_tasks::QueueClient& sensor_client)
     -> MotorInterruptHandlerType<
-        linear_motor_tasks::QueueClient,
-        linear_motor_tasks::tmc2130_driver::QueueClient>;
+        linear_motor_tasks::QueueClient>;
 auto get_interrupt(motor_hardware::MotorHardware& hw,
                    HighThroughputInterruptQueues& queues,
                    stall_check::StallCheck& stall,
                    sensor_tasks::QueueClient& sensor_client)
     -> MotorInterruptHandlerType<
-        linear_motor_tasks::QueueClient,
-        linear_motor_tasks::tmc2160_driver::QueueClient>;
+        linear_motor_tasks::QueueClient>;
 auto get_motor_hardware(motor_configs::LowThroughputPipetteMotorHardware pins)
     -> motor_hardware::MotorHardware;
 auto get_motor_hardware(motor_configs::HighThroughputPipetteMotorHardware pins)
diff --git a/include/pipettes/firmware/interfaces_g4.hpp b/include/pipettes/firmware/interfaces_g4.hpp
index b22915939..06b24b06f 100644
--- a/include/pipettes/firmware/interfaces_g4.hpp
+++ b/include/pipettes/firmware/interfaces_g4.hpp
@@ -29,15 +29,15 @@
 namespace interfaces {
 
 #ifdef USE_SENSOR_MOVE
-template <typename Client, typename DriverClient>
+template <typename Client>
 using MotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
-    freertos_message_queue::FreeRTOSMessageQueue, Client, DriverClient,
+    freertos_message_queue::FreeRTOSMessageQueue, Client,
     motor_messages::SensorSyncMove, motor_hardware::MotorHardware,
     sensor_tasks::QueueClient>;
 #else
-template <typename Client, typename DriverClient>
+template <typename Client>
 using MotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
-    freertos_message_queue::FreeRTOSMessageQueue, Client, DriverClient,
+    freertos_message_queue::FreeRTOSMessageQueue, Client,
     motor_messages::Move, motor_hardware::MotorHardware,
     sensor_tasks::QueueClient>;
 #endif
@@ -88,15 +88,13 @@ auto get_interrupt(motor_hardware::MotorHardware& hw,
                    stall_check::StallCheck& stall,
                    sensor_tasks::QueueClient& sensor_client)
     -> MotorInterruptHandlerType<
-        linear_motor_tasks::QueueClient,
-        linear_motor_tasks::tmc2130_driver::QueueClient>;
+        linear_motor_tasks::QueueClient>;
 auto get_interrupt(motor_hardware::MotorHardware& hw,
                    HighThroughputInterruptQueues& queues,
                    stall_check::StallCheck& stall,
                    sensor_tasks::QueueClient& sensor_client)
     -> MotorInterruptHandlerType<
-        linear_motor_tasks::QueueClient,
-        linear_motor_tasks::tmc2160_driver::QueueClient>;
+        linear_motor_tasks::QueueClient>;
 auto get_motor_hardware(motor_hardware::HardwareConfig pins)
     -> motor_hardware::MotorHardware;
 auto get_motion_control(motor_hardware::MotorHardware& hw,
diff --git a/pipettes/firmware/interfaces.cpp b/pipettes/firmware/interfaces.cpp
index 55fbccbc1..8c50a357b 100644
--- a/pipettes/firmware/interfaces.cpp
+++ b/pipettes/firmware/interfaces.cpp
@@ -60,11 +60,10 @@ auto linear_motor::get_interrupt(motor_hardware::MotorHardware& hw,
                                  stall_check::StallCheck& stall,
                                  sensor_tasks::QueueClient& sensor_client)
     -> MotorInterruptHandlerType<
-        linear_motor_tasks::QueueClient,
-        linear_motor_tasks::tmc2130_driver::QueueClient> {
+        linear_motor_tasks::QueueClient> {
     return motor_handler::MotorInterruptHandler(
         queues.plunger_queue, linear_motor_tasks::get_queues(),
-        linear_motor_tasks::tmc2130_driver::get_queues(), hw, stall,
+        hw, stall,
         queues.plunger_update_queue, sensor_client);
 }
 
@@ -73,11 +72,10 @@ auto linear_motor::get_interrupt(motor_hardware::MotorHardware& hw,
                                  stall_check::StallCheck& stall,
                                  sensor_tasks::QueueClient& sensor_client)
     -> MotorInterruptHandlerType<
-        linear_motor_tasks::QueueClient,
-        linear_motor_tasks::tmc2160_driver::QueueClient> {
+        linear_motor_tasks::QueueClient> {
     return motor_handler::MotorInterruptHandler(
         queues.plunger_queue, linear_motor_tasks::get_queues(),
-        linear_motor_tasks::tmc2160_driver::get_queues(), hw, stall,
+        hw, stall,
         queues.plunger_update_queue, sensor_client);
 }