feat(hepa-uv): add error code for door & reed state change during uv …

…task (#758) * send warning when door/reed state change * make unrecoverable until further notice
Opentrons · Mar 19, 2024 · 1413581 · 1413581
1 parent 750940a
commit 1413581
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Showing 4 changed files with 20 additions and 4 deletions.
diff --git a/include/bootloader/core/ids.h b/include/bootloader/core/ids.h
@@ -163,6 +163,8 @@ typedef enum {
     can_errorcode_motor_busy = 0xb,
     can_errorcode_stop_requested = 0xc,
     can_errorcode_over_pressure = 0xd,
+    can_errorcode_door_open = 0xe,
+    can_errorcode_reed_open = 0xf,
 } CANErrorCode;
 
 /** Tool types detected on Head. */

diff --git a/include/can/core/ids.hpp b/include/can/core/ids.hpp
@@ -165,6 +165,8 @@ enum class ErrorCode {
     motor_busy = 0xb,
     stop_requested = 0xc,
     over_pressure = 0xd,
+    door_open = 0xe,
+    reed_open = 0xf,
 };
 
 /** Error Severity levels. */

diff --git a/include/hepa-uv/core/uv_task.hpp b/include/hepa-uv/core/uv_task.hpp
@@ -98,12 +98,23 @@ class UVMessageHandler {
         // reset push button state if the door is opened or the reed switch is
         // not set
         if (!door_closed || !reed_switch_set) {
-            gpio::reset(drive_pins.uv_on_off);
-            // Set the push button LED's to user intervention (blue)
+            if (_timer.is_running()) {
+                gpio::reset(drive_pins.uv_on_off);
+                _timer.stop();
+                // send error message when door/reed state change while uv
+                // is on
+                auto resp = can::messages::ErrorMessage{
+                    .message_index = 0,
+                    .severity = can::ids::ErrorSeverity::unrecoverable,
+                    .error_code = !door_closed ? can::ids::ErrorCode::door_open
+                                               : can::ids::ErrorCode::reed_open,
+                };
+                can_client.send_can_message(can::ids::NodeId::host, resp);
+            }
             led_control_client.send_led_control_message(
+                // Set the push button LED's to user intervention (blue)
                 led_control_task_messages::PushButtonLED(UV_BUTTON, 0, 0, 50,
                                                          0));
-            if (_timer.is_running()) _timer.stop();
             uv_push_button = false;
             uv_light_on = false;
             return;

diff --git a/include/motor-control/core/tasks/messages.hpp b/include/motor-control/core/tasks/messages.hpp
@@ -15,7 +15,8 @@ using MotionControlTaskMessage = std::variant<
     can::messages::MotorPositionRequest, can::messages::ReadLimitSwitchRequest,
     can::messages::HomeRequest,
     can::messages::UpdateMotorPositionEstimationRequest,
-    can::messages::GetMotorUsageRequest, can::messages::AddSensorMoveRequest>;
+    can::messages::GetMotorUsageRequest, can::messages::MotorStatusRequest,
+    can::messages::AddSensorMoveRequest>;
 
 using MoveGroupTaskMessage =
     std::variant<std::monostate, can::messages::AddLinearMoveRequest,