fix simulators

Opentrons · Jun 4, 2024 · c19f5e2 · c19f5e2
1 parent 77dce9e
commit c19f5e2
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Showing 3 changed files with 23 additions and 11 deletions.
diff --git a/include/pipettes/simulator/interfaces.hpp b/include/pipettes/simulator/interfaces.hpp
@@ -75,8 +75,7 @@ auto get_interrupt_driver(
     LowThroughputInterruptQueues& queues,
     MotorInterruptHandlerType<linear_motor_tasks::QueueClient>& handler)
     -> motor_interrupt_driver::MotorInterruptDriver<
-        linear_motor_tasks::QueueClient,
-        linear_motor_tasks::tmc2130_driver::QueueClient, motor_messages::Move,
+        linear_motor_tasks::QueueClient, motor_messages::Move,
         sim_motor_hardware_iface::SimMotorHardwareIface>;
 
 auto get_interrupt_driver(

diff --git a/pipettes/simulator/interfaces.cpp b/pipettes/simulator/interfaces.cpp
@@ -56,9 +56,7 @@ auto linear_motor::get_interrupt(
 auto linear_motor::get_interrupt(
     sim_motor_hardware_iface::SimMotorHardwareIface& hw,
     HighThroughputInterruptQueues& queues, stall_check::StallCheck& stall)
-    -> MotorInterruptHandlerType<
-        linear_motor_tasks::QueueClient,
-        linear_motor_tasks::tmc2160_driver::QueueClient> {
+    -> MotorInterruptHandlerType<linear_motor_tasks::QueueClient> {
     return motor_handler::MotorInterruptHandler(
         queues.plunger_queue, linear_motor_tasks::get_queues(), hw, stall,
         queues.plunger_update_queue);
@@ -77,8 +75,25 @@ auto linear_motor::get_interrupt_driver(
         linear_motor_tasks::QueueClient, motor_messages::Move,
         sim_motor_hardware_iface::SimMotorHardwareIface> {
 #endif
-    return motor_interrupt_driver::MotorInterruptDriver(queue, handler, hw,
-                                                        update_queue);
+    return motor_interrupt_driver::MotorInterruptDriver(
+        queues.plunger_queue, handler, hw, queues.plunger_update_queue);
+}
+
+auto linear_motor::get_interrupt_driver(
+    sim_motor_hardware_iface::SimMotorHardwareIface& hw,
+    HighThroughputInterruptQueues& queues,
+    MotorInterruptHandlerType<linear_motor_tasks::QueueClient>& handler)
+#ifdef USE_SENSOR_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(
+        queues.plunger_queue, handler, hw, queues.plunger_update_queue);
 }
 
 auto linear_motor::get_motor_hardware()

diff --git a/pipettes/simulator/main.cpp b/pipettes/simulator/main.cpp
@@ -60,12 +60,10 @@ static auto gear_stall_check = interfaces::gear_motor::GearStallCheck{
 static auto linear_motor_hardware =
     interfaces::linear_motor::get_motor_hardware();
 static auto plunger_interrupt = interfaces::linear_motor::get_interrupt(
-    linear_motor_hardware, interrupt_queues.plunger_queue, linear_stall_check,
-    interrupt_queues.plunger_update_queue);
+    linear_motor_hardware, interrupt_queues, linear_stall_check);
 static auto plunger_interrupt_driver =
     interfaces::linear_motor::get_interrupt_driver(
-        linear_motor_hardware, interrupt_queues.plunger_queue,
-        plunger_interrupt, interrupt_queues.plunger_update_queue);
+        linear_motor_hardware, interrupt_queues, plunger_interrupt);
 static auto linear_motion_control =
     interfaces::linear_motor::get_motion_control(linear_motor_hardware,
                                                  interrupt_queues);