get tests, simulators compiling and run format

Opentrons · Jul 23, 2024 · eef654c · eef654c
1 parent 4d9ec21
commit eef654c
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Showing 17 changed files with 103 additions and 81 deletions.
diff --git a/gripper/firmware/main_proto.cpp b/gripper/firmware/main_proto.cpp
@@ -87,7 +87,8 @@ auto sensor_pins = sensors::hardware::SensorHardwareConfiguration{
                  .active_setting = GPIO_PIN_RESET}};
 
 auto version_wrapper = sensors::hardware::SensorHardwareVersionSingleton();
-auto sensor_hardware = sensors::hardware::SensorHardware(sensor_pins, version_wrapper);
+auto sensor_hardware =
+    sensors::hardware::SensorHardware(sensor_pins, version_wrapper);
 
 auto main() -> int {
     HardwareInit();

diff --git a/gripper/firmware/main_rev1.cpp b/gripper/firmware/main_rev1.cpp
@@ -98,7 +98,8 @@ auto sensor_pins = sensors::hardware::SensorHardwareConfiguration{
                  .active_setting = GPIO_PIN_RESET}};
 
 auto version_wrapper = sensors::hardware::SensorHardwareVersionSingleton();
-auto sensor_hardware = sensors::hardware::SensorHardware(sensor_pins, version_wrapper);
+auto sensor_hardware =
+    sensors::hardware::SensorHardware(sensor_pins, version_wrapper);
 
 auto main() -> int {
     HardwareInit();

diff --git a/gripper/simulator/main.cpp b/gripper/simulator/main.cpp
@@ -35,7 +35,8 @@ static auto sensor_map =
     i2c::hardware::SimI2C::DeviceMap{{capsensor.get_address(), capsensor}};
 static auto i2c2 = i2c::hardware::SimI2C{sensor_map};
 
-static sim_mocks::MockSensorHardware fake_sensor_hw{};
+static sensors::hardware::SensorHardwareVersionSingleton version_wrapper{};
+static sim_mocks::MockSensorHardware fake_sensor_hw{version_wrapper};
 
 static std::shared_ptr<state_manager::StateManagerConnection<
     freertos_synchronization::FreeRTOSCriticalSection>>

diff --git a/include/pipettes/core/sensor_tasks.hpp b/include/pipettes/core/sensor_tasks.hpp
@@ -35,14 +35,14 @@ using I2CClient =
 using I2CPollerClient =
     i2c::poller::Poller<freertos_message_queue::FreeRTOSMessageQueue>;
 
-void start_tasks(CanWriterTask& can_writer, I2CClient& i2c3_task_client,
-                 I2CPollerClient& i2c3_poller_client,
-                 I2CClient& i2c1_task_client,
-                 I2CPollerClient& i2c1_poller_client,
-                 sensors::hardware::SensorHardwareBase& sensor_hardware_primary,
-                 sensors::hardware::SensorHardwareVersionSingleton& version_wrapper,
-                 can::ids::NodeId id,
-                 eeprom::hardware_iface::EEPromHardwareIface& eeprom_hardware);
+void start_tasks(
+    CanWriterTask& can_writer, I2CClient& i2c3_task_client,
+    I2CPollerClient& i2c3_poller_client, I2CClient& i2c1_task_client,
+    I2CPollerClient& i2c1_poller_client,
+    sensors::hardware::SensorHardwareBase& sensor_hardware_primary,
+    sensors::hardware::SensorHardwareVersionSingleton& version_wrapper,
+    can::ids::NodeId id,
+    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hardware);
 
 void start_tasks(
     CanWriterTask& can_writer, I2CClient& i2c3_task_client,
@@ -82,8 +82,8 @@ struct Tasks {
         freertos_message_queue::FreeRTOSMessageQueue>*
         tip_notification_task_front{nullptr};
     sensors::tasks::ReadSenorBoardTask<
-        freertos_message_queue::FreeRTOSMessageQueue>*
-        read_sensor_board_task{nullptr};
+        freertos_message_queue::FreeRTOSMessageQueue>* read_sensor_board_task{
+        nullptr};
 };
 
 /**

diff --git a/include/pipettes/firmware/utility_configurations.hpp b/include/pipettes/firmware/utility_configurations.hpp
@@ -21,7 +21,9 @@ struct SensorHardwareContainer {
 
 auto led_gpio(PipetteType pipette_type) -> gpio::PinConfig;
 
-auto get_sensor_hardware_container(SensorHardwareGPIO pins, sensors::hardware::SensorHardwareVersionSingleton& version_wrapper)
+auto get_sensor_hardware_container(
+    SensorHardwareGPIO pins,
+    sensors::hardware::SensorHardwareVersionSingleton& version_wrapper)
     -> SensorHardwareContainer;
 
 template <PipetteType P>

diff --git a/include/sensors/core/sensor_hardware_interface.hpp b/include/sensors/core/sensor_hardware_interface.hpp
@@ -47,24 +47,27 @@ class SensorHardwareVersionSingleton {
   public:
     SensorHardwareVersionSingleton() = default;
     virtual ~SensorHardwareVersionSingleton() = default;
-    SensorHardwareVersionSingleton(const SensorHardwareVersionSingleton&) = default;
-    auto operator=(const SensorHardwareVersionSingleton&) -> SensorHardwareVersionSingleton& = default;
+    SensorHardwareVersionSingleton(const SensorHardwareVersionSingleton&) =
+        default;
+    auto operator=(const SensorHardwareVersionSingleton&)
+        -> SensorHardwareVersionSingleton& = default;
     SensorHardwareVersionSingleton(SensorHardwareVersionSingleton&&) = default;
-    auto operator=(SensorHardwareVersionSingleton&&) -> SensorHardwareVersionSingleton& = default;
+    auto operator=(SensorHardwareVersionSingleton&&)
+        -> SensorHardwareVersionSingleton& = default;
 
     void set_board_rev(utils::SensorBoardRev rev) { b_revision = rev; }
 
     utils::SensorBoardRev get_board_rev() { return b_revision; }
+
   private:
     utils::SensorBoardRev b_revision = utils::SensorBoardRev::VERSION_0;
 };
 
-
 /** abstract sensor hardware device for a sync line */
 class SensorHardwareBase {
   public:
-    SensorHardwareBase(SensorHardwareVersionSingleton& version_wrapper) :
-        version_wrapper{version_wrapper} {}
+    SensorHardwareBase(SensorHardwareVersionSingleton& version_wrapper)
+        : version_wrapper{version_wrapper} {}
     virtual ~SensorHardwareBase() = default;
     SensorHardwareBase(const SensorHardwareBase&) = default;
     auto operator=(const SensorHardwareBase&) -> SensorHardwareBase& = default;
@@ -134,7 +137,9 @@ class SensorHardwareBase {
             reset_sync();
         }
     }
-    utils::SensorBoardRev get_board_rev() { return version_wrapper.get_board_rev(); }
+    utils::SensorBoardRev get_board_rev() {
+        return version_wrapper.get_board_rev();
+    }
 
   private:
     uint8_t set_sync_required_mask = 0x00;

diff --git a/include/sensors/core/tasks/read_sensor_board_rev_task.hpp b/include/sensors/core/tasks/read_sensor_board_rev_task.hpp
@@ -12,11 +12,14 @@ using TaskMessage =
 template <class I2CQueueWriter, class OwnQueue>
 class ReadSenorBoardHandler {
   public:
-    explicit ReadSenorBoardHandler(I2CQueueWriter &i2c_writer, OwnQueue &own_queue)
+    explicit ReadSenorBoardHandler(I2CQueueWriter &i2c_writer,
+                                   OwnQueue &own_queue)
         : i2c_writer{i2c_writer}, task_queue{own_queue} {
         // request gpio expander status register
-        i2c_writer->read(pie4ioe4::ADDRESS, static_cast<uint8_t>(pie4ioe4::registers::input_status), 1,
-                        task_queue);
+        i2c_writer->read(
+            pie4ioe4::ADDRESS,
+            static_cast<uint8_t>(pie4ioe4::registers::input_status), 1,
+            task_queue);
     }
     ReadSenorBoardHandler(const ReadSenorBoardHandler &) = delete;
     ReadSenorBoardHandler(const ReadSenorBoardHandler &&) = delete;
@@ -37,14 +40,15 @@ class ReadSenorBoardHandler {
 
     void visit(i2c::messages::TransactionResponse &m) {
         if (m.bytes_read == 1 &&
-            m.read_buffer[0] == static_cast<uint8_t>(pie4ioe4::version_responses::VERSION_1)) {
+            m.read_buffer[0] ==
+                static_cast<uint8_t>(pie4ioe4::version_responses::VERSION_1)) {
             rev = utils::SensorBoardRev::VERSION_1;
         }
     }
 
     utils::SensorBoardRev rev = utils::SensorBoardRev::VERSION_0;
     I2CQueueWriter &i2c_writer;
-    OwnQueue& task_queue;
+    OwnQueue &task_queue;
 };
 
 /**
@@ -56,8 +60,7 @@ class ReadSenorBoardTask {
   public:
     using Messages = TaskMessage;
     using QueueType = QueueImpl<TaskMessage>;
-    ReadSenorBoardTask(QueueType &queue)
-        : queue{queue} {}
+    ReadSenorBoardTask(QueueType &queue) : queue{queue} {}
     ReadSenorBoardTask(const ReadSenorBoardTask &c) = delete;
     ReadSenorBoardTask(const ReadSenorBoardTask &&c) = delete;
     auto operator=(const ReadSenorBoardTask &c) = delete;
@@ -69,7 +72,7 @@ class ReadSenorBoardTask {
      */
     void operator()(
         i2c::writer::Writer<QueueImpl> *writer,
-        sensors::hardware::SensorHardwareVersionSingleton* version_wrapper) {
+        sensors::hardware::SensorHardwareVersionSingleton *version_wrapper) {
         auto handler = ReadSenorBoardHandler(writer, get_queue());
 
         TaskMessage message{};
@@ -86,5 +89,5 @@ class ReadSenorBoardTask {
     QueueType &queue;
 };
 
-}  // namespace task
+}  // namespace tasks
 }  // namespace sensors
diff --git a/include/sensors/firmware/sensor_hardware.hpp b/include/sensors/firmware/sensor_hardware.hpp
@@ -9,8 +9,9 @@ namespace hardware {
 
 class SensorHardware : public SensorHardwareBase {
   public:
-    SensorHardware(sensors::hardware::SensorHardwareConfiguration hardware, SensorHardwareVersionSingleton& version_wrapper)
-        :  SensorHardwareBase(version_wrapper), hardware(hardware){}
+    SensorHardware(sensors::hardware::SensorHardwareConfiguration hardware,
+                   SensorHardwareVersionSingleton& version_wrapper)
+        : SensorHardwareBase(version_wrapper), hardware(hardware) {}
     auto set_sync() -> void override { gpio::set(hardware.sync_out); }
     auto reset_sync() -> void override { gpio::reset(hardware.sync_out); }
     auto check_tip_presence() -> bool override {

diff --git a/include/sensors/simulation/mock_hardware.hpp b/include/sensors/simulation/mock_hardware.hpp
@@ -11,6 +11,9 @@ using StateManagerHandle = std::shared_ptr<StateManager>;
 namespace sim_mocks {
 class MockSensorHardware : public sensors::hardware::SensorHardwareBase {
   public:
+    MockSensorHardware(
+        sensors::hardware::SensorHardwareVersionSingleton& version_wrapper)
+        : sensors::hardware::SensorHardwareBase{version_wrapper} {}
     auto set_sync() -> void override {
         if (_state_manager) {
             _state_manager->send_sync_msg(SyncPinState::HIGH);

diff --git a/include/sensors/tests/mock_hardware.hpp b/include/sensors/tests/mock_hardware.hpp
@@ -4,6 +4,9 @@
 namespace test_mocks {
 class MockSensorHardware : public sensors::hardware::SensorHardwareBase {
   public:
+    MockSensorHardware(
+        sensors::hardware::SensorHardwareVersionSingleton& version_wrapper)
+        : sensors::hardware::SensorHardwareBase{version_wrapper} {}
     auto set_sync() -> void override {
         sync_state = true;
         sync_set_calls++;

diff --git a/pipettes/firmware/main.cpp b/pipettes/firmware/main.cpp
@@ -128,12 +128,13 @@ void encoder_callback(int32_t direction) {
                                                 direction);
 }
 
-static auto version_wrapper = sensors::hardware::SensorHardwareVersionSingleton();
+static auto version_wrapper =
+    sensors::hardware::SensorHardwareVersionSingleton();
 static auto pins_for_sensor =
     utility_configs::sensor_configurations<PIPETTE_TYPE>();
 static auto sensor_hardware_container =
-    utility_configs::get_sensor_hardware_container(pins_for_sensor, version_wrapper);
-
+    utility_configs::get_sensor_hardware_container(pins_for_sensor,
+                                                   version_wrapper);
 
 static auto tip_sense_gpio_primary = pins_for_sensor.primary.tip_sense.value();
 
@@ -186,8 +187,7 @@ auto initialize_motor_tasks(
                               peripheral_tasks::get_i2c1_poller_client(),
                               sensor_hardware_container.primary,
                               sensor_hardware_container.secondary.value(),
-                              version_wrapper, id,
-                              eeprom_hardware_iface);
+                              version_wrapper, id, eeprom_hardware_iface);
 
     initialize_linear_timer(plunger_callback);
     initialize_gear_timer(gear_callback_wrapper);
@@ -214,17 +214,15 @@ auto initialize_motor_tasks(
                                   peripheral_tasks::get_i2c1_poller_client(),
                                   sensor_hardware_container.primary,
                                   sensor_hardware_container.secondary.value(),
-                                  version_wrapper,
-                                  id, eeprom_hardware_iface);
+                                  version_wrapper, id, eeprom_hardware_iface);
     } else {
         sensor_tasks::start_tasks(*central_tasks::get_tasks().can_writer,
                                   peripheral_tasks::get_i2c3_client(),
                                   peripheral_tasks::get_i2c3_poller_client(),
                                   peripheral_tasks::get_i2c1_client(),
                                   peripheral_tasks::get_i2c1_poller_client(),
                                   sensor_hardware_container.primary,
-                                  version_wrapper, id,
-                                  eeprom_hardware_iface);
+                                  version_wrapper, id, eeprom_hardware_iface);
     }
 
     initialize_linear_timer(plunger_callback);

diff --git a/pipettes/firmware/utility_configurations.cpp b/pipettes/firmware/utility_configurations.cpp
@@ -32,12 +32,14 @@ auto utility_configs::get_sensor_hardware_container(
     -> utility_configs::SensorHardwareContainer {
     if (pins.secondary.has_value()) {
         return utility_configs::SensorHardwareContainer{
-            .primary = sensors::hardware::SensorHardware(pins.primary, version_wrapper),
-            .secondary =
-                sensors::hardware::SensorHardware(pins.secondary.value(), version_wrapper)};
+            .primary = sensors::hardware::SensorHardware(pins.primary,
+                                                         version_wrapper),
+            .secondary = sensors::hardware::SensorHardware(
+                pins.secondary.value(), version_wrapper)};
     }
     return utility_configs::SensorHardwareContainer{
-        .primary = sensors::hardware::SensorHardware(pins.primary, version_wrapper)};
+        .primary =
+            sensors::hardware::SensorHardware(pins.primary, version_wrapper)};
 }
 
 template <>

diff --git a/pipettes/simulator/main.cpp b/pipettes/simulator/main.cpp
@@ -121,6 +121,7 @@ auto initialize_motor_tasks(
     interfaces::gear_motor::GearMotionControl& gear_motion,
     sim_mocks::MockSensorHardware& fake_sensor_hw_primary,
     sim_mocks::MockSensorHardware& fake_sensor_hw_secondary,
+    sensors::hardware::SensorHardwareVersionSingleton& version_wrapper,
     eeprom::simulator::EEProm& sim_eeprom,
     motor_hardware_task::MotorHardwareTask& lmh_tsk,
     interfaces::gear_motor::GearMotorHardwareTasks& gmh_tsks) {
@@ -130,8 +131,7 @@ auto initialize_motor_tasks(
                               peripheral_tasks::get_i2c1_client(),
                               peripheral_tasks::get_i2c1_poller_client(),
                               fake_sensor_hw_primary, fake_sensor_hw_secondary,
-                              id, sim_eeprom,
-                              sensors::mmr920::SensorVersion::mmr920c10);
+                              version_wrapper, id, sim_eeprom);
 
     linear_motor_tasks::start_tasks(
         *central_tasks::get_tasks().can_writer, linear_motion_control,
@@ -150,27 +150,27 @@ auto initialize_motor_tasks(
     interfaces::gear_motor::UnavailableGearMotionControl&,
     sim_mocks::MockSensorHardware& fake_sensor_hw_primary,
     sim_mocks::MockSensorHardware& fake_sensor_hw_secondary,
+    sensors::hardware::SensorHardwareVersionSingleton& version_wrapper,
     eeprom::simulator::EEProm& sim_eeprom,
     motor_hardware_task::MotorHardwareTask& lmh_tsk,
     interfaces::gear_motor::UnavailableGearHardwareTasks&) {
     if (get_pipette_type() == EIGHT_CHANNEL) {
-        sensor_tasks::start_tasks(*central_tasks::get_tasks().can_writer,
-                                  peripheral_tasks::get_i2c3_client(),
-                                  peripheral_tasks::get_i2c3_poller_client(),
-                                  peripheral_tasks::get_i2c1_client(),
-                                  peripheral_tasks::get_i2c1_poller_client(),
-                                  fake_sensor_hw_primary,
-                                  fake_sensor_hw_secondary, id, sim_eeprom,
-                                  sensors::mmr920::SensorVersion::mmr920c10);
+        sensor_tasks::start_tasks(
+            *central_tasks::get_tasks().can_writer,
+            peripheral_tasks::get_i2c3_client(),
+            peripheral_tasks::get_i2c3_poller_client(),
+            peripheral_tasks::get_i2c1_client(),
+            peripheral_tasks::get_i2c1_poller_client(), fake_sensor_hw_primary,
+            fake_sensor_hw_secondary, version_wrapper, id, sim_eeprom);
 
     } else /* single channel */ {
         sensor_tasks::start_tasks(*central_tasks::get_tasks().can_writer,
                                   peripheral_tasks::get_i2c3_client(),
                                   peripheral_tasks::get_i2c3_poller_client(),
                                   peripheral_tasks::get_i2c1_client(),
                                   peripheral_tasks::get_i2c1_poller_client(),
-                                  fake_sensor_hw_primary, id, sim_eeprom,
-                                  sensors::mmr920::SensorVersion::mmr920c10);
+                                  fake_sensor_hw_primary, version_wrapper, id,
+                                  sim_eeprom);
     }
     linear_motor_tasks::start_tasks(
         *central_tasks::get_tasks().can_writer, linear_motion_control,
@@ -303,11 +303,12 @@ int main(int argc, char** argv) {
     auto capsensor_rear = std::make_shared<fdc1004_simulator::FDC1004>();
     auto sim_eeprom = std::make_shared<eeprom::simulator::EEProm>(
         eeprom_model, options, TEMPORARY_PIPETTE_SERIAL);
+    auto version_wrapper = sensors::hardware::SensorHardwareVersionSingleton();
     auto fake_sensor_hw_primary =
-        std::make_shared<sim_mocks::MockSensorHardware>();
+        std::make_shared<sim_mocks::MockSensorHardware>(version_wrapper);
     fake_sensor_hw_primary->provide_state_manager(state_manager_connection);
     auto fake_sensor_hw_secondary =
-        std::make_shared<sim_mocks::MockSensorHardware>();
+        std::make_shared<sim_mocks::MockSensorHardware>(version_wrapper);
     fake_sensor_hw_secondary->provide_state_manager(state_manager_connection);
     auto pressuresensor_i2c1 = std::make_shared<mmr920_simulator::MMR920>();
     auto pressuresensor_i2c3 = std::make_shared<mmr920_simulator::MMR920>();
@@ -336,8 +337,8 @@ int main(int argc, char** argv) {
     peripheral_tasks::start_tasks(*i2c3_comms, *i2c1_comms, spi_comms);
     initialize_motor_tasks(node, motor_config.driver_configs,
                            gear_motion_control, *fake_sensor_hw_primary,
-                           *fake_sensor_hw_secondary, *sim_eeprom, lmh_tsk,
-                           gmh_tsks);
+                           *fake_sensor_hw_secondary, version_wrapper,
+                           *sim_eeprom, lmh_tsk, gmh_tsks);
 
     vTaskStartScheduler();
 }