sensor.h

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/**
 * @file    sensor.h
 * @brief Base class for sensors.  Inherit this class to implement a new type of sensor.
 *
 * This file defines the basis for all sensor inputs to the ECU, and provides a registry
 * so that consumers may be agnostic to how each sensor may work.
 *
 * HOW TO ADD A NEW SENSOR TYPE:
 *
 * 1. Add an entry to the enum in sensor_type.h.  Be sure to add it ABOVE the placeholder
 *    at the end of the list.
 *
 * 2. In the init/sensor folder, create/modify logic to create an instance of the new sensor,
 *    configure it if necessary, and call its Register() function if it should be enabled.
 *    See init_fluid_pressure.cpp for a minimal example.
 *
 * 3. Consume the new sensor with Sensor::get(SensorType::MyNewSensor)
 *
 * Providers:
 *   Instantiate a subclass of Sensor, and implement the Get() function.
 *   Call Register() to install the new sensor in the registry, preparing it for use.
 *
 * Mocking:
 *   The sensor table supports mocking each sensors value.  Call Sensor::SetMockValue to
 *   set a mock value for a particular sensor, and Sensor::ResetMockValue or
 *   Sensor::ResetAllMocks to reset one or all stored mock values.
 *
 * Composite Sensors:
 *   Some sensors may be implemented as composite sensors, ie sensors that depend on other
 *   sensors to determine their reading.  For example, the throttle pedal may have a pair of
 *   potentiometers that provide redundancy for the pedal's position.  Each one may be its
 *   own sensor, then with one "master" sensors that combines the results of the others, and
 *   provides validation of whether the readings agree.
 *
 * @date September 12, 2019
 * @author Matthew Kennedy, (c) 2019
 */
 
#pragma once
 
#include "sensor_type.h"
#include <rusefi/expected.h>
 
#include <cstddef>
 
#ifndef VERBOSE_SENSOR_DEBUG
#define VERBOSE_SENSOR_DEBUG false
#endif
 
using SensorResult = expected<float>;
 
// Fwd declare - nobody outside of Sensor.cpp needs to see inside this type
class SensorRegistryEntry;
 
class Sensor {
public:
    // Register this sensor in the sensor registry.
    // Returns true if registration succeeded, or false if
    // another sensor of the same type is already registered.
    bool Register();
 
    // Print information about this sensor
    virtual void showInfo(const char* sensorName) const = 0;
 
    // Print information about all sensors
    static void showAllSensorInfo();
 
    // Print information about a particular sensor
    static void showInfo(SensorType type);
 
    // Remove all sensors from the sensor registry - tread carefully if you use this outside of a unit test
    static void resetRegistry();
 
    /*
     * Static helper for sensor lookup
     */
    static const Sensor *getSensorOfType(SensorType type);
 
    /*
     * Get a reading from the specified sensor.
     */
    static SensorResult get(SensorType type);
 
    /*
     * Get a reading from the specified sensor, or zero if unavailable.
     */
    static float getOrZero(SensorType type) {
        return Sensor::get(type).value_or(0);
    }
 
    /*
     * Get a raw (unconverted) value from the sensor, if available.
     */
    static float getRaw(SensorType type);
 
    /*
     * Get whether a sensor is redundant (a composite of multiple other sensors that can check consistency between them)
     */
    static bool isRedundant(SensorType type);
 
    /*
     * Query whether there is a sensor of a particular type currently registered.
     */
    static bool hasSensor(SensorType type);
 
    /*
     * Mock a value for a particular sensor.
     */
    static void setMockValue(SensorType type, float value, bool mockRedundant = false);
 
 
    static void setInvalidMockValue(SensorType type);
 
    /*
     * Reset mock for a particular sensor.
     */
    static void resetMockValue(SensorType type);
 
    /*
     * Reset mocking for all sensors.
     */
    static void resetAllMocks();
 
    /*
     * Inhibit sensor timeouts. Used if you're doing something that will block sensor updates, such as
     * erasing flash memory (which stalls the CPU on some MCUs)
     */
    static void inhibitTimeouts(bool inhibit);
 
    /*
     * Get a friendly name for the sensor.
     * For example, CLT, IAT, Throttle Position 2, etc.
     */
    const char* getSensorName() const { return getSensorName(m_type); }
    static const char* getSensorName(SensorType type);
 
    // Retrieve the current reading from the sensor.
    //
    // Override this in a particular sensor's implementation.  As reading sensors is in many hot paths,
    // it is unwise to synchronously read the sensor or do anything otherwise costly here.  At the most,
    // this should be field lookup and simple math.
    virtual SensorResult get() const = 0;
 
    // Retrieve whether the sensor is present.  Some sensors may be registered but not present, i.e. if initialization failed.
    virtual bool hasSensor() const {
        return true;
    }
 
    /*
     * Get an unconverted value from the sensor, if available.
     */
    virtual float getRaw() const {
        return 0;
    }
 
    /*
     * Get whether this sensor is redundant (backed by multiple other sensors)
     */
    virtual bool isRedundant() const {
        // By default sensors are not redundant
        return false;
    }
 
    void unregister();
 
    SensorType type() const {
        return m_type;
    }
 
protected:
    // Protected constructor - only subclasses call this
    explicit Sensor(SensorType type)
        : m_type(type) {}
 
    static bool s_inhibitSensorTimeouts;
 
private:
    const SensorType m_type;
 
    // Get this sensor's index in the list
    constexpr size_t getIndex() {
        return getIndex(m_type);
    }
 
    // Get the index in the list for a sensor of particular type
    static constexpr size_t getIndex(SensorType type) {
        return static_cast<size_t>(type);
    }
 
    /*
     * Static helper for sensor lookup
     */
    static SensorRegistryEntry *getEntryForType(SensorType type);
};
 
SensorType findSensorTypeByName(const char *name);