modify tip presence sensor task

gripper/core/tasks.cpp

@@ -160,7 +160,9 @@ void gripper_tasks::QueueClient::send_pressure_sensor_queue_front(
 void gripper_tasks::QueueClient::send_pressure_sensor_queue_rear(
     const sensors::utils::TaskMessage&) {}
 
-void gripper_tasks::QueueClient::send_tip_notification_queue(
+void gripper_tasks::QueueClient::send_tip_notification_queue_rear(
+    const sensors::tip_presence::TaskMessage&) {}
+void gripper_tasks::QueueClient::send_tip_notification_queue_front(
     const sensors::tip_presence::TaskMessage&) {}
 
 /**

include/can/core/messages.hpp

@@ -1233,17 +1233,36 @@ struct BindSensorOutputResponse
         -> bool = default;
 };
 
-using TipStatusQueryRequest = Empty<MessageId::get_tip_status_request>;
+struct TipStatusQueryRequest : BaseMessage<MessageId::get_tip_status_request> {
+    uint32_t message_index;
+    can::ids::SensorId sensor_id;
+
+    template <bit_utils::ByteIterator Input, typename Limit>
+    static auto parse(Input body, Limit limit) -> TipStatusQueryRequest {
+        uint32_t msg_ind = 0;
+        uint8_t _id = 0;
+
+        body = bit_utils::bytes_to_int(body, limit, msg_ind);
+        body = bit_utils::bytes_to_int(body, limit, _id);
+        return TipStatusQueryRequest{
+            .message_index = msg_ind,
+            .sensor_id = static_cast<can::ids::SensorId>(_id)};
+    }
+    auto operator==(const TipStatusQueryRequest& other) const -> bool = default;
+};
 
 struct PushTipPresenceNotification
     : BaseMessage<MessageId::tip_presence_notification> {
     uint32_t message_index;
     uint8_t ejector_flag_status;
+    can::ids::SensorId sensor_id{};
 
     template <bit_utils::ByteIterator Output, typename Limit>
     auto serialize(Output body, Limit limit) const -> uint8_t {
         auto iter = bit_utils::int_to_bytes(message_index, body, limit);
         iter = bit_utils::int_to_bytes(ejector_flag_status, iter, limit);
+        iter = bit_utils::int_to_bytes(static_cast<uint8_t>(sensor_id), iter,
+                                       limit);
         return iter - body;
     }
 

include/gripper/core/tasks.hpp

@@ -72,7 +72,9 @@ struct QueueClient : can::message_writer::MessageWriter {
     void send_pressure_sensor_queue_front(const sensors::utils::TaskMessage& m);
     void send_pressure_sensor_queue_rear(const sensors::utils::TaskMessage& m);
 
-    void send_tip_notification_queue(
+    void send_tip_notification_queue_rear(
+        const sensors::tip_presence::TaskMessage& m);
+    void send_tip_notification_queue_front(
         const sensors::tip_presence::TaskMessage& m);
 
     freertos_message_queue::FreeRTOSMessageQueue<

include/pipettes/core/sensor_tasks.hpp

@@ -72,8 +72,11 @@ struct Tasks {
         freertos_message_queue::FreeRTOSMessageQueue>*
         pressure_sensor_task_front{nullptr};
     sensors::tasks::TipPresenceNotificationTask<
-        freertos_message_queue::FreeRTOSMessageQueue>* tip_notification_task{
-        nullptr};
+        freertos_message_queue::FreeRTOSMessageQueue>*
+        tip_notification_task_rear{nullptr};
+    sensors::tasks::TipPresenceNotificationTask<
+        freertos_message_queue::FreeRTOSMessageQueue>*
+        tip_notification_task_front{nullptr};
 };
 
 /**
@@ -96,7 +99,10 @@ struct QueueClient : can::message_writer::MessageWriter {
 
     void send_pressure_sensor_queue_front(const sensors::utils::TaskMessage& m);
 
-    void send_tip_notification_queue(
+    void send_tip_notification_queue_rear(
+        const sensors::tip_presence::TaskMessage& m);
+
+    void send_tip_notification_queue_front(
         const sensors::tip_presence::TaskMessage& m);
 
     freertos_message_queue::FreeRTOSMessageQueue<eeprom::task::TaskMessage>*
@@ -112,7 +118,11 @@ struct QueueClient : can::message_writer::MessageWriter {
     freertos_message_queue::FreeRTOSMessageQueue<sensors::utils::TaskMessage>*
         pressure_sensor_queue_front{nullptr};
     freertos_message_queue::FreeRTOSMessageQueue<
-        sensors::tip_presence::TaskMessage>* tip_notification_queue{nullptr};
+        sensors::tip_presence::TaskMessage>* tip_notification_queue_rear{
+        nullptr};
+    freertos_message_queue::FreeRTOSMessageQueue<
+        sensors::tip_presence::TaskMessage>* tip_notification_queue_front{
+        nullptr};
 };
 
 /**

include/sensors/core/message_handlers/sensors.hpp

@@ -57,7 +57,15 @@ class SensorHandler {
     }
 
     void visit(const can::messages::TipStatusQueryRequest &m) {
-        client.send_tip_notification_queue(m);
+        switch (m.sensor_id) {
+            case can::ids::SensorId::S0: {
+                client.send_tip_notification_queue_rear(m);
+                break;
+            }
+            default:
+                client.send_tip_notification_queue_front(m);
+                break;
+        }
     }
 
     void send_to_queue(can::ids::SensorType type, can::ids::SensorId id,

include/sensors/core/tasks/tip_presence_notification_task.hpp

@@ -5,8 +5,9 @@ template <can::message_writer_task::TaskClient CanClient>
 class TipPresenceNotificationHandler {
   public:
     explicit TipPresenceNotificationHandler(
-        CanClient &can_client, sensors::hardware::SensorHardwareBase &hardware)
-        : can_client{can_client}, hardware{hardware} {}
+        CanClient &can_client, sensors::hardware::SensorHardwareBase &hardware,
+        const can::ids::SensorId &id)
+        : can_client{can_client}, hardware{hardware}, sensor_id{id} {}
     TipPresenceNotificationHandler(const TipPresenceNotificationHandler &) =
         delete;
     TipPresenceNotificationHandler(const TipPresenceNotificationHandler &&) =
@@ -29,7 +30,13 @@ class TipPresenceNotificationHandler {
             can::messages::PushTipPresenceNotification{
                 .message_index = 0,
                 .ejector_flag_status =
-                    static_cast<uint8_t>(hardware.check_tip_presence())});
+                    static_cast<uint8_t>(hardware.check_tip_presence()),
+                .sensor_id = sensor_id,
+            });
+        can_client.send_can_message(can::ids::NodeId::host,
+                                    can::messages::PushTipPresenceNotification{
+                                        .message_index = 0,
+                                    });
     }
 
     void visit(const can::messages::TipStatusQueryRequest &m) {
@@ -38,12 +45,14 @@ class TipPresenceNotificationHandler {
             can::messages::PushTipPresenceNotification{
                 .message_index = m.message_index,
                 .ejector_flag_status =
-                    static_cast<uint8_t>(hardware.check_tip_presence())});
+                    static_cast<uint8_t>(hardware.check_tip_presence()),
+                .sensor_id = this->sensor_id});
     }
 
   private:
     CanClient &can_client;
     sensors::hardware::SensorHardwareBase &hardware;
+    can::ids::SensorId sensor_id;
 };
 
 /**
@@ -56,7 +65,8 @@ class TipPresenceNotificationTask {
   public:
     using Messages = tip_presence::TaskMessage;
     using QueueType = QueueImpl<Messages>;
-    TipPresenceNotificationTask(QueueType &queue) : queue{queue} {}
+    TipPresenceNotificationTask(QueueType &queue, can::ids::SensorId id)
+        : queue{queue}, sensor_id{id} {}
     TipPresenceNotificationTask(const TipPresenceNotificationTask &c) = delete;
     TipPresenceNotificationTask(const TipPresenceNotificationTask &&c) = delete;
     auto operator=(const TipPresenceNotificationTask &c) = delete;
@@ -70,7 +80,8 @@ class TipPresenceNotificationTask {
     [[noreturn]] void operator()(
         CanClient *can_client,
         sensors::hardware::SensorHardwareBase *hardware) {
-        auto handler = TipPresenceNotificationHandler{*can_client, *hardware};
+        auto handler =
+            TipPresenceNotificationHandler{*can_client, *hardware, sensor_id};
         Messages message{};
         for (;;) {
             if (queue.try_read(&message, queue.max_delay)) {
@@ -83,6 +94,7 @@ class TipPresenceNotificationTask {
 
   private:
     QueueType &queue;
+    can::ids::SensorId sensor_id;
 };
 
 }  // namespace tasks

pipettes/core/sensor_tasks.cpp

@@ -30,9 +30,13 @@ static auto pressure_sensor_task_builder_front =
     freertos_task::TaskStarter<512, sensors::tasks::PressureSensorTask,
                                can::ids::SensorId>(can::ids::SensorId::S1);
 
+static auto tip_notification_task_builder_rear =
+    freertos_task::TaskStarter<256, sensors::tasks::TipPresenceNotificationTask,
+                               can::ids::SensorId>(can::ids::SensorId::S0);
+
 static auto tip_notification_task_builder_front =
-    freertos_task::TaskStarter<256,
-                               sensors::tasks::TipPresenceNotificationTask>{};
+    freertos_task::TaskStarter<256, sensors::tasks::TipPresenceNotificationTask,
+                               can::ids::SensorId>(can::ids::SensorId::S1);
 
 void sensor_tasks::start_tasks(
     sensor_tasks::CanWriterTask& can_writer,
@@ -70,22 +74,23 @@ void sensor_tasks::start_tasks(
         capacitive_sensor_task_builder_rear.start(
             5, "capacitive sensor s0", i2c3_task_client, i2c3_poller_client,
             sensor_hardware_primary, queues);
-    auto& tip_notification_task = tip_notification_task_builder_front.start(
-        5, "tip notification", queues, sensor_hardware_primary);
+    auto& tip_notification_task_rear = tip_notification_task_builder_rear.start(
+        5, "tip notification sensor s0", queues, sensor_hardware_primary);
 
     tasks.eeprom_task = &eeprom_task;
     tasks.environment_sensor_task = &environment_sensor_task;
     tasks.capacitive_sensor_task_rear = &capacitive_sensor_task_rear;
     tasks.pressure_sensor_task_rear = &pressure_sensor_task_rear;
-    tasks.tip_notification_task = &tip_notification_task;
+    tasks.tip_notification_task_rear = &tip_notification_task_rear;
 
     queues.set_queue(&can_writer.get_queue());
     queues.eeprom_queue = &eeprom_task.get_queue();
     queues.environment_sensor_queue = &environment_sensor_task.get_queue();
     queues.capacitive_sensor_queue_rear =
         &capacitive_sensor_task_rear.get_queue();
     queues.pressure_sensor_queue_rear = &pressure_sensor_task_rear.get_queue();
-    queues.tip_notification_queue = &tip_notification_task.get_queue();
+    queues.tip_notification_queue_rear =
+        &tip_notification_task_rear.get_queue();
 }
 
 void sensor_tasks::start_tasks(
@@ -134,14 +139,18 @@ void sensor_tasks::start_tasks(
         capacitive_sensor_task_builder_rear.start(
             5, "capacitive sensor s0", i2c3_task_client, i2c3_poller_client,
             sensor_hardware_primary, queues, shared_cap_task);
-    auto& tip_notification_task = tip_notification_task_builder_front.start(
-        5, "tip notification", queues, sensor_hardware_primary);
+    auto& tip_notification_task_rear = tip_notification_task_builder_rear.start(
+        5, "tip notification sensor s0", queues, sensor_hardware_primary);
+    auto& tip_notification_task_front =
+        tip_notification_task_builder_front.start(
+            5, "tip notification sensor s1", queues, sensor_hardware_secondary);
 
     tasks.eeprom_task = &eeprom_task;
     tasks.environment_sensor_task = &environment_sensor_task;
     tasks.pressure_sensor_task_rear = &pressure_sensor_task_rear;
     tasks.pressure_sensor_task_front = &pressure_sensor_task_front;
-    tasks.tip_notification_task = &tip_notification_task;
+    tasks.tip_notification_task_rear = &tip_notification_task_rear;
+    tasks.tip_notification_task_front = &tip_notification_task_front;
     tasks.capacitive_sensor_task_rear = &capacitive_sensor_task_rear;
 
     queues.set_queue(&can_writer.get_queue());
@@ -152,7 +161,10 @@ void sensor_tasks::start_tasks(
     queues.pressure_sensor_queue_rear = &pressure_sensor_task_rear.get_queue();
     queues.pressure_sensor_queue_front =
         &pressure_sensor_task_front.get_queue();
-    queues.tip_notification_queue = &tip_notification_task.get_queue();
+    queues.tip_notification_queue_rear =
+        &tip_notification_task_rear.get_queue();
+    queues.tip_notification_queue_front =
+        &tip_notification_task_front.get_queue();
 
     if (shared_cap_task) {
         // There is only one cap sensor on the eight channel and so the "front"
@@ -216,9 +228,14 @@ void sensor_tasks::QueueClient::send_pressure_sensor_queue_front(
     }
 }
 
-void sensor_tasks::QueueClient::send_tip_notification_queue(
+void sensor_tasks::QueueClient::send_tip_notification_queue_rear(
+    const sensors::tip_presence::TaskMessage& m) {
+    tip_notification_queue_rear->try_write(m);
+}
+
+void sensor_tasks::QueueClient::send_tip_notification_queue_front(
     const sensors::tip_presence::TaskMessage& m) {
-    tip_notification_queue->try_write(m);
+    tip_notification_queue_front->try_write(m);
 }
 
 auto sensor_tasks::get_tasks() -> Tasks& { return tasks; }

pipettes/firmware/main.cpp

@@ -143,13 +143,13 @@ static auto tail_accessor =
 extern "C" void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
     if (GPIO_Pin == tip_sense_gpio_primary.pin) {
         static_cast<void>(
-            sensor_queue_client.tip_notification_queue->try_write_isr(
+            sensor_queue_client.tip_notification_queue_rear->try_write_isr(
                 sensors::tip_presence::TipStatusChangeDetected{}));
     } else if (ok_for_secondary &&
                GPIO_Pin ==
                    pins_for_sensor.secondary.value().tip_sense.value().pin) {
         static_cast<void>(
-            sensor_queue_client.tip_notification_queue->try_write_isr(
+            sensor_queue_client.tip_notification_queue_front->try_write_isr(
                 sensors::tip_presence::TipStatusChangeDetected{}));
     }
 }

pipettes/firmware/utility_configurations.cpp

@@ -121,7 +121,7 @@ auto utility_configs::sensor_configurations<PipetteType::NINETY_SIX_CHANNEL>()
                     gpio::PinConfig{
                         // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
                         .port = GPIOC,
-                        .pin = GPIO_PIN_12,
+                        .pin = GPIO_PIN_7,
                         .active_setting = GPIO_PIN_RESET}},
         .secondary = sensors::hardware::SensorHardwareConfiguration{
             .sync_out =
@@ -138,7 +138,7 @@ auto utility_configs::sensor_configurations<PipetteType::NINETY_SIX_CHANNEL>()
             .tip_sense = gpio::PinConfig{
                 // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
                 .port = GPIOC,
-                .pin = GPIO_PIN_7,
+                .pin = GPIO_PIN_12,
                 .active_setting = GPIO_PIN_RESET}}};
     return pins;
 }