Debugging for sensor converter functions (#1239)

* func print

* resistance func, func chain

* formatting

* resistance func format

Co-authored-by: Matthew Kennedy <makenne@microsoft.com>

firmware/controllers/sensors/converters/func_chain.h

@@ -24,6 +24,10 @@ protected:
 		// Base case is the identity function
 		return {true, input};
 	}
+
+	void showInfo(Logging* logger, float testInputValue) const {
+		// base case does nothing
+	}
 };
 
 template <typename TFirst, typename... TRest>
@@ -58,6 +62,17 @@ public:
 		return TBase::template get<TGet>();
 	}
 
+	void showInfo(Logging* logger, float testInputValue) const {
+		// Print info about this level
+		m_f.showInfo(logger, testInputValue);
+
+		// If valid, recurse down
+		auto res = m_f.convert(testInputValue);
+		if (res.Valid) {
+			TBase::showInfo(logger, res.Value);
+		}
+	}
+
 private:
 	TFirst m_f;
 };
@@ -77,6 +92,10 @@ public:
 		return m_fs.template get<TGet>();
 	}
 
+	void showInfo(Logging* logger, float testInputValue) const override {
+		m_fs.showInfo(logger, testInputValue);
+	}
+
 private:
 	priv::FuncChain<TFuncs...> m_fs;
 };

firmware/controllers/sensors/converters/linear_func.cpp

@@ -21,3 +21,9 @@ SensorResult LinearFunc::convert(float inputValue) const {
 
 	return {isValid, result};
 }
+
+void LinearFunc::showInfo(Logging* logger, float testRawValue) const {
+	scheduleMsg(logger, "    Linear function slope: %.2f offset: %.2f min: %.1f max: %.1f", m_a, m_b, m_minOutput, m_maxOutput);
+	const auto [valid, value] = convert(testRawValue);
+	scheduleMsg(logger, "      raw value %.2f converts to %.2f", testRawValue, value);
+}

firmware/controllers/sensors/converters/linear_func.h

@@ -10,6 +10,8 @@ public:
 
 	SensorResult convert(float inputValue) const override;
 
+	void showInfo(Logging* logger, float testRawValue) const override;
+
 private:
 	// Linear equation parameters for equation of form
 	// y = ax + b

firmware/controllers/sensors/converters/resistance_func.cpp

@@ -3,6 +3,7 @@
  */
 
 #include "resistance_func.h"
+#include "loggingcentral.h"
 
 void ResistanceFunc::configure(float supplyVoltage, float pullupResistor) {
 	m_pullupResistor = pullupResistor;
@@ -25,3 +26,8 @@ SensorResult ResistanceFunc::convert(float raw) const {
 
 	return {true, resistance};
 }
+
+void ResistanceFunc::showInfo(Logging* logger, float testInputValue) const {
+	const auto [valid, value] = convert(testInputValue);
+	scheduleMsg(logger, "    %.2f volts -> %.1f ohms, with supply voltage %.2f and pullup %.1f.", testInputValue, value, m_supplyVoltage, m_pullupResistor);
+}

firmware/controllers/sensors/converters/resistance_func.h

@@ -16,6 +16,8 @@ public:
 
 	SensorResult convert(float inputValue) const override;
 
+	void showInfo(Logging* logger, float testInputValue) const override;
+
 private:
 	float m_supplyVoltage = 5.0f;
 	float m_pullupResistor = 1000.0f;

firmware/controllers/sensors/converters/sensor_converter_func.h

@@ -2,6 +2,9 @@
 
 #include "sensor.h"
 
+class Logging;
+
 struct SensorConverter {
 	virtual SensorResult convert(float raw) const = 0;
+	virtual void showInfo(Logging* logger, float testRawValue) const {}
 };

firmware/controllers/sensors/converters/thermistor_func.h

@@ -2,7 +2,7 @@
  * @author Matthew Kennedy, (c) 2019
  * 
  * A function to convert resistance to thermistor temperature (NTC). Uses the
- * Steinhart-Hart equation to prevent having to compute many logarithms at runtime.
+ * Steinhart-Hart equation to avoid having to compute many logarithms at runtime.
  */
 
 #pragma once

firmware/controllers/sensors/sensor_info_printing.cpp

@@ -10,4 +10,9 @@ void ProxySensor::showInfo(Logging* logger, const char* sensorName) const {
 void FunctionalSensor::showInfo(Logging* logger, const char* sensorName) const {
 	const auto [valid, value] = get();
 	scheduleMsg(logger, "Sensor \"%s\": Raw value: %.2f Valid: %d Converted value %.2f", sensorName, m_rawValue, valid, value);
+
+	// now print out the underlying function's info
+	if (auto func = m_function) {
+		func->showInfo(logger, m_rawValue);
+	}
 }