From 77dce9eaeff21abebccba5dcf763c0a465377cae Mon Sep 17 00:00:00 2001
From: Ryan howard <ryan.howard@opentrons.com>
Date: Tue, 4 Jun 2024 11:29:29 -0400
Subject: [PATCH] rip out the unneeded templating of sensor hardware since that
 stuff is behind ifdefs

---
 gripper/core/tasks.cpp                        |  4 +
 gripper/firmware/interfaces_z_motor.cpp       |  2 +-
 include/gripper/core/tasks.hpp                |  4 +
 .../stepper_motor/motor_interrupt_handler.hpp | 89 +++----------------
 include/pipettes/firmware/interfaces.hpp      | 13 ++-
 include/pipettes/firmware/interfaces_g4.hpp   | 11 +--
 include/pipettes/simulator/interfaces.hpp     | 24 +++--
 motor-control/core/CMakeLists.txt             | 11 ++-
 .../core/motor_interrupt_handler.cpp          |  4 -
 pipettes/firmware/interfaces.cpp              | 10 +--
 pipettes/firmware/main.cpp                    |  3 +-
 pipettes/simulator/interfaces.cpp             | 24 +++--
 12 files changed, 79 insertions(+), 120 deletions(-)
 delete mode 100644 motor-control/core/motor_interrupt_handler.cpp

diff --git a/gripper/core/tasks.cpp b/gripper/core/tasks.cpp
index 46c9c811e..da192c96d 100644
--- a/gripper/core/tasks.cpp
+++ b/gripper/core/tasks.cpp
@@ -199,3 +199,7 @@ auto gripper_tasks::get_all_tasks() -> AllTask& { return tasks; }
  * @return
  */
 auto gripper_tasks::get_main_queues() -> QueueClient& { return queues; }
+
+auto sensor_tasks::get_queues() -> gripper_tasks::QueueClient& {
+    return queues;
+}
diff --git a/gripper/firmware/interfaces_z_motor.cpp b/gripper/firmware/interfaces_z_motor.cpp
index 88c389eaf..69405dfde 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(), motor_hardware_iface,
-    stallcheck, update_position_queue, gripper_tasks::get_main_queues());
+    stallcheck, update_position_queue);
 
 static auto encoder_background_timer =
     motor_encoder::BackgroundTimer(motor_interrupt, motor_hardware_iface);
diff --git a/include/gripper/core/tasks.hpp b/include/gripper/core/tasks.hpp
index f31229362..c61ef164b 100644
--- a/include/gripper/core/tasks.hpp
+++ b/include/gripper/core/tasks.hpp
@@ -271,3 +271,7 @@ struct QueueClient : can::message_writer::MessageWriter {
 }  // namespace g_tasks
 
 }  // namespace gripper_tasks
+
+namespace sensor_tasks {
+[[nodiscard]] auto get_queues() -> gripper_tasks::QueueClient&;
+}  // namespace sensor_tasks
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 4b5ab9f44..577d1cb41 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 +9,14 @@
 #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"
+#ifdef USE_SENSOR_MOVE
+#ifdef PIPETTE_TYPE_DEFINE
+#include "pipettes/core/sensor_tasks.hpp"
+#else
+#include "gripper/core/tasks.hpp"
+#endif  // PIPETTE_TYPE_DEFINE
+#endif  // USE_SENSOR_MOVE
 namespace motor_handler {
 
 using namespace motor_messages;
@@ -41,61 +48,8 @@ using namespace motor_messages;
  * Note: The position tracker should never be allowed to go below zero.
  */
 
-struct Empty {
-    static auto get_default() -> Empty&;
-};
-
-template <class SensorClient>
-struct SensorClientHelper {
-    inline static void send_to_pressure_sensor_queue_rear(
-        SensorClient& sensor_client,
-        can::messages::BindSensorOutputRequest& m) {
-        sensor_client.send_pressure_sensor_queue_rear_isr(m);
-    }
-    inline static void send_to_pressure_sensor_queue_front(
-        SensorClient& sensor_client,
-        can::messages::BindSensorOutputRequest& m) {
-        sensor_client.send_pressure_sensor_queue_front_isr(m);
-    }
-    inline static void send_to_capacitive_sensor_queue_rear(
-        SensorClient& sensor_client,
-        can::messages::BindSensorOutputRequest& m) {
-        sensor_client.send_capacitive_sensor_queue_rear_isr(m);
-    }
-    inline static void send_to_capacitive_sensor_queue_front(
-        SensorClient& sensor_client,
-        can::messages::BindSensorOutputRequest& m) {
-        sensor_client.send_capacitive_sensor_queue_front_isr(m);
-    }
-};
-
-template <>
-struct SensorClientHelper<Empty> {
-    inline static void send_to_pressure_sensor_queue_rear(
-        Empty& sensor_client, can::messages::BindSensorOutputRequest& m) {
-        std::ignore = sensor_client;
-        std::ignore = m;
-    }
-    inline static void send_to_pressure_sensor_queue_front(
-        Empty& sensor_client, can::messages::BindSensorOutputRequest& m) {
-        std::ignore = sensor_client;
-        std::ignore = m;
-    }
-    inline static void send_to_capacitive_sensor_queue_rear(
-        Empty& sensor_client, can::messages::BindSensorOutputRequest& m) {
-        std::ignore = sensor_client;
-        std::ignore = m;
-    }
-    inline static void send_to_capacitive_sensor_queue_front(
-        Empty& sensor_client, can::messages::BindSensorOutputRequest& m) {
-        std::ignore = sensor_client;
-        std::ignore = m;
-    }
-};
-
 template <template <class> class QueueImpl, class StatusClient,
-          typename MotorMoveMessage, typename MotorHardware,
-          class SensorClient = Empty>
+          typename MotorMoveMessage, typename MotorHardware>
 requires MessageQueue<QueueImpl<MotorMoveMessage>, MotorMoveMessage> &&
     std::is_base_of_v<motor_hardware::MotorHardwareIface, MotorHardware>
 class MotorInterruptHandler {
@@ -109,21 +63,11 @@ class MotorInterruptHandler {
                           MotorHardware& hardware_iface,
                           stall_check::StallCheck& stall,
                           UpdatePositionQueue& incoming_update_position_queue)
-        : MotorInterruptHandler(
-              incoming_move_queue, outgoing_queue, hardware_iface, stall,
-              incoming_update_position_queue, Empty::get_default()) {}
-    MotorInterruptHandler(MoveQueue& incoming_move_queue,
-                          StatusClient& outgoing_queue,
-                          MotorHardware& hardware_iface,
-                          stall_check::StallCheck& stall,
-                          UpdatePositionQueue& incoming_update_position_queue,
-                          SensorClient& sensor_queue)
         : move_queue(incoming_move_queue),
           status_queue_client(outgoing_queue),
           hardware(hardware_iface),
           stall_checker{stall},
-          update_position_queue(incoming_update_position_queue),
-          sensor_client(sensor_queue) {
+          update_position_queue(incoming_update_position_queue) {
         hardware.unstep();
     }
     ~MotorInterruptHandler() = default;
@@ -718,27 +662,23 @@ class MotorInterruptHandler {
 #ifdef USE_SENSOR_MOVE
     void send_to_pressure_sensor_queue_rear(
         can::messages::BindSensorOutputRequest& m) {
-        SensorClientHelper<SensorClient>::send_to_pressure_sensor_queue_rear(
-            sensor_client, m);
+        sensor_tasks::get_queues().send_pressure_sensor_queue_rear_isr(m);
     }
     void send_to_pressure_sensor_queue_front(
         can::messages::BindSensorOutputRequest& m) {
         // send to both queues, they will handle their own gating based on
         // sensor id
-        SensorClientHelper<SensorClient>::send_to_pressure_sensor_queue_front(
-            sensor_client, m);
+        sensor_tasks::get_queues().send_pressure_sensor_queue_front_isr(m);
     }
     void send_to_capacitive_sensor_queue_rear(
         can::messages::BindSensorOutputRequest& m) {
-        SensorClientHelper<SensorClient>::send_to_capacitive_sensor_queue_rear(
-            sensor_client, m);
+        sensor_tasks::get_queues().send_capacitive_sensor_queue_rear_isr(m);
     }
     void send_to_capacitive_sensor_queue_front(
         can::messages::BindSensorOutputRequest& m) {
         // send to both queues, they will handle their own gating based on
         // sensor id
-        SensorClientHelper<SensorClient>::send_to_capacitive_sensor_queue_front(
-            sensor_client, m);
+        sensor_tasks::get_queues().send_pressure_sensor_queue_front_isr(m);
     }
 #endif
     uint64_t tick_count = 0x0;
@@ -751,7 +691,6 @@ class MotorInterruptHandler {
     MotorHardware& hardware;
     stall_check::StallCheck& stall_checker;
     UpdatePositionQueue& update_position_queue;
-    SensorClient& sensor_client;
     MotorMoveMessage buffered_move = MotorMoveMessage{};
     bool clear_queue_until_empty = false;
     bool stall_handled = false;
diff --git a/include/pipettes/firmware/interfaces.hpp b/include/pipettes/firmware/interfaces.hpp
index 6817ba9c0..2ff87fcc4 100644
--- a/include/pipettes/firmware/interfaces.hpp
+++ b/include/pipettes/firmware/interfaces.hpp
@@ -22,14 +22,13 @@ namespace interfaces {
 #ifdef USE_SENSOR_MOVE
 template <typename Client>
 using MotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
-    freertos_message_queue::FreeRTOSMessageQueue,
-    Client motor_messages::SensorSyncMove, motor_hardware::MotorHardware,
-    sensor_tasks::QueueClient>;
+    freertos_message_queue::FreeRTOSMessageQueue, Client,
+    motor_messages::SensorSyncMove, motor_hardware::MotorHardware>;
 #else
 template <typename Client>
 using MotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
     freertos_message_queue::FreeRTOSMessageQueue, Client, motor_messages::Move,
-    motor_hardware::MotorHardware, sensor_tasks::QueueClient>;
+    motor_hardware::MotorHardware>;
 #endif
 template <typename Client>
 using GearMotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
@@ -75,13 +74,11 @@ namespace linear_motor {
 
 auto get_interrupt(motor_hardware::MotorHardware& hw,
                    LowThroughputInterruptQueues& queues,
-                   stall_check::StallCheck& stall,
-                   sensor_tasks::QueueClient& sensor_client)
+                   stall_check::StallCheck& stall)
     -> MotorInterruptHandlerType<linear_motor_tasks::QueueClient>;
 auto get_interrupt(motor_hardware::MotorHardware& hw,
                    HighThroughputInterruptQueues& queues,
-                   stall_check::StallCheck& stall,
-                   sensor_tasks::QueueClient& sensor_client)
+                   stall_check::StallCheck& stall)
     -> MotorInterruptHandlerType<linear_motor_tasks::QueueClient>;
 auto get_motor_hardware(motor_configs::LowThroughputPipetteMotorHardware pins)
     -> motor_hardware::MotorHardware;
diff --git a/include/pipettes/firmware/interfaces_g4.hpp b/include/pipettes/firmware/interfaces_g4.hpp
index d57106ee3..ecf9c0813 100644
--- a/include/pipettes/firmware/interfaces_g4.hpp
+++ b/include/pipettes/firmware/interfaces_g4.hpp
@@ -32,13 +32,12 @@ namespace interfaces {
 template <typename Client>
 using MotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
     freertos_message_queue::FreeRTOSMessageQueue, Client,
-    motor_messages::SensorSyncMove, motor_hardware::MotorHardware,
-    sensor_tasks::QueueClient>;
+    motor_messages::SensorSyncMove, motor_hardware::MotorHardware>;
 #else
 template <typename Client>
 using MotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
     freertos_message_queue::FreeRTOSMessageQueue, Client, motor_messages::Move,
-    motor_hardware::MotorHardware, sensor_tasks::QueueClient>;
+    motor_hardware::MotorHardware>;
 #endif
 template <typename Client>
 using GearMotorInterruptHandlerType = motor_handler::MotorInterruptHandler<
@@ -84,13 +83,11 @@ namespace linear_motor {
 
 auto get_interrupt(motor_hardware::MotorHardware& hw,
                    LowThroughputInterruptQueues& queues,
-                   stall_check::StallCheck& stall,
-                   sensor_tasks::QueueClient& sensor_client)
+                   stall_check::StallCheck& stall)
     -> MotorInterruptHandlerType<linear_motor_tasks::QueueClient>;
 auto get_interrupt(motor_hardware::MotorHardware& hw,
                    HighThroughputInterruptQueues& queues,
-                   stall_check::StallCheck& stall,
-                   sensor_tasks::QueueClient& sensor_client)
+                   stall_check::StallCheck& stall)
     -> MotorInterruptHandlerType<linear_motor_tasks::QueueClient>;
 auto get_motor_hardware(motor_hardware::HardwareConfig pins)
     -> motor_hardware::MotorHardware;
diff --git a/include/pipettes/simulator/interfaces.hpp b/include/pipettes/simulator/interfaces.hpp
index b646bf55e..75c2a4aff 100644
--- a/include/pipettes/simulator/interfaces.hpp
+++ b/include/pipettes/simulator/interfaces.hpp
@@ -61,14 +61,28 @@ auto get_interrupt_queues<PipetteType::THREE_EIGHTY_FOUR_CHANNEL>()
 namespace linear_motor {
 
 auto get_interrupt(sim_motor_hardware_iface::SimMotorHardwareIface& hw,
-                   MoveQueue& queue, stall_check::StallCheck& stall,
-                   UpdatePositionQueue& update_queue)
+                   LowThroughputInterruptQueues& queues,
+                   stall_check::StallCheck& stall)
     -> MotorInterruptHandlerType<linear_motor_tasks::QueueClient>;
 
+auto get_interrupt(sim_motor_hardware_iface::SimMotorHardwareIface& hw,
+                   HighThroughputInterruptQueues& queues,
+                   stall_check::StallCheck& stall)
+    -> MotorInterruptHandlerType<linear_motor_tasks::QueueClient>;
+
+auto get_interrupt_driver(
+    sim_motor_hardware_iface::SimMotorHardwareIface& hw,
+    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,
+        sim_motor_hardware_iface::SimMotorHardwareIface>;
+
 auto get_interrupt_driver(
-    sim_motor_hardware_iface::SimMotorHardwareIface& hw, MoveQueue& queue,
-    MotorInterruptHandlerType<linear_motor_tasks::QueueClient>& handler,
-    UpdatePositionQueue& update_queue)
+    sim_motor_hardware_iface::SimMotorHardwareIface& hw,
+    HighThroughputInterruptQueues& queues,
+    MotorInterruptHandlerType<linear_motor_tasks::QueueClient>& handler)
     -> motor_interrupt_driver::MotorInterruptDriver<
         linear_motor_tasks::QueueClient, motor_messages::Move,
         sim_motor_hardware_iface::SimMotorHardwareIface>;
diff --git a/motor-control/core/CMakeLists.txt b/motor-control/core/CMakeLists.txt
index 4c7dfaba2..c8bce9f50 100644
--- a/motor-control/core/CMakeLists.txt
+++ b/motor-control/core/CMakeLists.txt
@@ -1,9 +1,8 @@
-add_library(motor-utils STATIC 
+add_library(motor-utils STATIC
     motor_hardware_interface.cpp
     stall_check.cpp
-    types.cpp    
-    utils.cpp
-    motor_interrupt_handler.cpp)
+    types.cpp
+    utils.cpp)
 
 set_target_properties(motor-utils
     PROPERTIES CXX_STANDARD 20
@@ -23,7 +22,7 @@ target_compile_options(motor-utils
     $<$<COMPILE_LANGUAGE:CXX>:-fno-rtti>
     )
 
-target_include_directories(motor-utils PUBLIC 
+target_include_directories(motor-utils PUBLIC
     ${CMAKE_CURRENT_LIST_DIR}/../../include)
 
-add_coverage(motor-utils)
\ No newline at end of file
+add_coverage(motor-utils)
diff --git a/motor-control/core/motor_interrupt_handler.cpp b/motor-control/core/motor_interrupt_handler.cpp
deleted file mode 100644
index dc8888fe4..000000000
--- a/motor-control/core/motor_interrupt_handler.cpp
+++ /dev/null
@@ -1,4 +0,0 @@
-#include "motor-control/core/stepper_motor/motor_interrupt_handler.hpp"
-
-motor_handler::Empty empty{};
-auto motor_handler::Empty::get_default() -> Empty& { return empty; }
diff --git a/pipettes/firmware/interfaces.cpp b/pipettes/firmware/interfaces.cpp
index 91c56664f..ff40c65ef 100644
--- a/pipettes/firmware/interfaces.cpp
+++ b/pipettes/firmware/interfaces.cpp
@@ -57,22 +57,20 @@ void linear_motor::encoder_interrupt(motor_hardware::MotorHardware& hw,
 
 auto linear_motor::get_interrupt(motor_hardware::MotorHardware& hw,
                                  LowThroughputInterruptQueues& queues,
-                                 stall_check::StallCheck& stall,
-                                 sensor_tasks::QueueClient& sensor_client)
+                                 stall_check::StallCheck& stall)
     -> MotorInterruptHandlerType<linear_motor_tasks::QueueClient> {
     return motor_handler::MotorInterruptHandler(
         queues.plunger_queue, linear_motor_tasks::get_queues(), hw, stall,
-        queues.plunger_update_queue, sensor_client);
+        queues.plunger_update_queue);
 }
 
 auto linear_motor::get_interrupt(motor_hardware::MotorHardware& hw,
                                  HighThroughputInterruptQueues& queues,
-                                 stall_check::StallCheck& stall,
-                                 sensor_tasks::QueueClient& sensor_client)
+                                 stall_check::StallCheck& stall)
     -> MotorInterruptHandlerType<linear_motor_tasks::QueueClient> {
     return motor_handler::MotorInterruptHandler(
         queues.plunger_queue, linear_motor_tasks::get_queues(), hw, stall,
-        queues.plunger_update_queue, sensor_client);
+        queues.plunger_update_queue);
 }
 
 struct motor_hardware::UsageEEpromConfig plunger_usage_config {
diff --git a/pipettes/firmware/main.cpp b/pipettes/firmware/main.cpp
index 84ef3c5a0..9d43d1788 100644
--- a/pipettes/firmware/main.cpp
+++ b/pipettes/firmware/main.cpp
@@ -102,8 +102,7 @@ static auto linear_motor_hardware =
     interfaces::linear_motor::get_motor_hardware(
         motor_config.hardware_pins.linear_motor);
 static auto plunger_interrupt = interfaces::linear_motor::get_interrupt(
-    linear_motor_hardware, interrupt_queues, linear_stall_check,
-    sensor_queue_client);
+    linear_motor_hardware, interrupt_queues, linear_stall_check);
 static auto linear_motion_control =
     interfaces::linear_motor::get_motion_control(linear_motor_hardware,
                                                  interrupt_queues);
diff --git a/pipettes/simulator/interfaces.cpp b/pipettes/simulator/interfaces.cpp
index fecf029ce..15d6bd66c 100644
--- a/pipettes/simulator/interfaces.cpp
+++ b/pipettes/simulator/interfaces.cpp
@@ -45,17 +45,29 @@ auto interfaces::get_interrupt_queues<PipetteType::THREE_EIGHTY_FOUR_CHANNEL>()
 }
 
 auto linear_motor::get_interrupt(
-    sim_motor_hardware_iface::SimMotorHardwareIface& hw, MoveQueue& queue,
-    stall_check::StallCheck& stall, UpdatePositionQueue& update_queue)
+    sim_motor_hardware_iface::SimMotorHardwareIface& hw,
+    LowThroughputInterruptQueues& queues, stall_check::StallCheck& stall)
     -> MotorInterruptHandlerType<linear_motor_tasks::QueueClient> {
     return motor_handler::MotorInterruptHandler(
-        queue, linear_motor_tasks::get_queues(), hw, stall, update_queue);
+        queues.plunger_queue, linear_motor_tasks::get_queues(), hw, stall,
+        queues.plunger_update_queue);
+}
+
+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> {
+    return motor_handler::MotorInterruptHandler(
+        queues.plunger_queue, linear_motor_tasks::get_queues(), hw, stall,
+        queues.plunger_update_queue);
 }
 
 auto linear_motor::get_interrupt_driver(
-    sim_motor_hardware_iface::SimMotorHardwareIface& hw, MoveQueue& queue,
-    MotorInterruptHandlerType<linear_motor_tasks::QueueClient>& handler,
-    UpdatePositionQueue& update_queue)
+    sim_motor_hardware_iface::SimMotorHardwareIface& hw,
+    LowThroughputInterruptQueues& queues,
+    MotorInterruptHandlerType<linear_motor_tasks::QueueClient>& handler)
 #ifdef USE_SENSOR_MOVE
     -> motor_interrupt_driver::MotorInterruptDriver<
         linear_motor_tasks::QueueClient, motor_messages::SensorSyncMove,