only:making boost constraints more obvious, also running boost in simulator

firmware/controllers/actuators/boost_control.cpp

@@ -45,8 +45,10 @@ void BoostController::onConfigurationChange(engine_configuration_s const * previ
 	}
 }
 
-expected<float> BoostController::observePlant() const {
-	return Sensor::get(SensorType::Map);
+expected<float> BoostController::observePlant() {
+    expected<float> map = Sensor::get(SensorType::Map);
+    isPlantValid = map.Valid;
+    return map;
 }
 
 expected<float> BoostController::getSetpoint() {
@@ -245,6 +247,7 @@ void startBoostPin() {
 }
 
 void initBoostCtrl() {
+#if EFI_PROD_CODE
 	// todo: why do we have 'isBoostControlEnabled' setting exactly?
 	// 'initVvtActuators' is an example of a subsystem without explicit enable
 	if (!engineConfiguration->isBoostControlEnabled) {
@@ -261,6 +264,7 @@ void initBoostCtrl() {
 	if (!isBrainPinValid(engineConfiguration->boostControlPin) && !hasAnyEtbWastegate) {
 		return;
 	}
+#endif
 
 	// Set up open & closed loop tables
 	boostMapOpen.init(config->boostTableOpenLoop, config->boostTpsBins, config->boostRpmBins);

firmware/controllers/actuators/boost_control.h

@@ -25,7 +25,7 @@ public:
 	void onConfigurationChange(engine_configuration_s const * previousConfig) override;
 
 	// Helpers for individual parts of boost control
-	expected<float> observePlant() const override;
+	expected<float> observePlant() override;
 	expected<float> getSetpoint() override;
 
 	expected<percent_t> getOpenLoop(float target) override;

firmware/controllers/actuators/electronic_throttle.cpp

@@ -244,7 +244,7 @@ void EtbController::showStatus() {
 	m_pid.showPidStatus("ETB");
 }
 
-expected<percent_t> EtbController::observePlant() const {
+expected<percent_t> EtbController::observePlant() {
 	return Sensor::get(m_positionSensor);
 }
 

firmware/controllers/actuators/electronic_throttle_impl.h

@@ -43,7 +43,7 @@ public:
 	void showStatus();
 
 	// Helpers for individual parts of throttle control
-	expected<percent_t> observePlant() const override;
+	expected<percent_t> observePlant() override;
 
 	expected<percent_t> getSetpoint() override;
 	expected<percent_t> getSetpointEtb();

firmware/controllers/actuators/vvt.cpp

@@ -48,7 +48,7 @@ void VvtController::onConfigurationChange(engine_configuration_s const * previou
 	}
 }
 
-expected<angle_t> VvtController::observePlant() const {
+expected<angle_t> VvtController::observePlant() {
 #if EFI_SHAFT_POSITION_INPUT
 	return engine->triggerCentral.getVVTPosition(m_bank, m_cam);
 #else

firmware/controllers/actuators/vvt.h

@@ -34,7 +34,7 @@ public:
 	void onConfigurationChange(engine_configuration_s const * previousConfig) override;
 
 	// ClosedLoopController implementation
-	expected<angle_t> observePlant() const override;
+	expected<angle_t> observePlant() override;
 
 	expected<angle_t> getSetpoint() override;
 	expected<percent_t> getOpenLoop(angle_t target) override;

firmware/controllers/closed_loop_controller.h

@@ -49,7 +49,7 @@ private:
 	virtual expected<TInput> getSetpoint() = 0;
 
 	// Get the current observation: what is the current state of the world?
-	virtual expected<TInput> observePlant() const = 0;
+	virtual expected<TInput> observePlant() = 0;
 
 	// Get the open-loop output: output state based on only the setpoint
 	virtual expected<TOutput> getOpenLoop(TInput setpoint) = 0;

unit_tests/mocks.h

@@ -32,7 +32,7 @@ public:
 
 	// ClosedLoopController mocks
 	MOCK_METHOD(expected<percent_t>, getSetpoint, (), (override));
-	MOCK_METHOD(expected<percent_t>, observePlant, (), (const, override));
+	MOCK_METHOD(expected<percent_t>, observePlant, (), (override));
 	MOCK_METHOD(expected<percent_t>, getOpenLoop, (percent_t setpoint), (override));
 	MOCK_METHOD(expected<percent_t>, getClosedLoop, (percent_t setpoint, percent_t observation), (override));
 	MOCK_METHOD(void, setOutput, (expected<percent_t> outputValue), (override));

unit_tests/tests/util/test_closed_loop_controller.cpp

@@ -10,7 +10,7 @@ using ::testing::Eq;
 class TestController : public ClosedLoopController<float, float> {
 public:
 	MOCK_METHOD(expected<float>, getSetpoint, (), (override));
-	MOCK_METHOD(expected<float>, observePlant, (), (const, override));
+	MOCK_METHOD(expected<float>, observePlant, (), (override));
 	MOCK_METHOD(expected<float>, getOpenLoop, (float setpoint), (override));
 	MOCK_METHOD(expected<float>, getClosedLoop, (float setpoint, float observation), (override));
 	MOCK_METHOD(void, setOutput, (expected<float> outputValue), (override));