| Line | Branch | Decision | Exec | Source |
|---|---|---|---|---|
| 1 | /** | |||
| 2 | * @file sensor.h | |||
| 3 | * @brief Base class for sensors. Inherit this class to implement a new type of sensor. | |||
| 4 | * | |||
| 5 | * This file defines the basis for all sensor inputs to the ECU, and provides a registry | |||
| 6 | * so that consumers may be agnostic to how each sensor may work. | |||
| 7 | * | |||
| 8 | * HOW TO ADD A NEW SENSOR TYPE: | |||
| 9 | * | |||
| 10 | * 1. Add an entry to the enum in sensor_type.h. Be sure to add it ABOVE the placeholder | |||
| 11 | * at the end of the list. | |||
| 12 | * | |||
| 13 | * 2. In the init/sensor folder, create/modify logic to create an instance of the new sensor, | |||
| 14 | * configure it if necessary, and call its Register() function if it should be enabled. | |||
| 15 | * See init_fluid_pressure.cpp for a minimal example. | |||
| 16 | * | |||
| 17 | * 3. Consume the new sensor with Sensor::get(SensorType::MyNewSensor) | |||
| 18 | * | |||
| 19 | * Providers: | |||
| 20 | * Instantiate a subclass of Sensor, and implement the Get() function. | |||
| 21 | * Call Register() to install the new sensor in the registry, preparing it for use. | |||
| 22 | * | |||
| 23 | * Mocking: | |||
| 24 | * The sensor table supports mocking each sensors value. Call Sensor::SetMockValue to | |||
| 25 | * set a mock value for a particular sensor, and Sensor::ResetMockValue or | |||
| 26 | * Sensor::ResetAllMocks to reset one or all stored mock values. | |||
| 27 | * | |||
| 28 | * Composite Sensors: | |||
| 29 | * Some sensors may be implemented as composite sensors, ie sensors that depend on other | |||
| 30 | * sensors to determine their reading. For example, the throttle pedal may have a pair of | |||
| 31 | * potentiometers that provide redundancy for the pedal's position. Each one may be its | |||
| 32 | * own sensor, then with one "master" sensors that combines the results of the others, and | |||
| 33 | * provides validation of whether the readings agree. | |||
| 34 | * | |||
| 35 | * @date September 12, 2019 | |||
| 36 | * @author Matthew Kennedy, (c) 2019 | |||
| 37 | */ | |||
| 38 | ||||
| 39 | #pragma once | |||
| 40 | ||||
| 41 | #include "sensor_type.h" | |||
| 42 | #include <rusefi/expected.h> | |||
| 43 | ||||
| 44 | #include <cstddef> | |||
| 45 | ||||
| 46 | using SensorResult = expected<float>; | |||
| 47 | ||||
| 48 | // Fwd declare - nobody outside of Sensor.cpp needs to see inside this type | |||
| 49 | class SensorRegistryEntry; | |||
| 50 | ||||
| 51 | class Sensor { | |||
| 52 | public: | |||
| 53 | // Register this sensor in the sensor registry. | |||
| 54 | // Returns true if registration succeeded, or false if | |||
| 55 | // another sensor of the same type is already registered. | |||
| 56 | bool Register(); | |||
| 57 | ||||
| 58 | // Print information about this sensor | |||
| 59 | virtual void showInfo(const char* sensorName) const = 0; | |||
| 60 | ||||
| 61 | // Print information about all sensors | |||
| 62 | static void showAllSensorInfo(); | |||
| 63 | ||||
| 64 | // Print information about a particular sensor | |||
| 65 | static void showInfo(SensorType type); | |||
| 66 | ||||
| 67 | // Remove all sensors from the sensor registry - tread carefully if you use this outside of a unit test | |||
| 68 | static void resetRegistry(); | |||
| 69 | ||||
| 70 | /* | |||
| 71 | * Static helper for sensor lookup | |||
| 72 | */ | |||
| 73 | static const Sensor *getSensorOfType(SensorType type); | |||
| 74 | ||||
| 75 | /* | |||
| 76 | * Get a reading from the specified sensor. | |||
| 77 | */ | |||
| 78 | static SensorResult get(SensorType type); | |||
| 79 | ||||
| 80 | /* | |||
| 81 | * Get a reading from the specified sensor, or zero if unavailable. | |||
| 82 | */ | |||
| 83 | 29863081 | static float getOrZero(SensorType type) { | ||
| 84 |
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29863081 | return Sensor::get(type).value_or(0); | |
| 85 | } | |||
| 86 | ||||
| 87 | /* | |||
| 88 | * Get a raw (unconverted) value from the sensor, if available. | |||
| 89 | */ | |||
| 90 | static float getRaw(SensorType type); | |||
| 91 | ||||
| 92 | /* | |||
| 93 | * Get whether a sensor is redundant (a composite of multiple other sensors that can check consistency between them) | |||
| 94 | */ | |||
| 95 | static bool isRedundant(SensorType type); | |||
| 96 | ||||
| 97 | /* | |||
| 98 | * Query whether there is a sensor of a particular type currently registered. | |||
| 99 | */ | |||
| 100 | static bool hasSensor(SensorType type); | |||
| 101 | ||||
| 102 | /* | |||
| 103 | * Mock a value for a particular sensor. | |||
| 104 | */ | |||
| 105 | static void setMockValue(SensorType type, float value, bool mockRedundant = false); | |||
| 106 | ||||
| 107 | ||||
| 108 | static void setInvalidMockValue(SensorType type); | |||
| 109 | ||||
| 110 | /* | |||
| 111 | * Reset mock for a particular sensor. | |||
| 112 | */ | |||
| 113 | static void resetMockValue(SensorType type); | |||
| 114 | ||||
| 115 | /* | |||
| 116 | * Reset mocking for all sensors. | |||
| 117 | */ | |||
| 118 | static void resetAllMocks(); | |||
| 119 | ||||
| 120 | /* | |||
| 121 | * Inhibit sensor timeouts. Used if you're doing something that will block sensor updates, such as | |||
| 122 | * erasing flash memory (which stalls the CPU on some MCUs) | |||
| 123 | */ | |||
| 124 | static void inhibitTimeouts(bool inhibit); | |||
| 125 | ||||
| 126 | /* | |||
| 127 | * Get a friendly name for the sensor. | |||
| 128 | * For example, CLT, IAT, Throttle Position 2, etc. | |||
| 129 | */ | |||
| 130 | 116 | const char* getSensorName() const { return getSensorName(m_type); } | ||
| 131 | static const char* getSensorName(SensorType type); | |||
| 132 | ||||
| 133 | // Retrieve the current reading from the sensor. | |||
| 134 | // | |||
| 135 | // Override this in a particular sensor's implementation. As reading sensors is in many hot paths, | |||
| 136 | // it is unwise to synchronously read the sensor or do anything otherwise costly here. At the most, | |||
| 137 | // this should be field lookup and simple math. | |||
| 138 | virtual SensorResult get() const = 0; | |||
| 139 | ||||
| 140 | // Retrieve whether the sensor is present. Some sensors may be registered but not present, i.e. if initialization failed. | |||
| 141 | 640156 | virtual bool hasSensor() const { | ||
| 142 | 640156 | return true; | ||
| 143 | } | |||
| 144 | ||||
| 145 | /* | |||
| 146 | * Get an unconverted value from the sensor, if available. | |||
| 147 | */ | |||
| 148 | ✗ | virtual float getRaw() const { | ||
| 149 | ✗ | return 0; | ||
| 150 | } | |||
| 151 | ||||
| 152 | /* | |||
| 153 | * Get whether this sensor is redundant (backed by multiple other sensors) | |||
| 154 | */ | |||
| 155 | ✗ | virtual bool isRedundant() const { | ||
| 156 | // By default sensors are not redundant | |||
| 157 | ✗ | return false; | ||
| 158 | } | |||
| 159 | ||||
| 160 | void unregister(); | |||
| 161 | ||||
| 162 | 30 | SensorType type() const { | ||
| 163 | 30 | return m_type; | ||
| 164 | } | |||
| 165 | ||||
| 166 | protected: | |||
| 167 | // Protected constructor - only subclasses call this | |||
| 168 | 1524 | explicit Sensor(SensorType type) | ||
| 169 | 1524 | : m_type(type) {} | ||
| 170 | ||||
| 171 | static bool s_inhibitSensorTimeouts; | |||
| 172 | ||||
| 173 | private: | |||
| 174 | const SensorType m_type; | |||
| 175 | ||||
| 176 | // Get this sensor's index in the list | |||
| 177 | 1541 | constexpr size_t getIndex() { | ||
| 178 | 1541 | return getIndex(m_type); | ||
| 179 | } | |||
| 180 | ||||
| 181 | // Get the index in the list for a sensor of particular type | |||
| 182 | 53269052 | static constexpr size_t getIndex(SensorType type) { | ||
| 183 | 53269052 | return static_cast<size_t>(type); | ||
| 184 | } | |||
| 185 | ||||
| 186 | /* | |||
| 187 | * Static helper for sensor lookup | |||
| 188 | */ | |||
| 189 | static SensorRegistryEntry *getEntryForType(SensorType type); | |||
| 190 | }; | |||
| 191 | ||||
| 192 | SensorType findSensorTypeByName(const char *name); | |||
| 193 |