Begin "vehicleSpeed" refactoring. Module switched to "FunctionalPointerSensor" class. #3106 #3107 #3108. (#3132)

* Add new sensor type "VehicleSpeed"

* Add "Vehicle speed" sensor to name list

* Add Vehicle speed sensor initialization with function pointer sensor.

* Add init_vehicle_speed_sensor.cpp to Makefile

* Replace dependencies from "getVehicleSpeed" to OOP-like "Sensor::get()"

* Add warning and TODO to "mock vehicle speed" call

* Replace get & mock "VehicleSpeed" methods in tests

* Remove #warning directive (cause error by current settings)

* Remove stray tab

* Remove explicitly type casting.

* Add "InitVehicleSpeedSensor" function declaration to init.h

* Add "VehicleSpeedSensor" initialization call into "InitNewSensors"

Co-authored-by: alxrMironov <330OMcorporative>

firmware/console/status_loop.cpp

@@ -689,7 +689,7 @@ void updateTunerStudioState(TunerStudioOutputChannels *tsOutputChannels DECLARE_
 	tsOutputChannels->isCylinderCleanupActivated = engine->isCylinderCleanupMode;
 
 #if EFI_VEHICLE_SPEED
-	float vehicleSpeed = getVehicleSpeed();
+	float vehicleSpeed = Sensor::get(SensorType::VehicleSpeed).value_or(0);
 	tsOutputChannels->vehicleSpeedKph = vehicleSpeed;
 	tsOutputChannels->speedToRpmRatio = vehicleSpeed / rpm;
 

firmware/controllers/actuators/idle_thread.cpp

@@ -478,7 +478,8 @@ float IdleController::getClosedLoop(IIdleController::Phase phase, float tpsPos,
 		float crankingTaper = getCrankingTaperFraction();
 
 		// Determine what operation phase we're in - idling or not
-		auto phase = determinePhase(rpm, targetRpm, tps, getVehicleSpeed(PASS_ENGINE_PARAMETER_SIGNATURE), crankingTaper);
+		float vehicleSpeed = Sensor::get(SensorType::VehicleSpeed).value_or(0);
+		auto phase = determinePhase(rpm, targetRpm, tps, vehicleSpeed, crankingTaper);
 		m_lastPhase = phase;
 
 		engine->engineState.isAutomaticIdle = tps.Valid && engineConfiguration->idleMode == IM_AUTO;

firmware/controllers/algo/dynoview.cpp

@@ -18,7 +18,7 @@ void DynoView::update(vssSrc src) {
     efitimeus_t timeNow, deltaTime = 0.0;
     float speed,deltaSpeed = 0.0;
     timeNow = getTimeNowUs();
-    speed = getVehicleSpeed(PASS_ENGINE_PARAMETER_SIGNATURE);
+    speed = Sensor::get(SensorType::VehicleSpeed).value_or(0);
     if (src == ICU) {
         speed = efiRound(speed,1.0);
     } else {

firmware/controllers/algo/launch_control.cpp

@@ -55,7 +55,7 @@ bool LaunchControlBase::isInsideSwitchCondition() const {
  * then we have to return true, and trust that we would disable by other condition!
  */ 
 bool LaunchControlBase::isInsideSpeedCondition() const {
-	int speed = getVehicleSpeed(PASS_ENGINE_PARAMETER_SIGNATURE);
+	int speed = Sensor::get(SensorType::VehicleSpeed).value_or(0);
 	
 	return (CONFIG(launchSpeedTreshold) > speed) || (!(CONFIG(launchActivationMode) ==  ALWAYS_ACTIVE_LAUNCH));
 }

firmware/controllers/can/can_dash.cpp

@@ -173,7 +173,7 @@ void canMazdaRX8(CanCycle cycle) {
 		{
 			CanTxMessage msg(CAN_MAZDA_RX_RPM_SPEED);
 
-			float kph = getVehicleSpeed();
+			float kph = Sensor::get(SensorType::VehicleSpeed).value_or(0);
 
 			msg.setShortValue(SWAP_UINT16(GET_RPM() * 4), 0);
 			msg.setShortValue(0xFFFF, 2);
@@ -497,7 +497,8 @@ void canDashboardBMWE90(CanCycle cycle)
 		}
 
 		{ //E90_SPEED
-			float mph = getVehicleSpeed() * 0.6213712;
+			auto vehicleSpeed = Sensor::get(SensorType::VehicleSpeed).value_or(0); 
+			float mph = vehicleSpeed * 0.6213712;
 			mph_ctr = ((TIME_I2MS(chVTGetSystemTime()) - mph_timer) / 50);
 			mph_a = (mph_ctr * mph / 2);
 			mph_2a = mph_a + mph_last;
@@ -753,7 +754,8 @@ void canDashboardHaltech(CanCycle cycle) {
 		{ 
 			CanTxMessage msg(0x36C, 8);
 			/* Wheel Speed Front Left */
-			tmp = (getVehicleSpeed() * 10 );
+			auto vehicleSpeed = Sensor::get(SensorType::VehicleSpeed).value_or(0);
+			tmp = (vehicleSpeed * 10 );
 			msg[0] = (tmp >> 8);
 			msg[1] = (tmp & 0x00ff);
 			/* Wheel Speed Front Right */
@@ -815,7 +817,8 @@ void canDashboardHaltech(CanCycle cycle) {
 		{ 
 			CanTxMessage msg(0x370, 8);
 			/* Vehicle Speed */
-			tmp = (getVehicleSpeed() * 10 );
+			auto vehicleSpeed = Sensor::get(SensorType::VehicleSpeed).value_or(0);
+			tmp = (vehicleSpeed * 10 );
 			msg[0] = (tmp >> 8);
 			msg[1] = (tmp & 0x00ff);
 			/* unused */

firmware/controllers/can/can_verbose.cpp

@@ -63,7 +63,7 @@ static void populateFrame(Speeds& msg) {
     msg.injDuty = getInjectorDutyCycle(rpm);
     msg.coilDuty = getCoilDutyCycle(rpm);
 
-    msg.vssKph = getVehicleSpeed();
+    msg.vssKph = Sensor::get(SensorType::VehicleSpeed).value_or(0);
 }
 
 struct PedalAndTps {

firmware/controllers/can/obd2.cpp

@@ -136,7 +136,7 @@ static void handleGetDataRequest(const CANRxFrame& rx) {
 		obdSendValue(_1_MODE, pid, 2, GET_RPM() * ODB_RPM_MULT);	//	rotation/min.	(A*256+B)/4
 		break;
 	case PID_SPEED:
-		obdSendValue(_1_MODE, pid, 1, getVehicleSpeed());
+		obdSendValue(_1_MODE, pid, 1, Sensor::get(SensorType::VehicleSpeed).value_or(0));
 		break;
 	case PID_TIMING_ADVANCE: {
 		float timing = engine->engineState.timingAdvance;

firmware/controllers/sensors/sensor.cpp

@@ -49,6 +49,8 @@ static const char* const s_sensorNames[] = {
 	"Aux 2",
 	"Aux 3",
 	"Aux 4",
+
+	"Vehicle speed",
 };
 
 // This struct represents one sensor in the registry.

firmware/controllers/sensors/sensor_type.h

@@ -73,6 +73,8 @@ enum class SensorType : unsigned char {
 	Aux3 = 32,
 	Aux4 = 33,
 
+	VehicleSpeed = 34,
+
 	// Leave me at the end!
-	PlaceholderLast = 34,
+	PlaceholderLast = 35,
 };

firmware/controllers/settings.cpp

@@ -1052,6 +1052,7 @@ const command_f_s commandsF[] = {
 		{"fsio_curve_2_value", setFsioCurve2Value},
 #if EFI_PROD_CODE
 #if EFI_VEHICLE_SPEED
+		//todo: This function become deprecated soon
 		{"mock_vehicle_speed", setMockVehicleSpeed},
 #endif /* EFI_VEHICLE_SPEED */
 #if EFI_IDLE_CONTROL

firmware/init/init.h

@@ -29,6 +29,7 @@ void initFlexSensor(DECLARE_CONFIG_PARAMETER_SIGNATURE);
 void initFuelLevel(DECLARE_CONFIG_PARAMETER_SIGNATURE);
 void initBaro(DECLARE_CONFIG_PARAMETER_SIGNATURE);
 void initAuxSensors(DECLARE_CONFIG_PARAMETER_SIGNATURE);
+void initVehicleSpeedSensor(DECLARE_ENGINE_PARAMETER_SIGNATURE);
 
 // Sensor reconfiguration
 void reconfigureVbatt(DECLARE_CONFIG_PARAMETER_SIGNATURE);

firmware/init/init.mk

@@ -12,3 +12,4 @@ INIT_SRC_CPP =	$(PROJECT_DIR)/init/sensor/init_sensors.cpp \
 				$(PROJECT_DIR)/init/sensor/init_baro.cpp \
 				$(PROJECT_DIR)/init/sensor/init_fuel_level.cpp \
 				$(PROJECT_DIR)/init/sensor/init_aux.cpp \
+				$(PROJECT_DIR)/init/sensor/init_vehicle_speed_sensor.cpp \

firmware/init/sensor/init_sensors.cpp

@@ -23,6 +23,7 @@ void initNewSensors(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	initFlexSensor(PASS_CONFIG_PARAMETER_SIGNATURE);
 	initBaro(PASS_CONFIG_PARAMETER_SIGNATURE);
 	initAuxSensors(PASS_CONFIG_PARAMETER_SIGNATURE);
+	initVehicleSpeedSensor(PASS_ENGINE_PARAMETER_SIGNATURE);
 
 	#if !EFI_UNIT_TEST
 		initFuelLevel(PASS_CONFIG_PARAMETER_SIGNATURE);

firmware/init/sensor/init_vehicle_speed_sensor.cpp

@@ -0,0 +1,26 @@
+#include "pch.h"
+
+#include "init.h"
+#include "vehicle_speed.h"
+#include "function_pointer_sensor.h"
+
+struct GetVehicleSpeedWrapper {
+	DECLARE_ENGINE_PTR;
+
+	float getVehicleSpeed() {
+		return ::getVehicleSpeed(PASS_ENGINE_PARAMETER_SIGNATURE);
+	}
+};
+
+static GetVehicleSpeedWrapper vehicleSpeedWrapper;
+
+static FunctionPointerSensor vehicleSpeedSensor(SensorType::VehicleSpeed,
+[]() {
+	return vehicleSpeedWrapper.getVehicleSpeed();
+});
+
+void initVehicleSpeedSensor(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
+	INJECT_ENGINE_REFERENCE(&vehicleSpeedWrapper);
+
+	vehicleSpeedSensor.Register();
+}

unit_tests/tests/test_dynoview.cpp

@@ -27,11 +27,11 @@ TEST(DynoView, VSS_T1) {
     engineConfiguration->vehicleWeight = 900; 
     eth.moveTimeForwardMs(50);
 	
-    setMockVehicleSpeed(18.0 PASS_ENGINE_PARAMETER_SUFFIX);
+	Sensor::setMockValue(SensorType::VehicleSpeed, 18.0);
     dut.update(ICU);
 
     eth.moveTimeForwardAndInvokeEventsSec(20);
-    setMockVehicleSpeed(126.0 PASS_ENGINE_PARAMETER_SUFFIX);
+	Sensor::setMockValue(SensorType::VehicleSpeed, 126.0);
     dut.update(ICU);
 
     ASSERT_EQ(1.5, dut.getAcceleration()); 
@@ -47,7 +47,7 @@ TEST(DynoView, algo) {
     engineConfiguration->vehicleWeight = 900; 
 
     //to capture vss
-    setMockVehicleSpeed(35*3.6 PASS_ENGINE_PARAMETER_SUFFIX);
+	Sensor::setMockValue(SensorType::VehicleSpeed, 35*3.6);
     dut.update(ICU);
 
     dut.setAcceleration(1.5);
@@ -73,12 +73,12 @@ TEST(DynoView, VSS_fast) {
     engine->rpmCalculator.mockRpm = 2200;
     eth.moveTimeForwardMs(50);
 	
-    setMockVehicleSpeed(50.0 PASS_ENGINE_PARAMETER_SUFFIX);
+	Sensor::setMockValue(SensorType::VehicleSpeed, 50.0);
     dut.update(CAN);
 
     //delay 50ms
     eth.moveTimeForwardMs(50);
-    setMockVehicleSpeed(50.252 PASS_ENGINE_PARAMETER_SUFFIX);
+	Sensor::setMockValue(SensorType::VehicleSpeed, 50.252);
     dut.update(CAN);
 
     ASSERT_EQ(1259, dut.getEngineForce());
@@ -97,12 +97,12 @@ TEST(DynoView, VSS_Torque) {
     engine->rpmCalculator.mockRpm = 2200;
     eth.moveTimeForwardMs(50);
 	
-    setMockVehicleSpeed(80.0 PASS_ENGINE_PARAMETER_SUFFIX);
+	Sensor::setMockValue(SensorType::VehicleSpeed, 80.0);
     dut.update(CAN);
 
     //delay 50ms
     eth.moveTimeForwardMs(50);
-    setMockVehicleSpeed(80.504 PASS_ENGINE_PARAMETER_SUFFIX);
+	Sensor::setMockValue(SensorType::VehicleSpeed, 80.504);
     dut.update(CAN);
 
     ASSERT_EQ(242, dut.getEngineTorque());

unit_tests/tests/test_idle_controller.cpp

@@ -425,7 +425,7 @@ TEST(idle_v2, IntegrationManual) {
 	float expectedClt = 37;
 	Sensor::setMockValue(SensorType::DriverThrottleIntent, expectedTps.Value);
 	Sensor::setMockValue(SensorType::Clt, expectedClt);
-	setMockVehicleSpeed(15 PASS_ENGINE_PARAMETER_SUFFIX);
+	Sensor::setMockValue(SensorType::VehicleSpeed, 15.0);
 	ENGINE(rpmCalculator.mockRpm) = 950;
 
 	// Target of 1000 rpm
@@ -460,7 +460,7 @@ TEST(idle_v2, IntegrationAutomatic) {
 	float expectedClt = 37;
 	Sensor::setMockValue(SensorType::DriverThrottleIntent, expectedTps.Value);
 	Sensor::setMockValue(SensorType::Clt, expectedClt);
-	setMockVehicleSpeed(15 PASS_ENGINE_PARAMETER_SUFFIX);
+	Sensor::setMockValue(SensorType::VehicleSpeed, 15.0);
 	ENGINE(rpmCalculator.mockRpm) = 950;
 
 	// Target of 1000 rpm
@@ -498,7 +498,7 @@ TEST(idle_v2, IntegrationClamping) {
 	float expectedClt = 37;
 	Sensor::setMockValue(SensorType::DriverThrottleIntent, expectedTps.Value);
 	Sensor::setMockValue(SensorType::Clt, expectedClt);
-	setMockVehicleSpeed(15 PASS_ENGINE_PARAMETER_SUFFIX);
+	Sensor::setMockValue(SensorType::VehicleSpeed, 15.0);
 	ENGINE(rpmCalculator.mockRpm) = 950;
 
 	// Target of 1000 rpm

unit_tests/tests/test_launch.cpp

@@ -35,10 +35,10 @@ TEST(LaunchControl, VSSCondition) {
 	engineConfiguration->launchActivationMode = ALWAYS_ACTIVE_LAUNCH;
     engineConfiguration->launchSpeedTreshold = 30; 
 	engineConfiguration->launchDisableBySpeed = 1;
-	setMockVehicleSpeed(10 PASS_ENGINE_PARAMETER_SUFFIX);
+	Sensor::setMockValue(SensorType::VehicleSpeed, 10.0);
     EXPECT_TRUE(dut.isInsideSpeedCondition());
 
-	setMockVehicleSpeed(40 PASS_ENGINE_PARAMETER_SUFFIX);
+	Sensor::setMockValue(SensorType::VehicleSpeed, 40.0);
 	EXPECT_FALSE(dut.isInsideSpeedCondition());
 
 }
@@ -114,7 +114,7 @@ TEST(LaunchControl, CombinedCondition) {
 	//valid TPS
 	Sensor::setMockValue(SensorType::DriverThrottleIntent, 20.0f);
 	
-	setMockVehicleSpeed(10 PASS_ENGINE_PARAMETER_SUFFIX);
+	Sensor::setMockValue(SensorType::VehicleSpeed, 10.0);
 	engine->rpmCalculator.mockRpm = 1200;
 
     EXPECT_FALSE(dut.isLaunchConditionMet(1200));
@@ -122,7 +122,7 @@ TEST(LaunchControl, CombinedCondition) {
 	engine->rpmCalculator.mockRpm = 3200;
 	EXPECT_TRUE(dut.isLaunchConditionMet(3200));
 
-	setMockVehicleSpeed(40 PASS_ENGINE_PARAMETER_SUFFIX);
+	Sensor::setMockValue(SensorType::VehicleSpeed, 40.0);
 	EXPECT_FALSE(dut.isLaunchConditionMet(3200));
 
 }
@@ -146,7 +146,7 @@ TEST(LaunchControl, CompleteRun) {
 	//valid TPS
 	Sensor::setMockValue(SensorType::DriverThrottleIntent, 20.0f);
 	
-	setMockVehicleSpeed(10 PASS_ENGINE_PARAMETER_SUFFIX);
+	Sensor::setMockValue(SensorType::VehicleSpeed, 10.0);
 	engine->rpmCalculator.mockRpm = 1200;
 
 	//update condition check
@@ -184,7 +184,7 @@ TEST(LaunchControl, CompleteRun) {
 	EXPECT_TRUE(spark);
 	EXPECT_FALSE(fuel);
 
-	setMockVehicleSpeed(40 PASS_ENGINE_PARAMETER_SUFFIX);
+	Sensor::setMockValue(SensorType::VehicleSpeed, 40.0);
 	updateLaunchConditions(PASS_ENGINE_PARAMETER_SIGNATURE);
 	spark = false;
 	fuel = false;