move msg back to motormessage queue, simulator fixes

Opentrons · Dec 3, 2024 · 90f2701 · 90f2701
1 parent 9a34332
commit 90f2701
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Showing 3 changed files with 17 additions and 1 deletion.
diff --git a/stm32-modules/heater-shaker/simulator/motor_thread.cpp b/stm32-modules/heater-shaker/simulator/motor_thread.cpp
@@ -109,13 +109,21 @@ struct SimMotorPolicy {
         }
     }
 
+    auto last_reset_reason() -> uint16_t { return reset_reason; }
+
+    auto set_last_reset_reason(uint16_t sim_reason) -> void {
+        reset_reason = sim_reason;
+    }
+
   private:
     int16_t rpm_setpoint = 0;
     int16_t rpm_current = 0;
     int32_t ramp_rate = DEFAULT_RAMP_RATE_RPM_PER_S;
     float sim_plate_lock_power = 0;
     bool sim_plate_lock_enabled = false;
     bool sim_plate_lock_braked = false;
+    // Simulated reset reason from HAL RCC flag
+    uint16_t reset_reason = 0;
 };
 
 struct motor_thread::TaskControlBlock {

diff --git a/stm32-modules/include/heater-shaker/heater-shaker/motor_task.hpp b/stm32-modules/include/heater-shaker/heater-shaker/motor_task.hpp
@@ -538,7 +538,7 @@ class MotorTask {
 
         auto response = messages::GetResetReasonResponse{
             .responding_to_id = msg.id, .reason = reason};
-        static_cast<void>(_task_registry->comms->get_message_queue().try_send(
+        static_cast<void>(task_registry->comms->get_message_queue().try_send(
             messages::HostCommsMessage(response)));
     }
 

diff --git a/stm32-modules/thermocycler-gen2/simulator/motor_thread.cpp b/stm32-modules/thermocycler-gen2/simulator/motor_thread.cpp
@@ -119,6 +119,12 @@ class SimMotorPolicy : public SimTMC2130Policy {
 
     auto seal_switches_are_shared() -> bool { return false; }
 
+    auto last_reset_reason() -> uint16_t { return reset_reason; }
+
+    auto set_last_reset_reason(uint16_t sim_reason) -> void {
+        reset_reason = sim_reason;
+    }
+
   private:
     // Lowest position the lid can move before stalling
     static constexpr uint32_t min_lid_steps =
@@ -132,6 +138,8 @@ class SimMotorPolicy : public SimTMC2130Policy {
     static constexpr double open_switch_pos_angle = 90.0F;
     // Simulated width of each lid switch in degrees
     static constexpr double switch_width_angle = 1.0F;
+    // Simulated reset reason from HAL RCC flag
+    uint16_t reset_reason = 0;
 
     // Check if open switch is triggered
     [[nodiscard]] static auto open_switch_triggered(double angle) -> bool {