Etb function cfg: actually read config (#1884)

* two throttles one thread

* look at all this RAM!

* add enum

* switch from index to function

* test fixup

* improve init logic

* remove old vw idle mode bit

* add config

* better spot for it

* use config init values

* handle null controller array

* fatal error testability

* test new init config

* defaults

* fix for default config

firmware/controllers/actuators/electronic_throttle.cpp

@@ -828,19 +828,15 @@ void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	addConsoleActionI("etb_freq", setEtbFrequency);
 #endif /* EFI_PROD_CODE */
 
-	// If you don't have a pedal we have no business here.
-	if (Sensor::hasSensor(SensorType::AcceleratorPedalPrimary)) {
-		engine->etbActualCount = Sensor::hasSensor(SensorType::Tps2) ? 2 : 1;
-	} else {
-		engine->etbActualCount = 0;
-	}
-
 	pedal2tpsMap.init(config->pedalToTpsTable, config->pedalToTpsPedalBins, config->pedalToTpsRpmBins);
 
+	// TODO: remove etbActualCount
+	engine->etbActualCount = ETB_COUNT;
+
 	bool mustHaveEtbConfigured = Sensor::hasSensor(SensorType::AcceleratorPedalPrimary);
 	bool anyEtbConfigured = false;
 
-	for (int i = 0 ; i < engine->etbActualCount; i++) {
+	for (int i = 0 ; i < ETB_COUNT; i++) {
 		auto motor = initDcMotor(i, CONFIG(etb_use_two_wires) PASS_ENGINE_PARAMETER_SUFFIX);
 
 		// If this motor is actually set up, init the etb
@@ -851,8 +847,7 @@ void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 				continue;
 			}
 
-			// TODO: configure per-motor in config so wastegate/VW idle works
+			auto func = CONFIG(etbFunctions[i]);
-			auto func = i == 0 ? ETB_Throttle1 : ETB_Throttle2;
 
 			anyEtbConfigured |= controller->init(func, motor, &engineConfiguration->etb, &pedal2tpsMap);
 			INJECT_ENGINE_REFERENCE(engine->etbControllers[i]);

unit_tests/tests/test_etb.cpp

@@ -27,9 +27,34 @@ TEST(etb, initializationNoPedal) {
 		engine->etbControllers[i] = &mocks[i];
 	}
 
-	// We expect no throttle init stuff to be called - lack of pedal should disable ETB
+	EXPECT_CALL(mocks[0], init(ETB_Throttle1, _, _, _)).WillOnce(Return(false));
+	EXPECT_CALL(mocks[1], init(ETB_Throttle2, _, _, _)).WillOnce(Return(false));
 
-	doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE);
+	// This shouldn't throw, since no throttles are configured, but no pedal is configured either
+	EXPECT_NO_FATAL_ERROR(doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE));
+}
+
+TEST(etb, initializationMissingThrottle) {
+	StrictMock<MockEtb> mocks[ETB_COUNT];
+
+	WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
+
+	for (int i = 0; i < ETB_COUNT; i++) {
+		engine->etbControllers[i] = &mocks[i];
+	}
+
+	engineConfiguration->etbFunctions[0] = ETB_None;
+	engineConfiguration->etbFunctions[1] = ETB_None;
+
+	EXPECT_CALL(mocks[0], init(ETB_None, _, _, _)).WillOnce(Return(false));
+	EXPECT_CALL(mocks[1], init(ETB_None, _, _, _)).WillOnce(Return(false));
+
+	// Must have a sensor configured before init
+	Sensor::setMockValue(SensorType::AcceleratorPedal, 0);
+	Sensor::setMockValue(SensorType::AcceleratorPedalPrimary, 0);
+
+	// This should throw: a pedal is configured but no throttles
+	EXPECT_FATAL_ERROR(doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE));
 }
 
 TEST(etb, initializationSingleThrottle) {
@@ -45,10 +70,39 @@ TEST(etb, initializationSingleThrottle) {
 	Sensor::setMockValue(SensorType::AcceleratorPedal, 0);
 	Sensor::setMockValue(SensorType::AcceleratorPedalPrimary, 0);
 
+	engineConfiguration->etbFunctions[0] = ETB_Throttle1;
+	engineConfiguration->etbFunctions[1] = ETB_None;
+
 	// Expect mock0 to be init as throttle 1, and PID params
 	EXPECT_CALL(mocks[0], init(ETB_Throttle1, _, &engineConfiguration->etb, Ne(nullptr))).WillOnce(Return(true));
 
-	// We do not expect throttle #2 to be initialized
+	// Expect mock1 to be init as none
+	EXPECT_CALL(mocks[1], init(ETB_None, _, _, _)).WillOnce(Return(true));
+
+	doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE);
+}
+
+TEST(etb, initializationSingleThrottleInSecondSlot) {
+	StrictMock<MockEtb> mocks[ETB_COUNT];
+
+	WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
+
+	for (int i = 0; i < ETB_COUNT; i++) {
+		engine->etbControllers[i] = &mocks[i];
+	}
+
+	// Must have a sensor configured before init
+	Sensor::setMockValue(SensorType::AcceleratorPedal, 0);
+	Sensor::setMockValue(SensorType::AcceleratorPedalPrimary, 0);
+
+	engineConfiguration->etbFunctions[0] = ETB_None;
+	engineConfiguration->etbFunctions[1] = ETB_Throttle1;
+
+	// Expect mock0 to be init as none
+	EXPECT_CALL(mocks[0], init(ETB_None, _, _, _)).WillOnce(Return(true));
+
+	// Expect mock1 to be init as throttle 1, and PID params
+	EXPECT_CALL(mocks[1], init(ETB_Throttle1, _, &engineConfiguration->etb, Ne(nullptr))).WillOnce(Return(true));
 
 	doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE);
 }
@@ -69,6 +123,9 @@ TEST(etb, initializationDualThrottle) {
 	// The presence of a second TPS indicates dual throttle
 	Sensor::setMockValue(SensorType::Tps2, 25.0f);
 
+	engineConfiguration->etbFunctions[0] = ETB_Throttle1;
+	engineConfiguration->etbFunctions[1] = ETB_Throttle2;
+
 	// Expect mock0 to be init as throttle 1, and PID params
 	EXPECT_CALL(mocks[0], init(ETB_Throttle1, _, &engineConfiguration->etb, Ne(nullptr))).WillOnce(Return(true));