Replace hasPedalPositionSensor (#1245)

* remove

* add Sensor::hasSensor

* consume in etb

* remove unused state

* don't use it there either

* format

* fix up tests

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

firmware/controllers/actuators/electronic_throttle.cpp

@@ -242,7 +242,6 @@ void EtbController::PeriodicTask() {
 	}
 
 	DISPLAY_STATE(Engine)
-DISPLAY(DISPLAY_IF(hasEtbPedalPositionSensor))
 	DISPLAY_TEXT(Electronic_Throttle);
 	DISPLAY_SENSOR(TPS)
 	DISPLAY_TEXT(eol);
@@ -543,13 +542,11 @@ void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	addConsoleActionI("etb_freq", setEtbFrequency);
 #endif /* EFI_PROD_CODE */
 
-	engine->engineState.hasEtbPedalPositionSensor = hasPedalPositionSensor(PASS_ENGINE_PARAMETER_SIGNATURE);
-	if (!engine->engineState.hasEtbPedalPositionSensor) {
-#if EFI_PROD_CODE
-		// TODO: Once switched to new sensor model for pedal, we don't need this to be test-guarded.
+	// If you don't have a pedal, we have no business here.
+	if (!Sensor::hasSensor(SensorType::AcceleratorPedal)) {
 		return;
-#endif
 	}
+
 	engine->etbActualCount = hasSecondThrottleBody(PASS_ENGINE_PARAMETER_SIGNATURE) ? 2 : 1;
 
 	for (int i = 0 ; i < engine->etbActualCount; i++) {
@@ -619,7 +616,6 @@ void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	addConsoleActionI("set_etbat_offset", setAutoOffset);
 #endif /* EFI_PROD_CODE */
 
-
 	etbPidReset(PASS_ENGINE_PARAMETER_SIGNATURE);
 
 	for (int i = 0 ; i < engine->etbActualCount; i++) {
@@ -629,15 +625,14 @@ void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 
 void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	if (hasFirmwareError()) {
-			return;
+		return;
 	}
 
 	for (int i = 0; i < ETB_COUNT; i++) {
 		engine->etbControllers[i] = &etbControllers[i];
 	}
+
 	doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE);
 }
 
-
 #endif /* EFI_ELECTRONIC_THROTTLE_BODY */
-

firmware/controllers/sensors/sensor.cpp

@@ -120,6 +120,16 @@ bool Sensor::Register() {
 	return 0;
 }
 
+/*static*/ bool Sensor::hasSensor(SensorType type) {
+	const auto entry = getEntryForType(type);
+
+	if (!entry) {
+		return false;
+	}
+
+	return entry->useMock || entry->sensor;
+}
+
 /*static*/ void Sensor::setMockValue(SensorType type, float value) {
 	auto entry = getEntryForType(type);
 

firmware/controllers/sensors/sensor.h

@@ -103,6 +103,11 @@ public:
 	 */
 	static float getRaw(SensorType type);
 
+	/*
+	 * Query whether there is a sensor of a particular type currently registered.
+	 */
+	static bool hasSensor(SensorType type);
+
 	/*
 	 * Mock a value for a particular sensor.
 	 */

firmware/controllers/sensors/tps.cpp

@@ -195,10 +195,6 @@ static percent_t getPrimaryRawTPS(int index DECLARE_ENGINE_PARAMETER_SUFFIX) {
 
 #define NO_TPS_MAGIC_VALUE 66.611
 
-bool hasPedalPositionSensor(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
-	return engineConfiguration->throttlePedalPositionAdcChannel != EFI_ADC_NONE;
-}
-
 bool hasSecondThrottleBody(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	return engineConfiguration->tps2_1AdcChannel != EFI_ADC_NONE;
 }

firmware/controllers/sensors/tps.h

@@ -15,7 +15,6 @@
 // Scaled to 1000 counts = 5.0 volts
 #define TPS_TS_CONVERSION 200
 
-bool hasPedalPositionSensor(DECLARE_ENGINE_PARAMETER_SIGNATURE);
 /**
  * Throttle Position Sensor
  * In case of dual TPS this function would return logical TPS position

firmware/controllers/settings.cpp

@@ -411,13 +411,10 @@ static void printTpsSenser(const char *msg, SensorType sensor, int16_t min, int1
 	scheduleMsg(&logger, "current 10bit=%d value=%.2f rate=%.2f", convertVoltageTo10bitADC(raw), tps.Value, getTpsRateOfChange());
 }
 
-
 void printTPSInfo(void) {
-	if (hasPedalPositionSensor()) {
-		scheduleMsg(&logger, "pedal up %f / down %f",
-				engineConfiguration->throttlePedalUpVoltage,
-				engineConfiguration->throttlePedalWOTVoltage);
-	}
+	scheduleMsg(&logger, "pedal up %f / down %f",
+			engineConfiguration->throttlePedalUpVoltage,
+			engineConfiguration->throttlePedalWOTVoltage);
 
 	printTpsSenser("TPS", SensorType::Tps1, engineConfiguration->tpsMin, engineConfiguration->tpsMax, engineConfiguration->tps1_1AdcChannel);
 	printTpsSenser("TPS2", SensorType::Tps2, engineConfiguration->tps2Min, engineConfiguration->tps2Max, engineConfiguration->tps2_1AdcChannel);

firmware/integration/engine_state.txt

@@ -55,7 +55,6 @@ float tpsVoltageBoard
 float baroCorrection;
 
 bit isCrankingState
-bit hasEtbPedalPositionSensor;
 bit isAutomaticIdle
 
 struct cranking_fuel_s

unit_tests/tests/sensor/basic_sensor.cpp

@@ -79,3 +79,29 @@ TEST_F(SensorBasic, SensorInitialized) {
 	EXPECT_TRUE(result2.Valid);
 	EXPECT_FLOAT_EQ(result2.Value, 75);
 }
+
+TEST_F(SensorBasic, HasSensor) {
+	MockSensor dut(SensorType::Clt);
+
+	// Check that we don't have the sensor
+	ASSERT_FALSE(Sensor::hasSensor(SensorType::Clt));
+
+	// Register it
+	ASSERT_TRUE(dut.Register());
+
+	// Now we should!
+	ASSERT_TRUE(Sensor::hasSensor(SensorType::Clt));
+}
+
+TEST_F(SensorBasic, HasSensorMock) {
+	MockSensor dut(SensorType::Clt);
+
+	// Check that we don't have the sensor
+	ASSERT_FALSE(Sensor::hasSensor(SensorType::Clt));
+
+	// Mock the sensor - this should count as having it
+	Sensor::setMockValue(SensorType::Clt, 25);
+
+	// Now we should!
+	ASSERT_TRUE(Sensor::hasSensor(SensorType::Clt));
+}

unit_tests/tests/test_etb.cpp

@@ -50,7 +50,8 @@ TEST(etb, singleEtbInitialization) {
 		engine->etbControllers[i] = &mocks[i];
 	}
 
-	engineConfiguration->throttlePedalPositionAdcChannel = EFI_ADC_9;
+	// Must have a sensor configured before init
+	Sensor::setMockValue(SensorType::AcceleratorPedal, 0);
 
 	doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE);
 
@@ -71,9 +72,10 @@ TEST(etb, singleEtbInitialization) {
 TEST(etb, testTargetTpsIsFloatBug945) {
 	WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
 
-	doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE);
+	// Must have a sensor configured before init
+	Sensor::setMockValue(SensorType::AcceleratorPedal, 0);
 
-	engineConfiguration->throttlePedalPositionAdcChannel = EFI_ADC_0;
+	doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE);
 
 	Sensor::setMockValue(SensorType::AcceleratorPedal, 50.0f);
 	engine->etbControllers[0]->PeriodicTask();