refactor(sensors): remove USE_SENSOR_FIRMWARE compile target

CMakePresets.json

@@ -35,17 +35,6 @@
       "binaryDir": "${sourceDir}/build-cross",
       "inherits": "cross-no-directory-reqs"
     },
-    {
-      "name": "cross-sensor-buffer",
-      "displayName": "STM32 G4 OT-3 cross-compilation with sensor data buffers",
-      "description": "Build application firmware for OT-3 systems that use STM32, for flashing onto boards",
-      "installDir": "${sourceDir}/dist-sensor",
-      "binaryDir": "${sourceDir}/build-cross-sensor",
-      "cacheVariables": {
-        "USE_SENSOR_MOVE": true
-      },
-      "inherits": "cross"
-    },
     {
       "name": "host",
       "displayName": "STM32 OT-3 host compilation for tests",
@@ -99,17 +88,6 @@
         "firmware-images"
       ]
     },
-    {
-      "name": "firmware-g4-sensors",
-      "displayName": "All G4 Firmwares With Sensor Data Buffers",
-      "description": "Environment to build all g4 firmware - see firmware-l5",
-      "configurePreset": "cross-sensor-buffer",
-      "jobs": 4,
-      "targets": [
-        "firmware-applications",
-        "firmware-images"
-      ]
-    },
     {
       "name": "pipettes",
       "displayName": "pipettes binaries",

common/core/CMakeLists.txt

@@ -54,11 +54,7 @@ function(add_revision)
   message(STATUS "add_revision has target ${_ar_TARGET} and revision ${_ar_REVISION}")
   string(SUBSTRING ${_ar_REVISION} 0 1 PRIMARY_REVISION)
   string(SUBSTRING ${_ar_REVISION} 1 1 SECONDARY_REVISION)
-  if (${USE_SENSOR_MOVE})
-  set(TERTIARY_FLAG "'1'")
-  else()
   set(TERTIARY_FLAG "0x00")
-  endif()
 
 
   configure_file(${CMAKE_SOURCE_DIR}/common/core/revision.c.in ${CMAKE_CURRENT_BINARY_DIR}/${_ar_TARGET}_revision.c)

gripper/core/CMakeLists.txt

@@ -1,7 +1,5 @@
 function(target_gripper_core TARGET)
-    if(${USE_SENSOR_MOVE})
     target_compile_definitions(${TARGET} PUBLIC USE_SENSOR_MOVE)
-    endif()
     target_compile_definitions(${TARGET} PUBLIC SENSOR_BUFF_SIZE=500)
     target_compile_definitions(${TARGET} PUBLIC USE_TWO_BUFFERS=true)
     target_sources(${TARGET} PUBLIC

gripper/simulator/interfaces.cpp

@@ -27,8 +27,15 @@ static auto motor_interface =
 /**
  * The pending move queue
  */
+
+#ifdef USE_SENSOR_MOVE
+static freertos_message_queue::FreeRTOSMessageQueue<
+    motor_messages::SensorSyncMove>
+    motor_queue("Motor Queue");
+#else
 static freertos_message_queue::FreeRTOSMessageQueue<motor_messages::Move>
     motor_queue("Motor Queue");
+#endif
 
 static freertos_message_queue::FreeRTOSMessageQueue<
     can::messages::UpdateMotorPositionEstimationRequest>

include/common/core/sensor_buffer.hpp

@@ -1,5 +1,5 @@
 #pragma once
 #ifndef SENSOR_BUFF_SIZE
-#define SENSOR_BUFF_SIZE 1
+constexpr size_t SENSOR_BUFF_SIZE = 1;
 #endif
 constexpr size_t SENSOR_BUFFER_SIZE = SENSOR_BUFF_SIZE;

include/pipettes/simulator/interfaces.hpp

@@ -13,9 +13,17 @@
 namespace interfaces {
 
 template <typename Client>
-using MotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
-    freertos_message_queue::FreeRTOSMessageQueue, Client, motor_messages::Move,
-    sim_motor_hardware_iface::SimMotorHardwareIface>;
+using MotorInterruptHandlerType =
+#ifdef USE_SENSOR_MOVE
+    motor_handler::MotorInterruptHandler<
+        freertos_message_queue::FreeRTOSMessageQueue, Client,
+        motor_messages::SensorSyncMove,
+        sim_motor_hardware_iface::SimMotorHardwareIface>;
+#else
+    motor_handler::MotorInterruptHandler<
+        freertos_message_queue::FreeRTOSMessageQueue, Client,
+        motor_messages::Move, sim_motor_hardware_iface::SimMotorHardwareIface>;
+#endif
 
 template <typename Client>
 using GearMotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
@@ -73,18 +81,30 @@ auto get_interrupt(sim_motor_hardware_iface::SimMotorHardwareIface& hw,
 auto get_interrupt_driver(
     sim_motor_hardware_iface::SimMotorHardwareIface& hw,
     LowThroughputInterruptQueues& queues,
-    MotorInterruptHandlerType<linear_motor_tasks::QueueClient>& handler)
-    -> motor_interrupt_driver::MotorInterruptDriver<
+    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
 
 auto get_interrupt_driver(
     sim_motor_hardware_iface::SimMotorHardwareIface& hw,
     HighThroughputInterruptQueues& queues,
-    MotorInterruptHandlerType<linear_motor_tasks::QueueClient>& handler)
-    -> motor_interrupt_driver::MotorInterruptDriver<
+    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
 
 auto get_motor_hardware() -> sim_motor_hardware_iface::SimMotorHardwareIface;
 

include/sensors/core/tasks/capacitive_driver.hpp

@@ -204,7 +204,6 @@ class FDC1004 {
     }
 
     void send_accumulated_sensor_data(uint32_t message_index) {
-#ifdef USE_SENSOR_MOVE
         for (int i = 0; i < sensor_buffer_index; i++) {
             // send over buffer adn then clear buffer values
             can_client.send_can_message(
@@ -217,16 +216,22 @@ class FDC1004 {
                         (*sensor_buffer).at(i), S15Q16_RADIX)});
             if (i % 10 == 0) {
                 // slow it down so the can buffer doesn't choke
-                vTaskDelay(50);
+                vtask_hardware_delay(50);
             }
             (*sensor_buffer).at(i) = 0;
         }
         can_client.send_can_message(
             can::ids::NodeId::host,
             can::messages::Acknowledgment{.message_index = message_index});
-#else
-        std::ignore = message_index;
-#endif
+    }
+
+    auto sensor_buffer_log(float data) -> void {
+        sensor_buffer->at(sensor_buffer_index) = data;
+        sensor_buffer_index++;
+        if (sensor_buffer_index == SENSOR_BUFFER_SIZE) {
+            sensor_buffer_index = 0;
+            crossed_buffer_index = true;
+        }
     }
 
     void handle_fdc_response(i2c::messages::TransactionResponse &m) {
@@ -296,14 +301,7 @@ class FDC1004 {
         }
 
         if (echoing) {
-#ifdef USE_SENSOR_MOVE
-            // send a response with 9999 to make an overload of the buffer
-            // visible
-            if (sensor_buffer_index < SENSOR_BUFFER_SIZE) {
-                (*sensor_buffer).at(sensor_buffer_index) = capacitance;
-                sensor_buffer_index++;
-            }
-#else
+            sensor_buffer_log(capacitance);
             can_client.send_can_message(
                 can::ids::NodeId::host,
                 can::messages::ReadFromSensorResponse{
@@ -312,7 +310,6 @@ class FDC1004 {
                     .sensor_id = sensor_id,
                     .sensor_data =
                         convert_to_fixed_point(capacitance, S15Q16_RADIX)});
-#endif
         }
     }
 
@@ -533,6 +530,7 @@ class FDC1004 {
     }
     std::array<float, SENSOR_BUFFER_SIZE> *sensor_buffer;
     uint16_t sensor_buffer_index = 0;
+    bool crossed_buffer_index = false;
 
 };  // end of FDC1004 class