From 90f270141a1858559de7061f1b0cb08879fba6a1 Mon Sep 17 00:00:00 2001
From: caila-marashaj <caila.marashaj@opentrons.com>
Date: Tue, 3 Dec 2024 13:54:07 -0500
Subject: [PATCH] move msg back to motormessage queue, simulator fixes

---
 stm32-modules/heater-shaker/simulator/motor_thread.cpp    | 8 ++++++++
 .../include/heater-shaker/heater-shaker/motor_task.hpp    | 2 +-
 .../thermocycler-gen2/simulator/motor_thread.cpp          | 8 ++++++++
 3 files changed, 17 insertions(+), 1 deletion(-)

diff --git a/stm32-modules/heater-shaker/simulator/motor_thread.cpp b/stm32-modules/heater-shaker/simulator/motor_thread.cpp
index bd7d3cc9f..ac3e1fcf6 100644
--- a/stm32-modules/heater-shaker/simulator/motor_thread.cpp
+++ b/stm32-modules/heater-shaker/simulator/motor_thread.cpp
@@ -109,6 +109,12 @@ 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;
@@ -116,6 +122,8 @@ struct SimMotorPolicy {
     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
index 6cb081a0d..f74e84136 100644
--- 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
index 70c7868d8..1733f627f 100644
--- 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 {