Hmm, that didn't quite work right (#955)

* maybe that wasn't a good idea

* we don't need a copy because you can't clear the func after setting it

* no longer a template - move logic to cpp

* fix tests

* rename to avoid object collision

firmware/controllers/sensors/functional_sensor.cpp

@@ -0,0 +1,26 @@
+#include "functional_sensor.h"
+
+void FunctionalSensor::postRawValue(float inputValue) {
+	// Report the raw value
+	float *rawReportLocation = m_rawReportingLocation;
+	if (rawReportLocation) {
+		*rawReportLocation = inputValue;
+	}
+
+	// If no function is set, this sensor isn't valid.
+	if (!m_function) {
+		invalidate();
+		return;
+	}
+
+	auto r = m_function->convert(inputValue);
+
+	// This has to happen so that we set the valid bit after
+	// the value is stored, to prevent the data race of reading
+	// an old invalid value
+	if (r.Valid) {
+		setValidValue(r.Value);
+	} else {
+		invalidate();
+	}
+}

firmware/controllers/sensors/functional_sensor.h

@@ -12,13 +12,6 @@
 
 #include <type_traits>
 
-struct FunctionalSensorBase : public StoredValueSensor {
-	FunctionalSensorBase(SensorType type)
-		: StoredValueSensor(type) {}
-
-	virtual void postRawValue(float value) = 0;
-};
-
 /**
  * @brief Class for sensors that convert from some raw floating point
  * value (ex: voltage, frequency, pulse width) to a sensor reading.
@@ -30,46 +23,24 @@ struct FunctionalSensorBase : public StoredValueSensor {
  * Register an instance of the new class with an interface
  * that provides and posts raw values so the sensor can update.
  */
-template <typename TFunc>
-class FunctionalSensor final : public FunctionalSensorBase {
-	static_assert(std::is_base_of_v<SensorConverter, TFunc>, "TFunc must inherit from SensorConverter");
-	static_assert(std::is_default_constructible_v<TFunc>, "TFunc must be default constructible");
-
+class FunctionalSensor final : public StoredValueSensor {
 public:
 	explicit FunctionalSensor(SensorType type)
-		: FunctionalSensorBase(type) {}
+		: StoredValueSensor(type) { }
 
-	void postRawValue(float inputValue) {
-		// Report the raw value
-		float *rawReportLocation = m_rawReportingLocation;
-		if (rawReportLocation) {
-			*rawReportLocation = inputValue;
-		}
-
-		auto r = m_function.convert(inputValue);
-
-		// This has to happen so that we set the valid bit after
-		// the value is stored, to prevent the data race of reading
-		// an old invalid value
-		if (r.Valid) {
-			setValidValue(r.Value);
-		} else {
-			invalidate();
-		}
-	}
+	void postRawValue(float inputValue);
 
 	void setRawReportingLocation(float *rawReportingLocation) {
 		m_rawReportingLocation = rawReportingLocation;
 	}
 
-	// Allow access to the underlying function
-	TFunc &f() {
-		return m_function;
+	void setFunction(SensorConverter& func) {
+		m_function = &func;
 	}
 
 private:
 	float *m_rawReportingLocation = nullptr;
 
 	// Conversion function for this sensor
-	TFunc m_function;
+	SensorConverter* m_function = nullptr;
 };

firmware/controllers/sensors/sensors.mk

@@ -11,4 +11,5 @@ CONTROLLERS_SENSORS_SRC_CPP = 	$(PROJECT_DIR)/controllers/sensors/thermistors.cp
 	$(PROJECT_DIR)/controllers/sensors/maf2map.cpp \
 	$(PROJECT_DIR)/controllers/sensors/hip9011_lookup.cpp \
 	$(PROJECT_DIR)/controllers/sensors/sensor.cpp \
+	$(PROJECT_DIR)/controllers/sensors/functional_sensor.cpp \
 	$(PROJECT_DIR)/controllers/sensors/converters/linear_func.cpp

firmware/hw_layer/adc_subscription.cpp

@@ -10,7 +10,7 @@ EXTERN_ENGINE;
 #if !EFI_UNIT_TEST
 
 struct AdcSubscriptionEntry {
-	FunctionalSensorBase *Sensor;
+	FunctionalSensor *Sensor;
 	float VoltsPerAdcVolt;
 	adc_channel_e Channel;
 };
@@ -18,7 +18,7 @@ struct AdcSubscriptionEntry {
 static size_t s_nextEntry = 0;
 static AdcSubscriptionEntry s_entries[8];
 
-void AdcSubscription::SubscribeSensor(FunctionalSensorBase &sensor,
+void AdcSubscription::SubscribeSensor(FunctionalSensor &sensor,
 									  adc_channel_e channel,
 									  float voltsPerAdcVolt /*= 0.0f*/) {
 	// Don't subscribe null channels

firmware/hw_layer/adc_subscription.h

@@ -9,6 +9,6 @@
 
 class AdcSubscription {
 public:
-	static void SubscribeSensor(FunctionalSensorBase &sensor, adc_channel_e channel, float voltsPerAdcVolt = 0.0f);
+	static void SubscribeSensor(FunctionalSensor &sensor, adc_channel_e channel, float voltsPerAdcVolt = 0.0f);
 	static void UpdateSubscribers();
 };

firmware/init/sensor/init_oil_pressure.cpp

@@ -10,7 +10,8 @@ EXTERN_ENGINE;
 
 extern TunerStudioOutputChannels tsOutputChannels;
 
-FunctionalSensor<LinearFunc> oilpSensor(SensorType::OilPressure);
+LinearFunc oilpSensorFunc;
+FunctionalSensor oilpSensor(SensorType::OilPressure);
 
 void initOilPressure() {
 	// Only register if we have a sensor
@@ -29,7 +30,8 @@ void initOilPressure() {
 	float greaterOutput = val1 > val2 ? val1 : val2;
 
 	// Allow slightly negative output (-5kpa) so as to not fail the sensor when engine is off
-	oilpSensor.f().configure(sensorCfg->v1, val1, sensorCfg->v2, val2, /*minOutput*/ -5, greaterOutput);
+	oilpSensorFunc.configure(sensorCfg->v1, val1, sensorCfg->v2, val2, /*minOutput*/ -5, greaterOutput);
+	oilpSensor.setFunction(oilpSensorFunc);
 
 	// Tell it to report to its output channel
 	oilpSensor.setReportingLocation(&tsOutputChannels.oilPressure);

unit_tests/tests/sensor/func_sensor.cpp

@@ -17,6 +17,7 @@ protected:
 		: dut(SensorType::Clt) {}
 
 	void SetUp() override {
+		dut.setFunction(func);
 		Sensor::resetRegistry();
 	}
 
@@ -24,7 +25,8 @@ protected:
 		Sensor::resetRegistry();
 	}
 
-	FunctionalSensor<DoublerFunc> dut;
+	FunctionalSensor dut;
+	DoublerFunc func;
 };
 
 TEST_F(SensorConverted, TestValid) {
@@ -64,8 +66,3 @@ TEST_F(SensorConverted, TestInvalid) {
 		EXPECT_FLOAT_EQ(s.Value, 0);
 	}
 }
-
-TEST_F(SensorConverted, TestGet) {
-	// we're only checking that this compiles
-	DoublerFunc &f = dut.f();
-}

unit_tests/tests/tests.mk

@@ -29,7 +29,7 @@ TESTS_SRC_CPP = \
 	tests/test_gpiochip.cpp \
 \
 	tests/sensor/basic_sensor.cpp \
-	tests/sensor/functional_sensor.cpp \
+	tests/sensor/func_sensor.cpp \
 	tests/sensor/function_pointer_sensor.cpp \
 	tests/sensor/mock_sensor.cpp \
 	tests/sensor/sensor_reader.cpp \