fix pipette lint error

Opentrons · Jul 14, 2023 · e3feadb · e3feadb
1 parent 3e5ab17
commit e3feadb
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Showing 2 changed files with 6 additions and 16 deletions.
diff --git a/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp b/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp
@@ -51,7 +51,6 @@ class MotorInterruptHandler {
  public:
  using MoveQueue = QueueImpl<MotorMoveMessage>;
  using UpdatePositionQueue = QueueImpl<UpdatePositionMessage>;
-// using PositionEstimateResponse = typename UpdatePositionMessage::Response;
  MotorInterruptHandler() = delete;
  MotorInterruptHandler(MoveQueue& incoming_move_queue,
  StatusClient& outgoing_queue,
@@ -511,7 +510,7 @@ class MotorInterruptHandler {
  * message and update the motor position if such a message exists.
  */
  auto handle_update_position_queue() -> void {
- UpdatePositionMessage msg;
+ UpdatePositionMessage msg = {};
 
  if (update_position_queue.try_read_isr(&msg)) {
  auto encoder_pulses = hardware.get_encoder_pulses();
@@ -533,23 +532,13 @@ class MotorInterruptHandler {
  MotorPositionStatus::Flags::stepper_position_ok);
  }
  // We send an ack even if the position wasn't updated
-
-// if (!hardware.has_encoder()) {
-// auto ack = motor_messages::UpdateGearMotorPositionResponse{
-// .message_index = msg.message_index,
-// .stepper_position_counts = hardware.get_step_tracker()};
-// static_cast<void>(
-// status_queue_client.send_move_status_reporter_queue(ack));
-// }
-// else {
  auto ack = UpdatePositionResponse{
  .message_index = msg.message_index,
  .stepper_position_counts = hardware.get_step_tracker(),
  .encoder_pulses = encoder_pulses,
  .position_flags = hardware.position_flags.get_flags()};
  static_cast<void>(
  status_queue_client.send_move_status_reporter_queue(ack));
-// }
  }
  }
 
@@ -564,7 +553,7 @@ class MotorInterruptHandler {
  return;
  }
 
- UpdatePositionMessage msg;
+ UpdatePositionMessage msg = {};
  if (update_position_queue.try_read_isr(&msg)) {
  auto response = can::messages::ErrorMessage{
  .message_index = msg.message_index,

diff --git a/include/pipettes/core/tasks/gear_move_status_reporter_task.hpp b/include/pipettes/core/tasks/gear_move_status_reporter_task.hpp
@@ -53,9 +53,10 @@ class MoveStatusMessageHandler {
  .message_index = message.message_index,
  .current_position = fixed_point_multiply(
  um_per_step, message.stepper_position_counts),
-// .encoder_position = fixed_point_multiply(
-// um_per_encoder_pulse, message.encoder_pulses, radix_offset_0{}),
-// .position_flags = message.position_flags
+ .encoder_position = fixed_point_multiply(
+ um_per_encoder_pulse, message.encoder_pulses,
+ radix_offset_0{}),
+ .position_flags = message.position_flags
  };
  can_client.send_can_message(can::ids::NodeId::host, msg);
  }